Pub Date : 2026-02-01Epub Date: 2025-11-04DOI: 10.1016/j.vehcom.2025.100986
Yongqiang Cui, Yiyang Zhang , Di Bai, Yi Diao, Yulei Wang
Reliable self-localization of unmanned aerial vehicles (UAVs) in dense urban environments remains a major challenge due to the frequent unavailability or degradation of Global Navigation Satellite Systems (GNSS) and other radio signals. This paper presents a robust and cost-effective method for UAV self-localization by using vision and millimeter-wave (mmWave) radar data in GNSS-denied environments. The approach generates an initial dense point cloud through depth estimation and semantic segmentation, which is then geometrically refined using sparse mmWave radar point cloud. A semantic-guided clustering method is applied to the mmWave radar point cloud to remove noise and extract key structural elements such as walls, which are later fused with vision-based depth information. For positioning, image matching algorithm provides coarse localization, followed by fine registration that leverages geometric features of windows to enhance precision. Experimental results demonstrate that the proposed method can achieve self-localization accuracy within 0.4 m, while maintaining low system complexity and deployment cost, offering a practical solution for UAV self-localization in GNSS-denied urban scenarios.
{"title":"3D map and mmWave radar-based self-localization for UAVs in GNSS-denied environments","authors":"Yongqiang Cui, Yiyang Zhang , Di Bai, Yi Diao, Yulei Wang","doi":"10.1016/j.vehcom.2025.100986","DOIUrl":"10.1016/j.vehcom.2025.100986","url":null,"abstract":"<div><div>Reliable self-localization of unmanned aerial vehicles (UAVs) in dense urban environments remains a major challenge due to the frequent unavailability or degradation of Global Navigation Satellite Systems (GNSS) and other radio signals. This paper presents a robust and cost-effective method for UAV self-localization by using vision and millimeter-wave (mmWave) radar data in GNSS-denied environments. The approach generates an initial dense point cloud through depth estimation and semantic segmentation, which is then geometrically refined using sparse mmWave radar point cloud. A semantic-guided clustering method is applied to the mmWave radar point cloud to remove noise and extract key structural elements such as walls, which are later fused with vision-based depth information. For positioning, image matching algorithm provides coarse localization, followed by fine registration that leverages geometric features of windows to enhance precision. Experimental results demonstrate that the proposed method can achieve self-localization accuracy within 0.4 m, while maintaining low system complexity and deployment cost, offering a practical solution for UAV self-localization in GNSS-denied urban scenarios.</div></div>","PeriodicalId":54346,"journal":{"name":"Vehicular Communications","volume":"57 ","pages":"Article 100986"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145442107","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2026-02-01Epub Date: 2025-11-09DOI: 10.1016/j.vehcom.2025.100989
Huayu Liu , Hua Wu , Yang Liu , Hailong Dong , Hao Li
Multiple unmanned aerial vehicles (UAVs) play a critical role in disaster response and rescue missions. This paper proposes a multi-layer based collaborative optimization (MCO) method, which consists of three stages: path preplanning, task allocation, and task scheduling. These three stages correspond to three levels that are upper level, middle level and lower level. A dynamic constrained particle swarm optimization (DPSO) is proposed for path preplanning in the upper layer by designing a kind of dynamic subpopulation division strategy. After that a clustered consensus-based bundle algorithm (CCBA) is designed to allocate different tasks to available UAVs based on preplanned paths to solve the problems of discontinuous task allocation and redundant paths. Then a multi-neighborhood variable simulated annealing (MNV-SA) algorithm is proposed to further optimize the task execution sequence of each UAV. To validate the effectiveness of MCO method, a set of experiments is conducted in a simulated disaster scenario based on a real urban environment. The results demonstrate that the proposed MCO method significantly improves the task execution benefits and reduces UAV flight distances across all scenarios. Particularly, in complex scenarios, MCO method outperforms CBBA, ACO, and PI algorithms in terms of task execution benefits by 14.01 %, 6.01 %, and 24.06 %, respectively.
