2011-09-05

IIntroduction
t d ti tto V
Vehicular
hi l N
Networks
t
k for
f
Enhanced Safety Assistance
Sept. 06, 2011
Institute of Logistics IT
Pusan National University

Han-You Jeong

CONTENTS
Motivation
M i i
Tutorial on Vehicular Networking

2011-09-05

Motivation
Impacts of Road Accidents
Megatrend of Safety Assistance

MOTIVATION
- Casualties of Road Accidents

Worldwide, 1.2 million people are killed in road crashes

and as high as 50 million are injured every year.
Q: How many people are killed in the Iraq War?
A: 100 ~ 150 thousand casualties
from 2003 to 2006 (Source: Wikipedia)

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MOTIVATION
- Global Injury Mortality

MOTIVATION
- Regional Distribution

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MOTIVATION
- Megatrend of Safety Assistance
Future Safety
Solutions

Present Safety
Solutions

Past Safety Solutions

Road Accident
Serious
Accident
Slight
Accident

Vehicular
Communications

Minor
Impact
M o
Minor
Impact
Dangerous

Warning

Recovery

Needs enough time to perceive, decide, and react to road environments

MOTIVATION
- Past Safety Solutions against Road Accidents

Safety Belt

Airbag

Child Car Seat

Past safety solutions mostly focus on the reduction of the casualties.

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MOTIVATION
- Statistics of Road Accidents

Past safety solutions reduce the fatalities, not road accidents.

MOTIVATION
- Present Safety Solutions against Road Accidents

60 ~ 200 m

30 ~ 50 m

5 ~ 10 m

The present safety solutions focus on the avoidance of road accidents.

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MOTIVATION
- VIAC Project (VisLab, Parma Univ., Italy)
Intercontinental Autonomous Driving (July 10th ~ Oct. 26th 2010)

MOTIVATION
- MBC News

(Jan. 26, 2011)

2011-09-05

Tutorial on Vehicular Networking

g
Characteristics of Vehicular Networks
Vehicular Network Applications
SAE J2735
IEEE 1609.x
IEEE 802.11p

TUTORIAL ON VEHICULAR NETWORKING

- Overview of Vehicular Networks
A vehicular network is an example of mobile ad-hoc
networks (MANETs)
No Limitation in Power Consumption and Computation

A vehicular network supports

Safety Applications. e.g., Collision Warning
Non-Safety Applications, e.g., Navigation
Infotainment Applications, e.g., Internet Access, LBS, etc.

A message of a safety application is either a periodic or

an event-based broadcast message.

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TUTORIAL ON VEHICULAR NETWORKING

- Characteristics: Location-based Message Delivery

Vehicle Collision

Region of Interest (ROI)

Location-based Message Delivery

Assume that a safety application informs all vehicles arriving at
the accident location within 5 min.
ROI of an Urban Road (54 Km/h): 4.5 Km
ROI of a Highway (108 Km/h): 9 Km
Needs a Multi-hop Message Delivery Mechanism

TUTORIAL ON VEHICULAR NETWORKING

- Characteristics: Dynamic Network Connectivity
40 m/sec

40 m/sec

C
Communication
i ti
40 m/sec

40 m/sec

400 m

Dynamic Network Connectivity

If the
th ttransmission
i i range iis 400 m, th
the connection
ti ti
time b
between
t
two vehicles is about 10 sec, which is much shorter than Wi-Fi
connection time!!!
Predictable Mobility

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TUTORIAL ON VEHICULAR NETWORKING

- Characteristics: Wide-Range of Vehicle Density

Low Vehicle Density

High Vehicle Density

Wide-Range of Vehicle Density

Intermittent Connectivity
Scale to Large Network
If the inter-car distance is 10 m on average at the intersection of highway with
four lanes for each direction, a vehicle can have 640 neighbor vehicles!!!

Vehicle Density based on the Safe Distance

Urban Road [Two Lanes per Direction, 60 Km/h (35 m)] : 95 (Vehicles/Km)
Highway [Two Lanes per Direction, 100 Km/h (77 m)] : 48 (Vehicles/Km)

TUTORIAL ON VEHICULAR NETWORKING

- Vehicular Network Architecture
Backhaul
V2V Comm.

V2I Comm
Comm.

