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

Daniel Maksimovski, Andreas Festag, Christian Facchi

2021

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.

Paper Citation

in Harvard Style

Maksimovski D., Festag A. and Facchi C. (2021). A Survey on Decentralized Cooperative Maneuver Coordination for Connected and Automated Vehicles. In Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-513-5, pages 100-111. DOI: 10.5220/0010442501000111

in Bibtex Style

@conference{vehits21,
author={Daniel Maksimovski and Andreas Festag and Christian Facchi},
title={A Survey on Decentralized Cooperative Maneuver Coordination for Connected and Automated Vehicles},
booktitle={Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2021},
pages={100-111},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010442501000111},
isbn={978-989-758-513-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - A Survey on Decentralized Cooperative Maneuver Coordination for Connected and Automated Vehicles
SN - 978-989-758-513-5
AU - Maksimovski D.
AU - Festag A.
AU - Facchi C.
PY - 2021
SP - 100
EP - 111
DO - 10.5220/0010442501000111