Beruflich Dokumente
Kultur Dokumente
fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2017.2763173, IEEE Access
Abstract—With the advent of Machine-to-Machine (M2M) and interests are being focused upon CBTC systems both from
Vehicular-to-Everything (V2X) communication systems, next- academia and industries, especially with the growing needs
generation train control systems known as Communication-Based for increasing urban rail transportation capacities in various
Train Control (CBTC) systems are also gathering increased
interests both from academia and industry. Unlike the traditional countries [3][4].
train control systems based on track circuits, CBTC systems In particular, given the wide availability of commercial-off-
are expected to provide greater transportation capacity while the-shelf Wireless Local Area Network (WLAN) equipments
ensuring safety by exploiting wireless communications between and open IEEE802.11 standards [5] which can support mobil-
trains and wayside Access Points (APs). However, due to the ity [6], WLAN technology is widely considered for supporting
nature of wireless channels, packet transmission delays between
APs and trains can greatly affect the train control performance. CBTC systems [7][8]. Hence, several WLAN-based CBTC
Most previous works have adopted an Adaptive Modulation and systems are deployed around the world, such as Singapore
Coding (AMC) method that minimizes the average delay to North-East Line from Alstom [3] and Shanghai Metro Line
improve the control performance taking care of transmission 8 from Alcatel [4]. However, due to various factors such
errors due to channel fading. However, Medium Access Control as path loss, channel fading and Doppler effects inherent to
(MAC) layer contention due to multiple competing trains, which
can entail significant degradations of the delay and control the mobile environment, the resulting packet delivery latency
performance, has not been considered. Therefore, we propose between wayside APs and trains may cause unnecessary train
an optimized link layer AMC method for CBTC systems using braking due to communication blackout [9]. This braking will
Wireless Local Area Network (WLAN) that encompasses the deteriorate the train control performance including the ride
impacts of fading channels as well as of MAC layer contention. comfort and energy costs. Furthermore, due to the limited
With much reduced required information, the proposed scheme
enables to select the transmission mode that minimizes this coverage of each AP, the vehicle on track needs to switch
average delay in each control period. The simulation results show from one AP to another to ensure the communication quality.
that the proposed method greatly outperforms the conventional This handover procedure between APs can also result in long
schemes over a wide range of parameters and settings. transmission latencies.
Keywords—Communication-Based Train Control (CBTC), Thus, many schemes have been proposed to improve the
WLAN, MAC protocol, Adaptive Modulation and Coding (AMC), performance of CBTC systems. Authors of [10] put emphasis
MIMO transmission. on decreasing the energy cost, but the effect of communication
blackout has not been considered. The approaches in [11][12]
I. I NTRODUCTION considered cooperative relaying and coordinated multi-point
transmission and reception-enabled CBTC systems to enhance
Much research efforts are being devoted worldwide towards the train control performance. Besides, in [13], an Adaptive
building the future 5th generation mobile network (5G) sys- Modulation and Coding (AMC) scheme for Multiple Input
tem. One of the major paradigm shifts will be introduced by Multiple Output (MIMO)-assisted CBTC systems using Car-
the Machine-to-Machine (M2M) communications for mission rier Sense Multiple Access/Collision Avoidance (CSMA/CA)
critical control applications. In this context, there is an ever random access protocol at the Medium Access Control (MAC)
growing interest in the next-generation train control systems layer was proposed. The purpose of this method is to achieve
known as Communication-Based Train Control (CBTC) sys- better control performance by minimizing the average delay
tems [1]. Unlike the traditional train control systems based on between the train and wayside APs, where this average delay
track circuits, CBTC systems enable to detect and control train calculation is also adopted in [9][14][15]. Based on this
trajectories and speeds by exploiting wireless communications average delay analysis, new schemes were proposed to reduce
between wayside Access Points (APs) and the trains in motion, the latency caused by handover, for MIMO-based WLAN in
thereby providing great operational flexibility and transporta- [13][16] or by exploiting network virtualization in [15]. Then,
tion capacity while ensuring safety [2]. Therefore, tremendous a cross-layer approach for optimal handover decisions was
Q. Dong is with the Graduate School of Informatics, Kyoto University, proposed in [9], while [14] considered both packet delays and
Kyoto 606-8501, Japan (e-mail: dong@sys.i.kyoto-u.ac.jp). losses for optimizing the train control performance.
K. Hayashi is with the Graduate School of Engineering, Osaka City However, the link adaptation methods used in [9][13][14]
University, Osaka 558-8585, Japan (e-mail: kazunori@eng.osaka-cu.ac.jp).
