The Use of Intent Information in Conflict Detection and Resolution Models Based on Dynamic Velocity Obstacles

The velocity obstacle (VO) representation, a mathematical representation that supports separation assurance for autonomous vehicle navigation, can provide improved performance when the intended trajectory (intent) of the involved vehicles is shared among each other. This paper proposes a fully analytical closed mathematical form for VOs as an intuitive and flexible calculation method, which is able to incorporate time-varying concepts such as trajectory prediction errors. Several study cases for specific traffic situations are explored, and possibilities to extend the method to the third dimension are discussed. Analysis showed that the calculation of the VOs with intent information could show self-curve intersections when maneuvers at close distance are required. Further elimination of these intersections might be necessary for certain specific applications.