Cascading Vehicle Maneuver Coordination via V2X
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Solution Overview
Problem
Conventional automated driving systems are limited in cooperative maneuver planning and implementation, especially for longer prediction times in mixed traffic scenarios, as efficient message exchange between vehicles is mainly restricted to short distances, limiting cooperative maneuver coordination and preventing effective trajectory planning beyond 5 seconds.
Innovation Solution
A method for maneuver planning and implementation by a vehicle-internal control unit, featuring a cascading design with strategic, tactical, and operative planning levels, utilizing vehicle-to-X communication to exchange information and coordinate maneuvers between vehicles, allowing for decentralized cooperative driving maneuvers and collision avoidance across multiple scenarios.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If message exchange is restricted to short distances for efficient implementation, then communication efficiency is improved, but cooperative maneuver coordination is limited to few scenarios and short prediction times
Solution Approach 1:
The planning system is divided into three hierarchical levels: strategic planning (long-term route planning), tactical planning (lane-accurate trajectory planning), and operative planning (short-term maneuver execution). This segmentation allows different communication ranges to be used at different planning levels, enabling long prediction times at strategic level while maintaining efficient short-distance communication at operative level.
Solution Approach 2:
The system adds the time dimension to the communication strategy by using different communication ranges for different time horizons. Strategic planning uses long-range communication for future trajectory exchange, while operative planning uses short-range communication for immediate maneuver coordination, thus resolving the contradiction between communication efficiency and coordination versatility.
2Duration of action of moving object
If long prediction times greater than 5 seconds are used for trajectory planning, then maneuver coordination capability is improved, but message exchange efficiency deteriorates due to limited communication range
Solution Approach 1:
The planning horizon is segmented into different time ranges corresponding to different planning levels. Strategic planning handles long-term trajectories with prediction times >5 seconds using extended communication range, while operative planning handles immediate maneuvers with prediction times <5 seconds using standard communication range, thus maintaining efficiency while enabling long prediction capability.
Solution Approach 2:
Long-term trajectory planning is performed in advance at the strategic and tactical planning levels before execution. By pre-planning long prediction trajectories and exchanging this information through extended communication range, the system prepares cooperative maneuvers ahead of time, allowing efficient short-distance message exchange during actual execution at the operative level.
3Reliability
If decentralized cooperative maneuver coordination is implemented across multiple vehicles, then safety and comfort are improved, but system complexity increases
Solution Approach 1:
The decentralized coordination system is segmented into hierarchical planning levels with clear division of responsibilities. Each vehicle independently performs strategic, tactical, and operative planning, exchanging only necessary information at each level. This segmentation reduces communication overhead and computational complexity compared to fully centralized coordination, while maintaining safety through multi-level collision checking.
Solution Approach 2:
Each vehicle's control unit is equipped with specific planning level modules tailored to its needs. The system implements local decision-making at each planning level, where vehicles autonomously determine their maneuvers based on exchanged trajectory information, rather than requiring complex centralized control, thus improving safety while managing system complexity.
Data Source
AI summary
A method is provided for maneuver planning and implementation for a vehicle by a vehicle-internal control unit. The control unit includes a strategic planning level for carrying out route planning, a tactical planning level for providing lane-accurate trajectories to possible destination points, and an operative planning level for selecting a destination point and a negotiable trajectory to the selected destination point. The planning levels have a cascading design. When each planning level is executed, an information exchange with neighboring vehicles is carried out via a communication link in order to ascertain collisions. When a collision is ascertained in at least one planning level, a maneuver coordination is carried out between the vehicles via the communication link. Moreover, a control unit is provided.