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VS16: Maneuver Coordination

This service package provides coordinated merge and lane change operations between connected vehicles, whether automated or not. It includes an emergency vehicle specialization, where the emergency vehicle merely announces its intent and then performs the lane change, without waiting for acknowledgement from nearby vehicles.

Relevant Regions: Australia, Canada, European Union, and United States

Enterprise
Functional
Physical
Goals and Objectives
Needs and Requirements
Sources
Security
Standards
System Requirements
Implementations

Enterprise

Development Stage Roles and Relationships
(hide)

Source	Destination	Role/Relationship
Basic Vehicle Developer	Basic Vehicle	Develops (hide) An Enterprise creates the target Resource or Document. The Enterprise that engineers a traffic signal controller (ITS Roadway Equipment), or designs a vehicle (Basic Vehicle) or authors a technical standard will have the Develops role.
Basic Vehicle Developer	Vehicle Developer	Application Interface Specification (hide) The definition of an interface between two application components that operate on two distinct pieces of hardware. The Application Interface Specification is specific to the application in question.
Emergency Vehicle OBE Developer	Emergency Vehicle OBE	Develops (hide) An Enterprise creates the target Resource or Document. The Enterprise that engineers a traffic signal controller (ITS Roadway Equipment), or designs a vehicle (Basic Vehicle) or authors a technical standard will have the Develops role.
Emergency Vehicle OBE Developer	Vehicle Developer	Application Interface Specification (hide) The definition of an interface between two application components that operate on two distinct pieces of hardware. The Application Interface Specification is specific to the application in question.
Other Vehicles Developer	Other Vehicles	Develops (hide) An Enterprise creates the target Resource or Document. The Enterprise that engineers a traffic signal controller (ITS Roadway Equipment), or designs a vehicle (Basic Vehicle) or authors a technical standard will have the Develops role.
Other Vehicles Developer	Vehicle Developer	Application Interface Specification (hide) The definition of an interface between two application components that operate on two distinct pieces of hardware. The Application Interface Specification is specific to the application in question.
Vehicle Characteristics Developer	Vehicle Characteristics	Develops (hide) An Enterprise creates the target Resource or Document. The Enterprise that engineers a traffic signal controller (ITS Roadway Equipment), or designs a vehicle (Basic Vehicle) or authors a technical standard will have the Develops role.
Vehicle Developer	Basic Vehicle Developer	Application Interface Specification (hide) The definition of an interface between two application components that operate on two distinct pieces of hardware. The Application Interface Specification is specific to the application in question.
Vehicle Developer	Other Vehicles Developer	Application Interface Specification (hide) The definition of an interface between two application components that operate on two distinct pieces of hardware. The Application Interface Specification is specific to the application in question.
Vehicle Developer	Vehicle	Develops (hide) An Enterprise creates the target Resource or Document. The Enterprise that engineers a traffic signal controller (ITS Roadway Equipment), or designs a vehicle (Basic Vehicle) or authors a technical standard will have the Develops role.

Installation Stage Roles and Relationships
(hide)

Source	Destination	Role/Relationship
Basic Vehicle Installer	Basic Vehicle	Installs (hide) An Enterprise performs the initial delivery, integration and configuration of the target Resource. This might be a system integrator, a state DOT Enterprise performing its own installation, or a device supplier that performs on-site installation.
Basic Vehicle Owner	Basic Vehicle Installer	Installation Agreement (hide) An agreement whereupon one party installs a system on behalf of a second party.
Basic Vehicle Owner	Basic Vehicle Verifier	Verification Agreement (hide) An agreement for one party to verify that a system owned by the second party operates according to the system's design.
Emergency Vehicle OBE Installer	Emergency Vehicle OBE	Installs (hide) An Enterprise performs the initial delivery, integration and configuration of the target Resource. This might be a system integrator, a state DOT Enterprise performing its own installation, or a device supplier that performs on-site installation.
Emergency Vehicle OBE Owner	Emergency Vehicle OBE Installer	Installation Agreement (hide) An agreement whereupon one party installs a system on behalf of a second party.
Emergency Vehicle OBE Owner	Emergency Vehicle OBE Verifier	Verification Agreement (hide) An agreement for one party to verify that a system owned by the second party operates according to the system's design.
Other Vehicles Installer	Other Vehicles	Installs (hide) An Enterprise performs the initial delivery, integration and configuration of the target Resource. This might be a system integrator, a state DOT Enterprise performing its own installation, or a device supplier that performs on-site installation.
Other Vehicles Owner	Other Vehicles Installer	Installation Agreement (hide) An agreement whereupon one party installs a system on behalf of a second party.
Other Vehicles Owner	Other Vehicles Verifier	Verification Agreement (hide) An agreement for one party to verify that a system owned by the second party operates according to the system's design.
Vehicle Characteristics Installer	Vehicle Characteristics	Installs (hide) An Enterprise performs the initial delivery, integration and configuration of the target Resource. This might be a system integrator, a state DOT Enterprise performing its own installation, or a device supplier that performs on-site installation.
Vehicle Characteristics Owner	Vehicle Characteristics Installer	Installation Agreement (hide) An agreement whereupon one party installs a system on behalf of a second party.
Vehicle Characteristics Owner	Vehicle Characteristics Verifier	Verification Agreement (hide) An agreement for one party to verify that a system owned by the second party operates according to the system's design.
Vehicle Installer	Vehicle	Installs (hide) An Enterprise performs the initial delivery, integration and configuration of the target Resource. This might be a system integrator, a state DOT Enterprise performing its own installation, or a device supplier that performs on-site installation.
Vehicle Owner	Vehicle Installer	Installation Agreement (hide) An agreement whereupon one party installs a system on behalf of a second party.
Vehicle Owner	Vehicle Verifier	Verification Agreement (hide) An agreement for one party to verify that a system owned by the second party operates according to the system's design.

