Coordination of Autonomous Vehicles: Taxonomy and Survey


Stefano Mariani, Giacomo Cabri, Franco Zambonelli

ACM Computing Surveys,  2020

In the near future, our streets will be populated by myriads of autonomous self-driving vehicles to serve our diverse mobility needs. This will raise the need to coordinate their movements in order to properly handle both access to shared resources (e.g., intersections and parking slots) and the execution of mobility tasks (e.g., platooning and ramp merging). In this paper, we firstly introduce the general issues associated to coordination of autonomous vehicles, by identifying and framing the key classes of coordination problems. Following, we overview the different approaches that can be adopted to deal with such problems, by classifying them in terms of the degree of autonomy in decision making that is left to autonomous vehicles during the coordination process. Finally, we overview some further peculiar challenges that research will have to address before autonomous coordinated vehicles can safely hit our streets.

(keywords) Autonomous vehicles, cooperative driving, coordination, autonomy, survey
 @article{,
year = 2020,
keywords = {Autonomous vehicles, cooperative driving, coordination, autonomy, survey},
status = {Accepted with revision},
venue_list = {--},
journal = {ACM Computing Surveys},
author = {Mariani, Stefano and Cabri, Giacomo and Zambonelli, Franco},
title = {Coordination of Autonomous Vehicles: Taxonomy and Survey},
abstract = {In the near future, our streets will be populated by myriads of autonomous self-driving vehicles to serve our diverse mobility needs. This will raise the need to coordinate their movements in order to properly handle both access to shared resources (e.g., intersections and parking slots) and the execution of mobility tasks (e.g., platooning and ramp merging). In this paper, we firstly introduce the general issues associated to coordination of autonomous vehicles, by identifying and framing the key classes of coordination problems. Following, we overview the different approaches that can be adopted to deal with such problems, by classifying them in terms of the degree of autonomy in decision making that is left to autonomous vehicles during the coordination process. Finally, we overview some further peculiar challenges that research will have to address before autonomous coordinated vehicles can safely hit our streets.}} 
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Publication

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Stefano Mariani, Giacomo Cabri, Franco Zambonelli

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accepted with revision

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ACM Computing Surveys

— publication date

2020

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article

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