A Comparison of Communication Mechanisms in Vehicular Edge Computing - - PowerPoint PPT Presentation

6/18/20 Connected and Autonomous dRiving Laboratory 1

A Comparison of Communication Mechanisms in Vehicular Edge Computing

Liangkai Liu, Baofu Wu and Weisong Shi

Wayne State University http://thecarlab.org

6/18/20 Connected and Autonomous dRiving Laboratory 2

Outline

• Motivation
• Contributions
• Experimental Setup and Prototype
• Wi-Fi, LTE, DSRC
• Comparisons and Evaluation
• latency, power dissipation, system utilization
• Future Work

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Motivations

RSU Ethernet/ Optical Fiber DSRC/LTE/WiFi DSRC/LTE/ WiFi Cloud Server LTE BS DSRC: Dedicated Short-Range Communications

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Contributions

• To the best of our knowledge, our work is the first comparison of

communication mechanisms of LTE, Wi-Fi, and DSRC using real VEC applications.

• An end-to-end communication prototype is built which can support LTE,

DSRC, and Wi-Fi. On top of the prototype, ROS, Socket, and Ping messages are implemented.

• We evaluated the communication prototype in latency, power dissipation,

and system utilization and get three observations for the real deployment of VEC applications.

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Experiment Setup

• Computation Device
• Intel Fog Refence
• Communication Devices
• Wi-Fi router
• USRP B210 board + VERT
• Mokar DSRC RSE + OBE
• Autonomous Driving Robot
• HydraOne

3D LiDAR HD Cameras Computing Platform Batteries DC Motors w/Encoder Mecanum Wheels ! " #

DSRC RSE DSRC OBE USRP B210 VERT-2450

https://thecarlab.org/hydraone/

Wi-Fi Router

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End-to-End Prototype

OBU RSU Router

talker roscore listener 192.168.0.200 192.168.0.127 talker listener Image/ICMP/BSM messages

OBU RSU

talker roscore listener 172.16.0.2 172.16.0.1 talker listener Image/ICMP/BSM messages EPC eNB UE USRP B210 USRP B210

RSU

RSPC DSRC RSPC_talker roscore OBPC_listener 192.168.253.1 192.168.253.1 RSPC_listener messages OBPC RSU_device 192.168.253.10 192.168.253.10 roscore OBPC_talker Socket messages Socket messages

OBU

TCP server TCP client TCP server TCP client OBU_device

Wi-Fi LTE DSRC

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Comparisons

• Messages
• ICMP-based: Ping message
• Robot Operating System (ROS) messages:
• Basic Safety Message (BSM): from DSRC protocol
• Image
• Metrics
• End-to-End latency
• Power dissipation
• System utilization

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End-to-End Latency

Latency (ms) LTE Wi-Fi DSRC BSM 3.12 67.96 8.46 image 6174.32 1733.90

• Ping

25.02 50.49

• Average End-to-End Latency

Latency (ms) LTE Wi-Fi DSRC 0 m/s 3.12 15.06 8.88 3 m/s 657.28 12.99 9.12 5 m/s 1071.52 16.18 9.21 Latency of BSM with different speed OBU à RSU: RSU à OBU:

Observation 1: A communication mechanism which can provide sufficient and stable bandwidth is still missing.

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Power Dissipation

Observation 2: There are non-negligible power dissipation for communication connections for LTE and DSRC.

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System Utilization

Overhead of LTE Metrics RSU OBU ros master eNB UE Memory (Mb) 50.364 1599.532 1488 CPU (%) 2.22 27.73 23.56

Observation 3: The usage of srsLTE as well as ROS introduces non-negligible system overhead.

Raspberry Pi 3B+ 1GB memory

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Future Work

• Outdoor experiments
• C-V2X, 5G included into the comparison
• Accelerator-based devices included into RSU

GM Mobility Research Center

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Thanks! Q & A Email: liangkai@wayne.edu