@techreport{oai:ipsj.ixsq.nii.ac.jp:00242136,
 author = {Daniel, Gabriel and Yuki, Horita and Ryo, Inaba and Hidehiro, Toyoda and Daniel, Gabriel and Yuki, Horita and Ryo, Inaba and Hidehiro, Toyoda},
 issue = {39},
 month = {Jan},
 note = {Within the rapidly advancing domain of autonomous vehicle (AV) maneuvering, making considerate decisions and performing cooperative control by accounting for other vehicle's movements is paramount. One of the main challenges is to realize smooth maneuver coordination, which requires synchronizing with other vehicle's maneuvers and finding a stopping pose (position and posture) that does not obstruct other vehicle's movement. We present a novel framework that allows the AV to make such cooperative maneuver coordination by defining the action order of both AV and other vehicles and representing the other vehicle's path as an interference risk area. This allows the trajectory planner to dynamically search for a stopping pose that does not contain risk, resulting in a smooth coordination of cooperative maneuvers. We demonstrate the effectiveness of our proposed framework through experiments using an AV prototype in pass-by scenarios that require cooperative maneuver coordination., Within the rapidly advancing domain of autonomous vehicle (AV) maneuvering, making considerate decisions and performing cooperative control by accounting for other vehicle's movements is paramount. One of the main challenges is to realize smooth maneuver coordination, which requires synchronizing with other vehicle's maneuvers and finding a stopping pose (position and posture) that does not obstruct other vehicle's movement. We present a novel framework that allows the AV to make such cooperative maneuver coordination by defining the action order of both AV and other vehicles and representing the other vehicle's path as an interference risk area. This allows the trajectory planner to dynamically search for a stopping pose that does not contain risk, resulting in a smooth coordination of cooperative maneuvers. We demonstrate the effectiveness of our proposed framework through experiments using an AV prototype in pass-by scenarios that require cooperative maneuver coordination.},
 title = {A Framework for Non-Obstructive Maneuver Coordination of Autonomous Vehicles in Cooperative Driving Scenarios},
 year = {2025}
}