Vehicular networking Marc Emmelmann

Commercial and Public Use ApplicationsTogether, the Dedicated Short Range Communications (DSRC) and Vehicular Ad hoc Network (VANET) technologies provide a unique opportunity to develop various types of communicationbased automotive applications. In this chapter, we focus primarily on four major aspects: (a) description of communicationbased automotive applications, (b) investigating the application characteristics and network attributes, (c) classifying the applications into categories, and (d) defining market perspectives and deployment challenges for each class of applications. To date, many applications have been identified by the automotive research community. From a value or customer benefit perspective, these applications can be roughly organized into three major classes: safetyoriented, convenienceoriented, and commercialoriented, and they vary significantly in terms of application characteristics.

Vehicular Networking Intelligent Transportation Systems VANET Vehicular Applications and Inter-Networking Technologies Hannes Hartenstein and Kenneth P Laberteaux (Eds.) Vehicular Networking: Automotive Applications and Beyond Marc Emmelmann, Bernd Bochow and C Christopher Kellum (Eds.) Vehicular Networking Automotive Applications and Beyond Editors Marc Emmelmann Technical University Berlin, Germany Bernd Bochow Fraunhofer Insitute for Open Communication Systems (FOKUS), Germany C Christopher Kellum John Deere, USA A John Wiley and Sons, Ltd, Publication This edition first published 2010 c 2010 John Wiley & Sons Ltd Registered office John Wiley & Sons Ltd, The Atrium, Southern Gate, Chichester, West Sussex, PO19 8SQ, United Kingdom For details of our global editorial offices, for customer services and for information about how to apply for permission to reuse the copyright material in this book please see our website at www.wiley.com The right of the author to be identified as the author of this work has been asserted in accordance with the Copyright, Designs and Patents Act 1988 All rights reserved No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording or otherwise, except as permitted by the UK Copyright, Designs and Patents Act 1988, without the prior permission of the publisher Wiley also publishes its books in a variety of electronic formats Some content that appears in print may not be available in electronic books Designations used by companies to distinguish their products are often claimed as trademarks All brand names and product names used in this book are trade names, service marks, trademarks or registered trademarks of their respective owners The publisher is not associated with any product or vendor mentioned in this book This publication is designed to provide accurate and authoritative information in regard to the subject matter covered It is sold on the understanding that the publisher is not engaged in rendering professional services If professional advice or other expert assistance is required, the services of a competent professional should be sought Library of Congress Cataloging-in-Publication Data Vehicular networking : automotive applications and beyond / Marc Emmelmann, Bernd Bochow, C Christopher Kellum, eds p cm Includes bibliographical reference and index ISBN 978-0-470-74154-2 (cloth) Vehicular ad hoc networks (Computer networks) I Emmelmann, Marc II Bochow, Bernd III Kellum, C Christopher IV Title TE228.37.V398 2010 388.3’12–dc22 2009053148 A catalogue record for this book is available from the British Library ISBN 9780470741542 (H/B) Set in 10/12pt Times by Sunrise Setting Ltd, Torquay, UK Printed and Bound in Great Britain by Antony Rowe, Chippenham, Wiltshire Contents List of Contributors xiii Preface xv Commercial and Public Use Applications Dr Hariharan Krishnan, Dr Fan Bai and Dr Gavin Holland 1.1 Introduction 1.1.1 Motivation 1.1.2 Contributions and benefits 1.1.3 Chapter organization 1.2 V2X Applications from the User Benefits Perspective 1.2.1 Application value 1.3 Application Characteristics and Network Attributes 1.3.1 Application characteristics 1.3.2 Network attributes 1.4 Application Classification and Categorization 1.4.1 Characterization based on application characteristics 1.4.2 Characterization based on network attributes 1.4.3 Application classification 1.5 Market Perspectives and Challenges for Deployment 1.5.1 Fleet penetration 1.5.2 System rollout options 1.5.3 Market penetration analysis 1.5.4 System rollout 1.5.5 Role of infrastructure 1.6 Summary and Conclusions References Governmental and Military Applications Anthony Maida 2.1 Introduction 2.2 Vehicular Networks for First Responders 2.2.1 Public safety communications 2.2.2 Vehicular communications 3 4 8 10 12 12 15 18 21 21 21 23 25 25 26 27 29 29 30 30 31 CONTENTS vi 2.3 2.4 The Need for Public Safety Vehicular Networks State of Vehicular Network Technology 2.4.1 Incident Area Networks 2.4.2 Jurisdictional Area Networks 2.4.3 Extended Area Networks 2.5 Vehicular Networks for Military Use 2.6 Conclusions References Communication Systems