M. Kaneko is with the National Institute of Informatics, Tokyo 101-8430, [15] require the knowledge of the instantaneous channel qual-
Japan (e-mail: megkaneko@nii.ac.jp). ities between trains and APs for each control period. Since
2169-3536 (c) 2017 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2017.2763173, IEEE Access
2169-3536 (c) 2017 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2017.2763173, IEEE Access
according to the updated MA, which guarantees the train’s B̂, Sk and αTk+1 in the equation above are given by
safety. ( 1 2)
B̂ = 2T ,
T
B. State Space Model and Performance Metrics Sk = Ψ + AT [Sk+1 − Sk+1 B(Q + BT Sk+1 B)−1 BT
Sk+1 ]A,
Next, we overview the train state space model which follows
that of [9]. From the theory of dynamic physics, the equations αTk = αTk+1 A − 2ũTk B̂T Sk+1 A + 2ũTk B̂T Sk+1 B̂
of motion of the train can be expressed as (Q + B̂T Sk+1 B̂)−1 B̂T Sk+1 A − αTk+1 B̂
(B̂T Sk+1 B̂ + Q)−1 B̂T Sk+1 A. (6)
1 uk 2 1 wk 2
qk+1 = qk + vk T + T − T ,
2M 2M From (4), we observe that the calculation of optimal LQG
uk wk
vk+1 = vk + T− T, (1) control signal acceleration ûk depends on the desired control
M M acceleration ũk which is used to determine the desired train
where M is the train mass, qk is the train position, vk the state x̃k+1 [9].
train velocity, wk the global resistance at time k, respectively. In every control period T , each train sends its own location,
T denotes the control period and uk the train control signal direction, velocity and identity to the ZC via a wayside AP
from the train controller. to calculate the MA, and the MA is sent to the following
Then, arranging (1), the train state space equation can be train via the AP. If the communication delay of sending the
written as MA is larger than T , the MA cannot be updated under this
control period and packets will be discarded. Consequently,
xk+1 = Axk + Buk + Cwk , (2) we assume that the control signal acceleration ûk will be
replaced by an adjustable brake deceleration a(≤ 0) which
where xk = (qk , vk )T denotes the train state, and is usually set to the service brake deceleration as in [9] due
to a communication interruption of T , for ensuring safety. We
( ) ( 1 2) ( 1 2) define such an event as a communication-control outage.
1 T 2M T − 2M T
A= ,B = ,C = .
0 1 M
1
T −M1
T
C. MAC layer random access protocol
The train dynamics model in (1) has been widely used for
optimal train control problems. In particular, it is shown in [19] As in [9][13][14][15], CSMA/CA random access protocol
that the optimal train control problem with distributed mass [5] is considered. In CSMA/CA, a terminal with a packet to
on a track and with a continuously varying gradient can be transmit senses the channel before transmission. If the channel
replaced by an equivalent problem of a point-mass train, and is idle for a period of time equal to a Distributed Interframe
that any continuous control strategy may be approximated by Space (DIFS), the terminal generates a random backoff interval
a discrete control strategy [19] [12] . before transmission to avoid the packet collision with other
terminals. Otherwise, if the channel is busy, the terminal needs
The linear quadratic cost is taken as the control performance
to wait until the channel becomes idle for a DIFS.
measure as in [9],
The exponential backoff scheme is adopted in CSMA/CA.
[ n ] At each packet transmission, the backoff time is uniformly
1 ∑
Jn = E T 2
(ek Ψek + Qûk ) , (3) chosen in the range [0, CW − 1], where CW is the contention
n window, and determined by the number of failed transmissions
k=0
as follows. CW is set to Wi at the i-th retransmission time.
