TY - CHAP A1 - Barbosa da Silva, Leonardo A1 - Lobo, Silas A1 - Fernández, Evelio A1 - Facchi, Christian ED - Vinel, Alexey ED - Berns, Karsten ED - Ploeg, Jeroen ED - Gusikhin, Oleg T1 - What Is the Right Bounding Box of a VRU Cluster in V2X Communication? How to Form a Good Shape? T2 - Vehits 2024: 10th International Conference on Vehicle Technology and Intelligent Transport Systems Proceedings N2 - Among the possible traffic members on a Vehicle-to-Everything network, the term Vulnerable Road User (VRU) is assigned e.g. to pedestrians and cyclists. The VRU Awareness Message (VAM) is used by VRUs to inform other users of their presence and ensure they are perceived in a traffic system. Since the number of VRUs in crowded areas might be very high, the over-the-air traffic might be overloaded. To reduce channel overload, VAMs offer a clustering feature in which VRUs with similar kinematics and positions can group themselves so that only one device transmits messages. The VRU Basic Service specification describes the cluster as a bounding box that must cover all its members using a geometric shape so that other vehicles in the vicinity can avoid colliding with the contained VRUs. This paper contributes to the standardization effort by introducing a data structure, the Cluster Map, for the clustering in the VRU Basic Service. Furthermore, this work is the first to suggest strategies for forming bounding box shapes. Simulation results show that each of the geometry types is useful in different situations, thus further research on the topic is advised. UR - https://doi.org/10.5220/0012699100003702 Y1 - 2024 UR - https://doi.org/10.5220/0012699100003702 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-48553 SN - 978-989-758-703-0 SP - 144 EP - 155 PB - SciTePress CY - Setúbal ER - TY - CHAP A1 - Lobo, Silas A1 - Festag, Andreas A1 - Facchi, Christian T1 - Enhancing the Safety of Vulnerable Road Users: Messaging Protocols for V2X Communication T2 - 2022 IEEE 96th Vehicular Technology Conference (VTC2022-Fall) Proceedings UR - https://doi.org/10.1109/VTC2022-Fall57202.2022.10012775 KW - road safety KW - vulnerable road users KW - V2X communication KW - messaging KW - collective perception KW - CPM KW - VAM KW - VRU Y1 - 2023 UR - https://doi.org/10.1109/VTC2022-Fall57202.2022.10012775 SN - 978-1-6654-5468-1 PB - IEEE CY - Piscataway ER - TY - JOUR A1 - Flores Fernández, Alberto A1 - Sánchez Morales, Eduardo A1 - Botsch, Michael A1 - Facchi, Christian A1 - García Higuera, Andrés T1 - Generation of Correction Data for Autonomous Driving by Means of Machine Learning and On-Board Diagnostics JF - Sensors N2 - A highly accurate reference vehicle state is a requisite for the evaluation and validation of Autonomous Driving (AD) and Advanced Driver Assistance Systems (ADASs). This highly accurate vehicle state is usually obtained by means of Inertial Navigation Systems (INSs) that obtain position, velocity, and Course Over Ground (COG) correction data from Satellite Navigation (SatNav). However, SatNav is not always available, as is the case of roofed places, such as parking structures, tunnels, or urban canyons. This leads to a degradation over time of the estimated vehicle state. In the present paper, a methodology is proposed that consists on the use of a Machine Learning (ML)-method (Transformer Neural Network—TNN) with the objective of generating highly accurate velocity correction data from On-Board Diagnostics (OBD) data. The TNN obtains OBD data as input