An Extended Maneuver Coordination Protocol with Support for Urban Scenarios and Mixed Traffic

Coordinating the maneuvers between connected vehicles and other road users can increase traffic efficiency. To efficiently coordinate road users in a broad variety of maneuvers despite limited bandwidth, an appropriate message format and communication procedure must be defined. For this, first proposals have been made, mostly from a highway application perspective. However, we observe that many maneuvers that likely occur in urban scenarios are not covered by the existing proposals. Hence, in this work, we propose a new maneuver coordination message and a corresponding communication procedure with additional support for cooperative urban scenarios and mixed traffic of automated and manually driven vehicles. We illustrate the usage of our extended protocol with several example use cases.