Importance of Intent-Sharing for V2X-based Maneuver Coordination
For developers of V2X communication protocols, this work demonstrates the critical need for intent-sharing to enable reliable maneuver coordination among CAVs.
This paper quantifies the effectiveness of intent-sharing for maneuver coordination in connected and automated vehicles, showing substantial improvements in successful lane change coordination compared to trajectory prediction methods.
This paper examines the critical role of intent-sharing in enabling effective maneuver coordination for connected and automated vehicles (CAVs). Successful maneuver coordinations require vehicles to accurately know other vehicles' driving intentions. Intent-sharing can be achieved by the remote vehicles directly communicating their plans with the ego vehicle, as opposed to the ego vehicle predicting the trajectory on the remote vehicles' behalf. In this paper, we investigate the potential of intent-sharing on maneuver coordination effectiveness by quantifying the percentage of successful coordinations. We analyze the potential of intent-sharing by comparing its effectiveness for coordinated lane changes in a highway scenario with the effectiveness of a trajectory prediction method based on current kinematic data. Our analysis demonstrates in two scenarios substantial improvements in maneuver coordination when CAVs have direct access to the nearby vehicles' driving intentions through intent sharing. These findings highlight the importance of including intent-sharing in the maneuver coordination protocol.