Session-based communication over IEEE 802.11p for novel complex cooperative driver assistance functions

Recently cooperative systems have moved from field-operational testing phase nearer to deployment. But Car-2-Car and Car-2-Infrastructure communication (C2X) can also serve as an enabling technology for a novel class of driver assistance systems: actively intervening cooperative driver assistance systems (CoDAS). The possible range of CoDAS functions spans from self-evident implicit usage as an additional sensor up to joined maneuvers in high-automated or autonomous vehicles. As complex, but highly promising functions such as platooning or cooperative crash avoidance become viable, the need for a communication method ensuring consensus between vehicles arises. In this paper we examine the properties of such a protocol and compare it to current reference messages from the US and the EU. We propose a generic stateful session-based communication method over IEEE 802.11p called Cooperative Maneuver Messages (CMM) as an addition to existing stateless messages. We furthermore present a prototypical implementation and test it with a stateful platooning function in a simulation environment.