Vehicular Networking

Marc Emmelmann, Researcher, Faculty of Computer science and Electrical Engineering, Technical University of Berlin, GermanyAs a member of the Telecommunication and Networks Group (TKN), his current research focuses on wireless networks with special interest on supporting mobility for high-velocity vehicles. Special interest has evolved in MAC-layer supported seamless handover with QoS guarantees. He has written numerous journal articles and has contributed to a book chapter.Bernd Bochow, Senior Scientist, Fraunhofer Institute for Open Communication Systems (FOKUS), GermanyMr Bochow has been contributing to numerous national and joint European research and development projects (ITEA, EURESCOM, ACTS, IST) as well as performing contractual work for national customers both as a researcher and as a project manager. His recent research interests are in the area of vehicular ad-hoc networking and cognitive radio. He is also participating in the standardization of car-2-car communication systems. He has written several journal articles and contributed to a book chapter.C. Christopher Kellum, Project Engineer, General Motors Europe Global Technology Engineering, GermanyMr Kellum worked five years at General Motors Research & Development in Warren, Michigan during which time he developed collision warning and avoidance applications using enhanced digital map data and vehicle-to-vehicle communication. Additionally, he has contributed to the Society of Automotive Engineers DSRC Data Dictionary standards. Since 2006, he has worked in Europe on vehicle-to-vehicle communication and the Car2Car Consortium as well as object detection sensors for active safety. He has written a number of journal articles.

• List of Contributors xiiiPreface xv1 Commercial and Public Use Applications 1Dr. Hariharan Krishnan, Dr. Fan Bai and Dr. Gavin Holland1.1 Introduction 21.1.1 Motivation 31.1.2 Contributions and benefits 31.1.3 Chapter organization 41.2 V2XApplications from the User Benefits Perspective 41.2.1 Application value 51.3 Application Characteristics and Network Attributes 81.3.1 Application characteristics 81.3.2 Network attributes 101.4 Application Classification and Categorization 121.4.1 Characterization based on application characteristics 121.4.2 Characterization based on network attributes 151.4.3 Application classification . . . . 181.5 Market Perspectives and Challenges for Deployment 211.5.1 Fleet penetration 211.5.2 System rollout options 211.5.3 Market penetration analysis 231.5.4 System rollout 251.5.5 Role of infrastructure 251.6 Summary and Conclusions 26References 272 Governmental and Military Applications 29Anthony Maida2.1 Introduction 292.2 Vehicular Networks for First Responders 302.2.1 Public safety communications 302.2.2 Vehicular communications 312.3 The Need for Public Safety Vehicular Networks 332.4 State of Vehicular Network Technology 352.4.1 Incident Area Networks 352.4.2 Jurisdictional Area Networks 362.4.3 Extended Area Networks 382.5 Vehicular Networks for Military Use 402.6 Conclusions 42References 423 Communication Systems for Car-2-X Networks 45Daniel D. Stancil, Fan Bai and Lin Cheng3.1 Overview of theV2XEnvironment 463.1.1 Vehicle-to-Infrastructure 463.1.2 Vehicle-to-Vehicle 463.1.3 Antenna requirements 473.2 V2XChannel Models 483.2.1 Deterministic models 483.2.2 Geometry-based statistical models 483.2.3 Multi-tap models 503.3 V2XChannelProperties 503.3.1 Empirical measurement platform 513.3.2 Large-scale path loss 513.3.3 Fading statistics 533.3.4 Coherence time and Doppler spectrum 533.3.5 Coherence bandwidth and delay spread profile 563.4 Performance of 802.11p in the V2X Channel 583.4.1 Impact of channel properties on OFDM 593.4.2 Potential equalization enhancement schemes 613.5 Vehicular Ad hoc Network Multichannel Operation 613.5.1 Multichannel MAC (IEEE 1609.4) 623.5.2 Performance evaluation of the IEEE 1609.4 multichannel MAC 633.5.3 Other solutions for multichannel operations 653.6 Vehicular Ad hoc Network Single-hop Broadcast and its Reliability Enhancement Schemes 