Bayesian game-theoretic approach based on 802.11p MAC protocol to alleviate beacon collision under urban VANETs

Vehicular Ad-hoc Networks (VANETs) facilitate the broadcasting of status information among vehicles. In the IEEE 802.11p/WAVE vehicle network environment, the strict periodic beacon broadcasting of safety messages requires status advertisement to assist drivers in maintaining safety. The beacon broadcasting is required for real-time communication, and for avoiding the degradation of communication channels in high vehicular density situations. However, a periodic safety beacon in the IEEE 802.11p/WAVE standard can only transmit packets on a single channel using the MAC protocol. In high vehicular density situations, the channel becomes overloaded, thereby increasing the probability of beacon collision, and hence reducing the influx of successfully received beacons, which increases the delay. Many studies have indicated that appropriate congestion control algorithms are essential to provide efficient operation of a network. In this paper, to avoid beacon congestion, we have considered game theoretic models of wireless medium access control (MAC) where each transmitter makes individual decisions regarding their power level or transmission probability. We have evaluated the equilibrium transmission strategies of both the selfish and the cooperative user. In such a game-theoretic study, the central question is whether Bayesian Nash equilibrium (BNE) exists, and if so, whether the network operates efficiently at the equilibrium point. We proved that there exists only one BNE point in our game and validated our result using simulation. The performance of the proposed scheme is illustrated with the help of simulation results.     

车路协同信息融合的智能汽车行驶状态模糊评判

为了监测与评判道路上行驶的智能汽车的实时状态,基于研发的智能汽车的车载感知系统,包括通过视觉传感器、激光雷达、GPS定位、车载传感器系统及车载总线获取车内及周围环境信息。采用V2X通讯设备等获取路侧端雷视一体机、路侧传感器、气象传感器传输的交通信息,通过V2X通讯设备、4G通讯模块传送到云服务器并建立模糊评判模型。基于可信度的模糊推理算法对环境信息和交通信息进行融合,并以此为依据对行驶车辆的状态进行评判。首先,建立针对车辆行驶状态的模糊评判集合和各参数隶属度函数,计算出各参数的隶属度,并对行驶车辆的各个参数建立典型的行驶状态评判参数数据集合。其次,采用模糊假言推理方法,以典型的数据集合为基础建立带可信度和阈值的模糊规则库。应用麦姆德尼方法,建立与规则库的每个规则所对应的模糊关系矩阵库。以车辆行驶时接收到的车载端和路侧端信息作为输入,应用规则库规则进行带有可信度的模糊推理。然后,以相似度作为匹配度,对推理规则设定阈限,按照证据与规则的前件不相等的情况,计算结论的可信度得出结论。对结论进行冲突消解时,冲突消解的策略为取可信度高的结论。最后,应用匹配度对结论的可靠性进行验证,并在多个道路场景实时行驶的车辆上对算法进行试验验证。研究结果表明:算法对行驶车辆状态的评判与实车的状态相一致,可实现对车辆不安全状态的报警与行驶状态的干预,对保障行车安全有显著积极的实际应用意义。     

