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.)

Automotive Internetworking
Timo Kosch, Christoph Schroth, Markus Strassberger and Marc Bechler

This edition first published 2012
© 2012 John Wiley & Sons, Ltd

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Library of Congress Cataloging-in-Publication Data:

Automotive internetworking / Timo Kosch … [et al.].
p. cm.
Includes bibliographical references and index.
ISBN 978-0-470-74979-1 (hardback)
1. Vehicular ad hoc networks (Computer networks) I. Kosch, Timo.
TE228.37.A98 2012
388.3′12–dc23
2011042963

A catalogue record for this book is available from the British Library.

Print ISBN: 9780470749791

Preface

Tow Stories

Tug-of-war (or towing) games are known in almost every country of the world – in fact, a tug-of-war competition is an ancient team sport, which is still very popular today. In Germany, we have the famous phrase ‘den Karren aus dem Dreck ziehen’, which literally means to ‘tow’ something (‘a trolley’) out of a precarious situation towards a successful destination. The introduction of a new technology into the market can be considered as a tow story, too. This is in particular true for cooperative transportation systems based on AutoNets, which may be seen as a tow story of three parts:

1. In the first part of the story, a heavy trolley called ‘AutoNet’ needs to be defined and constructed.

2. In the main section, this trolley must be towed along a long and challenging path with several hurdles.

3. At the happy end of the tow story, the trolley passes the market introduction successfully.

Interestingly, the early days of cooperative transportation systems already outlined the correlation to tow stories. CHAUFFEUR, one of the first and pathbreaking projects in this field, developed a ‘tow bar, which links two trucks electronically’.1 Whereas the market introduction of a new technology is new to the stakeholders, the rules for a tow story are well understood by the players. Let’s see what we can learn from these experiences for our challenging AutoNet tow story:

Since the AutoNet trolley is pretty heavy, it is not possible for single keyplayers to manage the task. Instead, lots of manpower, expertise and suitable equipment are required to construct the AutoNet trolley and to get it moving. Moreover, a robust tow is essential, which will not break; and all players have to be convinced in the robustness and solidity of the tow.

Obviously, all players have to push the tow as hard as possible. Otherwise, the movement of the AutoNet trolley will stop immediately. However, physics also teaches us that pure strength is only half the truth: in order to maximise the overall strength, all force vectors have to point (and to tow) in the same direction. Of course, this direction must be defined and agreed among the players in advance.

We must not forget that pulling a tow also requires a good portion of skill and interaction rules. Otherwise, it may become inconvenient for players. For example, on sloping roads the players have to cooperate in a fair and foreseeable way to avoid the event that the tow winds around the neck of some players. This is often painful – and may even be dangerous – for the respective players.

Tow stories are also useful for writing a book. It is a hard work to tow a book trolley towards the successful publication of the book. Since the book trolley is also pretty heavy, it is impossible for the authors to tow the trolley towards successful completion without the valuable support and the excellent contribution of many other players. We want to thank all supporters that directly and indirectly helped and supported (and motivated) us during the writing and finalisation process. We are very happy about this great support; their contributions definitively helped to improve the quality of this book, which is one of the most important preconditions for a successful publication. Unfortunately, listing all of the contributors would be difficult: we had a lot of supporters, and we will likely and unintentionally forget some of them. So we prepared another ‘towing game’: you will find all of our supporters by towing together the letters in the following letter grid. Have fun! :-)

