Connected and automated vehicles will not only autonomously plan their motions but also use vehicle-to-vehicle communication to negotiate cooperative maneuvers. Via intent-sharing and joint decision-making, those vehicles will perform coordinated actions together. Up to now, studies on cooperative maneuvers mostly assumed participants always cooperate. This scenario is fair but unrealistic. In our contribution, we investigate how vehicles can assess cooperative maneuver requests to decide whether or not to participate in them. Our decision algorithm ensures safety and fairness while being independent of the underlying cooperative maneuver protocol. We show the algorithm’s feasibility in simulations. This paper is thus another step towards realizing cooperative maneuvers.
Evaluating Participation in Cooperative Maneuvers among Connected and Automated Vehicles
2022-09-01
264066 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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