Mission based systems for connected automated mobility

Cooperative, connected and automated mobility (CCAM) is one of the next big steps in the automotive industry. Thanks to recent improvements in Advanced Driver Assistance Systems, and novel methods for automating vehicles, more safe and efficient transport mechanisms have been achieved. Current vehicles are already connected devices, and communications between vehicles, infrastructure and other road users will allow traffic agents to share information and use it to coordinate their actions. The full integration between cooperation, connectivity, and automation technologies entail an important achievement to improve road safety, traffic efficiency and comfort of driving. To approach this goal, the main contributions of this work propose a new distributed mission system based on Advanced Behavioral Points (ABP). That is, based on relevant points inside a plan which store a collection of predefined tasks that operate at the high level layer of an automated and connected vehicle to coordinate behaviors when connecting to critical emplacements like junctions and roundabouts. This approach, which has been tested in the simulation environment of Carla, provide a collaboration stack between the traffic infrastructure and the ego vehicle so as to cope with actual problems such as traffic congestion and road accidents.