A Survey of Vehicle to Everything (V2X) Testing

Anonymity Assurance Using Efficient Pseudonym Consumption in Internet of Vehicles

The Internet of vehicles (IoVs) is an innovative paradigm which ensures a safe journey by communicating with other vehicles. It involves a basic safety message (BSM) that contains sensitive information in a plain text that can be subverted by an adversary. To reduce such attacks, a pool of pseudonyms is allotted which are changed regularly in different zones or contexts. In base schemes, the BSM is sent to neighbors just by considering their speed. However, this parameter is not enough because network topology is very dynamic and vehicles can change their route at any time. This problem increases pseudonym consumption which ultimately increases communication overhead, increases traceability and has high BSM loss. This paper presents an efficient pseudonym consumption protocol (EPCP) which considers the vehicles in the same direction, and similar estimated location. The BSM is shared only to these relevant vehicles. The performance of the purposed scheme in contrast to base schemes is validated via extensive simulations. The results prove that the proposed EPCP technique outperformed compared to its counterparts in terms of pseudonym consumption, BSM loss rate and achieved traceability.

Battery-Powered RSU Running Time Monitoring and Prediction Using ML Model Based on Received Signal Strength and Data Transmission Frequency in V2I Applications

The application of the Internet of Things (IoT), vehicles to infrastructure (V2I) communication and intelligent roadside units (RSU) are promising paradigms to improve road traffic safety. However, for the RSUs to communicate with the vehicles and transmit the data to the remote location, RSUs require enough power and good network quality. Recent advances in technology have improved lithium-ion battery capabilities. However, other complementary methodologies including battery management systems (BMS) have to be developed to provide an early warning sign of the battery's state of health. In this paper, we have evaluated the impact of the received signal strength indication (RSSI) and the current consumption at different transmission frequencies on a static battery-based RSU that depends on the global system for mobile communications (GSM)/general packet radio services (GPRS). Machine learning (ML) models, for instance, Random Forest (RF) and Support Vector Machine (SVM), were employed and tested on the collected data and later compared using the coefficient of determination (R2). The models were used to predict the battery current consumption based on the RSSI of the location where the RSUs were imposed and the frequency at which the RSU transmits the data to the remote database. The RF was preferable to SVM for predicting current consumption with an R2 of 98% and 94%, respectively. It is essential to accurately forecast the battery health of RSUs to assess their dependability and running time. The primary duty of the BMS is to estimate the status of the battery and its dynamic operating limits. However, achieving an accurate and robust battery state of charge remains a significant challenge. Referring to that can help road managers make alternative decisions, such as replacing the battery before the RSU power source gets drained. The proposed method can be deployed in other remote WSN and IoT-based applications.

Simulation-Based Cybersecurity Testing and Evaluation Method for Connected Car V2X Application Using Virtual Machine

In a connected car, the vehicle's internal network is connected to the outside through communication technology. However, this can cause new security vulnerabilities. In particular, V2X communication, to provide the safety of connected cars, can directly threaten the lives of passengers if a security attack occurs. For V2X communication security, standards such as IEEE 1609.2 define the technical functions that digital signature and encryption to provide security of V2X messages. However, it is difficult to verify the security technology by applying it to the environment with real roads because it can be made up of other safety accidents. In addition, vehicle simulation R&D is steadily being carried out, but there is no simulation that evaluates security for the V2X application level. Therefore, in this paper, a virtual machine was used to implement a V2X communication simulation environment that satisfies the requirements for the security evaluation of connected cars. Then, we proposed scenarios for cybersecurity testing and evaluation, implemented and verified through CANoe Option.Car2X. Through this, it is possible to perform sufficient preliminary verification to minimize the variables before verifying security technology in a real road environment.

How I Met Your V2X Sensor Data: Analysis of Projection-Based Light Field Visualization for Vehicle-to-Everything Communication Protocols and Use Cases

The practical usage of V2X communication protocols started emerging in recent years. Data built on sensor information are displayed via onboard units and smart devices. However, perceptually obtaining such data may be counterproductive in terms of visual attention, particularly in the case of safety-related applications. Using the windshield as a display may solve this issue, but switching between 2D information and the 3D reality of traffic may introduce issues of its own. To overcome such difficulties, automotive light field visualization is introduced. In this paper, we investigate the visualization of V2X communication protocols and use cases via projection-based light field technology. Our work is motivated by the abundance of V2X sensor data, the low latency of V2X data transfer, the availability of automotive light field prototypes, the prevalent dominance of non-autonomous and non-remote driving, and the lack of V2X-based light field solutions. As our primary contributions, we provide a comprehensive technological review of light field and V2X communication, a set of recommendations for design and implementation, an extensive discussion and implication analysis, the exploration of utilization based on standardized protocols, and use-case-specific considerations.

