Vehicular Networking for Road Safety

169 Pages·2020·4.911 MB·English

by  Feng Lyu, Minglu Li, Xuemin Shen

Wireless Networks
Feng Lyu
Minglu Li
Xuemin Shen
Vehicular
Networking for
Road Safety
Wireless Networks
SeriesEditor
XueminShen
UniversityofWaterloo
Waterloo,ON,Canada
The purpose of Springer’s new Wireless Networks book series is to establish
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Feng Lyu (cid:129) Minglu Li (cid:129) Xuemin Shen
Vehicular Networking
for Road Safety
FengLyu MingluLi
SchoolofComputerScience ComputerScienceandEngineering
andEngineering ShanghaiJiaoTongUniversity
CentralSouthUniversity Shanghai,China
Changsha,Hunan,China
XueminShen
ElectricalandComputerEngineering
UniversityofWaterloo
Waterloo,ON,Canada
ISSN2366-1186 ISSN2366-1445 (electronic)
WirelessNetworks
ISBN978-3-030-51228-6 ISBN978-3-030-51229-3 (eBook)
https://doi.org/10.1007/978-3-030-51229-3
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Preface
Road safety has always been the first priority for daily commuters. According
to the World Health Organization (WHO), more than 1.2 million and 50 million
people worldwide are killed and injured due to collisions each year, respec-
tively. Being unresponsive to on-road emergencies is the major reason to most
accidents, which poses the necessity of building active cooperative road-safety
applications viaVehicular Adhoc NETworks (VANETs).Particularly, empowered
by vehicle-to-everything (V2X) communications, which broadly include vehicle-
to-vehicle(V2V),vehicle-to-infrastructure(V2I),vehicle-to-pedestrian(V2P),etc.,
real-time environment information can be exchanged among neighboring vehicles
rapidlyviabroadcastingroad-safetybeacons,i.e.,cooperativeawarenessmessages
(CAMs), that can facilitate various advanced road-safety applications with pre-
sensingcapabilities.Comparedwithothersensors,suchascamera,radar,andlight
◦
detectionandranging(LiDAR),V2Xcommunicationscanprovide360 situational
awarenessonroadwithofferingmoreexcellentsensingrange,through-objectsview
functionality,andaround-cornerviewingcapability.Besides,V2Xcommunications
arenotaffectedorinfluencedbynon-idealweatherconditions,suchasheavyrain,
fog, and harsh sunbeams, which can work robustly in real driving environments.
Both advantages can collectively facilitate the extensive usage of V2X in future
transportationsystems,especiallyforroadsafetyenhancement.
To well support road-safety applications, low-latency and reliable V2X com-
munications are required, which however are challenging to be guaranteed under
vehicularenvironmentswithfast-changingnetworktopologies,intermittentwireless
links,anddynamictrafficdensities.First,attheMAClayer,asCAMsarerelatedto
roadsafety,minimizingthemediumaccessdelayandavoidingthemediumaccess
collision should be achieved simultaneously. However, due to the lack of a global
centralunitinvehicularenvironments,vehicleshavetonegotiatethemediumaccess
in a fully distributed way. Additionally, the fast-changing network topology can
furtherrendertheMACdesignintricate.Second,atthelinklayer,evengrantedwith
theappropriatemediumresources,communicationreliabilityremainstobefurther
enhanced, as there are many uncontrollable factors, such as types of roads, time-
v
vi Preface
varyingtrafficconditions,andalldifferentsurroundingbuildingsandtrees,thatcan
precariouslyaffectthewirelesslinkperformance.Third,atthenetworklayer,dueto
dynamictrafficdensities,thenaivebroadcastingschemewithafixeddatarateand
transmission power may cause severe channel congestion, especially under dense-
vehiclescenarios,whichcansignificantlydegradetheV2Xreliability.
In this monograph, we investigate vehicular networking technologies to guar-
antee low-latency and reliable V2X communications for road-safety applications.
Specifically, we focus on dedicated short range communication (DSRC) technolo-
gies at the MAC, link, and network layers. In Chap.1, we introduce vehicular
networks, including its definition, technical challenges, and how it can support
road-safety applications, etc. In Chap.2, we review the state-of-the-art vehicular
networkingtechniquesandorganizeacomprehensivesurveytostateourtechnical
motivations per the MAC, link, and network layer. In Chap.3, to avoid medium
access collisions caused by vehicular mobilities, we propose a mobility-aware
TDMA-based MAC, named MoMAC, which can assign each vehicle a collision-
avoidancetimeslotaccordingtotheunderlyingroadtopologyandlanedistribution
onroads.AstheexistingvehicularMACsdonotconsiderthesituationthatvehicles
have diverse beaconing rates to support various road-safety applications, and such
inflexible design may suffer from a scalability issue in terms of channel resource
management, in Chap.4, we propose a novel time slot-sharing MAC, named
SS-MAC, to support diverse beaconing rates of vehicles. The proposed MoMAC
and SS-MAC can work collectively to provide collision-free/reliable, scalable,
and efficient medium access for moving and distributed vehicles. In Chap.5, to
understand the DSRC performance in urban environments, we implement a V2V
communication testbed based on commodity onboard units (OBUs) and collect
large volumes of beaconing traces together with the simultaneous environmental
context information in Shanghai city, based on which we then conduct extensive
data analytics to characterize the V2V communications. In Chap.6, with the
deep understanding on link characteristics, we propose a link-aware beaconing
scheme, named CoBe, to enhance the broadcasting reliability by coping with
harshnon-line-of-sight(NLoS)conditions.InChap.7,toadapttodynamicvehicle
densitieswithsatisfyingindividualroadsafetydemand,wefurtherproposeafully
distributed adaptive beaconing control scheme, named ABC, to conduct safety-
awarebeaconingrateadaptationforvehicles.Atlast,weconcludethismonograph
andprovidepotentialfutureresearchissuesinChap.8.Thesystematicprinciplein
thismonographprovidesvaluableguidanceonthedeploymentandimplementation
offutureVANET-enabledroad-safetyapplications.
WewouldliketothankProf.HongziZhuatShanghaiJiaoTongUniversity,Dr.
Haibo Zhou, Dr. Nan Cheng, Dr. Wenchao Xu, Dr. Huaqing Wu, and Dr. Haixia
