Validating the Maneuver Coordination Protocol with UPPAAL

In the future, autonomous vehicles will be able to communicate with each other on an ad hoc basis. Using this infrastructure, they will be able to cooperate to improve traffic flow. One recently proposed method to do that is the Maneuver Transport Protocol. In this paper, this protocol is tested for effectiveness through simulation. For this, the modeling tool Uppaal SMC is used. The model abstracts away from right-of-way rules and complex vehicle control. In the end, it is shown that the protocol is effective. Comparison to related work shows that the abstracted model still behaves like actual traffic. The main contribution of this paper is the validation of the Maneuver Transport Protocol with on-the-fly predictions. Other efforts have simulated the protocol but made use of pre-calculated trajectories.