SAE J3256_202403

This SAE Information Report describes a concept of operations (CONOPS) for a Cooperative Driving Automation (CDA) Feature for infrastructure-based prescriptive cooperative merge. This work focuses on a Class D (Prescriptive; refer to J3216) CDA infrastructure-based cooperative merge Feature, supported by Class A (Status-Sharing) or Class C (Agreement-Seeking) messages among the merging cooperative automated driving system-operated vehicles (C-ADS-equipped vehicles). This document also provides a test procedure to evaluate this CDA Feature, which is suitable for proof-of-concept testing in both virtual and test track settings. Although still some years from being realized as a commercial product, automated driving system (ADS)-operated vehicles are expected to eventually become a common participant in road traffic. To help prepare for such a future, this document describes a cooperative driving automation (CDA) Feature and test procedure. The focus of the document is on producing a proof-of-concept-level infrastructure-based prescriptive CDA Feature and associated test procedures suitable for testing in both distributed virtual testing environments, as well as on test tracks, at the proof-of-concept level. (Note: This test procedure may also be suitable for testing on-road.)