Automatic fault detection and execution monitoring in cooperative maneuvering

One strong motivation for introducing Vehicle-to-Vehicle technology is added safety. This technology will allow cooperative maneuver planing to help prevent many accidents in the future. However, safety for road users can only be effectively supported if the calculated motion plan for all participants is followed accurately and without deviation. A novel algorithm for monitoring of cooperative motion plans is presented. It solves a conflict by generating a state space for the possible maneuvers for the involved traffic participants, tracking the progress of these maneuvers, and reacting to deviations to help alleviate accidents and help ensure a safe conflict resolution. The proposed monitoring algorithm is applicable to all kinds of road environments and road users. Preliminary results indicate the wide usability and performance of this approach.