Connected Vehicle Systems: Communication, Data, and Control

298 Pages·2017·7.44 MB·English

by  Yunpeng Wang, Daxin Tian, Zhengguo Sheng, Wang Jian

Connected Vehicle Systems
2017/7/6 “9781138035874 Book.pdf”

YunpengWang,DaxinTian,ZhengguoSheng,andJianWang
Connected Vehicle Systems:
Communications, Data, and
Control
2017/7/6 “9781138035874 Book.pdf”
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2017/7/6 “9781138035874 Book.pdf”
Contents
ListofFigures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii
ListofTables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv
Contributors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvii
PARTI: INTRAVEHICLECOMMUNICATIONS 1
1 ASurveyofAutomotiveNetworkingApplicationsandProtocols . . . . . . . . 3
VictorOcheri,ZhengguoSheng,andFalahAli
2 CAN-BasedMediaAccessControlProtocol . . . . . . . . . . . . . . . . . . . . 21
ZhengguoSheng,AmirKenarsari-Anhari,NimaTaherinejad,and
YunpengWang
3 Worst-DelayAnalysisofIntravehicleCommunicationBusesUsing
HomePlugGP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
ZhengguoSheng,RobertoP.Antonioli,MorganRoff,andYunpengWang
PARTII: INTERVEHICLECOMMUNICATIONS 57
4 PhysicalChannelModelingandSharing . . . . . . . . . . . . . . . . . . . . . . 59
JianWangandYunleiZhang
5 Short-RangeCommunicationTechnologyintheInternetofVehicles . . . . . . 69
DaxinTian,JianshanZhou,YingrongLu,YunpengWang,andZhengguoSheng
6 Cross-LayerMultihopBroadcasting . . . . . . . . . . . . . . . . . . . . . . . . 95
JianWangandFangqiLiu
v
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vi (cid:4) Contents
PARTIII: VEHICULARDATAAPPLICATION
ANDMOBILITYCONTROL 113
7 Road Recognition from Trajectories Collected by Freight Vehicles
BasedonLeastSquaresSupportVectorMachineFitting . . . . . . . . . . . . 115
DaxinTian,YueYang,XiaoleiMa,YunpengWang,andZhengguoSheng
8 DSRCforVehicularPositioning . . . . . . . . . . . . . . . . . . . . . . . . . . 131
YunpengWang,XutingDuan,DaxinTian,XuejunZhang,andYingrongLu
9 VehicularPositioningEnhancement . . . . . . . . . . . . . . . . . . . . . . . . 159
YunpengWang,XutingDuan,DaxinTian,XuejunZhang,andMinChen
10 ALightweight,AdaptiveSecurityMechanism . . . . . . . . . . . . . . . . . . 187
JianWangandZeminSun
11 A Social-Network-Enabled Green Transportation System Framework
DrivenbyConnectedVehicleInnovations . . . . . . . . . . . . . . . . . . . . . 203
WeiShu,GuohuiZhang,Min-YouWu,andJia-LiangLu
12 AMobilityModelforConnectedVehiclesInducedbytheFishSchool . . . . . 213
DaxinTian,KeyiZhu,JianshanZhou,andYunpengWang
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
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List of Figures
1.1 ClassAapplicationzone. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 ClassBmultiplexapplication. . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3 ClassCapplications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.4 Automotivenetworkarchitecture.. . . . . . . . . . . . . . . . . . . . . . . 10
1.5 Aroadmapofautomotivecommunicationdevelopment. . . . . . . . . . . . 12
1.6 Blockdiagramofthearchitectureoftheautomotivenetworktestbed
platform. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.7 Animplementationofaminimumviabletestbedforautomotive
communicationusingRaspberryPiandArduinoboards. . . . . . . . . . . 14
1.8 Distribution of data bit rate on the Ethernet connection over the period of
testing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.9 PartitioningoftotaldatathroughputontheEthernetconnectionintooverhead
anddatatraffic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.10 ProportionofthetrafficontheEthernetlinkusedbyoverheadbitsaswellas
databitstransmission. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.11 Graph showing the average latency in signal transmission over the Ethernet
linkofthetestbed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.12 Graph showing the traffic over the Wi-Fi connection between the onboard
unitandRSUofthetestbed. . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.13 GraphshowingproportionoftrafficusedbyoverheadintheWi-Ficonnection
