Performance of Cooperative Maneuver Protocols in Real-World Automated Vehicles

Future automated vehicles will be able to negotiate cooperative maneuvers with each other via vehicle-to-everything communication, increasing safety, driving comfort, and traffic flow. Researchers have proposed several enabling cooperation protocols, but only a few have already been implemented in real-world vehicles. While simulations can be helpful for the development of a cooperation protocol, in the end, it is necessary to validate functionality in the target system. This paper implements one explicit general-purpose protocol for cooperative maneuvers in an automated vehicle, evaluating the overall cooperative, connected, and automated system in-depth. We show its feasibility, suitability for an example use case, and improvement potentials.