A Hierarchical State-Machine-Based Framework for Platoon Manoeuvre Descriptions

This paper introduces the a framework that simplifies process of designing and describing autonomous vehicle platooning manoeuvres which implements four design principles: Standardisation, Encapsulation, Abstraction, Decoupling (SEAD). Although large body research has been formulating manoeuvres, it is still challenging to design, describe, read, understand them. difficulty largely arises from missing formalisation. To fill this gap, we analysed existing ways derived causes difficulty, designed manoeuvre process. Alongside, Manoeuvre Design Language was developed structurally describe in machine-readable format. Unlike state-of-the-art descriptions require one state machine for every participating vehicle, SEAD allows any single perspective platoon leader. We hope will pave way further area new optimisation by simplifying unifying representation.