Conflict Analysis for Cooperative Maneuvering with Status and Intent Sharing via V2X Communication

In this paper, we establish the concept of conflict analysis and demonstrate its applicability to aid the decision making of vehicles at different levels of automation and cooperation. In particular, we assume that the participating vehicles are equipped with vehicle-to-everything (V2X) communication and study cooperative maneuvers under status sharing and intent sharing. Conflict-free maneuvering strategies are developed and communication requirements for such strategies are determined. To demonstrate the developed framework, we investigate a scenario with an ego vehicle merging to a main road while another vehicle is approaching on that road. The results are demonstrated by both experimental data using real vehicles on a test track and simulations based on real highway data.