Department of Electrical and Computer Engineering

The Ohio State University 1

Evaluation of Intersection Collision Warning
System Using an Inter-vehicle Communication
Simulator
Atakan Doan, Gkhan Korkmaz, Yiting Liu,
Fsun zgner, mit zgner, Keith Redmill, Oscar
Takeshita, K. Tokuda
Department of Electrical and Computer Engineering
The Ohio State University 2
Outline of Contents
Introduction
Vehicle Traffic Simulator
Shadowing Effect
The Wireless Simulator
Simulations
Conclusions

Department of Electrical and Computer Engineering
The Ohio State University 3
Outline of Contents
Introduction
Background Information
Problems
Inter-vehicle Communication (IVC) Simulator
Vehicle Traffic Simulator
Shadowing Effect
The Wireless Simulator
Simulations
Conclusions

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The Ohio State University 4
Background Information
Develop a simulator
Study and solve the intersection collision
problems
Based on OSU and OKI project
Incorporate
Intelligent Transportation System
Physical Layer
MAC Layer

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Problems
Animation of
Intersection
warning system
Intersection
Collision
Scenario
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Problems (Other Scenarios)
SV
SV
SV
SV
POV
POV
POV
POV
POV: Principle other Vehicle
SV: Subject Vehicle
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IVC Simulator
Components of Intersection Collision
Warning System
Local Map Database
Intersection position, lanes, speed limit etc.
Differential GPS
Vehicle position
Inter-vehicle Communication System


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IVC Simulator

Vehicle Traffic
Simulator

Trace files:
Vehicle information
Vehicle position
Vehicle velocity
Shadowing

Wireless
Simulator
WS
VTS
VTS and WS runs independently of each other

VTS is interfaced to WS through trace files

Input Parameters:
Vehicle density
Vehicle throughput
Road Information

Shadowing
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The Ohio State University 9
Outline of Contents
Introduction
Vehicle Traffic Simulator
Vehicle Characteristic Input
Scenario Input
Intersection Collision Simulator
1. Vehicle Management
2. Traffic-Light Management
Message Generator
The Wireless Simulator
Shadowing Effect
Simulations
Conclusions

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VTS Block Diagram
Vehicle
Management
Road
Traffic Light
Management
Vehicle
Characteristic
Input

Scenario
Input

Intersection
Collision
Simulator
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Input Block
Vehicle Characteristic Input
Vehicle Classification
Vehicle Length, Width
Vehicle Speed
Vehicle Origin and Destination
Vehicle Flow Rate

Scenario Input
Collision Scenario
Traffic Light Availability



Intersection
Collision
Simulator

Vehicle
Characteristic
Input

Scenario
Input

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Simulation Setup Screen
Scenario Input
Traffic Flow
Characteristic Input
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Vehicle Management
Turning
Normal
Driving
Vehicle
Following
Vehicle
Management
Driver information:
Its own speed
Its own position data from DGPS
Turning direction
Other vehicles in Line-of-sight and the
estimated distance and speed
Status of traffic lights

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Traffic Light Management
Scenario Input
Cycling
Time
Direction
Status
Cycling Time
( Two Phase):
G=25sec;
Y=5sec
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Message Generator
Initial
data
update
Transmission
intervals
Retransmission
attempts
Send messages when vehicle
crosses initial data update border
Distance-based Transmissions
50 meters
Vehicle Characteristics
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Outline of Contents
Introduction
Vehicle Traffic Simulator
Shadowing Effect
The Wireless Simulator
Simulations
Conclusions

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Shadowing
TX RX
Block
TX
RX
Block

Blocking
area
h
d
1
d
2

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Shadowing
Fresnel-Kirchoff diffraction parameter:
2 1
2 1
d d
) d 2(d
h

+
=
Using the Fresnel integral,

>
s s
s s
s s
s
=

4 . 2 ), 5/ 20log(0.22
4 . 2 1 , ) 1 . 0 38 . 0 ( 1184 . 0 20log(0.4
1 0 ), 20log(0.5e
0 1 ), 0.62 20log(0.5
1 , 0
(dBm)
2
0.95





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Shadowing (Adjacency Matrix)
=
0
12