where ek = xk − x̃k is the tracking error, x̃k is the desired After each failed transmission, CW is doubled until it reaches
′
train state obtained from the train guidance trajectory, Ψ = the maximum contention window 2m W0 , where m′ is the
′
diag(ψ1 , ψ2 ) is a diagonal positive semi-definite matrix, ûk = retransmission number, giving 2m W0 = 1024. The backoff
uk
M is the acceleration by control signal and Q is a positive time counter is decremented when the channel is sensed
scalar. idle for more than a DIFS duration and frozen when other
After some mathematical derivations [20], the optimal Lin- transmissions are detected on the channel. The terminal starts
ear Quadratic Gaussian (LQG) control signal acceleration ûk to transmit when the backoff time counter reaches zero. An
used to minimize (3) is derived as example is illustrated in Fig. 2. Three terminals A, B and C
share a channel. After a DIFS period, terminals A, B and
ûk = K[ek − A−1 B̂ũk + (B̂T Sk+1 A)−1 αTk+1 B̂], (4) C randomly generate a backoff counter equal to 2, 4 and
3, respectively. The backoff counter of terminal A reaches
where ũk ∈ R is the control acceleration in the desired train zero first and terminal A starts to transmit its packet. At the
state obtained from the train guidance trajectory and K ∈ same time, terminals B and C sense the channel busy due to
R1×2 is the controller gain [20], the transmission by A, hence stopping their own transmission
process. After successful packet reception from terminal A,
K = −(B̂T Sk+1 B̂ + Q)−1 B̂T Sk+1 A. (5) the receiver waits for a period of time called Short Interframe
2169-3536 (c) 2017 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2017.2763173, IEEE Access
2169-3536 (c) 2017 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2017.2763173, IEEE Access
MCS index Spatial streams Modulation type Coding rate Notation Definition
0 1 BPSK 1/2 σ duration of an empty slot time
1 1 QPSK 1/2 TDIFS Distributed Interframe Space
2 1 QPSK 3/4 TSIFS Short Interframe Space
3 1 16QAM 1/2 Tdata duration of data frame transmission
4 1 16QAM 3/4 Tack duration of ACK frame transmission
5 1 64QAM 2/3 TRTS duration of RTS frame transmission
6 1 64QAM 3/4 TCTS duration of CTS frame transmission
7 1 64QAM 5/6 Tacktimeout duration of ACK frame timeout
8 2 BPSK 1/2 TCTStimeout duration of CTS frame timeout
9 2 QPSK 1/2 Fdata data frame length in bits
10 2 QPSK 3/4 Fack ACK frame length in bits
11 2 16QAM 1/2 FRTS RTS frame length in bits
12 2 16QAM 3/4 FCTS CTS frame length in bits
13 2 64QAM 2/3 R data transmission rate
14 2 64QAM 3/4
15 2 64QAM 5/6
min Dk . (14)
Rk ;pe,k A. Average delay analysis
To obtain the instantaneous FER used in (13), the method First, we analyze the average delay with respect to MAC
of [9] adopts the FSMC model according to real field tests to contention according to [23]-[26]. We define b(t) and s(t) as
predict instantaneous SNR levels. Note that the data transmis- the stochastic processes representing the backoff counter and
sion rate Rk is determined by the MCS, giving Tdata = FR data
k
the backoff stage (0, · · · , m) at time t, respectively. Then,
in (12), while the FER pe,k is influenced by the selection the bidimensional process model {s(t), b(t)} with the discrete
of the MCS and channel states. Thus, the MCS level which time Markov chain [25] in Fig. 3 can be used assuming as in
2169-3536 (c) 2017 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2017.2763173, IEEE Access
……
••,•
…… Finally, the throughput defined as the amount of data bits
$•,• ••,•
"# "# "# successfully transmitted per time slot for terminal i with MCS
− ••,• − ••,• − ••,•
"#
rate Ri can be obtained similarly to [25] by
"# "#
− ••,•
#, # #, …… #, "# − ps,i Fdata
…… Si = , (18)
••,• ••,• ••,• Ui
" " "
− ••,•
,# , …… ," −
where
…… Ui = pn σ + pc max(Tc ) + ps,i Ts,i + pe,i Te,i
••,• ••,• ••,•
"( "( "( ∑N
……
……
j=0,j̸=i
……
••,• ••,• ••,•
"%
and Tc = [Tc,1 , · · · , Tc,N ] is the vector of average collision
"% "%
− ••,• slot times of all the competing terminals. pn is the probability
%, # %, …… , "% −
••,• that there is no transmission in the considered time slot, pc
s, # Transmit state &, ' CCA state is the collision probability and pg,i is the FER of terminal i
Success CCA Fail given that it transmits, given as follows
3 refers to Clear Channel Assessment, which represents the pg,i = pt,i pe,i (1 − pt,l ). (19)
detection of other transmissions. l=1,l̸=i
Then, the probability pt,i that the terminal i begins to From (19), we see that the probabilities pn , pc and pg,i
transmit in a time slot is calculated as [26] are functions of the instantaneous SNR levels after optimal
2(1−pf,i )(1−2pf,i ) m ≤ m′
m+1
MIMO detection. Moreover, Tc,i , Ts,i and Te,i are the average
pt,i = 2(1−pm+1Z)(1−2p
1 (15) collision slot time, average successful transmission slot time
f,i f,i )
m > m′ , and average failed transmission slot time of terminal i only due
Z2
where to channel fading, respectively. For CSMA/CA basic mode,
Tc,i , Te,i and Ts,i are given by [23]
Z1 = (1 − pm+1
f,i )(1 − 2pf,i ) + W0 (1 − pf,i )
Tc,i = Tdata,i + Tacktimeout,i ,
[1 − (2pf,i )m+1 ],
′ ′ ′ Te,i = Tdata,i + Tacktimeout,i ,
Z2 = Z1 + W0 2m pm
f,i
+1
(1 − 2pf,i )(1 − pf,i
m−m
).