Timo Kosch, Christoph Schroth, Markus Strassberger and Marc Bechler

1 Quoted from http://cordis.europa.eu/telematics/tap_transport/research/projects/chauffeur.html.

List of Abbreviations

AC | Access Category
ACC | Adaptive Cruise Control
ACID/ACM | Application Class Identifier / Application Context Mark
ACK | Acknowledgement
ADAS | Advanced Driver Assistance Systems
AHP | Analytic Hierarchy Process
AIFS | Arbitration Inter-Frame Space
AKTIV | Adaptive und kooperative Technologien für den intelligenten Verkehr
| (Adaptive and Cooperative Technologies for the Intelligent Traffic)
ANSim | Ad Hoc Network Simulator
AODV | Ad Hoc On Demand Distance Vector
AP | Access Point
API | Application Programming Interface
ARQ | Automatic Request and Repeat
ASTM | American Society for Testing and Materials
ATCP | Ad hoc Transmission Control Protocol
AUTOSAR | Automotive Open Systems Architecture
BC | Backoff Counter
BLADE | Business Models, Legal Aspects, and Deployment
BMBF | Bundesministerium für Bildung und Forschung
| (German Federal Ministry of Education and Research)
BMWi | Bundesministerium für Wirtschaft und Technologie
| (German Federal Ministry of Economics and Technology)
BSA | Basic Set of Applications
BSM | Basic Safety Message
BSS | Basic Service Set
C2C-CC | Car-to-Car Communication Consortium
CA | Certificate Authority
CAL | Communication Adaptation Layer
CALM | Communications Access for Land Mobiles
CAM | Cooperative Awareness Message
CAN | Controller Area Network
CAPEX | Capital Expenditures
CCH | Control Channel
CCMP | Counter Mode with Cipher Block Chaining Message Authentication Code Protocol
CCoA | Co-Located Care-Of Address
CEN | Comité Européen de Normalisation
| (European Committee for Standardisation)
CEPT | Conference of European Postal & Telecommunications Administrations
CI | Communication Interface
CIDR | Classless Inter-Domain Routing
CIMAE | CI Management Adaptation Entity
CN | Correspondent Node
CoA | Care-of Address
COM2REACT | Cooperative Communication System to Realise Enhanced Safety and Efficiency in European Road Transport
COMCAR | Communication and Mobility by Cellular Advanced Radio
COOPERS | Cooperative Systems for Intelligent Road Safety
COTS | Components Off-The-Shelf
CRL | Certificate Revocation List
CSMA/CA | Carrier Sense Medium Access / Collision Avoidance
CVIS | Cooperative Vehicle-Infrastructure Systems
CW or CWND | Contention Window
DAB | Digital Audio Broadcast
DACL | Discretionary Access Control List
DCF | Distributed Coordination Function
DDT | Distance Defer Transmission
DENM | Decentralised Environment Notification Message
D-FPAV | Distributed Fair Transmit Power Adjustment for Vehicular Networks
DHCP | Dynamic Host Configuration Protocol
DIFS | Distributed Coordination Function Inter-Frame Space
DMB | Digital Multimedia Broadcast
DoS | Denial of Service
DoT | Department of Transportation (USA)
DRiVE | Dynamic Radio for IP Services in Vehicular Environments
DRP | Distributed Revocation Protocol
DSDV | Destination Sequenced Distance Vector
DSR | Dynamic Source Routing
DSRC | Dedicated Short Range Communication
DSSS | Direct Sequence Spread Spectrum
DVB | Digital Video Broadcast
DVDE | Distributed Vehicle Density Estimation
EASIS | Electronic Architecture & System Engineering for Integrated Safety Systems
EC | European Commission
ECC | Electronic Communications Committee
ECC | Elliptic Curve Cryptography
ECDSA | Elliptic Curve Digital Signature Algorithm
ECN | Explicit Congestion Notification
ECU | Electronic Control Unit
EDCA | Enhanced Distributed Channel Access (of IEEE 802.11e)
EDCF | Extended Distributed Coordination Function
EDGE | Enhanced Data Rates for GSM Evolution
EDR | Event Data Recorder
EFCD | Enhanced Floating Car Data
ERM | Electromagnetic compatibility and Radio spectrum Matters
ESA | Enhanced Set of Applications
ESP | Electronic Stability Program
ETC | Electronic Toll Collection
ETSI | European Telecommunications Standards Institute
EU | European Union
FA | Foreign Agent
FACH | Forware Link Access Channel
FCC | Federal Communications Commission (USA)
FCD | Floating Car Data
FCFS | First Come First Served
FEC | Forward Error Correction
FHWA | Federal Highway Administration (USA, DoT)
FIFO | First-In First-Out
FOT | Field Operational Test
FS | Fixed Service
GNSS | Global Navigation Satellite System
GIDAS | German In-Depth Accident Study
GloMoSim | Global Mobile Information Systems Simulation
GLOSA | Green Light Optimal Speed Advisory
GPRS | General Packet Radio Service
GPS | Global Positioning System
GPSR | Greedy Perimeter Stateless Routing
GSM | Global System for Mobile Communications
GST | Global System for Telematics
HA | Home Agent
HMAC | Hashed Message Authentication Code
HMI | Human–Machine Interface
HSCSD | High Speed Circuit Switched Data
HSM | Hardware Security Module
HSPA | High Speed Packet Access (in UMTS networks)
HSDPA | High Speed Downlink Packet Access
HSUPA | High Speed Uplink Packet Access
HTTP | Hypertext Transfer Protocol
HTTPS | Hypertext Transfer Protocol Secure
I-BIA | Intelligent Broadcast with Implicit Acknowledgement
ICMP | Internet Control Message Protocol
ICRW | Intersection Collision Risk Warning
ICT | Information and Communication Technology
ICTSB | Information and Communication Technology Standards Board
ID | Identification
IEC | International Electrotechnical Commission
IEEE | Institute of Electrical and Electronics Engineers
IEEE-SA | IEEE Standards Association
IETF | Internet Engineering Task Force