A Safety-Aware Location Privacy-Preserving IoV Scheme with Road Congestion-Estimation in Mobile Edge Computing

By leveraging the conventional Vehicular Ad-hoc Networks (VANETs), the Internet of Vehicles (IoV) paradigm has attracted the attention of different research and development bodies. However, IoV deployment is still at stake as many security and privacy issues are looming; location tracking using overheard safety messages is a good example of such issues. In the context of location privacy, many schemes have been deployed to mitigate the adversary's exploiting abilities. The most appealing schemes are those using the silent period feature, since they provide an acceptable level of privacy. Unfortunately, the cost of silent periods in most schemes is the trade-off between privacy and safety, as these schemes do not consider the timing of silent periods from the perspective of safety. In this paper, and by exploiting the nature of public transport and role vehicles (overseers), we propose a novel location privacy scheme, called OVR, that uses the silent period feature by letting the overseers ensure safety and allowing other vehicles to enter into silence mode, thus enhancing their location privacy. This scheme is inspired by the well-known war strategy "Give up a Pawn to Save a Chariot". Additionally, the scheme does support road congestion estimation in real time by enabling the estimation locally on their On-Board Units that act as mobile edge servers and deliver these data to a static edge server that is implemented at the cell tower or road-side unit level, which boosts the connectivity and reduces network latencies. When OVR is compared with other schemes in urban and highway models, the overall results show its beneficial use.

Review on Functional Testing Scenario Library Generation for Connected and Automated Vehicles

The advancement of autonomous driving technology has had a significant impact on both transportation networks and people's lives. Connected and automated vehicles as well as the surrounding driving environment are increasingly exchanging information. The traditional open road test or closed field test, which has large costs, lengthy durations, and few diverse test scenarios, cannot satisfy the autonomous driving system's need for reliable and safe testing. Functional testing is the emphasis of the test since features such as frontal collision and traffic sign warning influence driving safety. As a result, simulation testing will undoubtedly emerge as a new technique for unmanned vehicle testing. A crucial aspect of simulation testing is the creation of test scenarios. With an emphasis on the map generating method and the dynamic scenario production method in the test scenarios, this article explains many scenarios and scenario construction techniques utilized in the process of self-driving car testing. A thorough analysis of the state of relevant research is conducted, and approaches for creating common scenarios as well as brand-new methods based on machine learning are emphasized.

Assessment of SAR in Road-Users from 5G-V2X Vehicular Connectivity Based on Computational Simulations

(1) Background: Cooperative Intelligent Transportation Systems (C-ITS) will soon operate using 5G New-Radio (NR) wireless communication, overcoming the limitations of the current V2X (Vehicle-to-Everything) wireless communication technologies and increasing road-safety and driving efficiency. These innovations will also change the RF exposure levels of pedestrians and road-users in general. These people, in fact, will be exposed to additional RF sources coming from nearby cars and from the infrastructure. Therefore, an exposure assessment of people in the proximity of a connected car is necessary and urgent. (2) Methods: Two array antennas for 5G-V2X communication at 3.5 GHz were modelled and mounted on a realistic 3D car model for evaluating the exposure levels of a human model representing people on the road near the car. Computational simulations were conducted using the FDTD solver implemented in the Sim4Life platform; different positions and orientations between the car and the human model were assessed. The analyzed quantities were the Specific Absorption Rate on the whole body (SAR_wb), averaged over 10 g (SAR_10g) in specific tissues, as indicated in the ICNIRP guidelines. (3) Results: the data showed that the highest exposure levels were obtained mostly in the head area of the human model, with the highest peak obtained in the configuration where the main beam of the 5G-V2X antennas was more direct towards the human model. Moreover, in all configurations, the dose absorbed by a pedestrian was well below the ICNIRP guidelines to avoid harmful effects. (4) Conclusions: This work is the first study on human exposure assessment in a 5G-V2X scenario, and it expands the knowledge about the exposure levels for the forthcoming use of 5G in connected vehicles.

Impact of the Light-Duty Vehicles’ Storage and Travel Demand on the Sustainable Exploitation of Available Resources and Air Pollution Abatement

Light-duty vehicles are the predominant means of road transport. As the world population is expected to increase significantly in the following decades, so too will the car fleet. Due to the rising population, and the implicitly higher travel demand, the energy demand of cars will increase too, and this will put a strain on current resources, with negative effects on the supply chain, possibly leading to more pollution. Many of the current sustainable transport models and frameworks attempt to predict the vehicle market share for different powertrains and the resulting impact based on scenarios that cater to the automotive market and industry demands. At the same time, most neglect aspects regarding resources’ depletion and storage demand. In this sense, this study proposes a coherent testing methodology based on the ratio between demand and supply in order to address the limitations of these studies, mainly related to the sustainable exploitation of available resources, which are analyzed herein in correlation with the current predictions. A sensitivity analysis is provided in order to evaluate the uncertainty of utilized predictions. As a result of this analysis, two novel scenarios for assessing the evolution of the vehicle market share are proposed by the authors. When compared to similar scenarios, it was shown that the proposed scenarios lead to noticeable benefits in reducing dependency on the resources associated with a demand of energy and raw materials and in mitigating air pollution, including related costs.

