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

Optimal Content Downloading in Vehicular Networks

We consider a system where users aboard communication-enabled vehicles are interested in downloading different contents from Internet-based servers. This scenario captures many of the infotainment services that vehicular communication is envisioned to enable, including news reporting, navigation maps and software updating, or multimedia file downloading. In this paper, we outline the performance limits of such a vehicular content downloading system by modelling the downloading process as an optimization problem, and maximizing the overall system throughput. Our approach allows us to investigate the impact of different factors, such as the roadside infrastructure deployment, the vehicle-to-vehicle relaying, and the penetration rate of the communication technology, even in presence of large instances of the problem. Results highlight the existence of two operational regimes at different penetration rates and the importance of an efficient, yet 2-hop constrained, vehicle-to-vehicle relaying

Design and analysis of a beacon-less routing protocol for large volume content dissemination in vehicular ad hoc networks

Largevolumecontentdisseminationispursuedbythegrowingnumberofhighquality applications for Vehicular Ad hoc NETworks(VANETs), e.g., the live road surveillance service and the video-based overtaking assistant service. For the highly dynamical vehicular network topology, beacon-less routing protocols have been proven to be efficient in achieving a balance between the system performance and the control overhead. However, to the authors’ best knowledge, the routing design for large volume content has not been well considered in the previous work, which will introduce new challenges, e.g., the enhanced connectivity requirement for a radio link. In this paper, a link Lifetime-aware Beacon-less Routing Protocol (LBRP) is designed for large volume content delivery in VANETs. Each vehicle makes the forwarding decision based on the message header information and its current state, including the speed and position information. A semi-Markov process analytical model is proposed to evaluate the expected delay in constructing one routing path for LBRP. Simulations show that the proposed LBRP scheme outperforms the traditional dissemination protocols in providing a low end-to-end delay. The analytical model is shown to exhibit a good match on the delay estimation with Monte Carlo simulations, as well

Provision Quality-of-Service Controlled Content Distribution in Vehicular Ad Hoc Networks

By equipping vehicles with the on-board wireless facility, the newly emerged vehicular networking targets to provision the broadband serves to vehicles. As such, a variety of novel and exciting applications can be provided to vehicular users to enhance their road safety and travel comfort, and finally raise a complete change to their on-road life. As the content distribution and media/video streaming, such as Youtube, Netflix, nowadays have become the most popular Internet applications, to enable the efficient content distribution and audio/video streaming services is thus of the paramount importance to the success of the vehicular networking. This, however, is fraught with fundamental challenges due to the distinguished natures of vehicular networking. On one hand, the vehicular communication is challenged by the spotty and volatile wireless connections caused by the high mobility of vehicles. This makes the download performance of connections very unstable and dramatically change over time, which directly threats to the on-top media applications. On the other hand, a vehicular network typically involves an extremely large-scale node population (e.g., hundreds or thousandths of vehicles in a region) with intense spatial and temporal variations across the network geometry at different times. This dictates any designs to be scalable and fully distributed which should not only be resilient to the network dynamics, but also provide the guaranteed quality-of-service (QoS) to users. The purpose of this dissertation is to address the challenges of the vehicular networking imposed by its intrinsic dynamic and large-scale natures, and build the efficient, scalable and, more importantly, practical systems to enable the cost-effective and QoS guaranteed content distribution and media streaming services to vehicular users. Note that to effective- ly deliver the content from the remote Internet to in-motion vehicles, it typically involves three parts as: 1.) an infrastructure grid of gateways which behave as the data depots or injection points of Internet contents and services to vehicles, 2.) protocol at gateways which schedules the bandwidth resource at gateways and coordinates the parallel transmissions to different vehicles, and 3.) the end-system control mechanism at receivers which adapts the receiver’s content download/playback strategy based on the available network throughput to provide users with the desired service experience. With above three parts in mind, the entire research work in this dissertation casts a systematic view to address each part in one topic with: 1.) design of large-scale cost-effective content distribution infrastructure, 2.) MAC (media access control) performance evaluation and channel time scheduling, and 3.) receiver adaptation and adaptive playout in dynamic download environment. In specific, in the first topic, we propose a practical solution to form a large-scale and cost-effective content distribution infrastructure in the city. We argue that a large-scale infrastructure with the dedicated resources, including storage, computing and communication capacity, is necessary for the vehicular network to become an alternative of 3G/4G cellular network as the dominating approach of ubiquitous content distribution and data services to vehicles. On addressing this issue, we propose a fully distributed scheme to form a large-scale infrastructure by the contributions of individual entities in the city, such as grocery stores, movie theaters, etc. That is to say, the installation and maintenance costs are shared by many individuals. In this topic, we explain the design rationale on how to motivate individuals to contribute, and specify the detailed design of the system, which is embodied with distributed protocols and performance evaluation. The second topic investigates on the MAC throughput performance of the vehicle-to- infrastructure (V2I) communications when vehicles drive through RSUs, namely drive-thru Internet. Note that with a large-scale population of fast-motion nodes contending the chan- nel for transmissions, the MAC performance determines the achievable nodal throughput and is crucial to the on-top applications. In this topic, using a simple yet accurate Marko- vian model, we first show the impacts of mobility (characterized by node velocity and moving directions) on the nodal and system throughput performance, respectively. Based on this analysis, we then propose three enhancement schemes to timely adjust the MAC parameters in tune with the vehicle mobility to achieve the maximal the system throughput. The last topic investigates on the end-system design to deliver the user desired media streaming services in the vehicular environment. In specific, the vehicular communications are notoriously known for the intermittent connectivity and dramatically varying throughput. Video streaming on top of vehicular networks therefore inevitably suffers from the severe network dynamics, resulting in the frequent jerkiness or even freezing video playback. To address this issue, an analytical model is first developed to unveil the impacts of network dynamics on the resultant video performance to users in terms of video start-up delay and smoothness of playback. Based on the analysis, the adaptive playout buffer mechanism is developed to adapt the video playback strategy at receivers towards the user-defined video quality. The proposals developed in the three topics are validated with the extensive and high fidelity simulations. We believe that our analysis developed in the dissertation can provide insightful lights on understanding the fundamental performance of the vehicular content distribution networks from the aspects of session-level download performance in urban vehicular networks (topic 1), MAC throughput performance (topic 2), and user perceived media quality (topic 3). The protocols developed in the three topics, respectively, offer practical and efficient solutions to build and optimize the vehicular content distribution networks

