Tactical Decision Making for Cooperative Vehicles Using Reachable Sets

Tactical maneuver planning of multiple, communicating vehicles provides the opportunity to increase passenger safety and comfort. We propose a unifying method to orchestrate the motion of cooperative vehicles based on the negotiation of conflicting road areas, which are determined by reachable set computation. As a result, each vehicle receives an individual driving corridor for trajectory planning. The presented conflict resolution scheme has polynomial runtime complexity and is guaranteed to find the optimal allocation of road areas for each negotiation round. Our method is not tailored to specific traffic situations but is applicable to general traffic scenes with manually driven and automated vehicles. We demonstrate the universal usability of our approach in numerical experiments.