A Hardware-in-the-Loop V2X Simulation Framework: CarTest

Vehicle to Everything (V2X) technology is fast evolving, and it will soon transform our driving experience. Vehicles employ On-Board Units (OBUs) to interact with various V2X devices, and these data are used for calculation and detection. Safety, efficiency, and information services are among its core uses, which are currently in the testing stage. Developers gather logs during the real field test to see if the application is fair. Field testing, on the other hand, has low efficiency, coverage, controllability, and stability, as well as the inability to recreate extreme hazardous scenarios. The shortcomings of actual road testing can be compensated for by indoor testing. An HIL-based laboratory simulation test framework for V2X-related testing is built in this study, together with the relevant test cases and a test evaluation system. The framework can test common applications such as Forward Collision Warning (FCW), Intersection Collision Warning (ICW) and others, as well as more advanced features such as Cooperative Adaptive Cruise Control (CACC) testing and Global Navigation Satellite System (GNSS) injection testing. The results of the tests reveal that the framework (CarTest) has reliable output, strong repeatability, the capacity to simulate severe danger scenarios, and is highly scalable, according to this study. Meanwhile, for the benefit of researchers, this publication highlights several relevant HIL challenges and solutions.

Usage of V2X Applications in Road Tunnels

Many smart city applications work with calculated position and time using the Global Navigation Satellite System (GNSS) signals for enhanced precision. However, there are many places where the availability of GNSS is limited, e.g., road tunnels, which are an essential part of transport infrastructure. Tunnels also require greater attention and greater importance of approaches to ensure the safety and security aspects of traffic. The safety, distribution of information, awareness, and smooth traffic can also be ensured by V2X applications, but the current position is also needed. An experimental analysis of data connection and communication availability was performed in the Blanka tunnel (Prague) and its surroundings. The main objective of the work was to find and clearly describe the tunnel blind spots, with an emphasis on communication between cars and potentially between cars and infrastructure. This article summarizes the evaluation results of the V2X tunnel experimental test, the outputs from the analysis of these blind spots, and it provides a future perspective and suggestions that make tunnels smart by using advanced positioning approaches.

Performance Evaluation of VANET Routing Protocols in Madinah City

Traffic management challenges in peak seasons for popular destinations such as Madinah city have accelerated the need for and introduction of autonomous vehicles and Vehicular ad hoc networks (VANETs) to assist in communication and alleviation of traffic congestions. The primary goal of this study is to evaluate the performance of communication routing protocols in VANETs between autonomous and human-driven vehicles in Madinah city in varying traffic conditions. A simulation of assorted traffic distributions and densities were modeled in an extracted map of Madinah city and then tested in two application scenarios with three ad hoc routing protocols using a combination of traffic and network simulation tools working in tandem. The results measured for the average trip time show that opting for a fully autonomous vehicle scenario reduces the trip time of vehicles by approximately 7.1% in high traffic densities and that the reactive ad hoc routing protocols induce the least delay for network packets to reach neighboring VANET vehicles. From these observations, it can be asserted that autonomous vehicles provide a significant reduction in travel time and that either of the two reactive ad hoc routing protocols could be implemented for the VANET implementation in Madinah city. Furthermore, we perform an ANOVA test to examine the effects of the factors that are considered in our study on the variation of the results.

Connected Vehicles: Technology Review, State of the Art, Challenges and Opportunities

In an effort to reach accident-free milestones or drastically reduce/eliminate road fatalities rates and traffic congestion and to create disruptive, transformational mobility systems and services, different parties (e.g., automakers, universities, governments, and road traffic regulators) have collaborated to research, develop, and test connected vehicle (CV) technologies. CVs create new data-rich environments and are considered key enablers for many applications and services that will make our roads safer, less congested, and more eco-friendly. A deeper understanding of the CV technologies will pave the way to avoid setbacks and will help in developing more innovative applications and breakthroughs. In the CV paradigm, vehicles become smarter by communicating with nearby vehicles, connected infrastructure, and the surroundings. This connectivity will be substantial to support different features and systems, such as adaptive routing, real-time navigation, and slow and near real-time infrastructure. Further examples include environmental sensing, advanced driver-assistance systems, automated driving systems, mobility on demand, and mobility as a service. This article provides a comprehensive review on CV technologies including fundamental challenges, state-of-the-art enabling technologies, innovative applications, and potential opportunities that can benefit automakers, customers, and businesses. The current standardization efforts of the forefront enabling technologies, such as Wi-Fi 6 and 5G-cellular technologies are also reviewed. Different challenges in terms of cooperative computation, privacy/security, and over-the-air updates are discussed. Safety and non-safety applications are described and possible future opportunities that CV technology brings to our life are also highlighted.