{"title":"A multi-layer based collaborative optimization (MCO) for multiple UAVs’ task allocation and scheduling","authors":"Huayu Liu , Hua Wu , Yang Liu , Hailong Dong , Hao Li","doi":"10.1016/j.vehcom.2025.100989","DOIUrl":"10.1016/j.vehcom.2025.100989","url":null,"abstract":"<div><div>Multiple unmanned aerial vehicles (UAVs) play a critical role in disaster response and rescue missions. This paper proposes a multi-layer based collaborative optimization (MCO) method, which consists of three stages: path preplanning, task allocation, and task scheduling. These three stages correspond to three levels that are upper level, middle level and lower level. A dynamic constrained particle swarm optimization (DPSO) is proposed for path preplanning in the upper layer by designing a kind of dynamic subpopulation division strategy. After that a clustered consensus-based bundle algorithm (CCBA) is designed to allocate different tasks to available UAVs based on preplanned paths to solve the problems of discontinuous task allocation and redundant paths. Then a multi-neighborhood variable simulated annealing (MNV-SA) algorithm is proposed to further optimize the task execution sequence of each UAV. To validate the effectiveness of MCO method, a set of experiments is conducted in a simulated disaster scenario based on a real urban environment. The results demonstrate that the proposed MCO method significantly improves the task execution benefits and reduces UAV flight distances across all scenarios. Particularly, in complex scenarios, MCO method outperforms CBBA, ACO, and PI algorithms in terms of task execution benefits by 14.01 %, 6.01 %, and 24.06 %, respectively.</div></div>","PeriodicalId":54346,"journal":{"name":"Vehicular Communications","volume":"57 ","pages":"Article 100989"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145473283","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2026-02-01Epub Date: 2025-11-17DOI: 10.1016/j.vehcom.2025.100985
Timo Salomon , Lisa Maile , Philipp Meyer , Franz Korf , Thomas C. Schmidt
Future vehicles are expected to dynamically deploy in-vehicle applications within a Service-Oriented Architecture (SOA) while critical services continue to operate under hard real-time constraints. Time-Sensitive Networking (TSN) on the in-vehicle Ethernet layer is dedicated to ensure deterministic communication between critical services; its Credit-Based Shaper (CBS) supports dynamic resource reservations. However, the dynamic nature of service deployment challenges network resource configuration, since any new reservation may change the latency of already validated flows. Standard methods of worst-case latency analysis for CBS have been found incorrect, and current TSN stream reservation procedures lack mechanisms to signal application layer Quality-of-Service (QoS) requirements or verify deadlines.
In this paper, we propose and validate a QoS negotiation scheme that interacts with the TSN network controller to reserve resources while ensuring latency bounds. For the first time, this work comparatively evaluates reservation schemes using worst-case analysis and simulations of a realistic In-Vehicle Network (IVN) and demonstrates their impact on QoS guarantees, resource utilization, and setup times. We find that only one reservation scheme utilizing per-queue delay budgets and network calculus provides valid configurations and guarantees acceptable latency bounds throughout the IVN. The proposed service negotiation mechanism efficiently establishes 450 vehicular network reservations in just 11 ms.