IFS | Insurance and Financial Services
INVENT | Intelligenter Verkehr und nutzergerechte Technik (Intelligent Road Traffic and User-Friendly Technologies)
IP | Internet Protocol
IPR | Intellectual Property Rights
IPSec | Internet Protocol Security
IPv6 | Internet Protocol version 6
ISM Band | Industrial, Scientific and Medical Band
ISO | International Organisation for Standardisation
IST | Information Society Technology
ITS | Intelligent Transportation Systems
ITSSG | Intelligent Transport Standards Steering Group
ITU | International Telecommunication Union
IVHW | Inter-Vehicle Hazard Warning
IVI | In-Vehicle Infotainment
LAN | Local Area Network
LCRW | Longitudinal Collision Risk Warning
LDM | Local Dynamic Map
LDW | Local Danger Warning
LIN | Local Interconnect Network
LLC | Logical Link Control
LLCert | Long-Life Certificate
LOS | Line-of-Sight
LTE | Long Term Evolution
M2M | Machine-to-Machine
MAC | Medium Access Control
MAIL | Media Adapted Interface Layer
MAN | Metropolitan Area Network
MBMS | Multimedia Broadcast Multicast Service
MCTP | MOCCA Transport Protocol
MEXT | Mobility Extensions for IPv6
MFR | Most Forward Progress within Radius
MIB | Management Information Base
MN | Mobile Node
MNO | Mobile Network Operator
MNS | Mobile Network Suppliers
MOCCA | Mobile Communication Architecture
MONAMI6 | Mobile Nodes and Multiple Interfaces in IPv6
MOST | Media Oriented Systems Transport
MoTiV | Mobilität und Transport im intermodalen Verkehr
| (Mobility and Transportation in Inter-Modal Road Traffic Scenarios)
NAT | Network Address Translation
NEMO | Network Mobility
NFC | Near-Field Communications
NFP | Nearest with Forward Progress
NHTSA | National Highway Traffic Safety Administration (USA, DoT)
NOW | Network on Wheels
ns2 | Network Simulator 2
OBU | On-Board Unit
ODAM | Optimised Dissemination of Alarm Messages
OEM | Original Equipment Manufacturer
OFDM | Orthogonal Frequency Division Multiplexing
OMG | Object Management Group
OPEX | Operational Expenditures
OSEK | Offene Systeme und deren Schnittstellen für die Elektronik im Kraftfahrzeug (Open Systems and the Corresponding Interfaces for Automotive Electronics)
OSGi | Open Services Gateway Initiative
OSI | Open Systems Interconnection
OTCL | Object Tool Command Language
PA | Physical Attack
PAN | Personal Area Network
PATH | Partners for Advanced Traffic Highways
PCF | Point Coordination Function
PDU | Protocol Data Unit
PEP | Performance-Enhancing Proxy
PF | Performance Factor (of IEEE 802.11e)
PKI | Public Key Infrastructure
PND | Personal Navigation Device
PSK | Pre-Shared Key
QoS | Quality of Service
RACH | Random Access Channel
RADIUS | Remote Authentication Dial In User Service
REAR | Reliable and Efficient Alarm Message Routing
RCCRL | Revocation by Compressed Certificate Revocation List
RFC | Request for Comment
RFID | Radio Frequency Identification
RSA | Rivest, Shamir, Adleman
RTO | Retransmission Timeout
RTPD | Revocation of Tamper-Proofed Device
RTS/CTS | Request To Send / Clear to Send
RTT | Round Trip Time
RTTT | Road Transport and Traffic Telematics
SAE | Society of Automotive Engineers
SAP | Service Access Point
SBA | Smart Broadcast Algorithm
SCH | Service Channel
SDK | Software Development Kit
SDO | Standards Development Organisation
SIFS | Short Interframe Space
simTD | Sichere und intelligente Mobilität, Testfeld Deutschland
| (Safe and Intelligent Mobility, Test Trial Germany)
SLCert | Short-Life Certificates
SOA | Service-Oriented Architecture
SOAP | Simple Object Access Protocol
SPAV | Segment-based Power Adjustment
SPAT | Signal Phase and Timing
SRDoc | System Reference Document
SSL | Secure Socket Layer
ssthresh | Slow Start Threshold
SUMO | Simulation of Urban Mobility
TC | Technical Committee
TC | Traffic Class
TCL | Tool Command Language
TCP | Transmission Control Protocol
TG | Technical Group
TISA | Traveller Information Services Association
TLS | Transport Layer Security
TMC | Traffic Message Channel or Traffic Management Centre
TORA | Temporally Ordered Routing Algorithm
TPC | Transmitter Power Control
TPD | Tamper-Proof Device
TPEG | Transport Protocol Experts Group
TPM | Trusted Platform Module
TRADE | Track Detection
TRRS | Time Reservation-based Relay Node Selecting Algorithm
TTP | Trusted Third Party
UDDI | Universal Description Discovery and Integration
UDP | User Datagram Protocol
UI | User Interface
UMB | Urban Multi-Hop Protocol
UML | Unified Modeling Language
UMTS | Universal Mobile Telecommunications System
UTC | Universal Time Coordinated
V2I | Vehicle to Infrastructure
V2V | Vehicle to Vehicle
VANET | Vehicular Ad-Hoc Network
VDX | Vehicle Distributed Executive
VII | Vehicle Infrastructure Integration
VIN | Vehicle Identificaion Number
VMT | Vehicle Miles Travelled
VPN | Virtual Private Network
VSC | Vehicle Safety Communications
VTS | Vehicle Traffic Simulator
WA | Wireless Attack
WAP | Wireless Application Protocol
WAVE | Wireless Access in Vehicular Environments
WBSS | WAVE Basic Service Set
WG | Working Group
WHO | World Health Organisation
WiMAX | Worldwide Interoperability for Microwave Access
WLAN | Wireless Local Area Network
WME | WAVE Management Entitiy
WPA | Wi-Fi Protected Access
WRAP | Wireless Robust Authenticated Protocol
WS | Wireless Simulator
WSDL | Web Services Description Language
WSM | WAVE Service Management
WSMP | WAVE Short Message Protocol
XFCD | Extended Floating Car Data
XML | Extensible Markup Language
XTR | Efficient and Compact Subgroup Trace Representation