Scaling Laws for Vehicular Networks

Equipping automobiles with wireless communications and networking capabilities is becoming the frontier in the evolution to the next generation intelligent transportation systems (ITS). By means of vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communications, information generated by the vehicle-borne computer, vehicle control system, on-board sensors, or roadside infrastructure, can be effectively disseminated among vehicles/infrastructure in proximity or to vehicles/infrastructure multiple hops away, known as vehicular networks (VANETs), to enhance the situational awareness of vehicles and provide motorist/passengers with an information-rich travel environment. Scaling law for throughput capacity and delay in wireless networks has been considered as one of the most fundamental issues, which characterizes the trend of throughput/delay behavior when the network size increases. The study of scaling laws can lead to a better understanding of intrinsic properties of wireless networks and theoretical guidance on network design and deployment. Moreover, the results could also be applied to predict network performance, especially for the large-scale vehicular networks. However, map-restricted mobility and spatio-temporal dynamics of vehicle density dramatically complicate scaling laws studies for VANETs. As an effort to lay a scientific foundation of vehicular networking, my thesis investigates capacity scaling laws for vehicular networks with and without infrastructure, respectively. Firstly, the thesis studies scaling law of throughput capacity and end-to-end delay for a social-proximity vehicular network, where each vehicle has a restricted mobility region around a specific social spot and services are delivered in a store-carry-and-forward paradigm. It has been shown that although the throughput and delay may degrade in a high vehicle density area, it is still possible to achieve almost constant scaling for per vehicle throughput and end-to-end delay. Secondly, in addition to pure ad hoc vehicular networks, the thesis derives the capacity scaling laws for networks with wireless infrastructure, where services are delivered uniformly from infrastructure to all vehicles in the network. The V2V communication is also required to relay the downlink traffic to the vehicles outside the coverage of infrastructure. Three kinds of infrastructures have been considered, i.e., cellular base stations, wireless mesh backbones (a network of mesh nodes, including one mesh gateway), and roadside access points. The downlink capacity scaling is derived for each kind of infrastructure. Considering that the deployment/operation costs of different infrastructure are highly variable, the capacity-cost tradeoffs of different deployments are examined. The results from the thesis demonstrate the feasibility of deploying non-cellular infrastructure for supporting high-bandwidth vehicular applications. Thirdly, the fundamental impact of traffic signals at road intersection on drive-thru Internet access is particularly studied. The thesis analyzes the time-average throughput capacity of a typical vehicle driving through randomly deployed roadside Wi-Fi networks. Interestingly, we show a significant throughput gain for vehicles stopping at intersections due to red signals. The results provide a quick and efficient way of determining the Wi-Fi deployment scale according to required quality of services. In summary, the analysis developed and the scaling laws derived in the thesis provide should be very useful for understanding the fundamental performance of vehicular networks

