Cooperative positioning is considered a key strategy for the improvement of localization and navigation performance in harsh contexts such as urban areas. Modern communication paradigms can support the exchange of inter-vehicle ranges measured from on-board sensors or obtained through Global Satellite Navigation System (GNSS) measurements. The paper presents an overview of the GNSS-only collaborative localization in the context of cooperative connected cars. It provides an experimental example along with new results about the tight integration of collaboratively-generated inter-vehicle relative measurements collected by a target vehicle by means of a double differentiation w.r.t. to a set of five aiding vehicles. An average improvement of the positioning accuracy of about 11% motivates the research effort towards multi-agent connected positioning systems.
{"title":"GNSS-only Collaborative Positioning Among Connected Vehicles","authors":"Alex Minetto, Andrea Nardin, F. Dovis","doi":"10.1145/3331054.3331552","DOIUrl":"https://doi.org/10.1145/3331054.3331552","url":null,"abstract":"Cooperative positioning is considered a key strategy for the improvement of localization and navigation performance in harsh contexts such as urban areas. Modern communication paradigms can support the exchange of inter-vehicle ranges measured from on-board sensors or obtained through Global Satellite Navigation System (GNSS) measurements. The paper presents an overview of the GNSS-only collaborative localization in the context of cooperative connected cars. It provides an experimental example along with new results about the tight integration of collaboratively-generated inter-vehicle relative measurements collected by a target vehicle by means of a double differentiation w.r.t. to a set of five aiding vehicles. An average improvement of the positioning accuracy of about 11% motivates the research effort towards multi-agent connected positioning systems.","PeriodicalId":317744,"journal":{"name":"TOP-Cars '19","volume":"107 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113946056","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pietro Spadaccino, P. Conti, E. Boninsegna, F. Cuomo, A. Baiocchi
In this paper we design an efficient algorithm, based on epidemic models, to dissemination messages in VANETs. The algorithm, named EPIC, is based on few hypothesis and it is very simple to be implemented. The main hypotheses are that each vehicle knows the position of its neighbours and can communicate with them only in broadcast. EPIC has been designed with the goal to reach the highest number of vehicles "infected" by the message, without overloading the network. It has been tested on different scenarios taken from VANETs simulations based on real urban environments like Manhattan and Cologne. To test the algorithm we developed a simulation environment in Python with a visual interface, able to show how the algorithm works simply by clicking on the node from which the first message is injected in the network. The visual result is a representation of the graph with the achieved wireless connectivity, the reached vehicles, those not reached, and the path followed by messages. Furthermore, a performance evaluation has been carried out to show the behaviour of EPIC, simulated in different urban environments and compared with another dissemination protocol based on simple probabilistic rules.
{"title":"EPIC: an Epidemic based dissemination algorithm for VANETs","authors":"Pietro Spadaccino, P. Conti, E. Boninsegna, F. Cuomo, A. Baiocchi","doi":"10.1145/3331054.3331546","DOIUrl":"https://doi.org/10.1145/3331054.3331546","url":null,"abstract":"In this paper we design an efficient algorithm, based on epidemic models, to dissemination messages in VANETs. The algorithm, named EPIC, is based on few hypothesis and it is very simple to be implemented. The main hypotheses are that each vehicle knows the position of its neighbours and can communicate with them only in broadcast. EPIC has been designed with the goal to reach the highest number of vehicles \"infected\" by the message, without overloading the network. It has been tested on different scenarios taken from VANETs simulations based on real urban environments like Manhattan and Cologne. To test the algorithm we developed a simulation environment in Python with a visual interface, able to show how the algorithm works simply by clicking on the node from which the first message is injected in the network. The visual result is a representation of the graph with the achieved wireless connectivity, the reached vehicles, those not reached, and the path followed by messages. Furthermore, a performance evaluation has been carried out to show the behaviour of EPIC, simulated in different urban environments and compared with another dissemination protocol based on simple probabilistic rules.","PeriodicalId":317744,"journal":{"name":"TOP-Cars '19","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131716539","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
C. Campolo, A. Molinaro, Francesco Romeo, A. Bazzi, A. Berthet
The cellular Vehicle-to-Everything (C-V2X) radio access technology, specified by the Third Generation Partnership Project (3GPP), enables direct communications between vehicles, using the sidelink radio resources over the PC5 interface. In C-V2X Mode 4, a vehicle autonomously selects the resources and keeps them for consecutive transmissions before a resource reselection is triggered, according to a sensing-based semi-persistent scheduling mechanism. A wrong estimation of the resource occupancy status may lead to persistent packet losses, due to collisions with simultaneous transmissions from other vehicles. In this paper, we propose to provide vehicles with on-board full-duplex transceivers and harness this capability (i) to make the sensing phase more accurate, (ii) to make a more informed resource reselection decision, and (iii) to enhance packet decoding while transmitting. Achieved simulation results show that the proposal provides several improvements in terms of packet transmission reliability and timeliness when compared against the legacy C-V2X Mode 4.
