Publications
1.
Maksimovski, Daniel; Festag, Andreas; Facchi, Christian
Adaptive Message Generation Rules for V2X Maneuver Coordination Service Journal Article
In: IEEE Access, 2026.
Abstract | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, maneuver coordination, V2X communication, vehicle automation
@article{Maksimovski:IEEE-Access:2026,
title = {Adaptive Message Generation Rules for V2X Maneuver Coordination Service},
author = {Daniel Maksimovski and Andreas Festag and Christian Facchi},
year = {2026},
date = {2026-01-01},
journal = {IEEE Access},
abstract = {Maneuver coordination enables connected and automated vehicles (CAVs) to collaboratively plan, negotiate, and execute driving maneuvers, aiming to enhance safety, traffic flow, and energy efficiency. As part of the Vehicle-to-Everything (V2X) communication system, it operates as a dedicated service that relies on detailed, bidirectional interactions between vehicles, unlike traditional broadcast-based V2X services. While maneuver coordination is the focus of ongoing research and standardization, the rules that govern when and how vehicles generate Maneuver Coordination Messages (MCMs) within the Maneuver Coordination Service (MCS) are still not fully defined. These rules are essential for ensuring timely and reliable coordination. This paper proposes three adaptive MCM generation strategies based on the operation mode of the MCS, maneuver priority, and current channel load. The first approach defines MCM rules for intent sharing, maneuver negotiation, and execution phases, factoring in maneuver importance. The second adjusts the frequency of intent MCMs when a negotiation message is received from another vehicle. The third adapts frequency based on real-time channel load during intent sharing. For comparison, two baseline strategies are also evaluated. The proposed rules are tested for highway merging and lane change use cases in traffic scenarios with increasing vehicle density and high channel loads. A comprehensive evaluation is conducted using metrics related to the network, message generation frequency, congestion control, and maneuver coordination. The results demonstrate significantly enhanced channel efficiency and communication reliability across all metrics. For example, under the final approach, maneuver negotiation time is reduced by a factor of five in congested V2X environments.},
keywords = {Cooperative ITS, Intelligent Transport Systems, maneuver coordination, V2X communication, vehicle automation},
pubstate = {accepted},
tppubtype = {article}
}
Maneuver coordination enables connected and automated vehicles (CAVs) to collaboratively plan, negotiate, and execute driving maneuvers, aiming to enhance safety, traffic flow, and energy efficiency. As part of the Vehicle-to-Everything (V2X) communication system, it operates as a dedicated service that relies on detailed, bidirectional interactions between vehicles, unlike traditional broadcast-based V2X services. While maneuver coordination is the focus of ongoing research and standardization, the rules that govern when and how vehicles generate Maneuver Coordination Messages (MCMs) within the Maneuver Coordination Service (MCS) are still not fully defined. These rules are essential for ensuring timely and reliable coordination. This paper proposes three adaptive MCM generation strategies based on the operation mode of the MCS, maneuver priority, and current channel load. The first approach defines MCM rules for intent sharing, maneuver negotiation, and execution phases, factoring in maneuver importance. The second adjusts the frequency of intent MCMs when a negotiation message is received from another vehicle. The third adapts frequency based on real-time channel load during intent sharing. For comparison, two baseline strategies are also evaluated. The proposed rules are tested for highway merging and lane change use cases in traffic scenarios with increasing vehicle density and high channel loads. A comprehensive evaluation is conducted using metrics related to the network, message generation frequency, congestion control, and maneuver coordination. The results demonstrate significantly enhanced channel efficiency and communication reliability across all metrics. For example, under the final approach, maneuver negotiation time is reduced by a factor of five in congested V2X environments.
2.
Wan, Lei; Zhao, Jianxin; Wiedholz, Andreas; Bied, Manuel; de Lucena, Mateus Martinez; Jagtap, Abhishek Dinkar; Festag, Andreas; Fröhlich, Antônio Augusto; Keen, Hannan Ejaz; Vinel, Alexey
A Systematic Literature Review on Vehicular Collaborative Perception - A Computer Vision Perspective Journal Article
In: IEEE Transactions on Intelligent Transportation Systems, vol. 27, no. 1, pp. 81-118, 2025.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, review, sensor data sharing, V2X communication
@article{Wan:IEEE-TITS:2026,
title = {A Systematic Literature Review on Vehicular Collaborative Perception - A Computer Vision Perspective},
author = {Lei Wan and Jianxin Zhao and Andreas Wiedholz and Manuel Bied and Mateus Martinez de Lucena and Abhishek Dinkar Jagtap and Andreas Festag and Antônio Augusto Fröhlich and Hannan Ejaz Keen and Alexey Vinel},
url = {https://ieeexplore.ieee.org/document/11272131},
doi = {10.1109/TITS.2025.3631141},
year = {2025},
date = {2025-12-04},
urldate = {2025-12-04},
journal = {IEEE Transactions on Intelligent Transportation Systems},
volume = {27},
number = {1},
pages = {81-118},
abstract = {The effectiveness of autonomous vehicles relies on reliable perception capabilities. Despite significant advancements in artificial intelligence and sensor fusion technologies, current single-vehicle perception systems continue to encounter limitations, notably visual occlusions and limited long-range detection capabilities. Collaborative Perception (CP), enabled by Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I) communication, has emerged as a promising solution to mitigate these issues and enhance the reliability of autonomous systems. Beyond advancements in communication, the computer vision community is increasingly focusing on improving vehicular perception through collaborative approaches. However, a systematic literature review that thoroughly examines existing work and reduces subjective bias is still lacking. Such a systematic approach helps identify research gaps, recognize common trends across studies, and inform future research directions. In response, this study follows the PRISMA 2020 guidelines and includes 106 peer-reviewed articles. These publications are analyzed based on modalities, collaboration schemes, and key perception tasks. Through a comparative analysis, this review illustrates how different methods address practical issues such as pose errors, temporal latency, communication constraints, domain shifts, heterogeneity, and adversarial attacks. Furthermore, it critically examines evaluation methodologies, highlighting a misalignment between current metrics and CP’s fundamental objectives. By delving into all relevant topics in-depth, this review offers valuable insights into challenges, opportunities, and risks, serving as a reference for advancing research in vehicular collaborative perception.},
keywords = {Cooperative ITS, Intelligent Transport Systems, review, sensor data sharing, V2X communication},
pubstate = {published},
tppubtype = {article}
}
The effectiveness of autonomous vehicles relies on reliable perception capabilities. Despite significant advancements in artificial intelligence and sensor fusion technologies, current single-vehicle perception systems continue to encounter limitations, notably visual occlusions and limited long-range detection capabilities. Collaborative Perception (CP), enabled by Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I) communication, has emerged as a promising solution to mitigate these issues and enhance the reliability of autonomous systems. Beyond advancements in communication, the computer vision community is increasingly focusing on improving vehicular perception through collaborative approaches. However, a systematic literature review that thoroughly examines existing work and reduces subjective bias is still lacking. Such a systematic approach helps identify research gaps, recognize common trends across studies, and inform future research directions. In response, this study follows the PRISMA 2020 guidelines and includes 106 peer-reviewed articles. These publications are analyzed based on modalities, collaboration schemes, and key perception tasks. Through a comparative analysis, this review illustrates how different methods address practical issues such as pose errors, temporal latency, communication constraints, domain shifts, heterogeneity, and adversarial attacks. Furthermore, it critically examines evaluation methodologies, highlighting a misalignment between current metrics and CP’s fundamental objectives. By delving into all relevant topics in-depth, this review offers valuable insights into challenges, opportunities, and risks, serving as a reference for advancing research in vehicular collaborative perception.
3.
Jagtap, A. Dinkar; Song, R.; Sadashivaiah, S. Tiptur; Festag, A.