663.6.1 Reliability analysis of DSRC single-hop broadcast scheme 663.6.2 Reliability analysis of DSRC-based VSC applications 683.6.3 Reliability enhancement schemes for single-hop broadcast scheme 693.7 Vehicular Ad hoc Network Multi-hop Information Dissemination Protocol Design 713.7.1 Multi-hop broadcast protocols in dense VANETs 713.7.2 Multi-hop broadcast protocols in sparse VANETs 733.8 Mobile IP Solution in VANETs 753.8.1 Mobile IP solution 753.8.2 Mobile IP solution tailored to VANET scenarios 763.9 Future Research Directions and Challenges 773.9.1 Physical layer perspective 773.9.2 Networking perspective 77References 784 Communication Systems for Railway Applications 83Benoît Bouchez and Luc de Coen4.1 Evolution of Embedded Computers and Communication Networks in Railway Applications 834.2 Train Integration in a Global Communication Framework 844.3 Communication Classes and Related Communication Requirements 854.3.1 Real-time data 854.3.2 Non-real-time message data 864.3.3 Streaming data 884.4 Expected Services from a Railway Communication System and the Related Requirements 884.4.1 Automatic Train Control 884.4.2 Passenger Information System 894.4.3 Video 904.4.4 Maintenance 914.4.5 On-board Internet access 914.5 Qualitative and Quantitative Approach for Dimensioning Wireless Links 924.5.1 Environmental influence 924.5.2 Global propagation model 924.5.3 Train motion influence 934.5.4 Regulation and licensing 934.6 Existing Wireless Systems Applicable to Railway Communication Systems 934.6.1 Magnetic coupling technology 934.6.2 WLAN/WMAN technologies 944.6.3 Cellular technologies 964.6.4 Satellite link technologies 994.7 Networks for On-board Communication and Coupling with the Wayside 994.7.1 Multifunction Vehicle Bus 994.7.2 Wire Train Bus 1004.7.3 Ethernet 1004.7.4 Coupling on-board communication with wayside communication 1004.8 Integration of Existing Technologies for Future Train Integration in a Global Communication Framework 1014.8.1 European Rail Traffic Management System 1014.8.2 MODURBAN Communication System 1024.9 Conclusion 103References 1035 Security and Privacy Mechanisms for Vehicular Networks 105Panos Papadimitratos5.1 Introduction 1055.2 Threats 1075.3 Security Requirements 1085.4 Secure VC Architecture Basic Elements 1095.4.1 Authorities 1095.4.2 Node identification 1105.4.3 Trusted components 1105.4.4 Secure communication 1115.5 Secure and Privacy-enhancing Vehicular Communication 1115.5.1 Basic security 1115.5.2 Secure neighbor discovery 1125.5.3 Secure position-based routing 1135.5.4 Additional privacy-enhancing mechanisms 1135.5.5 Reducing the cost of security and privacy enhancing mechanisms 1155.6 Revocation 1165.7 Data Trustworthiness 1195.7.1 Securing location information 1195.7.2 Message trustworthiness 1215.8 Towards Deployment of Security and PET for VC 1225.8.1 Revisiting basic design choices 1225.8.2 Future challenges 1245.9 Conclusions 125References 1256 Security and Dependability in Train Control Systems 129Mark Hartong, Rajni Goel and Duminda Wijesekera6.1 Introduction 1306.2 Traditional Train Control and Methods of Rail Operation 1306.2.1 Verbal authority and mandatory directives 1316.2.2 Signal indications 1316.3 Limitations of Current Train Control Technologies 1326.4 Positive Train Control 1326.4.1 Functions 1336.4.2 Architectures 1346.4.3 US communication-based systems 1356.5 System Security 1386.5.1 The security threat 1386.5.2 Attacks 1396.5.3 Required security attributes 1416.5.4 Analysis of requirements 1426.6 Supplementary Requirements 1446.6.1 Performance management 1446.6.2 Configuration management 1456.6.3 Accounting, fault, and security management 1456.7 Summary 146References 1467 Automotive Standardization of Vehicle Networks 149Tom Schaffnit7.1 General Concepts 1497.1.1 Vehicle-to-Vehicle communications 1507.1.2 Vehicle-to-Infrastructure communications 1507.2 Interoperability 1517.2.1 Regional requirements and differences 1527.2.2 Necessity of standards 1537.2.3 Insufficiency of standards 1547.3 Wireless Protocols and Standardization Activities 1547.3.1 OSI