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A cooperative intelligent transport system (C-ITS) uses vehicle-to-everything(V2X) technology to make self-driving vehicles safer and more efficient.Current C-ITS applications have mainly focused on real-time informationsharing, such as for cooperative perception. In addition to better real-timeperception, self-driving vehicles need to achieve higher safety and efficiencyby coordinating action plans. This study designs a maneuver coordination (MC)protocol that uses seven messages to cover various scenarios and an abstractedMC support service. We implement our proposal as AutoMCM by extending twoopen-source software tools: Autoware for autonomous driving and OpenC2X forC-ITS. The results show that our system effectively reduces the communicationbandwidth by limiting message exchange in an event-driven manner. Furthermore,it shows that the vehicles run 15% faster when the vehicle speed is 30 km/h and28% faster when the vehicle speed is 50 km/h using our scheme. Our system showsrobustness against packet loss in experiments when the message timeoutparameters are appropriately set.

AutoMCM: Maneuver Coordination Service with Abstracted Functions for Autonomous Driving