On the Coexistence of Maneuver Coordination Service with Use-Case Specific Applications

Cooperative Autonomous Vehicles (CAVs), like their human-driven counterpart, need to coordinate their maneuvers with other traffic participants in order to increase comfort and traffic efficiency. The development and standardization of the Maneuver Coordination Service (MCS) aim to offer CAVs these capabilities. Meanwhile, there are also other applications which are being developed that will allow vehicles to coordinate maneuvers for specific use cases, i.e. Cooperative Adaptive Cruise Controller, Platooning or Cooperative Lane Change Assistance. In this work we extend MCS so that it supports the coordination and negotiation needed by these applications, without being intrusive in the existing structure of the Maneuver Coordination Message. Furthermore we also propose an on-demand message generation rule combined with a keep-alive function for MCS. We implement the proposed service and test it on a highway merging scenario. The results show that with this method we have a more efficient channel usage, higher position tracking accuracy and successful merging rate.