Cooperative Maneuver Coordination: Smart Infrastructure for VRUs Collision Avoidance with Trajectory Planning

Smart infrastructure based on Roadside Units (RSUs) can monitor the road environment and coordinate the maneuvers of the vehicles, increasing road safety and comfort for the passengers. In a scenario with occlusion, the infrastructure evaluates all traffic participants' current states and estimates their future states and the associated collision risk. In the case of a possible collision between a connected and automated vehicle and a Vulnerable Road User (VRU), a collision-free trajectory is computed and assessed to avoid bringing the automated vehicle into an unstable condition. Finally, the evasion maneuver is transmitted to the target vehicle. This paper presents an infrastructure-based local trajectory planner for VRU collision avoidance with safety and comfort assessment.