Cooperative driving using connectivity services has been a promising avenue for autonomous vehicles, with the low latency and further reliability support provided by 5 th Generation Mobile Network (5G). In this paper, we present an application for lane merge coordination based on a centralised system, for connected cars. This application delivers trajectory recommendations to the connected vehicles on the road. The application comprises of a Traffic Orchestrator as the main component. We apply machine learning and data analysis to predict whether a connected vehicle can successfully complete the cooperative manoeuvre of a lane merge. Furthermore, the acceleration and heading parameters that are necessary for the completion of a safe merge are elaborated. The results demonstrate the performance of several existing algorithms and how their main parameters were selected to avoid overfitting. Index Terms-Lane merge, intelligent transport system, V2X communications, edge cloud, machine learning.
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