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The suggested benefits of automated vehicles are plentiful, but many of the benefits depend on connectivity with other vehicles and infrastructure to be useful to the society at large. This paper identifies two main research gaps: first, to identify whether ITS-G5 can be a reliable communication link for V2V communication. Second, to discuss which implications the results have for practitioners working with the future implementation of CAVs. We answer these research gaps by introducing a conceptualization of V2V communication operationalized through controlled experiments with vehicles on a closed runway. In the experiments, onboard ITS-G5 communication devices are used for measuring signal strength and package loss between the vehicles. The results indicate that ITS-G5 technology has some limitations, especially for long range communication (>1500 m), and in cases with other traffic shadowing the signal. We conclude that although ITS-G5 has high risk of reduced radio link in non-line-of-sight situations and in situations where the radio signal is shadowed by other traffic, the latency and operational range would be sufficient for safety critical services in line-of-sight situations. For policymakers and practitioners working with implementing communication for vehicles, the results imply that large-scale piloting is critical for testing the technology in a realistic environment outside of the laboratories. In such environments different stakeholders and disciplines can meet and collaborate to avoid siloed approaches.

In the coming years, connectivity between vehicles with autonomous driving features and roadside infrastructure will become more and more a reality on our roads, pursuing to improve road safety and traffic efficiency. In this regard, two main communication standards are considered as key enablers, that is ITS-G5 (based on IEEE 802.11p) and C-V2X (3GPP). To assess the real performance of these technologies, there is still need for an objective and independent one-to-one comparison of these technologies using off-the-shelf hardware under identical and real-life traffic conditions. Until today, performance evaluations are limited to simulations, emulations or individual technology assessments in real-life circumstances. In this paper, an exhaustive and fair evaluation of the technologies has been conducted in a real-life highway environment under identical conditions. Tailored evaluation tools in combination with our in-house CAMINO vehicular framework has been utilized to perform the tests and analyze the results for different well-specified test cases. The performance evaluation shows that for the short-range technologies, C-V2X PC5 has, in general, a higher range than ITS-G5, while ITS-G5 offers lower latency than C-V2X PC5 in low-density scenarios. Long-range 4G C-V2X can be considered as an alternative for certain use cases. The outcome of this experimentation study can be used as valuable information for the further development of future (5G) connected and autonomous driving.

