Publications
1.
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.
2.
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.
3.
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.
4.
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.
5.
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.
6.
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.
7.
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.