Publications
1.
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, 2023.
Abstract | 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},
year = {2023},
date = {2023-10-12},
journal = {IEEE Communications Standards Magazine},
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 = {accepted},
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.
2.
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.
3.
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: Social Science Research Network (SSRN), pp. 31, 2023.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, measurements, V2X communication
@article{Bauder:SSRN:2023_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://papers.ssrn.com/sol3/papers.cfm?abstract_id=4442746},
doi = {10.2139/ssrn.4442746},
year = {2023},
date = {2023-05-09},
urldate = {2023-05-09},
journal = {Social Science Research Network (SSRN)},
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.
4.
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.
5.
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.
6.
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, 2023.
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 = {2023},
date = {2023-02-21},
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.
7.
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.
8.
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.
9.
Hegde, A.; Lobos, S.; Festag, A.
Cellular-V2X for Vulnerable Road User Protection in Cooperative ITS Proceedings Article
In: WiMob, Thessaloniki, Greece, 2022.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, sensor data sharing, V2X communication
@inproceedings{Hegde::2021,
title = {Cellular-V2X for Vulnerable Road User Protection in Cooperative ITS},
author = {A. Hegde and S. Lobos and A. Festag},
url = {http://www.wimob.org/wimob2022/programme.html},
year = {2022},
date = {2022-10-11},
urldate = {2022-10-11},
booktitle = {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 = {Cooperative ITS, Intelligent Transport Systems, sensor data sharing, V2X communication},
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.
10.
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://events.vtsociety.org/vtc2022-fall/},
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.
11.
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.
12.
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.
13.
Delooz, Q.; Festag, A.; Vinel, A.
Congestion Aware Objects Filtering for Collective Perception Proceedings Article
In: 16th International Workshop on Communication Technologies for Vehicles (Nets4Cars), colocated with International Conference on Networked Systems 2021(NetSys 2021), published in Electronic Communications of the EASST, Virtual, 2021, (Vol. 80).
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, sensor data sharing, V2X communication
@inproceedings{Delooz:Nets4Cars:2021,
title = {Congestion Aware Objects Filtering for Collective Perception},
author = {Q. Delooz and A. Festag and A. Vinel},
url = {https://festag-net.de/wp-content/uploads/2021_Delooz_Nets4Cars.pdf},
doi = {10.14279/tuj.eceasst.80.1160},
year = {2021},
date = {2021-09-13},
urldate = {2021-12-15},
booktitle = {16th International Workshop on Communication Technologies for Vehicles (Nets4Cars), colocated with International Conference on Networked Systems 2021(NetSys 2021), published in Electronic Communications of the EASST},
address = {Virtual},
abstract = {This paper addresses collective perception for connected and automated driving. It proposes the adaptation of filtering rules based on the currently available channel resources, referred to as Enhanced DCC-Aware Filtering (EDAF).},
note = {Vol. 80},
keywords = {Cooperative ITS, Intelligent Transport Systems, sensor data sharing, V2X communication},
pubstate = {published},
tppubtype = {inproceedings}
}
This paper addresses collective perception for connected and automated driving. It proposes the adaptation of filtering rules based on the currently available channel resources, referred to as Enhanced DCC-Aware Filtering (EDAF).
14.
Song, R.; Festag, A.