面向车联网多点协作联合传输的安全认证与密钥更新方法

未来基于车联网的车路协同和自动驾驶场景要求车-车/车-路等网络通信在保证数据安全的前提下，具备低时延、高可靠的特性，从而保证车辆的行驶安全以及车/人的信息安全。LTE-V2X作为车联网通信方案之一，LTE的多点协作联合传输（Coordinated Multiple Points-Joint Transmission，CoMP-JT）技术不仅可以减少车辆在高速行驶过程中进行基站（Evolved Node B，eNB）切换时的通信中断，还能通过多个基站的协同传输来辅助提高网络的数据传输性能。然而当前LTE标准中的安全密钥管理方案无法满足多点协作联合传输过程中的密钥管理场景。针对该问题，提出一种可用于LTE-V2X车联网通信中多点协作传输切换的安全密钥生成与更新算法。该算法由车辆生成基站切换请求并使用随机数、共享密钥、目标基站公钥对切换请求进行加密、广播；基于密码学特性，目标基站不仅可基于私钥从密文请求中计算出共享密钥，还可以计算得到后续的会话密钥；车辆则可以基于目标基站位置信息、生成请求时的随机数计算出会话密钥，从而实现在只需要1次密钥传输的前提下，达成车辆与基站之间的密钥共享和密钥更新，并从密码学角度针对该密钥生成与更新算法进行验证分析。研究结果表明：在LTE-V2X多点协作传输时的基站切换过程中，该算法能够确保车辆与基站进行后向/前向密钥分离的安全认证以及会话密钥建立；与传统方案相比，所提方法可减少26.4%的基站切换过程中引入的通信时延，基站信道负载均仅为传统方案的1/2，并且随基站小区范围内车辆数目增加，基站的信道负载也仅线性增加，提升了该算法在LTE-V2X车联网场景中的适用性。     

Network performance analysis and manuever model for overtaking assistant service using wave

We present network requirements for an overtaking assistant service using wireless access in vehicular environment (WAVE). Currently, DNPW has been proposed as a representative overtaking assistant service with vehicle-tovehicle (V2V) communication. In order to analyze its network performance, we construct a maneuver model for an overtaking system. According to this model, we configured a scenario for network simulation based on the 802.11p WAVE standard. The results confirm that a radio range for overtaking needs only a single hop without routing methods. Moreover, we propose an additional safe distance for the communication delay generated by an increase in the numbers of neighboring vehicles. And for high priority activity of safety services, we present a proper access category (AC) of enhanced distributed channel access (EDCA). These analysis results should be tested considered in real safety service systems that use V2V communication.     

车路协同条件下智能网联高速公路通行效率信息自适应分发协议:NRT-V2X

车路协同技术是解决自动驾驶中单车智能现存缺陷的关键技术。而智能网联高速公路的出现为车路协同技术真正应用于实际提供了良好的平台，其中，路侧单元（Road Side Unit，RSU）如何将路侧传感器信息或交通监控中心发布消息传递给路上车辆，是车路协同技术的一个关键环节。为此，提出一种基于V2V（Vehicle to Vehicle）和V2I（Vehicle to Infrastructure）融合的自适应数据分发协议（Adaptive Network and Road Traffic Data Dissemination for V2X，NRT-V2X）。NRT-V2X协议在影响通行效率事件的车流上游为RSU定义了一段服务区域（ROI，Region of Interest）。RSU通过感知服务区域中车辆的无线通信网络状况和路面交通状况来自适应调整其信息发送间隔，从而在保证ROI中车辆信息全覆盖的前提下，降低RSU发送信息开销，抑制ROI内车辆的接收信息冗余。基于创建的2个场景和2个车路协同应用，利用双向耦合车联网仿真平台进行性能评估。试验结果表明：采用NRT-V2X协议的车路协同技术可使高速公路的通行效率提高28%以上；与RSU固定发送间隔协议和典型V2X协议ATB相比，NRT-V2X的信息覆盖率稳定在100%，发送信息开销降低了至少30%，接收信息冗余下降了20%以上；NRT-V2X能够将智能网联高速公路通行效率相关信息高效地由RSU分发到其定义的ROI中的所有车辆，从而保证所有车辆预先接收到相关信息，选择最优行车路线，提高通行效率。     

全球车载通信DSRC标准发展及应用

研究了新一代车车、车路之间通信标准协议,即专用短程通信(Dedicated Short Range Communications,DSRC)和车载环境下的无线接入协议。调研了欧洲、日本、美国和中国车载通信标准的最新发展情况,阐述了DSRC系统架构、技术原理以及通信标准,重点分析了DSRC物理层和MAC层关键技术,比较了IEEE 802.11和IEEE 802.11p异同点,最后展望了DSRC技术在汽车工业、汽车通信上的发展前景。本文全面深入讲述DSRC技术特点,为下一步我国制定车载通信发展战略提供参考依据。     

典型车联网基本安全消息机制分析

车联网基本安全消息的生成和传播是影响车联网安全应用及智能网联汽车有效性、可靠性的关键因素.在分析车联网基本安全消息基本定义的基础上,对国内外当前LTE-V2X、车载环境下的无线接入(Wireless Access in the Vehicular Environment,WAVE)等多种典型的车联网通信协议体系结构框架...     

