In this paper, we propose an optimization-based strategy that utilizes vehicle-to-everything (V2X) communication in order to resolve conflicts between vehicles of different automation levels. The strategy consists of a decision checking mechanism and a control law to adjust the decision of an ego vehicle in a certain maneuver based on status update messages received from a remote vehicle involved in that maneuver. Using numerical simulations with real highway data, we demonstrate the proposed opportunistic strategy and show how it improves safety and maximizes the time efficiency of the ego vehicle. We also highlight the benefits of the strategy by comparing the results with an existing conservative strategy.
Opportunistic Strategy for Cooperative Maneuvering Using Conflict Analysis
2021-07-11
3009472 byte
Conference paper
Electronic Resource
English
OPPORTUNISTIC STRATEGY FOR COOPERATIVE MANEUVERING USING CONFLICT ANALYSIS
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