Smart Car Project

Multi-Car Sensing V2X Network Development

2016. 07. 20 MSIS Lab
www.chungbuk.ac.kr

Multi-Car Sensing V2X Network

Development Roadmap
11 Year
Year

WAVE/
IEEE1609

TDM-CSMA
MAC

22 Year
Year

LDM

Advanced LDM

33 Year
Year

Dual



V2X

44 Year
Year

AUTOSAR
ECU
OBU RSU

V2X

MSIS Lab ( ) Students

Student Participants in MSIS Lab
Ph.D Students

Saurabh Kumar
mohamed abdel gawad
Odilbek Urmonov
Elsharief Mahmoud
Mohammed Abbass Yehia

Master Students
YoungTae Han
JaeKu Yoo
YongHyun Kwon

Multi-Car Sensing V2X Technology

Multi-Car Sensing Differentiated
Forwarding and Data Fusion

Advanced LDM Development:

Differentiate Sensing Data Per Safety-levels

Recover and Fusion of received Sensing data

Self Organization of V2X in City Roads

Self Organization of Multi-Car Network

Auto Detection of incoming cars and failures

Distributed Synchronization, Routing,

Scheduling for Fast Re-organization of Network

Target V2X Network for

Sensing Data Fusion
RSU
(Road side unit)

OBU
V2I
(On-Board Unit)

Avoid data collisions and Maximize channel efficiency

Improved Throughput With Concurrent TDM

V2X SW Development Based on AUTOSAR

Readying for Commercialization by Developing

SW over AUTOSAR Platform

OBU

V2V

V2I

OBU

OBU V2V

OBU

V2I

OBU

Take advantages of Time-Division (TDM) &

Carrier Sensing (CSMA) MACs

Wide Coverage Using Multi-Hop Mesh Topology

V2I

OBU

V2V

Cloud
Network

V2V

TDM-CSMA Hybrid MAC Protocol

Increased Range Using Multi-Hop Network

Cloud
Server

V2V

V2I
V2I

V2V

OBU

OBU

RSU
OBU

Sensing Data Forwarding And Fusion

for Wide Coverage Dynamic Map
V2X for Feature data and Fusion Technique
Differentiate Forwarding and Fusion of
Multi-Car Sensing Data

Feature Extraction from Sensing Data

Differentiated Forwarding of
4-Safety Level Data

Advanced LDM (Local Dynamic Map) :

Add feature data of multi-car sensing to LDM

Recover and Fusion Sensing data from

other cars

Sensing Data from

Multi-Sensors on the vehicle

Feature Data Extraction

for object detection

Forward
Forward sensing
sensing
Data
Data for
for LDM
LDM

Recover & Fusion

of multi-car
sensing data

Wide Map Generation Using

Multi-Car Sensing & Fusion
Limitation of Single Car Sensing

Sensing is blocked by neighboring cars

Low object detection rate in City Environment
Road Sign is
Blocked and
Detection Failed

Pedestrian is
Blocked and
detection failed

Wide Map Generated by Sharing Sensing

Data Among Multi-Cars
High object detection rate even in crowded road in
City Environment
No Left Turn
Motorcycle

Red Light

Pedestrian

Left Turn

Only Narrow Map

Can be obtained
Bicycle is
Blocked and
Detection failed

Advantage of Multi-Car Sensing Fusion

Traffic Light
Detection Failed
For single car sensing

Small range of Map generated

Bicycle

Traffic Light
Detection Successful
by multi-car sensing
Fusion Technique

Local dynamic area map

V2X Network With

Fast Self-Organization
TDM-CSMA Hybrid MAC Structure
TDM-CSMA Hybrid MAC Protocol

Guaranteed Transfer of Emergency Data Using

Time-Division (TDM) Protocol

Allow New Vehicles to join by using Carrier

Sensing (CSMA) Protocl

Adaptive Self Organization V2X Network

CSMA
(Carrier Sensing Multiple Access)

Fast Network Organization for fast changing

vehicle positions

Improve the performance of existing WAVE

standard (IEEE802.11p / IEEE1609)

Dual Mode Network: WAVE + Narrow Band

(suitable for long range)

Synchronization and TDM Scheduling

CSMA mode for initial state or new cars

Switch to TDM mode after Synchronization TDM

(Time Division Multiplexing)

Multi-channel V2V routing with TDMA scheduling based on clustering

Wave protocol proposes to use CSMA

MAC access to avoid packet collision
and increase the data reception rate.
But With the use CSMA and single
channel, V2V throughput is very less,
Cluster
head

Network Partition

due to frequent change of network

dynamics.