网联通信时延下的混合队列控制特性分析

针对CACC协同自适应巡航控制技术,探究其在车联网通信时延影响下,与驾驶员驾驶汽车共存而构成的混合队列系统的性能。从微观跟车行为角度,基于频域传递函数,推导通信时延下的CACC队列稳定最小跟车时距的理论表达式,并通过数值验证指出CACC队列稳定最小跟车时距随通信时延增大而增大的特性。从交通激波特性角度,针对无时延CACC、有时延CACC和时延过大而退化后的ACC自适应巡航3种情形,给定相同的跟车时距,进行不同渗透率下的大规模交通仿真实验,实验结果表明,在无时延和1 s时延这2种情形下,CACC在20%及以上的渗透率时均能显著降低交通扰动,削弱激波,性能差别不明显; 相比而言,退化后的ACC性能明显恶化。      

车联网技术在商用车上的应用

车联网是以车内网、车际网和车载移动互联网为基础,按照约定的通信协议和数据交互标准,在车-X(X:车、路、行人及互联网等)之间,进行无线通信和信息交换的大系统网络。能实现智能交通管理、智能动态信息服务和车辆智能化控制的一体化网络。它是物联网技术在交通系统领域的典型应用。     

Traffic-balancing algorithm for can systems with dual communication channels to enhance the network capacity

The controller area network (CAN) is the dominant protocol for in-vehicle network (IVN) systems because it provides bounded transmission delay among electronic control units (ECUs) at data rates between 100 Kbps and 1 Mbps. Many automotive companies have chosen the CAN protocol for their chassis network system of intelligent vehicles. However, the increasing number of ECUs in intelligent vehicles and the need for more intelligent functions require a network system with more network capacity and real-time capability. As one approach to enhance the network capacity of a CAN system, this paper introduces a CAN system with dual communication channels. This paper also presents a traffic-balancing algorithm that predicts the traffic of each channel and allocates frames to the most appropriate channel. An experimental testbed using commercial off-the-shelf microcontrollers with two CAN controllers was used to demonstrate the feasibility of the traffic-balancing algorithm.     

Enhanced selective forwarding scheme for alert message propagation in vehicular <Emphasis Type="Italic">ad hoc</Emphasis> networks

Vehicle-based applications were recently introduced to improve traffic safety and efficiency. These applications are classified into either safety-oriented or non-safety-oriented applications. Safety-oriented applications are typically provided by means of vehicle-to-vehicle (V2V) communications to support reliable and fast alert message propagation to all surrounding vehicles when an emergency occurs on the road. In vehicular ad-hoc network (VANET) broadcast-based packet forwarding is typically preferred for the propagation of urgent traffic-related information to all reachable nodes within a specified dangerous region. However, this approach may cause broadcast storm problems, which can lead to serious contention between transmissions from adjacent nodes. In this paper, we propose an alert message propagation scheme that is based on selective forwarding and aims to i) minimize the number of rebroadcasting nodes and ii) guarantee reliable and fast alert message delivery to all reachable nodes. Our scheme was evaluated using two different highway scenarios. The simulation results demonstrated that the performance of the proposed scheme was better than that of existing broadcast schemes in terms of the message delivery latency, the message delivery ratio, and the message rebroadcasting ratio.     

