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Cooperative Maneuvers of Highly Automated Vehicles at Urban Intersections: A Game-theoretic Approach

Topics: Autonomous Vehicles and Automated Driving; Congestion Management and Avoidance; Connected Services; Cooperative Driving and Traffic Management; Intelligent Infrastructure and Guidance Systems; Traffic Theory, Modeling, and Simulation; Urban Mobility and Multimodal Transportation; V2V, V2I, V2X

Authors: Björn Koopmann ; Stefan Puch ; Günter Ehmen and Martin Fränzle

Affiliation: OFFIS e.V., Escherweg 2, 26121 Oldenburg, Germany

ISBN: 978-989-758-419-0

ISSN: 2184-495X

Keyword(s): Highly Automated Driving, Cooperative Driving, Intelligent Transportation Systems, Traffic Management, Intersection Management, Intelligent Infrastructure, Collaborative Sensing, Trajectory Planning, Traffic Efficiency, Road Safety, Vehicle-to-Everything Communication, Game Theory, Traffic Simulation.

Abstract: In this paper, we propose an approach how connected and highly automated vehicles can perform cooperative maneuvers such as lane changes and left-turns at urban intersections where they have to deal with human-operated vehicles and vulnerable road users such as cyclists and pedestrians in so-called mixed traffic. In order to support cooperative maneuvers the urban intersection is equipped with an intelligent controller which has access to different sensors along the intersection to detect and predict the behavior of the traffic participants involved. Since the intersection controller cannot directly control all road users and – not least due to the legal situation – driving decisions must always be made by the vehicle controller itself, we focus on a decentralized control paradigm. In this context, connected and highly automated vehicles use some carefully selected game theory concepts to make the best possible and clear decisions about cooperative maneuvers. The aim is to improve tra ffic efficiency while maintaining road safety at the same time. Our first results obtained with a prototypical implementation of the approach in a traffic simulation are promising. (More)

CC BY-NC-ND 4.0

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Paper citation in several formats:
Koopmann, B.; Puch, S.; Ehmen, G. and Fränzle, M. (2020). Cooperative Maneuvers of Highly Automated Vehicles at Urban Intersections: A Game-theoretic Approach. In Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-419-0 ISSN 2184-495X, pages 15-26. DOI: 10.5220/0009351500150026

@conference{vehits20,
author={Björn Koopmann. and Stefan Puch. and Günter Ehmen. and Martin Fränzle.},
title={Cooperative Maneuvers of Highly Automated Vehicles at Urban Intersections: A Game-theoretic Approach},
booktitle={Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2020},
pages={15-26},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009351500150026},
isbn={978-989-758-419-0},
issn={2184-495X},
}

TY - CONF

JO - Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - Cooperative Maneuvers of Highly Automated Vehicles at Urban Intersections: A Game-theoretic Approach
SN - 978-989-758-419-0
IS - 2184-495X
AU - Koopmann, B.
AU - Puch, S.
AU - Ehmen, G.
AU - Fränzle, M.
PY - 2020
SP - 15
EP - 26
DO - 10.5220/0009351500150026

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