A robust protocol is required to enable maneuver coordination among connected and automated vehicles (CAVs) using vehicle-to-everything (V2X) communication. The main goal of such a cooperative driving application is to increase the safety, efficiency and comfort of future automated vehicles. To this end, a message for priority-based maneuver sharing and coordination for a decentralized protocol is presented and specified in ASN.1 format. The required containers, data elements and the respective message sizes are analyzed and compared to other existing V2X messages. To validate the protocol with the proposed message, a highway merging use case is simulated and evaluated in scenarios with CAVs and mixed traffic. Safety-critical corner cases are also simulated to analyze how the coordination protocol can handle such situations to maintain safety and avoid accidents. The coordination is evaluated with several metrics that consider safety, comfort and efficiency. Finally, research gaps for cooperative driving in mixed traffic scenarios are identified and discussed.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Decentralized V2X Maneuver Sharing and Coordination Message for Cooperative Driving: Analysis in Mixed Traffic


    Contributors:


    Publication date :

    2023-09-24


    Size :

    1649730 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    A Survey on Decentralized Cooperative Maneuver Coordination for Connected and Automated Vehicles

    Maksimovski, Daniel / Festag, Andreas / Facchi, Christian | TIBKAT | 2021


    METHOD FOR COOPERATIVE MANEUVER COORDINATION

    DOLGOV MAXIM / MICHALKE THOMAS / WILDSCHUETTE FLORIAN et al. | European Patent Office | 2020

    Free access

    Method for cooperative maneuver coordination

    DOLGOV MAXIM / MICHALKE THOMAS / WILDSCHUETTE FLORIAN et al. | European Patent Office | 2022

    Free access

    Cooperative Maneuver Planning for Mixed Traffic at Signalized Intersections

    Guney, Mehmet Ali / Guo, Rui / Tiwari, Prashant | IEEE | 2021


    PRIORITY INDICATION IN MANEUVER COORDINATION MESSAGE

    YU LAN / VASSILOVSKI DAN / CHENG HONG et al. | European Patent Office | 2024

    Free access