V2X-Gaussians: Gaussian Splatting for Multi-Agent Cooperative Dynamic Scene Reconstruction Proceedings Article
In: 36th IEEE Intelligent Vehicles Symposium (IV), pp. 1033-1039, Cluj-Napoca, Romania, 2025.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Gaussian Splatting, Intelligent Transport Systems, V2X communication
@inproceedings{Jagtap:IV:2025,
title = {V2X-Gaussians: Gaussian Splatting for Multi-Agent Cooperative Dynamic Scene Reconstruction},
author = {A. Dinkar Jagtap and R. Song and S. Tiptur Sadashivaiah and A. Festag},
url = {https://ieeexplore.ieee.org/abstract/document/11097436},
doi = {10.1109/IV64158.2025.11097436},
year = {2025},
date = {2025-06-26},
urldate = {2025-08-06},
booktitle = {36th IEEE Intelligent Vehicles Symposium (IV)},
pages = {1033-1039},
address = {Cluj-Napoca, Romania},
abstract = {Recent advances in neural rendering, such as NeRF and Gaussian Splatting, have shown great potential for dynamic scene reconstruction in intelligent vehicles. However, existing methods rely on a single ego-vehicle, suffering from limited field-of-view and occlusions, leading to incomplete reconstructions. While V2X communication may provide additional information from roadside infrastructure or other vehicless, it often degrades reconstruction quality due to sparse overlapping views. In this paper, we propose V2X-Gaussians, the first framework integrating V2X communication into Gaussian Splatting. Specifically, by leveraging deformable Gaussians and an iterative V2X-aware cross-ray densification approach, we enhance infrastructure-aided neural rendering and address view sparsity in multi-agent cooperative scenarios. In addition, to support systematic evaluation, we introduce a standardized benchmark for V2X scene reconstruction. Experiments on real-world data show that our method outperforms state-of-the-art approaches by +2.09 PSNR with only 561.8 KB for periodic V2X data exchange, highlighting the benefits of incorporating roadside infrastructure into neural rendering for intelligent transportation systems. Our code and benchmark are publicly available under an open-source license.},
keywords = {Cooperative ITS, Gaussian Splatting, Intelligent Transport Systems, V2X communication},
pubstate = {published},
tppubtype = {inproceedings}
}
Recent advances in neural rendering, such as NeRF and Gaussian Splatting, have shown great potential for dynamic scene reconstruction in intelligent vehicles. However, existing methods rely on a single ego-vehicle, suffering from limited field-of-view and occlusions, leading to incomplete reconstructions. While V2X communication may provide additional information from roadside infrastructure or other vehicless, it often degrades reconstruction quality due to sparse overlapping views. In this paper, we propose V2X-Gaussians, the first framework integrating V2X communication into Gaussian Splatting. Specifically, by leveraging deformable Gaussians and an iterative V2X-aware cross-ray densification approach, we enhance infrastructure-aided neural rendering and address view sparsity in multi-agent cooperative scenarios. In addition, to support systematic evaluation, we introduce a standardized benchmark for V2X scene reconstruction. Experiments on real-world data show that our method outperforms state-of-the-art approaches by +2.09 PSNR with only 561.8 KB for periodic V2X data exchange, highlighting the benefits of incorporating roadside infrastructure into neural rendering for intelligent transportation systems. Our code and benchmark are publicly available under an open-source license.
4.
Delooz, Q.; Maksimovski, D.; Festag, A.; Facchi, C.
Design and Evaluation of V2X Communication Protocols for Cooperatively Interacting Automobiles Book Section
In: Stiller, Christoph; Althoff, Matthias; Burger, Christoph; Deml, Barbara; Eckstein, Lutz; Flemisch, Frank (Ed.): Cooperatively Interacting Vehicles: Methods and Effects of Automated Cooperation in Traffic, pp. 159–199, Springer International Publishing, Cham, 2024.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, maneuver coordination, V2X communication, vehicle automation
@incollection{Delooz:CoInCar:2024,
title = {Design and Evaluation of V2X Communication Protocols for Cooperatively Interacting Automobiles},
author = {Q. Delooz and D. Maksimovski and A. Festag and C. Facchi},
editor = {Christoph Stiller and Matthias Althoff and Christoph Burger and Barbara Deml and Lutz Eckstein and Frank Flemisch},
url = {https://link.springer.com/chapter/10.1007/978-3-031-60494-2_6},
doi = {10.1007/978-3-031-60494-2_6},
year = {2024},
date = {2024-08-12},
urldate = {2024-08-03},
booktitle = {Cooperatively Interacting Vehicles: Methods and Effects of Automated Cooperation in Traffic},
pages = {159–199},
publisher = {Springer International Publishing},
address = {Cham},
abstract = {This chapter studies two key communication services for the support of cooperative driving capabilities using Vehicle-to-Everything (V2X) communications: sensor data sharing and maneuver coordination. Based on the current state of the art in research and pre-standardization of V2X communications, we enhance the protocol design for both services and assess their performance by discrete-event simulations in highway and city scenarios. The first part of this chapter addresses the performance improvement of sensor data sharing by two complementary strategies. The shared sensor data are adapted to the available resources on the used channel. Furthermore, the redundancy of the transmitted information is reduced to lower the load on the wireless channel, whereas several approaches are proposed and assessed. The second part of the chapter analyzes cooperative maneuver coordination protocols. We propose a distributed approach based on the explicit exchange of V2X messages, which introduces priorities in maneuver coordination and studies several communication patterns for the negotiation and coordination of maneuvers among two and more vehicles. The results demonstrate the potential of V2X communications for automated driving, showcase several approaches for enhancements of sensor data sharing and maneuver coordination, and indicate the performance of these enhancements.},
keywords = {Cooperative ITS, Intelligent Transport Systems, maneuver coordination, V2X communication, vehicle automation},
pubstate = {published},
tppubtype = {incollection}
}
This chapter studies two key communication services for the support of cooperative driving capabilities using Vehicle-to-Everything (V2X) communications: sensor data sharing and maneuver coordination. Based on the current state of the art in research and pre-standardization of V2X communications, we enhance the protocol design for both services and assess their performance by discrete-event simulations in highway and city scenarios. The first part of this chapter addresses the performance improvement of sensor data sharing by two complementary strategies. The shared sensor data are adapted to the available resources on the used channel. Furthermore, the redundancy of the transmitted information is reduced to lower the load on the wireless channel, whereas several approaches are proposed and assessed. The second part of the chapter analyzes cooperative maneuver coordination protocols. We propose a distributed approach based on the explicit exchange of V2X messages, which introduces priorities in maneuver coordination and studies several communication patterns for the negotiation and coordination of maneuvers among two and more vehicles. The results demonstrate the potential of V2X communications for automated driving, showcase several approaches for enhancements of sensor data sharing and maneuver coordination, and indicate the performance of these enhancements.
5.
Maksimovski, D.; Facchi, C.; Festag, A.
Packet Rate Control for Maneuver Coordination in Congested V2X Communication Environments Proceedings Article
In: IEEE 99th Vehicular Technology Conference (VTC 2024 Fall), Washington, DC, USA, 2024.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, maneuver coordination, V2X communication, vehicle automation
@inproceedings{Maksimovski:VTC-Spring-Fall:2024,
title = {Packet Rate Control for Maneuver Coordination in Congested V2X Communication Environments},
author = {D. Maksimovski and C. Facchi and A. Festag},
url = {https://ieeexplore.ieee.org/document/10758036},
doi = {10.1109/VTC2024-Fall63153.2024.10758036},
year = {2024},
date = {2024-07-31},
urldate = {2024-11-28},
booktitle = {IEEE 99th Vehicular Technology Conference (VTC 2024 Fall)},
address = {Washington, DC, USA},
abstract = {Maneuver coordination is envisioned as a future Vehicle-to-Everything (V2X) communication-enabled application for cooperative driving to improve the safety, comfort, and efficiency of driving. A Maneuver Coordination Service (MCS) is currently being standardized to facilitate negotiation and coordination of cooperative maneuvers for the Connected and Automated Vehicles (CAVs) by exchanging Maneuver Coordination Messages (MCMs). In order to ensure fair use of available communication channel resources and limit the channel load to reduce message collisions, the European Telecommunications Standards Institute (ETSI) has defined a Decentralized Congestion Control (DCC) framework with packet rate control at the access and facilities layer. However, the DCC mechanisms are content agnostic and can have a negative impact on the MC application in congested communication environments. This paper proposes a new method by combining an adaptive DCC mechanism with a no packet rate control method for important MCMs during the negotiation and execution of safety-critical and emergency maneuvers. A simulation environment is used to extensively evaluate the new method and demonstrate its advantages over the standardized approach. A challenging V2X scenario with a high number of vehicles is simulated in congested V2X channels with only MCMs and with a mix of V2X message types. The results demonstrate the significant improvement of the proposed method for packet rate control for the MCS.},
keywords = {Cooperative ITS, Intelligent Transport Systems, maneuver coordination, V2X communication, vehicle automation},
pubstate = {published},
tppubtype = {inproceedings}
}
Maneuver coordination is envisioned as a future Vehicle-to-Everything (V2X) communication-enabled application for cooperative driving to improve the safety, comfort, and efficiency of driving. A Maneuver Coordination Service (MCS) is currently being standardized to facilitate negotiation and coordination of cooperative maneuvers for the Connected and Automated Vehicles (CAVs) by exchanging Maneuver Coordination Messages (MCMs). In order to ensure fair use of available communication channel resources and limit the channel load to reduce message collisions, the European Telecommunications Standards Institute (ETSI) has defined a Decentralized Congestion Control (DCC) framework with packet rate control at the access and facilities layer. However, the DCC mechanisms are content agnostic and can have a negative impact on the MC application in congested communication environments. This paper proposes a new method by combining an adaptive DCC mechanism with a no packet rate control method for important MCMs during the negotiation and execution of safety-critical and emergency maneuvers. A simulation environment is used to extensively evaluate the new method and demonstrate its advantages over the standardized approach. A challenging V2X scenario with a high number of vehicles is simulated in congested V2X channels with only MCMs and with a mix of V2X message types. The results demonstrate the significant improvement of the proposed method for packet rate control for the MCS.
