Contribution to the design of VANET routing protocols for realistic urban environments

One of the main concerns of the cities' administration is mobility management. In Intelligent Transportation Systems (ITS), pedestrians, vehicles and public transportation systems could share information and react to any situation in the city. The information sensed by vehicles could be useful for other vehicles and for the mobility authorities. Vehicular Ad hoc Networks (VANETs) make possible the communication between vehicles (V2I) and also between vehicles and fixed infrastructure (V2I) managed by the city's authorities. In addition, VANET routing protocols minimize the use of fixed infrastructure since they employ multi-hop V2V communication to reach reporting access points of the city. This thesis aims to contribute in the design of VANET routing protocols to enable reporting services (e.g., vehicular traffic notifications) in urban environments. The first step to achieve this global objective has been the study of components and tools to mimic a realistic VANET scenario. Moreover, we have analyzed the impact of the realism of each one of those components in the simulation results. Then, we have improved the Address Resolution procedure in VANETs by including it in the routing signaling messages. Our approach simplifies the VANET operation and increases the packet delivery ratio as consequence. Afterwards, we have tackled the issue of having duplicate packets in unicast communications and we have proposed routing filters to lower their presence. This way we have been able to increase the available bandwidth and reduce the average packet delay with a slight increase of the packet losses. Besides, we have proposed a Multi-Metric Map aware routing protocol (MMMR) that incorporates four routing metrics (distance, trajectory, vehicle density and available bandwidth) to take the forwarding decisions. With the aim of increasing the number of delivered packets in MMMR, we have developed a Geographical Heuristic Routing (GHR) algorithm. GHR integrates Tabu and Simulated Annealing heuristic optimization techniques to adapt its behavior to the specific scenario characteristics. GHR is generic because it could use any geographical routing protocol to take the forwarding decisions. Additionally, we have designed an easy to implement forwarding strategy based on an extended topology information area of two hops, called 2-hops Geographical Anycast Routing (2hGAR) protocol. Results show that controlled randomness introduced by GHR improves the default operation of MMMR. On the other hand, 2hGAR presents lower delays than GHR and higher packet delivery ratio, especially in high density scenarios. Finally, we have proposed two mixed (integer and linear) optimization models to detect the best positions in the city to locate the Road Side Units (RSUs) which are in charge of gathering all the reporting information generated by vehicles.Una de las principales preocupaciones en la administración de las ciudades es la gestión de la movilidad de sus vehículos, debido a los problemas de tráfico como atascos y accidentes. En los sistemas inteligentes de transporte (SIT), peatones, vehículos y transporte público podrán compartir información y adaptarse a cualquier situación que suceda en la ciudad. La información obtenida por los sensores de los vehículos puede ser útil para otros vehículos y para las autoridades de movilidad. Las redes ad hoc vehiculares (VANETs) hacen posible la comunicación entre los propios vehículos (V2V) y entre vehículos y la infraestructura fija de la red de la ciudad (V2I). Asimismo, los protocolos de encaminamiento para redes vehiculares minimizan el uso de infraestructura fija de red, ya que los protocolos de encaminamiento VANET emplean comunicaciones multisalto entre vehículos para encaminar los mensajes hasta los puntos de acceso de la red en la ciudad. El objetivo de esta tesis doctoral es contribuir en el diseño de protocolos de encaminamiento en redes ad hoc vehiculares para servicios de notificaciones (p.ej. reportes del estado del tráfico) en entornos urbanos. El primer paso para alcanzar este objetivo general ha sido el estudio de componentes y herramientas para simular un escenario realista de red ad hoc vehicular. Además, se ha analizado el impacto del nivel de realismo de cada uno de los componentes de simulación en los resultados obtenidos. Así también, se ha propuesto un mecanismo de resolución de direcciones automático y coherente para redes VANET a través del uso de los propios mensajes de señalización de los protocolos de encaminamiento. Esta mejora simplifica la operación de una red ad hoc vehicular y como consecuencia aumenta la tasa de recepción de paquetes. A continuación, se ha abordado el problema de la aparición inesperada de paquetes de datos duplicados en una comunicación punto a punto. Para ello, se ha propuesto el filtrado de paquetes duplicados a nivel del protocolo de encaminamiento. Esto ha producido un incremento del ancho disponible en el canal y una reducción del retardo medio en la trasmisión de un paquete, a costa de un mínimo aumento de la pérdida de paquetes. Por otra parte, hemos propuesto un protocolo de encaminamiento multi-métrica MMMR (Multi-Metric Map-aware Routing protocol), el cual incorpora cuatro métricas (distancia al destino, trayectoria, densidad de vehículos y ancho de banda) en las decisiones de encaminamiento. Con el objetivo de aumentar la tasa de entrega de paquetes en MMMR, hemos desarrollado un algoritmo heurístico de encaminamiento geográfico denominado GHR (Geographical Heuristic Routing). Esta propuesta integra las técnicas de optimización Tabu y Simulated Annealing, que permiten a GHR adaptarse a las características específicas del escenario. Adicionalmente, hemos propuesto 2hGAR (2-hops Geographical Anycast Routing), un protocolo de encaminamiento anycast que emplea información de la topología de red a dos saltos de distancia para tomar la decisión de encaminamiento de los mensajes. Los resultados muestran que la aleatoriedad controlada de GHR en su operación mejora el rendimiento de MMMR. Asimismo, 2hGAR presenta retardos de paquete menores a los obtenidos por GHR y una mayor tasa de paquetes entregados, especialmente en escenarios con alta densidad de vehículos. Finalmente, se han propuesto dos modelos de optimización mixtos (enteros y lineales) para detectar los mejores lugares de la ciudad donde ubicar los puntos de acceso de la red, los cuales se encargan de recolectar los reportes generados por los vehículos.Postprint (published version

