IVS-KOM: A Reference Platform for Heterogeneous ITS Communications

Jacob, Richard E.; Gay, Matthias; Dod, Markus; Lorenz, Sven; Jungmann, Alexander; Franke, Lars; Philipp, Michael; Kloeppel-Gersdorf, Michael; Haberjahn, Mathias; Gruschka, Erik; Fettweis, Gerhard

doi:10.1109/vtc2020-fall49728.2020.9348580

Cited by 8 publications

(2 citation statements)

References 6 publications

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“…Furthermore, in [34], [35], a full stack from the access layer was applied to the facility layer. Besides MCM, they used a maneuver recommended message for driving coordination.…”

Section: Related Workmentioning

confidence: 99%

Roadside-assisted Cooperative Planning using Future Path Sharing for Autonomous Driving

Hirata¹,

Tsukada²,

Okumura³

et al. 2021

Preprint

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Cooperative intelligent transportation systems (ITS) are used by autonomous vehicles to communicate with surrounding autonomous vehicles and roadside units (RSU). Current C-ITS applications focus primarily on real-time information sharing, such as cooperative perception. In addition to realtime information sharing, self-driving cars need to coordinate their action plans to achieve higher safety and efficiency. For this reason, this study defines a vehicle's future action plan/path and designs a cooperative path-planning model at intersections using future path sharing based on the future path information of multiple vehicles. The notion is that when the RSU detects a potential conflict of vehicle paths or an acceleration opportunity according to the shared future paths, it will generate a coordinated path update that adjusts the speeds of the vehicles. We implemented the proposed method using the open-source Autoware autonomous driving software and evaluated it with the LGSVL autonomous vehicle simulator. We conducted simulation experiments with two vehicles at a blind intersection scenario, finding that each car can travel safely and more efficiently by planning a path that reflects the action plans of all vehicles involved. The time consumed by introducing the RSU is 23.0 % and 28.1 % shorter than that of the stand-alone autonomous driving case at the intersection.

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“…Furthermore, in [34], [35], a full stack from the access layer was applied to the facility layer. Besides MCM, they used a maneuver recommended message for driving coordination.…”

Section: Related Workmentioning

confidence: 99%

Roadside-assisted Cooperative Planning using Future Path Sharing for Autonomous Driving

Hirata¹,

Tsukada²,

Okumura³

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…A full-stack from the access layer to the facility layer is implemented in [18], [19]. Alongside MCM, a maneuver recommended message was used for driving coordination.…”

Section: Related Workmentioning

confidence: 99%

AutoMCM: Maneuver Coordination Service with Abstracted Functions for Autonomous Driving

Mizutani

Tsukada

Esaki

2021

Preprint

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A cooperative intelligent transport system (C-ITS) uses vehicle-to-everything (V2X) technology to make selfdriving vehicles safer and more efficient. Current C-ITS applications have mainly focused on real-time information sharing, such as for cooperative perception. In addition to better realtime perception, self-driving vehicles need to achieve higher safety and efficiency by coordinating action plans. This study designs a maneuver coordination (MC) protocol that uses seven messages to cover various scenarios and an abstracted MC support service. We implement our proposal as AutoMCM by extending two open-source software tools: Autoware for autonomous driving and OpenC2X for C-ITS. The results show that our system effectively reduces the communication bandwidth by limiting message exchange in an event-driven manner. Furthermore, it shows that the vehicles run 15% faster when the vehicle speed is 30 km/h and 28% faster when the vehicle speed is 50 km/h using our scheme. Our system shows robustness against packet loss in experiments when the message timeout parameters are appropriately set.

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Congestion-aware Packet Repetitions for IEEE 802.11bd-based Safety-critical V2V Communications

Jacob

Schwarzenberg

Burmeister

et al. 2022

ICC 2022 - IEEE International Conference on Communications

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IVS-KOM: A Reference Platform for Heterogeneous ITS Communications

Cited by 8 publications

References 6 publications

Roadside-assisted Cooperative Planning using Future Path Sharing for Autonomous Driving

Roadside-assisted Cooperative Planning using Future Path Sharing for Autonomous Driving

AutoMCM: Maneuver Coordination Service with Abstracted Functions for Autonomous Driving

Congestion-aware Packet Repetitions for IEEE 802.11bd-based Safety-critical V2V Communications

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