Experimental Validation of Intent Sharing in Cooperative Maneuvering

Intent sharing is an emerging type of vehicle-to-everything (V2X) communication where vehicles share information about their intended future trajectories. In this study, we implement intent sharing via commercially available V2X devices, and experimentally demonstrate its benefits in resolving conflicts arising in cooperative maneuvering. An extended framework of conflict analysis is used to provide decision-making assistance via on-board warnings to a human-driven vehicle in highway merge scenario. We show that intent information can significantly benefit safety and time efficiency. Using the experimental data, we also evaluate the effects of communication conditions (e.g., sending rate and intent horizon) on the gained benefits.