Sistema de geolocalización y análisis vehicular para motociclistas

Currently there are a number of applications functioning through internet connections aimed at assisting motorcyclists. However, most of these applications wither do not function or require the route maps to be downloaded prior to the trip. This paper proposes a vehicular analysis system where the motorcyclists have access to an application developed for Android devices, without relying on an internet connection. This will done either through data of the routes stored on the mobile device or through data hosted on a server through the implementation of a web service when there is a connection. Additional, variables are tracked and plotted, such as instant geographical position, percentage of necessary fuel, and speed, obtained through the design and implementation of an electronic circuit that acquires the signals of the motorcycle sensors and submit such information via Bluetooth to the mobile device. From the tests carried out it is observed that the system works efficiently with an absolute error up to 2 meters from the destination point. However, the routes from actual location of the motorcyclist to the intermediate position, the precision is even better with an error possibility of only centimeters. In general, for some distance, the system presents a standard deviation of 15,19 meters. The storage of the data and the user orientation are in real time, and the system can be implemented on any kind of vehicle.Actualmente existen aplicaciones dedicadas a la orientación de motociclistas que funcionan soportadas en una conexión a internet, pero cuando se carece de ella la mayoría no funcionan y otras permiten el funcionamiento solo si anteriormente se descargaron los mapas de los trayectos a realizar. Por lo anterior, este artículo propone un sistema de análisis vehicular en donde los motociclistas tienen acceso a una aplicación desarrollada para dispositivos con sistema operativo Android que les mostrará una metodología de orientación sin depender exclusivamente de una conexión a internet; esta orientación –en cambio- se realiza con base en los datos de recorridos almacenados en el dispositivo móvil, o en los datos alojados en un servidor mediante la implementación de un servicio web cuando hay conexión. Adicionalmente, se realiza seguimiento y graficación de las variables: posición geográfica instantánea, porcentaje de nivel de gasolina, y velocidad, obtenidas mediante el diseño e implementación de un circuito electrónico encargado de capturar las señales de los sensores de la motocicleta y enviar dicha información vía Bluetooth al dispositivo móvil. De las pruebas realizadas se observa que el sistema funciona eficientemente con un error absoluto menor a 2 metros hasta el punto de destino; sin embargo, para el recorrido desde el punto actual del usuario hasta uno intermedio la precisión es del orden de centímetros

An intelligent intrusion detection system for external communications in autonomous vehicles

