Publications
1.
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.
2.
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.
3.
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.
4.
Llatser, I.; Festag, A.; Fettweis, G.
Vehicular Communication Performance in Convoys of Automated Vehicles Proceedings Article
In: IEEE International Conference on Communications (ICC), Kuala Lumpur, Malaysia, 2016.
Abstract | Links | BibTeX | Tags: V2X communication, vehicle automation
@inproceedings{Llatser:ICC:2016,
title = {Vehicular Communication Performance in Convoys of Automated Vehicles},
author = {I. Llatser and A. Festag and G. Fettweis},
url = {https://ieeexplore.ieee.org/document/7510772},
doi = {10.1109/ICC.2016.7510772},
year = {2016},
date = {2016-05-22},
urldate = {2016-07-14},
booktitle = {IEEE International Conference on Communications (ICC)},
address = {Kuala Lumpur, Malaysia},
abstract = {The combination of automated driving and Inter-Vehicle Communication (IVC) allows automated vehicles to drive cooperatively, thereby greatly enhancing their safety and traffic efficiency. Convoys are groups of automated vehicles which keep a multi-lane formation with decentralized control supported by IVC. The vehicle control algorithm of convoy vehicles requires up-to-date information about the neighbor vehicle dynamics; fast and efficient convoy communications enable the cooperative maneuvering of the automated vehicles. For this reason, we evaluate IVC in convoys of automated vehicles by defining performance metrics which quantify the reliability, latency and data age of convoy communications. Our results explore the trade-off between the convoy message frequency and the communication performance; whereas a high message frequency results in a higher number of lost messages and delay due to channel congestion, a low message frequency yields a higher data age of the information available to the vehicle controller. As a result, convoy algorithm designers should choose carefully the optimal value for the convoy message frequency as a function of the required communication performance and the convoy size.},
keywords = {V2X communication, vehicle automation},
pubstate = {published},
tppubtype = {inproceedings}
}
The combination of automated driving and Inter-Vehicle Communication (IVC) allows automated vehicles to drive cooperatively, thereby greatly enhancing their safety and traffic efficiency. Convoys are groups of automated vehicles which keep a multi-lane formation with decentralized control supported by IVC. The vehicle control algorithm of convoy vehicles requires up-to-date information about the neighbor vehicle dynamics; fast and efficient convoy communications enable the cooperative maneuvering of the automated vehicles. For this reason, we evaluate IVC in convoys of automated vehicles by defining performance metrics which quantify the reliability, latency and data age of convoy communications. Our results explore the trade-off between the convoy message frequency and the communication performance; whereas a high message frequency results in a higher number of lost messages and delay due to channel congestion, a low message frequency yields a higher data age of the information available to the vehicle controller. As a result, convoy algorithm designers should choose carefully the optimal value for the convoy message frequency as a function of the required communication performance and the convoy size.
5.
Llatser, I.; Kühlmorgen, S.; Festag, A.; Fettweis, G.
Greedy Algorithms for Information Dissemination within Groups of Autonomuous Vehicles Proceedings Article
In: IEEE Intelligent Vehicles Symposium (IV), Seoul, Korea, 2015.