{"title":"Full duplex-aided Sensing and Scheduling in Cellular-V2X Mode 4","authors":"C. Campolo, A. Molinaro, Francesco Romeo, A. Bazzi, A. Berthet","doi":"10.1145/3331054.3331549","DOIUrl":"https://doi.org/10.1145/3331054.3331549","url":null,"abstract":"The cellular Vehicle-to-Everything (C-V2X) radio access technology, specified by the Third Generation Partnership Project (3GPP), enables direct communications between vehicles, using the sidelink radio resources over the PC5 interface. In C-V2X Mode 4, a vehicle autonomously selects the resources and keeps them for consecutive transmissions before a resource reselection is triggered, according to a sensing-based semi-persistent scheduling mechanism. A wrong estimation of the resource occupancy status may lead to persistent packet losses, due to collisions with simultaneous transmissions from other vehicles. In this paper, we propose to provide vehicles with on-board full-duplex transceivers and harness this capability (i) to make the sensing phase more accurate, (ii) to make a more informed resource reselection decision, and (iii) to enhance packet decoding while transmitting. Achieved simulation results show that the proposal provides several improvements in terms of packet transmission reliability and timeliness when compared against the legacy C-V2X Mode 4.","PeriodicalId":317744,"journal":{"name":"TOP-Cars '19","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131642913","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The freshness of information is of the utmost importance in many contexts, including V2X networks and applications. One measure of this metric is the Age of Information (AoI), a notion recently introduced and explored by several authors, often with specific reference to vehicular networks. With this work, we explore the possibility of reducing the AoI of multi-hop information flooding in V2X networks exploiting the properties of the Eigenvector Centrality (EvC) of nodes in the topology, and the possibility that each node computes it exploiting only local information and very easy computations, so that each node can autonomously adapt its own networking parameters to redistribute information more efficiently. Starting from theoretical bounds and results, we explore how they hold in urban-constrained topologies and compare the AoI achieved exploiting EvC with the AoI achievable without this optimization of the nodes' behavior. Simulation results show a meaningful improvement without using additional resources and without the need of any global coordination.
{"title":"Keep It Fresh: Reducing the Age of Information in V2X Networks","authors":"L. Baldesi, L. Maccari, R. Cigno","doi":"10.1145/3331054.3331547","DOIUrl":"https://doi.org/10.1145/3331054.3331547","url":null,"abstract":"The freshness of information is of the utmost importance in many contexts, including V2X networks and applications. One measure of this metric is the Age of Information (AoI), a notion recently introduced and explored by several authors, often with specific reference to vehicular networks. With this work, we explore the possibility of reducing the AoI of multi-hop information flooding in V2X networks exploiting the properties of the Eigenvector Centrality (EvC) of nodes in the topology, and the possibility that each node computes it exploiting only local information and very easy computations, so that each node can autonomously adapt its own networking parameters to redistribute information more efficiently. Starting from theoretical bounds and results, we explore how they hold in urban-constrained topologies and compare the AoI achieved exploiting EvC with the AoI achievable without this optimization of the nodes' behavior. Simulation results show a meaningful improvement without using additional resources and without the need of any global coordination.","PeriodicalId":317744,"journal":{"name":"TOP-Cars '19","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126810843","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The automotive industry is scrambling to equip high- and middle-segment vehicles with communication capabilities that will enable the commercialization of connected vehicles in the near future. Although both IEEE and 3GPP are developing new solutions, it is likely that IEEE 802.11p will be the protocol of choice. In this paper, we develop an open-source testing framework for IEEE 802.11p cards and characterize the performance of Unex DHXA-222 cards in terms of throughput and packet loss, especially when different traffic classes, hence access categories, are selected.
