Optimised protocols for time-critical applications and internetworking in wehicular ad-hoc networks

Vehicular ad-hoc networks (VANETs) that enable communication among vehicles and between vehicles and unmanned aerial vehicles (UAVs) and cellular base stations have recently attracted significant interest from the research community, due to the wide range of practical applications they can facilitate (e.g., road safety, traffic management and rescue missions). Despite this increased research activity, the high vehicle mobility in a VANET raises concerns regarding the robustness and adaptiveness of such networks to support time-critical applications and internetworking. In this thesis, as a first step toward the design of efficient MAC protocol to support time-critical applications and internetworking, we show that it is indeed possible to follow the dynamics of a network and consequently adapt the transmission probability of the Aloha protocol to reduce the interference and maximise the single-hop throughput between adjacent nodes. Extensive simulation validates the proposed analytical model, which thus can serve as a promising tool to improve VANETs performance. By exploiting the parallel between the CSMA/CA and Aloha performance models, the optimal transmission probability for the Aloha protocol as a function of estimated vehicular density is derived. This probability is then used to obtain the optimal maximum CW that can be integrated in an amended CSMA/CA protocol to maximise the single-hop throughput among adjacent vehicles. We show by means of simulation that the beneficial impact the proposed protocol is increased channel throughput and reduced transmission delay when compared with the standardised protocol CSMA/CA in IEEE 802.11p. These results reveal the applicability of the new, optimised protocol to safety applications and clustering techniques with stringent performance requirements. Lastly, we propose a Stable Clustering Algorithm for vehicular ad-hoc networks (SCalE) internetworking. The exchange of the necessary status information to support the efficient clusters formation can firmly relay on the support of our optimised CSMA/CA protocol. The SCalE algorithm makes use of the knowledge of the vehicles behaviour (explained in Chapter 5) for efficient selection of CHs, and selects a backup CH on top of the CH to maintain the stability of cluster structures. The increased stability and improved performance of the SCalE algorithm is studied and compared with existing clustering algorithms.Open Acces

Performance evaluation of networking protocols for connected vehicles

Modern cars feature many embedded systems that monitor and manage all the critical sensors and actuators. The interconnection of such systems is a challenging task since the information to be exchanged is of mission-critical nature and affects the driving experience. The vehicle connectivity can be further extended with Vehicle-to-Vehicle (V2V) technology, which allows cars to exchange sensory information and even act on it. In this article a unified networking architecture is presented, starting from the inside of the vehicle and the interconnection of various control units and ultimately targeting Car-to-Car communications which enable smarter, safer and more efficient transportation. The researchers review and evaluate the performance of Power Line Communications as a solution for in-car networking. Then the safety-critical data as well as multimedia originating from each individual vehicle's in-car network are broadcasted to other neighbouring vehicles via IEEE 802.11p in a simulation environment featuring realistic vehicular mobility

