Real-world implementation of maneuver coordination service for unsignalized intersections

Abstract

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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.

This work was supported by the grants 6GTWINROAD (TSI-063000-2021-29 and TSI-063000-2021-29) funded by the Ministry of Economic Affairs and Digital Transformation NextGenerationEU/PRTR”, and the “European Union ONOFRE-3 (PID2020112675RBC43) and (PID2023-146378NB-I00) funded by MCIU/AEI/10.13039/501100011033/FEDER/UE.

Peer Reviewed

Postprint (author's final draft)