Abstract: An ego vehicle includes a controller configured to obtain a maneuver message from a first remote vehicle, which includes a negotiation request related to a maneuver to be performed by the first remote vehicle, determine a degree of conflict based on a position and a velocity of the ego vehicle, and driving information of the first remote vehicle, determine whether to accept the negotiation request based on the degree of conflict, send a maneuver message including an alternative suggestion to the first remote vehicle in response to determining to reject the negotiation request, and control the ego vehicle based on a negotiation result.

Abstract: An ego vehicle includes a controller configured to determine a degree of conflict in a conflict zone between the ego vehicle and a remote vehicle based on a position and a velocity of the ego vehicle, and driving information of the remote vehicle, select a negotiation protocol based on the degree of conflict, initiate a negotiation with the remote vehicle based on the selected negotiation protocol, and operate the ego vehicle based on the negotiation.

Abstract: An ego vehicle includes a controller configured to receive a plurality of maneuver messages from a plurality of connected vehicles. The maneuver messages include maneuvers to be performed by the plurality of connected vehicles. The controller determines degrees of criticality for the maneuvers, determines priorities of the plurality of maneuver messages based on the degrees of criticality for the maneuvers, and determines whether to accept one or more of the plurality of maneuver messages based on the determined priorities.

Abstract: Systems and methods are provided for initiation of emergency post-conflict detection negotiations by a vehicle involved in a primary conflict with nearby vehicles. Examples include detecting a conflict involving an ego vehicle, determining a trajectory of the ego vehicle for a time period after detecting the conflict, predicting a geographic area occupied by the trajectory of the ego vehicle for the time period, identifying one or more remote vehicles adjacent to the geographic area, and initiating negotiations with the identified one or more remote vehicles that reserves the geographic area for the detected conflict and the determined trajectory.

Abstract: A system and methods are provided for implementing mitigation action selection, which utilizes a cooperative approach that recognizes how many other connected vehicles are in the vicinity and considers other factors for determining which control action to undertake for congestion mitigation. Various parameters in combination with traffic models are used to evaluate the susceptibility of each lane to propagation of disturbances. For example, a connected vehicle may first request a lane change, and an impact of that lane change on traffic is analyzed. If feasible, the lane change and define an optimal control action to mitigate any disturbance on traffic. If the impact is considered significant, then the lane change request may be denied. Additionally, a learning approach can be used to reinforcement learning model to perform the decision-making process. Accordingly, an optimal control action that lessens the effect of disturbances on traffic congestion can be determined for vehicles.

Abstract: An ego vehicle includes a controller configured to obtain a maneuver message from a first remote vehicle, which includes a negotiation request related to a maneuver to be performed by the first remote vehicle, determine a degree of conflict based on a position and a velocity of the ego vehicle, and driving information of the first remote vehicle, determine whether to accept the negotiation request based on the degree of conflict, send a maneuver message including an alternative suggestion to the first remote vehicle in response to determining to reject the negotiation request, and control the ego vehicle based on a negotiation result.

Abstract: An ego vehicle includes a controller configured to determine a degree of conflict in a conflict zone between the ego vehicle and a remote vehicle based on a position and a velocity of the ego vehicle, and driving information of the remote vehicle, select a negotiation protocol based on the degree of conflict, initiate a negotiation with the remote vehicle based on the selected negotiation protocol, and operate the ego vehicle based on the negotiation.

Abstract: An ego vehicle includes a controller configured to receive a plurality of maneuver messages from a plurality of connected vehicles. The maneuver messages include maneuvers to be performed by the plurality of connected vehicles. The controller determines degrees of criticality for the maneuvers, determines priorities of the plurality of maneuver messages based on the degrees of criticality for the maneuvers, and determines whether to accept one or more of the plurality of maneuver messages based on the determined priorities.

Abstract: Examples of the presently disclosed technology provide systems and methods for intelligently withholding selected basic safety messages (or other similar messages) from transmission by determining that current vehicle state-related information contained in the selected BSMs is redundant to predicted vehicle state-related information contained in a previously transmitted maneuver message (or other similar messages). Accordingly, examples of the presently disclosed technology can reduce strain on wireless communication channel resources (e.g., proximate to large traffic environments) by reducing the number of messages exchanged among connected vehicles—while preserving the traffic safety and efficiency advantages associated with such communication.