@inproceedings{MaksimovskiFacchi2025, author = {Maksimovski, Daniel and Facchi, Christian}, title = {Priority-Based Cooperative Driving Planner for V2X Maneuver Coordination Application}, booktitle = {2025 IEEE 22nd Consumer Communications \& Networking Conference (CCNC)}, publisher = {IEEE}, address = {Piscataway}, isbn = {979-8-3315-0805-0}, doi = {https://doi.org/10.1109/CCNC54725.2025.10975982}, year = {2025}, 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{MaksimovskiFacchiFestag2021, author = {Maksimovski, Daniel and Facchi, Christian and Festag, Andreas}, title = {Priority Maneuver (PriMa) Coordination for Connected and Automated Vehicles}, booktitle = {2021 IEEE International Intelligent Transportation Systems Conference (ITSC)}, publisher = {IEEE}, address = {Piscataway}, isbn = {978-1-7281-9142-3}, doi = {https://doi.org/10.1109/ITSC48978.2021.9564923}, pages = {1083 -- 1089}, year = {2021}, language = {en} } @inproceedings{MaksimovskiFacchiFestag2022, author = {Maksimovski, Daniel and Facchi, Christian and Festag, Andreas}, title = {Cooperative Driving: Research on Generic Decentralized Maneuver Coordination for Connected and Automated Vehicles}, booktitle = {Smart Cities, Green Technologies, and Intelligent Transport Systems: 10th International Conference, SMARTGREENS 2021, and 7th International Conference, VEHITS 2021, Virtual Event, April 28-30, 2021, Revised Selected Papers}, editor = {Klein, Cornel and Jarke, Matthias and Helfert, Markus and Berns, Karsten and Gusikhin, Oleg}, publisher = {Springer}, address = {Cham}, isbn = {978-3-031-17097-3}, doi = {https://doi.org/10.1007/978-3-031-17098-0_18}, pages = {348 -- 370}, year = {2022}, 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} } @inproceedings{MaksimovskiLoboFacchi2024, author = {Maksimovski, Daniel and Lobo, Silas and Facchi, Christian}, title = {Prioritization of Maneuver Coordination Messages and the Impact of Decentralized Congestion Control}, booktitle = {2024 IEEE 99th Vehicular Technology Conference (VTC2024-Spring): Proceedings}, publisher = {IEEE}, address = {Piscataway}, isbn = {979-8-3503-8741-4}, doi = {https://doi.org/10.1109/VTC2024-Spring62846.2024.10683237}, year = {2024}, language = {en} } @inproceedings{MaksimovskiFacchi2023, author = {Maksimovski, Daniel and Facchi, Christian}, title = {Decentralized V2X Priority Maneuver Coordination: Evaluation in Small Scale Scenarios}, booktitle = {2023 IEEE International Automated Vehicle Validation Conference (IAVVC), Proceedings}, publisher = {IEEE}, address = {Piscataway}, doi = {https://doi.org/10.1109/IAVVC57316.2023.10328122}, year = {2023}, language = {en} } @inproceedings{MaksimovskiFacchi2024, author = {Maksimovski, Daniel and Facchi, Christian}, title = {Decentralized V2X Maneuver Sharing and Coordination Message for Cooperative Driving: Analysis in Mixed Traffic}, booktitle = {2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)}, publisher = {IEEE}, address = {Piscataway}, isbn = {979-8-3503-9946-2}, doi = {https://doi.org/10.1109/ITSC57777.2023.10421976}, pages = {5182 -- 5189}, year = {2024}, language = {en} } @inproceedings{MaksimovskiFacchi2023, author = {Maksimovski, Daniel and Facchi, Christian}, title = {Negotiation Patterns for V2X Cooperative Driving: How complex Maneuver Coordination can be?}, booktitle = {2023 IEEE 98th Vehicular Technology Conference (VTC2023-Fall), Proceedings}, publisher = {IEEE}, address = {Piscataway}, isbn = {979-8-3503-2928-5}, doi = {https://doi.org/10.1109/VTC2023-Fall60731.2023.10333579}, year = {2023}, language = {en} } @inproceedings{MaksimovskiFestagFacchi2021, author = {Maksimovski, Daniel and Festag, Andreas and Facchi, Christian}, title = {A Survey on Decentralized Cooperative Maneuver Coordination for Connected and Automated Vehicles}, booktitle = {Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems}, publisher = {SciTePress}, address = {Set{\´u}bal}, isbn = {978-989-758-513-5}, issn = {2184-495X}, doi = {https://doi.org/10.5220/0010442501000111}, pages = {100 -- 111}, year = {2021}, 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.}, language = {en} } @article{MaksimovskiFestagFacchi2026, author = {Maksimovski, Daniel and Festag, Andreas and Facchi, Christian}, title = {Adaptive Message Generation Rules for V2X Maneuver Coordination Service}, volume = {14}, journal = {IEEE Access}, publisher = {IEEE}, address = {New York}, issn = {2169-3536}, doi = {https://doi.org/10.1109/ACCESS.2026.3652364}, pages = {6417 -- 6437}, year = {2026}, abstract = {Maneuver coordination enables connected and automated vehicles (CAVs) to collaboratively plan, negotiate, and execute driving maneuvers, aiming to enhance safety, traffic flow, and energy efficiency. As part of the Vehicle-to-Everything (V2X) communication system, it operates as a dedicated service that relies on detailed, bidirectional interactions between vehicles, unlike traditional broadcast-based V2X services. While maneuver coordination is the focus of ongoing research and standardization, the rules that govern when and how vehicles generate Maneuver Coordination Messages (MCMs) within the Maneuver Coordination Service (MCS) are still not fully defined. These rules are essential for ensuring timely and reliable coordination. This paper proposes three adaptive MCM generation strategies based on the operation mode of the MCS, maneuver priority, and current channel load. The first approach defines MCM rules for intent sharing, maneuver negotiation, and execution phases, factoring in maneuver importance. The second adjusts the frequency of intent MCMs when a negotiation message is received from another vehicle. The third adapts frequency based on real-time channel load during intent sharing. For comparison, two baseline strategies are also evaluated. The proposed rules are tested for highway merging and lane change use cases in traffic scenarios with increasing vehicle density and high channel loads. A comprehensive evaluation is conducted using metrics related to the network, message generation frequency, congestion control, and maneuver coordination. The results demonstrate significantly enhanced channel efficiency and communication reliability across all metrics. For example, under the final approach, maneuver negotiation time is reduced by a factor of five in congested V2X environments.}, language = {en} } @inproceedings{MaksimovskiLoboFacchi2026, author = {Maksimovski, Daniel and Lobo, Silas and Facchi, Christian}, title = {Efficient Channel Load Reduction for V2X Maneuver Coordination Service}, booktitle = {2025 IEEE 102nd Vehicular Technology Conference (VTC2025-Fall): Proceedings}, publisher = {IEEE}, address = {Piscataway}, isbn = {979-8-3315-0320-8}, doi = {https://doi.org/10.1109/VTC2025-Fall65116.2025.11310480}, year = {2026}, language = {en} }