Connectivity-Aware Routing in Vehicular Ad Hoc Networks

Vehicular ad hoc networks (VANETs) is a promising emerging technology that enables a wide range of appealing applications in road safety, traffic management, and passengers and driver comfort. The deployment of VANETs to enable vehicular Internet-based services and mobile data offloading is also envisioned to be a promising solution for the great demand of mobile Internet access. However, developing reliable and efficient routing protocols is one of the key challenges in VANETs due to the high vehicle mobility and frequent network topology changes. In this thesis, we highlight the routing challenges in VANETs with a focus on position-based routing (PBR), as a well-recognized routing paradigm in the vehicular environment. As the current PBR protocols do not support VANET users with connectivity information, our goal is to design an efficient routing protocol for VANETs that dynamically finds long life paths, with reduced delivery delay, and supports vehicles with instant information about connectivity to the infrastructure. The focus of this thesis will be on predicting vehicular mobility to estimate inter-vehicle link duration in order to support routing protocols with proactive connectivity information for a better routing performance. Via three stages to meet our goal, we propose three novel routing protocols to estimate both broad and comprehensive connectivities in VANETs: iCAR, iCAR-II, and D-CAR. iCAR supports VANET users with instant broad connectivity information to surrounding road intersections, iCAR-II uses cellular network channels for comprehensive connectivity awareness to Roadside Units (RSUs), and finally D-CAR supports users with instant comprehensive connectivity information without the assistance of other networks. Detailed analysis and simulation based evaluations of our proposed protocols demonstrate the validity of using VANETs for Internet-based services and mobile data offloading in addition to the significant improvement of VANETs performance in terms of packet delivery ratio and end-to-end delay

Quality-Driven Cross-Layer Protocols for Video Streaming over Vehicular Ad-Hoc Networks

The emerging vehicular ad-hoc networks (VANETs) offer a variety of applications and new potential markets related to safety, convenience and entertainment, however, they suffer from a number of challenges not shared so deeply by other types of existing networks, particularly, in terms of mobility of nodes, and end-to-end quality of service (QoS) provision. Although several existing works in the literature have attempted to provide efficient protocols at different layers targeted mostly for safety applications, there remain many barriers to be overcome in order to constrain the widespread use of such networks for non-safety applications, specifically, for video streaming: 1) impact of high speed mobility of nodes on end-to-end QoS provision; 2) cross-layer protocol design while keeping low computational complexity; 3) considering customer-oriented QoS metrics in the design of protocols; and 4) maintaining seamless single-hop and multi-hop connection between the destination vehicle and the road side unit (RSU) while network is moving. This thesis addresses each of the above limitations in design of cross-layer protocols for video streaming application. 1) An adaptive MAC retransmission limit selection scheme is proposed to improve the performance of IEEE 802.11p standard MAC protocol for video streaming applications over VANETs. A multi-objective optimization framework, which jointly minimizes the probability of playback freezes and start-up delay of the streamed video at the destination vehicle by tuning the MAC retransmission limit with respect to channel statistics as well as packet transmission rate, is applied at road side unit (RSU). Two-hop transmission is applied in zones in which the destination vehicle is not within the transmission range of any RSU. In the multi-hop scenario, we discuss the computation of access probability used in the MAC adaptation scheme and propose a cross-layer path selection scheme; 2) We take advantage of similarity between multi-hop urban VANETs in dense traffic conditions and mesh connected networks. First, we investigate an application-centric routing scheme for video streaming over mesh connected overlays. Next, we introduce the challenges of urban VANETs compared to mesh networks and extend the proposed scheme in mesh network into a protocol for urban VANETs. A classification-based method is proposed to select an optimal path for video streaming over multi-hop mesh networks. The novelty is to translate the path selection over multi-hop networks to a standard classification problem. The classification is based on minimizing average video packet distortion at the receiving nodes. The classifiers are trained offline using a vast collection of video sequences and wireless channel conditions in order to yield optimal performance during real time path selection. Our method substantially reduces the complexity of conventional exhaustive optimization methods and results in high quality (low distortion). Next, we propose an application-centric routing scheme for real-time video transmission over urban multi-hop vehicular ad-hoc network (VANET) scenarios. Queuing based mobility model, spatial traffic distribution and prob- ability of connectivity for sparse and dense VANET scenarios are taken into consideration in designing the routing protocol. Numerical results demonstrate the gain achieved by the proposed routing scheme versus geographic greedy forwarding in terms of video frame distortion and streaming start-up delay in several urban communication scenarios for various vehicle entrance rate and traffic densities; and 3) finally, the proposed quality-driven routing scheme for delivering video streams is combined with a novel IP management scheme. The routing scheme aims to optimize the visual quality of the transmitted video frames by minimizing the distortion, the start-up delay, and the frequency of the streaming freezes. As the destination vehicle is in motion, it is unrealistic to assume that the vehicle will remain connected to the same access router (AR) for the whole trip. Mobile IP management schemes can benefit from the proposed multi-hop routing protocol in order to adapt proxy mobile IPv6 (PMIPv6) for multi-hop VANET for video streaming applications. The proposed cross-layer protocols can significantly improve the video streaming quality in terms of the number of streaming freezes and start-up delay over VANETs while achieving low computational complexity by using pattern classification methods for optimization