Ts,i = Tdata,i + TSIFS + Tack,i + TDIFS , (20)
From (15), the probability of failed transmissions due to packet
collision or channel fading pf,i is given as [25] where Tdata,i = FR data
i
for MCS rate Ri . For RTS/CTS mode,
∏N Tc,i , Te,i and Ts,i become [23]
pf,i = 1 − (1 − pe,i ) l=1,l̸=i (1 − pt,l ), (16)
Tc,i = TRTS,i + TCTStimeout,i ,
where pe,i represents the probability of failed transmission of
terminal i due to channel fading only. Te,i = TRTS,i + TSIFS + TCTS,i + TSIFS + Tdata,i
In (15) and (16), pe,i is a function of the instantaneous +Tacktimeout,i ,
SNR levels after MIMO detection of all competing terminals, Ts,i = TRTS,i + TSIFS + TCTS,i + TSIFS + Tdata,i + TSIFS
namely z for diversity coding or z̃ for multi-stream coding,
+Tack,i + TDIFS . (21)
defined in Section II-D. Moreover, the pair of values pf,i and
pt,i can be numerically obtained by solving the non-linear According to [24], the average delay Hi , which represents
equations (15) and (16) for given pe,i . However, the instan- the time interval from the beginning of the packet transmission
taneous SNRs are assumed to be unknown in our proposed by the terminal i to the end of successful reception by the
methods. Therefore, by treating pe,i , pf,i and pt,i as functions receiver, is given by
of z or z̃, we derive the expectation of the average delay with Fdata
respect to channel fading using the p.d.f. of z or z̃. Hi = , (22)
Si
Then, we obtain the probability ps,i that terminal i success-
fully transmits its packet as where Fdata is the data payload size in bits. Since the average
delay Hi in (22) is the time interval from the beginning of
∏
N
ps,i = pt,i (1 − pe,i ) (1 − pt,l ). (17) the packet transmission by terminal i to the end of successful
l=1,l̸=i
reception by the receiver, the situation where the packet is
2169-3536 (c) 2017 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2017.2763173, IEEE Access
dropped due to reaching the maximum retransmission time transmit antennas is corrupted at the receiver, all packets will
has not been considered. However, in CBTC systems, the be lost. Therefore, the FER pe,i can be calculated by
packet will be discarded if the packet delay is larger than the
pe,i (zi ) = 1 − (1 − pe,i,1 (zi,1 )) · · · (1 − pe,i,U (zi,U )),
control period T or if the packet retransmission time reaches
its maximum. Thus, we set the packet delay to Tmax (> T ) for (29)
the evaluation of the average delay if the packet is discarded. where pe,i,j is the FER of the packet transmitted from transmit
We define such average delay Li as the average delay with antenna j of terminal i. Then, the throughput of terminal i
respect to MAC contention of terminal i, which can be written given z̃ is written as
as {
(1 − pr,i )Hi + pr,i Tmax Hi < T ps,i (z̃)Fdata
Li = (23) Si (z̃) = . (30)
Tmax Hi ≥ T , Pn (z̃)σ + Pc,i (z̃)Tc + ps,i (z̃)Ts + Pe,i (z̃)Te
Similarly, the average delay Hi is given by
where pr,i = pm+1
f,i represents the probability that the retrans-
Fdata
mission time of terminal i’s packet reaches its maximum. Hi (z̃) = . (31)
Si (z̃)
1) Average delay for diversity coding: as defined in Section
II-D, z is the vector of instantaneous received SNRs for all Then, the average delay with respect to MAC contention
terminals after MRC. Then, the throughput of terminal i given conditioned on z̃ is given by
z is written as {
(1 − pr,i )Hi (z̃) + pr,i Tmax Hi < T
ps,i (z)Fdata Li (z̃) = (32)
Si (z) = . (24) Tmax Hi ≥ T .
pn (z)σ + pc,i (z)Tc + ps,i (z)Ts + pe,i (z)Te
Therefore, the delay Gi becomes
Besides, the average delay Hi is written as ∫ +∞ ∫ +∞
Fdata Gi = ··· Li (z̃)p(z1 |γ̄1 ) · · · p(zN |γ̄N )
Hi (z) = . (25) 0 0
Si (z) dz1 · · · dzN . (33)
Moreover, the average delay with respect to MAC contention Similarly to diversity coding, we use the average SNR of
conditioned on z is given by terminal i instead of the instantaneous SNRs except for the
{ signal from the transmit antenna of interest of terminal i.
