Evaluating Intent Sharing Communication using Real Connected Vehicles

In this paper we experimentally evaluate intent sharing, an emerging vehicle-to-everything (V2X) communication class that allows vehicles to share their intended future motion. Using commercially available radios, we implement intent sharing messages according to two different realizations of vehicle intent: (i) bounds of kinematic variables over a time horizon; (ii) expected trajectory specified as target road segments. We test intent messages using real vehicles on highways both in rural and urban environments. The collected data is used to evaluate the performance in terms of packet delivery ratio. Furthermore, using numerical simulations, we reveal the benefits of intent sharing in resolving conflicts during cooperative maneuvers and investigate the effects of packet delivery ratio on the gained benefits.