PengfromBroadbandCommunicationsResearch(BBCR)GroupattheUniversity
ofWaterloo,fortheircontributionsinthepresentedresearchworks.Wealsowould
liketothankallthemembersofBBCRgroupforthevaluablediscussionsandtheir
insightfulsuggestions,ideas,andcomments.Inaddition,Iwouldpersonallythank
my wife Ms. Xingxin Chen for her heartfelt support on my overseas studying and
Preface vii
working and thank for the birth of my lovely son Haoran Lyu that directs and
strengthens my faith in facing challenges. Special thanks also go to the staff at
Springer Science+Business Media: Susan Lagerstrom-Fife, Shina Harshavardhan,
andChristianeBauerfortheirhelpthroughoutthepublicationpreparationprocess.
Changsha,Hunan,China FengLyu
Shanghai,China MingluLi
Waterloo,ON,Canada XueminShen
Contents
1 Introduction .................................................................. 1
1.1 VehicularNetworks..................................................... 1
1.2 SupportingRoad-SafetyApplications ................................. 3
1.3 NetworkingChallenges................................................. 4
1.4 AimoftheMonograph.................................................. 5
References..................................................................... 8
2 VehicularNetworkingTechniquesforRoad-SafetyApplications ...... 11
2.1 MACDesign ............................................................ 11
2.1.1 Contention-BasedMACProtocols............................. 11
2.1.2 Contention-FreeMACProtocols............................... 12
2.2 LinkQualityCharacterizationandEnhancement ..................... 15
2.2.1 LinkQualityCharacterization.................................. 15
2.2.2 RelaySchemeDesign .......................................... 16
2.3 NetworkCongestionControl........................................... 18
2.3.1 TransmitPowerControl(TPC) ................................ 18
2.3.2 TransmitMessageRateControl(TRC)........................ 19
2.4 Summary ................................................................ 20
References..................................................................... 20
3 Mobility-AwareandCollision-AvoidanceMACDesign ................. 25
3.1 ProblemStatement...................................................... 25
3.2 SystemModel........................................................... 28
3.3 MoMACDesign......................................................... 30
3.3.1 PreliminariesAboutTDMA-BasedMACs.................... 30
3.3.2 DesignOverview ............................................... 31
3.3.3 TimeSlotAssignmentScheme................................. 32
3.3.4 TimeSlotAccessApproach.................................... 35
3.4 PerformanceAnalysis................................................... 36
3.4.1 AverageNumberofCollisions................................. 36
3.4.2 MediumAccessDelay.......................................... 40
3.4.3 PacketOverhead................................................ 42
ix
x Contents
3.5 PerformanceEvaluation ................................................ 43
3.5.1 Methodology.................................................... 43
3.5.2 ImpactofVariousRoadTopologies ........................... 45
3.5.3 ImpactofDynamicTrafficConditions ........................ 47
3.6 Summary ................................................................ 49
References..................................................................... 50
4 EfficientandScalableMACDesign........................................ 53
4.1 ProblemStatement...................................................... 53
4.2 SystemModelandPreliminariesAboutTDMA-BasedMAC........ 55
4.2.1 SystemModel................................................... 55
4.2.2 PreliminariesAboutTDMA-BasedMAC..................... 57
4.3 SS-MACDesign ........................................................ 58
4.3.1 DesignOverview ............................................... 58
4.3.2 PerceivingTimeSlotsOccupyingStatus...................... 58
4.3.3 DistributedTimeSlotSharingApproach...................... 59
4.3.4 OnlineVehicle-SlotMatchingApproach...................... 64
4.4 PerformanceEvaluation ................................................ 66
4.4.1 EvaluationofRIFFAlgorithm................................. 67
4.4.2 EvaluationofSS-MAC......................................... 69
4.5 Summary ................................................................ 73
References..................................................................... 74
5 CharacterizingUrbanV2VLinkCommunications...................... 77
5.1 ProblemStatement...................................................... 77
5.2 CollectingV2VTrace................................................... 80
5.2.1 ExperimentPlatformDescription.............................. 80
5.2.2 DataCollectionCampaign ..................................... 83
5.3 OverallUrbanV2VPerformanceAnalysis............................ 84
5.3.1 ObservingPrevalentPerfectZone ............................. 84
5.3.2 AnalyzingKeyFactorsofPerformanceDegradation......... 85
5.4 InteractionsBetweenLoSandNLoS .................................. 88
5.4.1 PowerLawDistributionsofNLoSandLoSDurations ....... 88
5.4.2 MixedDistributionsofPIRTimes............................. 89
5.4.3 SevereNLoSConditionHurts ................................. 91
5.5 DiscussiononLink-AwareCommunicationParadigmDesign ....... 94
5.5.1 ReliableRoad-SafetyMessageBroadcasting ................. 94
5.5.2 EfficientRoutingEstablishment ............................... 95
5.5.3 SmartMediumResourceAllocation........................... 96
5.6 Summary ................................................................ 97
References..................................................................... 97
6 Link-AwareReliableBeaconingSchemeDesign ......................... 101
6.1 ProblemStatement...................................................... 101
6.2 DesignofCoBe ......................................................... 103
6.2.1 Overview........................................................ 103
6.2.2 OnlineNLoSDetection......................................... 103