Miucic Connected Vehicles

Intelligent Transportation Systems
1. Auflage 2018
ISBN: 978-3-319-94785-3
Verlag: Springer International Publishing
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 272 Seiten

Reihe: Wireless Networks

This book introduces concepts and technologies of Intelligent Transportation Systems (ITS). It describes state of the art safety communication protocol called Dedicated Short Range Communication (DSRC), currently being considered for adoption by the USDOT and automotive industry in the US. However, the principles of this book are applicable even if the underlying physical layer protocol of V2X changes in the future, e.g. V2X changes from DSRC to cellular-based connectivity.   Fundamental ITS concepts include topics like global positioning system; Vehicle to Vehicle (V2V), Vehicle to Pedestrian (V2P), and Vehicle to Infrastructure (V2I) communications; human-machine interface; and security and privacy. Fundamental concepts are sometimes followed by the real-life test experimental results (such as in V2P Chapter) and description of the performance metrics used to evaluate the results. This book also describes equations and math used in the development of the individual parts of the system.   This book surveys current and previous publications for trending research in the ITS domain. It also covers state of the art standards that are in place for the DSRC in the US, starting from the application layer defined in SAE J2735 all the way to physical layer defined in IEEE 802.11.   The authors provide a detailed discussion on what is needed to extend the current standards to accommodate future needs of the vehicle communications, such as needs for future autonomous vehicles. Programs and code examples accompany appropriate chapters, for example, after describing remote vehicle target classification function a pseudo code and description is provided. In addition, the book discusses current topics of the technology such as spectrum sharing, simulation, security, and privacy.   The intended audience for this book includes engineering graduate students, automotive professionals/engineers, researchers and technology enthusiasts.

Autoren/Hrsg.

