How to Measure Cooperation? Cost Functions for Cooperative Maneuver Planning on Highways

Knies, Christian; Fank, Jana; Diermeyer, Frank

doi:10.1109/itsc.2019.8917075

Cited by 4 publications

(6 citation statements)

References 10 publications

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“…In the case of cooperative behavior planning, this comprises the metrics used to measure cooperation, the test mode in which the maneuver planners are tested as well as the selection of test scenarios. The applied metrics are the result of a previous work [17] and are presented briefly in Section 2.3. The test mode must ensure that the tested maneuver planners not only behave intelligently in situations where they need the cooperation of other vehicles but also when they are in the position to support others.…”

Section: Conceptmentioning

confidence: 99%

“…From which ratio of ego-vehicle-costs to surrounding-vehicle benefit a cooperative action is accepted depends on the degree of cooperativity of the AV. According to [1,17], this ratio lies between 0 (uncooperative because no extra costs are accepted) and 1 (fully cooperative because every extra cost is accepted for an overall benefit). Since there is no established value regarding to what extent AV behave cooperatively, we assume an intermediate value of 0.5.…”

Section: Conceptmentioning

confidence: 99%

“…A core aspect of the scenario generation process is the evaluation of cooperation in the performed simulations. In our previous work [17], we presented such a metric for measuring cooperation. The basic ideas of this paper are presented in this section briefly, and a detailed description can be found in the original publication [17].…”

Section: Metricsmentioning

confidence: 99%

“…In our previous work [17], we presented such a metric for measuring cooperation. The basic ideas of this paper are presented in this section briefly, and a detailed description can be found in the original publication [17].…”

Section: Metricsmentioning

confidence: 99%

“…The single cost terms are combined by weighting factors to a metric for cooperation. Determining the weight factors is also described in detail in the original publication [17].…”

Section: Metricsmentioning

confidence: 99%

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Data-Driven Test Scenario Generation for Cooperative Maneuver Planning on Highways

Knies

Diermeyer

2020

Applied Sciences

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Future automated vehicles will have to meet the challenge of anticipating the intentions of other road users in order to plan their own behavior without compromising safety and efficiency of the surrounding road traffic. Therefore, the research area of cooperative driving deals with maneuver-planning algorithms that enable vehicles to behave cooperatively in interactive traffic scenarios. To prove the functionality of these algorithms, single test scenarios are used in the current body of literature. The use of a single, exemplary scenario bears the risk that the presented approach only works in the presented scenario and thus no general statement can be made about the performance of the algorithm. Furthermore, there is a risk that fictitious traffic scenarios may be solved which do not occur in reality. Therefore, we present a procedure for generating test scenarios based on real-world traffic datasets that require cooperation of at least one of the involved vehicles and thus are challenging from the perspective of cooperation. This procedure is applied to a large highway traffic dataset, resulting in a test scenario catalog that allows a comprehensive performance evaluation. The extracted scenarios are clustered according to the cooperative actions used to solve the respective scenario, which enables a more detailed understanding of the underlying cooperative mechanisms. In order to serve as a basis for making comparisons between different behavior planners and thus contribute to the development of future maneuver planning algorithms, a tool to extract the test scenarios from the used traffic dataset is made publicly available.

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Section: Conceptmentioning

confidence: 99%

Section: Conceptmentioning

confidence: 99%

Section: Metricsmentioning

confidence: 99%

Section: Metricsmentioning

confidence: 99%

“…The single cost terms are combined by weighting factors to a metric for cooperation. Determining the weight factors is also described in detail in the original publication [17].…”

Section: Metricsmentioning

confidence: 99%

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Data-Driven Test Scenario Generation for Cooperative Maneuver Planning on Highways

Knies

Diermeyer

2020

Applied Sciences

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A Framework of Use Cases, Scenarios, and Metrics for Evaluation of V2X Maneuver Coordination

Maksimovski,

Facchi,

Festag

2024

2024 IEEE Vehicular Networking Conference (VNC)

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Analysis of a Human-Machine Interface for Cooperative Truck Overtaking Maneuvers on Freeways: Increase Success Rate and Assess Driving Behavior during System Failures

Fank

Knies

Diermeyer

2021

MTI

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Cooperation between road users based on V2X communication has the potential to make road traffic safer and more efficient. The exchange of information enables the cooperative orchestration of critical traffic situations, such as truck overtaking maneuvers on freeways. With the benefit of such a system, questions arise concerning system failure or the abrupt and unexpected behavior of road users. A human-machine interface (HMI) organizes and negotiates the cooperation between drivers and maintains smooth interaction, trust, and system acceptance, even in the case of a possible system failure. A study was conducted with 30 truck drivers on a dynamic truck driving simulator to analyze the negotiation of cooperation requests and the reaction of truck drivers to potential system failures. The results show that an automated cooperation request does not translate into a significantly higher cooperation success rate. System failures in cooperative truck passing maneuvers are not considered critical by truck drivers in this simulated environment. The next step in the development process is to investigate how the success rate of truck overtaking maneuvers on freeways can be further increased as well as the implementation of the system in a real vehicle to investigate the reaction behavior of truck drivers in case of system failures in a real environment.

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How to Measure Cooperation? Cost Functions for Cooperative Maneuver Planning on Highways

Cited by 4 publications

References 10 publications

Data-Driven Test Scenario Generation for Cooperative Maneuver Planning on Highways

Data-Driven Test Scenario Generation for Cooperative Maneuver Planning on Highways

A Framework of Use Cases, Scenarios, and Metrics for Evaluation of V2X Maneuver Coordination

Analysis of a Human-Machine Interface for Cooperative Truck Overtaking Maneuvers on Freeways: Increase Success Rate and Assess Driving Behavior during System Failures

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