for Car-2-X Networks Daniel D Stancil, Fan Bai and Lin Cheng 3.1 Overview of the V2X Environment 3.1.1 Vehicle-to-Infrastructure 3.1.2 Vehicle-to-Vehicle 3.1.3 Antenna requirements 3.2 V2X Channel Models 3.2.1 Deterministic models 3.2.2 Geometry-based statistical models 3.2.3 Multi-tap models 3.3 V2X Channel Properties 3.3.1 Empirical measurement platform 3.3.2 Large-scale path loss 3.3.3 Fading statistics 3.3.4 Coherence time and Doppler spectrum 3.3.5 Coherence bandwidth and delay spread profile 3.4 Performance of 802.11p in the V2X Channel 3.4.1 Impact of channel properties on OFDM 3.4.2 Potential equalization enhancement schemes 3.5 Vehicular Ad hoc Network Multichannel Operation 3.5.1 Multichannel MAC (IEEE 1609.4) 3.5.2 Performance evaluation of the IEEE 1609.4 multichannel MAC 3.5.3 Other solutions for multichannel operations 3.6 Vehicular Ad hoc Network Single-hop Broadcast and its Reliability Enhancement Schemes 3.6.1 Reliability analysis of DSRC single-hop broadcast scheme 3.6.2 Reliability analysis of DSRC-based VSC applications 3.6.3 Reliability enhancement schemes for single-hop broadcast scheme 3.7 Vehicular Ad hoc Network Multi-hop Information Dissemination Protocol Design 3.7.1 Multi-hop broadcast protocols in dense VANETs 3.7.2 Multi-hop broadcast protocols in sparse VANETs 3.8 Mobile IP Solution in VANETs 3.8.1 Mobile IP solution 3.8.2 Mobile IP solution tailored to VANET scenarios 3.9 Future Research Directions and Challenges 3.9.1 Physical layer perspective 3.9.2 Networking perspective References 33 35 35 36 38 40 42 42 45 46 46 46 47 48 48 48 50 50 51 51 53 53 56 58 59 61 61 62 63 65 66 66 68 69 71 71 73 75 75 76 77 77 77 78 CONTENTS vii 83 Communication Systems for Railway Applications Benoît Bouchez and Luc de Coen 4.1 Evolution of Embedded Computers and Communication Networks in Railway Applications 4.2 Train Integration in a Global Communication Framework 4.3 Communication Classes and Related Communication Requirements 4.3.1 Real-time data 4.3.2 Non-real-time message data 4.3.3 Streaming data 4.4 Expected Services from a Railway Communication System and the Related Requirements 4.4.1 Automatic Train Control 4.4.2 Passenger Information System 4.4.3 Video 4.4.4 Maintenance 4.4.5 On-board Internet access 4.5 Qualitative and Quantitative Approach for Dimensioning Wireless Links 4.5.1 Environmental influence 4.5.2 Global propagation model 4.5.3 Train motion influence 4.5.4 Regulation and licensing 4.6 Existing Wireless Systems Applicable to Railway Communication Systems 4.6.1 Magnetic coupling technology 4.6.2 WLAN/WMAN technologies 4.6.3 Cellular technologies 4.6.4 Satellite link technologies 4.7 Networks for On-board Communication and Coupling with the Wayside 4.7.1 Multifunction Vehicle Bus 4.7.2 Wire Train Bus 4.7.3 Ethernet 4.7.4 Coupling on-board communication with wayside communication 4.8 Integration of Existing Technologies for Future Train Integration in a Global Communication Framework 4.8.1 European Rail Traffic Management System 4.8.2 MODURBAN Communication System 4.9 Conclusion References Security and Privacy Mechanisms for Vehicular Networks Panos Papadimitratos 5.1 Introduction 5.2 Threats 5.3 Security Requirements 5.4 Secure VC Architecture Basic Elements 5.4.1 Authorities 5.4.2 Node identification 5.4.3 Trusted components 5.4.4 Secure communication 83 84 85 85 86 88 88 88 89 90 91 91 92 92 92 93 93 93 93 94 96 99 99 99 100 100 100 101 101 102 103 103 105 105 107 108 109 109 110 110 111 CONTENTS viii 5.5 Secure and Privacy-enhancing Vehicular Communication 5.5.1 Basic security 5.5.2 Secure neighbor discovery 5.5.3 Secure position-based routing 5.5.4 Additional privacy-enhancing mechanisms 5.5.5 Reducing the cost of security and privacy enhancing mechanisms 5.6 Revocation 5.7 Data Trustworthiness 5.7.1 Securing location information 5.7.2 Message trustworthiness 5.8 Towards Deployment of Security and PET for VC 5.8.1 Revisiting basic design choices 5.8.2 Future challenges 5.9 Conclusions References Security and Dependability in Train Control Systems Mark Hartong, Rajni Goel and Duminda Wijesekera 6.1 Introduction 6.2 Traditional Train Control and Methods of Rail Operation 6.2.1 Verbal authority and mandatory directives 6.2.2 Signal indications 6.3 Limitations of Current Train Control Technologies 6.4 Positive Train Control 6.4.1 Functions 6.4.2 Architectures 6.4.3 US communication-based systems 6.5 System Security 6.5.1 The security threat 6.5.2 Attacks 6.5.3 Required security attributes 6.5.4 Analysis of requirements 6.6 Supplementary Requirements 6.6.1 Performance management 6.6.2 Configuration management 6.6.3 Accounting, fault, and security management 6.7 Summary References Automotive Standardization of Vehicle Networks Tom Schaffnit 7.1 General Concepts 7.1.1 Vehicle-to-Vehicle communications 7.1.2 Vehicle-to-Infrastructure communications 7.2 Interoperability 7.2.1 Regional requirements and differences 7.2.2 Necessity of standards 7.2.3 Insufficiency of standards 111 111 112 113 113 115 116 119 119 121 122 122 124 125 125 129 130 130 131 131 132 132 