Operations and Maintenance Stage Roles and Relationships
(hide)

Source	Destination	Role/Relationship
Basic Vehicle Maintainer	Basic Vehicle	Maintains (hide) An Enterprise administers the hardware and software that comprise the target Resource. The entity that takes the ‘maintains’ role typically is delegated authority by the entity with the “Owns” or "Manages" roles, depending on the environment. The maintainer interacts with the target Resource so as to keep that Resource in the Operational state.
Basic Vehicle Manager	Basic Vehicle	Manages (hide) The Enterprise that is accountable for performing actions with a Resource, typically in support of one of the key operations-related roles (operates, installs, maintains). This authority is typically delegated by the Enterprise with the "Owns" role, and commonly accomplished by delegation to Human E-Objects with the "operates", "installs" or "maintains" roles, depending on the context.
Basic Vehicle Manager	Driver	System Usage Agreement (hide) An agreement granting operational use of a system to a Human with the operates role responsible for management of the system.
Basic Vehicle Owner	Basic Vehicle Maintainer	System Maintenance Agreement (hide) An agreement for one party to maintain the operational status of a system on behalf of the party with ownership control of the system.
Basic Vehicle Owner	Basic Vehicle Manager	Operations Agreement (hide) An agreement where one entity agrees to operate a device or application on behalf of another, device/application controlling entity.
Basic Vehicle Owner	Driver	Application Usage Agreement (hide) An agreement in which one entity that controls an application component's use gives the other entity the necessary tools and permission to operate that application or application component.
Basic Vehicle Owner	Driver	Vehicle Operating Agreement (hide) An agreement whereupon the controller of a vehicle grants another entity permission and rights to operate the vehicle.
Basic Vehicle Owner	Vehicle Maintainer	Maintenance Data Exchange Agreement (hide) An agreement that states one entity will provide data related to maintenance of an application component to the other entity.
Basic Vehicle Owner	Vehicle Owner	Expectation of Data Provision (hide) An expectation where one party believes another party will provide data on a regular and recurring basis, and that that data will be useful to the receiver in the context of the receiver's application. This thus includes some expectation of data fields, timeliness, quality, precision and similar qualities of data.
Basic Vehicle Owner	Vehicle User	Service Usage Agreement (hide) An agreement between the provider of a service and a user. Stipulates the terms and conditions of service usage.
Basic Vehicle Supplier	Basic Vehicle Owner	Warranty (hide) A guarantee or promise made by one entity to another, that provides assurance of the functionality and performance of a subsystem.
Driver	Basic Vehicle	Operates (hide) A Human that is accountable for performing actions with a Resource, typically in support of one of the key operations-related roles (operates, installs, maintains). This is the person at the console or behind the wheel.
Driver	Vehicle	Operates (hide) A Human that is accountable for performing actions with a Resource, typically in support of one of the key operations-related roles (operates, installs, maintains). This is the person at the console or behind the wheel.
Emergency Vehicle OBE Maintainer	Emergency Vehicle OBE	Maintains (hide) An Enterprise administers the hardware and software that comprise the target Resource. The entity that takes the ‘maintains’ role typically is delegated authority by the entity with the “Owns” or "Manages" roles, depending on the environment. The maintainer interacts with the target Resource so as to keep that Resource in the Operational state.
Emergency Vehicle OBE Manager	Emergency Vehicle OBE	Manages (hide) The Enterprise that is accountable for performing actions with a Resource, typically in support of one of the key operations-related roles (operates, installs, maintains). This authority is typically delegated by the Enterprise with the "Owns" role, and commonly accomplished by delegation to Human E-Objects with the "operates", "installs" or "maintains" roles, depending on the context.
Emergency Vehicle OBE Owner	Driver	Application Usage Agreement (hide) An agreement in which one entity that controls an application component's use gives the other entity the necessary tools and permission to operate that application or application component.
Emergency Vehicle OBE Owner	Driver	Vehicle Operating Agreement (hide) An agreement whereupon the controller of a vehicle grants another entity permission and rights to operate the vehicle.
Emergency Vehicle OBE Owner	Emergency Vehicle OBE Maintainer	System Maintenance Agreement (hide) An agreement for one party to maintain the operational status of a system on behalf of the party with ownership control of the system.
Emergency Vehicle OBE Owner	Emergency Vehicle OBE Manager	Operations Agreement (hide) An agreement where one entity agrees to operate a device or application on behalf of another, device/application controlling entity.
Emergency Vehicle OBE Owner	Vehicle Maintainer	Maintenance Data Exchange Agreement (hide) An agreement that states one entity will provide data related to maintenance of an application component to the other entity.
Emergency Vehicle OBE Owner	Vehicle Owner	Expectation of Data Provision (hide) An expectation where one party believes another party will provide data on a regular and recurring basis, and that that data will be useful to the receiver in the context of the receiver's application. This thus includes some expectation of data fields, timeliness, quality, precision and similar qualities of data.
Emergency Vehicle OBE Owner	Vehicle User	Service Usage Agreement (hide) An agreement between the provider of a service and a user. Stipulates the terms and conditions of service usage.
Emergency Vehicle OBE Supplier	Emergency Vehicle OBE Owner	Warranty (hide) A guarantee or promise made by one entity to another, that provides assurance of the functionality and performance of a subsystem.
Other Vehicles Maintainer	Other Vehicles	Maintains (hide) An Enterprise administers the hardware and software that comprise the target Resource. The entity that takes the ‘maintains’ role typically is delegated authority by the entity with the “Owns” or "Manages" roles, depending on the environment. The maintainer interacts with the target Resource so as to keep that Resource in the Operational state.
Other Vehicles Manager	Other Vehicles	Manages (hide) The Enterprise that is accountable for performing actions with a Resource, typically in support of one of the key operations-related roles (operates, installs, maintains). This authority is typically delegated by the Enterprise with the "Owns" role, and commonly accomplished by delegation to Human E-Objects with the "operates", "installs" or "maintains" roles, depending on the context.
Other Vehicles Owner	Driver	Application Usage Agreement (hide) An agreement in which one entity that controls an application component's use gives the other entity the necessary tools and permission to operate that application or application component.
Other Vehicles Owner	Driver	Vehicle Operating Agreement (hide) An agreement whereupon the controller of a vehicle grants another entity permission and rights to operate the vehicle.
Other Vehicles Owner	Other Vehicles Maintainer	System Maintenance Agreement (hide) An agreement for one party to maintain the operational status of a system on behalf of the party with ownership control of the system.
Other Vehicles Owner	Other Vehicles Manager	Operations Agreement (hide) An agreement where one entity agrees to operate a device or application on behalf of another, device/application controlling entity.
Other Vehicles Owner	Vehicle Maintainer	Maintenance Data Exchange Agreement (hide) An agreement that states one entity will provide data related to maintenance of an application component to the other entity.
Other Vehicles Owner	Vehicle Owner	Expectation of Data Provision (hide) An expectation where one party believes another party will provide data on a regular and recurring basis, and that that data will be useful to the receiver in the context of the receiver's application. This thus includes some expectation of data fields, timeliness, quality, precision and similar qualities of data.
Other Vehicles Owner	Vehicle User	Service Usage Agreement (hide) An agreement between the provider of a service and a user. Stipulates the terms and conditions of service usage.
Other Vehicles Supplier	Other Vehicles Owner	Warranty (hide) A guarantee or promise made by one entity to another, that provides assurance of the functionality and performance of a subsystem.
Vehicle Characteristics Maintainer	Vehicle Characteristics	Maintains (hide) An Enterprise administers the hardware and software that comprise the target Resource. The entity that takes the ‘maintains’ role typically is delegated authority by the entity with the “Owns” or "Manages" roles, depending on the environment. The maintainer interacts with the target Resource so as to keep that Resource in the Operational state.
Vehicle Characteristics Manager	Vehicle Characteristics	Manages (hide) The Enterprise that is accountable for performing actions with a Resource, typically in support of one of the key operations-related roles (operates, installs, maintains). This authority is typically delegated by the Enterprise with the "Owns" role, and commonly accomplished by delegation to Human E-Objects with the "operates", "installs" or "maintains" roles, depending on the context.
Vehicle Characteristics Owner	Vehicle Characteristics Maintainer	System Maintenance Agreement (hide) An agreement for one party to maintain the operational status of a system on behalf of the party with ownership control of the system.
Vehicle Characteristics Owner	Vehicle Characteristics Manager	Operations Agreement (hide) An agreement where one entity agrees to operate a device or application on behalf of another, device/application controlling entity.
Vehicle Characteristics Supplier	Vehicle Characteristics Owner	Warranty (hide) A guarantee or promise made by one entity to another, that provides assurance of the functionality and performance of a subsystem.
Vehicle Maintainer	Vehicle	Maintains (hide) An Enterprise administers the hardware and software that comprise the target Resource. The entity that takes the ‘maintains’ role typically is delegated authority by the entity with the “Owns” or "Manages" roles, depending on the environment. The maintainer interacts with the target Resource so as to keep that Resource in the Operational state.
Vehicle Manager	Driver	System Usage Agreement (hide) An agreement granting operational use of a system to a Human with the operates role responsible for management of the system.
Vehicle Manager	Vehicle	Manages (hide) The Enterprise that is accountable for performing actions with a Resource, typically in support of one of the key operations-related roles (operates, installs, maintains). This authority is typically delegated by the Enterprise with the "Owns" role, and commonly accomplished by delegation to Human E-Objects with the "operates", "installs" or "maintains" roles, depending on the context.
Vehicle Owner	Basic Vehicle Maintainer	Maintenance Data Exchange Agreement (hide) An agreement that states one entity will provide data related to maintenance of an application component to the other entity.
Vehicle Owner	Basic Vehicle Owner	Expectation of Data Provision (hide) An expectation where one party believes another party will provide data on a regular and recurring basis, and that that data will be useful to the receiver in the context of the receiver's application. This thus includes some expectation of data fields, timeliness, quality, precision and similar qualities of data.
Vehicle Owner	Basic Vehicle User	Service Usage Agreement (hide) An agreement between the provider of a service and a user. Stipulates the terms and conditions of service usage.
Vehicle Owner	Driver	Application Usage Agreement (hide) An agreement in which one entity that controls an application component's use gives the other entity the necessary tools and permission to operate that application or application component.
Vehicle Owner	Driver	Vehicle Operating Agreement (hide) An agreement whereupon the controller of a vehicle grants another entity permission and rights to operate the vehicle.
Vehicle Owner	Other Vehicles Maintainer	Maintenance Data Exchange Agreement (hide) An agreement that states one entity will provide data related to maintenance of an application component to the other entity.
Vehicle Owner	Other Vehicles Owner	Expectation of Data Provision (hide) An expectation where one party believes another party will provide data on a regular and recurring basis, and that that data will be useful to the receiver in the context of the receiver's application. This thus includes some expectation of data fields, timeliness, quality, precision and similar qualities of data.
Vehicle Owner	Other Vehicles User	Service Usage Agreement (hide) An agreement between the provider of a service and a user. Stipulates the terms and conditions of service usage.
Vehicle Owner	Vehicle Maintainer	System Maintenance Agreement (hide) An agreement for one party to maintain the operational status of a system on behalf of the party with ownership control of the system.
Vehicle Owner	Vehicle Manager	Operations Agreement (hide) An agreement where one entity agrees to operate a device or application on behalf of another, device/application controlling entity.
Vehicle Supplier	Vehicle Owner	Warranty (hide) A guarantee or promise made by one entity to another, that provides assurance of the functionality and performance of a subsystem.