6.
Lobo, S.; Facchi, C.; Festag, A.
Adaptive Message Prioritization: How to Prioritize VRU Awareness Messages in a Congested V2X Network Proceedings Article
In: IEEE International Conference on Intelligent Transportation Systems (ITSC), Edmonton, Canada, 2024.
Abstract | Links | BibTeX | Tags: Intelligent Transport Systems, safety, V2X communication, vulnerable road users
@inproceedings{lobo:ITSC:2024,
title = {Adaptive Message Prioritization: How to Prioritize VRU Awareness Messages in a Congested V2X Network},
author = {S. Lobo and C. Facchi and A. Festag},
url = {https://ieee-itsc.org/2024/},
doi = {10.1109/ITSC58415.2024.10919704},
year = {2024},
date = {2024-07-18},
urldate = {2024-07-18},
booktitle = {IEEE International Conference on Intelligent Transportation Systems (ITSC)},
address = {Edmonton, Canada},
abstract = {The safety of Vulnerable Road Users (VRUs) can be improved through the utilization of Vehicle-to-Everything (V2X) communication, enabling the exchange of the VRUs' position and kinematic data. In the European V2X system, the dissemination relies on a dedicated message type, the VRU Awareness Message (VAM), which integrates VRUs into the V2X network as active transceivers. However, in the long term, the high number of V2X nodes transmitting messages poses challenges in the wireless resource allocation, which may result in safety-critical situations. To mitigate this issue, the current standardization of VRU awareness services in Europe, considers clustering VRUs with similar kinematic pattern. Nevertheless, the VRU process for joining a cluster may encounter errors, resulting in high channel load due to multiple requests. In this paper, an adaptive message prioritization is proposed to reduce this impact. This method is triggered only under heavy network load and takes into account the number of potential V2X senders. Via simulations based on a crossing scenario, improvements in network performance are observed, as well as an increase in VRU awareness measured by vehicles, i.e. more VRUs being detected.},
keywords = {Intelligent Transport Systems, safety, V2X communication, vulnerable road users},
pubstate = {published},
tppubtype = {inproceedings}
}
The safety of Vulnerable Road Users (VRUs) can be improved through the utilization of Vehicle-to-Everything (V2X) communication, enabling the exchange of the VRUs' position and kinematic data. In the European V2X system, the dissemination relies on a dedicated message type, the VRU Awareness Message (VAM), which integrates VRUs into the V2X network as active transceivers. However, in the long term, the high number of V2X nodes transmitting messages poses challenges in the wireless resource allocation, which may result in safety-critical situations. To mitigate this issue, the current standardization of VRU awareness services in Europe, considers clustering VRUs with similar kinematic pattern. Nevertheless, the VRU process for joining a cluster may encounter errors, resulting in high channel load due to multiple requests. In this paper, an adaptive message prioritization is proposed to reduce this impact. This method is triggered only under heavy network load and takes into account the number of potential V2X senders. Via simulations based on a crossing scenario, improvements in network performance are observed, as well as an increase in VRU awareness measured by vehicles, i.e. more VRUs being detected.
7.
Maksimowski, D.; Facchi, C.; Festag, A.
A Framework of Use Cases, Scenarios, and Metrics for Evaluation of V2X Maneuver Coordination Proceedings Article
In: IEEE Vehicular Networking Conference (VNC), Kobe, Japan, 2024.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, maneuver coordination, V2X communication, vehicle automation
@inproceedings{maksimovski:VNC:2024,
title = {A Framework of Use Cases, Scenarios, and Metrics for Evaluation of V2X Maneuver Coordination},
author = {D. Maksimowski and C. Facchi and A. Festag},
url = {https://ieee-vnc.org/2024},
doi = {10.1109/VNC61989.2024.10575992},
year = {2024},
date = {2024-07-05},
urldate = {2024-07-05},
booktitle = {IEEE Vehicular Networking Conference (VNC)},
address = {Kobe, Japan},
abstract = {Vehicle-to-everything (V2X) communication can enhance the capabilities of connected and automated vehicles (CAVs) to perform cooperative maneuver coordination (CMC), offering improvements in traffic safety, awareness, comfort and efficiency. Recent years have seen progress in the development of cooperative driving applications that leverage V2X maneuver coordination service and message (MCS and MCM), driven by both research and standardization efforts. However, the evaluation of such applications, along with defining relevant use cases and scenarios, lacks a common framework. This paper aims to fill this gap by proposing a framework for classifying use cases, scenarios and metrics for simulation-based performance evaluation of CMC applications. A simulation environment is employed to assess the effectiveness of the proposed metrics and evaluate a highway merging use case across various scenarios without coordination, with coordination, and in different communication conditions. Thus, this paper serves as a contribution to the development, testing and evaluation of CMC applications.},
keywords = {Cooperative ITS, Intelligent Transport Systems, maneuver coordination, V2X communication, vehicle automation},
pubstate = {published},
tppubtype = {inproceedings}
}
Vehicle-to-everything (V2X) communication can enhance the capabilities of connected and automated vehicles (CAVs) to perform cooperative maneuver coordination (CMC), offering improvements in traffic safety, awareness, comfort and efficiency. Recent years have seen progress in the development of cooperative driving applications that leverage V2X maneuver coordination service and message (MCS and MCM), driven by both research and standardization efforts. However, the evaluation of such applications, along with defining relevant use cases and scenarios, lacks a common framework. This paper aims to fill this gap by proposing a framework for classifying use cases, scenarios and metrics for simulation-based performance evaluation of CMC applications. A simulation environment is employed to assess the effectiveness of the proposed metrics and evaluate a highway merging use case across various scenarios without coordination, with coordination, and in different communication conditions. Thus, this paper serves as a contribution to the development, testing and evaluation of CMC applications.
8.
Maksimovski, D.; Facchi, C.; Festag, A.