Physical and Link Layer Implications in Vehicle Ad Hoc Networks

Vehicle Ad hoc Networks (V ANET) have been proposed to provide safety on the road and deliver road traffic information and route guidance to drivers along with commercial applications. However the challenges facing V ANET are numerous. Nodes move at high speeds, road side units and basestations are scarce, the topology is constrained by the road geometry and changes rapidly, and the number of nodes peaks suddenly in traffic jams. In this thesis we investigate the physical and link layers of V ANET and propose methods to achieve high data rates and high throughput. For the physical layer, we examine the use of Vertical BLAST (VB LAST) systems as they provide higher capacities than single antenna systems in rich fading environments. To study the applicability of VB LAST to VANET, a channel model was developed and verified using measurement data available in the literature. For no to medium line of sight, VBLAST systems provide high data rates. However the performance drops as the line of sight strength increases due to the correlation between the antennas. Moreover, the performance of VBLAST with training based channel estimation drops as the speed increases since the channel response changes rapidly. To update the channel state information matrix at the receiver, a channel tracking algorithm for flat fading channels was developed. The algorithm updates the channel matrix thus reducing the mean square error of the estimation and improving the bit error rate (BER). The analysis of VBLAST-OFDM systems showed they experience an error floor due to inter-carrier interference (lCI) which increases with speed, number of antennas transmitting and number of subcarriers used. The update algorithm was extended to VBLAST -OFDM systems and it showed improvements in BER performance but still experienced an error floor. An algorithm to equalise the ICI contribution of adjacent subcarriers was then developed and evaluated. The ICI equalisation algorithm reduces the error floor in BER as more subcarriers are equalised at the expense of more hardware complexity. The connectivity of V ANET was investigated and it was found that for single lane roads, car densities of 7 cars per communication range are sufficient to achieve high connectivity within the city whereas 12 cars per communication range are required for highways. Multilane roads require higher densities since cars tend to cluster in groups. Junctions and turns have lower connectivity than straight roads due to disconnections at the turns. Although higher densities improve the connectivity and, hence, the performance of the network layer, it leads to poor performance at the link layer. The IEEE 802.11 p MAC layer standard under development for V ANET uses a variant of Carrier Sense Multiple Access (CSMA). 802.11 protocols were analysed mathematically and via simulations and the results prove the saturation throughput of the basic access method drops as the number of nodes increases thus yielding very low throughput in congested areas. RTS/CTS access provides higher throughput but it applies only to unicast transmissions. To overcome the limitations of 802.11 protocols, we designed a protocol known as SOFT MAC which combines Space, Orthogonal Frequency and Time multiple access techniques. In SOFT MAC the road is divided into cells and each cell is allocated a unique group of subcarriers. Within a cell, nodes share the available subcarriers using a combination of TDMA and CSMA. The throughput analysis of SOFT MAC showed it has superior throughput compared to the basic access and similar to the RTS/CTS access of 802.11

Intelligent and bandwidth-efficient medium access control protocols for IEEE 802.11p-based Vehicular Ad hoc Networks

Vehicle-to-Vehicle (V2V) technology aims to enable safer and more sophisticated transportation via the spontaneous formation of Vehicular Ad hoc Networks (VANETs). This type of wireless networks allows the exchange of kinematic and other data among vehicles, for the primary purpose of safer and more efficient driving, as well as efficient traffic management and other third-party services. Their infrastructure-less, unbounded nature allows the formation of dense networks that present a channel sharing issue, which is harder to tackle than in conventional WLANs. This thesis focuses on optimising channel access strategies, which is important for the efficient usage of the available wireless bandwidth and the successful deployment of VANETs. To start with, the default channel access control method for V2V is evaluated hardware via modifying the appropriate wireless interface Linux driver to enable finer on-the-fly control of IEEE 802.11p access control layer parameters. More complex channel sharing scenarios are evaluated via simulations and findings on the behaviour of the access control mechanism are presented. A complete channel sharing efficiency assessment is conducted, including throughput, fairness and latency measurements. A new IEEE 802.11p-compatible Q-Learning-based access control approach that improves upon the studied protocol is presented. The stations feature algorithms that “learn” how to act optimally in VANETs in order to maximise their achieved packet delivery and minimise bandwidth wastage. The feasibility of Q-Learning to be used as the base of selflearning protocols for IEEE 802.11p-based V2V communication access control in dense environments is investigated in terms of parameter tuning, necessary time of exploration, achieving latency requirements, scaling, multi-hop and accommodation of simultaneous applications. Additionally, the novel Collection Contention Estimation (CCE) mechanism for Q-Learning-based access control is presented. By embedding it on the Q-Learning agents, faster convergence, higher throughput, better service separation and short-term fairness are achieved in simulated network deployments. The acquired new insights on the network performance of the proposed algorithms can provide precise guidelines for efficient designs of practical, reliable, fair and ultra-low latency V2V communication systems for dense topologies. These results can potentially have an impact across a range of related areas, including various types of wireless networks and resource allocation for these, network protocol and transceiver design as well as QLearning applicability and considerations for correct use

