A survey of research literature on Vehicular Networking

Malathi Veeraraghavan University of Virginia mvee@virginia.edu April 2011

Introduction

This document is a brief survey of research literature on vehicular networking. Broadly speaking, research publications on vehicular networking can be grouped into two categories: (i) WAVE (IEEE 802.11p and IEEE 1609.1-1609.4) papers, and (ii) VANET papers. Papers on WAVE mostly assume single-hop V2V, V2I and I2V communications, while the VANET papers focus on multi-hop V2V networks. The sections are organized as follows: tutorials, simulation platforms and tools, simulation studies, experimental studies, testbeds/trials, VANET routing protocols, transport protocols, MAC protocols, and security. This document is prepared as an addendum to the Vehicular Networking Tutorial that will presented by the author at IEEE ICC, Kyoto, Japan, in June 2011.

Tutorials

A 2008 tutorial [1] focuses on IEEE 802.11p. An excellent 2009 tutorial on the WAVE protocols, IEEE 802.11p, 1609.1-1609.4, is provided by [2]. A comprehensive survey of mobility models is provided in [3], and should prove useful to VANET researchers. Jiang et al. [4] give an overview of DSRC based vehicular safety communications.

Simulation platforms and tools

Sommer et al. [5] describe a bidirectionally coupled simulation framework using the road trafc simulator SUMO and network simulator OMNET++, in which at xed timesteps, OMNeT++ sends all buffered commands to SUMO, which then starts the road trafc simulation. Positions of all vehicles are sent back to OMNeT++ at the completion of the road trafc simulation timestep. Lochert et al. [6] describe a Multiple Simulator Interlinking Environment (MSIE) in which VISSIM for vehicular movement is integrated with an ns-2 simulation of the communications network through TCP sockets. NCTUns 5.0 has added a vehicular simulator to its wireless simulator [7] [8]. Groovesim [9] is a simulator that combines road trafc and wireless communications. It offers mobility models, trip models, communication models (with a channel model based on measurements), and trafc generation models. A method for integrating applications and wireless communications with an off-the-shelf road trafc simulator is described in [10]. The main purpose of this research was to quantify the time taken for data processing along with simulation run times. A recent survey of simulators for VANETs appears in [11].

Simulation studies

Stibor et al. in [12] determined that the maximum communication distance of 1000m range cannot be met with 2W EIRP constraint. About 90% of successful communications happened at distances smaller than 750m. Gukhool et al. in [13] used an ns-2 simulation to determine whether a vehicle traveling at different speeds (from 90 km/hr to 140 km/hr) could successfully send 1000 byte ICMP messages every 1sec. It tests the requirement that, up to speeds of 140 km/hr, packet error rates should be less than 10% for packets of 1000 bytes. Their nding is that this requirement is met with IEEE 802.11p but not 802.11a. Murray et al. in [14] use ns-2 to simulate a one-lane road, with the number of cars varied from 4 to 196, speeds set at 0, 48, or 96 km/hr, and inter-car distance varied from 5 m to 26 m. Each node broadcasts 500 B messages every sec on a service channel. One-hop V2V communications is assumed. The Nakagami distribution is used for the channel model, and the IEEE 802.11e enhanced MAC scheme was simulated. Throughput, delay, and packet loss were characterized. Their conclusion is that speed does not matter, and therefore, vehicle speed was xed at 48km/h for inter-car distance studies. Vehicle density was a big determinant of increased loss and throughput, and average delay converged. On throughput, loads were not increased to a point at which thrashing could be observed; instead throughput was shown to simply increase with density. Mangharam et al. [9] report Groovesim simulation results evaluating Groovenet, a routing scheme. Wang et al. [15] evaluate the performance of IEEE 802.11p MAC protocol using an ns-2 simulation, and show that the xed backoff window sizes could affect throughput adversely. Two schemes are proposed to adapt window sizes based on local observations or the number of simultaneously transmitting vehicles. Eichler [16] reports on a performance evaluation of the IEEE 802.11p standard using OMNeT++. The key nding is that the channel switching between a service channel and control channel causes extra delay for safety critical broadcasts queued for the CCH time interval. Chen, Jiang and Delgrossi, in a 2009 paper [17], simulate, using ns-2, the effect of IEEE 1609.4 multichannel operations. They show that with channel switching enabled, the performance for safety related communications becomes unacceptably poor and recommend an update/revision to the standard. An excellent detailed simulation study on the reception rates of broadcast messages using IEEE 802.11e EDCA priority access is presented in [18]. This study compares the two-ray ground reection model and a non-deterministic radio propagation model using the two-parameter Nakagami distribution [19], which has been shown to t signal amplitudes at different distances in wireless channels [20]. This paper notes actual measurements indicated that the Nakagami model ts better to VANETs than log-normal or pure Rayleigh shadowing. Martinez et al. in a 2009 paper [21] compare three different radio propagation models that capture the effects of distance attenuation and the presence of buildings on VANETs. These were compared to the two-ray ground reection model using ns-2 simulations.

Experimental studies

A 2006 paper describes experimental results for a WAVE system with a focus on physical layer aspects [22]. A Rutgers University team reports on the ORBIT testbed and an experimental analysis of packet delivery rates for broadcast packets in dense vehicular networks in [23]. The Orbit testbed, as per this reference, consists of 400 standard Linux PCs, each equipped with two 802.11a/b/g interfaces. The PCs are spaced 1 m 2

apart in a two-dimensional rectangular grid. This is a very useful paper in that it presents real experimental data, though some of its limitations, as noted in this paper, are lack of node mobility and channel varying conditions.