Our modern society is in constant change. The significant technological advances of the past decades have led to unprecedented prosperity but have also come along with great new challenges. A high demand for mobility and the vast deployment of transportation systems have made traffic accidents the most likely cause of death for children and young adults worldwide. To counteract this, traffic authorities around the world place their hopes in the development of Connected Intelligent Transportation Systems (C-ITS). Vehicle-to-Everything (V2X) communication is currently being introduced to enable road users and infrastructure to exchange relevant information to provide the required basis for decision-making. The rapidly growing amount of data managed by V2X services, e.g., for improved satellite navigation, warning of critical traffic situations, sharing of sensor-detected objects, and maneuver coordination, however, pushes the resilience of the wireless communication channel to its limits. Current approaches allocating communication resources within the network are either channel-load agnostic or message-content agnostic, leading to relevant performance impairments. In the scope of this doctoral work, the underlying decentralized resource allocation problem is formalized, and a comprehensive solution is proposed with application examples for the cutting-edge V2X services Collective Perception, Collaborative Localization, and Maneuver Co-ordination: The VALue of INFormation driven Distributed Resource Allocation protocol VALINDRA. It allows to maximize the value of information effectively disseminated within the network. After a thorough analytical examination and a comparison with state-of-the-art V2X protocols, VALINDRA is investigated in simulation and with real-world data for urban and highway scenarios. Both the comparison with the prior art and the simulative investigation evidence considerable improvements in terms of V2X channel utilization, achieved localization and object-tracking accuracies, environmental perception, and traffic safety, among others., Unsere Gesellschaft ist in ständigem Wandel. Insbesondere die zahlreichen technologischen Fortschritte der vergangenen Jahrzehnte führten zu niemals dagewesenem Wohlstand, sind aber auch mit neuen großen Herausforderungen verbunden. So ist die wahrscheinlichste Todesursache für Kinder und junge Erwachsene weltweit, aufgrund des massiven Ausbaus moderner Verkehrssysteme, mit großem Abstand ein Verkehrsunfall. Die größte Hoffnung etablierter Verkehrsbehörden weltweit sind die intelligente Vernetzung und die Automatisierung des Verkehrs. Mittels Fahrzeug-zu-Alles (V2X; engl. Vehicle-to-Everything) Kommunikation sollen Verkehrsteilnehmer und Infrastruktur relevante Informationen austauschen können, um eine solide Entscheidungsgrundlage zu schaffen. Die rasant wachsende Anzahl mittels V2X Diensten ausgetauschter Daten, u.A. zur verbesserten Satelliten-gestützten Navigation, Warnung vor kritischen Verkehrssituationen, dem Teilen von Sensor-detektierten Objekten und der Manöverabstimmung, bringt die Belastbarkeit des drahtlosen Kommunikations-kanals jedoch an ihre Grenzen. Gegenwärtige Ansätze zum Zuweisen von Kommunikationsressourcen innerhalb der Fahrzeugnetzwerke sind entweder unabhängig von der Anzahl verfügbarer Ressourcen oder vom Wert der zu übermittelnden Informationen, was zu erheblichen Leistungsverlusten führt. Im Rahmen dieses Promotionsvorhabens wird das zugrundeliegende dezentrale Ressourcenallokationsproblem formalisiert und eine umfassende Lösung mit Anwendungsbeispielen für die wegweisenden V2X-Dienste Collective Perception, Collaborative Localization und Maneuver Coordination vorgeschlagen: VALINDRA (engl. „The VALue of INFormation driven Distributed Resource Allocation protocol”). Nach einer gründlichen analytischen Untersuchung und einem Vergleich mit etablierten V2X-Protokollen wird VALINDRA simulativ und mit realen Daten in Stadt- und Autobahnumgebungen untersucht. Sowohl der Vergleich mit dem Stand der Technik als auch die simulative Untersuchung offenbaren deutliche Verbesserungen in Bezug auf die erreichte Kanalauslastung, Umgebungs-wahrnehmung, Navigations- und Objekttrackinggenauigkeiten, und Verkehrs-sicherheit unter anderem., 我们的现代社会在不断变化。过去几十年的巨大技术进步带来了前所未有的繁荣，但也带来了巨大的新挑战。对流动性的高需求和交通系统的广泛部署使交通事故成为全球儿童和年轻人最可能的死亡原因。为了解决这个问题，世界各地的交通当局部门都寄希望于互联智能交通系统 (C-ITS) 的发展。目前正在被引入的车辆对一切 (V2X) 通信，以使道路使用者和基础设施能够交换相关信息，为决策提供所需的基础。然而，来自 V2X 服务的数据量迅速增长，例如用于改进卫星导航、危急交通情况警告、传感器检测对象的共享以及机动协调，将无线通信信道的弹性推到了极限。当前在网络内分配通信资源的方法要么与信道负载无关，要么与消息内容无关，从而导致相关的性能损失。在本博士工作的范围内，对底层的分散资源分配问题进行了形式化，并提出了一个综合解决方案，同时并提供了尖端 V2X 服务集体感知、协作定位和机动协调的应用示例：VALINDRA (英语 „The VALue of INFormation driven Distributed Resource Allocation protocol”）。经过彻底的分析检查并与最先进的 V2X 协议进行比较后，使用在城市和高速公路场景中的模拟数据以及真实数据对VALINDRA 在模拟和城市和高速公路场景的真实世界数据中进行了研究。与现有技术的比较和模拟研究调查都证明了其在 V2X 通道利用方面非常有希望的结果，提供了定位和对象跟踪的准确性、环境感知和交通安全等。V2X通道的利用，提供的定位和物体追踪的准确性，环境感知和交通安全上有非常好的结果。

VANETs (Vehicular Ad hoc Networks) operating in conjunction with road-side infrastructure connecting road-side infrastructure are an emerging field of wireless communication technology in the vehicular communication’s domain. For VANETs, the IEEE 802.11p-based ITS-G5 is one of the key standards for communication globally. This research work integrates the ITS-G5 with a cellular-based 5G Test Network (5GTN). The resulting advanced heterogeneous Vehicular Network (VN) test-bed works as an effective platform for traffic safety between vehicles and road-side-infrastructure. This test-bed network provides a flexible framework to exploit vehicle-based weather data and road observation information, creating a service architecture for VANETs that supports real-time intelligent traffic services. The network studied in this paper aims to deliver improved road safety by providing real-time weather forecast, road friction information and road traffic related services. This article presents the implementation of a realistic test-bed in Northern Finland and the field measurement results of the heterogeneous VANETs considering the speed of vehicle, latency, good-put time and throughput. The field measurement results have been obtained in a state-of-the-art hybrid VANET system supporting special road weather services. Based on field measurement results, we suggest an efficient solution for a comprehensive hybrid vehicular networking infrastructure exploiting road weather information.

VANETs (Vehicular Ad hoc Networks) operating in conjunction with road-side infrastructure connecting road-side infrastructure are an emerging field of wireless communication technology in the vehicular communication’s domain. For VANETs, the IEEE 802.11p-based ITS-G5 is one of the key standards for communication globally. This research work integrates the ITS-G5 with a cellular-based 5G Test Network (5GTN). The resulting advanced heterogeneous Vehicular Network (VN) test-bed works as an effective platform for traffic safety between vehicles and road-side-infrastructure. This test-bed network provides a flexible framework to exploit vehicle-based weather data and road observation information, creating a service architecture for VANETs that supports real-time intelligent traffic services. The network studied in this paper aims to deliver improved road safety by providing real-time weather forecast, road friction information and road traffic related services. This article presents the implementation of a realistic test-bed in Northern Finland and the field measurement results of the heterogeneous VANETs considering the speed of vehicle, latency, good-put time and throughput. The field measurement results have been obtained in a state-of-the-art hybrid VANET system supporting special road weather services. Based on field measurement results, we suggest an efficient solution for a comprehensive hybrid vehicular networking infrastructure exploiting road weather information.

