Vehicle-to-Vehicle negotiation via Manoeuvre Coordination Messages for Cooperative Cut-In scenarios

The automotive industry is rapidly extending the capabilities of automated systems by incorporating connectivity and cooperation features that enable real-time information exchange between vehicles and road infrastructure. Within the Connected, Cooperative, and Automated Mobility (CCAM) framework, Vehicle-to-Vehicle (V2V) communication is expected to play a key role in improving road safety, traffic efficiency, and driving comfort. This work addresses a practical implementation of the standardized Manoeuvre Coordination Messages (MCMs), as defined in the ongoing ETSI standard (ETSI TS 103 561). The proposed approach is demonstrated through a cooperative cut-in use case in which two vehicles negotiate a lane change manoeuvre. In the considered scenario, the ego vehicle, driven by a Highway Pilot (HWP) system, receives the intention to cut-in from a neighbouring cooperative vehicle through an MCM. In response, the ego vehicle adapts its behaviour by decelerating to generate a safe longitudinal gap, which allows the cooperative vehicle to merge the ego’s lane. The negotiation process relies on the bidirectional exchange of MCMs to coordinate the timing and trajectories, ensuring both vehicles complete the manoeuvre safely. Additionally, the Cooperative Awareness Messages (CAMs) allow the vehicles to share real-time information such as position, speed and heading. This connected-enhanced approach extends the capabilities of local perception systems, enabling an improved performance and reaction time to surrounding traffic participants. The described use case is implemented and validated in a prototype vehicle equipped with V2V communication capabilities and a Highway Pilot (HWP) SAE level 3 driving automation system. Proving ground tests demonstrate that the system can successfully negotiate cut-in manoeuvres in real time, enhancing both safety and traffic flow. The results confirm the feasibility of deploying standardized V2V coordination mechanisms within operational automated driving functions and lay the groundwork for broader integration into future Connected, Cooperative, and Automated Mobility (CCAM) applications.