133 134 135 138 138 139 141 142 144 144 145 145 146 146 149 149 150 150 151 152 153 154 282 SAE SAET SAFECOM SAFESPOT SAM SAP SC SCADA SCH SDL SDMA SDO SDR SDU SeVeCom SOFDMA SoR SRD STA STB STRACNET SUMMITS SVA SZ TBTT TC TC TCN TCP TCS TDD TDMA TFT TG TGV TIA TICS TIH TNO TOLL ACRONYMS AND ABBREVIATIONS (Automated assistance system for train driving, exploitation and maintenance used on RER line A in Paris) Society of Automotive Engineers Système Automatisé d’Exploitation des Trains (Automated Train Exploitation System used on Paris metro line 14) US Homeland Security Office for Interoperability and Compatibility (OIC) Communications Program Cooperative Vehicles and Road Infrastructure for Road Safety Scalable Adaptive Modulation Service Access Point South Carolina Supervisory Control and Data Acquisition Service Channel Specification and Description Language Spatial Division Multiple Access Standards Development Organization Software Defined Radio Service Data Unit Secure Vehicular Communication Scalable Orthogonal Frequency Division Multiplex Access Statement of Requirements Seat Reservation Display Terminal Station Surface Transportation Board Strategic Rail Corridor Network Sustainable Mobility Methodologies for Intelligent Transport Systems Stopped or Slow Vehicle Advisor Service Zone Target Beacon Transmission Time Technical Committee in Standardization Trusted Component in Security Train Communication Network Transmission Control Protocol Traffic Control System Time-Division Duplexing Time Division Multiple Access Thin Film Transistor liquid crystal display Task Group Train grande vitesse (French high-speed train) Telecommunications Industry Association Transport Information and Control System Toxic by Inhalation Netherlands Organization for Applied Scientific Research (Nederlandse Organisatie voor Toegepast Natuurwetenschappelijk Onderzoek) Free Flow Tolling ACRONYMS AND ABBREVIATIONS TORNAD TP TS TS TSF TTC TTC TTL TWC TX Token Ring Network Alsthom Device Traffic Probe time slot Train Sentinel (in railway traffic control) Timing Synchronization Function Transportation Technology Center Time-To-Collision (in ACC) Time-to-Live Track Warrant Control Texas UAV UDP UHF UIC UL UMTS UP USB Unmanned Aerial Vehicle User Datagram Protocol Ultra High Frequencies Union Internationale des Chemins de Fer Uplink Universal Mobile Telecommunications System Union Pacific Universal Serial Bus V2I V2V V2X VANET VANEMO VC VeHIL VHF VII VoIP VSC VTMS Vehicle-to-Infrastructure Vehicle-to-Vehicle Vehicle-to-Vehicle/Infrastructure Vehicular Ad hoc Network VANET and NEMO Vehicular Communication Vehicle Hardware In the Loop Very High Frequencies Vehicle Infrastructure Integration Voice over IP Vehicular Safety Communication Vital Train Management System WAVE WCDMA WG WiMAX WLAN WMAN WRC WSA WSM WSN WSMP WTB WY Wireless Access in Vehicular Environments Wideband Code Division Multiple Access Working Group Worldwide Interoperability for Microwave Access Wireless Local Area Network Wireless Metropolitan Area Network World Radiocommunication Conference WAVE Service Advertisement WAVE Short Messages Wireless Sensor Network WAVE Short Message Protocol Wire Train Bus Wyoming 283 Subject Index ACC, see Adaptive Cruise Control evaluation communication failure, 216 controller, 217 sensor robustness, 216 ADA, see Advanced Driver Assistance cooperative ACC controller, 224 safety margin, 177 SUMMITS, 208 Balise, see also European Train Control System, 84 CDN, see Content Distribution Network, 265 Collision avoidance Adaptive Cruise Control, 217, 218 cooperative, 119, 150 Positive Train Control, 135 Communication application voice communication, 33 public safety failure, 33 first responder, 30 GPS, 31 history, 30–31 inter-agency, 33 9/11, 31, 33 Wi-Fi locator, 31 traffic class WiMAX, 184 Communication protocol anonymous gossip, 70 Application Sub Layer, 162 ARIB STD-T88, 162 automotive message set, 159, 168 broadcast, 17, 18, 66, 85, 88, 158, 180, 220 reliable, 70 repetitive, 69 coexistence, 266 compliance, 107 CSMA, 66, 240 DHCP, 76 FTP, 163 geocast, 12, 15, 17, 18, 20, 78 geographical addressing, 185 HTTP, 163 IEEE 1609.0, 159 IEEE 1609.1, 158, 174 IEEE 1609.2, 106, 109, 159, 174 IEEE 1609.3, 159, 174 IEEE 1609.4, 62, 65, 159, 174 IEEE 1609.5, 159 IEEE 802.11p, 240 IEEE 802.11 SyncScan, 237 ACK, 233 basic access procedure, 233 DeuceScan, 238 DIFS, 233 fast handover support, 228, 231–238, 240 OpportunisticScanning, 238 Post Transmission Backoff, see PTB PTB, 233 TBTT, 233, 237 TSF, 232 IEEE 802.11n, 178 IGMP, 194 IP, 18, 155, 163, 266 IPv6, 175, 186–187 6lowpan, 197 uIPv6, 197 ISA-SP100.11a, 196 MANET, 65, 76 MEXT, 176 Vehicular Networking Edited by Marc Emmelmann, Bernd Bochow, C Christopher Kellum c 2010 John Wiley & Sons, Ltd 286 MLD, 194 Mobile IP inter-agent handover, 196 Mobile IPv4, 175 Mobile IPv6, 176, 186–194 multiple access networks, 190 network mobility, 187 multicast, 85, 90, 194, 238 acknowledged, 87, 181 anonymous gossip, 71 NEMO, 76, 175, 176, 187–190 Binding Update, 188 flow identification, 190 HA