{"title":"Negotiating strict latency limits for dynamic real-time services in vehicular time-sensitive networks","authors":"Timo Salomon , Lisa Maile , Philipp Meyer , Franz Korf , Thomas C. Schmidt","doi":"10.1016/j.vehcom.2025.100985","DOIUrl":"10.1016/j.vehcom.2025.100985","url":null,"abstract":"<div><div>Future vehicles are expected to dynamically deploy in-vehicle applications within a Service-Oriented Architecture (SOA) while critical services continue to operate under hard real-time constraints. Time-Sensitive Networking (TSN) on the in-vehicle Ethernet layer is dedicated to ensure deterministic communication between critical services; its Credit-Based Shaper (CBS) supports dynamic resource reservations. However, the dynamic nature of service deployment challenges network resource configuration, since any new reservation may change the latency of already validated flows. Standard methods of worst-case latency analysis for CBS have been found incorrect, and current TSN stream reservation procedures lack mechanisms to signal application layer Quality-of-Service (QoS) requirements or verify deadlines.</div><div>In this paper, we propose and validate a QoS negotiation scheme that interacts with the TSN network controller to reserve resources while ensuring latency bounds. For the first time, this work comparatively evaluates reservation schemes using worst-case analysis and simulations of a realistic In-Vehicle Network (IVN) and demonstrates their impact on QoS guarantees, resource utilization, and setup times. We find that only one reservation scheme utilizing per-queue delay budgets and network calculus provides valid configurations and guarantees acceptable latency bounds throughout the IVN. The proposed service negotiation mechanism efficiently establishes 450 vehicular network reservations in just 11 ms.</div></div>","PeriodicalId":54346,"journal":{"name":"Vehicular Communications","volume":"57 ","pages":"Article 100985"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145535999","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2026-02-01Epub Date: 2025-12-07DOI: 10.1016/j.vehcom.2025.100993
Yilin Wu , Qian Zhao , Yonggui Liu , Zeming Li , Zhiping Shen
This article discusses the cooperative control problem for heterogeneous vehicle platoons subject to non-ideal factors, specifically communication time-varying delays, system noises and intermittent observations. The main idea is to construct the internal reference models to generate common signals for all vehicles. First, in ideal situations under a directed acyclic topology (DAT), a distributed controller is proposed based on the properties of lower triangular matrices and solving an algebraic Riccati equation (ARE); Second, for non–ideal situations under uniformly quasi-strongly connected topology, optimal states are estimated using intermittent observations, and a distributed controller is designed to maintain the platoon’s mean square stability (MSS). Compared to the control methods in existing literatures, the proposed control approaches in this paper, relying on the system’s output information rather than state information, can effectively suppress the impacts of vehicle heterogeneity and the aforementioned non–ideal factors on platoon stability. Simulations are conducted to demonstrate a superior convergence speed compared to those in the literatures.
{"title":"Cooperative control of heterogeneous vehicle platoons under communication time–varying delays and intermittent observations","authors":"Yilin Wu , Qian Zhao , Yonggui Liu , Zeming Li , Zhiping Shen","doi":"10.1016/j.vehcom.2025.100993","DOIUrl":"10.1016/j.vehcom.2025.100993","url":null,"abstract":"<div><div>This article discusses the cooperative control problem for heterogeneous vehicle platoons subject to non-ideal factors, specifically communication time-varying delays, system noises and intermittent observations. The main idea is to construct the internal reference models to generate common signals for all vehicles. First, in ideal situations under a directed acyclic topology (DAT), a distributed controller is proposed based on the properties of lower triangular matrices and solving an algebraic Riccati equation (ARE); Second, for non–ideal situations under uniformly quasi-strongly connected topology, optimal states are estimated using intermittent observations, and a distributed controller is designed to maintain the platoon’s mean square stability (MSS). Compared to the control methods in existing literatures, the proposed control approaches in this paper, relying on the system’s output information rather than state information, can effectively suppress the impacts of vehicle heterogeneity and the aforementioned non–ideal factors on platoon stability. Simulations are conducted to demonstrate a superior convergence speed compared to those in the literatures.</div></div>","PeriodicalId":54346,"journal":{"name":"Vehicular Communications","volume":"57 ","pages":"Article 100993"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145689755","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2026-02-01Epub Date: 2025-11-12DOI: 10.1016/j.vehcom.2025.100990
Naveen Kumar, Ankit Chaudhary
The continuous development of Unmanned Aerial Vehicles (UAVs) or drone technology and its ability to perform effectively in various hazard states leads to its adoption in number of sectors including military and civilians industries. In Internet of Drones (IoD) system, a number of drones are deployed in swarm for the collection of important information from various regions and send it to Ground Control Station (GCS). As the sensitive and mission critical information is exchanged so both UAV and GCS must mutually authenticate each other and adversary or attacker cannot trace the exchanged messages. In view of that a lightweight authentication framework for IoD environment (LGTWAFIOD) is proposed for secure communication. In LGTWAFIOD, Physical Unclonable Function (PUF) and Fuzzy extractor is used for the authentication. The security of LGTWAFIOD is verified using Automated Validation of Internet Security Protocols and Applications (AVISPA), BAN logic and ROR model. A simulation framework is set up for performing the experiments and validating the performance of LGTWAFIOD. The experimental results shows that the proposed scheme performs better in terms of communication cost, computational time and security requirements. Also, the network performance is evaluated by performing the simulation.