Functional

This service package includes the following Functional View PSpecs:

Physical Object	Functional Object	PSpec Number	PSpec Name
Emergency Vehicle OBE	EV V2V Safety	5.3.3	Provide Emergency Vehicle Location
Emergency Vehicle OBE	EV V2V Safety	5.3.5	Provide Emergency Personnel Interface
Vehicle	Vehicle Basic Safety Communication	3.1.1	Produce Collision and Crash Avoidance Data
		3.1.3	Process Vehicle On-board Data
		3.1.4	Communicate with Remote Vehicles
		3.1.6	Provide Vehicle Acceleration and Deceleration Inputs
		3.2.3.2	Manage Platoon Following
		3.2.3.3	Process Data for Vehicle Actuators
		3.2.3.5.1	Process General Vehicle Sensor Data
		3.2.4	Process Sensor Data for Automatic Vehicle Operations
		6.7.1.3	Process Vehicle Location Data
		6.7.1.4	Update Vehicle Navigable Map Database
		6.7.3.2	Provide Driver Information Interface
	Vehicle Control Automation	3.2.3.3	Process Data for Vehicle Actuators
		3.2.3.4.1	Provide Servo Control
		3.2.3.4.2	Provide Vehicle Control Data Interface
	Vehicle Control Warning	3.1.1	Produce Collision and Crash Avoidance Data
		3.1.3	Process Vehicle On-board Data
		3.2.3.3	Process Data for Vehicle Actuators
		3.2.3.5.1	Process General Vehicle Sensor Data
		6.7.3.2	Provide Driver Information Interface

Physical

The physical diagram can be viewed in SVG or PNG format and the current format is SVG.
SVG Diagram
PNG Diagram

Display Legend in SVG or PNG

Includes Physical Objects:

Physical Object	Class	Description
Basic Vehicle	Vehicle	'Basic Vehicle' represents a complete operating vehicle. It includes the vehicle platform that interfaces with and hosts ITS electronics and all of the driver convenience and entertainment systems, and other non-ITS electronics on-board the vehicle. Interfaces represent both internal on-board interfaces between ITS equipment and other vehicle systems and other passive and active external interfaces or views of the vehicle that support vehicle/traffic monitoring and management. External interfaces may also represent equipment that is carried into the vehicle (e.g., a smartphone that is brought into the vehicle). Internal interfaces are often implemented through a vehicle databus, which is also included in this object. Note that 'Vehicle' represents the general functions and interfaces that are associated with personal automobiles as well as commercial vehicles, emergency vehicles, transit vehicles, and other specialized vehicles.
Driver	Vehicle	The 'Driver' represents the person that operates a vehicle on the roadway. Included are operators of private, transit, commercial, and emergency vehicles where the interactions are not particular to the type of vehicle (e.g., interactions supporting vehicle safety applications). The Driver originates driver requests and receives driver information that reflects the interactions which might be useful to all drivers, regardless of vehicle classification. Information and interactions which are unique to drivers of a specific vehicle type (e.g., fleet interactions with transit, commercial, or emergency vehicle drivers) are covered by separate objects.
Emergency Vehicle OBE	Vehicle	The 'Emergency Vehicle On-Board Equipment' (OBE) resides in an emergency vehicle and provides the processing, storage, and communications functions that support public safety-related connected vehicle applications. It represents a range of vehicles including those operated by police, fire, and emergency medical services. In addition, it represents other incident response vehicles including towing and recovery vehicles and freeway service patrols. It includes two-way communications to support coordinated response to emergencies. A separate 'Vehicle OBE' physical object supports the general vehicle safety and driver information capabilities that apply to all vehicles, including emergency vehicles. The Emergency Vehicle OBE supplements these general capabilities with capabilities that are specific to emergency vehicles.
Other Vehicles	Vehicle	'Other Vehicle OBEs' represents other connected vehicles that are communicating with the host vehicle. This includes all connected motorized vehicles including passenger cars, trucks, and motorcycles and specialty vehicles (e.g., maintenance vehicles, transit vehicles) that also include the basic 'Vehicle OBE' functionality that supports V2V communications. This object provides a source and destination for information transfers between connected vehicles. The host vehicle on-board equipment, represented by the Vehicle OBE physical object, sends information to, and receives information from the Other Vehicle OBEs to model all connected vehicle V2V communications in ARC-IT.
Potential Obstacles	Field	'Potential Obstacles' represents any object that possesses the potential of being sensed and struck and thus also possesses physical attributes. Potential Obstacles include roadside obstructions, debris, animals, infrastructure elements (barrels, cones, barriers, etc.) or any other element that is in a potential path of the vehicle. Note that roadside objects and pieces of equipment that can become obstacles in a vehicle’s path can include materials, coatings, or labels (e.g., barcodes) that will improve the performance of the vehicle-based sensors that must detect and avoid these obstacles. See also 'Vulnerable Road Users' that more specifically represents the physical properties of shared users of the roadway that must also be detected.
Vehicle	Vehicle	This 'Vehicle' physical object is used to model core capabilities that are common to more than one type of Vehicle. It provides the vehicle-based general sensory, processing, storage, and communications functions that support efficient, safe, and convenient travel. Many of these capabilities (e.g., see the Vehicle Safety service packages) apply to all vehicle types including personal vehicles, commercial vehicles, emergency vehicles, transit vehicles, and maintenance vehicles. From this perspective, the Vehicle includes the common interfaces and functions that apply to all motorized vehicles. The radio(s) supporting V2V and V2I communications are a key component of the Vehicle. Both one-way and two-way communications options support a spectrum of information services from basic broadcast to advanced personalized information services. Advanced sensors, processors, enhanced driver interfaces, and actuators complement the driver information services so that, in addition to making informed mode and route selections, the driver travels these routes in a safer and more consistent manner. This physical object supports all six levels of driving automation as defined in SAE J3016. Initial collision avoidance functions provide 'vigilant co-pilot' driver warning capabilities. More advanced functions assume limited control of the vehicle to maintain lane position and safe headways. In the most advanced implementations, this Physical Object supports full automation of all aspects of the driving task, aided by communications with other vehicles in the vicinity and in coordination with supporting infrastructure subsystems.
Vehicle Characteristics	Vehicle	'Vehicle Characteristics' represents the external view of individual vehicles of any class from cars and light trucks up to large commercial vehicles and down to micromobility vehicles (MMVs). It includes vehicle physical characteristics such as height, width, length, weight, and other properties (e.g., magnetic properties, number of axles) of individual vehicles that can be sensed and measured or classified. This physical object represents the physical properties of vehicles that can be sensed by vehicle-based or infrastructure-based sensors to support vehicle automation and traffic sensor systems. The analog properties provided by this terminator represent the sensor inputs that are used to detect and assess vehicle(s) within the sensor's range to support safe AV operation and/or responsive and safe traffic management.
Vulnerable Road Users	Personal	'Vulnerable Road Users' represents any roadway user not in a motorized vehicle capable of operating at the posted speed for the roadway in question, and also any roadway user in a vehicle not designed to encase (and thus protect) its occupants. This includes pedestrians, cyclists, wheelchair users, two-wheeled scooter micromobility users, as well as powered scooters and motorcycles. Note that this terminator represents the physical properties of vulnerable road users and their conveyance that may be sensed to support safe vehicle automation and traffic management in mixed mode applications where a variety of road users share the right-of-way. See also 'Pedestrian' and 'MMV User' Physical Objects that represent the human interface to these vulnerable road users.

Includes Functional Objects:

Functional Object	Description	Physical Object
EV V2V Safety	'EV V2V Safety' sends alert messages and exchanges lane change and merge intent with surrounding connected vehicles to improve awareness of the emergency vehicle and enable it to perform lane change and merge maneuvers in a more automated fashion.	Emergency Vehicle OBE
Vehicle Basic Safety Communication	'Vehicle Basic Safety Communication' exchanges current vehicle characteristics, location, and motion (including past and intended maneuver) information with other vehicles in the vicinity, uses that information to calculate vehicle paths, and warns the driver when the potential for an impending collision is detected. If available, map data is used to filter and interpret the relative location and motion of vehicles in the vicinity. Information from on-board sensors (e.g., radars and image processing) are also used, if available, in combination with the V2V communications to detect non-equipped vehicles and corroborate connected vehicle data. This object represents a broad range of implementations ranging from basic Vehicle Awareness Devices that only broadcast vehicle location and motion and provide no driver warnings to advanced integrated safety systems that coordinate maneuvers and may, in addition to warning the driver, provide collision warning information to support automated control functions that can support control intervention.	Vehicle
Vehicle Control Automation	'Vehicle Control Automation' provides lateral and/or longitudinal control of a vehicle to allow 'hands off' and/or 'feet off' driving, automating the steering, accelerator, and brake control functions. It builds on the sensors included in 'Vehicle Safety Monitoring' and 'Vehicle Control Warning' and uses the information about the area surrounding the vehicle to safely control the vehicle. It covers the range of incremental control capabilities from driver assistance systems that take over steering or acceleration/deceleration in limited scenarios with direct monitoring by the driver to full automation where all aspects of driving are automated under all roadway and environmental conditions.	Vehicle
Vehicle Control Warning	'Vehicle Control Warning' monitors areas around the vehicle and provides warnings to a driver so the driver can take action to recover and maintain safe control of the vehicle. It includes lateral warning systems that warn of lane departures and obstacles or vehicles to the sides of the vehicle and longitudinal warning systems that monitor areas in the vehicle path and provide warnings when headways are insufficient or obstacles are detected in front of or behind the vehicle. It includes on-board sensors, including radars and imaging systems, and the driver information system that provides the visual, audible, and/or haptic warnings to the driver.	Vehicle