Influence of Vision on Drivers: A Pilot Study

Background: Driving is the main mode of transportation in many countries, and visual safety depends largely on good visual health. The objective of this study is to analyze the visual health of Spanish drivers; as well as analyze the difference between professional and non-professional drivers. Methods: A visual screening was carried out in Spanish drivers from all over Spain, in which the following tests were performed: monocular visual acuity in distance and near vision, visual field, stereopsis, contrast sensitivity, intraocular pressure and balance test binocular. Subsequently, a questionnaire was carried out on the patient’s driving data and ocular antecedents. Results: 74.5% of the drivers used glasses to drive, of which 61.5% used progressive glasses. However, 39.4% reported having difficulties seeing well. The mean visual acuity in the distance and near was 0.93 ± 0.13 and 0.94 ± 0.13, respectively. Significant differences have been found in accident risk based on visual acuity (p < 0.001). But no significant differences have been found in terms of visual field, stereopsis, contrast sensitivity, binocular balance and intraocular pressure (p > 0.05). Conclusion: Vision appears to play a key role in driving and a good visual assessment is recommended for early detection of visual problems that may affect road safety. A study with a larger sample size would be necessary to confirm the results of this pilot study.

Enhancing 5G Small Cell Selection: A Neural Network and IoV-Based Approach

The ultra-dense network (UDN) is one of the key technologies in fifth generation (5G) networks. It is used to enhance the system capacity issue by deploying small cells at high density. In 5G UDNs, the cell selection process requires high computational complexity, so it is considered to be an open NP-hard problem. Internet of Vehicles (IoV) technology has become a new trend that aims to connect vehicles, people, infrastructure and networks to improve a transportation system. In this paper, we propose a machine-learning and IoV-based cell selection scheme called Artificial Neural Network Cell Selection (ANN-CS). It aims to select the small cell that has the longest dwell time. A feed-forward back-propagation ANN (FFBP-ANN) was trained to perform the selection task, based on moving vehicle information. Real datasets of vehicles and base stations (BSs), collected in Los Angeles, were used for training and evaluation purposes. Simulation results show that the trained ANN model has high accuracy, with a very low percentage of errors. In addition, the proposed ANN-CS decreases the handover rate by up to 33.33% and increases the dwell time by up to 15.47%, thereby minimizing the number of unsuccessful and unnecessary handovers (HOs). Furthermore, it led to an enhancement in terms of the downlink throughput achieved by vehicles.

Sensors for Sustainable Smart Cities: A Review

Experts confirm that 85% of the world’s population is expected to live in cities by 2050. Therefore, cities should be prepared to satisfy the needs of their citizens and provide the best services. The idea of a city of the future is commonly represented by the smart city, which is a more efficient system that optimizes its resources and services, through the use of monitoring and communication technology. Thus, one of the steps towards sustainability for cities around the world is to make a transition into smart cities. Here, sensors play an important role in the system, as they gather relevant information from the city, citizens, and the corresponding communication networks that transfer the information in real-time. Although the use of these sensors is diverse, their application can be categorized in six different groups: energy, health, mobility, security, water, and waste management. Based on these groups, this review presents an analysis of different sensors that are typically used in efforts toward creating smart cities. Insights about different applications and communication systems are provided, as well as the main opportunities and challenges faced when making a transition to a smart city. Ultimately, this process is not only about smart urban infrastructure, but more importantly about how these new sensing capabilities and digitization developments improve quality of life. Smarter communities are those that socialize, adapt, and invest through transparent and inclusive community engagement in these technologies based on local and regional societal needs and values. Cyber security disruptions and privacy remain chief vulnerabilities.

Regulatory and Technical Constraints: An Overview of the Technical Possibilities and Regulatory Limitations of Vehicle Telematic Data

A telematics device is a vehicle instrument that comes preinstalled by the vehicle manufacturer or can be added later. The device records information about driving behavior, including speed, acceleration, and turning force. When connected to vehicle computers, the device can also provide additional information regarding the mechanical usage and condition of the vehicle. All of this information can be transmitted to a central database via mobile networks. The information provided has led to new services such as Usage Based Insurance (UBI). A range of consultants, industry commentators and academics have produced an abundance of projections on how telematics information will allow the introduction of services from personalized insurance, bespoke entertainment and advertise and vehicle energy optimization, particularly for Electric Vehicles (EVs). In this paper we examine these potential services against a backdrop of nascent regulatory limitations and against the technical capacity of the devices. Using a case study approach, we examine three applications that can use telematics information. We find that the expectations of service providers will be significantly tempered by regulatory and technical hurdles. In our discussion we detail these limitations and suggest a more realistic rollout of ancillary services.