1

Automotive Internetworking: The Evolution Towards Connected and Cooperative Vehicles

Safety on the road is one of the most important aspects of mobility: people want to be highly mobile, but they also have a great interest in travelling safely to their destinations. This is of particular importance since the request for mobility is permanently growing, and thus travelling on the road is getting more and more crowded and dangerous. According to surveys in 2009 of the Federal Statistical Office in Germany (destatis) shown in Figure 1.1, the total mileage of people travelling in Germany continuously increased, and was three times higher in 2008 compared to 1970. At the same time, the number of accidents has also increased by 70% over the past 30 years.

However, Figure 1.1 also shows that the total number of road fatalities – that is severe accidents where death results – continuously decreased in this time interval to about 25% compared to 1970. This is mainly due to the fact that both active and passive safety of the vehicles have been improved and vehicles have become more ‘intelligent’. As we will see in the following sections, this intelligence has been mainly driven by the introduction of electronics and software in vehicles, which are basically focused on the ‘autonomous perception’ of the vehicle itself, that is the vehicle only gets information about its surrounding from its own sensors. In this book, we will address the next logical step where cooperative vehicles exchange information between each other and with their environment. Experts agree that this is one of the key technologies to reduce both fatalities and the number of accidents in everyday traffic.

Figure 1.1 Development of accidents in Germany in the context of mileage and road fatalities.

In the following sections, we will introduce the advances in in-vehicle electronics, and we will explain the idea of connected and cooperative vehicles. We will also define the terminology we use throughout this book, and we will introduce the different stakeholders involved in such a cooperative system. Finally, an outlook about the contents of this book concludes this chapter.

1.1 Evolution of In-Vehicle Electronics

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