无人驾驶飞行器（uav）或无人机技术的不断发展及其在各种危险状态下有效执行的能力导致其在包括军事和民用工业在内的许多部门采用。在无人机互联网（Internet of Drones, IoD）系统中，部署多架无人机，从各个区域收集重要信息，并将其发送给地面控制站（GCS）。由于敏感和关键任务信息的交换，无人机和GCS必须相互验证，对手或攻击者无法追踪交换的信息。鉴于此，本文提出了一种面向IoD环境的轻量级认证框架（LGTWAFIOD）来保证通信的安全性。在LGTWAFIOD中，使用物理不可克隆函数（PUF）和模糊提取器进行认证。使用互联网安全协议和应用程序自动验证（AVISPA）， BAN逻辑和ROR模型验证LGTWAFIOD的安全性。建立了仿真框架，进行了实验并验证了LGTWAFIOD的性能。实验结果表明，该方案在通信成本、计算时间和安全性要求方面具有较好的性能。同时，通过仿真对网络性能进行了评估。
{"title":"LGTWAFIOD: PUF and Fuzzy extractor based lightweight authentication framework for internet of drones","authors":"Naveen Kumar, Ankit Chaudhary","doi":"10.1016/j.vehcom.2025.100990","DOIUrl":"10.1016/j.vehcom.2025.100990","url":null,"abstract":"<div><div>The continuous development of Unmanned Aerial Vehicles (UAVs) or drone technology and its ability to perform effectively in various hazard states leads to its adoption in number of sectors including military and civilians industries. In Internet of Drones (IoD) system, a number of drones are deployed in swarm for the collection of important information from various regions and send it to Ground Control Station (GCS). As the sensitive and mission critical information is exchanged so both UAV and GCS must mutually authenticate each other and adversary or attacker cannot trace the exchanged messages. In view of that a lightweight authentication framework for IoD environment <em>(LGTWAFIOD)</em> is proposed for secure communication. In <em>LGTWAFIOD</em>, Physical Unclonable Function (PUF) and Fuzzy extractor is used for the authentication. The security of <em>LGTWAFIOD</em> is verified using Automated Validation of Internet Security Protocols and Applications (AVISPA), BAN logic and ROR model. A simulation framework is set up for performing the experiments and validating the performance of <em>LGTWAFIOD</em>. The experimental results shows that the proposed scheme performs better in terms of communication cost, computational time and security requirements. Also, the network performance is evaluated by performing the simulation.</div></div>","PeriodicalId":54346,"journal":{"name":"Vehicular Communications","volume":"57 ","pages":"Article 100990"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145515677","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2026-02-01Epub Date: 2025-10-24DOI: 10.1016/j.vehcom.2025.100983
Amira A. Amer , Ihab E. Talkhan , Hattan F. Abutarboush , Tawfik Ismail
Vehicle-to-Everything (V2X) communication is essential for developing fully autonomous vehicles, but it raises significant challenges due to high data rate demands and energy consumption in dense networks. This paper proposes a novel joint optimization framework integrating vehicle clustering and power allocation in sectorized 6G networks with beamforming. The framework uses a k-medoids-based clustering algorithm and a dynamic power allocation scheme to reduce interference and minimize power consumption while meeting Service Level Agreement (SLA) requirements. Our results demonstrate that the proposed framework improves SLA compliance by up to under highly dense and variable traffic conditions compared to non-clustered networks. Furthermore, dynamic power allocation reduces communication power consumption by , and Remote Radio Head (RRH) on/off switching decreases overall system power by . This approach significantly enhances network capacity and energy efficiency, making it a promising solution for sustainable V2X communications in future autonomous vehicle networks.
