Multi-vehicle Conflict Management with Status and Intent Sharing

In this paper, we extend the conflict analysis framework to resolve conflicts between multiple vehicles with different levels of automation, while utilizing status-sharing and intent-sharing enabled by vehicle-to-everything (V2X) communication. In status-sharing a connected vehicle shares its current state (e.g., position, velocity) with other connected vehicles, whereas in intent-sharing a vehicle shares information about its future trajectory (e.g., velocity bounds). Our conflict analysis framework uses reachability theory to interpret the information contained in status-sharing and intent-sharing messages through conflict charts. These charts enable real-time decision making and control of a connected automated vehicle interacting with multiple remote connected vehicles. Using numerical simulations and real highway traffic data, we demonstrate the effectiveness of the proposed conflict resolution strategies, and reveal the benefits of intent sharing in mixed-autonomy environments.