Systems and methods described herein are provided for detecting, by an approaching vehicle, that a path is blocked by one or more blocking vehicles and sending a series of negotiation messages to determine if the blocking vehicles are able to move out of the way. Capability and surroundings request messages are sent to each blocking vehicle to determine if each blocking vehicle indicates permission to move to enable the approaching vehicle to move along the path. Blocking vehicles also respond with three-dimensional data of the environment around each blocking vehicle. Feasibility of moving out of the way is determined and if feasible, each blocking vehicle is commanded to move out of the way of the path. The approaching vehicle continues traversing along the path if the blocking vehicles have been moved out of the way.
|Published - 8 Mar 2018
|MoE publication type