Analysis of Existing Approaches for Information Sharing in Cooperative Intelligent Transport Systems – V2X Messaging and SENSORIS Proceedings Article
In: FISITA World Congress, Virtual, 2021.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, sensor data sharing, V2X communication
@inproceedings{Song:FISITA:2021,
title = {Analysis of Existing Approaches for Information Sharing in Cooperative Intelligent Transport Systems – V2X Messaging and SENSORIS},
author = {R. Song and A. Festag},
url = {https://www.fisita.com/diary/fisita-world-mobility-summit-2021},
doi = {10.46720/F2020-ACM-012},
year = {2021},
date = {2021-09-01},
urldate = {2021-09-01},
booktitle = {FISITA World Congress},
address = {Virtual},
abstract = {Information sharing is essential for connected and automated driving and smart traffic driven by big data. It enables the acquisition of knowledge in cooperative intelligent transport systems (C-ITS), which ultimately increases the integrity and accuracy of road environmental data and thereby improves the efficiency and safety of the traffic system. Moreover, many cloud services and applications, such as self-healing High-Definition Map (HD Maps), demand massive information sharing by means of vehicle-to-X (V2X) communications. In this paper, we review two existing frameworks for information sharing in C-ITS, which are open, standardized and commonly accepted: V2X Messaging focuses on road safety and traffic efficiency based on ad hoc communications among vehicles, the roadside infrastructure and backends. SENSORIS primarily targets at data sharing with and among clouds, specifically for HD Maps. We analyze both frameworks considering technical criteria and selected use cases. Finally, we propose a hybrid network software architecture that combines both information sharing approaches and facilitates interworking between SENSORIS and V2X Messaging in order to enhance C-ITS applications.},
keywords = {Cooperative ITS, Intelligent Transport Systems, sensor data sharing, V2X communication},
pubstate = {published},
tppubtype = {inproceedings}
}
Information sharing is essential for connected and automated driving and smart traffic driven by big data. It enables the acquisition of knowledge in cooperative intelligent transport systems (C-ITS), which ultimately increases the integrity and accuracy of road environmental data and thereby improves the efficiency and safety of the traffic system. Moreover, many cloud services and applications, such as self-healing High-Definition Map (HD Maps), demand massive information sharing by means of vehicle-to-X (V2X) communications. In this paper, we review two existing frameworks for information sharing in C-ITS, which are open, standardized and commonly accepted: V2X Messaging focuses on road safety and traffic efficiency based on ad hoc communications among vehicles, the roadside infrastructure and backends. SENSORIS primarily targets at data sharing with and among clouds, specifically for HD Maps. We analyze both frameworks considering technical criteria and selected use cases. Finally, we propose a hybrid network software architecture that combines both information sharing approaches and facilitates interworking between SENSORIS and V2X Messaging in order to enhance C-ITS applications.
15.
Hegde, A.; Stahl, R.; Lobo, S.; Festag, A.
Modeling Cellular Network Infrastructure in SUMO Proceedings Article
In: SUMO User Conference, Virtual, 2021.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, modeling, simulation, V2X communication
@inproceedings{Hegde:SUMO:2021,
title = {Modeling Cellular Network Infrastructure in SUMO},
author = {A. Hegde and R. Stahl and S. Lobo and A. Festag},
url = {https://www.eclipse.org/sumo/2021/},
doi = {10.52825/scp.v2i.97},
year = {2021},
date = {2021-09-01},
urldate = {2021-09-01},
booktitle = {SUMO User Conference},
address = {Virtual},
abstract = {Communication networks are becoming an increasingly important part of the mobility system. They allow traffic participants to be connected and to exchange information related to traffic and roads. The information exchange impacts the behavior of traffic participants, such as the selection of travel routes or their mobility dynamics. Considering infrastructure-based networks, the information exchange depends on the availability of the network infrastructure and the quality of the communication links. Specifically in urban areas, today's 4G and 5G networks deploy small cells of high capacity, which do not provide ubiquitous cellular coverage due to their small range, signal blocking, etc. Therefore, the accurate modeling of the network infrastructure and its integration in simulation scenarios in microscopic traffic simulation software is gaining relevance. Unlike traffic infrastructure, such as traffic lights, the simulation of a cellular network infrastructure is not natively supported in SUMO. Instead, the protocols, functions and entities of the communication system with the physical wireless transmission are modeled in a dedicated and specialized network simulator that is coupled with SUMO. The disadvantage of this approach is that the simulated SUMO entities, typically vehicles, are not aware which portions of the roads are covered by wireless cells and what quality the wireless communication links have.},
keywords = {Cooperative ITS, Intelligent Transport Systems, modeling, simulation, V2X communication},
pubstate = {published},
tppubtype = {inproceedings}
}
Communication networks are becoming an increasingly important part of the mobility system. They allow traffic participants to be connected and to exchange information related to traffic and roads. The information exchange impacts the behavior of traffic participants, such as the selection of travel routes or their mobility dynamics. Considering infrastructure-based networks, the information exchange depends on the availability of the network infrastructure and the quality of the communication links. Specifically in urban areas, today's 4G and 5G networks deploy small cells of high capacity, which do not provide ubiquitous cellular coverage due to their small range, signal blocking, etc. Therefore, the accurate modeling of the network infrastructure and its integration in simulation scenarios in microscopic traffic simulation software is gaining relevance. Unlike traffic infrastructure, such as traffic lights, the simulation of a cellular network infrastructure is not natively supported in SUMO. Instead, the protocols, functions and entities of the communication system with the physical wireless transmission are modeled in a dedicated and specialized network simulator that is coupled with SUMO. The disadvantage of this approach is that the simulated SUMO entities, typically vehicles, are not aware which portions of the roads are covered by wireless cells and what quality the wireless communication links have.