Cooperative Adaptive Cruise Control (CACC) extends the Adaptive Cruise Control with the additional information exchange between vehicles over vehicle-to-everything (V2X) communications in an ad-hoc network at 5.9 GHz band (ITS-G5) in Europe. Using the beyond-line-of-sight information provided by V2X, the platoon control algorithms realize a shorter safe inter-vehicle distance. Nevertheless, the platoon performance (e.g., the safe inter-vehicle distance) can be easily impacted by the imperfectness of wireless communications. Specifically, in congested traffic scenarios Decentralized Congestion Control algorithms (e.g., Transmit Rate Control (TRC) that regulates message rate based on congestion level) may negatively influence the platoon performance. In this work, we propose an evaluation platform for platoon control algorithms based on industrial V2X nodes operating in the ITS-G5 channels. The real car is simulated by a longitudinal vehicle dynamic model. The model-in-the loop test results demonstrate that the performance of CACC goes down significantly when the message rate is restricted and reduced by TRC. Our evaluation results further conclude that the effect of such complex communication scenarios imposed by the existing standards should be explicitly modelled in the future platoon control algorithms.

National audience; In recent years many research projects in Europe such as InterCor, Scoop, Corridor, and C-Roads have focused on cooperative intelligent transport systems (C-ITS). The C-ITS consist of connecting vehicles to each other (V2V) and to infrastructures (V2I) in order to decrease the accident rate in the road and make life easier for users. The European Telecommunications Standards Institute ( ETSI ) has adopted the ITS-G5 (the European norms IEEE 802.11p) as the Standards of V2x communications in Europe. This norm is based on the OFDM modulation. Vehicular communication is characterized by a dynamic environment, high mobility, and fast variation of the characteristic of transmission channels. Due to these characteristics, the channel estimation is critical for system performances. Our work is focused on the evaluation of different channel estimation techniques with different types of modulation schemes used for each subcarrier of the OFDM modulations in different environments.

Report del progetto v2X secondo anno

Progetto V2X, terzo deliverable del secondo anno

rapprto del progetto v2X, secondo deliverable secondo anno

Cooperative intelligent transport systems (C-ITS) based on Vehicle2X (V2X) communication are currently under development in the automotive industry and regarded to be in mass-production in the near future. In order to develop and test cooperative ITS services, the Institute of Transportation Systems of the German Aerospace Center (DLR) operates a large-scale test site in the city of Braunschweig, Germany. This research infrastructure facilitates test activities, measurements as well as evaluation activities for C-ITS in a real-life environment.

A dataset of measurements of ETSI ITS-G5 Dedicated Short Range Communications (DSRC) is presented. Our dataset consists of network interactions happening between two On-Board Units (OBUs) and four Road Side Units (RSUs). Each OBU was fitted onto a vehicle driven across the FLOURISH Test Track in Bristol, UK. Each RSU and OBU was equipped with two transceivers operating at different frequencies. During our experiments, each transceiver broadcasts Cooperative Awareness Messages (CAMs) over the licensed DSRC band, and over the unlicensed Industrial, Scientific, and Medical radio (ISM) bands 2.4GHz-2.5GHz and 5.725GHz-5.875GHz. Each transmitted and received CAM is logged along with its Received Signal Strength Indicator (RSSI) value and accurate positioning information. The Media Access Control layer (MAC) layer Packet Delivery Rates (PDRs) and RSSI values are also empirically calculated across the whole length of the track for any transceiver. The dataset can be used to derive realistic approximations of the PDR as a function of RSSI values under urban environments and for both the DSRC and ISM bands -- thus, the dataset is suitable to calibrate (simplified) physical layers of full-stack vehicular simulators where the MAC layer PDR is a direct function of the RSSI. The dataset is not intended to be used for signal propagation modelling. The dataset can be found at https://doi.org/10.5523/bris.eupowp7h3jl525yxhm3521f57 , and it has been analyzed in the following paper: I. Mavromatis, A. Tassi, and R. J. Piechocki, "Operating ITS-G5 DSRC over Unlicensed Bands: A City-Scale Performance Evaluation," IEEE PIMRC 2019. [Online]. Available: arXiv:1904.00464., Manuscript submitted to Elsevier Data in Brief

Vehicle platooning, where vehicles drive in a convoy with small relative distance, is a promising technology for road transportation. In particular, for Electric Vehicles (EVs), platoon of EVs (e-platoon) can help EVs not only reduce energy consumption but also allow them to exchange energy and charge their battery from a moving electric source on the fly. E-platooning requires Vehicle-to-Vehicle (V2V) communication with very frequent information exchange and very high reliability between vehicles. This poses a big challenge on the communication system especially when e-platooning coexists with other safety-related applications in a mixed traffic scenario. In this work, we consider communication protocols based on ITS-G5 in the Control Channel (CCH) for e-platoon. We propose to use an additional with antennas for communication between e-platoon members and a deterministic distributed scheduling scheme together with dynamic switching of antenna beams. Simulations show that the our protocol can improve the performance of the communication between e-platoon members by reducing the Update Delay (UD) significantly.