proxy, 193 handover delay, 194 multiple flow handover, 191 RO security issues, 193 RO solution space, 193 Route Optimization, 191–194 PIM-SM, 194 position-based, 111, 113, 186 routing, 78 routing geographical, 185 IP multicast, 194–196 Route Optimization, 176 RTCP, 88 SAE J2735, 159, 168 security, 231 IEEE 1609.2, 106, 109 spanning tree, 32 TCP, 12, 155, 163, 266 UDP, 12, 155, 266 unicast, 15, 17–19 WAVE stack, 174 Wireless HART, 196 WSMP, 11, 12, 15, 16, 18, 64, 186 Z-Wave, 196 ZigBee, 196 Communication system ad hoc MANEMO, 176 MANET, 71, 176 aggregated moving network, 176 automotive ad hoc, 36, 161, 175, 178 antenna patterns, 47–48 ARIB STD-T75, 162 DSRC, see Dedicated Short Range Communications, 2, 4, 5, 7, 26, 37, SUBJECT INDEX 46, 61, 66–69, 75, 157, 158, 160–162, 172, 173, 175, 181 IEEE 802.11p, 95, 158, 173, 178–181, 235 multichannel MAC, 61–66 propagation model, 48–50 autonomicity and evolvability, 259, 266 availability, 108 basic security, 111–112 coexistence, 258 cognitive, 253, 259, 266 collaboration and cooperation, 267 coordination, 267 distributed, 267 dynamical coordination, 253 convergence, see also integration, interoperability, 259 data centric, 119 equipment certification, 41 fast handover architecture, 240–241 macro cell, 240 micro cell, 240 overlay MAC, 240, 250 RCU, see RCU RCU, 240–243 Remote Base Station, see RBS, see RBS RBS, 240–243, 250 future system, 253 GSM-R CAB Radio, 173 handover delay, 184, 237 APTT metric, 245 challenges, 239 DeuceScan, 238 IEEE 802.11, 231–238 influence of data rate, 233–235 mobile WiMAX, 185 OpportunisticScanning, 238 SyncScan, 237 handover requirements, 229–230, 239 handover taxonomy, 228, 230–231 handover criteria, 230–231 handover decision, 230–231 higher layer aspects, 230 link layer reestablishment, 230–231 network discovery, 230–231 HSDPA hard handover, 98 IEEE 802.15.1, 196 IEEE 802.15.4, 196 SUBJECT INDEX implementation, 228, 239 automated toolchain, 243–244 C-code, 243–244 intra-macro-cell handover, 242–243 intra-micro-cell handover, 242 key postulates, 239 MAC scheme, 241–242 methodology, 243–244 performance evaluation, 245–252 predictive fast handover, 242–243 proof-of-concept demonstrator, 244–245 RBS, 244 SDL, 243–244 system architecture, 240–241 integration, see also interoperability, 38, 101–102, 125, 261 interoperability, see also integration, 35–37, 151–152, 175 protocols, 163 standardization , 151–152 MAC centralized, 240 deterministic, 229, 240 hybrid, 229 SDU, 231 stochastic, 229, 240 synchronization, 231, 232 mesh network, 238, 253 IEEE 802.11s, 36 public safety, 32, 253 mobile AP public safety, 31 mobile router Mobile IPv4, 175 NEMO, 187, 190 public safety, 32 multi-radio, 36, 177, 190 multichannel coordination, 61 multiple control channels, 66 single control channel, 65 on-board CAN, see Controller Area Network, 150, 155, 163, 196 Ethernet, 100 gateway, 101 IPTrain, 100 MVB, see Multifunction Vehicle Bus, 99 Profinet, 100 287 TCN, see Train Communication Network, 99–100 TORNAD, 84 TGV, 84 WTB, see Wire Train Bus, 100 PHY synchronization, 231 public safety ad hoc, 35 Extended Area Network, 38–40 group communication, 34 IEEE 802.11p, 39 Incident Area Network, 35–36 Jurisdictional Area Network, 36–38 packet data, 30 permanent infrastructure, 36 push to talk, 31 quick kits, 36 regional network integration, 39 trunking, 31, 34 vehicular relay, 31 railway Airlink, 102 EIRENE, 97 GSM-R, 85, 96, 258 hard real time, 99 IAGO, 102 integration, 101–102 magnetic coupling technology, 93 MODCOMM, 102 on-board, 99–100 propagation model, 92 regulation, 93 satellite, 99 services, 88–91 soft real time, 100 train motion influence, 93 wireless link model, 92–93 wireless systems, 93–99 requirements access delay, 229 delay, 231 Inter-Arrival Time, 229, 249 jitter, 229 location information, 229 packet loss, 231 packet reordering, 231 radio cell overlap, 237, 242 RSSI, 231, 237, 247 railway, 85–88, 229–230 Round Trip Time, 229 288 RFID, 175 safety beacon, 112 satellite, 99 IRIDIUM, 30 Teledesic, 30 security necessity, 122 security architecture, 106, 109–111, 116, 124 service interruption time, see handover delay Software Defined Radio, 153 train to wayside evolution, 83–84 vehicular IEEE 802.11, 228, 232, 240, 253 wearable, 42 WiBree, 196 wireless 3GPP LTE, 173, 181–184 break-before-make handover, see hard handover BSS association, 180 cost, 231 EDGE, 97 GPRS, 97, 176, 181, 258 GSM, 96, 181 handover, 230, 239 handover frequency, 230 handover phases, see handover taxonomy hard handover, 183, 231 HSDPA, 98, 182 HSUPA, 98 LMR, see Land Mobile Radio, 36, 38 make-before-break handover, see soft handover mobile WiMAX, 185 soft handover, 231 support for high user velocities, 230 UMTS, 98, 181 vertical handover, 183 virtual beacon, 181 Wi-Fi, 94, 155, 181 wide-area automotive, 181–185 WiMAX, 36, 38, 95, 173, 184–185 Cooperation awareness, 119 cognitive, 267 collision avoidance, 119 SUBJECT INDEX V2I system performance criteria, 205 vehicle-driver, 204 vehicle-infrastructure, 204 vehicle-infrastructure system design problems, 204–205 human factors, 