ofthetestbed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.14 Pie chart showing the proportion of traffic that comes from transmission of
overheadbits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.15 GraphshowingtheaverageRTTovertheWi-Ficonnection. . . . . . . . . . 19
2.1 Magnitude of S (f) for different connections from HEV VCU to potential
21
communication nodes [222], where VCU is Vehicle Control Unit, ESS is
Energy Storage System, TMDMOC is Traction Motor Digital Module Con-
troller,andDC/DCstandsforDC-to-DCconverterunitofthevehicle. . . . 24
2.2 Viewofasingletransmissioncycle. . . . . . . . . . . . . . . . . . . . . . 26
2.3 Illustrationofthecollisionresolutionalgorithmperformedoneachchannel. 27
2.4 ChannelselectionprobabilitieswhenM=10channelsareavailableformul-
tiplechoicesofβ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.5 Blockdiagramofarobustsensingmodule. . . . . . . . . . . . . . . . . . . 32
vii
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viii (cid:4) ListofFigures
2.6 ECDFofthereceivedsignalbeforeandafterpreprocessing.. . . . . . . . . 33
2.7 Illustrationoftheprotocoloperationwithimperfectsensing. . . . . . . . . 34
2.8 Success probability versus number of contending nodes for different values
ofγ,N = 50,k = 6,M = 2. . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.9 Averagesuccessprobabilityversusnumberofchannelsfordifferentnumber
oftimeslots(k),N = 50,γ= 0.6. . . . . . . . . . . . . . . . . . . . . . . 37
2.10 ρ versus number of channels for different number of time slots (k),
1
N = 50,γ= 0.6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.11 Average success probability versus total number of nodes connected to the
harness(N),γ= 0.6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.12 Probability mass function of the number of transmission cycles required to
transmit the first packet (a) all packets (b) when there are 25 contenders,
N = 50,γ= 0.6,k = 4,M = 3. . . . . . . . . . . . . . . . . . . . . . . . 39
2.13 Probability mass function of the number of transmission cycles needed to
transmit the first packet (a) all packets (b) when there are five contenders,
N = 50,γ= 0.6,k = 4,M = 3. . . . . . . . . . . . . . . . . . . . . . . . 40
2.14 Success probability of the proposed protocol, and CDR versus number of
contendingnodes,M = 3,N = 50,γ= 0.6. . . . . . . . . . . . . . . . . . 41
2.15 Throughputρ oftheproposedprotocolandCDRversusnumberofcontend-
1
ingnodes,M = 3,N = 50,γ= 0.6. . . . . . . . . . . . . . . . . . . . . . 42
2.16 Average success probability versus threshold λ of the energy detector,
N = 50,γ= 0.6,k = 6,M = 2,u = 10. . . . . . . . . . . . . . . . . . . . 42
2.17 Success probability versus number of contending nodes for multiple values
ofr,wherethegoodchannelisindexed1,k = 6,M = 2,N = 50,γ= 0.6. 43
2.18 Success probability versus number of contending nodes for multiple values
ofr,wherethebadchannelisindexed1,k = 6,M = 2,N = 50,γ= 0.6. . 43
2.19 Success probability versus number of contending nodes for multiple values
ofr,wherechannelsareequallygood,k = 6,M = 3,N = 50,γ= 0.6. . . 44
2.20 Success probability versus number of contending nodes for multiple values
ofr,wherechannelsareequallybad,k = 6,M = 5,N = 50,γ= 0.6. . . . 44
3.1 FramestructureoftheproposedMACprotocol . . . . . . . . . . . . . . . 50
3.2 TopologyofextendedHomePlugGreenPHYnetwork. . . . . . . . . . . . 51
3.3 AveragedelayfortheregularHomePlugGPmessages . . . . . . . . . . . 52
3.4 AveragedelayfortheproposedHomePlugGPmessages . . . . . . . . . . 52
3.5 PercentageofcollisionsintheregularHomePlug . . . . . . . . . . . . . . 53
3.6 PercentageofcollisionsinthemodifiedHomePlug . . . . . . . . . . . . . 54
4.1 Dynamicspectrumaccesstaxonomy. . . . . . . . . . . . . . . . . . . . . . 60
4.2 Overlaysystemmodelofthreesecondaryusers. . . . . . . . . . . . . . . . 63
4.3 Stateprobabilitiesofchanneloccupancyinoverlay. . . . . . . . . . . . . . 67
4.4 Secondarysystemthroughputcomparisonbetweentwoandthree
