Provably-Safe Cooperative Driving via Invariably Safe Sets

We address the problem of provably-safe cooperative driving for a group of vehicles that operate in mixed traffic scenarios, where both autonomous and human-driven vehicles are present. Our method is based on Invariably Safe Sets (ISSs), which are sets of states that let each of the cooperative vehicles remain safe for an infinite time horizon. The potential conflicts between the ISSs of a group of cooperative vehicles are resolved by examining and negotiating their Safe Maneuver Corridors. As a result, each vehicle obtains its negotiated ISS, which is used as target sets for motion planning. We demonstrate the applicability and benefits of our method on various traffic scenarios from the CommonRoad benchmark suite.