Prioritization of Maneuver Coordination Messages and the Impact of Decentralized Congestion Control Proceedings Article
In: IEEE 99th Vehicular Technology Conference (VTC 2024 Spring), Singapore, 2024.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, maneuver coordination, V2X communication, vehicle automation
@inproceedings{Maksimovski:VTC-Spring:2024,
title = {Prioritization of Maneuver Coordination Messages and the Impact of Decentralized Congestion Control},
author = {D. Maksimovski and C. Facchi and A. Festag},
url = {https://ieeexplore.ieee.org/document/10683237},
doi = {10.1109/VTC2024-Spring62846.2024.10683237},
year = {2024},
date = {2024-06-25},
urldate = {2024-09-25},
booktitle = {IEEE 99th Vehicular Technology Conference (VTC 2024 Spring)},
address = {Singapore},
abstract = {Vehicle-to-everything (V2X) communication can enable connected and automated vehicles (CAVs) to drive cooperatively by coordinating their maneuvers. Envisioned as a future Day 3+ V2X application, CAVs can broadcast Maneuver Coordination Messages (MCMs) as part of a Maneuver Coordination Service (MCS) to exchange the necessary data. In order to prevent congestion and ensure fair use of the communication channel by the increasing number of V2X services, a Decentralized Congestion Control (DCC) mechanism with packet rate control has been developed and standardized by the European Telecommunications Standards Institute (ETSI). In this paper, a prioritization of MCMs is proposed based on the necessity of the maneuver and the operation mode of the MCS. Several application and network related metrics are used to analyze the impact of the DCC on the MCS with and without prioritization. A challenging scenario with a high number of transmitting vehicles is simulated, congesting the communication channel with only MCMs and with the standardized Cooperative Awareness Messages (CAMs). Evaluations are performed with DCC at the access and facilities layers. The results demonstrate the benefits of MCM prioritization and discuss the impact and issues of DCC mechanisms in the context of MCS.},
keywords = {Cooperative ITS, Intelligent Transport Systems, maneuver coordination, V2X communication, vehicle automation},
pubstate = {published},
tppubtype = {inproceedings}
}
Vehicle-to-everything (V2X) communication can enable connected and automated vehicles (CAVs) to drive cooperatively by coordinating their maneuvers. Envisioned as a future Day 3+ V2X application, CAVs can broadcast Maneuver Coordination Messages (MCMs) as part of a Maneuver Coordination Service (MCS) to exchange the necessary data. In order to prevent congestion and ensure fair use of the communication channel by the increasing number of V2X services, a Decentralized Congestion Control (DCC) mechanism with packet rate control has been developed and standardized by the European Telecommunications Standards Institute (ETSI). In this paper, a prioritization of MCMs is proposed based on the necessity of the maneuver and the operation mode of the MCS. Several application and network related metrics are used to analyze the impact of the DCC on the MCS with and without prioritization. A challenging scenario with a high number of transmitting vehicles is simulated, congesting the communication channel with only MCMs and with the standardized Cooperative Awareness Messages (CAMs). Evaluations are performed with DCC at the access and facilities layers. The results demonstrate the benefits of MCM prioritization and discuss the impact and issues of DCC mechanisms in the context of MCS.
9.
Song, R.; Festag, A.; Jagtap, A. Dinkar; Bialdyga, M.; Yan, Z.; Otte, M.; Knoll, A.
``First Mile'' – An Open Innovation Lab for Infrastructure-Assisted Cooperative Intelligent Transportation Systems: Architecture, Validation and Outlook Proceedings Article
In: 35th IEEE Intelligent Vehicles Symposium (IV), Jeju Island, Korea, 2024.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, testfield, V2X communication
@inproceedings{Song:IV:2024,
title = {``First Mile'' – An Open Innovation Lab for Infrastructure-Assisted Cooperative Intelligent Transportation Systems: Architecture, Validation and Outlook},
author = {R. Song and A. Festag and A. Dinkar Jagtap and M. Bialdyga and Z. Yan and M. Otte and A. Knoll},
url = {https://ieeexplore.ieee.org/document/10588500},
doi = {10.1109/IV55156.2024.10588500},
year = {2024},
date = {2024-04-02},
urldate = {2024-07-15},
booktitle = {35th IEEE Intelligent Vehicles Symposium (IV)},
address = {Jeju Island, Korea},
abstract = {Infrastructure-assisted cooperative intelligent transportation systems (C-ITS) leverage roadside intelligent infrastructure and vehicular network technology to facilitate information exchange among traffic participants, enhancing road safety, efficiency, and sustainability. However, this requires not only the massive deployment of infrastructure, including advanced sensors, communication devices, and computing units at various levels, but also the involvement of various stakeholders in the development of functions and real-road testing. In this paper, we present our test field – myTestField, as an emphopen innovation lab for C-ITS in Ingolstadt, Germany, offering an open environment for world-wide stakeholders to conduct research and testing in C-ITS. In particular, we equip a 3.5 km area with 22 roadside intelligent masts and 89 sensors, achieving dense deployment on public roads. Our design includes a protocol stack tailored for different C-ITS stations and services, conforming to European communication standards. Furthermore, we conduct quantitative analyzes of key performance metrics, such as radio signal quality and End-to-End delay, to assess the efficacy of myTestField in different data processing pipelines. Finally, we delve into the future prospects of large-scale C-ITS deployment, guided by extensive and prolonged measurement studies.},
keywords = {Cooperative ITS, Intelligent Transport Systems, testfield, V2X communication},
pubstate = {published},
tppubtype = {inproceedings}
}
Infrastructure-assisted cooperative intelligent transportation systems (C-ITS) leverage roadside intelligent infrastructure and vehicular network technology to facilitate information exchange among traffic participants, enhancing road safety, efficiency, and sustainability. However, this requires not only the massive deployment of infrastructure, including advanced sensors, communication devices, and computing units at various levels, but also the involvement of various stakeholders in the development of functions and real-road testing. In this paper, we present our test field – myTestField, as an emphopen innovation lab for C-ITS in Ingolstadt, Germany, offering an open environment for world-wide stakeholders to conduct research and testing in C-ITS. In particular, we equip a 3.5 km area with 22 roadside intelligent masts and 89 sensors, achieving dense deployment on public roads. Our design includes a protocol stack tailored for different C-ITS stations and services, conforming to European communication standards. Furthermore, we conduct quantitative analyzes of key performance metrics, such as radio signal quality and End-to-End delay, to assess the efficacy of myTestField in different data processing pipelines. Finally, we delve into the future prospects of large-scale C-ITS deployment, guided by extensive and prolonged measurement studies.
10.
Bauder, M.; Festag, A.; Kubjatko, T.; Schweiger, H. -G.
Data Accuracy in Vehicle-to-X Cooperative Awareness Messages: An Experimental Study for the First Commercial Deployment of C-ITS in Europe Journal Article
In: Elsevier Vehicular Communications, vol. 47, pp. 31, 2024.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, measurements, V2X communication
@article{Bauder:ElsevierVehComm:2024_DataAccuracy_V2X,
title = {Data Accuracy in Vehicle-to-X Cooperative Awareness Messages: An Experimental Study for the First Commercial Deployment of C-ITS in Europe},
author = {M. Bauder and A. Festag and T. Kubjatko and H. -G. Schweiger},
url = {https://www.sciencedirect.com/science/article/pii/S2214209624000196},
doi = {10.1016/j.vehcom.2024.100744},
year = {2024},
date = {2024-03-14},
urldate = {2024-03-14},
journal = {Elsevier Vehicular Communications},
volume = {47},
pages = {31},
abstract = {Cooperative Intelligent Transportation Systems have achieved a mature technology stage and are in an early phase of mass deployment in Europe. Relying on Vehicle-to-X communication, these systems were primarily developed to improve traffic safety, efficiency and driving comfort. However, they also offer great opportunities for other use cases. One of them is forensic accident analysis, where the received data provide details about the status of other traffic participants, give insights into the accident scenario and therefore help in understanding accident causes. A high accuracy of the sent information is essential: For safety use cases, such as traffic jam warning, a poor accuracy of the data may result in wrong driver information, undermine the usability of the system and even create new safety risks. For accident analysis, a low accuracy may prevent the correct reconstruction of an accident. This paper presents an experimental study of the first generation of Cooperative Intelligent Transportation Systems in Europe. The results indicate a high accuracy for most of the data fields in the Vehicle-to-X messages, namely speed, acceleration, heading and yaw rate information, which meet the accuracy requirements for safety use cases and accident analysis. In contrast, the position data, which are also carried in the messages, have larger errors. Specifically, we observed that the lateral position has still an acceptable accuracy. The error of the longitudinal position is larger and may compromise safety use cases with high accuracy requirements. Even with limited accuracy, the data provide a high value for the accident analysis. Since we also found that the accuracy of the data increases for newer vehicle models, we presume that Vehicle-to-X data have the potential for exact accident reconstruction.},
keywords = {Cooperative ITS, Intelligent Transport Systems, measurements, V2X communication},
pubstate = {published},
tppubtype = {article}
}
Cooperative Intelligent Transportation Systems have achieved a mature technology stage and are in an early phase of mass deployment in Europe. Relying on Vehicle-to-X communication, these systems were primarily developed to improve traffic safety, efficiency and driving comfort. However, they also offer great opportunities for other use cases. One of them is forensic accident analysis, where the received data provide details about the status of other traffic participants, give insights into the accident scenario and therefore help in understanding accident causes. A high accuracy of the sent information is essential: For safety use cases, such as traffic jam warning, a poor accuracy of the data may result in wrong driver information, undermine the usability of the system and even create new safety risks. For accident analysis, a low accuracy may prevent the correct reconstruction of an accident. This paper presents an experimental study of the first generation of Cooperative Intelligent Transportation Systems in Europe. The results indicate a high accuracy for most of the data fields in the Vehicle-to-X messages, namely speed, acceleration, heading and yaw rate information, which meet the accuracy requirements for safety use cases and accident analysis. In contrast, the position data, which are also carried in the messages, have larger errors. Specifically, we observed that the lateral position has still an acceptable accuracy. The error of the longitudinal position is larger and may compromise safety use cases with high accuracy requirements. Even with limited accuracy, the data provide a high value for the accident analysis. Since we also found that the accuracy of the data increases for newer vehicle models, we presume that Vehicle-to-X data have the potential for exact accident reconstruction.