Connected cruise control: modelling,delay effects,and nonlinear behaviour

Connected vehicle systems (CVS) are considered in this paper where vehicles exchange information using wireless vehicle-to-vehicle (V2V) communication. The concept of connected cruise control (CCC) is established that allows control design at the level of individual vehicles while exploiting V2V connectivity. Due to its high level of modularity the proposed design can be applied to large heterogeneous traffic systems. The dynamics of a simple CVS is analysed in detail while taking into account nonlinearities in the vehicle dynamics as well as in the controller. Time delays that arise due to intermittencies and packet drops in the communication channels are also incorporated. The results are summarised using stability charts which allow one to select control gains to maintain stability and ensure disturbance attenuation when the delay is below a critical value.     

基于车联网BSM数据与路侧视频融合的港口集装箱卡车碰撞危险辨识方法

大型港口集装箱码头运输车辆调度频繁,堆场过道和交换区等区域视距狭窄,容易导致港口集装箱卡车与设施、作业人员和车辆发生擦碰事故。为提高智能集装箱卡车在港口密集区域的轨迹跟踪精度和行车安全感知能力,提出了一种车联网条件下融合车载终端基本安全消息（Basic Safety Messages,BSM）数据和路侧视频数据的集装箱卡车碰撞风险辨识方法。采用YOLOv5s算法提取视频监控范围内的目标车辆和作业人员,根据目标集卡大尺寸特点设计非极大值抑制锚框来提高目标识别准确度。运用透视变换原理将目标像素坐标转换成地理坐标,并应用Deep-SORT算法匹配每帧图像的车辆轨迹信息。应用交互式多模型方法（interactive multi-model,IMM）融合视频轨迹信息和车载单元（on-board units,OBU）定位数据,减小了目标机动过程中的观测误差。基于集卡融合轨迹结果,提出了1种新型的轨迹冲突风险评估模型,能够根据目标集卡与周围目标轨迹的相对运动状态实时感知车辆碰撞危险,该碰撞危险检测结果在实际场景中可通过路侧设备对车载终端和作业人员终端实时播发预警信息。针对集卡跟踪误差的实验结果表明：...     

Relative position measurement of neighboring vehicles using DGPS and inter-vehicle communication

Relative position measurement using Differential Global Positioning System (DGPS) and inter-vehicle communication is proposed and evaluated. Relative position information of neighboring vehicles is expected to enhance Advanced Vehicle Control and Safety Systems (AVCSS) and to improve reliability of sensor information such as inter-vehicle distance. This paper proposes a method of acquisition of relative position information sufficiently accurate in real-time to be used for the above application. The proposed method is evaluated by experiments using two vehicles. Experimental results show that the proposed method makes it possible to acquire accurate and latency-compensated information in a short sampling period.     

Safety benefits of integrated pedestrian protection systems

This study developed a methodology for evaluating the effectiveness of an integrated pedestrian protection system (IPPS) based on simulations. The proposed IPPS consists of active and passive vehicular systems for protecting pedestrians, including a pedestrian warning information system (PWIS), an active hood lift system (AHLS), and pedestrian airbag system (PAS). Two simulation methods were applied in the proposed methodology: a driving simulation and a finite element simulation. A driving simulator was used to obtain the change in collision speed, which is a key parameter for evaluating driving behavior when a PWIS is applied. In addition, a well-known simulator for finite element analysis, LSDYNA was used to simulate the impact of a pedestrian on a vehicle hood in a pedestrian-vehicle collision. The head injury criterion (HIC), which is an outcome of LS-DYNA simulations, is a major parameter for evaluating passive safety systems. The probability of pedestrian fatalities by collision speeds and HICs were estimated to quantify the safety benefits of an IPPS based on the statistical analyses. The results showed that an IPPS is capable of reducing pedestrian fatalities by approximately 90 % associated with jaywalking in the midblock and walking on the roadside. The findings of this study can be used to boost the development of various vehicular technologies for pedestrians. The results can be effectively used for policy making and deriving legislative requirements associated with advanced vehicular technologies for enhancing pedestrian safety.     

