Improving Reliability of Platooning Control Messages Using Radio - - PowerPoint PPT Presentation

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Improving Reliability of Platooning Control Messages Using Radio - - PowerPoint PPT Presentation

Sep 17, 2023 269 likes •497 views

Improving Reliability of Platooning Control Messages Using Radio and Visible Light Hybrid Communication Susumu Ishihara (Shizuoka University) Vince Rabsatt, Mario Gerla (UCLA) To the direct follower Leader to followers Platooning Camera/

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SLIDE 1

Improving Reliability of Platooning Control Messages Using Radio and Visible Light Hybrid Communication

Susumu Ishihara (Shizuoka University) Vince Rabsatt, Mario Gerla (UCLA)

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SLIDE 2

Platooning

  • Autonomous Platooning

  • r Cooperative Adaptive Cruise Control (CACC)
  • Improves the traffic flow
  • Reduces the fuel consumption
  • Improves the drivers’ safety

2

To the direct follower

Camera/ RADAR/ LIDAR, etc.

Leader to followers

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SLIDE 3

Sartre (EU)-2012

http://www.nedo.go.jp/activities/FK_00023.html

Energy ITS (Japan) -2013

1Truck and 3 cars Demo 6m gap @90km/h 5.9GHz DSRC 40Hz Message 4 Truck-Demo 4.7m gap @80km/h 5.8GHz DSRC + IR 50Hz Message

http://www.sartre-project.eu/en/about/ news/Sidor/roadtrains_video.aspx

Recent Platooning Projects

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SLIDE 4

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Adaptive Cruise Control (ACC)

Uses information of the preceding car

Cooperative Adaptive Cruise Control (CACC)

Uses information of the preceding car and the leader car

Simulation of Platooning

  • n Scenargie1, a discrete event simulator

(Same scenario provided with plexe2, a platooning extension for Veins)

[1] Product of Space-Time Engineering, https://www.spacetime-eng.com/ [2] Michele Segata, Stefan Joerer, Bastian Bloessl, Christoph Sommer, Falko Dressler and Renato Lo Cigno, "PLEXE: A Platooning Extension for Veins," IEEE VNC 2014

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SLIDE 5

Many issues for realizing platooning

  • Control Theory
  • Vehicle Dynamics
  • Communications
  • Sensing
  • Image Processing
  • Localization
  • Traffic Engineering
  • etc.

5

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SLIDE 6

Communication Issues

  • Radio Communication Capacity
  • If many vehicles are on the road, radio communication

capacity may be exhausted.

  • Communication Rate Control
  • Transmission Power Control
  • Security
  • What if attackers make a radio signal jam?
  • What if a malicious vehicle pretends other cars?
  • What if a malicious vehicle generates wrong update

information?

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SLIDE 7

Fragile Radio Communication

  • If there is a malicious machine that sends a jam signal, messages

transmission from the leader vehicle can be easily damaged.

  • We can easily make jamming machine using


software radio platforms,
 such as GNU Radio/USRP , WARP , etc.

  • This is a potential problem of CACC based on radio communications.

Slow down 7

What if we use Visible Light Communication?

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SLIDE 8

Contributions of this paper

  • We proposed an RF and VLC hybrid communication

protocol for platooning control messages for reliable message delivery under RF jamming attacks.

  • We developed a simulation model supporting both

radio communication and VLC on Scenargie

  • The proposed protocol works effectively to decrease

the end-to-end delay of the leader messages and improve the message delivery ratio under jamming attack

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SLIDE 9

Simulation: Effect of jamming attack

Jam part is 802.11p Compliant PLCP Preamble + PLCP Header + Part of MAC Header

Jam

64us 10us

10~400us Jam Jam Jam Jam Jam Jam Jam

[Punal2015] Periodic Jammer

Our simulation

  • n Scenargie

10~400us Jam CBR Broadcast on IEEE 802.11p 6Mbps
 (Payload 300bytes / 10Hz)

J S R

ds dr

dsr: 10m and 50m

Jammer

Tx Power 20dBm Tx Power 20dBm

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SLIDE 10

Simulation Results: Packet Delivery Ratio under Jamming Attack

Dist(S, R) = 10m 10us 120us 150us 200us Idle duration

  • f Jam signal

122us

75m 65m 65m

  • If the idle duration is long, the sender can find the channel idle state longer


than DIFS (=58us) + Backoff. Thus, the sender can send a frame.

  • But if the distance between the sender and the receiver is long,


due to the bad SINR, the receiver cannot decode the frame.

15m 75m

Dist(S, R) = 50m

Color = Packet Delivery Ratio Dist(Source, Jammer)

Dist(Receiver, Jammer)

15m 75m

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SLIDE 11

Using Visible Light Communication (VLC)

  • Uses LED lights for communication between adjacent vehicles
  • Cheap – Low Additional Equipment Cost
  • Every vehicle has tail lights and head lights.
  • Difficult to attack - Highly directional
  • VLC jammer has to be in the field of view of the receiver device to attack
  • Jamming light has to be concentrated to the receiver device
  • But, long distance communication over multiple vehicles is

difficult

  • Multi-hop communication is needed – Long message delivery delay

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SLIDE 12

Shortening message delivery delay

  • Hybrid of RF Communication and VLC
  • RF
  • Wide range – Propagates beyond multiple vehicles
  • Vulnerable to Jamming
  • VLC
  • Short range – Hop by hop communication
  • Strong against Jamming

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SLIDE 13

Radio and VLC Hybrid Message Delivery for Platooning

RF Broadcast Leader VLC

  • Leader sends a message via both VLC and RF interfaces
  • If a vehicle receives a new message from either of VLC and RF

interfaces, it forwards the message via VLC (and RF).

  • Only If a condition is satisfied, the vehicle forwards the message

via both VLC and RF to avoid RF channel congestion.