Roadside Unit (RSU)

Camera

Entities in Vehicular Networks

On
O Board
B
d Unit
U it (OBU)
A communication device at each vehicle

Roadside Unit (RSU)

Connects a vehicular network to an infrastructure network
Acts similar to a wireless LAN access point (AP)

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TUTORIAL ON VEHICULAR NETWORKING

- Vehicular Network Apps: Visibility Warning/Assistant

V2V Comm.

V2V Comm.

Example of Visibility Warning/Assistant

Visibility Enhancement
Blind-Spot Warning
Emergency Electronic Brake Light (EEBL)

TUTORIAL ON VEHICULAR NETWORKING

- Vehicular Network Apps: Intersection Safety

: Road Sensors
: Traffic Controller

: RSU
: WAVE/DSRC Link

Example of Intersection Safety

Sign/Signal Notification
Sign/Signal Violation Warning
Intersection Collision Warning

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TUTORIAL ON VEHICULAR NETWORKING

- Protocol Architecture
Protocol Architecture of Vehicular Networks

TUTORIAL ON VEHICULAR NETWORKING

- SAE J2735 DSRC Message Set
SAE J2735 standard defines standard message sets, data
frames,, and data elements of vehicular applications
pp
15 Messages/72 Data Frames/146 Data Elements

Message Types of SAE J2735

Each data item is encoded in TLV(Type/Length/Value) format
List of Messages
A La Carte (ACM) /Basic Safety Message (BSM) /Common Safety Request
(CSR)/ Emergency Vehicle Alert (EVA)/Intersection Collision Avoidance (ICA)/
Map Data (MAP)/NMEA Corrections (NMEA)/Probe Data Management
(PDM)/Probe Vehicle Data (PVD)/Roadside Alert (RSA)/RTCM Corrections
(RTCM)/Signal Phase and Timing Message (SPAT)/Signal Request Message
(SRM)/Signal Status Message (SSM)/Traveler Information Message (TIM)

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TUTORIAL ON VEHICULAR NETWORKING

- Basic Safety Message (BSM)
A basic safety message (BSM) conveys Core State
Information about the sending vehicle
Also known as the Beacon Message
Part I Core State Information with 10 Hz transmission rate
Latitude/Longitude/PositionalAccuracy/TransmissionandSpeed/Heading

Part II Optional Data Elements and Frames

EventFlags/PathHistory/PathPrediction/RTCMPackage

The total size of Part I message is 43 byte.

Th
The total
t t l fframe size
i iis 93 byte,
b t iincluding
l di WSM Header
H d (17 b
bytes),
t ) MAC H
Header
d
(28 bytes), and PLCP Header (5 bytes).

TUTORIAL ON VEHICULAR NETWORKING

- Message Dispatcher

Message Dispatcher
assimilates data elements from all the on-board applications and
constructs a single message in the Tx side.
is responsible for separating and disseminating data elements to
all on-board applications in the Rx side.

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TUTORIAL ON VEHICULAR NETWORKING

- IEEE 1609.x Standard Overview
IEEE 1609.x Standards
IEEE 1609.0 WAVE architecture
IEEE 1609.1 WAVE resource management
IEEE 1609.2 Security defines protocols for optional message
authentication and encryption
IEEE 1609.3 WAVE Short Message Protocol (WSMP) defines a
simple alternative to network and transport layer protocols
IEEE 1609.4 Multi-Channel Operation defines how a given
device can operate on multiple DSRC channels,
channels one channel at a
time, which is called a channel-switching protocol
IEEE 1609.11 Electronic Toll/Free Collection

TUTORIAL ON VEHICULAR NETWORKING

- IEEE 1609.3 WAVE Short Message Format
WAVE Short Message Protocol (WSMP)
Defines a standard for directly sending many packets over the air
from the source to the destination
IEEE 1609.3 defines the WAVE Short Messages (WSMs) and the
WAVE Service Advertisements (WSAs) packet formats
Both messages can be transmitted in all channels, whereas the IP
packets are not allowed on the CCH

Provider Service IDentifier

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TUTORIAL ON VEHICULAR NETWORKING

- IEEE 1609.3 WAVE Service Advertisements (WSAs)
Transmit Power Used

Var.
1

WAVE
version

Repeat
s

Extensi
on
fields

Provider Service Table

WAVE Routing Advertisement

2D/3D Location
Advertiser Identifier

IP configuration info

Service Info

Channel Info

16

WAVE
Elemen
t ID

Router
lifetim
e

IpPrefix

Prefix
length

16

16

Var.

