Cooperative driving: Beyond V2V as an ADAS sensor

Vehicle-to-Vehicle (V2V) communication systems utilize wireless communications for shared sensing between vehicles. This paper discusses how V2V systems could be utilized, beyond shared sensing, for shared decision making between cooperative vehicles. We propose distributed receding horizon control (DRHC) as an appropriate mechanism for scalable, shared decision making. Two automated driving applications, platooning and cooperative merging, illustrate the use of essential enabling technologies, including geo-spatial positions, digital road maps, collision avoidance, and path prediction, and how each is incorporated through our DRHC-centric framework. At the core of the framework is a four-task logic that allows partially-synchronous execution of local, computationally-efficient, optimization problems on board each vehicle.