Method and apparatus for coordinating multiple cooperative vehicle trajectories on shared road networks

A vehicle coordination system is provided for coordinating the trajectories of vehicles on a road network. The vehicle coordination system comprises a plurality of vehicles each having respective vehicle position tracking assemblies that are in communication with respective vehicle communication systems for transmitting vehicle state messages including positions of the vehicles. A task assignment allocator is provided that is arranged to generate task assignments for each of the plurality of vehicles, including destinations in the road network for the vehicles. A vehicle coordination assembly is in communication with the vehicle communication systems via a data network for receiving the vehicle state messages. The vehicle coordination assembly is configured to determine respective paths for each vehicle to arrive at their respective destinations and determine trajectory control commands for each vehicle to traverse their respective paths whilst optimizing a predetermined objective and avoiding active interactions of two or more of the vehicles occurring in any shared areas of the paths. The vehicle coordination assembly is configured to transmit the trajectory control commands to each vehicle. The predetermined objective may be an aggregate traversal time for the vehicles.