A Survey on platoon-based vehicular cyber-physical systems

Vehicles on the road with some common interests can cooperatively form a platoon-based driving pattern, in which a vehicle follows another one and maintains a small and nearly constant distance to the preceding vehicle. It has been proved that, compared to driving individually, such a platoon-based driving pattern can significantly improve the road capacity and energy efficiency. Moreover, with the emerging vehicular adhoc network (VANET), the performance of platoon in terms of road capacity, safety and energy efficiency, etc., can be further improved. On the other hand, the physical dynamics of vehicles inside the platoon can also affect the performance of VANET. Such a complex system can be considered as a platoon-based vehicular cyber-physical system (VCPS), which has attracted significant attention recently. In this paper, we present a comprehensive survey on platoon-based VCPS. We first review the related work of platoon-based VCPS. We then introduce two elementary techniques involved in platoon-based VCPS: the vehicular networking architecture and standards, and traffic dynamics, respectively. We further discuss the fundamental issues in platoon-based VCPS, including vehicle platooning/clustering, cooperative adaptive cruise control (CACC), platoon-based vehicular communications, etc., and all of which are characterized by the tight coupled relationship between traffic dynamics and VANET behaviors. Since system verification is critical to VCPS development, we also give an overview of VCPS simulation tools. Finally, we share our view on some open issues that may lead to new research directions

Cloud Computing in VANETs: Architecture, Taxonomy, and Challenges

Cloud Computing in VANETs (CC-V) has been investigated into two major themes of research including Vehicular Cloud Computing (VCC) and Vehicle using Cloud (VuC). VCC is the realization of autonomous cloud among vehicles to share their abundant resources. VuC is the efficient usage of conventional cloud by on-road vehicles via a reliable Internet connection. Recently, number of advancements have been made to address the issues and challenges in VCC and VuC. This paper qualitatively reviews CC-V with the emphasis on layered architecture, network component, taxonomy, and future challenges. Specifically, a four-layered architecture for CC-V is proposed including perception, co-ordination, artificial intelligence and smart application layers. Three network component of CC-V namely, vehicle, connection and computation are explored with their cooperative roles. A taxonomy for CC-V is presented considering major themes of research in the area including design of architecture, data dissemination, security, and applications. Related literature on each theme are critically investigated with comparative assessment of recent advances. Finally, some open research challenges are identified as future issues. The challenges are the outcome of the critical and qualitative assessment of literature on CC-V

Internet of Vehicles: Motivation, Layered Architecture, Network Model, Challenges, and Future Aspects

© 2013 IEEE. Internet of Things is smartly changing various existing research areas into new themes, including smart health, smart home, smart industry, and smart transport. Relying on the basis of 'smart transport,' Internet of Vehicles (IoV) is evolving as a new theme of research and development from vehicular ad hoc networks (VANETs). This paper presents a comprehensive framework of IoV with emphasis on layered architecture, protocol stack, network model, challenges, and future aspects. Specifically, following the background on the evolution of VANETs and motivation on IoV an overview of IoV is presented as the heterogeneous vehicular networks. The IoV includes five types of vehicular communications, namely, vehicle-to-vehicle, vehicle-to-roadside, vehicle-to-infrastructure of cellular networks, vehicle-to-personal devices, and vehicle-to-sensors. A five layered architecture of IoV is proposed considering functionalities and representations of each layer. A protocol stack for the layered architecture is structured considering management, operational, and security planes. A network model of IoV is proposed based on the three network elements, including cloud, connection, and client. The benefits of the design and development of IoV are highlighted by performing a qualitative comparison between IoV and VANETs. Finally, the challenges ahead for realizing IoV are discussed and future aspects of IoV are envisioned

Characterizing the role of vehicular cloud computing in road traffic management

Vehicular cloud computing is envisioned to deliver services that provide traffic safety and efficiency to vehicles. Vehicular cloud computing has great potential to change the contemporary vehicular communication paradigm. Explicitly, the underutilized resources of vehicles can be shared with other vehicles to manage traffic during congestion. These resources include but are not limited to storage, computing power, and Internet connectivity. This study reviews current traffic management systems to analyze the role and significance of vehicular cloud computing in road traffic management. First, an abstraction of the vehicular cloud infrastructure in an urban scenario is presented to explore the vehicular cloud computing process. A taxonomy of vehicular clouds that defines the cloud formation, integration types, and services is presented. A taxonomy of vehicular cloud services is also provided to explore the object types involved and their positions within the vehicular cloud. A comparison of the current state-of-the-art traffic management systems is performed in terms of parameters, such as vehicular ad hoc network infrastructure, Internet dependency, cloud management, scalability, traffic flow control, and emerging services. Potential future challenges and emerging technologies, such as the Internet of vehicles and its incorporation in traffic congestion control, are also discussed. Vehicular cloud computing is envisioned to have a substantial role in the development of smart traffic management solutions and in emerging Internet of vehicles. © The Author(s) 2017

