TransAID Deliverable 3.2: Cooperative maneuvring in the presence of hierarchical traffic management

This present document is Deliverable D3.2 entitled 'Cooperative manoeuvring in the presence of hierarchical traffic management', which was prepared in the context of the WP3 framework of the TransAID project. The scope of this document encompasses the modelling and simulation of cooperative manoeuvring in the context of the microscopic traffic simulation activities conducted within TransAID. Initially, the state of the art in the domain of cooperative manoeuvring is provided and then two different cooperative manoeuvring frameworks are introduced. The first one is a decentralized framework where cooperative manoeuvring is solely based on vehicle-to-vehicle (V2V) communications, while the second one is a centralized framework that utilizes vehicle-toanything (V2X) communications. The logic for simulating the decentralized approach in the microscopic traffic simulator SUMO is subsequently introduced along with the corresponding functionalities that were developed within SUMO for this purpose. Cooperative manoeuvring is coupled with hierarchical traffic management by explaining how the decentralized approach can be integrated in the traffic management plans that were developed for each use case examined in the context of TransAID. Cooperative manoeuvring is coupled with traffic separation in SUMO and a timeline of cooperative manoeuvring actions in the simulation is presented. Coupling with communications is also addressed. Moreover, adaptations to the vehicle/driver models, that were developed to replicate the behaviour of cooperative and automated vehicles (CAV), are proposed based on the findings of the real-world prototype experiments. Finally, focus on the centralized approach in terms of development of relevant SUMO functionalities, and integration within the TransAID traffic management plans will be placed during the second project iteration.