A Hierarchical State-Machine-Based Framework for Platoon Manoeuvre Descriptions
Corvin Deboeser, Jordan Ivanchev, Thomas Braud, Alois Knoll, David, Eckhoff, Alberto Sangiovanni-Vincentelli

TL;DR
This paper presents the SEAD framework, a hierarchical, formalized approach for designing and describing autonomous vehicle platooning maneuvers from a single perspective, simplifying understanding and development.
Contribution
The paper introduces the SEAD framework and Manoeuvre Design Language, enabling simplified, formalized, and unified description of platooning maneuvers from the platoon leader's perspective.
Findings
Implemented in BEHAVE simulation environment
Reduced manoeuvre execution time by 28% through parallelization
Demonstrated applicability with literature-based manoeuvres
Abstract
This paper introduces the SEAD framework that simplifies the process of designing and describing autonomous vehicle platooning manoeuvres. Although a large body of research has been formulating platooning manoeuvres, it is still challenging to design, describe, read, and understand them. This difficulty largely arises from missing formalisation. To fill this gap, we analysed existing ways of describing manoeuvres, derived the causes of difficulty, and designed a framework that simplifies the manoeuvre design process. Alongside, a Manoeuvre Design Language was developed to structurally describe manoeuvres in a machine-readable format. Unlike state-of-the-art manoeuvre descriptions that require one state machine for every participating vehicle, the SEAD framework allows describing any manoeuvre from the single perspective of the platoon leader. %As a proof of concept, the proposed…
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Taxonomy
TopicsTraffic control and management · Autonomous Vehicle Technology and Safety · Transportation Planning and Optimization