Efficient medium access control protocol for vehicular ad-hoc networks

Intelligent transportation systems (ITS) have enjoyed a tremendous growth in the last decade and the advancement in communication technologies has played a big role behind the success of ITS. Inter-vehicle communication (IVC) is a critical requirement for ITS and due to the nature of communication, vehicular ad-hoc network technology (VANET) is the most suitable communication technology for inter-vehicle communications. In Practice, however, VANET poses some extreme challenges including dropping out of connections as the moving vehicle moves out of the coverage range, joining of new nodes moving at high speeds, dynamic change in topology and connectivity, time variability of signal strength, throughput and time delay. One of the most challenging issues facing vehicular networks lies in the design of efficient resource management schemes, due to the mobile nature of nodes, delay constraints for safety applications and interference. The main application of VANET in ITS lies in the exchange of safety messages between nodes. Moreover, as the wireless access in vehicular environment (WAVE) moves closer to reality, management of these networks is of increasing concern for ITS designers and other stakeholder groups. As such, management of resources plays a significant role in VANET and ITS. For resource management in VANET, a medium access control protocol is used, which makes sure that limited resources are distributed efficiently. In this thesis, an efficient Multichannel Cognitive MAC (MCM) is developed, which assesses the quality of channel prior to transmission. MCM employs dynamic channel allocation and negotiation algorithms to achieve a significant improvement in channel utilisation, system reliability, and delay constraints while simultaneously addressing Quality of Service. Moreover, modified access priority parameters and safety message acknowledgments will be used to improve the reliability of safety messages. The proposed protocols are implemented using network simulation tools. Extensive experiments demonstrated a faster and more efficient reception of safety messages compared to existing VANET technologies. Finally, improvements in delay and packet delivery ratios are presented

Secure Authentication Mechanism for Cluster based Vehicular Adhoc Network (VANET): A Survey

Vehicular Ad Hoc Networks (VANETs) play a crucial role in Intelligent Transportation Systems (ITS) by facilitating communication between vehicles and infrastructure. This communication aims to enhance road safety, improve traffic efficiency, and enhance passenger comfort. The secure and reliable exchange of information is paramount to ensure the integrity and confidentiality of data, while the authentication of vehicles and messages is essential to prevent unauthorized access and malicious activities. This survey paper presents a comprehensive analysis of existing authentication mechanisms proposed for cluster-based VANETs. The strengths, weaknesses, and suitability of these mechanisms for various scenarios are carefully examined. Additionally, the integration of secure key management techniques is discussed to enhance the overall authentication process. Cluster-based VANETs are formed by dividing the network into smaller groups or clusters, with designated cluster heads comprising one or more vehicles. Furthermore, this paper identifies gaps in the existing literature through an exploration of previous surveys. Several schemes based on different methods are critically evaluated, considering factors such as throughput, detection rate, security, packet delivery ratio, and end-to-end delay. To provide optimal solutions for authentication in cluster-based VANETs, this paper highlights AI- and ML-based routing-based schemes. These approaches leverage artificial intelligence and machine learning techniques to enhance authentication within the cluster-based VANET network. Finally, this paper explores the open research challenges that exist in the realm of authentication for cluster-based Vehicular Adhoc Networks, shedding light on areas that require further investigation and development

A cross-layer middleware architecture for time and safety critical applications in MANETs

Mobile Ad hoc Networks (MANETs) can be deployed instantaneously and adaptively, making them highly suitable to military, medical and disaster-response scenarios. Using real-time applications for provision of instantaneous and dependable communications, media streaming, and device control in these scenarios is a growing research field. Realising timing requirements in packet delivery is essential to safety-critical real-time applications that are both delay- and loss-sensitive. Safety of these applications is compromised by packet loss, both on the network and by the applications themselves that will drop packets exceeding delay bounds. However, the provision of this required Quality of Service (QoS) must overcome issues relating to the lack of reliable existing infrastructure, conservation of safety-certified functionality. It must also overcome issues relating to the layer-2 dynamics with causal factors including hidden transmitters and fading channels. This thesis proposes that bounded maximum delay and safety-critical application support can be achieved by using cross-layer middleware. Such an approach benefits from the use of established protocols without requiring modifications to safety-certified ones. This research proposes ROAM: a novel, adaptive and scalable cross-layer Real-time Optimising Ad hoc Middleware framework for the provision and maintenance of performance guarantees in self-configuring MANETs. The ROAM framework is designed to be scalable to new optimisers and MANET protocols and requires no modifications of protocol functionality. Four original contributions are proposed: (1) ROAM, a middleware entity abstracts information from the protocol stack using application programming interfaces (APIs) and that implements optimisers to monitor and autonomously tune conditions at protocol layers in response to dynamic network conditions. The cross-layer approach is MANET protocol generic, using minimal imposition on the protocol stack, without protocol modification requirements. (2) A horizontal handoff optimiser that responds to time-varying link quality to ensure optimal and most robust channel usage. (3) A distributed contention reduction optimiser that reduces channel contention and related delay, in response to detection of the presence of a hidden transmitter. (4) A feasibility evaluation of the ROAM architecture to bound maximum delay and jitter in a comprehensive range of ns2-MIRACLE simulation scenarios that demonstrate independence from the key causes of network dynamics: application setting and MANET configuration; including mobility or topology. Experimental results show that ROAM can constrain end-to-end delay, jitter and packet loss, to support real-time applications with critical timing requirements

