With increasing connectivity, more and more advanced forms of cooperation among vehicles have become possible. Research has shown that vehicle-to-vehicle communication can improve road safety. However, more recent research advances regarding complex interactions such as cooperative maneuver negotiation have not yet gained much attention. Thus, in this survey, we analyze proposals for maneuver coordination protocols among automated vehicles. We include the communication, computation, and decision-making architectures commonly employed and a categorization scheme for different application-layer protocols enabling cooperative maneuvers. Next, we summarize related standardization, industry alliances, and research projects. As this field of research is still emerging, we also identify the diverse challenges that lie ahead before cooperative maneuver negotiations among automated vehicles can become a reality.

中文翻译：

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联网和自动驾驶车辆的协作架构和操作调查


随着连通性的增强，车辆之间越来越先进的合作形式已成为可能。研究表明，车辆间通信可以改善道路安全。然而，最近关于复杂交互（例如合作机动谈判）的研究进展尚未引起太多关注。因此，在本次调查中，我们分析了自动车辆之间的机动协调协议的建议。我们包括常用的通信、计算和决策架构以及支持协作操作的不同应用层协议的分类方案。接下来，我们总结一下相关的标准化、产业联盟和研究项目。由于这一研究领域仍处于新兴阶段，我们还确定了自动驾驶车辆之间的协作机动谈判成为现实之前面临的各种挑战。