Includes Information Flows:

Information Flow	Description
detected obstacles	Notification of a nearby non-vehicular object that does not appear to be equipped with a short range communications device but is detectable using onboard vehicle or infrastructure sensors. This could be anything from a construction barrel to a pedestrian or animal. The flow communicates detected object location, physical characteristics, observable kinematics and confidence in those measures.
detected unequipped vehicles and VRUs	Notification of a nearby vehicle (light vehicle, commercial vehicle, MMV etc.) or vulnerable road user that does not appear to be equipped with a short range communications device but is detectable using onboard vehicle or infrastructure sensors. The flow communicates detected vehicle/VRU location, physical characteristics, observable kinematics and confidence in those measures.
driver input	Driver input to the vehicle on-board equipment including configuration data, settings and preferences, interactive requests, and control commands.
driver input information	Driver input received from the driver-vehicle interface equipment via the vehicle bus. It includes configuration data, settings and preferences, interactive requests, and control commands for the connected vehicle on-board equipment.
driver update information	Information provided to the driver-vehicle interface to inform the driver about current conditions, potential hazards, and the current status of vehicle on-board equipment. The flow includes the information to be presented to the driver and associated metadata that supports processing, prioritization, and presentation by the DVI as visual displays, audible information and warnings, and/or haptic feedback.
driver updates	Information provided to the driver including visual displays, audible information and warnings, and haptic feedback. The updates inform the driver about current conditions, potential hazards, and the current status of vehicle on-board equipment.
host vehicle status	Information provided to the ITS on-board equipment from other systems on the vehicle platform. This includes the current status of the powertrain, steering, and braking systems, and status of other safety and convenience systems. In implementations where GPS is not integrated into the Vehicle On-Board Equipment, the host vehicle is also the source for data describing the vehicle's location in three dimensions (latitude, longitude, elevation) and accurate time that can be used for time synchronization across the ITS environment.
physical presence	Detection of an obstacle. Obstacle could include animals, incident management and construction elements such as cones, barrels and barriers, rocks in roadway, etc.
vehicle characteristics	The physical or visible characteristics of individual vehicles that can be used to detect, classify, and monitor vehicles and imaged to uniquely identify vehicles.
vehicle control	Control commands issued to vehicle actuators that control steering, throttle, and braking and other related commands that support safe transition between manual and automated vehicle control. This flow can also deploy restraints and other safety systems when a collision is unavoidable.
vehicle location and motion	Data describing the vehicle's location in three dimensions, heading, speed, acceleration, braking status, and size.
vehicle maneuver coordination	Statements of intent, permission and status of a lane change or merge operation by a connected vehicle
vehicle path prediction	The predicted future vehicle path of travel. This flow includes an indication of the future positions of the transmitting vehicle that can be used by receiving vehicles to support coordinated driving maneuvers and enhance in-lane and out-of-lane threat classification.
vehicle profile	Information about a vehicle such as vehicle make and model, fuel type, engine type, size and weight, vehicle performance and level of control automation, average emissions, average fuel consumption, passenger occupancy, or other data that can be used to classify vehicle eligibility for access to specific lanes, road segments, or regions or participation in cooperative vehicle control applications.
vulnerable road user presence	Detection of pedestrians, cyclists, and other vulnerable road users. This detection is based on physical characteristics of the user and their conveyance, which may be enhanced by design and materials that facilitate sensor-based detection and tracking of vulnerable road users.

Goals and Objectives

Associated Planning Factors and Goals

Planning Factor	Goal
B. Increase the safety of the transportation system for motorized and nonmotorized users;	Reduce fatalities and injuries

Associated Objective Categories

Objective Category
Safety: Vehicle Crashes and Fatalities

Associated Objectives and Performance Measures

Objective	Performance Measure
Reduce crashes due to driver errors and limitations	Number of crashes and fatalities related to driver inattention and distraction
Reduce crashes due to driver errors and limitations	Number of crashes and fatalities related to driving while intoxicated
Reduce secondary crashes	Number of secondary crashes
Reduce the rate fatalities in the region by X percent by year Y.	Rate of fatalities (rate per vehicle miles travelled (VMT))
Reduce the rate of severe injuries in the region by X percent by year Y.	Rate of serious injuries (rate per VMT)
Reduce the total number of crashes in the region by X percent by year Y.	Total crashes per X VMT.
Reduce the total number of fatalities and severe injuries in the region by X percent by year Y.	Total fatalities per X VMT.
Reduce the total number of fatalities and severe injuries in the region by X percent by year Y.	Total severe injuries per X VMT.
Reduce the total number of fatalities in the region by X percent by year Y.	Number of fatalities
Reduce the total number of severe injuries in the region by X percent by year Y.	Number of serious injuries

Since the mapping between objectives and service packages is not always straight-forward and often situation-dependent, these mappings should only be used as a starting point. Users should do their own analysis to identify the best service packages for their region.

Needs and Requirements

Need		Functional Object	Requirement
01	The Connected Vehicle needs to be able to coordinate a lane change/merge with other vehicles.	EV V2V Safety	01	The vehicle shall send maneuver intent information to nearby vehicles and send execution status until the maneuver is completed.
		Vehicle Basic Safety Communication	16	The vehicle shall exchange maneuver intent information with nearby vehicles.
		Vehicle Basic Safety Communication	17	The vehicle shall respond to maneuver intent information with an indication of acceptance or rejection, as appropriate to the situation.
02	The Driver needs to receive warnings from the vehicle to avoid safety compromising situations with nearby vehicles during lane changes/merges.	Vehicle Control Warning	05	The vehicle shall provide warnings to the driver based on information received from other vehicles regarding potentially hazardous road conditions, road hazards, or pending/in-progress vehicle maneuvers.
03	The Connected Vehicle needs to adapt vehicle control to safety accommodate pending and in progress lane changes/merges in the vicinity.	Vehicle Control Automation	16	The vehicle shall be capable of performing control actions based upon information received from other vehicles regarding their status. This includes intersection-related status, maneuver coordination, and other status information received from vehicles in the vicinity.