13

21
0

31
0

0
Note:

ij
diffraction gain (in dB) for receiver j from transmitter i.
This is a symmetric matrix.
Both negative and positive gains are possible.
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Outline of Contents
Introduction
Vehicle Traffic Simulator
Shadowing Effect
The Wireless Simulator
MAC Layer
Physical Layer
Simulations
Conclusions

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WS Process Structure
Main process: initialization, termination, VTS interface, etc.
Each process (except Main) implements MAC and PHY layers
All processes run in parallel in the simulated time
Main
Process
Process
1
Process
2
Process
3
Process
n
n: no of vehicles
MAC
PHY
MAC
PHY
MAC
PHY
MAC
PHY
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MAC Layers
802.11 CSMA/CA
802.11a, 802.11b, and 802.11a R/A are implemented
RTS, CTS, and ACK packets are not implemented because
Broadcast Application => More than one destination
Short Data Packets
Nodes wait DIFS amount of time before sending their packets
If nodes sense the channel busy, they wait a random amount of time
DOLPHIN
Non-persistent CSMA
5 retransmissions
Vehicles transmit one packet in each slot
slot length = 20 msec




5 retransmissions
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PHY Layer
Path loss, shadowing, and fading: Modeled
Carrier sensing and capture: Modeled
Noise: Cumulative
Signal reception: SNR threshold based
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Signal Power
A packet will be received when the received signal power is
larger than the threshold.
The received signal power is computed as:
(dBm) PL(dBm) (dBm) P (dBm) P
t r
=
er transmitt at the power signal : (dBm)
t
P
loss path : PL(dBm)
receiver at the power signal : (dBm)
r
P
shadowing : (dBm)
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Fading
Gilbert-Elliot model:
Good
Bad
Pgb
Pbg
Pge: bit error probability in Good state
Pbe: bit error probability in Bad state
1-Pgb
1-Pbg
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Outline of Contents
Introduction
Vehicle Traffic Simulator
Shadowing Effect
The Wireless Simulator
Simulations
Conclusions

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Simulation time
Wireless repeater
Building location
Truck
Bus
Motorcycle
Car
Intersection Type
Traffic signal
North South
Stop sign
Last message
Critical messages
Last collision
Transmitter
Receiver
Receiver Collision warning
Motorcycle
Simulation Results
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Simulation Results
Performance metric for Wireless Communication
packets d transmitte of number Total
packets d transmitte ly Successful
Rate Success Packet
_ _ _ _
_ _
_ _ =
For a packet to be treated as successful, it should be received by ALL receivers
in the region. Even if one vehicle can not hear the transmission, this packet is
treated as unsuccessful.
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Simulation Results
Dolphin at 0.5 Mbps
1 0.990 0.997 Right angle
1 0.993 0.996
Left turn
light
1 0.992 0.996 Right turn
1 0.983 0.995 Left turn
Maximum Minimum Mean Scenario
Packet Success Rate
1 0.990 0.997 Right angle
1 0.993 0.996
Left turn
light
1 0.992 0.996 Right turn
1 0.983 0.995 Left turn
Maximum Minimum Mean Scenario
Packet Success Rate
802.11 a R/A, left turn
(Similar Results for other Scenarios)
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The Ohio State University 30
Outline of Contents
Introduction
Vehicle Traffic Simulator
Shadowing Effect
The Wireless Simulator
Simulations
Conclusions

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Conclusions
Successfully incorporated two time-scales (C++)
VTS: millisecond
WS: microsecond
Simulator
Simulate different intersection collision scenarios
Simulate various road and traffic conditions
1. Traffic flow etc
2. Speed limit etc.
Evaluate inter-vehicle communication
Warning System can be rely on inter-vehicle
communication
High packet success rate (DOLPHIN)
Only short packet is needed for transmission
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Conclusions
Distance-based packet transmission
Improve medium utilization
Reduce unnecessary packets
Lower packet collision probability
Most packet losses due to physical layer
To reduce physical layer errors
Lower data rates can be used
Number of Retransmissions have positive
impact on packet successful rate

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Recent Development
A Simulation Study of An Intersection Collision
Warning System (ITST 2004)
Wireless Communication (MAC, PHY)
Current Status:
Drivers Model, Three-level Warning System
Repeater, Buildings, Transmission Intervals
Demo for 11
th
World Congress on ITS (2004)
Vehicle and Traffic Simulator and Intersection
Collision Warning System
Performance of Wireless Intersection Collision
Warning System