{"title":"Joint vehicle clustering and dynamic power allocation optimization in sectorized 6G networks for V2X communication","authors":"Amira A. Amer , Ihab E. Talkhan , Hattan F. Abutarboush , Tawfik Ismail","doi":"10.1016/j.vehcom.2025.100983","DOIUrl":"10.1016/j.vehcom.2025.100983","url":null,"abstract":"<div><div>Vehicle-to-Everything (V2X) communication is essential for developing fully autonomous vehicles, but it raises significant challenges due to high data rate demands and energy consumption in dense networks. This paper proposes a novel joint optimization framework integrating vehicle clustering and power allocation in sectorized 6G networks with beamforming. The framework uses a k-medoids-based clustering algorithm and a dynamic power allocation scheme to reduce interference and minimize power consumption while meeting Service Level Agreement (SLA) requirements. Our results demonstrate that the proposed framework improves SLA compliance by up to <span><math><mrow><mn>98.7</mn><mspace></mspace><mo>%</mo></mrow></math></span> under highly dense and variable traffic conditions compared to non-clustered networks. Furthermore, dynamic power allocation reduces communication power consumption by <span><math><mrow><mn>69</mn><mspace></mspace><mo>%</mo></mrow></math></span>, and Remote Radio Head (RRH) on/off switching decreases overall system power by <span><math><mrow><mn>3.7</mn><mspace></mspace><mo>%</mo></mrow></math></span>. This approach significantly enhances network capacity and energy efficiency, making it a promising solution for sustainable V2X communications in future autonomous vehicle networks.</div></div>","PeriodicalId":54346,"journal":{"name":"Vehicular Communications","volume":"57 ","pages":"Article 100983"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145383757","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2026-02-01Epub Date: 2025-11-17DOI: 10.1016/j.vehcom.2025.100991
Xinxin Liu , Tieming Liu , Weiyu Dong , Wei Liu
In UAV-assisted rescue operations, Unmanned Aerial Vehicles (UAVs or Drones) are widely deployed for disaster zone data collection, road traffic monitoring, and signal relaying to facilitate emergency medical and firefighting responses. Traditional authentication methods that store cryptographic keys in Non-Volatile Memory (NVM), rendering UAVs vulnerable to impersonation or cloning attacks, particularly when deployed in unsupervised high-altitude environments. Conventional solutions require additional hardware protections or detection mechanisms, which may impose a significant computational burden on UAVs with limited processing capabilities. To address these challenges, the Physical Unclonable Function (PUF) has emerged as a promising solution. Unfortunately, existing PUF-based Authentication and Key Agreement (AKA) protocols suffer from potential modeling attack risks due to their explicit storage mechanisms for a mass of Challenge-Response Pairs (CRPs). To mitigate these concerns, we propose PMF-UAV, a secure communication framework for UAV-assisted systems. PMF-UAV integrates PUF-based hardware cryptography to prevent physical impersonation or cloning of user devices and UAVs, while incorporating passwords and biometric technologies to enhance user-side security. Furthermore, PMF-UAV introduces anti-modeling capabilities. Specifically, PUF responses from UAVs are masked using dynamic pseudonyms, whereas those from user devices are protected via a three-factor fusion mechanism. The protocol also employs a Chebyshev chaotic map during key negotiation to enhance session security. We validate PMF-UAV security using the Real-or-Random (ROR) model, AVISPA analysis, and informal security evaluations. In addition, benchmark experiments conducted on the desktop system and the Raspberry Pi 5B platform demonstrate that PMF-UAV exhibits superior performance and enhanced security advantages compared to other related approaches. An implementation performed on the NS3 network simulator with the IEEE 802.11p communication standard is utilized to validate the feasibility and effectiveness of the proposed scheme in UAV-assisted systems.