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RF Broadcast

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SLIDE 14

Condition for forwarding a message via RF

  • Candidates of conditions
  • Distance from the previous RF hop vehicle
  • Elapsed time from the transmission by the leader
  • Number of hops from the leader
  • SINR of the signal from previous radio-hop vehicle
  • etc.

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In this simulation: “If a new leader message arrives from VLC, forward it via RF and VLC.” Intuition: If an RF message does not arrive, the leader may be suffering jamming attack and cannot send the message. Thus other vehicles have not received the message. …. RF broadcast is needed.

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SLIDE 15

Simulation Model

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30°

RF IEEE802.11p Interface (6Mbps, AC_VI) Omni antenna: 5.9GHz

VLC interfaces with a directional antenna model

  • Comm. range: 5m (the same as the inter vehicular distance)

MAC: ALOHA Bitrate: 50kbps (assuming cheap off-the-shelf devices) Note: This model is just an abstract model of VLC. 
 It does not simulate realistic visible light propagation.

5m

We implemented multiple interfaces with different antenna models (pos. and direction) and an application model using these interfaces on Scenargie

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SLIDE 16

Simulation Scenario

16 500m 10m

10m

…

t=0

10 vehicles

10m

…

Periodic Jammer

…

5m 12.5m 17.0m/s

  • Jammer: Periodic Jammer [64us JAM and 10us idle period]
  • Platoon of 10 vehicles: 1 platoon scenario and 4 x 4 platoon scenario
  • Leader sends 200byte message to the members every 0.1sec.
  • Tx power of All vehicles and Jammer: 20dBm
  • Propagation: Free Space, Fading: Nakagami
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SLIDE 17

Compared Strategies

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Use VLC

Use RF Forwarding

Forward only when receiving a new message via VLC

Only Direct RF (FFF)

F F F

RF Forward (FTF)

F T F

VLC + No RF Fwd. (TFF)

T F F

VLC + unconditional RF Fwd. (TTF)

T T F

VLC + conditional RF

  • Fwd. (TTT)

T T T

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SLIDE 18

End-to-End delay at 5th car / 1platoon

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0.5 1 1.5 2 2.5 20 25 30 35 40 45 50

End-to-end delay [sec] Time [sec]

Long
 blind period (4sec.)

Only Direct RF (FFF)

0.5 1 1.5 2 2.5 20 25 30 35 40 45 50

End-to-end delay [sec] Time [sec]

Long delay Blind period (2sec.)

RF Fwd. (FTF)

0.5 1 1.5 2 2.5 20 25 30 35 40 45 50

End-to-end delay [sec] Time [sec]

VLC + No RF Fwd. (TFF)

VLC’s multi-hop delay

0.5 1 1.5 2 2.5 20 25 30 35 40 45 50

End-to-end delay [sec] Time [sec]

Long delay period is shortened

VLC+unconditional RF Fwd. (TTF)

0.5 1 1.5 2 2.5 20 25 30 35 40 45 50

End-to-end delay [sec] Time [sec]

VLC + conditional RF Fwd. (TTT)

No positive effect of conditional RF Fwd.

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SLIDE 19

0.5 1 1.5 2 2.5 20 25 30 35 40 45 50

End-to-end delay [sec] Time [sec]

0.5 1 1.5 2 2.5 20 25 30 35 40 45 50

End-to-end delay [sec] Time [sec]

(a3) 5th car True/False/False (b3) 10th car True/False/False

0.5 1 1.5 2 2.5 20 25 30 35 40 45 50

End-to-end delay [sec] Time [sec]

0.5 1 1.5 2 2.5 20 25 30 35 40 45 50

End-to-end delay [sec] Time [sec]

(a4) 5th car True/True/False (b4) 10th car True/True/False

2.5 2.5 0.5 1 1.5 2 2.5 20 25 30 35 40 45 50

End-to-end delay [sec] Time [sec]

0.5 1 1.5 2 2.5 20 25 30 35 40 45 50

End-to-end delay [sec] Time [sec]

(a3) 5th car True/False/False (b3) 10th car True/False/False

0.5 1 1.5 2 2.5 20 25 30 35 40 45 50

End-to-end delay [sec] Time [sec]

0.5 1 1.5 2 2.5 20 25 30 35 40 45 50

End-to-end delay [sec] Time [sec]

(a4) 5th car True/True/False (b4) 10th car True/True/False

2.5 2.5

VLC VLC+RF

5th car/1platoon 10th car/1platoon 5th car/ 4 x 4 platoons 10th car/ 4 x 4 platoons

Other cars / Many platoons cases

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SLIDE 20

20

2 4 6 8 10 20 25 30 35 40 45 50

Packet deliveried in 1 sec Time [sec]

False/False/False False/True/False True/False/False True/True/False True/True/True

(a) 5th car / 1 platoon

2 4 6 8 10 20 25 30 35 40 45 50

Packet deliveried in 1 sec Time [sec]

False/False/False False/True/False True/False/False True/True/False True/True/True

(b) 10th car / 1 platoon

5th car 10th car 1 platoon

# of new messages delivered in 1sec.

FFF FTF (RF Fwd.) TTF TTT TFF with VLC

Why packet delivery ratio < 1 with VLC? Leader Member RF VLC

Gap

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SLIDE 21

Conclusion

  • We proposed an RF and VLC hybrid

communication protocol for platooning control messages for reliable message delivery under RF jamming attacks.

  • Findings
  • Long blind under a jamming attack only with RF

.

  • RF + VLC Hybrid communication can better message

delivery ratio and short delay

  • Future work
  • Effect of different communication speed of VLC
  • Effect of RF jamming on the dynamics of platoons
  • VLC jamming attack

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SLIDE 22

Thank you