and measurements from state-of-the-art reference sensors as a learning target. The results show that the TNN is able to infer the velocity over ground with a Mean Absolute Error (MAE) of 0.167 kmh (0.046 ms) when a database of 3,428,099 OBD measurements is considered. The accuracy decreases to 0.863 kmh (0.24 ms) when only 5000 OBD measurements are used. Given that the obtained accuracy closely resembles that of state-of-the-art reference sensors, it allows INSs to be provided with accurate velocity correction data. An inference time of less than 40 ms for the generation of new correction data is achieved, which suggests the possibility of online implementation. This supports a highly accurate estimation of the vehicle state for the evaluation and validation of AD and ADAS, even in SatNav-deprived environments. UR - https://doi.org/10.3390/s23010159 KW - On-Board Diagnostics KW - Machine Learning KW - Transformer Neural Network KW - Autonomous Driving KW - ADAS KW - Inertial Navigation Systems Y1 - 2022 UR - https://doi.org/10.3390/s23010159 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-30464 SN - 1424-8220 VL - 23 IS - 1 PB - MDPI CY - Basel ER - TY - CHAP A1 - Dietl, Laura A1 - Facchi, Christian ED - Zöldy, Máté T1 - Is Maximum Entropy Deep Inverse Reinforcement Learning Suitable for Pedestrian Path Prediction? T2 - Proceedings of the 3rd Cognitive Mobility Conference UR - https://doi.org/10.1007/978-3-031-81799-1_20 Y1 - 2025 UR - https://doi.org/10.1007/978-3-031-81799-1_20 SN - 978-3-031-81799-1 SP - 215 EP - 229 PB - Springer CY - Cham ER - TY - CHAP A1 - Maksimovski, Daniel A1 - Facchi, Christian T1 - Priority-Based Cooperative Driving Planner for V2X Maneuver Coordination Application T2 - 2025 IEEE 22nd Consumer Communications & Networking Conference (CCNC) UR - https://doi.org/10.1109/CCNC54725.2025.10975982 Y1 - 2025 UR - https://doi.org/10.1109/CCNC54725.2025.10975982 SN - 979-8-3315-0805-0 PB - IEEE CY - Piscataway ER - TY - CHAP A1 - Lobo, Silas A1 - Festag, Andreas A1 - Facchi, Christian T1 - Adaptive Message Prioritization: How to Prioritize VRU Awareness Messages in a Congested V2X Network T2 - 2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC) UR - https://doi.org/10.1109/ITSC58415.2024.10919704 Y1 - 2025 UR - https://doi.org/10.1109/ITSC58415.2024.10919704 SN - 979-8-3315-0592-9 SP - 423 EP - 430 PB - IEEE CY - Piscataway ER - TY - CHAP A1 - Riebl, Raphael A1 - Obermaier, Christina A1 - Neumeier, Stefan A1 - Facchi, Christian ED - Djanatliev, Anatoli ED - Hielscher, Kai-Steffen ED - Sommer, Christoph ED - Eckhoff, David ED - German, Reinhard T1 - Vanetza: Boosting Research on Inter-Vehicle Communication T2 - Proceedings of the 5th GI/ITG KuVS Fachgespräch Inter-Vehicle Communication (FG-IVC 2017) Y1 - 2017 UR - https://nbn-resolving.org/urn:nbn:de:bvb:29-opus4-85280 SP - 37 EP - 40 PB - Friedrich-Alexander Universität Erlangen-Nürnberg CY - Erlangen ER - TY - CHAP A1 - Neumeier, Stefan A1 - Obermaier, Christina A1 - Facchi, Christian ED - Djanatliev, Anatoli ED - Hielscher, Kai-Steffen ED - Sommer, Christoph ED - Eckhoff, David ED - German, Reinhard T1 - Speeding up OMNeT++ Simulations by Parallel Output-Vector Implementations T2 - Proceedings of the 5th GI/ITG KuVS Fachgespräch Inter-Vehicle Communication (FG-IVC 2017) Y1 - 2017 UR - https://nbn-resolving.org/urn:nbn:de:bvb:29-opus4-85280 SP - 22 EP - 25 PB - Friedrich-Alexander Universität Erlangen-Nürnberg CY - Erlangen ER - TY - CHAP A1 - Delooz, Quentin A1 - Maksimovski, Daniel A1 - Festag, Andreas A1 - Facchi, Christian ED - Stiller, Christoph ED - Althoff, Matthias ED - Burger, Christoph ED - Deml, Barbara ED - Eckstein, Lutz ED - Flemisch, Frank T1 - Design and Evaluation of V2X Communication Protocols for Cooperatively Interacting Automobiles T2 - Cooperatively Interacting Vehicles: Methods and Effects of Automated Cooperation in Traffic N2 - 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. UR - https://doi.org/10.1007/978-3-031-60494-2_6 Y1 - 2024 UR - https://doi.org/10.1007/978-3-031-60494-2_6 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-50008 SN - 978-3-031-60494-2 SN - 978-3-031-60493-5 SP - 159 EP - 199 PB - Springer CY - Cham ER - TY - CHAP A1 - Maksimovski, Daniel A1 - Facchi, Christian A1 - Festag, Andreas T1 - Packet Rate Control for Maneuver Coordination in Congested V2X Communication Environments T2 - 2024 IEEE 100th Vehicular Technology Conference (VTC2024-Fall), Proceedings UR - https://doi.org/10.1109/VTC2024-Fall63153.2024.10758036 Y1 - 2024 UR - https://doi.org/10.1109/VTC2024-Fall63153.2024.10758036 SN - 979-8-3315-1778-6 PB - IEEE CY - Piscataway ER - TY - CHAP A1 - Trapp, Peter A1 - Bittl, Sebastian A1 - Facchi, Christian T1 - How to Handle Memory Bound Systems BT - a Specialization of Dynamic Performance Stubs to Memory Stubs T2 - 35. International Computer Measurement Group Conference Proceedings KW - performance improvements KW - simulated optimization KW - stubs KW - performance modeling Y1 - 2009 PB - CMG CY - Turnersville ER - TY - CHAP A1 - Facchi, Christian A1 - Wessel, Jochen ED - Dekkers, Ton T1 - The definition of metrics for Continuous Integration in SCRUM BT - how continuous is our Continuous Integration? T2 - Proceedings 7th Software Measurement European Forum Y1 - 2010 SP - 71 EP - 82 PB - Data Processing Organization CY - Rom ER - TY - CHAP A1 - Trapp, Peter A1 - Meyer, Markus A1 - Facchi, Christian ED - Hall, Jon G. ED - Kaindl, Hermann ED - Lavazza, Luigi ED - Buchgeher, Georg ED - Takaki, Osamu T1 - Using CPU Stubs to Optimize Parallel Processing Tasks: An Application of Dynamic Performance Stubs T2 - The Fifth International Conference on Software Engineering Advances (ICSEA 2010) UR - https://doi.org/10.1109/ICSEA.2010.80 KW - software performance optimization KW - CPU bound applications KW - multi-core KW - parallel processing KW - dynamic performance stubs Y1 - 2010 UR - https://doi.org/10.1109/ICSEA.2010.80 SN - 978-1-4244-7788-3 SP - 471 EP - 476 PB - IEEE CY - Los Alamitos ER - TY - CHAP A1 - Trapp, Peter A1 - Facchi, Christian T1 - Main Memory Stubs to Simulate Heap and Stack Memory Behavior T2 - 36. International Computer Measurement Group Conference Proceedings Y1 - 2010 PB - CMG CY - Turnersville ER - TY - CHAP A1 - Röglinger, Sebastian A1 - Facchi, Christian ED - Strang, Thomas ED - Festag, Andreas ED - Vinel, Alexey ED - Mehmood, Rashid ED - Rico García, Cristina ED - Röckl, Matthias T1 - Behavior Specification of a Red-Light Violation Warning Application - An Approach for Specifying Reactive Vehicle-2-X Communication Applications T2 - Communication Technologies for Vehicles: Third International Workshop, Nets4Cars/Nets4Trains 2011, Oberpfaffenhofen, Germany, March 23-24, 2011. Proceedings UR - https://doi.org/10.1007/978-3-642-19786-4_10 KW - Modeling Reactive System KW - Vehicle-2-X Communication KW - Finite State Machine KW - Red-Light Violation Warning Y1 - 2011 UR - https://doi.org/10.1007/978-3-642-19786-4_10 SN - 978-3-642-19785-7 SN - 