Federated Learning for Connected and Automated Vehicles: A Survey of Existing Approaches and Challenges

Machine learning (ML) is widely used for key tasks in Connected and Automated Vehicles (CAV), including perception, planning, and control. However, its reliance on vehicular data for model training presents significant challenges related to in-vehicle user privacy and communication overhead generated by massive data volumes. Federated learning (FL) is a decentralized ML approach that enables multiple vehicles to collaboratively develop models, broadening learning from various driving environments, enhancing overall performance, and simultaneously securing local vehicle data privacy and security. This survey paper presents a review of the advancements made in the application of FL for CAV (FL4CAV). First, centralized and decentralized frameworks of FL are analyzed, highlighting their key characteristics and methodologies. Second, diverse data sources, models, and data security techniques relevant to FL in CAVs are reviewed, emphasizing their significance in ensuring privacy and confidentiality. Third, specific and important applications of FL are explored, providing insight into the base models and datasets employed for each application. Finally, existing challenges for FL4CAV are listed and potential directions for future work are discussed to further enhance the effectiveness and efficiency of FL in the context of CAV

A Secure and Distributed Architecture for Vehicular Cloud and Protocols for Privacy-preserving Message Dissemination in Vehicular Ad Hoc Networks

Given the enormous interest in self-driving cars, Vehicular Ad hoc NETworks (VANETs) are likely to be widely deployed in the near future. Cloud computing is also gaining widespread deployment. Marriage between cloud computing and VANETs would help solve many of the needs of drivers, law enforcement agencies, traffic management, etc. The contributions of this dissertation are summarized as follows: A Secure and Distributed Architecture for Vehicular Cloud: Ensuring security and privacy is an important issue in the vehicular cloud; if information exchanged between entities is modified by a malicious vehicle, serious consequences such as traffic congestion and accidents can occur. In addition, sensitive data could be lost, and human lives also could be in danger. Hence, messages sent by vehicles must be authenticated and securely delivered to vehicles in the appropriate regions. In this dissertation, we present a secure and distributed architecture for the vehicular cloud which uses the capabilities of vehicles to provide various services such as parking management, accident alert, traffic updates, cooperative driving, etc. Our architecture ensures the privacy of vehicles and supports secure message dissemination using the vehicular infrastructure. A Low-Overhead Message Authentication and Secure Message Dissemination Scheme for VANETs: Efficient, authenticated message dissemination in VANETs are important for the timely delivery of authentic messages to vehicles in appropriate regions in the VANET. Many of the approaches proposed in the literature use Road Side Units (RSUs) to collect events (such as accidents, weather conditions, etc.) observed by vehicles in its region, authenticate them, and disseminate them to vehicles in appropriate regions. However, as the number of messages received by RSUs increases in the network, the computation and communication overhead for RSUs related to message authentication and dissemination also increases. We address this issue and present a low-overhead message authentication and dissemination scheme in this dissertation. On-Board Hardware Implementation in VANET: Design and Experimental Evaluation: Information collected by On Board Units (OBUs) located in vehicles can help in avoiding congestion, provide useful information to drivers, etc. However, not all drivers on the roads can benefit from OBU implementation because OBU is currently not available in all car models. Therefore, in this dissertation, we designed and built a hardware implementation for OBU that allows the dissemination of messages in VANET. This OBU implementation is simple, efficient, and low-cost. In addition, we present an On-Board hardware implementation of Ad hoc On-Demand Distance Vector (AODV) routing protocol for VANETs. Privacy-preserving approach for collection and dissemination of messages in VANETs: Several existing schemes need to consider safety message collection in areas where the density of vehicles is low and roadside infrastructure is sparse. These areas could also have hazardous road conditions and may have poor connectivity. In this dissertation, we present an improved method for securely collecting and disseminating safety messages in such areas which preserves the privacy of vehicles. We propose installing fixed OBUs along the roadside of dangerous roads (i.e., roads that are likely to have more ice, accidents, etc., but have a low density of vehicles and roadside infrastructure) to help collect data about the surrounding environment. This would help vehicles to be notified about the events on such roads (such as ice, accidents, etc.).Furthermore, to enhance the privacy of vehicles, our scheme allows vehicles to change their pseudo IDs in all traffic conditions. Therefore, regardless of whether the number of vehicles is low in the RSU or Group Leader GL region, it would be hard for an attacker to know the actual number of vehicles in the RSU/GL region