16.
Volk, G.; Delooz, Q.; Schiegg, F. A.; vonBernuth, A.; Festag, A.; Bringmann, O.
Towards Realistic Evaluation of Collective Perception for Connected and Automated Driving Proceedings Article
In: IEEE International Intelligent Transportation Systems Conference (ITSC), pp. 1049-1056, Virtual, 2021.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, sensor data sharing, V2X communication
@inproceedings{Volk:ITSC:2021,
title = {Towards Realistic Evaluation of Collective Perception for Connected and Automated Driving},
author = {G. Volk and Q. Delooz and F. A. Schiegg and A. vonBernuth and A. Festag and O. Bringmann},
url = {https://ieeexplore.ieee.org/document/9564783},
doi = {10.1109/ITSC48978.2021.9564783},
year = {2021},
date = {2021-09-01},
urldate = {2021-09-01},
booktitle = {IEEE International Intelligent Transportation Systems Conference (ITSC)},
pages = {1049-1056},
address = {Virtual},
abstract = {Collective perception in Vehicle-to-Everything (V2X) communications allows vehicles to exchange preprocessed sensor data with other traffic participants. It is currently standardized by ETSI as a second generation V2X communication service. The use of collective perception as a communication service for future fully autonomous driving requires a thorough evaluation and validation. Most of the previous work on collective perception has considered large scale-simulations with a focus on communications. However, the perception pipeline used for collective perception is equally important and must not be neglected or over-simplified. Also, to study collective perception in detail, large-scale field testing is practically infeasible. In this paper we extend an existing simulation framework with a realistic model for V2X communications and sensor-data based processing delays. The result is a simulation framework that incorporates the entire collective perception pipeline, which enables to comprehensively study sensor-based perception. We demonstrate the capabilities of this enhanced framework by analyzing the delay of each component involved in the perception pipeline. This allows a detailed insight in end-to-end delays and the age of information within the environmental model of autonomous vehicles.},
keywords = {Cooperative ITS, Intelligent Transport Systems, sensor data sharing, V2X communication},
pubstate = {published},
tppubtype = {inproceedings}
}
Collective perception in Vehicle-to-Everything (V2X) communications allows vehicles to exchange preprocessed sensor data with other traffic participants. It is currently standardized by ETSI as a second generation V2X communication service. The use of collective perception as a communication service for future fully autonomous driving requires a thorough evaluation and validation. Most of the previous work on collective perception has considered large scale-simulations with a focus on communications. However, the perception pipeline used for collective perception is equally important and must not be neglected or over-simplified. Also, to study collective perception in detail, large-scale field testing is practically infeasible. In this paper we extend an existing simulation framework with a realistic model for V2X communications and sensor-data based processing delays. The result is a simulation framework that incorporates the entire collective perception pipeline, which enables to comprehensively study sensor-based perception. We demonstrate the capabilities of this enhanced framework by analyzing the delay of each component involved in the perception pipeline. This allows a detailed insight in end-to-end delays and the age of information within the environmental model of autonomous vehicles.
17.
Maksimovski, D.; Festag, A.; Facchi, C.