{"title":"PMF-UAV:A lightweight and robust PUF-enabled multi-factor authentication and key agreement protocol for UAV-assisted secure communication","authors":"Xinxin Liu , Tieming Liu , Weiyu Dong , Wei Liu","doi":"10.1016/j.vehcom.2025.100991","DOIUrl":"10.1016/j.vehcom.2025.100991","url":null,"abstract":"<div><div>In UAV-assisted rescue operations, Unmanned Aerial Vehicles (UAVs or Drones) are widely deployed for disaster zone data collection, road traffic monitoring, and signal relaying to facilitate emergency medical and firefighting responses. Traditional authentication methods that store cryptographic keys in Non-Volatile Memory (NVM), rendering UAVs vulnerable to impersonation or cloning attacks, particularly when deployed in unsupervised high-altitude environments. Conventional solutions require additional hardware protections or detection mechanisms, which may impose a significant computational burden on UAVs with limited processing capabilities. To address these challenges, the Physical Unclonable Function (PUF) has emerged as a promising solution. Unfortunately, existing PUF-based Authentication and Key Agreement (AKA) protocols suffer from potential modeling attack risks due to their explicit storage mechanisms for a mass of Challenge-Response Pairs (CRPs). To mitigate these concerns, we propose PMF-UAV, a secure communication framework for UAV-assisted systems. PMF-UAV integrates PUF-based hardware cryptography to prevent physical impersonation or cloning of user devices and UAVs, while incorporating passwords and biometric technologies to enhance user-side security. Furthermore, PMF-UAV introduces anti-modeling capabilities. Specifically, PUF responses from UAVs are masked using dynamic pseudonyms, whereas those from user devices are protected via a three-factor fusion mechanism. The protocol also employs a Chebyshev chaotic map during key negotiation to enhance session security. We validate PMF-UAV security using the Real-or-Random (ROR) model, AVISPA analysis, and informal security evaluations. In addition, benchmark experiments conducted on the desktop system and the Raspberry Pi 5B platform demonstrate that PMF-UAV exhibits superior performance and enhanced security advantages compared to other related approaches. An implementation performed on the NS3 network simulator with the IEEE 802.11p communication standard is utilized to validate the feasibility and effectiveness of the proposed scheme in UAV-assisted systems.</div></div>","PeriodicalId":54346,"journal":{"name":"Vehicular Communications","volume":"57 ","pages":"Article 100991"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145535998","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2026-02-01Epub Date: 2025-11-28DOI: 10.1016/j.vehcom.2025.100992
Xiang Zou , Deng Pan , Guozhen Shi , Shuhan Yu , Jianguo Xie
As intelligent transportation advances, the backbone of smart mobility is Vehicular Ad Hoc Networks (VANETs), which nevertheless remain vulnerable to security threats stemming from high node mobility, dynamic topologies, and open wireless channels. Traditional security frameworks grapple with cumbersome key management in VANETs’ dynamic ecosystems, while quantum computing poses a fundamental threat to conventional cryptographic protocols. Existing post-quantum signature schemes often suffer from oversized keys and signatures, coupled with reliance on complex operations like trapdoor generation, limiting their applicability to resource-constrained vehicular devices.We propose V-PISL, a lattice-based post-quantum identity-based signature scheme tailored for VANETs. Built on the Dilithium framework and algebraic lattices, it eliminates trapdoor mechanisms, with security grounded in the Module Short Integer Solution (MSIS) and Module Learning With Errors (MLWE) problems. Experimental results demonstrate V-PISL’s efficiency across 112-bit, 169-bit, and 241-bit security levels. Its 1312-byte system public key delivers more than 91.1 % storage efficiency gains compared to the latest schemes (LB-IBS and PQ-ISS), with an overall storage efficiency improvement of 62.6 %, and the response speed reaches the millisecond level. Thus, V-PISL provides a practical postquantum security solution for resource-constrained vehicular environments.