{"title":"Characterization and Performance Evaluation of IEEE 802.11p NICs","authors":"Francesco Raviglione, M. Malinverno, C. Casetti","doi":"10.1145/3331054.3331548","DOIUrl":"https://doi.org/10.1145/3331054.3331548","url":null,"abstract":"The automotive industry is scrambling to equip high- and middle-segment vehicles with communication capabilities that will enable the commercialization of connected vehicles in the near future. Although both IEEE and 3GPP are developing new solutions, it is likely that IEEE 802.11p will be the protocol of choice. In this paper, we develop an open-source testing framework for IEEE 802.11p cards and characterize the performance of Unex DHXA-222 cards in terms of throughput and packet loss, especially when different traffic classes, hence access categories, are selected.","PeriodicalId":317744,"journal":{"name":"TOP-Cars '19","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124908217","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Christian Krupitzer, Veronika Lesch, Martin Pfannemüller, C. Becker, Michele Segata
Recent developments by companies as Waymo, Uber, or Tesla show that autonomous driving is no science fiction anymore. Coordinated driving applications such as platooning, i.e., driving in convoys of coordinated vehicles, use the full potential of the automation. In this paper, we present a simulation framework for analyzing platooning coordination strategies which can be used by domain experts without experience in simulation as it abstract from the details of the underlying simulation. We show the applicability of the simulation framework to support the analysis of platooning coordination strategies in a case study with three coordination strategies.
{"title":"A Modular Simulation Framework for Analyzing Platooning Coordination","authors":"Christian Krupitzer, Veronika Lesch, Martin Pfannemüller, C. Becker, Michele Segata","doi":"10.1145/3331054.3331550","DOIUrl":"https://doi.org/10.1145/3331054.3331550","url":null,"abstract":"Recent developments by companies as Waymo, Uber, or Tesla show that autonomous driving is no science fiction anymore. Coordinated driving applications such as platooning, i.e., driving in convoys of coordinated vehicles, use the full potential of the automation. In this paper, we present a simulation framework for analyzing platooning coordination strategies which can be used by domain experts without experience in simulation as it abstract from the details of the underlying simulation. We show the applicability of the simulation framework to support the analysis of platooning coordination strategies in a case study with three coordination strategies.","PeriodicalId":317744,"journal":{"name":"TOP-Cars '19","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128819718","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
M. Giordani, Takamasa Higuchi, A. Zanella, O. Altintas, M. Zorzi
Vehicles are becoming increasingly intelligent and connected, incorporating more and more sensors to support safer and more efficient driving. The large volume of data generated by such sensors, however, will likely saturate the capacity of vehicular communication technologies, making it challenging to guarantee the required quality of service. In this perspective, it is essential to assess the value of information (VoI) provided by each data source, to prioritize the transmissions that have the greatest importance for the target applications. In this paper, we propose and evaluate a framework that uses analytic hierarchy multicriteria decision processes to predict VoI based on space, time, and quality attributes. Our results shed light on the impact of the propagation scenario, the sensor resolution, the type of observation, and the communication distance on the value assessment performance. In particular, we show that VoI evolves at different rates as a function of the target application's characteristics.
{"title":"A Framework to Assess Value of Information in Future Vehicular Networks","authors":"M. Giordani, Takamasa Higuchi, A. Zanella, O. Altintas, M. Zorzi","doi":"10.1145/3331054.3331551","DOIUrl":"https://doi.org/10.1145/3331054.3331551","url":null,"abstract":"Vehicles are becoming increasingly intelligent and connected, incorporating more and more sensors to support safer and more efficient driving. The large volume of data generated by such sensors, however, will likely saturate the capacity of vehicular communication technologies, making it challenging to guarantee the required quality of service. In this perspective, it is essential to assess the value of information (VoI) provided by each data source, to prioritize the transmissions that have the greatest importance for the target applications. In this paper, we propose and evaluate a framework that uses analytic hierarchy multicriteria decision processes to predict VoI based on space, time, and quality attributes. Our results shed light on the impact of the propagation scenario, the sensor resolution, the type of observation, and the communication distance on the value assessment performance. In particular, we show that VoI evolves at different rates as a function of the target application's characteristics.","PeriodicalId":317744,"journal":{"name":"TOP-Cars '19","volume":"27 30","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113973236","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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