(1 − pr,i )Hi (z) + pr,i Tmax Hi < T
Li (z) = (26) From (29), we see that all packets will be lost if any of the
Tmax Hi ≥ T . packets among all streams has an error. Therefore, to consider
the impact from the packet with minimum SNR, we define a
Then, we calculate the average delay with respect to both
random variable żi as
MAC contention and channel fading of terminal i for diversity
coding. żi = min(zi,1 , · · · , zi,U ). (34)
The FER pe,i is only determined by zi for diversity coding.
If the average SNRs of all terminals are given, the average Then, we utilize the distribution of żi instead of zi for
delay Gi with respect to both MAC contention and channel tractability, giving Li (z̃) = Li (żi , γ̄i ) and p(zi |γ̄i ) = p(żi |γ̄i ).
fading for diversity coding can be obtained by The distribution of żi is given by
∫ +∞ ∫ +∞ p(żi |γ̄i ) = U [1 − F (zi,k |γ̄i )]U −1 f (zi,k |γ̄i ), (35)
Gi = ··· Li (z)p(z1 |γ̄1 ) · · · p(zN |γ̄N )
0 0 where F (zi,k |γ̄i ) is the cumulative distribution function (c.d.f.)
dz1 · · · dzN . of the instantaneous received SNR zi,k conditioned on average
(27)
SNR γ̄i . Then, Gi is determined only by the distribution of the
Since the exact evaluation of (27) requires prohibitive com- instantaneous SNR żi conditioned on average SNR γ̄i instead
putational complexity, we utilize the average SNR of terminal of all instantaneous SNRs. Marginalizing over zj , j ̸= i and
i in place of the instantaneous SNRs of other terminals, i.e., zk,i , k ̸= j, the approximated average delay G̃i with multi-
the equal instantaneous SNR approximation for all terminals, stream coding can be written as
giving Li (z) = Li (zi , γ̄i ). This can reduce not only the com- ∫ +∞
putational complexity, but also the overhead of the information G̃i = Li (żi , γ̄i )p(żi |γ̄i )dżi . (36)
exchange among trains. Then, marginalizing over zj , j ̸= i, 0
the approximated average delay Ĝi for diversity coding can
be written as B. Proposed average-delay minimizing AMC scheme
∫ +∞ As explained above, the control performance can be en-
Ĝi = Li (zi , γ̄i )p(zi |γ̄i )dzi . (28) hanced through minimizing the average delay with respect to
0
both MAC contention and channel fading. In the proposed
2) Average delay for multi-stream coding: as defined in method, the MCS level k and transmission mode that optimize
Section II-D, z̃ is the vector of instantaneous received SNRs the analytical delay expressions for terminal i are selected.