Testbeds/trials

The ICC tutorial presentation describes four US testbeds/trials, information for which were obtained from the following references: Detroit POC testbed [24] [25] [26] NY VII testbed [27] CA VII testbed [28] Safetrip-21 [29] [30]

VANET routing protocols

Karps Ph.D. thesis [31] is one of the most cited works, having proposed Greedy Perimeter Stateless Routing (GPSR), a geographic routing scheme for wireless networks in 2000. It uses position of nodes to make packet forwarding decisions. A Mobicom paper [32] was published on GPSR. Dynamic Source Routing (DSR) [33], Ad-Hoc On-Demand Distance Vector Routing (AODV) [34], and Zone Routing Protocol (ZRP) [35] avoid topology information being constantly pushed to nodes, as in OSPF, or reachability information being pushed, as in BGP. Instead this data is acquired on-demand as required by the nodes packet forwarding needs. In GPSR, there is a beaconing scheme, in which nodes learn their neighbors geographic locations a priori (it does have this proactive routing-protocol messages avoided by DSR and AODV). In addition, it assumes that locations of packet destinations are known; this information is assumed to be available through a location registration and lookup service that maps node addresses to locations [31] e.g., Grid Location Service (GLS) [36]. Ad hoc routing protocols can be classied as proactive, reactive (on-demand) or position-based. Mangharam et al. [9] propose Groovenet, a geographic routing protocol for multi-hop vehicular networks. This paper also notes that Mobile Ad hoc Networking (MANET) routing protocols are not suitable for vehicular networks in four key ways: Vehicular networks are characterized by rapid (relative speeds up to 300 kmph) but predictable topology changes, a small effective diameter, frequent fragmentation and limited redundant paths. Furthermore, vehicular networks have well-specied application categories which favor broadcast protocols over generic path-based end-to-end MANET protocols. Pathak et al. [37] propose a secure routing protocol for VANETs called Geographic Secure Path Routing (GSPR), and evaluate it with the ns-2 simulator tool. Oh et al. [38] compare different broadcasting schemes: simple ooding, probability-based method, location-based method, and neighbor knowledge-based method, for multi-hop forwarding of broadcast messages such as emergency warning messages. The simulation tool used was ns-2. Agarwal, Starobinski and Little [39] propose a routing scheme that leverages connectivity in a fragmented VANET, and carry out an analytical/simulation study of its performance. A modied version of AODV, called AODV-DFR (AODV with Directional Forward Routing) was proposed in [40] and evaluated for the vehicular environment using ns-2. 3

A differentiated reliable routing (DRR) protocol is proposed in [41] for VANETs. For sparsely connected VANETs, a Vehicle-Assisted Data Delivery (VADD) protocol is described in [42]. It adopts the idea of carry-and-forward in which nodes carry packets when there are no routes to the destination under sparse conditions. A simulation study of VANET routing protocols, which uses realistic vehicular traces, is described in [43], and shows that the mobility model keenly inuences the relative performance of AODV and GPSR. Performance limitations are addressed with suggested improvements to these protocols.

Transport protocols

Wang et al. [44] evaluate the performance of TCP/UDP over a WAVE network to study the effect of the channel switching mechanism mandated by IEEE 1609.4 (between service channel and control channel). Two schemes, a fragmentation scheme and a best-t scheme, are compared to handle the problem of a channel switch occurring at an inopportune time from the transport protocol perspective. Chen et al. [45] use ns-2 simulations to study variants of TCP New Reno (RFC 2582) such as TCP Delay ACK (TCP-DA), TCP-DAA (dynamic adaptive ACK), and TCP-DCA (Delayed Cumulative Ack) [46] and a new scheme called TCP-TDA (acronym not dened) in multi-hop wireless networks.

MAC protocols

GeoMAC [47] is a cooperative MAC protocol for multi-hop V2V networks, which uses the broadcast nature of wireless links to achieve increased reliability by exploiting spatial diversity. The next node for forwarding is selected via geographic backoff, which assigns highest priority to nodes with the smallest Euclidean distance to the destination node. Performance is evaluated with ns-2 simulations. Xu et al. in a well-cited 2004 paper [48] propose new MAC schemes for safety messages in DSRC systems. Choi et al. [49] propose a MAC protocol using IEEE 802.11p to handle disconnections and handoffs as can be expected when fast-moving vehicles travel through the coverage areas of multiple RSEs. Bilstrup et al. [50] compare the 802.11p performance with a MAC scheme called Self-organizing Time Division Multiple Access (STDMA) for the periodic BSM messages sent between vehicles in broadcast mode, noting that if the load is high, some OBUs will drop 80% of their packets. Better performance is reported with STDMA. An Adaptive Location Division Multiple Access (A-LDMA) scheme is proposed to handle safety messages that are sent in one-hop broadcast mode (beacon) along with event-triggered multi-hop relayed (ood) messages in a 2009 paper [51].

10

Security

The Secure Vehicle Communication (SeVeCom) project papers [52, 53] are summarized in the tutorial presentation. A secure routing protocol for VANETs is proposed in [37].

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Publications and conferences on Vehicular technologies

While many vehicular networking publications appear in wireless conferences, such as ACM Mobicom, IEEE WCNC, and networking journals and magazines, listed below are a few that focus on vehicular technologies. Transactions and Magazines: IEEE Vehicular Technology Magazine IEEE Transactions on Vehicular Technology IEEE Communications Magazine - Automotive Networking Series Conferences and Workshops: ACM international workshop on Vehicular ad hoc networks (VANET) IEEE International Wireless Communications and Mobile Computing Conference (IWCMC) IEEE Vehicular Technology Conference (VTC) IEEE International Conference on Vehicular Electronics and Safety (ICVES)

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