Related Sources

Document Name	Version	Publication Date
None

Security

In order to participate in this service package, each physical object should meet or exceed the following security levels.

Physical Object Security
Physical Object	Confidentiality	Integrity	Availability	Security Class
Basic Vehicle
Emergency Vehicle OBE	Low	High	Low	Class 3
Other Vehicles	Low	High	Moderate	Class 3
Potential Obstacles
Vehicle	Low	High	Moderate	Class 3
Vehicle Characteristics
Vulnerable Road Users

In order to participate in this service package, each information flow triple should meet or exceed the following security levels.

Information Flow Security
Source	Destination	Information Flow	Confidentiality	Integrity	Availability
Source	Destination	Information Flow	Basis	Basis	Basis
Basic Vehicle	Vehicle	driver input information	Moderate	High	High
Basic Vehicle	Vehicle	driver input information	Internal vehicle flow that if reverse engineered could enable third party vehicle control. Largely a competitive question, could be set LOW if manufacturer and operator are not concerned with this type of compromise.	Includes vehicle control commands, which must be timely and accurate to support safe vehicle operation.	Includes vehicle control commands, which must be timely and accurate to support safe vehicle operation.
Basic Vehicle	Vehicle	host vehicle status	Low	Moderate	High
Basic Vehicle	Vehicle	host vehicle status	Unlikely that this includes any information that could be used against the originator.	This can be MODERATE or HIGH, depending on the application: This is used later on to determine whether a vehicle is likely going to violate a red light or infringe a work zone. This needs to be correct in order for the application to work correctly.	Since this monitors the health and safety of the vehicle and that information is eventually reported to the driver, it should be available at all times as it directly affects vehicle and operator safety.
Driver	Vehicle	driver input	Moderate	High	High
Driver	Vehicle	driver input	Data included in this flow may include origin and destination information, which should be protected from other's viewing as it may compromise the driver's privacy.	Commands from from the driver to the vehicle must be correct or the vehicle may behave in an unpredictable and possibly unsafe manner	Commands must always be able to be given or the driver has no control.
Emergency Vehicle OBE	Vehicle	vehicle maneuver coordination	Low	High	Low
Emergency Vehicle OBE	Vehicle	vehicle maneuver coordination	Data contained within this flow is intended to alert other nearby vehicles to a desired or impending movement by the source vehicle. The data does include identifiers indicating the sending vehicle, which needs to be recognized and protected as appropriate. It may be impractical to encrypt this data to meet performance requirements, and in any event no more than one vehicle would be identified and only in the field environment, so mass collection of this information would be difficult.	This flow is core to automated vehicle merge and lane change operations; flaws in the data could result in a crash, and so integrity should be ensured to the highest practical level.	L4/5 ADS will operate more smoothly if this flow works, but as the vehicle fleet will include L0 vehicles for the foreseeable future, any ADS must use other methods to ensure safe operation anyway. May be MODERATE in ADS-dedicated facilities.
Other Vehicles	Vehicle	detected obstacles	Not Applicable	High	Moderate
Other Vehicles	Vehicle	detected obstacles	This data is intended to be shared with all nearby vehicles, traffic control devices and vulnerable road users; it is essentially public.	This data may be used as input to vehicle situational awareness and thus trigger crash-avoidance actions. If manipulated or incorrect, a crash may occur; though vehicles able to use this data also have sensory capabilities, this flow will often contain data describing objects/vehicles/VRUs that are obscured and not observable by on-board sensors.	This data may be used as input to vehicle situational awareness and thus trigger crash-avoidance actions. This data enable collision avoidance actions that are impractical without it, as vehicles able to use this data to sense-by-proxy other vehicles/VRUs/obstacles that are obscured by on-board sensors. Considered MODERATE and not HIGH only because the lack of availability reverts to existing operations and does not actively make safety worse.
Other Vehicles	Vehicle	detected unequipped vehicles and VRUs	Not Applicable	High	Moderate
Other Vehicles	Vehicle	detected unequipped vehicles and VRUs	This data is intended to be shared with all nearby vehicles, traffic control devices and vulnerable road users; it is essentially public.	This data may be used as input to vehicle situational awareness and thus trigger crash-avoidance actions. If manipulated or incorrect, a crash may occur; though vehicles able to use this data also have sensory capabilities, this flow will often contain data describing objects/vehicles/VRUs that are obscured and not observable by on-board sensors.	This data may be used as input to vehicle situational awareness and thus trigger crash-avoidance actions. This data enable collision avoidance actions that are impractical without it, as vehicles able to use this data to sense-by-proxy other vehicles/VRUs/obstacles that are obscured by on-board sensors. Considered MODERATE and not HIGH only because the lack of availability reverts to existing operations and does not actively make safety worse.
Other Vehicles	Vehicle	vehicle location and motion	Not Applicable	High	Moderate
Other Vehicles	Vehicle	vehicle location and motion	This data is intentionally transmitted to everyone via a broadcast. Much of its information content can also be determined via other visual indicators	BSM info needs to be accurate and should not be tampered with	BSM must be broadcast regularly to make data available for other vehicle OBEs, but availability cannot be guaranteed over a wireless medium
Other Vehicles	Vehicle	vehicle maneuver coordination	Low	High	Low
Other Vehicles	Vehicle	vehicle maneuver coordination	Data contained within this flow is intended to alert other nearby vehicles to a desired or impending movement by the source vehicle. The data does include identifiers indicating the sending vehicle, which needs to be recognized and protected as appropriate. It may be impractical to encrypt this data to meet performance requirements, and in any event no more than one vehicle would be identified and only in the field environment, so mass collection of this information would be difficult.	This flow is core to automated vehicle merge and lane change operations; flaws in the data could result in a crash, and so integrity should be ensured to the highest practical level.	L4/5 ADS will operate more smoothly if this flow works, but as the vehicle fleet will include L0 vehicles for the foreseeable future, any ADS must use other methods to ensure safe operation anyway. May be MODERATE in ADS-dedicated facilities.
Other Vehicles	Vehicle	vehicle path prediction	Not Applicable	High	Moderate
Other Vehicles	Vehicle	vehicle path prediction	This data is intentionally transmitted to other vehicles operating in a cluster.	Vehicle path data is critical to the performance of a group of vehicles in a vehicle cluster scenario. Incorrect data here could trigger a severe accident scenario.	Some vehicle cluster scenarios cannot function without this flow. Worst case is that some vehicles will drop from the platoon however, which while significant to mobility does not have a direct severe consequence.
Other Vehicles	Vehicle	vehicle profile	Low	Moderate	Moderate
