Cooperative Driving Maneuver Planning With Negotiation Timeout Control
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Solution Overview
Problem
Current cooperative driving maneuver negotiation phases in autonomous vehicles are inefficient due to potential expiration during negotiation, leading to longer-lasting maneuvers and increased V2V communication complexity, especially when the negotiation time exceeds the validity time of the desired maneuver.
Innovation Solution
A method to determine a branch point on both planned and desired trajectories, calculating a precise negotiation time by considering the number of vehicles involved, internal network transfer times, and adapting to the quality of service of V2V radio communication, allowing for early termination of the planning process if the negotiation phase will not be completed within the calculated timeout value.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the negotiation phase is extended to ensure complete maneuver coordination among multiple vehicles, then the reliability of cooperative driving is improved, but the negotiation time may exceed the validity time of the desired maneuver causing timeout and inefficiency
Solution Approach 1:
The system performs preliminary actions by calculating the negotiation time requirement before initiating the negotiation phase. The requesting vehicle determines how long the negotiation will take based on the number of involved vehicles and their communication patterns, and only starts negotiation if there is sufficient time remaining in the maneuver validity period. This prevents timeout situations before they occur.
Solution Approach 2:
The system dynamically adjusts the negotiation strategy based on real-time conditions. The negotiation time calculation adapts to the number of involved vehicles and their individual processing times. The system can terminate negotiation early if a sufficient number of vehicles have accepted the maneuver, rather than waiting for all vehicles to respond, thus optimizing the balance between reliability and time efficiency.
2Reliability
If the system waits for all vehicles to complete negotiation before proceeding, then the completeness of maneuver coordination is improved, but the maneuver duration increases causing inefficiency
Solution Approach 1:
The system applies partial action by not requiring all involved vehicles to complete the negotiation and accept the maneuver before proceeding. Instead, the maneuver can be executed once a sufficient number of vehicles have accepted, which is often fewer than the total number of vehicles in the communication range. This partial completion approach maintains adequate coordination while avoiding unnecessary delays.
3Loss of time
If the system initiates negotiation early to ensure sufficient time for coordination, then the time buffer for negotiation is improved, but unnecessary communication overhead increases if negotiation is not needed
Solution Approach 1:
The system performs preliminary assessment of whether negotiation is necessary before initiating communication. By calculating the time required for negotiation and comparing it with the remaining validity time of the desired maneuver, the system can determine in advance whether negotiation should be initiated. This avoids unnecessary communication overhead when negotiation would not complete in time or when it is not needed.
Data Source
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AI summary
The proposal concerns a method for planning a cooperative driving maneuver which may be used in the scenario of cooperative driving or autonomous driving. The method comprises the steps of observing the surroundings of a vehicle (10A), determining a planned trajectory (PT) the vehicle (10A) drives on for a certain amount of time, determining a desired trajectory (DT) different from the planned trajectory (PT) requiring a cooperative driving maneuver with at least one of the surrounding vehicles (10B, 10C). The solution according to the invention comprises the steps of determining a timeout value for the cooperative driving maneuver, starting a negotiation phase with the vehicles (10B, 10C) involved in the cooperative driving maneuver by sending a cooperative driving maneuver request message (MCM), waiting for the response messages from the involved vehicles (10B, 10C) and changing to the desired trajectory (DT) if the involved vehicles (10B, 10C) have accepted the desired trajectory (DT) before the negotiation phase has expired according to the timeout value.