205 human factors, 203, 204, 206, 208, 225 traffic flow, 203, 204, 206 vehicle-vehicle, 209 CR, see Cognitive Radio, 267 Credential certification Certification Authorities cooperation, 117 Certification Authority, 106, 109, 116, 154 multi-domain, 117 organizational concerns, 124 Pseudonym Provider, 111 regional, 109 revocation, 117 self-certification, 113 DOD, see United States Department of Defense Strategic Rail Corridor Network, 130 DOT, see United States Department of Transportation, 21 ITS spectrum, STB, see Surface Transportation Board interstate commerce act, 144 Transportation Technology Center, 137 DTN, see Disruption- and Delay Tolerant Network, 265 VANET, 265 EAN, see Extended Area Network, 38–40 IEEE 802.16e, 38 integration, 38 LMR, 38 Equipment certification military, 41 Future Internet Internet of things, 265 Network symbiosis, 265 Smart objects, 265 VANET, 265 IAN, see Incident Area Network, 35–36 IEEE 802.11s, 36 mesh network, 36, 238, 253 SUBJECT INDEX temporary infrastructure, 35 use cases, 35–36 VANET, 35, 40 IRSA, see Integrated Full-Range Speed Assistant controllers, 209–212 implementation, 219 scenarios, 209 ITS modeller, 204 JAN, see Jurisdictional Area Network, 36–38 IEEE 802.11, 36 IEEE 802.16e, 36 IEEE 802.22, 37 mesh network, 36, 238 permanent infrastructure, 36 MARS, see Multi-Agent Real-time Simulator, 204 Multi-Aspect Assessment approach, 204 NSA, see United States National Security Agency information assurance technical framework, 139 OSI, see Open Systems Interconnection, 89, 138, 149, 154, 162 Performance evaluation Access Point Transition Time, see APTT APTT, 245 application cryptographic overhead, 116 application reliability, 69 cooperative system, 205 empirical results, 249–252 Inter-Arrival Time, 249 emulation vehicular mobility, 247 IEEE 1609.4, 63 IEEE 802.11p, 58–61, 235 hidden terminal, 180 MAC, 180 OFDM, 59 Packet Error Rate, 178 traffic density, 181 transmission range, 179 IEEE 802.11 Access Point Transition Time, see APTT 289 APTT, 245 active scanning, 232–233 association, 232 authentication, 232 handover, 231–238 handover decision, 232, 237 joining a BSS, 232 link layer reestablishment, 232–235, 238, 253 network discovery, 232, 237–238 passive scanning, 232–233 radio system channel switch time, 245 train communication IEEE 802.16d, 95 train control performance management, 144 security cost, 142 security indicator, 145 VANET applications, 20 broadcast protocols, 69 broadcast reliability, 66 gossip protocol, 71 multichannel coordination, 64–65 NEMO, 76 packet drop burst, 67 packet drop rate, 67 packet loss, 64 Positioning ERTMS, 102 GNSS, 119 CALM, 175 Doppler shift, 121 forged signal, 119 GPS, see Global Positioning System PTC, 134, 144 public safety, 31 VANET, 23 vehicular communication, 23, 151, 210, 214 radar vehicular communication, 215 railway infrastructure, 229 signal indications, 132 track database, 144 SCADA Communications-Based Train Control, 229 PTC, 132, 229 290 Wi-Fi locator public safety, 31 Privacy anonymity, 108 strong, 108 attack, 106 identity linking, 108 cost reduction, 115–116 enhancing technologies, 106, 113–116 identity disclosure, 108, 109, 114 identity concealment, 108 position, 122, 229 pseudonym, 111, 113–117, 121–123 Baseline Pseudonymous Authentication, 113 basic security, 111 Hybrid Pseudonymous Authentication, 114, 122 lifetime, 115 short term identity, 117 Radio channel measurement point of acquisition local, 231 remote, 231 positional reference differential GPS, 51 reference clock Rubidium frequency standard, 51 signal waveform analysis, 51 generation, 51 recording, 51 Radio propagation, see V2X radio channel Radio system antenna directive, 47, 48, 77, 178 eigen-beamforming, 178, 183 MIMO, 182, 184 mismatch, 31 mount, 47, 49 multiplexing, 183 satellite, 99 size, 92 spatial multiplexing, 184 channel access deterministic MAC, 229 FDD, 98, 162 hybrid MAC, 229 stochastic MAC, 229 SUBJECT INDEX TDD, 98, 184 TDMA, 37, 162 Channel State Information, 183 IEEE 802.11p, 178 baseband, 178 PHY layer, 179 interference mitigation, 182 mobility performance impact, 182 modulation BPSK, 158 CDMA, 31 cyclic prefix, 59 Doppler resistance, 179, 183 DSSS, 51, 56 OFDM, 51, 59, 95, 158, 179, 180, 182, 184 OFDM mid-amble, 180 pilot-carrier, 60–61 QPSK, 158 Scalable Adaptive Modulation, 37 SOFDMA, 95 sub-carrier, 59, 60, 179, 184 WCDMA, 98 multi-user diversity, 183 performance channel switch time, 245 radio channel equalization enhancements, 61 spatial multiplexing 3GPP LTE, 182 WiMAX, 184 symbol period, 56 temporal diversity, 183 Regulation performance-based, 138 prescriptive-based, 138 spectrum automotive, 2, 152 DTV transition, 36, 152 global harmonization, 164, 165 global variation, 163 public safety, 36 public safety channels, 37 railway, 93 TV bands, 36, 162, 174 WRC/RRC, 93, 167 Regulatory authority FCC, 2, 10, 38, 93, 154, 158, 173 ITU-R, 46, 165 WRC/RRC, 93, 165 SUBJECT INDEX SCADA, see Supervisory Control and Data Acquisition Communications-Based Train Control, 129, 229, 236, 239, 253 handover requirements, 229–230, 236, 239, 242, 