Network-specific Analysis of Maneuver Coordination

Introduction

Next to the Cooperative Awareness Message (CAM) and the Collective Perception Message (CPM) the ETSI is also specifying the Maneuver Coordination Message. In contrast to the CAM and CPM which are designed to raise awareness and improve perception of the traffic situation, the MCM is intended to articulate driving intentions of vehicles. This becomes increasingly important with rising automation levels, since drivers are not always present to articulate their intentions or predict intentions of others by experience. This results in a decrease in driving performance for automated cars since their prediction algorithms need to consider a larger solution space. The MCM includes multiple trajectories, such as the currently followed one but can also desired trajectories to announce driving intentions of the sending vehicle. Another benefit of this message comes with the possibility to cooperate and coordinate maneuvers explicitly. A receiver of an MCM might yield to allow a desired trajectory, which can be confirmed by a change in the own planned trajectory. The requesting vehicle can acknowledge the coordination by sending the desired as the new planned trajectory.

Tasks

Transmitting the MCM along with the CAM and CPM increases load on the communication channel. As literature shows, rising market penetration rate of communicating vehicles might already lead to a highly congested channel in high traffic density scenarios even when only CAMs and CPMs are sent. Therefore, it is necessary to analyze the impact of the MCM on the communication channel.

Material

• [1] ETSI TR 103 562: Analysis of the Collective Perception Service (CPS)
• [1] Artery V2X Simulation Framework
• [2] Realizing Collective Perception in the Artery Simulation Framework
• [3] A Generic Approach towards Maneuver Coordination for Automated Vehicles
• Hinweise zur Durchführung von studentischen Arbeiten am IBR