978-3-642-19786-4 SP - 106 EP - 118 PB - Springer CY - Berlin ER - TY - CHAP A1 - Neumeier, Stefan A1 - Gay, Nicolas A1 - Dannheim, Clemens A1 - Facchi, Christian T1 - On the way to autonomous vehicles teleoperated driving T2 - AmE 2018: Automotive meets Electronics Beiträge der 9. GMM-Fachtagung Y1 - 2018 UR - https://ieeexplore.ieee.org/document/8402813 UR - https://www.vde-verlag.de/proceedings-de/454524018.html SN - 978-3-8007-4524-1 SP - 49 EP - 54 PB - VDE Verlag CY - Berlin ER - TY - CHAP A1 - Obermaier, Christina A1 - Riebl, Raphael A1 - Facchi, Christian T1 - Fully Reactive Hardware-in-the-Loop Simulation for VANET Devices T2 - 2018 IEEE Intelligent Transportation Systems Conference UR - https://doi.org/10.1109/ITSC.2018.8569663 KW - Real-time systems KW - Message systems KW - Vehicular ad hoc networks KW - Arteries KW - Hardware KW - Tools KW - Roads Y1 - 2018 UR - https://doi.org/10.1109/ITSC.2018.8569663 SN - 978-1-7281-0323-5 SP - 3755 EP - 3760 PB - IEEE CY - Piscataway ER - TY - CHAP A1 - Zeindl, Markus A1 - Facchi, Christian T1 - Measuring Architectural Misfit: A Preliminary Real Life Study T2 - 2018 IEEE/WIC/ACM International Conference on Web Intelligence - WI 2018. Proceedings UR - https://doi.org/10.1109/WI.2018.00-18 KW - computer aided analysis KW - software maintenance KW - software quality KW - software architecture KW - machine learning Y1 - 2019 UR - https://doi.org/10.1109/WI.2018.00-18 SN - 978-1-5386-7325-6 SP - 655 EP - 659 PB - IEEE CY - Los Alamitos ER - TY - RPRT A1 - Broy, Manfred A1 - Facchi, Christian A1 - Grosu, Radu A1 - Hettler, Rudi A1 - Hussmann, Heinrich A1 - Nazareth, Dieter A1 - Regensburger, Franz A1 - Stølen, Ketil T1 - The Requirement and Design Specification Language SPECTRUM BT - An Informal Introduction : Version 0.3 T2 - TUM-Info. 9140 Y1 - 1991 PB - Technische Universität München CY - München ER - TY - RPRT A1 - Broy, Manfred A1 - Facchi, Christian A1 - Grosu, Radu A1 - Hettler, Rudi A1 - Hussmann, Heinrich A1 - Nazareth, Dieter A1 - Regensburger, Franz A1 - Slotosch, Oscar A1 - Stølen, Ketil T1 - The Requirement and Design Specification Language SPECTRUM BT - An Informal Introduction : Version 1.0. Part I T2 - TUM-Info. 9311 Y1 - 1993 PB - Technische Universität München CY - München ER - TY - RPRT A1 - Facchi, Christian T1 - How to Improve the Service Specifications of the ISO/OSI Basic Reference Model T2 - TUM-Info. 9615 Y1 - 1996 UR - https://mediatum.ub.tum.de/doc/1094464/1094464.pdf PB - Technische Universität München CY - München ER - TY - CHAP A1 - Riebl, Raphael A1 - Facchi, Christian ED - Frank, Raphael ED - Forster, Markus ED - Sommer, Christoph ED - Kargl, Frank ED - Engel, Thomas T1 - Implementation of Day One ITS-G5 Systems for Testing Purposes T2 - Proceedings of the 2nd GI/ITG KuVS Fachgespräch Inter-Vehicle Communication (FG-IVC 2014) Y1 - 2014 UR - http://fg-ivc.car2x.org/proceedings-fg-ivc-2014.pdf SN - 978-2-87971-124-9 SP - 33 EP - 36 PB - University of Luxembourg CY - Luxembourg-Kirchberg ER - TY - CHAP A1 - Riebl, Raphael A1 - Neumeier, Stefan A1 - Facchi, Christian ED - Frank, Raphael ED - Sommer, Christoph ED - Kargl, Frank ED - Dietzel, Stefan ED - Heijden, Rens W. van der T1 - Inter-Vehicle Communication on the Run BT - Experiences From Tweaking Veins Runtime Performance T2 - Proceeding of the 3 rd GI/ITG KuVS Fachgespräch Inter-Vehicle Communication (FG-IVC 2015) Y1 - 2015 UR - http://fg-ivc.car2x.org/proceedings-fg-ivc-2015.pdf SP - 25 EP - 28 PB - Universität Ulm CY - Ulm ER -