seven-layer protocol model 1547.3.2 Standards activities relative to protocol layers 1557.3.3 Cooperation required among different standards 1567.4 Regional Standards Development Progress 1577.4.1 North America 1577.4.2 Europe 1607.4.3 Japan 1627.5 Global Standardization 1637.5.1 Global standards development organizations and mechanisms 1647.5.2 Allowances for regional differences 167References 1688 Standardization of Vehicle-to-Infrastructure Communication 171Karine Gosse, David Bateman, Christophe Janneteau, Mohamed Kamoun, Mounir Kellil, Pierre Roux, Alexis Olivereau, Jean-Noël Patillon, Alexandru Petrescu, and Sheng Yang8.1 Introduction 1728.2 Overview of Standards and Consortia Providing Vehicle-to-Infrastructure Communication Solutions 1738.2.1 Spectrum 1738.2.2 Standards 1748.3 Radio Access Standards for V2I Communications 1788.3.1 IEEE 802.11p 1788.3.2 Applicability of generic wide area radio access standards to Vehicle-to-Infrastructure (V2I)communications . . 1818.4 Networking Standards forV2I Communications 1858.4.1 Non-IP networking technologies for critical messaging 1858.4.2 IP-based vehicular networking 1868.5 Summary 198References 1989 Simulating Cooperative Vehicle-to-Infrastructure Systems: A Multi-Aspect Assessment Tool Suite 203Gerdien Klunder, Isabel Wilmink and Bart van Arem9.1 Introduction on Design and Evaluation of Cooperative Systems 2049.2 Design Problems for Cooperative Systems 2049.3 SUMMITS Tool Suite and Multi-Aspect Assessment 2059.3.1 Multi-aspect assessment 2059.3.2 The SUMMITS Tool Suite 2069.3.3 Some practical aspects of the approach 2079.4 Integrated Full-Range Speed Assistant 2089.4.1 Modes and functions 2089.4.2 Scenarios 2099.4.3 IRSA controllers 2099.5 System Robustness – Simulations with a Multi-Agent Real-Time Simulator 2129.5.1 Aims of the simulation 2129.5.2 Implementation of IRSA in MARS 2139.5.3 Evaluation of robustness of  IRSA CACC controllers 2159.5.4 Conclusions on the simulations with MARS 2179.6 Traffic Flow Impacts–Simulations in the ITS Modeller 2189.6.1 Aims of the simulations 2189.6.2 Implementation of IRSA in the ITS modeller 2199.6.3 Results for the ‘approaching a traffic jam’ scenario 2219.6.4 Results for the ‘approaching a reduced speed limit zone’ scenario 2229.6.5 Results for the ‘leaving the head of a queue’ scenario 2239.6.6 Conclusions on the ITS modeller simulation results 2249.7 Conclusions 224References 22510 System Design and Proof-of-Concept Implementation of Seamless Handover Support for Communication-Based Train Control 227Marc Emmelmann10.1 Introduction 22810.2 Fast Handover for CBTC using Wi-Fi  22910.2.1 Requirements of Communications-Based Train Control for fast handover support 22910.2.2 Taxonomy of handover phases 23010.2.3 IEEE 802.11 fast handover support 23110.2.4 Challenges of CBTC for Wi-Fi-based fast handover support 23910.3 System Concept and Design 23910.3.1 System architecture 24010.3.2 MAC scheme 24110.3.3 Predictive fast handover 24210.4 Implementation 24310.4.1 Methodology 24310.4.2 Proof-of-concept demonstrator 24410.5 Performance Evaluation 24510.5.1 Metric design 24510.5.2 Empirical evaluation 24710.6 Conclusion 253References . . . . 25311 New Technological Paradigms 257Bernd Bochow11.1 Evolution and Convergence of Vehicular Networks 25811.2 Future Challenges 25911.2.1 Handling network growth 25911.2.2 Managing resources in adhoc scenarios 26011.2.3 Enabling interworking, integration and convergence 26111.2.4 Providing integrated on-board and vicinity communications 26111.3 New Paradigms 26211.3.1 RF LoS obstruction due to other vehicles in close vicinity 26311.3.2 Increased demand for accuracy of positioning and time synchronization 26311.3.3 Optimization of message RTT 26311.3.4 Gaining and distributing knowledge on topology and resource availability in temporal, spatial and spectral dimensions 26411.3.5 Efficient collaboration and cooperation in resource utilization 26411.4 Outlook: the Role of Vehicular Networks in the Future Internet 265References 267Further Reading 271Acronyms and Abbreviations 275Subject Index 285