WHISPER: A Location Privacy-Preserving Scheme Using Transmission Range Changing for Internet of Vehicles

Internet of Vehicles (IoV) has the potential to enhance road-safety with environment sensing features provided by embedded devices and sensors. This benignant feature also raises privacy issues as vehicles announce their fine-grained whereabouts mainly for safety requirements, adversaries can leverage this to track and identify users. Various privacy-preserving schemes have been designed and evaluated, for example, mix-zone, encryption, group forming, and silent-period-based techniques. However, they all suffer inherent limitations. In this paper, we review these limitations and propose WHISPER, a safety-aware location privacy-preserving scheme that adjusts the transmission range of vehicles in order to prevent continuous location monitoring. We detail the set of protocols used by WHISPER, then we compare it against other privacy-preserving schemes. The results show that WHISPER outperformed the other schemes by providing better location privacy levels while still fulfilling road-safety requirements.

Motorway Measurement Campaign to Support R&D Activities in the Field of Automated Driving Technologies

A spectacular measurement campaign was carried out on a real-world motorway stretch of Hungary with the participation of international industrial and academic partners. The measurement resulted in vehicle based and infrastructure based sensor data that will be extremely useful for future automotive R&D activities due to the available ground truth for static and dynamic content. The aim of the measurement campaign was twofold. On the one hand, road geometry was mapped with high precision in order to build Ultra High Definition (UHD) map of the test road. On the other hand, the vehicles—equipped with differential Global Navigation Satellite Systems (GNSS) for ground truth localization—carried out special test scenarios while collecting detailed data using different sensors. All of the test runs were recorded by both vehicles and infrastructure. The paper also showcases application examples to demonstrate the viability of the collected data having access to the ground truth labeling. This data set may support a large variety of solutions, for the test and validation of different kinds of approaches and techniques. As a complementary task, the available 5G network was monitored and tested under different radio conditions to investigate the latency results for different measurement scenarios. A part of the measured data has been shared openly, such that interested automotive and academic parties may use it for their own purposes.

Investigating and Modeling of Cooperative Vehicle-to-Vehicle Safety Stopping Distance

Dedicated Short-Range Communication (DSRC) or IEEE 802.11p/OCB (Out of the Context of a Base-station) is widely considered to be a primary technology for Vehicle-to-Vehicle (V2V) communication, and it is aimed toward increasing the safety of users on the road by sharing information between one another. The requirements of DSRC are to maintain real-time communication with low latency and high reliability. In this paper, we investigate how communication can be used to improve stopping distance performance based on fieldwork results. In addition, we assess the impacts of reduced reliability, in terms of distance independent, distance dependent and density-based consecutive packet losses. A model is developed based on empirical measurements results depending on distance, data rate, and traveling speed. With this model, it is shown that cooperative V2V communications can effectively reduce reaction time and increase safety stop distance, and highlight the importance of high reliability. The obtained results can be further used for the design of cooperative V2V-based driving and safety applications.

A Survey of Autonomous Vehicles: Enabling Communication Technologies and Challenges

The Department of Transport in the United Kingdom recorded 25,080 motor vehicle fatalities in 2019. This situation stresses the need for an intelligent transport system (ITS) that improves road safety and security by avoiding human errors with the use of autonomous vehicles (AVs). Therefore, this survey discusses the current development of two main components of an ITS: (1) gathering of AVs surrounding data using sensors; and (2) enabling vehicular communication technologies. First, the paper discusses various sensors and their role in AVs. Then, various communication technologies for AVs to facilitate vehicle to everything (V2X) communication are discussed. Based on the transmission range, these technologies are grouped into three main categories: long-range, medium-range and short-range. The short-range group presents the development of Bluetooth, ZigBee and ultra-wide band communication for AVs. The medium-range examines the properties of dedicated short-range communications (DSRC). Finally, the long-range group presents the cellular-vehicle to everything (C-V2X) and 5G-new radio (5G-NR). An important characteristic which differentiates each category and its suitable application is latency. This research presents a comprehensive study of AV technologies and identifies the main advantages, disadvantages, and challenges.