一级公路路侧干扰对运行速度的影响研究

为了提高一级公路的安全和运行效率,通过对中国多条一级公路的实地调查,将行驶于行车道的慢速车辆、路侧行人等统一按照路侧干扰进行考虑,从主观和客观2个方面分析路侧干扰对运行速度的影响,并给出了多个影响因素的权重,构造成为路侧干扰函数。研究结果表明:通过路侧干扰函数与主线运行速度的关系,可将路侧干扰划分为4个等级;运用统计学的基础原理对4个等级进行验证分析,得出了4个等级对应的推荐折减系数;建立了路侧干扰等级与主线运行速度之间关系模型。     

Real-Time Transportation Mode Detection Using Smartphones and Artificial Neural Networks: Performance Comparisons Between Smartphones and Conventional Global Positioning System Sensors

Traditionally, traffic monitoring requires data from traffic cameras, loop detectors, or probe vehicles that are usually operated by dedicated employees. In efforts to reduce the capital and operational costs associated with traffic monitoring, departments of transportation have explored the feasibility of using global positioning system (GPS) data loggers on their probe vehicles that are postprocessed for analyzing the traffic patterns on desired routes. Furthermore, most cell phones are equipped with embedded assisted-GPS (AGPS) chips, and if the mode of transportation the phone is in can be anonymously identified, the phones can be treated as if they are probe vehicles that are voluntarily hovering throughout the city, at minimal additional costs. Emerging cell phones known as “smartphones” are equipped with additional sensors including an accelerometer and magnetometer. The accelerometer can directly measure the acceleration values, as opposed to having acceleration values derived from speed values in conventional GPS sensors. The magnetometer can measure mode-specific electromagnetic levels. Smartphones are subscribed with roadside Internet data plans that can provide an essential platform for real-time traffic monitoring. In this article, neural network-based artificial intelligence is used to identify the mode of transportation by detecting the patterns of distinct physical profile of each mode that consists of speed, acceleration, number of satellites in view, and electromagnetic levels. Results show that newly available values in smartphones improve the mode detection rates when compared with using conventional GPS data loggers. When smartphones are in known orientations, they can provide three-dimensional (3-D) acceleration values that can further improve mode detection accuracies.     

Shockwave-based queue estimation approach for undersaturated and oversaturated signalized intersections using multi-source detection data

With the progress of information and sensing technologies, estimating vehicular queue length at signalized intersections becomes feasible and has attracted considerable attention. The existing studies provided a solid theoretical foundation for the estimation; however, the studies have some restrictions or limitations more or less. This paper presents a new methodology for estimating vehicular queue length at signalized intersections using multi-source detection data under both undersaturated and oversaturated conditions. The methodology applies the shockwave theory to model queue dynamics. Using data from probe vehicles and point detectors, analytical formulations for calculating the maximum and minimum (residual) queue lengths of each cycle are developed. Ground truth data were collected from numerical experiments conducted at two intersections in Shanghai, China, to verify the proposed methodology. It is found that the methodology has mean absolute percentage errors of 17.09% and 12.28%, respectively, for maximum queue length estimation in two tests, which are reasonably effective. However, the methodology is unsatisfactory in estimating the residual queue length. Other limitations of the proposed models and algorithms are also discussed in the paper.     

车载以太网SOME/IP在信息娱乐系统的应用

随着汽车智能化和娱乐化的不断发展,传统CAN通讯已经无法满足车载娱乐系统对传输带宽的要求,迫切需求高带宽的新一代车载网络技术及架构。因此,车载以太网应运而生,其高传输速率能够满足现代汽车娱乐系统的音频、视频、云端等数据传输的要求。SOME/IP协议是车载以太网的重要应用层协议之一,掌握SOME/IP的应用方法对车载信息娱乐模块至关重要。     

车联网通信技术及应用前景研究

车联网是物联网技术在交通系统领域的典型应用。本文通过研究车联网体系架构,从技术发展、市场应用等角度对比了DSRC及C-V2X两种车联网关键通信技术。最后指出车联网体系构建面临的机遇与挑战,为车联网发展路径提供智力支持。