secondaryusers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.5 Throughputcomparisonbetweentwoandthreesecondaryusersin
overlayscheme. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
5.1 WAVEstack. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
5.2 Channelaccessmechanisms. . . . . . . . . . . . . . . . . . . . . . . . . . 72
5.3 V2VcommunicationsystemarchitecturewithDSRCdevices. . . . . . . . 74
5.4 TheV2Vcommunicationsystemmodel. . . . . . . . . . . . . . . . . . . . 75
5.5 Varyingactivityα insimulations.. . . . . . . . . . . . . . . . . . . . . . . 80
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ListofFigures (cid:4) ix
5.6 Evaluationoftheimpactofrandomnoisevariabilityon
thedynamicssystem. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
5.7 Thehandoverdecisionframeworkbasedontheextendedattractor
selectionmodel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
5.8 Thevariationoftheadoptedsigmoidfunctionwithdifferent
parametersettings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
5.9 Therealtestingscenario. . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5.10 Performancecomparison:Transmissiondelayversusrelativedistance. . . . 86
5.11 Performancecomparison:Packetlossrateversusrelativedistance. . . . . . 86
5.12 Asimulationscenario. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
5.13 Thevariationofthedecisionvectorstatesofthedifferentapplications:
(a)thevoiceapplication,(b)onevideoapplication,and(c)another
videoapplication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
5.14 The simulation results under different vehicular terminals: (a) the results of
theactivityα and(b)theresultsofthefairness. . . . . . . . . . . . . . . . 91
5.15 The simulationresults underdifferent initialvelocities: (a) theresults ofthe
activityα and(b)theresultsofthefairness. . . . . . . . . . . . . . . . . . 92
6.1 Relationbetweentheprobabilityofsendingpacketp andpacket
0
transmissiondelayT . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
delay
6.2 RelationbetweenF andn. . . . . . . . . . . . . . . . . . . . . . . . . 102
value
6.3 Flowdiagramofthedecision-makingprocess. . . . . . . . . . . . . . . . . 104
6.4 RelationbetweenthenumberofmulticastnandSunderdifferent
vehicledensities. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
6.5 RelationbetweenthenumberofmulticastnandE underdifferent
decide
vehicledensities. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
6.6 RelationbetweenthenumberofmutilcastnandSunderdifferent
multicastrangesr. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
6.7 RelationbetweenthenumberofmulticastnandE underdifferent
decide
multicastranges r. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
6.8 RelationbetweenthenumberofmulticastnandSunderdifferent
packet’slengthsL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
P
6.9 RelationbetweenthenumberofmulticastnandE under
decide
differentpacket’slengthsL . . . . . . . . . . . . . . . . . . . . . . . . . . 108
P
6.10 RelationbetweenthenumberofmulticastnandSunderdifferent
transmissiondataratesR . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
d
6.11 RelationbetweenthenumberofmulticastnandE underdifferent
decide
transmissiondataratesR . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
d
6.12 RelationbetweenthenumberofmulticastnandSunderdifferent
vehiclespeedsv.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
6.13 RelationbetweenthenumberofmulticastnandE underdifferent
decide
vehiclespeeds v. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
7.1 Idealpartitioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
7.2 Definitionofdistance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
7.3 Potentialproblem. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
7.4 MapgeneratedbydataandOSMmap. . . . . . . . . . . . . . . . . . . . . 122
7.5 Mergedmap. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
7.6 Bordersandcenterlineoftheroads. . . . . . . . . . . . . . . . . . . . . . 125
7.7 Nearestpointontheroadforeachnode. . . . . . . . . . . . . . . . . . . . 126
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