Cooperation Promotion from the Perspective of Behavioral Economics: An Incentive Mechanism Based on Loss Aversion in Vehicular Ad-Hoc Networks

As a special mobile ad-hoc network, Vehicular Ad-hoc Networks (VANETs) have the characteristics of high-speed movement, frequent topology changes, multi-hop routing, a lack of energy, storage space limitations, and the possible selfishness of the nodes. These characteristics bring challenges to the design of the incentive mechanism in VANETs. In the current research on the incentive mechanism of VANETs, the mainstream is the reward-based incentive mechanism. Most of these mechanisms are designed based on the expected utility theory of traditional economics and assume that the positive and negative effects produced by an equal amount of gain and loss are equal in absolute value. However, the theory of loss aversion points out that the above effects are not equal. Moreover, this will lead to a deviation between the final decision-making behavior of nodes and the actual optimal situation. Therefore, this paper proposed a Loss-Aversion-based Incentive Mechanism (LAIM) to promote the comprehensive perception and sharing of information in the VANETs. This paper designs the incentive threshold and the threshold factor to motivate vehicle nodes to cooperate. Furthermore, based on the number of messages that the nodes face, the utility function of nodes is redesigned to correct the assumption that a gain and a loss of an equal amount could offset each other in traditional economics. The simulation results show that compared with the traditional incentive mechanism, the LAIM can increase the average utility of nodes by more than 34.35%, which promotes the cooperation of nodes.

5G-Enabled Autonomous Driving Demonstration with a V2X Scenario-in-the-Loop Approach

Autonomous vehicles are at the forefront of interest due to the expectations of changing transportation for the better. In order to make better decisions on the road, vehicles use information from various sources: their own sensors, messages arriving from surrounding vehicles and objects, as well as from centralized entities-including their own Digital Twin. Certain decisions require the information to arrive with low latency and some of this information (such as video) requires broadband communication. Furthermore, the vehicles can populate an area, so they can represent mass communication endpoints that still need low latency and massive broadband. The mobility of the vehicles obviously requires the complete coverage of the roads with reliable wireless communication technologies fulfilling the previously mentioned needs. The fifth generation of cellular mobile technologies, 5G, addresses these requirements. The current paper presents real-life scenarios-on the M86 highway and the ZalaZONE proving ground in Hungary-for the demonstration of vehicular communication with 5G support, where the cars exchange sensor and control information with each other, their environment, and their Digital Twins. The demonstrations were carried out through the Scenario-in-the-Loop (SciL) methodology, where some of the actionable triggers were not physically present around the vehicles, but sensed or simulated around their Digital Twin. The measurements around the demonstrations aim to reveal the feasibility of the 5G Non-Standalone Architecture for certain communication scenarios, and they mainly aim to reveal the current latency and throughput limitations under real-life conditions.

LoRa Architecture for V2X Communication: An Experimental Evaluation with Vehicles on the Move

The industrial development of the last few decades has prompted an increase in the number of vehicles by multiple folds. With the increased number of vehicles on the road, safety has become one of the primary concerns. Inter vehicular communication, specially Vehicle to Everything (V2X) communication can address these pressing issues including autonomous traffic systems and autonomous driving. The reliability and effectiveness of V2X communication greatly depends on communication architecture and the associated wireless technology. Addressing this challenge, a device-to-device (D2D)-based reliable, robust, and energy-efficient V2X communication architecture is proposed with LoRa wireless technology. The proposed system takes a D2D communication approach to reduce the latency by offering direct vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication, rather than routing the data via the LoRa WAN server. Additionally, the proposed architecture offers modularity and compact design, making it ideal for legacy systems without requiring any additional hardware. Testing and analysis suggest the proposed system can communicate reliably with roadside infrastructures and other vehicles at speeds ranging from 15-50 km per hour (kmph). The data packet consists of 12 bytes of metadata and 28 bytes of payload. At 15 kmph, a vehicle sends one data packet every 25.9 m, and at 50 kmph, it sends the same data packet every 53.34 m with reliable transitions.

Cyber-attacks in the next-generation cars, mitigation techniques, anticipated readiness and future directions

Modern-day Connected and Autonomous Vehicles (CAVs) with more than 100 million code lines, running up-to a hundred Electronic Control Units (ECUs) will create and exchange digital information with other vehicles and intelligent transport networks. Consequently, ubiquitous internal and external communication (controls, commands, and data) within all CAV-related nodes is inevitably the gatekeeper for the smooth operation. Therefore, it is a primary vulnerable area for cyber-attacks that entails stringent and efficient measures in the form of "cybersecurity". There is a lack of systematic and comprehensive review of the literature on cyber-attacks on the CAVs, respective mitigation strategies, anticipated readiness, and research directions for the future. This study aims to analyse, synthesise, and interpret critical areas for the roll-out and progression of CAVs in combating cyber-attacks. Specifically, we described in a structured way a holistic view of potentially critical avenues, which lies at the heart of CAV cybersecurity research. We synthesise their scope with a particular focus on ensuring effective CAVs deployment and reducing the probability of cyber-attack failures. We present the CAVs communication framework in an integrated form, i.e., from In-Vehicle (IV) communication to Vehicle-to-Vehicle (V2X) communication with a visual flowchart to provide a transparent picture of all the interfaces for potential cyber-attacks. The vulnerability of CAVs by proximity (or physical) access to cyber-attacks is outlined with future recommendations. There is a detailed description of why the orthodox cybersecurity approaches in Cyber-Physical System (CPS) are not adequate to counter cyber-attacks on the CAVs. Further, we synthesised a table with consolidated details of the cyber-attacks on the CAVs, the respective CAV communication system, its impact, and the corresponding mitigation strategies. It is believed that the literature discussed, and the findings reached in this paper are of great value to CAV researchers, technology developers, and decision-makers in shaping and developing a robust CAV-cybersecurity framework.

