A Generic Approach towards Maneuver Coordination for Automated Vehicles
A Generic Approach towards Maneuver Coordination for Automated Vehicles
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DOI：
10.1109/itsc.2018.8569442
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发表时间：
2018-11
期刊：
影响因子：
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通讯作者：
B. Lehmann;H. Gunther;L. Wolf
中科院分区：
文献类型：
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作者：
B. Lehmann;H. Gunther;L. Wolf
提高交通参与者的可预测性是发展安全自动驾驶汽车的关键。虽然大多数研究集中在增强环境感知和车辆轨迹规划方法，这方面的贡献提出了一个通用的概念，采用车辆间的通信，以协调机动的自动驾驶汽车。该概念不针对特定应用，而是基于对车辆行为的通用描述，利用了众所周知的Frénet框架概念。通过与周围的交通参与者共享车辆的计划操纵，车辆间通信减少了与未来车辆操纵的预测相关联的不确定性。在发生冲突的情况下，车辆有机会传播除了其计划轨迹之外的期望轨迹。机动协调，然后建立在一个三步隐式分布式的方式，基于共同的权利的方式规则和两种传播类型的轨迹。接下来的介绍的机动协调过程中，这方面的贡献阐述了相关的研究问题，并提供了一个著名的微观仿真环境的扩展，以分析影响的机动协调过程中的车辆间的通信和交通效率的展望。提出的概念旨在提供一个通用的概念，以实现互联和自动驾驶汽车（CAV）之间的协调。
Increasing the predictability of traffic participants is the key for developing safe Automated Vehicles (AVs). Whereas most research focuses on enhanced environment perception and vehicle trajectory planning methodologies, this contribution proposes a generic concept employing inter-vehicle communications to coordinate maneuvers of AVs. Not targeting a specific application, the concept is based on a generic description of vehicle behaviors, leveraging the well-known concept of Frénet frames. By sharing a vehicle's planned maneuver with surrounding traffic participants, inter-vehicle communications reduces the uncertainty associated to the prediction of future vehicle maneuvers. In case of conflicting maneuvers, vehicles are given the opportunity to disseminate a desired trajectory in addition to its planned trajectory. Maneuver coordination is then established in a three-step implicit distributed fashion, based on common right-of-way rules and on both disseminated types of trajectories. Next to the introduction of the maneuver coordination process, this contribution elaborates on related research questions and provides an outlook on an extension to a well-known microscopic simulation environment to analyze effects of the maneuver coordination process on inter-vehicle communications and traffic efficiency. The proposed concept aims at providing a generic concept to reach coordination between Connected and Automated Vehicles (CAVs).