Advancements in computing, electronics and mechanical systems have resulted in the creation of a new class of vehicles called autonomous vehicles. These vehicles function using sensory input with an on-board computation system. Self-driving vehicles use an ad hoc vehicular network called VANET. The network has ad hoc infrastructure with mobile vehicles that communicate through open wireless channels. This thesis studies the design and implementation of a novel intelligent intrusion detection system which secures the external communication of self-driving vehicles. This thesis makes the following four contributions: It proposes a hybrid intrusion detection system to protect the external communication in self-driving vehicles from potential attacks. This has been achieved using fuzzification and artificial intelligence. The second contribution is the incorporation of the Integrated Circuit Metrics (ICMetrics) for improved security and privacy. By using the ICMetrics, specific device features have been used to create a unique identity for vehicles. Our work is based on using the bias in on board sensory systems to create ICMetrics for self-driving vehicles. The incorporation of fuzzy petri net in autonomous vehicles is the third contribution of the thesis. Simulation results show that the scheme can successfully detect denial-of-service attacks. The design of a clustering based hierarchical detection system has also been presented to detect worm hole and Sybil attacks. The final contribution of this research is an integrated intrusion detection system which detects various attacks by using a central database in BusNet. The proposed schemes have been simulated using the data extracted from trace files. Simulation results have been compared and studied for high levels of detection capability and performance. Analysis shows that the proposed schemes provide high detection rate with a low rate of false alarm. The system can detect various attacks in an optimised way owing to a reduction in the number of features, fuzzification

On the Secure and Resilient Design of Connected Vehicles: Methods and Guidelines

Vehicles have come a long way from being purely mechanical systems to systems that consist of an internal network of more than 100 microcontrollers and systems that communicate with external entities, such as other vehicles, road infrastructure, the manufacturer’s cloud and external applications. This combination of resource constraints, safety-criticality, large attack surface and the fact that millions of people own and use them each day, makes securing vehicles particularly challenging as security practices and methods need to be tailored to meet these requirements.This thesis investigates how security demands should be structured to ease discussions and collaboration between the involved parties and how requirements engineering can be accelerated by introducing generic security requirements. Practitioners are also assisted in choosing appropriate techniques for securing vehicles by identifying and categorising security and resilience techniques suitable for automotive systems. Furthermore, three specific mechanisms for securing automotive systems and providing resilience are designed and evaluated. The first part focuses on cyber security requirements and the identification of suitable techniques based on three different approaches, namely (i) providing a mapping to security levels based on a review of existing security standards and recommendations; (ii) proposing a taxonomy for resilience techniques based on a literature review; and (iii) combining security and resilience techniques to protect automotive assets that have been subject to attacks. The second part presents the design and evaluation of three techniques. First, an extension for an existing freshness mechanism to protect the in-vehicle communication against replay attacks is presented and evaluated. Second, a trust model for Vehicle-to-Vehicle communication is developed with respect to cyber resilience to allow a vehicle to include trust in neighbouring vehicles in its decision-making processes. Third, a framework is presented that enables vehicle manufacturers to protect their fleet by detecting anomalies and security attacks using vehicle trust and the available data in the cloud