11.
Bazzi, A.; Sepulcre, M.; Delooz, Q.; Festag, A.; Vogt, J.; Wieker, H.; Berens, F.; Spaanderman, P.
Multi-Channel Operation for the Release 2 of ETSI Cooperative Intelligent Transport Systems Journal Article
In: IEEE Communications Standards Magazine, vol. 8, no. 1, pp. 28-35, 2023.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, Multi-channel operation, V2X communication
@article{Bazzi:IEEE-CommStdMag:2023_ETSIMCO,
title = {Multi-Channel Operation for the Release 2 of ETSI Cooperative Intelligent Transport Systems},
author = {A. Bazzi and M. Sepulcre and Q. Delooz and A. Festag and J. Vogt and H. Wieker and F. Berens and P. Spaanderman},
url = {https://ieeexplore.ieee.org/document/10467184},
doi = {10.1109/MCOMSTD.0001.2200080},
year = {2023},
date = {2023-10-12},
urldate = {2024-03-18},
journal = {IEEE Communications Standards Magazine},
volume = {8},
number = {1},
pages = {28-35},
abstract = {Vehicles and road infrastructure are starting to be equipped with vehicle-to-everything (V2X) communication solutions to increase road safety and provide new services to drivers and passengers. In Europe, the deployment is based on a set of Release 1 standards developed by ETSI to support basic use cases for cooperative intelligent transport systems (C-ITS). For them, the capacity of a single 10 MHz channel in the ITS band at 5.9 GHz is considered sufficient. At the same time, the ITS stakeholders are working towards several advanced use cases, which imply a significant increment of data traffic and the need for multiple channels. To address this issue, ETSI has recently standardized a new multi-channel operation (MCO) concept for flexible, efficient, and future-proof use of multiple channels. This new concept is defined in a set of new specifications that represent the foundation for the future releases of C-ITS standards. The present paper provides a comprehensive review of the new set of specifications, describing the main entities extending the C-ITS architecture at the different layers of the protocol stack, In addition, the paper provides representative examples that describe how these MCO standards will be used in the future and discusses some of the main open issues arising. The review and analysis of this paper facilitate the understanding and motivation of the new set of Release 2 ETSI specifications for MCO and the identification of new research opportunities.},
keywords = {Cooperative ITS, Intelligent Transport Systems, Multi-channel operation, V2X communication},
pubstate = {published},
tppubtype = {article}
}
Vehicles and road infrastructure are starting to be equipped with vehicle-to-everything (V2X) communication solutions to increase road safety and provide new services to drivers and passengers. In Europe, the deployment is based on a set of Release 1 standards developed by ETSI to support basic use cases for cooperative intelligent transport systems (C-ITS). For them, the capacity of a single 10 MHz channel in the ITS band at 5.9 GHz is considered sufficient. At the same time, the ITS stakeholders are working towards several advanced use cases, which imply a significant increment of data traffic and the need for multiple channels. To address this issue, ETSI has recently standardized a new multi-channel operation (MCO) concept for flexible, efficient, and future-proof use of multiple channels. This new concept is defined in a set of new specifications that represent the foundation for the future releases of C-ITS standards. The present paper provides a comprehensive review of the new set of specifications, describing the main entities extending the C-ITS architecture at the different layers of the protocol stack, In addition, the paper provides representative examples that describe how these MCO standards will be used in the future and discusses some of the main open issues arising. The review and analysis of this paper facilitate the understanding and motivation of the new set of Release 2 ETSI specifications for MCO and the identification of new research opportunities.
12.
Hegde, A.; Song, R.; Festag, A.
Radio Resource Allocation in 5G-NR V2X: A Multi-Agent Actor-Critic Based Approach Journal Article
In: IEEE Access, vol. 11, pp. 87225-87244, 2023.
Abstract | Links | BibTeX | Tags: Cellular V2X, Cooperative ITS, Intelligent Transport Systems, machine learning, V2X communication
@article{Hegde:Access:2023_ResAlloc_ActorCritic,
title = {Radio Resource Allocation in 5G-NR V2X: A Multi-Agent Actor-Critic Based Approach},
author = {A. Hegde and R. Song and A. Festag},
url = {https://ieeexplore.ieee.org/document/10216959},
doi = {10.1109/ACCESS.2023.3305267},
year = {2023},
date = {2023-08-04},
urldate = {2023-08-15},
journal = {IEEE Access},
volume = {11},
pages = {87225-87244},
abstract = {The efficiency of radio resource allocation and scheduling procedures in Cellular Vehicle-to-X (Cellular V2X) communication networks directly affects link quality in terms of latency and reliability. However, owing to the continuous movement of vehicles, it is impossible to have a centralized coordinating unit at all times to manage the allocation of radio resources. In the unmanaged mode of the fifth generation new radio (5G-NR) V2X, the sensing-based semi-persistent scheduling (SB-SPS) loses its effectiveness when V2X data messages become aperiodic with varying data sizes. This leads to misinformed resource allocation decisions among vehicles and frequent resource collisions. To improve resource selection, this study formulates the Cellular V2X communication network as a decentralized multi-agent networked markov decision process (MDP) where each vehicle agent executes an actor-critic-based radio resource scheduler. Developing further the actor-critic methodology for the radio resource allocation problem in Cellular V2X, two variants are derived: independent actor-critic (IAC) and shared experience actor-critic (SEAC). Results from simulation studies indicate that the actor-critic schedulers improve reliability, achieving a 15-20% higher probability of reception under high vehicular density scenarios with aperiodic traffic patterns.},
keywords = {Cellular V2X, Cooperative ITS, Intelligent Transport Systems, machine learning, V2X communication},
pubstate = {published},
tppubtype = {article}
}
The efficiency of radio resource allocation and scheduling procedures in Cellular Vehicle-to-X (Cellular V2X) communication networks directly affects link quality in terms of latency and reliability. However, owing to the continuous movement of vehicles, it is impossible to have a centralized coordinating unit at all times to manage the allocation of radio resources. In the unmanaged mode of the fifth generation new radio (5G-NR) V2X, the sensing-based semi-persistent scheduling (SB-SPS) loses its effectiveness when V2X data messages become aperiodic with varying data sizes. This leads to misinformed resource allocation decisions among vehicles and frequent resource collisions. To improve resource selection, this study formulates the Cellular V2X communication network as a decentralized multi-agent networked markov decision process (MDP) where each vehicle agent executes an actor-critic-based radio resource scheduler. Developing further the actor-critic methodology for the radio resource allocation problem in Cellular V2X, two variants are derived: independent actor-critic (IAC) and shared experience actor-critic (SEAC). Results from simulation studies indicate that the actor-critic schedulers improve reliability, achieving a 15-20% higher probability of reception under high vehicular density scenarios with aperiodic traffic patterns.
13.
Delooz, Q.; Festag, A.; Vinel, A.; Lobo, S.