A Q-Learning approach with collective contention estimation for bandwidth-efficient and fair access control in IEEE 802.11p vehicular networks

Vehicular Ad hoc Networks (VANETs) are wireless networks formed of moving vehicle-stations, that enable safety-related packet exchanges among them. Their infrastructure-less, unbounded nature allows the formation of dense networks that present a channel sharing issue, which is harder to tackle than in conventional WLANs, due to fundamental differences of the protocol stack. Optimising channel access strategies is important for the efficient usage of the available wireless bandwidth and the successful deployment of VANETs. We present a Q-Learning-based approach to wirelessly network a big number of vehicles and enable the efficient exchange of data packets among them. More specifically, this work focuses on a IEEE 802.11p-compatible contention-based Medium Access Control (MAC) protocol for efficiently sharing the wireless channel among multiple vehicular stations. The stations feature algorithms that "learn" how to act optimally in a network in order to maximise their achieved packet delivery and minimise bandwidth wastage. Additionally, via a Collective Contention Estimation (CCE) mechanism which we embed on the Q-Learning agent, faster convergence, higher throughput and short-term fairness are achieved

An efficient cluster-based service model for vehicular ad-hoc networks on motorways

Vehicular Ad-Hoc Networks (VANET) can, but not limited to provide users with useful traffic and environmental information services to improve travelling efficiency and road safety. The communications systems used in VANET include vehicle-to-vehicle communications (V2V) and vehicle-to-infrastructure communications (V2I). The transmission delay and the energy consumption cost for maintaining good-quality communications vary depending on the transmission distance and transmission power, especially on motorways where vehicles are moving at higher speeds. In addition, in modern transportation systems, electric vehicles are becoming more and more popular, which require a more efficient battery management, this also call for an efficient way of vehicular transmission. In this project, a cluster-based two-way data service model to provide real-time data services for vehicles on motorways is designed. The design promotes efficient cooperation between V2V and V2I, or namely V2X, with the objective of improving both service and energy performance for vehicular networks with traffic in the same direction. Clustering is an effective way of applying V2X in VANET systems, where the cluster head will take the main responsibility of exchanging data with Road Side Units (RSU) and other cluster members. The model includes local service data collection, data aggregation, and service data downloading. We use SUMO and OMNET++ to simulate the traffic scenarios and the network communications. Two different models (V2X and V2I) are compared to evaluate the performance of the proposed model under different flow speeds. From the results, we conclude that the cluster-based service model outperforms the non-clustered model in terms of service successful ratio, network throughput and energy consumption

Design and Evaluation of Efficient Medium Access Control Solutions for Vehicular Environments