for all terminals after ML. If one of the packets from the Each MCS k corresponds to a given data rate Ri,k and
2169-3536 (c) 2017 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2017.2763173, IEEE Access
Heading
MCS0 station 2
station 1
MCS1
MCS2
10-1 MCS3 Train 3 Train 4
5m
MCS4
MCS5 159.16m 159.16m
MCS6
Average Delay (s)
MCS7
MCS8
station 1 5m station 2
-2 MCS9
10
MCS10
MCS11 Train 2 Train 1
MCS12 318.32m
Heading
MCS13
MCS14
MCS15
Fig. 5. Simulation setup of CBTC system
10-3
0 10 20 30 40 50
SNR(dB) TABLE IV
S IMULATION PARAMETERS [9][23]
Fig. 4. Average delay for the proposed AMC scheme when N = 5 and
Tmax =0.4s in CSMA/CA basic mode Definition Value
Transmission power 31mW
Noise power -100dBm
Antenna gain 10dBi
corresponding FER pe,i,k performance. For each transmission Bandwidth 20MHz
mode, we first determine the MCS levels k̂ and k̃ that minimize Data packet 400bytes
The number of antennas at all terminals 2
average delays Ĝi,k and G̃i,k , respectively, given terminal i’s The number of antennas at the AP 2
average SNR and the number of competing terminals, Service brake deceleration 1.2m/s2
Carrier sense level of antenna -98dBm
k̂ = arg min Ĝi,k , for diversity coding Control period 0.4s
Ri,k ;pe,i,k Average resistance per unit mass 0.02m/s2
SIFS 10µs
k̃ = arg min G̃i,k , for multi-stream coding. (37) DIFS 50µs
Ri,k ;pe,i,k
Slot time 20µs
ACK 14bytes
Finally, the MCS k ∗ and corresponding transmission mode RTS 20bytes
achieving the minimum average delay between the two above CTS 14bytes
are chosen, Path loss exponent 3
Maximum delay threshold 0.4s
k ∗ = arg min(Ĝi,k̂ , G̃i,k̃ ). (38) Ψ diag(100,100)
(k̂;k̃) Q 2.8
2169-3536 (c) 2017 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2017.2763173, IEEE Access
4 are distributed randomly over the rail line. Note that if one 0
10
of the other trains arrives at destination, then another train will Ref.[21] with RTS/CTS m=4
start at the starting station to make sure that there are always Ref.[9] with RTS/CTS m=4
Prop. with RTS/CTS m=4
4 trains between station 1 and station 2. Two situations are
Ref.[21] with CSMA/CA m=4
considered for the train-ground communication part: Ref.[9] with CSMA/CA m=4
• Quasi static channel: The average and instantaneous 10-1 Prop. with CSMA/CA m=4
Outage probability
received SNRs are constant during each control period
T.
• Time-selective fading channel: The average SNR is con-
stant during each control period while the instantaneous 10-2
SNR varies due to the Doppler shift caused by the moving
train for time-varying Rayleigh fading [29].
2169-3536 (c) 2017 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2017.2763173, IEEE Access
10
TABLE V
AMC THRESHOLD COMPARISON FOR PROPOSED AND CONVENTIONAL SCHEMES IN CSMA/CA BASIC MODE m=6
MCS Ref. [21] Ref. [9] Prop. N =1 Prop. N =2 Prop. N =3 Prop. N =4 Prop. N =5
MCS1 9dB 6.9dB 13.5dB 12.9dB 12.4dB 12.1dB 11.9dB
MCS2 11.3dB 10.7dB 17.4dB 16.8dB 16.4dB 16.1dB 15.8dB
MCS3 14.9dB 15.4dB 21.2dB 20.6dB 20.2dB 19.9dB 19.7dB
MCS4 17.4dB 17.6dB 24.3dB 23.6dB 23.1dB 22.8dB 22.6dB
MCS11 21.7dB non non non non non non
MCS5 22.2dB 23.5dB 29.5dB 28.8dB 28.4dB 28.1dB 27.8dB
MCS6 23.3dB 25.3dB 31.6dB 30.9dB 30.5dB 30.2dB 29.9dB
MCS7 non non 33.2dB 32.5dB 32.1dB 31.8dB 31.5dB
MCS12 24.2dB 26.4dB 41.4dB 39.9dB 39dB 38.3dB 37.8dB
MCS13 28.9dB 32.2dB 44.9dB 43.5dB 42.6dB 41.9dB 41.4dB
MCS14 30dB 33.9dB 47.2dB 45.7dB 44.8dB 44.1dB 43.6dB
MCS15 31.1dB 35.3dB 49.1dB 47.6dB 46.6dB 46dB 45.5dB
0
10 100
Ref.[21] with RTS/CTS m=6 Ref.[21] with RTS/CTS m=10
Ref.[9] with RTS/CTS m=6
Ref.[9] with RTS/CTS m=10
Prop. with RTS/CTS m=6
Prop. with RTS/CTS m=10
Ref.[21] with CSMA/CA m=6
Ref.[9] with CSMA/CA m=6 Ref.[21] with CSMA/CA m=10
Prop. with CSMA/CA m=6 Ref.[9] with CSMA/CA m=10
-1 -1
10 10
Outage probability
Outage probability
-2
10 10-2
-3 -3
10 10
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05 0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05
Time(s)
Time(s)
Fig. 7. Communication-control outage probability in CSMA/CA basic and Fig. 8. Communication-control outage probability in CSMA/CA basic and
RTS/CTS modes, Rayleigh fading, m = 6 RTS/CTS modes, Rayleigh fading, m = 10
the same tendencies for outage probability and linear quadratic and linear quadratic cost performance. In the future work, we
cost. Therefore, these results demonstrate that the proposed will address the time scheduling problem at the AP, to achieve
method of average delay minimization is a valid and efficient further performance enhancements.
approach for decreasing communication-control outage prob-
ability and hence achieving a better control performance. ACKNOWLEDGMENT
This work was supported in part by the Grants-in-Aid for
VI. C ONCLUSION Scientific Research no. 15K06064, 15H02252, 26820143 and
The wireless communication quality between train and 17K06453 from the Ministry of Education, Culture, Sports,
wayside AP highly impacts the train control performance in Science, and Technology of Japan.