Abstract | Links | BibTeX | Tags: ad hoc networking, V2X communication, vehicle automation
@inproceedings{Kuehlmorgen:IV:2015,
title = {Greedy Algorithms for Information Dissemination within Groups of Autonomuous Vehicles},
author = {I. Llatser and S. Kühlmorgen and A. Festag and G. Fettweis},
url = {https://ieeexplore.ieee.org/document/7225899},
doi = {10.1109/IVS.2015.7225899},
year = {2015},
date = {2015-06-28},
urldate = {2015-08-27},
booktitle = {IEEE Intelligent Vehicles Symposium (IV)},
address = {Seoul, Korea},
abstract = {Cooperation and information exchange will allow autonomous vehicles to increase their sensing range and maneuver coordinately, thereby greatly enhancing their safety and efficiency. The combination of autonomous driving and vehicular communications will enable Cooperative Autonomous Driving Systems (C-ADS) with stringent requirements. We present two new multi-hop forwarding algorithms specially suited to the dissemination of information in C-ADS: (i) Greedy Broadcast Forwarding, aimed to the distribution of packets within a geographical area, and (ii) Greedy Multicast Forwarding, which delivers packets only to the members of a vehicle group. A performance comparison of the proposed schemes with the broadcast forwarding algorithms defined in the ETSI GeoNetworking standard shows that Greedy Broadcast Forwarding achieves the highest reliability, while Greedy Multicast Forwarding yields the lowest traffic overhead in the considered scenario. These results indicate that the proposed forwarding algorithms are promising candidates to enable multi-hop communications in future C-ADS.},
keywords = {ad hoc networking, V2X communication, vehicle automation},
pubstate = {published},
tppubtype = {inproceedings}
}
Cooperation and information exchange will allow autonomous vehicles to increase their sensing range and maneuver coordinately, thereby greatly enhancing their safety and efficiency. The combination of autonomous driving and vehicular communications will enable Cooperative Autonomous Driving Systems (C-ADS) with stringent requirements. We present two new multi-hop forwarding algorithms specially suited to the dissemination of information in C-ADS: (i) Greedy Broadcast Forwarding, aimed to the distribution of packets within a geographical area, and (ii) Greedy Multicast Forwarding, which delivers packets only to the members of a vehicle group. A performance comparison of the proposed schemes with the broadcast forwarding algorithms defined in the ETSI GeoNetworking standard shows that Greedy Broadcast Forwarding achieves the highest reliability, while Greedy Multicast Forwarding yields the lowest traffic overhead in the considered scenario. These results indicate that the proposed forwarding algorithms are promising candidates to enable multi-hop communications in future C-ADS.
6.
Fortelle, A. La; Qian, X.; Diemer, S.; Grégoire, J.; Moutarde, F.; Bonnabel, S.; Marjovi, A.; Martinoli, A.; Llatser, I.; Festag, A.; Sjöberg, K.
Network of Automated Vehicles: The AutoNet2030 Vision Proceedings Article
In: ITS World Congress and Exhibition, Detroit, USA, 2014.
Abstract | Links | BibTeX | Tags: V2X communication, vehicle automation
@inproceedings{deLaFortelle:ITSWC:2014,
title = {Network of Automated Vehicles: The AutoNet2030 Vision},
author = {A. La Fortelle and X. Qian and S. Diemer and J. Grégoire and F. Moutarde and S. Bonnabel and A. Marjovi and A. Martinoli and I. Llatser and A. Festag and K. Sjöberg},
url = {https://hal-mines-paristech.archives-ouvertes.fr/hal-01063484/document},
year = {2014},
date = {2014-09-06},
urldate = {2014-09-06},
booktitle = {ITS World Congress and Exhibition},
address = {Detroit, USA},
abstract = {AutoNet2030 – Co-operative Systems in Support of Networked Automated Driving by 2030 – is a European project connecting two domains of intensive research: cooperative systems for Intelligent Transportation Systems and Automated Driving. Given the latest developments in the standardization of vehicular communications, vehicles will soon be wirelessly connected, enabling cooperation among them and with the infrastructure. At the same time, some vehicles will offer very advanced driving assistance systems, ranging from Cooperative Adaptive Cruise Control (C-ACC) to full automation. The research issues addressed in AutoNet2030 are as follows: how can all these vehicles with different capabilities most efficiently cooperate to increase safety and fluidity of the traffic system? What kind of information should be exchanged? Which organization (e.g. centralized or distributed) is the best? The purpose of this paper is to introduce the vision and concepts underlying the AutoNet2030 project and the direction of this ongoing research work.},
keywords = {V2X communication, vehicle automation},
pubstate = {published},
tppubtype = {inproceedings}
}
AutoNet2030 – Co-operative Systems in Support of Networked Automated Driving by 2030 – is a European project connecting two domains of intensive research: cooperative systems for Intelligent Transportation Systems and Automated Driving. Given the latest developments in the standardization of vehicular communications, vehicles will soon be wirelessly connected, enabling cooperation among them and with the infrastructure. At the same time, some vehicles will offer very advanced driving assistance systems, ranging from Cooperative Adaptive Cruise Control (C-ACC) to full automation. The research issues addressed in AutoNet2030 are as follows: how can all these vehicles with different capabilities most efficiently cooperate to increase safety and fluidity of the traffic system? What kind of information should be exchanged? Which organization (e.g. centralized or distributed) is the best? The purpose of this paper is to introduce the vision and concepts underlying the AutoNet2030 project and the direction of this ongoing research work.