# AutoMCM: Maneuver Coordination Service with Abstracted Functions for Autonomous Driving

arXiv: https://arxiv.org/abs/2107.06627 · HTML: https://mlsanity.com/paper/2107.06627/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Jul 2021.

## Built on by (most cited first, 1 of 1)

- [Potential Field-based Path Planning with Interactive Speed Optimization for Autonomous Vehicles](https://mlsanity.com/paper/2306.06987/) (2023)

## Abstract (arXiv)

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 information sharing, such as for cooperative perception. In addition to better real-time perception, self-driving vehicles need to achieve higher safety and efficiency by coordinating action plans. This study designs a maneuver coordination (MC) protocol that uses seven messages to cover various scenarios and an abstracted MC support service. We implement our proposal as AutoMCM by extending two open-source software tools: Autoware for autonomous driving and OpenC2X for C-ITS. The results show that our system effectively reduces the communication bandwidth 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 and 28% faster when the vehicle speed is 50 km/h using our scheme. Our system shows robustness against packet loss in experiments when the message timeout parameters are appropriately set.