Dynamic Cooperative Automated Lane-Change Maneuver Based on Minimum Safety Spacing Model

Xu, Mingchang; Luo, Yugong; Yang, Gang; Kong, Weiwei; Li, Keqiang

doi:10.1109/itsc.2019.8917095

Cited by 16 publications

(1 citation statement)

References 17 publications

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“…This technique has previously been applied to intersections. Xu et al examine in [11] in particular simultaneous cooperative lane changes of vehicles on highways. Mintsis et al investigate both centralized and decentralized cooperative lane change maneuvers in [12].…”

Section: Related Workmentioning

confidence: 99%

Space Time Reservation Procedure (STRP) for V2X-Based Maneuver Coordination of Cooperative Automated Vehicles in Diverse Conflict Scenarios

Nichting

Hess

Schindler

et al. 2020

2020 IEEE Intelligent Vehicles Symposium (IV)

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In order to use the road network as efficiently as possible and to fully exploit the potential of automated vehicles, vehicle cooperation is essential. Conflicts between road users over available space on the road can only be resolved efficiently through cooperation. To this end, we investigate the space time reservation procedure (STRP) which is a generic approach to cooperation between vehicles. The method is based on a decentralized two-step negotiation procedure during which parts of the road can be reserved in order to carry out maneuvers that were originally conflicting. After the rollout of the first cooperative automated vehicles, a long transition period with mixed traffic is expected. Since the approach in this paper builds on existing road traffic regulations and does not abolish them, the method can also be applied in mixed traffic. Compared to the preliminary work on this approach, the method is simplified and further generalized for already supported traffic situations. This increases flexibility during the execution of cooperative maneuvers. Additionally, new reservation geometries covering almost all possible conflicts in traffic are investigated, e. g. lane changes, intersections, overtaking, roundabouts. Finally, the approach is evaluated by means of test drives with two research vehicles and in simulations.

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Section: Related Workmentioning

confidence: 99%

Space Time Reservation Procedure (STRP) for V2X-Based Maneuver Coordination of Cooperative Automated Vehicles in Diverse Conflict Scenarios

Nichting

Hess

Schindler

et al. 2020

2020 IEEE Intelligent Vehicles Symposium (IV)

View full text Add to dashboard Cite

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Maneuver-Level Cooperation of Automated Vehicles

Nichting,

Heß,

Köster

2024

Cooperatively Interacting Vehicles

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Cooperative behavior of automated vehicles at the maneuver level is of utmost importance for the efficient and safe use of traffic space. This chapter discusses a vehicle-to-vehicle communication-based negotiation and cooperation method for maneuver cooperation. The method is based on the negotiation about explicitly defined reservation areas on the road for the exclusive use of a particular traffic participant. It covers all standard traffic situations occurring on regular streets and thus achieves universal applicability. The evaluation of simulations and driving tests shows the suitability of the method for effective maneuver cooperation in various traffic situations. Furthermore, based on this method, the planning and execution of cooperative maneuvers in emergency situations are investigated. Simulations show that collisions can be avoided in relevant cases by this method. Moreover, further simulations and driving tests show that joint maneuvers can avoid sharp braking maneuvers in many situations. In addition, research on a methodology for implicit maneuver cooperation is presented. Based on reinforcement learning methods, partially cooperative decision-making functions are studied in a setting that benefits from cooperative behavior. The evaluation shows that cooperative behaviors of road participants can be achieved using this technique.

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Safe Lane Change and Merging Gaps in Connected Environments

Monteiro

Ioannou

2021

IFAC-PapersOnLine

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Dynamic Cooperative Automated Lane-Change Maneuver Based on Minimum Safety Spacing Model

Cited by 16 publications

References 17 publications

Space Time Reservation Procedure (STRP) for V2X-Based Maneuver Coordination of Cooperative Automated Vehicles in Diverse Conflict Scenarios

Space Time Reservation Procedure (STRP) for V2X-Based Maneuver Coordination of Cooperative Automated Vehicles in Diverse Conflict Scenarios

Maneuver-Level Cooperation of Automated Vehicles

Safe Lane Change and Merging Gaps in Connected Environments

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