A system of systems framework: Cooperative Maneuvers Manager for Autonomous Vehicles

Assaad, Mohamad Ali; Talj, Reine; Charara, Ali · 2018 · Crossref

DOI: 10.1109/sysose.2018.8428759

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Summary

This paper introduces the Cooperative Maneuvers Manager for Autonomous Vehicles (CMMAV), a System of Systems (SoS) framework designed to enable connected autonomous vehicles (CAVs) to perform complex lateral maneuvers, such as overtaking, cooperatively on highways. The research is motivated by the need to improve Intelligent Transportation Systems (ITS) through enhanced safety, reduced travel time, and decreased congestion. The authors classify ITS as a collaborative SoS and identify CMMAV specifically as a directed SoS, where constituent systems (CAVs) join to share objectives under centralized governance. To model the CMMAV, the authors employ the Systems of Systems Approach to Context-based Requirements Engineering (SoS-ACRE). This method utilizes Systems Modeling Language (SysML) to construct a multi-view framework that maps capabilities, goals, and requirements to their sources. The framework consists of nine views, including Source Element, Requirement Description, Context Definition, Rule Set Definition, and Traceability. The authors define the CMMAV ecosystem, identifying stakeholders such as the state, manufacturers, and passengers, alongside constituent systems like the CAVs. Requirements are derived from these sources, such as local traffic laws and passenger needs, and are formalized into specific rules. For instance, the requirement to respect speed limits is enforced through rules that constrain the ego-vehicle’s speed reference based on minimum and maximum legal limits. The paper details how the framework addresses key SoS challenges, including heterogeneity, evolutionary development, and stable intermediate forms. To handle heterogeneity among different vehicle manufacturers, the Cooperative Lateral Maneuvers Manager (CLMM) module includes an internal communication block adaptable to various vehicle architectures. For evolutionary development, new objectives or requirements can be integrated and broadcasted via the cloud. To ensure stable intermediate forms during the transition period where SoS vehicles share roads with non-SoS vehicles, the system uses onboard sensors to detect non-cooperative vehicles and external indicators to signal intentions. The authors also address emergent behaviors, such as traffic shock waves, by preventing vehicles from requesting cooperation when responding to another vehicle’s request. The significance of this work lies in providing a structured architectural framework for managing cooperative behaviors in autonomous vehicles within a complex SoS environment. By explicitly tracing requirements to their sources and defining clear rules and contexts, the CMMAV framework ensures that autonomous maneuvers comply with legal and safety constraints while optimizing traffic flow. The paper concludes that this approach facilitates the integration of new modules and requirements, supporting the continuous evolution of intelligent transportation systems. Future work involves using simulations to validate that the system meets its defined requirements across various scenarios.

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• Theoretical Contribution: conceptual framework