Towards effective V2X maneuver coordinations: state machine, challenges and countermeasures

Connected and automated vehicles can leverage V2X communications to coordinate their maneuvers. Maneuver coordination is expected to improve traffic efficiency and safety, but the design of maneuver coordination is a challenging task in complex traffic scenarios, as maneuvers affect not only the involved vehicles but also nearby traffic. This study introduces a reference state machine for the design of maneuver coordination. Furthermore, we identify and analyze the challenges that maneuver coordination may encounter. We quantify the relevance of each challenge and propose a set of countermeasures to enhance the robustness and effectiveness of maneuver coordination.