253 Communications-Based Train Control, 228 Digital Control Systems, 129 Positive Train Control, 129, 132, 229 handover requirements, 229–230 wireless, 132 SDR, see Software Defined Radio, 51, 153, 231, 266 CR, 266 GPS adversary, 119 Security attack active, 140, 142 adversary, 107 branding, 118 close in, 140 collusive, 107 denial of service, 140 distributed, 142 distribution, 107, 140 external, 107 false information, 106 false position, 119 IATF classification, 139 identity linking, 114 identity theft, 140, 142 insider, 140 internal, 107 jamming, 140 mal-actor, 106, 107, 142 malicious association, 140 man in the middle, 140 message forge, 107 message inject, 107 message replay, 107 mitigation, 108, 141 passive, 139 passive adversary, 107 relay, 112 replay, 112 rogue protocol, 107 sensor adversary, 108 tracing, 108 vehicle tracking, 122 291 attack detection distributed, 118 forged GNSS messages, 121 attribute accountability, 142 authenticity, 108, 141 availability, 141 confidentiality, 108, 141 identification, 142 integrity, 108, 141 authentication anonymous, 114 data origin, 142 Group Signature, 114 certification certificate period, 115 domain, 109 Foreigner Certificate, 117 private key, 106, 107, 110–112, 114, 117, 118, 123 public key, 106, 110–112, 114, 116, 117, 121, 122 revocation, 116–118, 123 cost reduction, 115–116 cryptographic authentication, 142 Hardware Security Module, 42, 110, 118 hash function, 143 module, 42 on-board processing cost, 123 overhead, 115, 116, 123 protection, 119 tools, 122–123 cryptographic overhead system performance, 116 data centric, 106, 119 encryption, 89, 96 elliptic curve, 122 military, 41 key management, 109 level classification, 123 location information, 119–121, 229 mal-actor, 138 military IEEE 802.11i, 41 non-cryptographic, 108 requirements, 108–109 access control, 108 application, 109 292 authentication, 108 authorization, 108 entity association, 232 entity authentication, 108, 232 importance, 109 non-repudiation, 108 revocation list, 117, 121, 123 encoding, 118 Fountain codes, 118 Raptor codes, 118 robustness, 115 secure VC deployment, 124 sensor adversary, 119 non-cryptographic protection, 119 thread model, 107–108 trust establishment data centric, 122 trustworthiness assessment, 121 communication module, 123 data, 109, 119 level, 121 message, 121, 142 message sender, 119 position information, 120 sender, 108, 121, 142 system, 124 Sensing infrastructure-based, 177 Simulation driver model, 225 driving, 207 IEEE 1609.4 multichannel MAC, 64 intelligent vehicle SUMMITS, 214–215 microscopic traffic SUMMITS, 207 performance evaluation multichannel MAC, 63 system robustness MARS, 212 traffic flow ITS modeller, 218 scenarios, 221–224 throughput optimization, 208, 224 traffic model, 224 traffic pattern, 224 VANET information dissemination, 74 safety applications, 24 SUBJECT INDEX VANET performance limits, vehicle model, 225 Spectrum allotment DSRC, 46 digital dividend, 259 DSA, see Dynamic Spectrum Access dynamic access, 259 license by rule, 173 license-exempt use, 93 licensing exclusive, 93 V2I, 160 licensing cost, 38 spectrum handover, 266 whitespace, 259 Standardization automotive ASTM, 157 C2C-CC, 161, 175 COMeSafety, 161 ETSI ITS, 161, 172, 173 Europe, 160–162 global, 163–168 global organizations, 164–168 IEEE WAVE, 65, 77, 109, 158–160, 165, 167, 174, 178, 235 ISO CALM, 161, 164–165, 167, 174, 176, 187, 191 ISO TC 204, 164 ISO TC 22, 164 ITU-T APSC TELEMOV, 167 Japan, 162–163 North America, 157–160 regional differences, 167 regional progress, 157–163 cooperation, 156–157 motivation, 156 protocol layers, 156 insufficiency, 154 interoperability, 38, 150, 154 security, 154 military FIPS-140, 41 necessity, 153 message set, 153 radio, 153 rules of use, 154 protocols activities, 155 OSI model, 154–155 SUBJECT INDEX railway IEC TCN, 99, 100 regional aspects, 152 Standardization body ARIB, 46, 162–163 CEN, 160 CENELEC, 161 ETSI, 93, 161, 172, 175 IEC, 100, 161 IEEE, 155 IETF, 155, 175, 186 ISO, 100, 155, 160, 164, 174 ITU-R, 165 ITU-T, 167 NIST, 41 SAE, 159 TIA, 37 UIC, 96 SUMMITS, see Sustainable Mobility Methodologies for Intelligent Transport Systems assessment meta-model, 206, 207 multi-aspect, 205 speed assistant, 208–212 IRSA, 208–212 impact on traffic flow, 218–219 implementation, 213–215, 219–221 ITS modeller, 218 MARS, 213–215 tool-suite, 206 overview, 204 tools, 206–207 Testing cooperative system scenarios, 177 on-road SUMMITS, 207 security challenges, 125 TNO, see Netherlands Organization for Applied Scientific Research SUMMITS, 204 Traffic Control System train control cab signal system, 132 train operations Direct Traffic Control, 131 Track Warrant Control, 131 centralized, 131 293 mandatory directives, 131 operating rules, 130, 131 verbal authorities, 131 Traffic management automotive protocol, 158 rail traffic ERTMS, 85, 101, 173 Train control PTC, see Positive Train Control OSI application layer protocol, 138 accounting management, 145 architecture, 134–135, 240–241 central office, 135 configuration management, 145 fault management, 145 full