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  4. A Survey on Decentralized Cooperative Maneuver Coordination for Connected and Automated Vehicles
 
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2021
  • Konferenzbeitrag

Titel

A Survey on Decentralized Cooperative Maneuver Coordination for Connected and Automated Vehicles

Abstract
V2X communications can be applied for maneuver coordination of automated vehicles, where the vehicles exchange messages to inform each other of their driving intentions and to negotiate for joint maneuvers. For motion and maneuver planning of automated vehicles, the cooperative maneuver coordination extends the perception range of the sensors, enhances the planning horizon and allows complex interactions among the vehicles. For specific scenarios, various schemes for maneuver coordination of connected automated vehicles exist. Recently, several proposals for maneuver coordination have been made that address generic instead of specific scenarios and apply different schemes for the message exchange of driving intentions and maneuver negotiation. This paper presents use cases for maneuver coordination and classifies existing generic approaches for decentralized maneuver coordination considering implicit and explicit trajectory broadcast, cost values and space-time reservation. We systematically describe the approaches, compare them and derive future research topics.
Author(s)
Maksimovski, Daniel
Technische Hochschule Ingolstadt
Festag, Andreas
Fraunhofer-Institut für Verkehrs- und Infrastruktursysteme IVI
Facchi, Christian
Technische Hochschule Ingolstadt
Hauptwerk
7th International Conference on Vehicle Technology and Intelligent Transport Systems, VEHITS 2021. Proceedings
Project(s)
KOALA 2
Funder
Deutsche Forschungsgemeinschaft DFG
Konferenz
International Conference on Vehicle Technology and Intelligent Transport Systems (VEHITS) 2021
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DOI
10.5220/0010442501000111
Language
Englisch
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IVI
Tags
  • V2X communication

  • cooperative driving

  • maneuver coordination...

  • automated vehicle

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