Cooperative Maneuver Coordination (CMC) is a cooperative driving application for connected and automated vehicles (CAVs) enabled by vehicle-to-everything (V2X) communication. Using Maneuver Coordination Messages (MCMs) as part of the Maneuver Coordination Service (MCS), CAVs can broadcast their intent and coordination data to improve traffic safety, comfort, and efficiency. Unlike most other V2X services, MCS requires multiple MCM categories to effectively negotiate maneuvers with other CAVs. This study presents and analyzes different MCM categories and negotiation patterns based on the number of cooperating vehicles and cascading maneuvers. The goal is to ensure a fast, safe, and unambiguous negotiation process. The complexity of coordination is investigated through a simulated highway merging use case, considering scenarios with an increasing number of CAVs. The evaluation of the overall CMC process includes metrics that assess coordination complexity, efficiency, and the impact of unreliable communication with varying Packet Reception Rates (PRR). In addition, safety, comfort, and cost of cooperation are considered for each scenario.
Negotiation Patterns for V2X Cooperative Driving: How complex Maneuver Coordination can be?
2023-10-10
1460027 byte
Conference paper
Electronic Resource
English
Driving Strategy Selection for Cooperative Vehicles Using Maneuver Templates
British Library Conference Proceedings | 2017
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