CBTC systems. In this work, in order to improve the train
control performance, we have proposed an optimized link layer
AMC method for CBTC systems using WLAN which jointly R EFERENCES
considers the impact of errors due to channel fading and of [1] D. Diemunsch, “Track circuit failures: their impact on conventional
MAC layer contention due to multiple competing trains. Based signaling in CBTC projects”, IEEE Veh. Technol. Mag., Vol. 8, No.
3, pp. 63–72, Sept. 2013.
on the knowledge of the number of competing terminals and [2] R. D. Pascoe and T. N. Eichorn, “What is communication-based train
distances between the AP and trains, the proposed method control”, IEEE Veh. Technol. Mag., vol.4, pp. 16-21, Dec. 2009.
selects adequate MCS levels which minimizes the average [3] S. Shirlaw, “Radio and communications-based train control: migration,
interoperation and system engineering issues”, Proc. Int. Conf. Railway
delay. The average delay analysis is performed for both Eng.―Challenges Railway Transp. Inf. Age, March 2008, pp. 1-5.
basic and RTS/CTS mechanisms of DCF for both MIMO [4] S. Morar, “Evolution of communication based train control worldwide”,
diversity and multi-stream modes. The results have shown in Proc. IET RSCS, May 2012, pp. 218-226.
[5] Part 11: Wireless LAN Medium Access Control (MAC) and Physical
that the proposed method largely outperformed state-of-the-art Layer (PHY) Specifications, IEEE 802.11 Working Group, ANSI/IEEE
methods in terms of communication-control outage probability Std. 802.11, Sept. 1999.
2169-3536 (c) 2017 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2017.2763173, IEEE Access
11
TABLE VI
L INEAR QUADRATIC COST OF EACH SCHEME IN CSMA/CA AND RTS/CTS MODE WITH R AYLEIGH FADING CHANNEL
m Ref. [21] CSMA Ref. [9] CSMA Prop. CSMA Ref. [21] RTS/CTS Ref. [9] RTS/CTS Prop. RTS/CTS
4 23.67 26.21 9.93 16.38 20.15 1.74
6 13.87 20.62 1.66 14.15 19.24 1.68
10 10.48 14.70 1.61 10.42 13.76 1.60
TABLE VII
L INEAR QUADRATIC COST OF EACH SCHEME IN CSMA/CA AND RTS/CTS MODE WITH TIME - SELECTIVE FADING CHANNEL
m Ref. [21] CSMA Ref. [9] CSMA Prop. CSMA Ref. [21] RTS/CTS Ref. [9] RTS/CTS Prop. RTS/CTS
4 8.45 15.50 2.26 5.16 7.74 1.57
6 4.21 5.43 1.51 3.16 5.01 1.44
10 2.28 3.39 1.40 2.34 3.11 1.37
100 100
Ref.[21] with RTS/CTS m=4 Ref.[21] with RTS/CTS m=6
Ref.[9] with RTS/CTS m=4 Ref.[9] with RTS/CTS m=6
Prop. with RTS/CTS m=4 Prop. with RTS/CTS m=6
Ref.[21] with CSMA/CA m=4
Ref.[21] with CSMA/CA m=6
Ref.[9] with CSMA/CA m=4
Ref.[9] with CSMA/CA m=6
-1 Prop. with CSMA/CA m=4 -1
10 10
Outage probability
Outage probability
Prop. with CSMA/CA m=6
-2
10 10-2
10-3 10-3
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05 0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05
Time(s) Time(s)
Fig. 9. Communication-control outage probability in CSMA/CA basic and Fig. 10. Communication-control outage probability in CSMA/CA basic and
RTS/CTS modes, time-selective fading, m = 4 RTS/CTS modes, time-selective fading, m = 6
[6] E. Kuun, “Open standards for CBTC and CCTV radio based communi- improvement in a network virtualization based integrated train ground
cation”, Tech. Forums Alcatel, vol. 2, pp. 99-108, June 2004. communication system”, IEEE Internat. Conf. on Commun. (ICC), pp.
