Real-World Implementation of Maneuver Coordination Service for Unsignalized Intersections

This paper presents a study on the implementation of coordinated maneuvers at unsignalized intersections using Maneuver Coordination Messages (MCM) within a priority-based system that includes Vulnerable Road Users (VRU). The primary objective is to enhance safety in mixed traffic environments by integrating VRUs into maneuver decision-making. To achieve this, VRU trajectories are shared within the MCM framework. Unlike many previous works that rely solely on simulations, this work implements and experimentally evaluates a Maneuver Coordination Service (MCS) in real-world conditions on a controlled test track. The efficiency of a centralized cooperative algorithm is evaluated by comparing it to a baseline non-cooperative scenario, demonstrating a reduction in intersection crossing time, improved traffic flow, and lower risk of collisions. Additionally, the cooperative algorithm is validated in a negotiation-based use case involving complex and unpredictable situations with VRUs at unsignalized intersections. While requiring additional coordination time, the proposed approach demonstrates safe and adaptive maneuvering.