Increasing the predictability of traffic participants is the key for developing safe Automated Vehicles (AVs). Whereas most research focuses on enhanced environment perception and vehicle trajectory planning methodologies, this contribution proposes a generic concept employing inter-vehicle communications to coordinate maneuvers of AVs. Not targeting a specific application, the concept is based on a generic description of vehicle behaviors, leveraging the well-known concept of Frénet frames. By sharing a vehicle's planned maneuver with surrounding traffic participants, inter-vehicle communications reduces the uncertainty associated to the prediction of future vehicle maneuvers. In case of conflicting maneuvers, vehicles are given the opportunity to disseminate a desired trajectory in addition to its planned trajectory. Maneuver coordination is then established in a three-step implicit distributed fashion, based on common right-of-way rules and on both disseminated types of trajectories. Next to the introduction of the maneuver coordination process, this contribution elaborates on related research questions and provides an outlook on an extension to a well-known microscopic simulation environment to analyze effects of the maneuver coordination process on inter-vehicle communications and traffic efficiency. The proposed concept aims at providing a generic concept to reach coordination between Connected and Automated Vehicles (CAVs).


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    Title :

    A Generic Approach towards Maneuver Coordination for Automated Vehicles


    Contributors:


    Publication date :

    2018-11-01


    Size :

    2179258 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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