Deterministic 3D Ray-Launching Millimeter Wave Channel Characterization for Vehicular Communications in Urban Environments

The increasing demand for more sensors inside vehicles pursues the intention of making vehicles more "intelligent". In this context, the vision of fully connected and autonomous cars is becoming more tangible and will turn into a reality in the coming years. The use of these intelligent transport systems will allow the integration of efficient performance in terms of route control, fuel consumption, and traffic administration, among others. Future vehicle-to-everything (V2X) communication will require a wider bandwidth as well as lower latencies than current technologies can offer, to support high-constraint safety applications and data exhaustive information exchanges. To this end, recent investigations have proposed the adoption of the millimeter wave (mmWave) bands to achieve high throughput and low latencies. However, mmWave communications come with high constraints for implementation due to higher free-space losses, poor diffraction, poor signal penetration, among other channel impairments for these high-frequency bands. In this work, a V2X communication channel in the mmWave (28 GHz) band is analyzed by a combination of an empirical study and a deterministic simulation with an in-house 3D ray-launching algorithm. Multiple mmWave V2X links has been modeled for a complex heterogeneous urban scenario in order to capture and analyze different propagation phenomena, providing full volumetric estimation of frequency/power as well as time domain parameters. Large- and small-scale propagation parameters are obtained for a combination of different situations, taking into account the obstruction between the transceivers of vehicles of distinct sizes. These results can aid in the development of modeling techniques for the implementation of mmWave frequency bands in the vehicular context, with the capability of adapting to different scenario requirements in terms of network topology, user density, or transceiver location. The proposed methodology provides accurate wireless channel estimation within the complete volume of the scenario under analysis, considering detailed topological characteristics.

UAV-Assisted Hybrid Scheme for Urban Road Safety Based on VANETs

Traffic congestion control is becoming a popular field of research due to the rapid development of the automotive market. Vehicular ad hoc networks (VANETs) have become the core research technology for numerous application possibilities related to road safety. Road congestions have been a serious issue of all time since the nodes have high mobility and transmission range is limited, resulting in an interruption of communication. One of the significant technical challenges faced in implementing VANET is the design of the routing protocol, providing adequate information and a reliable source for the destination. We proposed a novel mechanism unmanned aerial vehicle (UAV)-assisted ad hoc on-demand distance vector (AODV) routing protocol (UAVa) for current-time traffic information accumulation and sharing to the entire traffic network and to control congestions before it happens. The UAV-assisted (UAVa) protocol is dedicated to urban environments, and its primary goal is to enhance the performance of routing protocols based on intersections. We compared the overall performance of existing routing protocols, namely ad hoc on-demand distance vector. The simulations were done by using OpenStreetMap (OSM), Network Simulator (NS-2.35), Simulation of Urban Mobility (SUMO), and VanetMobiSim. Furthermore, we compared the simulation results with AODV, and it shows that UAV-assisted (UAVa) AODV has significantly enhanced the packet delivery ratio, reduced the end-to-end delay, improved the average and instant throughput, and saved more energy. The results show that the UAVa is more robust and effective and we can conclude that UAVa is more suitable for VANETs.

Review of V2X–IoT Standards and Frameworks for ITS Applications

The intelligent transport system (ITS) has become one of the most globally researched topics with a lot of investment and development resources being dedicated into it due to its foreseen impact on the economic growth of the transport sector. Currently there are two main vehicle-to-everything (V2X) technologies, whose primary application is focused on ITS, backed up by the key players of various automotive, telecommunication and transport industries: dedicated short-range communications (DSRC) and cellular vehicle-to-everything (C-V2X), respectively based on IEEE 802.11p and 3GPP LTE/5G NR. While DSRC already has deployments, C-V2X is expected to see larger scale trails and deployments in 2020. In this work, the authors provide insight and review into two main V2X technologies, DSRC and C-V2X, their core parameters, shortcomings and limitations, and explore the need for integration of IoT-based technologies into modern ITS solutions. A comprehensive overview and analysis of currently commercially available V2X products, their sub-blocks and features is provided.

