Cooperative Lateral Maneuvers Manager for Multi-autonomous Vehicles

Abstract

Vehicle automation opened the door for a myriad of new applications that target vehicles. Longitudinal maneuvers are well studied in the literature, whereas lateral maneuvers studies are scarce in comparison. Maneuvers such as lane changing on highways are complex, and require gathering information about the different neighbors in the vicinity of the subject vehicle. Vehicle-to-vehicle (V2V) communications provided new ways for acquiring such information. Cooperation is proven to be useful when performing such maneuvers. Using V2V communication, and Systems of Systems (SoS) principles, this paper presents a Cooperative Lateral Maneuvers Manager (CLMM), an integrated system in autonomous vehicles, that implements the requirements of the Cooperative maneuvers manager for autonomous vehicles (CMMAV), a SoS that enables cooperation between autonomous vehicles to perform their desired lateral maneuvers. CLMM was validated using Anylogic * , a multi-agent simulator, and the results show that it respects the requirements of the system.