Recursive conflict resolution for cooperative motion planning in dynamic highway traffic

Automated driving with human-like driving behavior requires the capability of cooperative decision making. In this paper, we present a novel method of cooperative decision making in dynamic and structured environments such as highways. Other motorists´ intentions are deduced and integrated into a planning framework that allows for reasonable cooperative decision making without the need of inter-vehicle communication. Therefore, and to reduce computational complexity, we assume that following vehicles´ actions are dominated by their predecessors and use the assumption to formulate a recursive conflict resolution algorithm. Results from simulations and real-world experiments show the functionality of the presented approach.