Software-Defined Vehicular Cloud Networks: Architecture, Applications and Virtual Machine Migration

Cloud computing supports many unprecedented cloud-based vehicular applications. To improve connectivity and bandwidth through programmable networking architectures, Software- Defined (SD) Vehicular Network (SDVN) is introduced. SDVN architecture enables vehicles to be equipped with SDN OpenFlow switch on which the routing rules are updated from a SDN OpenFlow controller. From SDVN, new vehicular architectures are introduced, for instance SD Vehicular Cloud (SDVC). In SDVC, vehicles are SDN devices that host virtualization technology for enabling deployment of cloud-based vehicular applications. In addition, the migration of Virtual Machines (VM) over SDVC challenges the performance of cloud-based vehicular applications due the highly mobility of vehicles. However, the current literature that discusses VM migration in SDVC is very limited. In this paper, we first analyze the evolution of computation and networking technologies of SDVC with a focus on its architecture within the cloud-based vehicular environment. Then, we discuss the potential cloud-based vehicular applications assisted by the SDVC along with its ability to manage several VM migration scenarios. Lastly, we provide a detailed comparison of existing frameworks in SDVC that integrate the VM migration approach and different emulators or simulators network used to evaluate VM frameworks’ use cases.

Analysis of Low Cost Communication Technologies for V2I Applications

The automated and connected vehicle will be a great technology development and it will change mobility habits. The two main positive effects of its integration are the improvement of road safety and the reduction of pollutant emissions of the vehicles. But first, the technology must be available. With the arrival of 5G (Fifth Generation), it will be a reality. However, the 5G could have some operation failures which could isolate the vehicle from the rest of the infrastructure. So, a solution is required which can improve communication reliability such that, if the 5G would fail, the short/middle range technology integrated will lead the vehicle with V2I communication. This integration would provide a reliable and strong solution. In this work, an analysis of different available communication technologies was carried out with a short/middle range, the selection criteria being lower cost and easy integration with 5G. To contrast the technologies, a validation methodology was developed, which enabled us to evaluate the performance ofV2I applications. We observed a comparatively higher performance of the module nRF24L01+ for V2I communication.

Technology Development of Electric Vehicles: A Review

To reduce the dependence on oil and environmental pollution, the development of electric vehicles has been accelerated in many countries. The implementation of EVs, especially battery electric vehicles, is considered a solution to the energy crisis and environmental issues. This paper provides a comprehensive review of the technical development of EVs and emerging technologies for their future application. Key technologies regarding batteries, charging technology, electric motors and control, and charging infrastructure of EVs are summarized. This paper also highlights the technical challenges and emerging technologies for the improvement of efficiency, reliability, and safety of EVs in the coming stages as another contribution.

A Survey of Security Services, Attacks, and Applications for Vehicular Ad Hoc Networks (VANETs)

Vehicular ad hoc networks (VANETs) are an emerging type of mobile ad hoc networks (MANETs) with robust applications in intelligent traffic management systems. VANET has drawn significant attention from the wireless communication research community and has become one of the most prominent research fields in intelligent transportation system (ITS) because of the potential to provide road safety and precautionary measures for the drivers and passengers. In this survey, we discussed the basic overview of the VANET from the architecture, communication methods, standards, characteristics, and VANET security services. Second, we presented the threats and attacks and the recent state-of-the-art methods of the VANET security services. Then, we comprehensively reviewed the authentication schemes that can protect vehicular networks from malicious nodes and fake messages. Third, we discussed the latest simulation tools and the performance of the authentication schemes in terms of simulation tools, which was followed by the VANET applications. Lastly, we identified the open research challenges and gave future research directions. In sum, this survey fills the gap of existing surveys and summarizes the latest research development. All the security attacks in VANETs and their related countermeasures are discussed with respect to ensuring secure communication. The authentication schemes and comprehensive applications were introduced and analyzed in detail. In addition, open research challenges and future research directions were issued.

Deep Learning for Joint Adaptations of Transmission Rate and Payload Length in Vehicular Networks

Recently, vehicular networks have emerged to facilitate intelligent transportation systems (ITS). They enable vehicles to communicate with each other in order to provide various services such as traffic safety, autonomous driving, and entertainments. The vehicle-to-vehicle (V2V) communication channel is doubly selective, where the channel changes within the transmission bandwidth and the frame duration. This necessitates robust algorithms to provide reliable V2V communications. In this paper, we propose a scheme that provides joint adaptive modulation, coding and payload length selection (AMCPLS) for V2V communications. Our AMCPLS scheme selects both the modulation and coding scheme (MCS) and the payload length of transmission frames for V2V communication links, according to the V2V channel condition. Our aim is to achieve both reliability and spectrum efficiency. Our proposed AMCPLS scheme improves the V2V effective throughput performance while satisfying a predefined frame error rate (FER). Furthermore, we present a deep learning approach that exploits deep convolutional neural networks (DCNN) for implementing the proposed AMCPLS. Simulation results reveal that the proposed DCNN-based AMCPLS approach outperforms other competing machine learning algorithms such as k-nearest neighbors (k-NN) and support vector machines (SVM) in terms of FER, effective throughput, and prediction time.