Simulation-Based Performance Optimization of V2X Collective Perception by Adaptive Object Filtering Proceedings Article
In: IEEE Intelligent Vehicles Symposium (IV), Anchorage, Alaska, US, 2023.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, sensor data sharing, V2X communication
@inproceedings{Delooz:IV:2023,
title = {Simulation-Based Performance Optimization of V2X Collective Perception by Adaptive Object Filtering},
author = {Q. Delooz and A. Festag and A. Vinel and S. Lobo},
url = {https://ieeexplore.ieee.org/document/10186788},
doi = {10.1109/IV55152.2023.10186788},
year = {2023},
date = {2023-04-04},
urldate = {2023-04-04},
booktitle = {IEEE Intelligent Vehicles Symposium (IV)},
address = {Anchorage, Alaska, US},
abstract = {V2X Collective Perception is the principle of exchanging sensor data among V2X-capable stations, such as vehicles or roadside units, by exchanging lists of perceived objects in the 5.9 GHz frequency band for road safety and traffic efficiency. An object can be anything relevant to traffic safety, e.g., vehicles or pedestrians. The current standardization of Collective Perception in Europe considers filtering objects for transmission based on their locally perceived dynamics and freshness to preserve channel resources. However, two remaining problems of object filtering are: information redundancy and adapting object filtering to the available channel resources. In this paper, we combine redundancy mitigation and congestion control-aware filtering. We evaluate the performance of the resulting object filtering techniques by realizing realistic, large-scale simulations of a mid-size city in Germany. We assess the performance using a scoring metric. The results show better information redundancy control and adjustable channel usage for object filtering.},
keywords = {Cooperative ITS, Intelligent Transport Systems, sensor data sharing, V2X communication},
pubstate = {published},
tppubtype = {inproceedings}
}
V2X Collective Perception is the principle of exchanging sensor data among V2X-capable stations, such as vehicles or roadside units, by exchanging lists of perceived objects in the 5.9 GHz frequency band for road safety and traffic efficiency. An object can be anything relevant to traffic safety, e.g., vehicles or pedestrians. The current standardization of Collective Perception in Europe considers filtering objects for transmission based on their locally perceived dynamics and freshness to preserve channel resources. However, two remaining problems of object filtering are: information redundancy and adapting object filtering to the available channel resources. In this paper, we combine redundancy mitigation and congestion control-aware filtering. We evaluate the performance of the resulting object filtering techniques by realizing realistic, large-scale simulations of a mid-size city in Germany. We assess the performance using a scoring metric. The results show better information redundancy control and adjustable channel usage for object filtering.
14.
Delooz, Q.; Vinel, A.; Festag, A.
Optimizing the Channel Resource Usage for Sensor Data Sharing with V2X Communications Journal Article
In: at – Automatisierungstechnik, vol. 71, no. 4, pp. 311-317, 2023.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, sensor data sharing, V2X communication
@article{Delooz:ATJournal:2023,
title = {Optimizing the Channel Resource Usage for Sensor Data Sharing with V2X Communications},
author = {Q. Delooz and A. Vinel and A. Festag},
url = {2023-02-21},
doi = {10.1515/auto-2022-0162},
year = {2023},
date = {2023-04-01},
urldate = {2023-02-21},
journal = {at – Automatisierungstechnik},
volume = {71},
number = {4},
pages = {311-317},
abstract = {Sensor data sharing in V2X communication enables vehicles to exchange locally perceived sensor data with each other to increase their environmental awareness. It relies on the periodic exchange of selected, safety-relevant objects. Object selection is used to reduce channel resource usage. Additionally, vehicles use congestion control mechanisms to avoid overloading the channel. Currently, both object selection and congestion control mechanisms operate independently. We study a congestion-aware object filtering approach combining both and improving the performance of sensor data sharing. Die Übertragung von Sensordaten mit V2X-Kommunikation ermöglicht Fahrzeugen, lokale Umgebungsinformationen auszutauschen, um die Wahrnehmungsreichweite zu erhöhen. Der Sensordatenaustausch basiert auf der periodischen Übertragung sicherheitsrelevanter Objekte. Dabei wird die Anzahl der Objekte reduziert, um die Datenlast zu verringern. Zusätzlich steuern Mechanismen die Datenlast um eine Überlast zu vermeiden. Bisher arbeiten die Objektauswahl und die Datenüberlaststeuerung unabhängig voneinander. Wir untersuchen einen kombinierten Ansatz zur Objektfilterung, der die Performanz des Sensordatenaustauschs verbessert.},
keywords = {Cooperative ITS, Intelligent Transport Systems, sensor data sharing, V2X communication},
pubstate = {published},
tppubtype = {article}
}
Sensor data sharing in V2X communication enables vehicles to exchange locally perceived sensor data with each other to increase their environmental awareness. It relies on the periodic exchange of selected, safety-relevant objects. Object selection is used to reduce channel resource usage. Additionally, vehicles use congestion control mechanisms to avoid overloading the channel. Currently, both object selection and congestion control mechanisms operate independently. We study a congestion-aware object filtering approach combining both and improving the performance of sensor data sharing. Die Übertragung von Sensordaten mit V2X-Kommunikation ermöglicht Fahrzeugen, lokale Umgebungsinformationen auszutauschen, um die Wahrnehmungsreichweite zu erhöhen. Der Sensordatenaustausch basiert auf der periodischen Übertragung sicherheitsrelevanter Objekte. Dabei wird die Anzahl der Objekte reduziert, um die Datenlast zu verringern. Zusätzlich steuern Mechanismen die Datenlast um eine Überlast zu vermeiden. Bisher arbeiten die Objektauswahl und die Datenüberlaststeuerung unabhängig voneinander. Wir untersuchen einen kombinierten Ansatz zur Objektfilterung, der die Performanz des Sensordatenaustauschs verbessert.
15.
Hegde, A.; Lobo, S.; Festag, A.
Cellular-V2X for Vulnerable Road User Protection in Cooperative ITS Proceedings Article
In: 2022 18th International Conference on Wireless and Mobile Computing, Networking and Communications (WiMob), Thessaloniki, Greece, 2022.
Abstract | Links | BibTeX | Tags: Intelligent Transport Systems, safety, V2X communication, vulnerable road users
@inproceedings{Hegde:WiMob:2022,
title = {Cellular-V2X for Vulnerable Road User Protection in Cooperative ITS},
author = {A. Hegde and S. Lobo and A. Festag},
url = {http://www.wimob.org/wimob2022},
doi = {10.1109/WiMob55322.2022.9941707},
year = {2022},
date = {2022-12-31},
urldate = {2022-10-12},
booktitle = {2022 18th International Conference on Wireless and Mobile Computing, Networking and Communications (WiMob)},
address = {Thessaloniki, Greece},
abstract = {Cooperative Intelligent Transport Systems (C-ITS) play a significant role in improving road traffic safety and efficiency. Primary use cases rely on vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication. In C-ITS, the safety of vulnerable road users (VRUs) such as pedestrians, motorists and other users with reduced mobility is being increasingly considered. A warning system, where VRUs actively send and receive messages instead of being passively monitored as road traffic objects, can play an important role in detecting risky situations and allowing the warning of vehicle drivers. However, in a dense urban traffic scenario with closely moving vehicles and pedestrians, the communication network can face severe resource constraints. Considering Cellular-V2X communication systems, the user equipments (UEs) may have to use the unmanaged mode of the sidelink interface. This paper analyzes the limitations of the existing radio resource allocation mechanisms and proposes adaptive strategies to ensure fairness in the distribution of radio resources between vehicles and VRUs. In addition, this work addresses the question about the situations in which VRU safety, being subject to a resource-constrained Cellular-V2X network, can be ensured.},
keywords = {Intelligent Transport Systems, safety, V2X communication, vulnerable road users},
pubstate = {published},
tppubtype = {inproceedings}
}
Cooperative Intelligent Transport Systems (C-ITS) play a significant role in improving road traffic safety and efficiency. Primary use cases rely on vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication. In C-ITS, the safety of vulnerable road users (VRUs) such as pedestrians, motorists and other users with reduced mobility is being increasingly considered. A warning system, where VRUs actively send and receive messages instead of being passively monitored as road traffic objects, can play an important role in detecting risky situations and allowing the warning of vehicle drivers. However, in a dense urban traffic scenario with closely moving vehicles and pedestrians, the communication network can face severe resource constraints. Considering Cellular-V2X communication systems, the user equipments (UEs) may have to use the unmanaged mode of the sidelink interface. This paper analyzes the limitations of the existing radio resource allocation mechanisms and proposes adaptive strategies to ensure fairness in the distribution of radio resources between vehicles and VRUs. In addition, this work addresses the question about the situations in which VRU safety, being subject to a resource-constrained Cellular-V2X network, can be ensured.