system, 133 functional levels, 133, 229 on-board subsystem, 134 overlay system, 133 performance management, 144 security management, 146 track database, 144 wayside subsystem, 135 Train control system ATC, see Automatic Train Control, 84, 88–89, 94, 132 full ATC, 89 ATP, see Automatic Train Protection, 88 Automatic Train Stop, 132 ETCS, see European Train Control System, 85, 102, 258 Eurobalise, 102 Euroloop, 102 MODURBAN, 102 PTC, see Positive Train Control Advanced Civil Speed Enforcement System, 136 Collision Avoidance System, 136 Communications-Based Train Management, 136 Electronic Train Management System, 136 Incremental Train Control System, 136 North American Joint Positive Train Control System, 136 operational in the US, 135–138 Optimized Train Control, 136 Train Sentinel, 136 Vital Train Management System, 136 SUBJECT INDEX 294 speed control KVB, 84 UIC, see Union Internationale des Chemins de Fer, 96 V2I, see Vehicle-to-Infrastructure communication 3GPP LTE, 173, 181–184 3GPP LTE beyond, 259 EDGE, 98 GPRS, 97, 98, 118, 181 GSM, 97, 98, 181 HSDPA, 182 IMT-Advanced, 259 IP-based, 186–196 mobile WiMAX, 184 non-IP, 185–186 radio channel, see also V2X radio channel V2I fading model, 50 UMTS, 98, 118, 182, 183, 187 WiMAX, 173, 184 IEEE 802.16e, 184 IEEE 802.16m, 184 V2X, see Vehicle-to-Vehicle/Infrastructure communication C2C-CC, 175 collaboration and cooperation, 265–267 IP-based group communication, 194 radio channel, 48–57 absorption, 50 characteristics, 179 coherence bandwidth, 57, 179 coherence time, 54, 60, 179 delay spread profile, 56 deterministic model, 48 diffraction, 50 Doppler spread, 53, 59 Doppler tracking, 180 dual slope log-normal model, 49, 51 effective velocity, 56 equalization, 59, 60, 77, 179 estimation, 179, 180, 182 fading statistics, 53 frequency selective fading, 57 geometry-based model, 48 impact of driver behavior, 55 impact on OFDM, 59 inter-carrier interference, 183 large-scale model, 50, 53 large-scale path loss, 51 measurement system, 51 measurements, 51, 231 multi-tap model, 50 multipath fading, 48–50 railway, 92 ray-tracing, 48 scattering, 50 small-scale fading model, 49 sounding, 51, 182 time-dispersive, 50 two-ray flat-earth model, 48 V2V fading model, 50 V2V channel properties, 51 VANET, see Vehicular Ad hoc Network, 4, 161 application neighbor table, 113 safety beacon, 112 security, 109 application characteristics, 8–10 event correlation, 10 event detection, 10, 13 event lifetime, information recipients, 9, 13 participants, Region-of-Interest, 9, 13 trigger condition, 9, 13 user benefit, application characterization, 12–18 by application characteristics, 12–15 by network attributes, 15–18 application classification, 18–21 content download/streaming, 19 short message communication, 18 application reliability, 68–69 metric, 69 broadcast broadcast storm, 71 contention-based, 72 flooding, 72 reliability, 66–68 sparse VANET, 73 certificate revocation RSU distributed, 117 vehicle distributed, 118 deployment aftermarket, 22 applications, 24 infrastructure, 25 market centric, 124 market penetration, 23 SUBJECT INDEX navigation, 21 penetration, 21 rollout options, 21–23 safety applications, 24 standalone system, 21 system rollout, 25 telematics, 22 vertical market, 33 military security, 41 UAV, 41 use cases, 40–41 multi-hop, 7, 20, 24, 41, 71–73, 78, 111, 161 network attributes, 10–12 broadcasting, 12 channel, 10 information lifetime, 11 infrastructure, 11, 17 message format, 11, 15 message transport, 12 message trigger, 12, 17 routing protocol, 11, 15 security, 12, 231 protocol DHCP, 76 information dissemination, 71, 185 MANET, 76 mobile IP, 75–77 NEMO, 76 public safety use cases, 35, 39–40 reliability enhancement broadcast, 69 routing Ad hoc On Demand Distance Vector Routing (AODV), 74 Dynamic Source Routing (DSR), 74 epidemic, 73 geographical, 185 geographical message forwarding, 113, 186, 259 geographical packet forwarding, 113, 186, 259 security, 113 security neighbor discovery, 112–113 routing, 113 VC, see Vehicular Communication application vs communication reliability, 67, 69, 230 295 CR, see also Cognitive Radio, 266 cryptographic overhead, 116 evolution, 259, 265 Internet of things, 265 Machine-to-machine communication, 265 military, 40–42 mobile WiMAX, 185 public safety, 31–34 challenges, 35 homeland security, 35 traceability, 125 VoIP, 30 SDR, 266 security legal considerations, 125 policies, 125 traffic class non real time message data, 86 real time data, 85 streaming data, 88 Wi-Fi Access Point Transition Time, see APTT handover delay, 95, 237, 239 APTT, 245 service interruption time, see handover delay wireless sensor network, 196–198, 265 low power, 198 on-board, 196 VC application, see also VSC application Amber alert, 37 audio streaming, 90 automated tolling, 6, 158, 161 benefit, 5–7 classification content download/streaming, 19 short message communication, 18 commercial, 5, convenience, 5, 6, 151 DTV transition, 162, 259 electronic report, 30 enhanced navigation, 158 future Internet, 265 information displays, 89 information sharing, 40 