A Survey on Decentralized Cooperative Maneuver Coordination for Connected and Automated Vehicles Proceedings Article
In: Conference on Vehicle Technology and Intelligent Transport Systems (VEHITS), Virtual, 2021.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, maneuver coordination, V2X communication, vehicle automation
@inproceedings{Maksimovski:VEHITS:2021,
title = {A Survey on Decentralized Cooperative Maneuver Coordination for Connected and Automated Vehicles},
author = {D. Maksimovski and A. Festag and C. Facchi},
url = {https://www.scitepress.org/Papers/2021/104425/104425.pdf},
doi = {10.5220/0010442501000111},
year = {2021},
date = {2021-09-01},
urldate = {2021-09-01},
booktitle = {Conference on Vehicle Technology and Intelligent Transport Systems (VEHITS)},
address = {Virtual},
abstract = {V2X communications can be applied for maneuver coordination of automated vehicles, where the vehicles exchange messages to inform each other of their driving intentions and to negotiate for joint maneuvers. For motion and maneuver planning of automated vehicles, the cooperative maneuver coordination extends the perception range of the sensors, enhances the planning horizon and allows complex interactions among the vehicles. For specific scenarios, various schemes for maneuver coordination of connected automated vehicles exist. Recently, several proposals for maneuver coordination have been made that address generic instead of specific scenarios and apply different schemes for the message exchange of driving intentions and maneuver negotiation. This paper presents use cases for maneuver coordination and classifies existing generic approaches for decentralized maneuver coordination considering implicit and explicit trajectory broadcast, cost values and space-time reservation. We systematically describe the approaches, compare them and derive future research topics.},
keywords = {Cooperative ITS, Intelligent Transport Systems, maneuver coordination, V2X communication, vehicle automation},
pubstate = {published},
tppubtype = {inproceedings}
}
V2X communications can be applied for maneuver coordination of automated vehicles, where the vehicles exchange messages to inform each other of their driving intentions and to negotiate for joint maneuvers. For motion and maneuver planning of automated vehicles, the cooperative maneuver coordination extends the perception range of the sensors, enhances the planning horizon and allows complex interactions among the vehicles. For specific scenarios, various schemes for maneuver coordination of connected automated vehicles exist. Recently, several proposals for maneuver coordination have been made that address generic instead of specific scenarios and apply different schemes for the message exchange of driving intentions and maneuver negotiation. This paper presents use cases for maneuver coordination and classifies existing generic approaches for decentralized maneuver coordination considering implicit and explicit trajectory broadcast, cost values and space-time reservation. We systematically describe the approaches, compare them and derive future research topics.
18.
Otto, T.; Festag, A.
Mehr Augen für sichereres Fahren - Car-to-X Kommunikation unterstützt Verkehrskoordination an Kreuzungen Miscellaneous
InnoVision, 2021.
Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, V2X communication
@misc{Otto:InnoVisions:2021,
title = {Mehr Augen für sichereres Fahren - Car-to-X Kommunikation unterstützt Verkehrskoordination an Kreuzungen},
author = {T. Otto and A. Festag},
url = {https://www.fraunhofer-innovisions.de/mobilitaet/mehr-augen-fuer-sichereres-fahren},
year = {2021},
date = {2021-03-21},
urldate = {2021-03-21},
howpublished = {InnoVision},
keywords = {Cooperative ITS, Intelligent Transport Systems, V2X communication},
pubstate = {published},
tppubtype = {misc}
}
19.
Hegde, A.; Festag, A.
Mode Switching Performance in Cellular-V2X Proceedings Article
In: IEEE Vehicular Networking Conference (VNC), virtual, 2020.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, performance, V2X communication
@inproceedings{Hegde:VNC:2020,
title = {Mode Switching Performance in Cellular-V2X},
author = {A. Hegde and A. Festag},
url = {https://ieeexplore.ieee.org/document/9318394},
doi = {10.1109/VNC51378.2020.9318394},
year = {2020},
date = {2020-12-16},
urldate = {2020-12-16},
booktitle = {IEEE Vehicular Networking Conference (VNC)},
address = {virtual},
abstract = {Cellular-V2X aims at supporting road safety and traffic management applications and introduces sidelink (PC5) as a new interface. These applications primarily rely on periodic broadcast of small-sized periodic messages and event-triggered notification messages. A key requirement of the applications is to facilitate uninterrupted exchange of messages among the vehicles irrespective of whether the vehicles are inside a base station coverage or not. In Cellular-V2X standardization, two resource allocation modes have been specified: when a vehicle is located inside the coverage of the cellular network, the corresponding base station manages the transmission resources for the direct message exchange. When a vehicle is outside of cellular coverage, it allocates its resources autonomously. The modes are also referred to as ``managed'' and ``unmanaged'' mode, or mode 3 and mode 4, respectively. In situations with imperfect cellular coverage by base stations, a vehicle needs to perform mode switching. The present work aims to understand the different phases of the mode switching procedure and to study the latency involved in each phase for both switching scenarios, mode 3 to 4 and vice versa. Considering a realistic road traffic scenario with a highway tunnel, we assess the impact of mode switch latency on the data transmission for a selected mode switch strategy.},