16.
Hegde, A.; Delooz, Q.; Mariyaklla, C. L.; Festag, A.; Klingler, F.
Radio Resource Allocation for Collective Perception in 5G-NR Vehicle-to-X Communication Systems Proceedings Article
In: IEEE Wireless Communications and Networking Conference (WCNC 2023), Glasgow, UK, 2022.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, sensor data sharing, V2X communication
@inproceedings{Hegde:WCNC:2023,
title = {Radio Resource Allocation for Collective Perception in 5G-NR Vehicle-to-X Communication Systems},
author = {A. Hegde and Q. Delooz and C. L. Mariyaklla and A. Festag and F. Klingler},
url = {https://wcnc2023.ieee-wcnc.org},
doi = {10.1109/WCNC55385.2023.10118606},
year = {2022},
date = {2022-12-11},
urldate = {2022-12-11},
booktitle = {IEEE Wireless Communications and Networking Conference (WCNC 2023)},
address = {Glasgow, UK},
abstract = {Sensor data sharing has an immense potential to enhance the perception capabilities of vehicles and to provide better situational awareness. It is being standardized as collective perception by the European Telecommunication Standards Institute (ETSI) as part of Cooperative Intelligent Transport Systems (C-ITS). For the transmission of collective perception messages via sidelink in Cellular-V2X, sensing-based semi-persistent scheduling (SB-SPS) in the unmanaged mode of 5G-NR V2X provides low-latency communication among road traffic participants that are located outside the cellular network coverage. The unpredictability of the collective perception messages in periodicity and size poses certain challenges on the SB-SPS, thereby creating poor utilization of radio resources and high risk of resource collisions. Existing system level simulations study the performance of collective perception from the application perspective without addressing the radio resource allocation at the access layer. This work investigates the challenges of the sidelink resource allocation mechanisms in 5G-NR V2X and assesses the impact of the mechanism on the performance of collective perception by simulation in a realistic urban traffic environment. A practical approach is adopted to formulate mathematical models that can characterize the radio resource utilization and resource collisions arising in such environments and yield the appropriate 5G-NR V2X parameters.},
keywords = {Cooperative ITS, Intelligent Transport Systems, sensor data sharing, V2X communication},
pubstate = {published},
tppubtype = {inproceedings}
}
Sensor data sharing has an immense potential to enhance the perception capabilities of vehicles and to provide better situational awareness. It is being standardized as collective perception by the European Telecommunication Standards Institute (ETSI) as part of Cooperative Intelligent Transport Systems (C-ITS). For the transmission of collective perception messages via sidelink in Cellular-V2X, sensing-based semi-persistent scheduling (SB-SPS) in the unmanaged mode of 5G-NR V2X provides low-latency communication among road traffic participants that are located outside the cellular network coverage. The unpredictability of the collective perception messages in periodicity and size poses certain challenges on the SB-SPS, thereby creating poor utilization of radio resources and high risk of resource collisions. Existing system level simulations study the performance of collective perception from the application perspective without addressing the radio resource allocation at the access layer. This work investigates the challenges of the sidelink resource allocation mechanisms in 5G-NR V2X and assesses the impact of the mechanism on the performance of collective perception by simulation in a realistic urban traffic environment. A practical approach is adopted to formulate mathematical models that can characterize the radio resource utilization and resource collisions arising in such environments and yield the appropriate 5G-NR V2X parameters.
17.
Maksimovski, D.; Facchi, C.; Festag, A.
Cooperative Driving: Research on Generic Decentralized Maneuver Coordination for Connected and Automated Vehicles Book Section
In: Klein, Cornel; Jarke, Matthias; Helfert, Markus; Berns, Karsten; Gusikhin, Oleg (Ed.): Smart Cities, Green Technologies, and Intelligent Transport Systems, pp. 348–370, Springer International Publishing, Cham, 2022.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, maneuver coordination, V2X communication, vehicle automation
@incollection{Maksimovski:Springer:2022,
title = {Cooperative Driving: Research on Generic Decentralized Maneuver Coordination for Connected and Automated Vehicles},
author = {D. Maksimovski and C. Facchi and A. Festag},
editor = {Cornel Klein and Matthias Jarke and Markus Helfert and Karsten Berns and Oleg Gusikhin},
url = {https://link.springer.com/chapter/10.1007/978-3-031-17098-0_18},
doi = {10.1007/978-3-031-17098-0_18},
year = {2022},
date = {2022-10-11},
urldate = {2022-10-11},
booktitle = {Smart Cities, Green Technologies, and Intelligent Transport Systems},
pages = {348–370},
publisher = {Springer International Publishing},
address = {Cham},
abstract = {Maneuver coordination for Connected and Automated Vehicles (CAVs) can be enhanced by vehicle-to-everything (V2X) communication. In order to disseminate planned maneuver intentions or requests, Maneuver Coordination Messages (MCMs) are exchanged between the CAVs that enable them to negotiate and perform cooperative maneuvers. In this way, V2X communication can extend the perception range of the sensors, enhance the decision making and maneuver planning of the CAVs, as well as allow complex interactions between the vehicles. Various maneuver coordination schemes exist for specific traffic use cases. Recently, several maneuver coordination approaches have been proposed that target at generic decentralized solutions which can be applied for a wide range of use cases relying on direct vehicle-to-vehicle (V2V) communication. This paper presents such use cases and existing generic approaches for decentralized maneuver coordination. The approaches are systematically described, compared and classified considering explicit and implicit trajectory broadcast, space-time reservation, cost values, priority maneuvers and complex interactions among vehicles. Furthermore, this paper outlines open research gaps in the field and discusses future research directions.},
keywords = {Cooperative ITS, Intelligent Transport Systems, maneuver coordination, V2X communication, vehicle automation},
pubstate = {published},
tppubtype = {incollection}
}
Maneuver coordination for Connected and Automated Vehicles (CAVs) can be enhanced by vehicle-to-everything (V2X) communication. In order to disseminate planned maneuver intentions or requests, Maneuver Coordination Messages (MCMs) are exchanged between the CAVs that enable them to negotiate and perform cooperative maneuvers. In this way, V2X communication can extend the perception range of the sensors, enhance the decision making and maneuver planning of the CAVs, as well as allow complex interactions between the vehicles. Various maneuver coordination schemes exist for specific traffic use cases. Recently, several maneuver coordination approaches have been proposed that target at generic decentralized solutions which can be applied for a wide range of use cases relying on direct vehicle-to-vehicle (V2V) communication. This paper presents such use cases and existing generic approaches for decentralized maneuver coordination. The approaches are systematically described, compared and classified considering explicit and implicit trajectory broadcast, space-time reservation, cost values, priority maneuvers and complex interactions among vehicles. Furthermore, this paper outlines open research gaps in the field and discusses future research directions.
18.
Lobo, S.; Festag, A.; Facchi, C.
Enhancing the Safety of Vulnerable Road Users: Messaging Protocols for V2X Communication Proceedings Article
In: IEEE 96th Vehicular Technology Conference (VTC2022-Fall), London UK and Beijing, China, 2022.
