Cooperative driving behavior is essential for driving in traffic, especially for ramp merging,
lane changing or navigating intersections. Autonomous vehicles should also manage these …

This paper considers the problem of cooperative trajectory planning for multiple,
communicating, automated vehicles in general non-hazardous on-road scenarios …

This work considers the problem of cooperative optimal trajectory generation for
autonomous driving. A distributed nonlinear model predictive control (NMPC) for each …

Efficient intersection planning is one of the most challenging tasks for an autonomous
vehicle at present. Politeness to other traffic participants and reaction to surrounding …

In this paper, we propose a novel planning framework that can greatly improve the level of
intelligence and driving quality of autonomous vehicles. A reference planning layer first …

The vision of autonomous driving is piecewise becoming reality. Still the problem of
executing the driving task in a safe and comfortable way in all possible environments, for …

A lane following and lane changing maneuver planning method for automated vehicles is
investigated, which is capable of evaluating and incorporating cooperative agreements …

We present an approach for integrated decision making of vehicle agents in urban traffic
systems. The planning process for a vehicle agent is broken down into two stages: strategic …

In this paper, we study the difference between two major strategies of cooperative driving at
nonsignalized intersections: namely the “ad hoc negotiation-based” strategy and the …

Dense urban traffic environments can produce situations where accurate prediction and
dynamic models are insufficient for successful autonomous vehicle motion planning. We …