Default Gatewa
Extensi
Primary
gatewa y MAC
on
DNS
y
address
fields

Secondary DNS

KEY
KEY
Optional
Optional
Field

Extension fields

Lengths in octets

g
in octets
Lengths

Info about available services

PSC
IPv6 Address
Service Port

WAVE
Elemen
t ID

PSID

Service
Priority

Var.

Channe Extensi
l
on
Number fields

Info about service channels

1

WAVE Channe
Elemen
l
t ID
Number

Var.

Adaptable

Data
Rate

TxPwr_
Level

Extensi
on
fields

EDCA Parameter Set

Provider MAC Address

May be
repeated

May be
repeated

TUTORIAL ON VEHICULAR NETWORKING

- IEEE 1609.4 Multi-Channel Operation
IEEE 1609.4 defines a mechanism by which a device with
one or more radios can effectively switch among DSRC CHs
With the rendezvous channel ((CCH)) and time-division operation
p
All devices have access to a common time source, the universal
coordinated time (UTC), in a GPS signal

The CCH is primarily used for the WAVE short messages

(WSMs) and the WAVE service advertisements (WSAs)
Sync Interval = 100 msec

CCH Interval SCH Interval

= 50 msec = 50 msec
Start of every UTC second

Guard Interval = 4 msec

Start of every UTC second

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TUTORIAL ON VEHICULAR NETWORKING

- Characteristics of IEEE 802.11p
Characteristics of IEEE 802.11p
IEEE 802.11p

Wi-Fi
Wi
Fi

Cellular

Mobile WiMAX

Data rate

3-27Mbps

6-54Mbps

< 2 Mbps

1-32 Mbps

Latency

< 50ms

Seconds

Seconds

Range

< 1 Km

< 100m

< 10 Km

< 15 Km

Mobility

> 100 Km/h

< 5mph

> 100 Km/h

> 100 Km/h

Nominal
Bandwidth

10MHz

20MHz

< 3MHz

< 10MHz

Frequency
Band
IEEE std.

5.85-5.925GHz 2.4GHz, 5 GH 800MHz, 1.9GH

(ITS-RS)
z (ISM)
z
802.11p

802.11

N/A

2.5 GHz

802.16e

TUTORIAL ON VEHICULAR NETWORKING

- Amendments to the Connection Setup in WAVE/DSRC
Nodes in vehicular networks are free to use the
infrastructure and independent BSS concepts in 802.11
Infrastructure BSS for V2I and independent BSS for V2V
It takes at least 0.2 sec to setup a connection in 802.11 WLAN

There is a strong desire in vehicular networks to define

lightweight rules for accessing the medium
Outside the Context of BSS (OCB)
There is no connection setup before STAs exchange data frames
The BSSID field of an OCB frame is set of 0xFFFFFF, which is
called the wildcard value
Does not use authentication, association, and a beacon frame
to announce a BSS in the MAC sub-layer

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TUTORIAL ON VEHICULAR NETWORKING

- Adaptive Modulation and Coding in WAVE/DSRC
WAVE/DSRC will more commonly use the 10 MHz channel
8 sec OFDM symbol leads to a data rate of 125 Kbps per symbol
48 out of 52 subcarriers are used for frame Tx.
Tx
Data rate options in a DSRC 10 MHz OFDM channel
Data Rate
Coded bits per
Modulation Coding Rate
(Mbps)
subcarrier

Coded bits per

OFDM symbol

Data bits per

OFDM symbol

BPSK

1/2

48

24

4.5

BPSK

3/4

48

36

QPSK

1/2

96

48

QPSK

3/4

96

72

12

16-QAM

1/2

192

96

18

16-QAM

3/4

192

144

24

16-QAM

2/3

288

192

27

64-QAM

3/4

288

216

TUTORIAL ON VEHICULAR NETWORKING

- DSRC Spectrum in US
US FCC allocates 75 MHz of spectrum for DSRC services
from 5.850 GHz to 5.925 GHz
Ch.. 178 in the middle of DSRC spectrum
p
is the control channel
(CCH) and the other six channels are service channels (SCHs)

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