Other Vehicles	Vehicle	vehicle profile	This data is intentionally transmitted to other vehicles operating in a vehicle cluster.	Vehicle profile data is critical to the performance of a group of vehicles in a vehicle cluster scenario. Incorrect data here could trigger a severe accident scenario.	Vehicle clustering scenarios cannot function without this flow. Worst case is non-initiation of the platoon however, which while significant to mobility does not have a direct severe consequence.
Potential Obstacles	Vehicle	physical presence
Potential Obstacles	Vehicle	physical presence
Vehicle	Basic Vehicle	driver update information	Low	Moderate	Moderate
Vehicle	Basic Vehicle	driver update information	This information is all presented to the vehicle operator. Encrypting this information may make it harder to reverse engineer vehicle systems, and may defeat criminal tracking tools when the vehicle has already been compromised. Unless those scenarios are of concern to the operator or manufacturer, this can safely be set LOW.	Any information presented to the operator of a vehicle should be both accurate and timely. By definition this includes safety information, but given that the driver has other means of learning about most threats, it seems difficult to justify HIGH. If HIGH is warranted, it should apply to both availability and integrity.	Any information presented to the operator of a vehicle should be both accurate and timely. By definition this includes safety information, but given that the driver has other means of learning about most threats, it seems difficult to justify HIGH. If HIGH is warranted, it should apply to both availability and integrity.
Vehicle	Basic Vehicle	vehicle control	Moderate	High	High
Vehicle	Basic Vehicle	vehicle control	Internal vehicle flow that if reverse engineered could enable third party vehicle control. Largely a competitive question, could be set LOW if manufacturer and operator are not concerned with this type of compromise.	Includes vehicle control commands, which must be timely and accurate to support safe vehicle operation.	Includes vehicle control commands, which must be timely and accurate to support safe vehicle operation.
Vehicle	Driver	driver updates	Not Applicable	Moderate	Moderate
Vehicle	Driver	driver updates	This data is informing the driver about the safety of a nearby area. It should not contain anything sensitive, and does not matter if another person can observe it.	This is the information that is presented to the driver. If they receive incorrect information, they may act in an unsafe manner. However, there are other indicators that would alert them to any hazards, such as an oncoming vehicle or crossing safety lights.	If this information is not made available to the driver, then the system has not operated correctly.
Vehicle	Other Vehicles	detected obstacles	Not Applicable	High	Moderate
Vehicle	Other Vehicles	detected obstacles	This data is intended to be shared with all nearby vehicles, traffic control devices and vulnerable road users; it is essentially public.	This data may be used as input to vehicle situational awareness and thus trigger crash-avoidance actions. If manipulated or incorrect, a crash may occur; though vehicles able to use this data also have sensory capabilities, this flow will often contain data describing objects/vehicles/VRUs that are obscured and not observable by on-board sensors.	This data may be used as input to vehicle situational awareness and thus trigger crash-avoidance actions. This data enable collision avoidance actions that are impractical without it, as vehicles able to use this data to sense-by-proxy other vehicles/VRUs/obstacles that are obscured by on-board sensors. Considered MODERATE and not HIGH only because the lack of availability reverts to existing operations and does not actively make safety worse.
Vehicle	Other Vehicles	detected unequipped vehicles and VRUs	Not Applicable	High	Moderate
Vehicle	Other Vehicles	detected unequipped vehicles and VRUs	This data is intended to be shared with all nearby vehicles, traffic control devices and vulnerable road users; it is essentially public.	This data may be used as input to vehicle situational awareness and thus trigger crash-avoidance actions. If manipulated or incorrect, a crash may occur; though vehicles able to use this data also have sensory capabilities, this flow will often contain data describing objects/vehicles/VRUs that are obscured and not observable by on-board sensors.	This data may be used as input to vehicle situational awareness and thus trigger crash-avoidance actions. This data enable collision avoidance actions that are impractical without it, as vehicles able to use this data to sense-by-proxy other vehicles/VRUs/obstacles that are obscured by on-board sensors. Considered MODERATE and not HIGH only because the lack of availability reverts to existing operations and does not actively make safety worse.
Vehicle	Other Vehicles	vehicle location and motion	Not Applicable	High	Moderate
Vehicle	Other Vehicles	vehicle location and motion	This data is intentionally transmitted to everyone via a broadcast. Much of its information content can also be determined via other visual indicators	BSM info needs to be accurate and should not be tampered with	BSM must be broadcast regularly to make data available for other vehicle OBEs, but availability cannot be guaranteed over a wireless medium
Vehicle	Other Vehicles	vehicle maneuver coordination	Low	High	Low
Vehicle	Other Vehicles	vehicle maneuver coordination	Data contained within this flow is intended to alert other nearby vehicles to a desired or impending movement by the source vehicle. The data does include identifiers indicating the sending vehicle, which needs to be recognized and protected as appropriate. It may be impractical to encrypt this data to meet performance requirements, and in any event no more than one vehicle would be identified and only in the field environment, so mass collection of this information would be difficult.	This flow is core to automated vehicle merge and lane change operations; flaws in the data could result in a crash, and so integrity should be ensured to the highest practical level.	L4/5 ADS will operate more smoothly if this flow works, but as the vehicle fleet will include L0 vehicles for the foreseeable future, any ADS must use other methods to ensure safe operation anyway. May be MODERATE in ADS-dedicated facilities.
Vehicle	Other Vehicles	vehicle path prediction	Not Applicable	High	Moderate
Vehicle	Other Vehicles	vehicle path prediction	This data is intentionally transmitted to other vehicles operating in a cluster.	Vehicle path data is critical to the performance of a group of vehicles in a vehicle cluster scenario. Incorrect data here could trigger a severe accident scenario.	Some vehicle cluster scenarios cannot function without this flow. Worst case is that some vehicles will drop from the platoon however, which while significant to mobility does not have a direct severe consequence.
Vehicle	Other Vehicles	vehicle profile	Low	High	Moderate
Vehicle	Other Vehicles	vehicle profile	This data is intentionally transmitted to other vehicles operating in a vehicle cluster.	Vehicle profile data is critical to the performance of a group of vehicles in a vehicle cluster scenario. Incorrect data here could trigger a severe accident scenario.	Vehicle clustering scenarios cannot function without this flow. Worst case is non-initiation of the platoon however, which while significant to mobility does not have a direct severe consequence.
Vehicle Characteristics	Vehicle	vehicle characteristics
Vehicle Characteristics	Vehicle	vehicle characteristics
Vulnerable Road Users	Vehicle	vulnerable road user presence
Vulnerable Road Users	Vehicle	vulnerable road user presence

Standards

Currently, there are no standards associated with the physical objects in this service package. For standards related to interfaces, see the specific information flow triple pages. These pages can be accessed directly from the SVG diagram(s) located on the Physical tab, by clicking on each information flow line on the diagram.

