Cooperative Maneuver Coordination for Prioritization of Public Transport and Emergency Vehicles

This paper describes the implementation and evaluation of maneuver coordination between normal vehicles, public transport vehicles, and emergency vehicles on the road. An implicit coordination method based on the exchange of the maneuver coordination message (MCM) is investigated. Different use cases of nontrivial traffic situations are defined, and experiments with real vehicles are conducted. In addition, the special challenges posed by the use of different automation stacks in the vehicles participating in the experiments are discussed. The evaluation of the experiments shows the effectiveness of the method for the coordination of traffic in case of conflicts between the planned trajectories of different vehicles and vehicle types. The results are interpreted as a proof of concept with further research required.