integrated detection systems, 40 Internet access, 91 large-scale device monitoring, 194 maintenance, 91 296 PIS, see Passenger Information System, 89–91 position-based, 119, 163 predictive maintenance, 84 rapid deployment, 40 remote diagnostic, 196 remote repair, 196 remote situation analysis, 37 Seat Reservation Display, 89 software update, 91, 194, 196 surveillance, 32 traffic management, 5, 158, 177 train management, 136 transportation efficiency, VANEMO, 76 VANET, 109, 122 vehicle tracing, 40 video streaming, 32, 90 VoIP, 30–32, 37 VeHIL, see Vehicle Hardware In the Loop, 207 SUBJECT INDEX VSC, see Vehicular Safety Communication packet loss, 181 WiMAX safety message latency, 185 VSC application, see also VC application CCTV, 90 Basic Safety Message set, 159 collision avoidance, 136, 158 cooperative awareness, 119, 177 crash avoidance, 150 driver assistance, intersection collision avoidance, 151 malfunction identification, 196 road safety, 177 soft safety, 151 speed control, 84 speed enforcement, 136 traffic safety, 150 train control, 136 VANET, 63, 68 vehicle safety, [...]... with respect to plausible application- and networkingrelated attributes The characterization process not only strengthens our understanding of the applications but also sets the stage for the classification step, since it reveals numerous Vehicular Networking Edited by Marc Emmelmann, Bernd Bochow, C Christopher Kellum c 2010 John Wiley & Sons, Ltd 2 VEHICULAR NETWORKING application commonalities The... many cars on the same road at the same time Vehicular networking can help us use these resources better than we do today, by collecting and propagating information in new ways In the case of traffic jams this is done by avoiding the traffic accident altogether, or, in the case of overuse, by routing vehicles around a traffic jam before it even starts Vehicular networking is a complicated topic, and it... Applicability of generic wide area radio access standards to Vehicle-to-Infrastructure (V2I) communications 181 8.4 Networking Standards for V2I Communications 185 8.4.1 Non-IP networking technologies for critical messaging 185 8.4.2 IP-based vehicular networking 186 8.5 Summary 198 References ... home to the car before a morning drive VEHICULAR NETWORKING 8 1.3 Application Characteristics and Network Attributes In this section, we define the application and networking criteria used in our classification Careful selection of these criteria is critical to adequately capture the subtle, yet important, differences between various applications, and their diverse networking requirements Thus, our approach... standardization Admittedly there is overlap between these two chapters, but Chapter 7 focuses mostly on vehicle networking between mobile nodes while Chapter 8 has a specific focus on Internet Engineering Task Force (IETF) activities in vehicular application of mobile IP, and related activities based on ad hoc networking principles such as Mobile Ad hoc Network (MANET) In addition to the standards activities and... complexity of vehicular communications and how widespread the topic is We are very, very fortunate to have received contributions from the authors in this book, and we are extremely grateful We applaud their efforts and hope to see their work continue so that the magnificent technology presented here can soon be experienced in our everyday lives! Chris Kellum Cedar Falls, Iowa, U.S.A Marc Emmelmann Bernd... University Sheng Yang Supelec Isabel Wilmink TNO Built Environment and Geosciences Preface From a high-level point of view, vehicular networking is simply the communication of information between a vehicle and either another vehicle or the infrastructure This high-level view of vehicular communication is decades old, and, one could say, includes applications such as voice communication between military... importantly from a wireless networking perspective 1.1.2 Contributions and benefits To the best of our knowledge, this chapter is the first study of classifying communicationbased automotive applications from the perspective of wireless networking design Towards this objective, we are interested in answering the following questions: (a) What are the key application characteristics and networking attributes... 5 elaborates on potential security threats and on suitable methods to detect and counter attacks on the integrity of vehicular communications, specifically in the Vehicular Ad hoc Network (VANET) environment The chapter elaborates on topics such as issuing and revoking credentials to vehicular network nodes and detecting attacks on sensory input for positioning based on satellite navigational systems... Bombardier Transportation France Alexis Olivereau CEA LIST, Département des Technologies et des Systèmes Intelligents Lin Cheng Trinity College, Hartford, CT Luc de Coen Bombardier Transportation France Marc Emmelmann Technical University Berlin Rajni Goel Howard University Karine Gosse CEA LIST, Département des Technologies et des Systèmes Intelligents Panos Papadimitratos Ecole Polytechnique Fédérale