Collaborative Autonomous Driving—A Survey of Solution Approaches and Future Challenges

Abstract

Sooner than expected, roads will be populated with a plethora of connected and autonomous vehicles serving diverse mobility needs. Rather than being stand-alone, vehicles will be required to cooperate and coordinate with each other, referred to as cooperative driving executing the mobility tasks properly. Cooperative driving leverages Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) communication technologies aiming to carry out cooperative functionalities: (i) cooperative sensing and (ii) cooperative maneuvering. To better equip the readers with background knowledge on the topic, we firstly provide the detailed taxonomy section describing the underlying concepts and various aspects of cooperation in cooperative driving. In this survey, we review the current solution approaches in cooperation for autonomous vehicles, based on various cooperative driving applications, i.e., smart car parking, lane change and merge, intersection management, and platooning. The role and functionality of such cooperation become more crucial in platooning use-cases, which is why we also focus on providing more details of platooning use-cases and focus on one of the challenges, electing a leader in high-level platooning. Following, we highlight a crucial range of research gaps and open challenges that need to be addressed before cooperative autonomous vehicles hit the roads. We believe that this survey will assist the researchers in better understanding vehicular cooperation, its various scenarios, solution approaches, and challenges.

Data-Driven Risk-sensitive Model Predictive Control for Safe Navigation in Multi-Robot Systems

“…1) Reformulation in the deterministic setting: Before introducing the distributionally robust risk sensitive version of the above constraints, we first present the reformulation of the above in the deterministic regime. Consider the occupancy set O m defined in (3). The distance between an agent at position z i and O m is given by dist…”

“…Multi-robot systems, including drones, ground robots, and autonomous vehicles, have seen tremendous growth due to applications ranging from military [1], search and rescue missions [2], advanced mobility [3], cave explorations [4], indoor motion [5], warehouses [6] and entertainment purposes [7]. In such settings, each individual robot moves in a highly uncertain environment and is required to safely avoid obstacles and other members of the group.…”

How Do Autonomous Vehicles Decide?

“…Considering the importance of decision-making technology for AVs and the tendency of the recent development of new approaches, this paper aims to provide a detailed analysis of solution approaches focusing on decision-making for AVs. To equip the readers with the background information on AD and its related concepts, we highly encourage them to look into our comprehensive surveys [ 12 , 13 ] published in reputed journals.…”

Human-Machine Shared Driving Control for Semi-Autonomous Vehicles Using Level of Cooperativeness

“…Rapid advancements in autonomous vehicle technology have led to the design of several features, such as automated lane keeping [ 1 , 2 ], blind spot monitoring, highway merge, and automated cruise control, among others [ 3 , 4 , 5 , 6 , 7 ]. With the advent of autonomous vehicle technology various areas, such as urban mobility and smart roads [ 8 ], collaborative driving and shared driving [ 9 ], etc., have been explored. However, dealing with dynamic environments, complex traffic scenarios, weather conditions, connectivity challenges along with legal and ethical issues related to practical implementation of on-road autonomous vehicles still persist.…”