When Cooperation Should End: Maneuver Coordination Cancellation for Connected Automated Driving

Maneuver coordination is essential for cooperative connected automated driving, enabling vehicles to negotiate maneuvers and interactions through V2X communication. While prior work has largely focused on how to initiate and execute coordinations, considerably less attention has been given to how ongoing coordinations should be terminated when they become unsuitable. This paper introduces the first complete design and implementation of maneuver coordination cancellation, including a state machine, message set, and decision-making logic. Our evaluation shows that cancellation significantly reduces the time vehicles spend in coordinations that cannot succeed, allowing them to become available for new maneuvers sooner. This increases the number of triggered coordinations and improves the number of successful maneuver coordinations. Overall, the study demonstrates that maneuver coordination cancellation improves cooperative driving, and establishes a foundation for further refinements that can enhance the efficiency and robustness of connected automated driving.