Miucic, Radovan

Inhaltsverzeichnis

1;Contents;6
2;Introduction;7
2.1;Introduction;7
2.2;List of Chapters;10
2.2.1;Positioning;10
2.2.2;Human Machine Interface;11
2.2.3;A Security Credential Management System for V2X Communications;12
2.2.4;V2V Vehicle Safety Communication;12
2.2.5;Vehicle to Infrastructure Communications;13
2.2.6;Cooperative Vehicle to Pedestrian Safety System;14
2.2.7;5.9 GHz Spectrum Sharing;14
2.2.8;Efficient and High Fidelity DSRC Simulation;15
2.2.9;Applications of Connectivity in Automated Driving;15
3;Positioning;17
3.1;Introduction;17
3.1.1;Motivation;17
3.1.2;Positioning Requirements for Intelligent Transportation Systems;18
3.2;GNSS Principles;19
3.2.1;What Is GPS?;19
3.2.2;Trilateration and Triangulation Concepts;19
3.2.3;Basic Operation of GPS Positioning;21
3.2.4;GPS Architecture;22
3.2.5;Other GNSS Systems;25
3.2.6;Performance;27
3.2.7;Further Resources;27
3.3;Basic GNSS Positioning in Cooperative Vehicles;27
3.3.1;Positioning Device in Vehicle Architecture;28
3.3.2;Positioning Provisions of Communication Protocol;28
3.3.3;Positioning Data Flow in a Connected Vehicle;29
3.3.3.1;Positioning Data in DSRC Message Set;31
3.3.3.2;Path History;31
3.4;GNSS Performance and High-Accuracy Methods;31
3.4.1;Concepts;31
3.4.1.1;Representing Earth: Ellipsoid, Geoid, Terrain, and Heights;31
3.4.1.2;Latitude, Longitude, Ellipsoidal Height;34
3.4.1.3;Different Datums;34
3.4.1.4;Map Projections;35
3.4.1.5;Time;36
3.4.1.6;Signals;38
3.4.1.7;Code Measurement;40
3.4.1.8;Carrier Phase Measurement;42
3.4.1.9;Calculation of Position and Time;42
3.4.1.10;Doppler Effect and Velocity Calculation;44
3.4.2;Errors;46
3.4.2.1;Satellite Clock;46
3.4.2.2;Satellite Orbit;46
3.4.2.3;Ionospheric Delay;47
3.4.2.4;Tropospheric Delay;47
3.4.2.5;Multipath;47
3.4.2.6;Receiver Noise;48
3.4.3;Error Corrections Through High Accuracy Methods;48
3.4.3.1;Differential GPS (DGPS);49
3.4.3.2;Real-Time Kinematic (RTK) GPS;49
3.4.3.3;Precise Point Positioning (PPP);50
3.4.3.4;Performance Comparison;50
3.4.4;Further Resources;50
3.5;Multi-Sensor Fusion for Robust and Accurate Positioning;51
3.5.1;Concept;51
3.5.2;Sensors;52
3.5.2.1;Inertial;52
3.5.2.2;Ranging;53
3.5.2.3;Vision;54
3.5.2.4;Maps;55
3.5.3;Algorithms;55
3.5.3.1;Kalman Filter;56
3.5.3.2;Particle Filter;58
3.5.3.3;Bundle Adjustment;61
3.6;Conclusions;63
3.7;References;63
4;Human Machine Interaction;65
4.1;Introduction;65
4.2;What Is HMI and Why Is It Important?;66
4.3;HMI for Advanced Driver Assistance Systems;67
4.4;Physical and Cognitive Factors Related with HMI;70
4.4.1;Human Senses;70
4.4.1.1;Vision;71
4.4.1.2;Hearing;72
4.4.1.3;Touch;73
4.4.1.4;Other Senses;74
4.4.2;Human Instincts and Learned Responses;74
4.4.3;Cognitive Workload;75
4.4.4;Multimodal HMI and Spatial Matching;76
4.5;Connected Vehicles and HMI;77
4.5.1;Safety Application Illustration: Intersection Movement Assist;77
4.5.2;Reducing the Number of Warnings;80
4.5.3;Verifying the Effectiveness of Warnings;82
4.6;General Conclusions;85
4.7;References;85
5;ASecurityCredentialManagementSystemforV2XCommunications;89
5.1;Introduction;89
5.2;Requirements for a V2X Communications Security System;90
5.3;The Concept of the Security Credential Management System;91
5.3.1;Overview;92
5.3.2;Components;94
5.3.3;Organizational Separation;95
5.3.4;SCMS Use Cases;96
5.3.4.1;Bootstrapping;97
5.3.4.2;Certificate Provisioning;99
5.3.4.3;Removing Misbehaving Devices;103
5.3.4.4;Revocation and Blacklisting;106
5.3.4.5;Elector-Based Root Management;108
5.4;Discussion of Alternatives to the SCMS Concept;110
5.4.1;Symmetric Key Management;110
5.4.2;PKI Solutions;110
5.4.3;Group Signatures;111
5.4.3.1;Static Group Signature Schemes;112
5.4.3.2;Dynamic Group Signature Schemes;113
5.4.3.3;Group Signature Schemes with Verifiable Opening;113
5.4.3.4;Group Signatures with Distributed Authorities;114
5.4.3.5;Group Signatures with Special Properties;114
5.4.3.6;Disadvantages of Group Signatures;115
5.4.4;Vehicle-Based Security System;115
5.4.4.1;Message Authentication;115
5.4.4.2;Architecture;116
5.4.4.3;Group Management;118
5.4.4.4;Comparison VBSS and SCMS;118
5.5;Conclusions;119
5.6;References;120
6;V2V Vehicle Safety Communication;122
6.1;Introduction;122
6.2;NHTSA's V2V NPRM;124
6.2.1;Transmission Requirements;124
6.2.2;V2V Basic Safety Message (BSM) Content;125
6.2.3;Security and Privacy in V2V Communication;127
6.3;DSRC Protocol Stack and Underlying Standards;127
6.3.1;IEEE 1609.0: Guide for Wireless Access in Vehicular Environments (WAVE) Architecture;128
6.3.2;IEEE 1609.2: Security Services for Applications and Management Messages;128
6.3.3;IEEE 1609.3: Network Services;129
6.3.4;IEEE 1609.4: Multi-Channel Operations;129
6.3.5;IEEE 1609.12: Identifier Allocations;129
6.3.6;IEEE 802.11p: Medium Access Control and Physical Layer Specifications for WAVE;129
6.3.7;SAE J2735: DSRC Message Set Dictionary;129
6.3.8;SAE J2945/1: On-Board System Requirements for V2V Safety Communications;130
6.4;System Architecture;130
6.5;Program Flow and Required Components for V2V Safety Applications;131
