Evaluating Protocols for Cooperative Maneuvers Among Connected and Automated Vehicles

Future automated vehicles will also cooperatively perform maneuvers. Researchers have recently proposed diverse application-layer protocols to enable such cooperative maneuvers via vehicle-to-everything communication. However, every study uses its own set of metrics, making the results hard to compare. In this paper, we propose a framework comprising existing and new metrics for cooperation protocols that enables researchers to examine their protocols in comparable ways. Some of them are based on simulation, others on real-world implementation. We also evaluate two example protocols according to the framework to show its applicability. We hope to initiate a discussion on relevant and suitable metrics for cooperation protocols and to contribute to making future research on cooperation protocols more objectively comparable.