This paper introduces the a framework that simplifies the process of designing and describing autonomous vehicle platooning manoeuvres which implements four design principles: Standardisation, Encapsulation, Abstraction, and Decoupling (SEAD). 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. We hope that the SEAD framework will pave the way for further research in the area of new manoeuvre design and optimisation by largely simplifying and unifying platooning manoeuvre representation.

中文翻译：

---

基于分层状态机的排机动描述框架


本文介绍了一个框架，该框架简化了设计和描述自动车辆编队操作的过程，该框架实现了四个设计原则：标准化、封装、抽象和解耦（SEAD）。尽管大量的研究已经在制定队列机动，但设计、描述、阅读和理解它们仍然具有挑战性。这种困难很大程度上是由于缺乏形式化造成的。为了填补这一空白，我们分析了描述机动的现有方法，导出了困难的原因，并设计了一个简化机动设计过程的框架。此外，还开发了一种机动设计语言，以机器可读的格式在结构上描述机动。与每辆参与车辆都需要一个状态机的最先进的机动描述不同，SEAD 框架允许从排长的单一角度描述任何机动。我们希望 SEAD 框架能够通过大幅简化和统一编队机动表示，为新机动设计和优化领域的进一步研究铺平道路。