6.5.1;Path History;132
6.5.2;Host Vehicle Path Prediction (HVPP);133
6.5.3;Target Classification (TC);135
6.5.3.1;Lateral and Longitudinal Offset Computation;136
6.5.3.2;RV Zone Classification Relative to the HV;139
6.5.3.3;Predicted Delta Heading and Classification of RV Direction of Travel Relative to the HV;140
6.5.3.4;Improvements in Lateral Offset Computation by Using Path History;142
6.6;V2V Safety Applications;145
6.6.1;Forward Collision Warning (FCW);145
6.6.2;Electronic Emergency Brake Light (EEBL);146
6.6.3;Intersection Movement Assist (IMA);148
6.6.4;Do Not Pass Warning (DNPW);151
6.6.5;Blind-Spot Warning (BSW)/Lane-Change Warning (LCW);153
6.6.6;Left Turn Assist (LTA);156
6.6.7;Control Loss Warning (CLW);158
6.7;References;160
7;Vehicle to Infrastructure Communications;161
7.1;V2I Overview;161
7.2;V2I Messages;162
7.2.1;MapData (MAP);163
7.2.1.1;Message Structure;163
7.2.2;Signal Phase and Time (SPaT);164
7.2.2.1;Message Structure;165
7.2.3;Traveler Information Message (TIM);167
7.2.3.1;Message Structure;167
7.2.4;Basic Information/Infrastructure Message (BIM);168
7.2.4.1;Message Structure;169
7.3;Use Cases and Application Concepts;170
7.3.1;Red Light Violation Warning (RLVW);170
7.3.1.1;Concept of Operation;170
7.3.2;Curve Speed Warning (CSW);171
7.3.2.1;Concept of Operation;172
7.3.3;Reduced Speed Work Zone Warning (RSZW);173
7.3.3.1;Concept of Operation;174
7.3.4;Stop Sign Gap Assist (SSGA);174
7.3.5;Pedestrian in Signalized Crosswalk (PCW);174
7.3.6;Spot Weather Impact Warning (SWIW);175
7.3.7;Oversize Vehicle Warning (OVW);175
7.3.8;Railroad Crossing Violation Warning (RCVW);176
7.4;V2I Deployment Activities in the U.S.;176
7.4.1;Safety Pilot Model Deployment (SPMD);176
7.4.2;Connected Vehicle Pilot Program;178
7.4.2.1;New York City DOT (NYCDOT) Pilot;178
7.4.2.2;Tampa-Hillsborough Expressway Authority (THEA) Pilot;179
7.4.2.3;Wyoming DOT (WYDOT) Pilot;180
7.4.3;Smart City of Columbus (SCC);182
7.5;References;182
8;Cooperative Vehicle to Pedestrian Safety System;184
8.1;Introduction;184
8.2;Motivation;184
8.3;Comparison of DSRC and Vision V2P;187
8.4;V2P System Architecture;189
8.4.1;Vehicle System Design;189
8.4.2;Smartphone System Design;189
8.4.2.1;Firmware and Driver Modifications;191
8.4.2.2;Services;191
8.4.3;V2P Messaging;192
8.4.4;V2P Algorithm in the Vehicle;194
8.4.5;Vehicle Warning Strategy;194
8.5;Test Setup;196
8.5.1;Results;197
8.5.1.1;Communication Performance;197
8.5.1.2;Application Performance;199
8.6;Future Work;201
8.6.1;Positioning Accuracy Enhancement;201
8.6.2;False Alarm Suppression;202
8.6.3;Spectrum and Channel Congestion: Potential Crash Warning Options;202
8.7;Conclusion;203
8.8;References;204
9;5.9 GHz Spectrum Sharing;205
9.1;Introduction;205
9.2;Interference Avoidance Techniques Used for Wireless Local Area Network (WLAN);207
9.2.1;Clear Channel Assessment;207
9.2.2;Dynamic Frequency Selection;208
9.3;5.9 GHz Band Spectrum Sharing;208
9.4;Interference Types;209
9.4.1;Co-channel Interference;209
9.4.2;Cross-Channel Interference;210
9.5;Interference Mitigation Approaches Designed for ITS Bands;211
9.5.1;Proposal 1: Detect and Avoid (DAA);212
9.5.2;Proposal 2: Sharing Using Modified DSRC Channelization (Re-channelization);214
9.6;Conclusion;216
9.7;References;217
10;Efficient and High Fidelity DSRC Simulation;219
10.1;Introduction;219
10.1.1;Wireless Channel Models;220
10.1.2;Node Model;222
10.1.3;Mobility and Environment Models;223
10.2;Node Model;223
10.2.1;Frame Structure;224
10.2.2;Receiver Frame Processing Model;225
10.2.2.1;Interference Model;225
10.2.2.2;PHY State;227
10.2.2.3;Frame Detection and Decoding Steps;228
10.2.3;Frame Capture Feature;231
10.2.3.1;Frame Capture Scenarios;231
10.2.3.2;Frame Capture Implementation;232
10.2.3.3;Threshold Value Selection;234
10.3;Channel Model;235
10.3.1;Channel Model Components;236
10.3.1.1;Large-Scale Path-Loss Model;236
10.3.1.2;Fading Model;238
10.3.1.3;Channel Model Chaining;238
10.4;Receiver Frame Process Model Validation;239
10.4.1;Verification of Frame Capture Implementation;239
10.4.2;Overall Receiver Model Validation;241
10.5;Conclusion;243
10.6;References;244
11;Applications of Connectivity in Automated Driving;246
11.1;System Model;246
11.1.1;Sensor Setup;246
11.1.2;State Vector Representation;248
11.1.3;Measurement Vector Representation;251
11.1.4;Coordinate Systems;252
11.2;Cooperative Localization and Mapping Fusion Algorithm;253
11.2.1;Cooperative Localization Subsystem;253
11.2.1.1;Tracking and Synchronization;255
11.2.1.2;Multi-Sensor Multi-Target Track Association (MTA);256
11.2.1.3;Data Fusion (DF);257
11.2.2;Cooperative Mapping Subsystem;258
11.2.2.1;Process Model;258
11.2.2.2;Measurement Models;259
11.3;Experiment Set-Up;262
11.3.1;Test Vehicle, Equipment, and Data Collection;262
11.3.2;Test Route and Reference Road Geometry;262
11.3.3;Ground Truth Calculation;263
11.4;Performance Evaluation and Results;264
11.4.1;Performance Metrics and Parameters;265
11.4.2;Results;266
11.5;References;271