Contributions to Vehicular Communications Systems and Schemes

La dernière décennie a marqué une grande hausse des applications véhiculaires comme une nouvelle source de revenus et un facteur de distinction dans l'industrie des véhicules. Ces applications véhiculaires sont classées en deux groupes : les applications de sécurité et les applications d'info divertissement. Le premier groupe inclue le changement intelligent de voie, l'avertissement de dangers de routes et la prévention coopérative de collision qui comprend la vidéo sur demande (VoD), la diffusion en direct, la diffusion de météo et de nouvelles et les jeux interactifs. Cependant, Il est à noter que d'une part, les applications véhiculaires d'info divertissement nécessitent une bande passante élevée et une latence relativement faible ; D'autre part, les applications de sécurité requièrent exigent un délai de bout en bout très bas et un canal de communication fiable pour la livraison des messages d'urgence. Pour satisfaire le besoin en applications efficaces, les fabricants de véhicules ainsi que la communauté académique ont introduit plusieurs applications à l’intérieur de véhicule et entre véhicule et véhicule (V2V). Sauf que, l'infrastructure du réseau sans fil n'a pas été conçue pour gérer les applications de véhicules, en raison de la haute mobilité des véhicules, de l'imprévisibilité du comportement des conducteurs et des modèles de trafic dynamiques. La relève est l'un des principaux défis des réseaux de véhicules, car la haute mobilité exige au réseau sans fil de faire la relève en un très court temps. De plus, l'imprévisibilité du comportement du conducteur cause l'échec des protocoles proactifs traditionnels de relève, car la prédiction du prochain routeur peut changer en fonction de la décision du conducteur. Aussi, le réseau de véhicules peut subir une mauvaise qualité de service dans les régions de relève en raison d'obstacles naturels, de véhicules de grande taille ou de mauvaises conditions météorologiques. Cette thèse se concentre sur la relève dans l'environnement des véhicules et son effet sur les applications véhiculaires. Nous proposons des solutions pratiques pour les réseaux actuellement déployés, principalement les réseaux LTE, l'infrastructure véhicule à véhicule (V2V) ainsi que les outils efficaces d’émulateurs de relèves dans les réseaux véhiculaires.----------ABSTRACT: The last decade marked the rise of vehicular applications as a new source of revenue and a key differentiator in the vehicular industry. Vehicular Applications are classified into safety and infotainment applications. The former include smart lane change, road hazard warning, and cooperative collision avoidance; however, the latter include Video on Demand (VoD), live streaming, weather and news broadcast, and interactive games. On one hand, infotainment vehicular applications require high bandwidth and relatively low latency; on the other hand, safety applications requires a very low end to end delay and a reliable communication channel to deliver emergency messages. To satisfy the thirst for practical applications, vehicle manufacturers along with research institutes introduced several in-vehicle and Vehicle to Vehicle (V2V) applications. However, the wireless network infrastructure was not designed to handle vehicular applications, due to the high mobility of vehicles, unpredictability of drivers’ behavior, and dynamic traffic patterns. Handoff is one of the main challenges of vehicular networks since the high mobility puts pressure on the wireless network to finish the handoff within a short period. Moreover, the unpredictability of driver behavior causes the traditional proactive handoff protocols to fail, since the prediction of the next router may change based on the driver’s decision. Moreover, the vehicular network may suffer from bad Quality of Service (QoS) in the regions of handoff due to natural obstacles, large vehicles, or weather conditions. This thesis focuses on the handoff on the vehicular environment and its effect on the vehicular applications. We consider practical solutions for the currently deployed networks mainly Long Term Evolution (LTE) networks, the Vehicle to Vehicle (V2V) infrastructure, and the tools that can be used effectively to emulate handoff on the vehicular networks

Towards Cyber Security for Low-Carbon Transportation: Overview, Challenges and Future Directions

In recent years, low-carbon transportation has become an indispensable part as sustainable development strategies of various countries, and plays a very important responsibility in promoting low-carbon cities. However, the security of low-carbon transportation has been threatened from various ways. For example, denial of service attacks pose a great threat to the electric vehicles and vehicle-to-grid networks. To minimize these threats, several methods have been proposed to defense against them. Yet, these methods are only for certain types of scenarios or attacks. Therefore, this review addresses security aspect from holistic view, provides the overview, challenges and future directions of cyber security technologies in low-carbon transportation. Firstly, based on the concept and importance of low-carbon transportation, this review positions the low-carbon transportation services. Then, with the perspective of network architecture and communication mode, this review classifies its typical attack risks. The corresponding defense technologies and relevant security suggestions are further reviewed from perspective of data security, network management security and network application security. Finally, in view of the long term development of low-carbon transportation, future research directions have been concerned.Comment: 34 pages, 6 figures, accepted by journal Renewable and Sustainable Energy Review

AI-based intrusion detection systems for in-vehicle networks: a survey.

The Controller Area Network (CAN) is the most widely used in-vehicle communication protocol, which still lacks the implementation of suitable security mechanisms such as message authentication and encryption. This makes the CAN bus vulnerable to numerous cyber attacks. Various Intrusion Detection Systems (IDSs) have been developed to detect these attacks. However, the high generalization capabilities of Artificial Intelligence (AI) make AI-based IDS an excellent countermeasure against automotive cyber attacks. This article surveys AI-based in-vehicle IDS from 2016 to 2022 (August) with a novel taxonomy. It reviews the detection techniques, attack types, features, and benchmark datasets. Furthermore, the article discusses the security of AI models, necessary steps to develop AI-based IDSs in the CAN bus, identifies the limitations of existing proposals, and gives recommendations for future research directions