Cloud-Assisted Safety Message Dissemination in VANET-Cellular Heterogeneous Wireless Network

Abstract-In vehicular ad-hoc networks (VANETs), efficient message dissemination is critical to road safety and traffic efficiency. Since many VANET-based schemes suffer from high transmission delay and data redundancy, integrated VANETcellular heterogeneous network has been proposed recently and attracted significant attention. However, most existing studies focus on selecting suitable gateways to deliver safety message from the source vehicle to a remote server, while rapid safety message dissemination from the remote server to a targeted area has not been well studied. In this paper, we propose a framework for rapid message dissemination that combines the advantages of diverse communication and cloud computing technologies

Distributed and Communication-Efficient Continuous Data Processing in Vehicular Cyber-Physical Systems

Processing the data produced by modern connected vehicles is of increasing interest for vehicle manufacturers to gain knowledge and develop novel functions and applications for the future of mobility.Connected vehicles form Vehicular Cyber-Physical Systems (VCPSs) that continuously sense increasingly large data volumes from high-bandwidth sensors such as LiDARs (an array of laser-based distance sensors that create a 3D map of the surroundings).The straightforward attempt of gathering all raw data from a VCPS to a central location for analysis often fails due to limits imposed by the infrastructure on the communication and storage capacities. In this Licentiate thesis, I present the results from my research that investigates techniques aiming at reducing the data volumes that need to be transmitted from vehicles through online compression and adaptive selection of participating vehicles. As explained in this work, the key to reducing the communication volume is in pushing parts of the necessary processing onto the vehicles\u27 on-board computers, thereby favorably leveraging the available distributed processing infrastructure in a VCPS.The findings highlight that existing analysis workflows can be sped up significantly while reducing their data volume footprint and incurring only modest accuracy decreases. At the same time, the adaptive selection of vehicles for analyses proves to provide a sufficiently large subset of vehicles that have compliant data for further analyses, while balancing the time needed for selection and the induced computational load

Characterizing the role of vehicular cloud computing in road traffic management

Vehicular cloud computing is envisioned to deliver services that provide traffic safety and efficiency to vehicles. Vehicular cloud computing has great potential to change the contemporary vehicular communication paradigm. Explicitly, the underutilized resources of vehicles can be shared with other vehicles to manage traffic during congestion. These resources include but are not limited to storage, computing power, and Internet connectivity. This study reviews current traffic management systems to analyze the role and significance of vehicular cloud computing in road traffic management. First, an abstraction of the vehicular cloud infrastructure in an urban scenario is presented to explore the vehicular cloud computing process. A taxonomy of vehicular clouds that defines the cloud formation, integration types, and services is presented. A taxonomy of vehicular cloud services is also provided to explore the object types involved and their positions within the vehicular cloud. A comparison of the current state-of-the-art traffic management systems is performed in terms of parameters, such as vehicular ad hoc network infrastructure, Internet dependency, cloud management, scalability, traffic flow control, and emerging services. Potential future challenges and emerging technologies, such as the Internet of vehicles and its incorporation in traffic congestion control, are also discussed. Vehicular cloud computing is envisioned to have a substantial role in the development of smart traffic management solutions and in emerging Internet of vehicles

Novel Fuzzy and Game Theory Based Clustering and Decision Making for VANETs

Different studies have recently emphasized the importance of deploying clustering schemes in Vehicular ad hoc Network (VANET) to overcome challenging problems related to scalability, frequent topology changes, scarcity of spectrum resources, maintaining clusters stability, and rational spectrum management. However, most of these studies addressed the clustering problem using conventional performance metrics while spectrum shortage, and the combination of spectrum trading and VANET architecture have not been tackled so far. Thus, this paper presents a new fuzzy logic based clustering control scheme to support scalability, enhance the stability of the network topology, motivate spectrum owners to share spectrum and provide efficient and cost-effective use of spectrum. Unlike existing studies, our context-aware scheme is based on multi-criteria decision making where fuzzy logic is adopted to rank the multi-attribute candidate nodes for optimizing the selection of cluster heads (CH)s. Criteria related to each candidate node include: received signal strength, speed of vehicle, vehicle location, spectrum price, reachability, and stability of node. Our model performs efficiently, exhibits faster recovery in response to topology changes and enhances the network efficiency life time