@inproceedings{SongFestagJagtapetal.2024, author = {Song, Rui and Festag, Andreas and Jagtap, Abhishek Dinkar and Bialdyga, Maximilian and Yan, Zhiran and Otte, Maximilian and Sadashivaiah, Sanath Tiptur and Knoll, Alois}, title = {First Mile: An Open Innovation Lab for Infrastructure-Assisted Cooperative Intelligent Transportation Systems}, booktitle = {2024 IEEE Intelligent Vehicles Symposium (IV)}, publisher = {IEEE}, address = {Piscataway}, isbn = {979-8-3503-4881-1}, doi = {https://doi.org/10.1109/IV55156.2024.10588500}, pages = {1635 -- 1642}, year = {2024}, language = {en} } @article{BazziSepulcreDeloozetal.2024, author = {Bazzi, Alessandro and Sepulcre, Miguel and Delooz, Quentin and Festag, Andreas and Vogt, Jonas and Wieker, Horst and Berens, Friedbert and Spaanderman, Paul}, title = {Multi-Channel Operation for the Release 2 of ETSI Cooperative Intelligent Transport Systems}, volume = {8}, journal = {IEEE Communications Standards Magazine}, number = {1}, publisher = {IEEE}, address = {New York}, issn = {2471-2833}, doi = {https://doi.org/10.1109/MCOMSTD.0001.2200080}, pages = {28 -- 35}, year = {2024}, 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 toward 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 article provides a comprehensive review of the new set of specifications, describing the main entities that extend the C-ITS architecture at the different layers of the protocol stack. In addition, the article 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 article facilitate the understanding and motivation of the new set of Release 2 ETSI specifications for MCO and the identification of new research opportunities.}, language = {en} } @inbook{DeloozMaksimovskiFestagetal.2024, author = {Delooz, Quentin and Maksimovski, Daniel and Festag, Andreas and Facchi, Christian}, title = {Design and Evaluation of V2X Communication Protocols for Cooperatively Interacting Automobiles}, booktitle = {Cooperatively Interacting Vehicles: Methods and Effects of Automated Cooperation in Traffic}, editor = {Stiller, Christoph and Althoff, Matthias and Burger, Christoph and Deml, Barbara and Eckstein, Lutz and Flemisch, Frank}, publisher = {Springer}, address = {Cham}, isbn = {978-3-031-60494-2}, doi = {https://doi.org/10.1007/978-3-031-60494-2_6}, pages = {159 -- 199}, year = {2024}, 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.}, language = {en} } @inproceedings{MaksimovskiFacchiFestag2024, author = {Maksimovski, Daniel and Facchi, Christian and Festag, Andreas}, title = {Packet Rate Control for Maneuver Coordination in Congested V2X Communication Environments}, booktitle = {2024 IEEE 100th Vehicular Technology Conference (VTC2024-Fall), Proceedings}, publisher = {IEEE}, address = {Piscataway}, isbn = {979-8-3315-1778-6}, doi = {https://doi.org/10.1109/VTC2024-Fall63153.2024.10758036}, year = {2024}, language = {en} } @inproceedings{MaksimovskiFacchiFestag2024, author = {Maksimovski, Daniel and Facchi, Christian and Festag, Andreas}, title = {A Framework of Use Cases, Scenarios, and Metrics for Evaluation of V2X Maneuver Coordination}, booktitle = {2024 IEEE Vehicular Networking Conference (VNC)}, publisher = {IEEE}, address = {Piscataway}, isbn = {979-8-3503-6270-1}, doi = {https://doi.org/10.1109/VNC61989.2024.10575992}, pages = {1 -- 8}, year = {2024}, language = {en} } @unpublished{SongLiangCaoetal.2024, author = {Song, Rui and Liang, Chenwei and Cao, Hu and Yan, Zhiran and Zimmer, Walter and Gross, Markus and Festag, Andreas and Knoll, Alois}, title = {Collaborative Semantic Occupancy Prediction with Hybrid Feature Fusion in Connected Automated Vehicles}, publisher = {arXiv}, address = {Ithaca}, doi = {https://doi.org/10.48550/arXiv.2402.07635}, year = {2024}, abstract = {Collaborative perception in automated vehicles leverages the exchange of information between agents, aiming to elevate perception results. Previous camera-based collaborative 3D perception methods typically employ 3D bounding boxes or bird's eye views as representations of the environment. However, these approaches fall short in offering a comprehensive 3D environmental prediction. To bridge this gap, we introduce the first method for collaborative 3D semantic occupancy prediction. Particularly, it improves local 3D semantic occupancy predictions by hybrid fusion of (i) semantic and occupancy task features, and (ii) compressed orthogonal attention features shared between vehicles. Additionally, due to the lack of a collaborative perception dataset designed for semantic occupancy prediction, we augment a current collaborative perception dataset to include 3D collaborative semantic occupancy labels for a more robust evaluation. The experimental findings highlight that: (i) our collaborative semantic occupancy predictions excel above the results from single vehicles by over 30\%, and (ii) models anchored on semantic occupancy outpace state-of-the-art collaborative 3D detection techniques in subsequent perception applications, showcasing enhanced accuracy and enriched semantic-awareness in road environments.}, language = {en} } @article{BauderFestagKubjatkoetal.2024, author = {Bauder, Maximilian and Festag, Andreas and Kubjatko, Tibor and Schweiger, Hans-Georg}, title = {Data accuracy in Vehicle-to-X cooperative awareness messages: An experimental study for the first commercial deployment of C-ITS in Europe}, volume = {2024}, pages = {100744}, journal = {Vehicular Communications}, number = {47}, publisher = {Elsevier}, address = {Amsterdam}, issn = {2214-2096}, doi = {https://doi.org/10.1016/j.vehcom.2024.100744}, year = {2024}, 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 still has 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.}, language = {en} }