Cooperative Driving: Research on Generic Decentralized Maneuver Coordination for Connected and Automated Vehicles

Maneuver coordination for Connected and Automated Vehicles (CAVs) can be enhanced by vehicle-to-everything (V2X) communication. In order to disseminate planned maneuver intentions or requests, Maneuver Coordination Messages (MCMs) are exchanged between the CAVs that enable them to negotiate and perform cooperative maneuvers. In this way, V2X communication can extend the perception range of the sensors, enhance the decision making and maneuver planning of the CAVs, as well as allow complex interactions between the vehicles. Various maneuver coordination schemes exist for specific traffic use cases. Recently, several maneuver coordination approaches have been proposed that target at generic decentralized solutions which can be applied for a wide range of use cases relying on direct vehicle-to-vehicle (V2V) communication. This paper presents such use cases and existing generic approaches for decentralized maneuver coordination. The approaches are systematically described, compared and classified considering explicit and implicit trajectory broadcast, space-time reservation, cost values, priority maneuvers and complex interactions among vehicles. Furthermore, this paper outlines open research gaps in the field and discusses future research directions.