{"title":"V-PISL:Post-quantum identity-based signature scheme over lattice for VANETs","authors":"Xiang Zou , Deng Pan , Guozhen Shi , Shuhan Yu , Jianguo Xie","doi":"10.1016/j.vehcom.2025.100992","DOIUrl":"10.1016/j.vehcom.2025.100992","url":null,"abstract":"<div><div>As intelligent transportation advances, the backbone of smart mobility is Vehicular Ad Hoc Networks (VANETs), which nevertheless remain vulnerable to security threats stemming from high node mobility, dynamic topologies, and open wireless channels. Traditional security frameworks grapple with cumbersome key management in VANETs’ dynamic ecosystems, while quantum computing poses a fundamental threat to conventional cryptographic protocols. Existing post-quantum signature schemes often suffer from oversized keys and signatures, coupled with reliance on complex operations like trapdoor generation, limiting their applicability to resource-constrained vehicular devices.We propose V-PISL, a lattice-based post-quantum identity-based signature scheme tailored for VANETs. Built on the Dilithium framework and algebraic lattices, it eliminates trapdoor mechanisms, with security grounded in the Module Short Integer Solution (MSIS) and Module Learning With Errors (MLWE) problems. Experimental results demonstrate V-PISL’s efficiency across 112-bit, 169-bit, and 241-bit security levels. Its 1312-byte system public key delivers more than 91.1 % storage efficiency gains compared to the latest schemes (LB-IBS and PQ-ISS), with an overall storage efficiency improvement of 62.6 %, and the response speed reaches the millisecond level. Thus, V-PISL provides a practical postquantum security solution for resource-constrained vehicular environments.</div></div>","PeriodicalId":54346,"journal":{"name":"Vehicular Communications","volume":"57 ","pages":"Article 100992"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145613791","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2026-02-01Epub Date: 2025-11-07DOI: 10.1016/j.vehcom.2025.100984
Manojkumar B. Kokare , Sumit Gautam , Swaminathan R
Reconfigurable intelligent surfaces (RISs) have emerged as a highly promising technology in sixth-generation (6G) vehicular systems, offering the ability to dynamically control the wireless propagation environment. In this paper, we examine simultaneous wireless information and power transfer (SWIPT) by employing multiple RISs within a vehicle-to-infrastructure (V2I) communication system. The wireless environment exhibits high complexity due to fading and shadowing effects. To model this accurately, we adopt the double generalized Gamma (dGG) distribution. This comprehensive modeling approach enables a more realistic and insightful performance evaluation of RIS-assisted SWIPT systems under practical mobility and fading conditions. To reflect real-world vehicular dynamics, we incorporate a statistical Random Waypoint (RWP) mobility model, while also accounting for imperfections in channel state information (CSI) that arise due to high mobility and channel estimation errors. The study also integrates a non-linear energy harvesting (NL-EH) scheme to enhance performance via the power-splitting (PS) protocol. A unified objective function is proposed to jointly optimize transmit power and PS factors, aiming to maximize both the harvested energy and information rate. To address the non-convex nature of the problem, an iterative algorithm is utilized, supported by closed-form solutions derived from the Karush-Kuhn-Tucker (KKT) conditions and joint optimization (JO) method. Monte-Carlo simulations are conducted to verify the accuracy of the analytical results. Additionally, a deep neural network (DNN) framework is introduced for optimized value prediction, demonstrating superior SWIPT performance compared to single RIS configurations, with reduced complexity and faster execution.
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Pub Date : 2026-02-01Epub Date: 2025-11-06DOI: 10.1016/j.vehcom.2025.100987
Tong Wang
Unmanned aerial vehicle (UAV)-aided intelligent reflecting surfaces (IRSs) offer a transformative approach to enhancing wireless connectivity and coverage. This paper tackles the critical challenge of maximizing energy efficiency (EE) in such a system while guaranteeing physical layer security. We consider a network where a multi-antenna base station (BS), assisted by a UAV-mounted IRS, serves multiple ground users (GUs) in the presence of multiple eavesdroppers. To proactively secure transmissions, the BS simultaneously transmits artificial noise (AN) to degrade the eavesdroppers’ channels. We propose a holistic framework to maximize the overall system EE. Our approach orchestrates a comprehensive set of variables: the UAV’s 3D trajectory, the BS’s information and jamming beamforming, the dynamic selection of active transmit antennas at the BS, and the passive phase shifts of the IRS. This joint optimization is formulated under constraints for the GUs’ minimum secure Quality of Service (QoS), the BS’s total transmit power budget, and the UAV’s kinematic limits. The resulting problem is a highly complex, non-convex fractional program with coupled continuous and binary variables. To find a tractable solution, we design a multi-stage iterative algorithm that employs the Dinkelbach method and a Block Coordinate Descent (BCD) framework. Within each BCD iteration, the non-convex subproblems are solved using advanced techniques, including Semidefinite Relaxation (SDR), Successive Convex Approximation (SCA), and the Big-M method. Simulation results demonstrate that our orchestrated scheme significantly outperforms various benchmarks, providing crucial insights into the synergistic benefits of jointly designing active jamming and dynamic antenna selection for secure and energy-efficient aerial networks.
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