Negotiation is a class of cooperation enabled by vehicle-to-everything (V2X) communication, which involves the exchange of maneuver requests and responses between road users. In this paper, we develop criteria for request initiation and response generation under a unified conflict analysis framework. This leads to guaranteed maneuver feasibility in request and response that satisfy user-based behavior preferences. We implement negotiation via commercially available V2X devices, and experimentally evaluate the benefits of negotiation in conflict resolution. We demonstrate that negotiation can significantly benefit time efficiency of maneuvers while ensuring safety, compared to lower levels of cooperation such as status-sharing and intent-sharing. These benefits and their degradation under communication delays are quantified.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Negotiation in Cooperative Maneuvering using Conflict Analysis: Theory and Experimental Evaluation


    Contributors:


    Publication date :

    2024-06-02


    Size :

    4294476 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Opportunistic Strategy for Cooperative Maneuvering Using Conflict Analysis

    Wang, Hao M. / Avedisov, Sergei S. / Sakr, Ahmed H. et al. | IEEE | 2021


    OPPORTUNISTIC STRATEGY FOR COOPERATIVE MANEUVERING USING CONFLICT ANALYSIS

    Wang, Hao M. / Avedisov, Sergei S. / Sakr, Ahmed H. et al. | British Library Conference Proceedings | 2021


    Intent Sharing in Cooperative Maneuvering: Theory and Experimental Evaluation

    Wang, Hao M. / Avedisov, Sergei S. / Altintas, Onur et al. | IEEE | 2024


    Conflict Analysis for Cooperative Maneuvering With Status and Intent Sharing via V2X Communication

    Wang, Hao M. / Avedisov, Sergei S. / Molnar, Tamas G. et al. | IEEE | 2023