[EN] In recent years, advances in wireless technologies and improved sensing and computational capabilities have led to a gradual transition towards Intelligent Transportation Systems (ITS) and related applications. These applications aim at improving road safety, provide smart navigation, and eco-friendly driving. Vehicular Ad hoc Networks (VANETs) provide a communication structure for ITS by equipping cars with advanced sensors and communication devices that enable a direct exchange of information between vehicles. Different types of ITS applications rely on two types of messages: periodic beacons and event-driven messages. Beacons include information such as geographical location, speed, and acceleration, and they are only disseminated to a close neighborhood. Differently from beacons, event-driven messages are only generated when a critical event of general interest occurs, and it is spread within a specific target area for the duration of the event. The reliability of information exchange is one of the main issues for vehicularcommunications since the safety of people on the road is directly related to the effectiveness of these transmissions. A Medium Access Control (MAC) protocol must guarantee reliable beacon broadcasting within deadline bounds to all vehicles in the neighbourhood, thereby providing them timely notifications about unsafe driving conditions or other hazardous events. Moreover, infotainment and comfort applications require reliable unicast transmissions that must be taken into account. However, high node mobility, highly dynamic topology, and lack of a central control unit, are issues that make the design of a reliable MAC protocol for vehicular environments a very difficult and challenging task, especially when efficient broadcasting strategies are required. The IEEE 802.11p MAC protocol, an approved amendment to the IEEE 802.11 standard, is a random access protocol that is unable to provide guaranteed delay bounds with sufficient reliability in vehicular scenarios, especially under high channel usage. This problem is particularly serious when implementing (semi-) automated driving applications such as platooning, where inter-vehicle spacing is drastically reduced, and the control loop that manages and maintains the platoon requires frequent, timely and reliable exchange of status information (beacons). In this thesis novel protocols compatible with the IEEE 802.11 and 802.11p standards are proposed in order to optimally adjust the contention window size for unicast applications in Mobile Ad hoc Networks (MANETs) and VANETs. Experimental tests comparing our proposals to existing solutions show that the former are able to improve the packet delivery ratio and the average end-to-end delay for unicast applications. Concerning efficient message diffusion (broadcast) in VANET environments, we proposed token-based MAC solutions to improve the performance achieved by existing 802.11p driving safety applications in different vehicular environments, including highway, urban, and platooning scenarios. Experimental results show that the proposed solutions clearly outperform 802.11p when delay-bounded beacons and event notifications must be delivered.[ES] Recientemente, los avances en las tecnologías inalámbricas y las mejoras en términos de capacidades de sensorización y computación de los dispositivos electrónicos, han dado lugar a una transición gradual hacia servicios y aplicaciones de los Sistemas Inteligentes de Transporte (ITS). Estas aplicaciones tienen como objetivo mejorar la seguridad vial, proporcionar una navegación inteligente, y promover la conducción eco-eficiente. Las redes vehiculares ad hoc (VANETs) proporcionan una infraestructura de comunicaciones para ITS al equipar los coches con sensores avanzados y dispositivos de comunicación que permiten el intercambio directo de información entre vehículos. Los diferentes tipos de aplicaciones ITS se basan en dos tipos de mensajes: mensajes periódicos conocidos como beacons y mensajes asociados a eventos. Los mensajes periódicos incluyen información relativa a la ubicación geográfica, la velocidad y la aceleración, entre otros, y sólo son distribuidos entre los vehículos vecinos. A diferencia de estos beacons, los mensajes asociados a eventos sólo se generan cuando se produce un evento crítico de interés general, el cual se propaga dentro del área de interés de dicho evento y mientras éste siga activo. La fiabilidad del intercambio de información es uno de los principales problemas para las comunicaciones vehiculares, debido principalmente a que las aplicaciones de seguridad dependen directamente de la eficacia de estas transmisiones. Un protocolo de Control de Acceso al Medio (MAC) debe garantizar la difusión fiable de información a todos los vehículos vecinos dentro de unos límites máximos de retardo, proporcionándoles las notificaciones oportunas respecto a condiciones de conducción inseguras y otros eventos peligrosos. Por otra parte, las aplicaciones de información y entretenimiento, así como las aplicaciones orientadas al confort, también requieren transmisiones fiables extremoa-extremo. Sin embargo, la alta movilidad de los vehículos, la variabilidad de la topología, así como la falta de una unidad central de control, son factores que hacen que el diseño de un protocolo MAC fiable para entornos vehiculares sea una tarea especialmente compleja, especialmente cuando son necesarias estrategias de difusión eficientes. El protocolo MAC IEEE 802.11p, una modificación ya aprobada al estándar IEEE 