[7] M. Aguado et al., “Railway signaling systems and new trends in wireless 1–5, May 2016.
data communication”, Proc. IEEE VTC-Fall., vol. 2, pp. 1333-1336, [16] H. Jiang, V.C.M. Leung, C. Gao and T. Tang, “MIMO-assisted handoff
Sept. 2005. scheme for communication-based train control systems” IEEE Trans.
[8] F. Whitwam, “Integration of wireless network technology with signaling Vehic. Tech., vol. 64, no. 4, pp. 1578-1590, Apr. 2015.
in the rail transit industry”. Alcatel Telecommunications Review, Vol. [17] Q. Dong, K. Hayashi and M. Kaneko, “A new adaptive modulation
1,pp. 43–48, 2003. and coding method for communication-based train control systems
[9] L. Zhu, F. R. Yu, B. Ning and T. Tang, “Cross-layer handoff design in using WLAN,” IFAC Works. Distrib. Estim. Control Networked Syst.
MIMO-enabled WLANs for communication-based train control (CBTC) (NecSys’16), pp. 1-5, Sept. 2016.
systems”, IEEE J. Sel. Areas. Commun., Vol. 30, No. 4, pp. 719–728, [18] Q. Dong, K. Hayashi and M. Kaneko, “Adaptive modulation and
May 2012. coding design for communication-based train control systems using
[10] S. Su, X. Li, T. Tang and Z. Gao, “A subway train timetable optimization IEEE 802.11 MAC with RTS/CTS,” IEEE intern. Works. Signal Proc.
approach based on energy-efficient operation strategy”, IEEE Trans. Adv. Wirel. Commun. (IEEE SPAWC), pp. 1-5, July 2017.
Intell. Transp. Syst., vol. 14, no. 2, pp. 883-893, June 2013. [19] P. Howlett, “The optimal control of a train,” Ann. Oper. Res., vol. 98,
[11] L. Zhu, F. R. Yu, B. Ning and T. Tang, “Communication-based train con- no. 1-4, pp. 65-87, Dec. 2000.
trol (CBTC) systems with cooperative relaying: design and performance [20] L. Schenato, B. Sinopoli, M. Franceschetti, K. Poolla, and S. S.
analysis”, IEEE Trans. Vehic. Techno., vol. 63, no.5, pp. 2162-2172, Nov. Sastry, “Foundations of control and estimation over lossy networks”,
2013. Proceedings of the IEEE, Vol. 95, No. 1, pp. 163–187, Jan. 2007.
[12] L. Zhu, F. R. Yu, B. Ning and T. Tang, “Design and performance [21] D. Kim, B. C. Jung, H. Lee, D.K. Sung and H. Yoon, “Optimal
enhancements in communication-based train control systems with co- modulation and coding scheme selection in cellular networks with
ordinated multipoint transmission and reception” IEEE Trans. Intell. hybrid-ARQ error control”, IEEE Trans. on Wirel. Commun., vol. 7,
Transp. Syst., vol. 15, no. 3, pp. 1258-1272, June 2014. no. 12, pp. 1536-1276, Dec. 2008
[13] L. Zhu, F. R. Yu, B. Ning and T. Tang, “Handoff performance improve- [22] Y. Lin and V. W. S. Wong, “Frame aggregation and optimal frame size
ments in MIMO-enabled communication-based train control systems”, adaptation for IEEE 802.11n WLANs”, IEEE Glob. Telecommun. Conf.
IEEE Trans. Intell. Transp. Syst., vol. 13, no. 2, pp. 582-593, June 2012. (IEEE GLOBECOM), pp. 1–6, Nov.-Dec. 2006.
[14] W. Sun, F. R. Yu, T. Tang and B. Ning, “Energy-efficient [23] F. Daneshgaran, M. Laddomada, F. Mesiti, M. Mondin and M. Zanolo,
communication-based train control systems with packet delay and loss”, “Saturation throughput analysis of IEEE 802.11 in the presence of non
IEEE Trans. Intell. Transp. Syst, vol. 17, no. 2, pp. 452–468, Feb. 2016. ideal transmission channel and capture effects”, IEEE Trans. Commun.,
[15] L. Zhu, F. R. Yu, H. Wang, T. Tang and B. Ning, “Handoff performance vol. 56, no. 7, pp. 1178–1188, Aug. 2008.
2169-3536 (c) 2017 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2017.2763173, IEEE Access
12
10-3
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05
Time(s)
2169-3536 (c) 2017 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.