Human drivers have several means to coordinate their maneuvers, which pose challenges for automated vehicles. Standardized technical means like the turning signal are relatively easy to interpret for an automated vehicle, but interpreting hand signaling is a challenge. In case of a false interpretation, such a signal can become a cause of a critical situation. With the upcoming of Vehicle-to-Vehicle (V2V) communications automated vehicle got another method for exchanging complex information. This can be used for maneuver coordination between vehicles, but is inaccessible for human drivers. Thus, it is important to consider whether critical situations can be caused by such new means. In previous work we proposed a Maneuver Coordination Protocol (MCP) which is based on trajectories, computed by Automated Vehicles (AVs). In this paper, we present a systematic safety analysis of our MCP and show that it does not introduce additional safety risk, even if communication failures occur. As a first step we show, that the exchange of current planned trajectories between vehicles eventually makes these trajectories collision free as long as the vehicles respect the right-of-way rules. In a second step, we analyze the maneuver coordination process and show, that it does not introduce additional safety risks as long as the vehicles follow the rules required by the process. All safety risks presented in this paper already exist without incorporating our protocol and AV s already have to take these risks into account.
Safety Analysis of a Maneuver Coordination Protocol
2020-12-16
309882 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch