Cooperative Strategical Decision and Trajectory Planning for Automated Vehicle in Urban Areas

Abstract

Rapid growth of the number of vehicle in Europe in the last two decades requires efficient transportation and mobility, especially in urban areas. Special focus is needed for the bottlenecks of urban areas: the intersections. The European H2020 project MAVEN is working on such concepts. By using new technologies like vehicle automation, communication and interaction with traffic lights, intersections are transformed into communication hubs, where the needs of all traffic participants are aggregated and the most efficient way to proceed is calculated in a hierarchical way. Signal plans are optimized, and hints for smoother travelling (i.e. lane, speed and platoon advices) are given to the vehicles. On the other hand automated vehicles, as future means of transport, communicate not only to infrastructure, but also with each other’s. The focus of the paper is on design, implement and prove the functionality of a strategical decision module and a trajectory planner which is aligned with above mentioned requirement.