keywords = {Cooperative ITS, Intelligent Transport Systems, performance, V2X communication},
pubstate = {published},
tppubtype = {inproceedings}
}
Cellular-V2X aims at supporting road safety and traffic management applications and introduces sidelink (PC5) as a new interface. These applications primarily rely on periodic broadcast of small-sized periodic messages and event-triggered notification messages. A key requirement of the applications is to facilitate uninterrupted exchange of messages among the vehicles irrespective of whether the vehicles are inside a base station coverage or not. In Cellular-V2X standardization, two resource allocation modes have been specified: when a vehicle is located inside the coverage of the cellular network, the corresponding base station manages the transmission resources for the direct message exchange. When a vehicle is outside of cellular coverage, it allocates its resources autonomously. The modes are also referred to as ``managed'' and ``unmanaged'' mode, or mode 3 and mode 4, respectively. In situations with imperfect cellular coverage by base stations, a vehicle needs to perform mode switching. The present work aims to understand the different phases of the mode switching procedure and to study the latency involved in each phase for both switching scenarios, mode 3 to 4 and vice versa. Considering a realistic road traffic scenario with a highway tunnel, we assess the impact of mode switch latency on the data transmission for a selected mode switch strategy.
20.
Delooz, Q.; Riebl, R.; Festag, A.; Vinel, A.
Design and Performance of Congestion-Aware Collective Perception Proceedings Article
In: IEEE Vehicular Networking Conference (VNC), virtual, 2020.
Abstract | Links | BibTeX | Tags: Cooperative ITS, Intelligent Transport Systems, sensor data sharing, V2X communication
@inproceedings{Delooz:VNC:2020,
title = {Design and Performance of Congestion-Aware Collective Perception},
author = {Q. Delooz and R. Riebl and A. Festag and A. Vinel},
url = {https://ieeexplore.ieee.org/document/9318335},
doi = {10.1109/VNC51378.2020.9318335},
year = {2020},
date = {2020-12-16},
urldate = {2021-09-01},
booktitle = {IEEE Vehicular Networking Conference (VNC)},
address = {virtual},
abstract = {In vehicular ad hoc networks, congestion control prevents the overloading of the wireless channel and ensures a fair distribution of the transmission resources. For ITS-G5-based vehicular networks, the European standardization by ETSI has specified a Decentralized Congestion Control (DCC) function at the access layer. This function controls the medium occupancy of a network node by enforcing maximum values of message transmission parameters. In the present paper, we study the impact of DCC on the performance of the collective perception service. This communication service enables vehicles and roadside stations to exchange messages with pre-processed sensor data. Since collective perception can considerably contribute to the network load, the transmission restrictions imposed by DCC affect the performance of the information exchange and the quality of the perception. The current design of collective perception in ETSI does not adapt the messages to the actual DCC constraints. We propose a novel approach for DCC-aware collective perception, which enhances the object filtering process of collective perception by dynamically adapting the message size to the DCC constraints and implicitly the message generation rate. Compared to the current ETSI design, the obtained results show a better quality of perception and channel usage, with a reduced message generation rate.},
keywords = {Cooperative ITS, Intelligent Transport Systems, sensor data sharing, V2X communication},
pubstate = {published},
tppubtype = {inproceedings}
}
In vehicular ad hoc networks, congestion control prevents the overloading of the wireless channel and ensures a fair distribution of the transmission resources. For ITS-G5-based vehicular networks, the European standardization by ETSI has specified a Decentralized Congestion Control (DCC) function at the access layer. This function controls the medium occupancy of a network node by enforcing maximum values of message transmission parameters. In the present paper, we study the impact of DCC on the performance of the collective perception service. This communication service enables vehicles and roadside stations to exchange messages with pre-processed sensor data. Since collective perception can considerably contribute to the network load, the transmission restrictions imposed by DCC affect the performance of the information exchange and the quality of the perception. The current design of collective perception in ETSI does not adapt the messages to the actual DCC constraints. We propose a novel approach for DCC-aware collective perception, which enhances the object filtering process of collective perception by dynamically adapting the message size to the DCC constraints and implicitly the message generation rate. Compared to the current ETSI design, the obtained results show a better quality of perception and channel usage, with a reduced message generation rate.