Abstract | Links | BibTeX | Tags: Intelligent Transport Systems, safety, V2X communication, vulnerable road users
@inproceedings{Lobo:VTCFall:2022,
title = {Enhancing the Safety of Vulnerable Road Users: Messaging Protocols for V2X Communication},
author = {S. Lobo and A. Festag and C. Facchi},
url = {https://ieeexplore.ieee.org/document/10012775},
doi = {10.1109/VTC2022-Fall57202.2022.10012775},
year = {2022},
date = {2022-09-05},
urldate = {2022-09-05},
booktitle = {IEEE 96th Vehicular Technology Conference (VTC2022-Fall)},
address = {London UK and Beijing, China},
abstract = {The protection of vulnerable road users (VRUs) by means of V2X communication is increasingly considered for the next generation of cooperative safety systems. Two messaging protocols are being standardized: (i) With collective perception for sensor data sharing: VRUs can be passively perceived by the local sensors in vehicles and roadside units, which disseminate this information in dedicated messages carrying lists with VRU and other objects. (ii) VRUs can actively transmit messages in order to make other road users in their vicinity aware of their presence. This paper carries out a performance evaluation of a scenario with the two main messaging protocols and also their combined deployment, and compares them with two baseline approaches. Simulation results for a representative roundabout scenario with manifold interaction among vehicles and pedestrians indicate that the combination of sensor data sharing and active VRU transmissions performs best: It provides the highest VRU detection rate and the shortest VRU detection latency. This approach keeps the channel busy ratio below a critical threshold, which prevents the data congestion control of the V2X communication system from its activation.},
keywords = {Intelligent Transport Systems, safety, V2X communication, vulnerable road users},
pubstate = {published},
tppubtype = {inproceedings}
}
The protection of vulnerable road users (VRUs) by means of V2X communication is increasingly considered for the next generation of cooperative safety systems. Two messaging protocols are being standardized: (i) With collective perception for sensor data sharing: VRUs can be passively perceived by the local sensors in vehicles and roadside units, which disseminate this information in dedicated messages carrying lists with VRU and other objects. (ii) VRUs can actively transmit messages in order to make other road users in their vicinity aware of their presence. This paper carries out a performance evaluation of a scenario with the two main messaging protocols and also their combined deployment, and compares them with two baseline approaches. Simulation results for a representative roundabout scenario with manifold interaction among vehicles and pedestrians indicate that the combination of sensor data sharing and active VRU transmissions performs best: It provides the highest VRU detection rate and the shortest VRU detection latency. This approach keeps the channel busy ratio below a critical threshold, which prevents the data congestion control of the V2X communication system from its activation.
19.
Delooz, Q.; Willecke, A.; Garlichs, K.; Hagau, A. -C.; Wolf, L.; Vinel, A.; Festag, A.
Analysis and Evaluation of Information Redundancy Mitigation for V2X Collective Perception Journal Article
In: IEEE Access, vol. 10, pp. 47076-47093, 2022.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, sensor data sharing, V2X communication
@article{Delooz:IEEEAccess:2022,
title = {Analysis and Evaluation of Information Redundancy Mitigation for V2X Collective Perception},
author = {Q. Delooz and A. Willecke and K. Garlichs and A. -C. Hagau and L. Wolf and A. Vinel and A. Festag},
url = {2022-04-27},
doi = {10.1109/ACCESS.2022.3170029},
year = {2022},
date = {2022-04-09},
urldate = {2022-04-09},
journal = {IEEE Access},
volume = {10},
pages = {47076-47093},
abstract = {Sensor data sharing enables vehicles to exchange locally perceived sensor data among each other and with the roadside infrastructure to increase their environmental awareness. It is commonly regarded as a next-generation vehicular communication service beyond the exchange of highly aggregated messages in the first generation. The approach is being considered in the European standardization process, where it relies on the exchange of locally detected objects representing anything safety-relevant, such as other vehicles or pedestrians, in periodically broadcasted messages to vehicles in direct communication range. Objects filtering methods for inclusion in a message are necessary to avoid overloading a channel and provoking unnecessary data processing. Initial studies provided in a pre-standardization report about sensor data sharing elaborated a first set of rules to filter objects based on their characteristics, such as their dynamics or type. However, these rules still lack the consideration of information received by other stations to operate. Specifically, to address the problem of information redundancy, several rules have been proposed, but their performance has not been evaluated yet comprehensively. In the present work, the rules are further analyzed, assessed, and compared. Functional and operational requirements are investigated. A performance evaluation is realized by discrete-event simulations in a scenario for a representative city with realistic vehicle densities and mobility patterns. A score and other redundancy-level metrics are elaborated to ease the evaluation and comparison of the filtering rules. Finally, improvements and future works to the filtering methods are proposed.},
keywords = {Cooperative ITS, Intelligent Transport Systems, sensor data sharing, V2X communication},
pubstate = {published},
tppubtype = {article}
}
Sensor data sharing enables vehicles to exchange locally perceived sensor data among each other and with the roadside infrastructure to increase their environmental awareness. It is commonly regarded as a next-generation vehicular communication service beyond the exchange of highly aggregated messages in the first generation. The approach is being considered in the European standardization process, where it relies on the exchange of locally detected objects representing anything safety-relevant, such as other vehicles or pedestrians, in periodically broadcasted messages to vehicles in direct communication range. Objects filtering methods for inclusion in a message are necessary to avoid overloading a channel and provoking unnecessary data processing. Initial studies provided in a pre-standardization report about sensor data sharing elaborated a first set of rules to filter objects based on their characteristics, such as their dynamics or type. However, these rules still lack the consideration of information received by other stations to operate. Specifically, to address the problem of information redundancy, several rules have been proposed, but their performance has not been evaluated yet comprehensively. In the present work, the rules are further analyzed, assessed, and compared. Functional and operational requirements are investigated. A performance evaluation is realized by discrete-event simulations in a scenario for a representative city with realistic vehicle densities and mobility patterns. A score and other redundancy-level metrics are elaborated to ease the evaluation and comparison of the filtering rules. Finally, improvements and future works to the filtering methods are proposed.
20.
Maksimovski, D.; Facchi, C.; Festag, A.
Priority Maneuver (PriMa) Coordination for Connected and Automated Vehicles Proceedings Article
In: IEEE International Intelligent Transportation Systems Conference (ITSC), Virtual, 2021.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, maneuver coordination, V2X communication, vehicle automation
@inproceedings{Maksimovski:ITSC:2021,
title = {Priority Maneuver (PriMa) Coordination for Connected and Automated Vehicles},
author = {D. Maksimovski and C. Facchi and A. Festag},
url = {https://ieeexplore.ieee.org/document/9564923},
doi = {10.1109/ITSC48978.2021.9564923},
year = {2021},
date = {2021-09-19},
urldate = {2021-10-25},
booktitle = {IEEE International Intelligent Transportation Systems Conference (ITSC)},
address = {Virtual},
abstract = {Connected and automated vehicles (CAVs) are expected to achieve safe and efficient driving by the broadcast of maneuver intentions using vehicle-to-vehicle (V2V) communications. The cooperative maneuver coordination has a high potential to help CAVs solving challenging traffic situations. We present a novel approach for decentralized and generic maneuver coordination. Relying on an explicit exchange of coordination messages, the proposed Priority Maneuver (PriMa) approach introduces three levels of maneuver requests. The priorities help vehicles that request and accept maneuvers to take decisions by differentiating among desired, necessary and critical maneuvers. Advantages of the prioritization lie in scenarios with many vehicles and with several subsequent maneuvers. Furthermore, the Maneuver Coordination Message (MCM) is extended defining several MCM subtypes. The paper presents the design of PriMa and analyzes three main scenarios by simulations: (i) maneuver coordination between two vehicles with and without prioritization, (ii) coordination with more than two vehicles, and (iii) cascading maneuver. PriMa utilizes different communication patterns for the presented scenarios to enable safe, fast and efficient coordination. The simulation results demonstrate the advantages of PriMa compared to existing coordination approaches in the decision-making process.},
keywords = {Cooperative ITS, Intelligent Transport Systems, maneuver coordination, V2X communication, vehicle automation},
pubstate = {published},
tppubtype = {inproceedings}
}
Connected and automated vehicles (CAVs) are expected to achieve safe and efficient driving by the broadcast of maneuver intentions using vehicle-to-vehicle (V2V) communications. The cooperative maneuver coordination has a high potential to help CAVs solving challenging traffic situations. We present a novel approach for decentralized and generic maneuver coordination. Relying on an explicit exchange of coordination messages, the proposed Priority Maneuver (PriMa) approach introduces three levels of maneuver requests. The priorities help vehicles that request and accept maneuvers to take decisions by differentiating among desired, necessary and critical maneuvers. Advantages of the prioritization lie in scenarios with many vehicles and with several subsequent maneuvers. Furthermore, the Maneuver Coordination Message (MCM) is extended defining several MCM subtypes. The paper presents the design of PriMa and analyzes three main scenarios by simulations: (i) maneuver coordination between two vehicles with and without prioritization, (ii) coordination with more than two vehicles, and (iii) cascading maneuver. PriMa utilizes different communication patterns for the presented scenarios to enable safe, fast and efficient coordination. The simulation results demonstrate the advantages of PriMa compared to existing coordination approaches in the decision-making process.