System Requirements

System Requirement		Need
001	The system shall exchange maneuver intent information with nearby vehicles.	01	The Connected Vehicle needs to be able to coordinate a lane change/merge with other vehicles.
002	The system shall send maneuver intent information to nearby vehicles and send execution status until the maneuver is completed.	01	The Connected Vehicle needs to be able to coordinate a lane change/merge with other vehicles.
003	The system shall respond to maneuver intent information with an indication of acceptance or rejection, as appropriate to the situation.	01	The Connected Vehicle needs to be able to coordinate a lane change/merge with other vehicles.
004	The system shall exchange maneuver intent information with nearby vehicles.	01	The Connected Vehicle needs to be able to coordinate a lane change/merge with other vehicles.
005	The system shall respond to maneuver intent information with an indication of acceptance or rejection, as appropriate to the situation.	01	The Connected Vehicle needs to be able to coordinate a lane change/merge with other vehicles.
006	The system shall be capable of performing control actions based upon information received from other vehicles regarding their status. This includes intersection-related status, maneuver coordination, and other status information received from vehicles in the vicinity.	03	The Connected Vehicle needs to adapt vehicle control to safety accommodate pending and in progress lane changes/merges in the vicinity.
007	The system shall provide warnings to the driver based on information received from other vehicles regarding potentially hazardous road conditions, road hazards, or pending/in-progress vehicle maneuvers.	02	The Driver needs to receive warnings from the vehicle to avoid safety compromising situations with nearby vehicles during lane changes/merges.

Implementations

VS16.1 Maneuver Coordination Implementation

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VS16.1 Maneuver Coordination Implementation Implementation

This 'implementation' is a holistic view of the VS16 service package, including all Physical Objects, Functional Objects, and Triples associated with the service package. It distinguishes between items that are fundamental to the service and items that are optional. Your specific implementation is likely to include the fundamental items and selected optional items, based on your specific project requirements.

Maneuver Coordination Implementation Implementation Flows

Information Flow	Description	Inclusion Status
detected obstacles	Notification of a nearby non-vehicular object that does not appear to be equipped with a short range communications device but is detectable using onboard vehicle or infrastructure sensors. This could be anything from a construction barrel to a pedestrian or animal. The flow communicates detected object location, physical characteristics, observable kinematics and confidence in those measures.	Optional
detected unequipped vehicles and VRUs	Notification of a nearby vehicle (light vehicle, commercial vehicle, MMV etc.) or vulnerable road user that does not appear to be equipped with a short range communications device but is detectable using onboard vehicle or infrastructure sensors. The flow communicates detected vehicle/VRU location, physical characteristics, observable kinematics and confidence in those measures.	Optional
driver input	Driver input to the vehicle on-board equipment including configuration data, settings and preferences, interactive requests, and control commands.	At Least One
driver input information	Driver input received from the driver-vehicle interface equipment via the vehicle bus. It includes configuration data, settings and preferences, interactive requests, and control commands for the connected vehicle on-board equipment.	At Least One
driver update information	Information provided to the driver-vehicle interface to inform the driver about current conditions, potential hazards, and the current status of vehicle on-board equipment. The flow includes the information to be presented to the driver and associated metadata that supports processing, prioritization, and presentation by the DVI as visual displays, audible information and warnings, and/or haptic feedback.	At Least One
driver updates	Information provided to the driver including visual displays, audible information and warnings, and haptic feedback. The updates inform the driver about current conditions, potential hazards, and the current status of vehicle on-board equipment.	At Least One
host vehicle status	Information provided to the ITS on-board equipment from other systems on the vehicle platform. This includes the current status of the powertrain, steering, and braking systems, and status of other safety and convenience systems. In implementations where GPS is not integrated into the Vehicle On-Board Equipment, the host vehicle is also the source for data describing the vehicle's location in three dimensions (latitude, longitude, elevation) and accurate time that can be used for time synchronization across the ITS environment.	Optional
physical presence	Detection of an obstacle. Obstacle could include animals, incident management and construction elements such as cones, barrels and barriers, rocks in roadway, etc.	Optional
vehicle characteristics	The physical or visible characteristics of individual vehicles that can be used to detect, classify, and monitor vehicles and imaged to uniquely identify vehicles.	Optional
vehicle control	Control commands issued to vehicle actuators that control steering, throttle, and braking and other related commands that support safe transition between manual and automated vehicle control. This flow can also deploy restraints and other safety systems when a collision is unavoidable.	Optional
vehicle location and motion	Data describing the vehicle's location in three dimensions, heading, speed, acceleration, braking status, and size.	Fundamental
vehicle maneuver coordination	Statements of intent, permission and status of a lane change or merge operation by a connected vehicle	Fundamental
vehicle path prediction	The predicted future vehicle path of travel. This flow includes an indication of the future positions of the transmitting vehicle that can be used by receiving vehicles to support coordinated driving maneuvers and enhance in-lane and out-of-lane threat classification.	Optional
vehicle profile	Information about a vehicle such as vehicle make and model, fuel type, engine type, size and weight, vehicle performance and level of control automation, average emissions, average fuel consumption, passenger occupancy, or other data that can be used to classify vehicle eligibility for access to specific lanes, road segments, or regions or participation in cooperative vehicle control applications.	Optional
vulnerable road user presence	Detection of pedestrians, cyclists, and other vulnerable road users. This detection is based on physical characteristics of the user and their conveyance, which may be enhanced by design and materials that facilitate sensor-based detection and tracking of vulnerable road users.	Optional

Maneuver Coordination Implementation Implementation Functional Objects

Functional Object
EV V2V Safety
Vehicle Basic Safety Communication
Vehicle Control Automation
Vehicle Control Warning

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