Kai Franke

A reference architecture for CISS/CDAS within the field of cooperative driving

The V2V communication is a promising technology aiming at the growing demands on safety, comfort and efficiency. A variety of research projects demonstrate the expandability of the V2V communication across the boundaries of current industry standards. The authors divide the expandability into two key aspects: collective scene description and cooperative maneuvers. This article combines the expandability of the V2V communication with systematically deduced essential automotive requirements and the challenges of a distributed decision making process. That leads to a reference architecture for cooperative driver assistance systems (CDAS) and cooperative integrated safety systems (CISS), uniting the flexibility for several implementations and a defined focus by the help of clear modules and interfaces. This article verifies the reference architecture using a cooperative merging onto a highway with a focus on the diversity of feasible implementation. The reference architecture arranges the field of research in separate problems and stimulate discussions about the proposed interfaces as an important step to future standards. Further research will gradually address the separate modules to establish the performance of CDAS/CISS and evaluate several concept variants.

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.