Negotiation Protocol Design for Cooperative Maneuvering of Connected Automated Vehicles Using Conflict Charts

In this study, we propose a novel negotiation-based cooperative maneuvering strategy to assist connected automated vehicles (CAVs) in resolving conflicts under different traffic scenarios. We introduce conflict charts to determine when negotiation is necessary, along with a request and response protocol to facilitate traffic conflict resolution. Additionally, we propose an easy-to-implement controller that allows CAVs to resolve conflicts based on the agreement reached through negotiation. Simulation results using real vehicle data are used to demonstrate that the proposed negotiation protocol helps to ensure safety while improving time efficiency compared to cooperations that rely on other communication strategies.