This algorithm partition network into multiple clusters,

and each clusters nodes choose a cluster head.
Each individual cluster work as star network, cluster
member nodes communicate with the cluster head on
their designated channel and time slot.
Cluster head communicate with other cluster head
using one of the service channel.
Which supports handoff of network cluster, by using
free time slots.
If cluster head is frequently changing its node, it will

Inter cluster communication

request other node to be cluster head.

Cluster head selection

In initialization period, each vehicle exchange DESCOVERY

messages by broadcasting in service channel.
Each vehicle identifies how many number of one hop
neighbor vehicle it is able to communicate.
The vehicle covers maximum number of neighbor will
designate itself as a cluster head (CH).
These cluster heads are the backbone of particular VANET;
CH quickly schedule time slots for intra-cluster and intercluster communication;
CH periodically forward time-based information to cluster
members;
Each CH organizes some extra free time slots for merging
new vehicle into cluster;
Cluster head in three hop distance exchange cluster
information periodically.
For merging one cluster member to another cluster head we
use service channel of that cluster and assign shortest interframe space (SIFS).

Inter cluster communication

First three slots are used

to broadcast the inter
cluster data.
One is used to listen from
front, one is from back and
third one is for its
broadcasting.
Order of communication is
determined by the node.
They use channel 1 for this
communication.

Specific points:

Node always try to select the forward cluster, in with same velocity vector.
In case of handoff cluster head will help setup communication between foreign
cluster head and node.
In case of city network, cluster head will avoid using channels from all adjacent
clusters.

WAVE Standards & Structure

Wave Standards:IEEE 1609.x + IEEE 802.11p

Additional
standards
to be determined

WSMP WAVE Short Message Protocol

1609.1 Remote management service;
1609.2 Security service;
1609.3 Network and transport service;
1609.4 Multichannel Coordination;
1609.11 Over-the-air electronic Funds
Collection;
802.11p Wave Amendment.

802.11p
standard

MAC layer
(designed based on Enhanced Distributed Channel Access
defined in 802.11e)
PHY layer
(designed based on OFDM defined in 802.11a)

WAVE PHY & MAC

Wave Frequency Bands

IEEE 802.11p/1609.x (WAVE) (5.850-5.925 GHz)

802.11p MAC Protocol

EDCA for QOS Support

WAVE Simulation Tools

NS-3, WAVE module
3 example models:
vanet-routing-compare.cc, wave-simple-device.cc, wave-simple-80211p.cc

NS-2 based VanetMobiSim simulation tool

QualNet
SCALABLE develops high-performance communications simulation
software used by governmental military organizations, educational
institutions, and commercial enterprises around the world

VaTsim
The Ohio State Universitys Vehicle and Traffic Simulator;

ISP

Toyota Information Technologies Center proprietaries.

TraNS
Traffic and Network Simulation Environment.

Veins
Omnet ++ (Network configuration) and SUMO (UI)

QualNet Simulator

HiTsim Simulator

HiTsim Simulator

Features of NS3

Network Simulator 3, emulates Similar

Architecture as OSI layers.

It supports, following modules,
wifi, low power pan, p2p, wimax
lte and wave

NS3 Network Stack

IP
MAC
PHY

It also defines the sub functionality needed, such

IPV4 and IPv6 network Layer.
Functionality for nodes Mobility.
Different path loss model to
simulate in real world environment.
Multiple routing and Mac layer
sub functions, to

Features of 802.11p and wave module

Wave Module in Architecture

Wave Module in NS3

Current NS3 implementation does not support

802.11p Physical layer

Security layer 1609.2
Network and transport layer 1609.3
Application layer 1609.1

Example Execution and results

NS3 visualizer uses waf python tool.
Cars moves with the speed upto 72 km/h, by using random waypoint
mobility model in a 100x100 m area.
Nodes are transmitting 200 bytes safety messages, 10 times/sec, total data
generated from each node is 2 Kbps.
Goodput = 2.6 Kbps, after configuration which takes 1 sec.

Initial Configuration
At time 2 sec
At time 5 sec
Drawback : GUI does not show the actual road traffic.
We are planning to develop actual GUI on top of NS3, network layer.

WAVE Wireless Modules

Wave Module Developer1
Cohda Wireless (Australia Company)
Product: WAVE OBU (On Board Unit) - MK5

Wave Chipset & Module Developer2

Autotalks (Israel Company)
Product: PANGAEA4 - V2X Communication Module

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WAVE Wireless Modules

Cohda Wireless Price Per Unit: $2,974.24 (Only for Hardware Module)
More than $10K including Software

Auto-Talks Price Per Unit: $ 9,000~$10,000 With 3rd party Software

Other Option are purchasing Through Hyundai Autotron or KATECH

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