When Cooperation Should End: Maneuver Coordination Cancellation for Connected Automated Driving

2026-06-20

AI Summary

This study addresses a critical gap in existing cooperative autonomous driving systems: the absence of a timely mechanism to terminate failed maneuver coordination, which often leads vehicles into prolonged ineffective coordination states. To resolve this issue, the work presents the first complete implementation of a maneuver coordination cancellation mechanism. Leveraging V2X communication, the authors develop a finite state machine model and design a dedicated coordination cancellation message protocol along with dynamic decision logic. Experimental results demonstrate that the proposed mechanism significantly reduces the duration of ineffective coordination, increases both the number of triggerable coordination events and their completion success rate, thereby enhancing the overall efficiency and robustness of cooperative driving systems. This contribution fills a notable research void in the termination phase of coordinated maneuvers.

Abstract

Maneuver coordination is essential for cooperative connected automated driving, enabling vehicles to negotiate maneuvers and interactions through V2X communication. While prior work has largely focused on how to initiate and execute coordinations, considerably less attention has been given to how ongoing coordinations should be terminated when they become unsuitable. This paper introduces the first complete design and implementation of maneuver coordination cancellation, including a state machine, message set, and decision-making logic. Our evaluation shows that cancellation significantly reduces the time vehicles spend in coordinations that cannot succeed, allowing them to become available for new maneuvers sooner. This increases the number of triggered coordinations and improves the number of successful maneuver coordinations. Overall, the study demonstrates that maneuver coordination cancellation improves cooperative driving, and establishes a foundation for further refinements that can enhance the efficiency and robustness of connected automated driving.

Problem

• maneuver coordination
• cancellation
• connected automated driving
• V2X communication
• cooperative driving

Innovation

• maneuver coordination cancellation
• connected automated driving
• V2X communication
• cooperative driving
• state machine