802.11 original para entornos de comunicación vehiculares, es un protocolo de acceso que no es capaz de garantizar unos límites de retardo con la fiabilidad necesaria para estos entornos, especialmente en escenarios de alta utilización del canal inalámbrico. Este problema es particularmente importante a la hora de implementar aplicaciones de conducción (semi-)automática, como el caso de grupos de vehículos donde la separación entre vehículos se reduce drásticamente, y el sistema de control que gestiona y mantiene el grupo requiere de un intercambio frecuente de información fiable y acotado en retardo. En esta tesis se proponen nuevos protocolos MAC compatibles con los estándares IEEE 802.11 y 802.11p basados en el ajuste del tamaño de la ventana de contención para aplicaciones unicast en rede MANETs y VANETs. Los resultados experimentales obtenidos comparando nuestras propuestas con las soluciones existentes muestran que los protocolos propuestos son capaces de mejorar la tasa de entrega de paquetes y el retardo medio extremo-a-extremo para aplicaciones unicast. En lo que respecta a la difusión eficiente de mensajes broadcast en entornos VANET, se han propuesto soluciones MAC basadas en el uso de tokens que mejoran las prestaciones de aplicaciones de conducción segura basadas en el estándar 802.11p, tanto en autopistas, zonas urbanas, y escenarios con grupos de vehículos. Los resultados experimentales muestran que las soluciones propuestas superan claramente al protocolo 802.11p cuando es necesario entregar mensajes y notificaciones de eventos con restricc[CA] Recentment, els avan en les tecnologies sense fils i les millores en termes de capacitats de sensorització i computació dels dispositius electrònics, han donat lloc a una transició gradual cap a serveis i aplicacions dels sistemes intelligents de transport (ITS). Aquestes aplicacions tenen com a objectiu millorar la seguretat vial, proporcionar una navegació intelligent, i promoure la conducció ecoeficient. Les xarxes vehiculars ad hoc (VANET) proporcionen una infraestructura de comunicacions per a ITS, ja que equipen els cotxes amb sensors avançats i dispositius de comunicació que permeten l'intercanvi directe d'informació entre vehicles. Els diversos tipus d'aplicacions ITS es basen en dos classes de missatges: missatges periòdics coneguts com a beacons i missatges associats a esdeveniments. Els missatges periòdics inclouen informació relativa a la ubicació geogràfica, la velocitat i l'acceleració, entre uns altres, i només són distribuïts entre els vehicles veïns. A diferència d'aquests beacons, els missatges associats a esdeveniments només es generen quan es produeix un esdeveniment crític d'interès general, el qual es propaga dins de l àrea d'interès d'aquest esdeveniment i mentre aquest seguisca actiu. La fiabilitat de l'intercanvi d'informació és un dels principals problemes per a les comunicacions vehicular, principalment perquè les aplicacions de seguretat depenen directament de l'eficàcia d'aquestes transmissions. Un protocol de control d'accés al medi (MAC) ha de garantir la difusió fiable d'informació a tots els vehicles veïns dins d'uns límits màxims de retard, i proporcionar-los les notificacions oportunes respecte a condicions de conducció insegures i altres esdeveniments perillosos. D'altra banda, les aplicacions d'informació i entreteniment, com també les aplicacions orientades al confort, també requereixen transmissions fiables extrema-extrem. No obstant això, l'alta mobilitat dels vehicles, la variabilitat de la topologia, i la falta d'una unitat central de control, són factors que fan que el disseny d'un protocol MAC fiable per a entorns vehiculars siga una tasca especialment complexa, especialment quan són necessàries estratègies de difusió eficients. El protocol MAC IEEE 802.11p, una modificació ja aprovada a l'estàndard IEEE 802.11 original per a entorns de comunicació vehiculars, és un protocol d'accés que no és capa garantir uns límits de retard amb la fiabilitat necessària per a aquests entorns, especialment en escenaris d'alta utilització del canal sense fil. Aquest problema és particularment important a l'hora d'implementar aplicacions de conducció (semi)automàtica, com el cas de grups de vehicles en què la separació entre vehicles es redueix dràsticament, i el sistema de control que gestiona i manté el grup requereix un intercanvi freqüent d'informació fiable i delimitat en retard. En aquesta tesi es proposen nous protocols MAC compatibles amb els estàndards IEEE 802.11 i 802.11p basats en l'ajust de les dimensions de la finestra de contenció per a aplicacions unicast en xarxes MANET i VANET. Els resultats experimentals obtinguts comparant les nostres propostes amb les solucions existents mostren que els protocols proposats són capa de millorar la taxa de lliurament de paquets i el retard mitjà extrem-a-extrem per a aplicacions unicast. Pel que fa a la difusió eficient de missatges broadcast en entorns VANET, s'han proposat solucions MAC basades en l'ús de tokens que milloren les prestacions d'aplicacions de conducció segura basades en l'estàndard 802.11p, tant en autopistes, zones urbanes, i escenaris amb grups de vehicles. Els resultats experimentals mostren que les solucions proposades superen clarament el protocol 802.11p quan cal lliurar missatges i notificacions d'esdeveniments amb restriccions de latència.Balador, A. (2016). Design and Evaluation of Efficient Medium Access Control Solutions for Vehicular Environments [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/64073TESI