Observations on OMNeT++ Real-Time Behaviour Christina Obermaier, - - PowerPoint PPT Presentation

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Observations on OMNeT++ Real-Time Behaviour Christina Obermaier, - - PowerPoint PPT Presentation

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Observations on OMNeT++ Real-Time Behaviour Christina Obermaier, Christian Facchi 7. September 2017 Outline 1. Inter Vehicle Communication 2. HIL Testing with OMNeT++ 3. Timing Observations 4. Conclusion 5. Further Work 2 Christina

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Christina Obermaier, Christian Facchi · 7. September 2017

Observations on OMNeT++ Real-Time Behaviour

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Outline

  • 1. Inter Vehicle Communication
  • 2. HIL Testing with OMNeT++
  • 3. Timing Observations
  • 4. Conclusion
  • 5. Further Work

2 · Christina Obermaier, Christian Facchi · 7. September 2017

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Inter Vehicle Communication

3 · Christina Obermaier, Christian Facchi · 7. September 2017

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Inter Vehicle Communication

Overview

Features

Communication between vehicles as well as road side units Acts like a 360 degree (bidirectional) sensor Enhances traffic flow and traffic safety

4 · Christina Obermaier, Christian Facchi · 7. September 2017

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Inter Vehicle Communication

ETSI ITS-G5 Protocol Stack

PHY: 5.9 GHz OFDM MAC: EDCA IEEE 802.11p ETSI ITS-G5 GeoNet & BTP Facilities & Applications Security DCC

5 · Christina Obermaier, Christian Facchi · 7. September 2017

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Inter Vehicle Communication

ETSI ITS-G5 Protocol Stack

PHY: 5.9 GHz OFDM MAC: EDCA IEEE 802.11p ETSI ITS-G5 GeoNet & BTP Facilities & Applications Security DCC dedicated spectrum

5 · Christina Obermaier, Christian Facchi · 7. September 2017

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Inter Vehicle Communication

ETSI ITS-G5 Protocol Stack

PHY: 5.9 GHz OFDM MAC: EDCA IEEE 802.11p ETSI ITS-G5 GeoNet & BTP Facilities & Applications Security DCC Outside the Context

  • f Basic Service Set (OCB)

5 · Christina Obermaier, Christian Facchi · 7. September 2017

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Inter Vehicle Communication

ETSI ITS-G5 Protocol Stack

PHY: 5.9 GHz OFDM MAC: EDCA IEEE 802.11p ETSI ITS-G5 GeoNet & BTP Facilities & Applications Security DCC geographical routing

5 · Christina Obermaier, Christian Facchi · 7. September 2017

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Inter Vehicle Communication

ETSI ITS-G5 Protocol Stack

PHY: 5.9 GHz OFDM MAC: EDCA IEEE 802.11p ETSI ITS-G5 GeoNet & BTP Facilities & Applications Security DCC local knowledge base

5 · Christina Obermaier, Christian Facchi · 7. September 2017

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Inter Vehicle Communication

ETSI ITS-G5 Protocol Stack

PHY: 5.9 GHz OFDM MAC: EDCA IEEE 802.11p ETSI ITS-G5 GeoNet & BTP Facilities & Applications Security DCC HMI, automated driving…

5 · Christina Obermaier, Christian Facchi · 7. September 2017

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Inter Vehicle Communication

ETSI ITS-G5 Protocol Stack

PHY: 5.9 GHz OFDM MAC: EDCA IEEE 802.11p ETSI ITS-G5 GeoNet & BTP Facilities & Applications Security DCC Congestion Control packets, bitrate, tx power

5 · Christina Obermaier, Christian Facchi · 7. September 2017

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Inter Vehicle Communication

ETSI ITS-G5 Protocol Stack

PHY: 5.9 GHz OFDM MAC: EDCA IEEE 802.11p ETSI ITS-G5 GeoNet & BTP Facilities & Applications Security DCC Privacy & Authenticity

5 · Christina Obermaier, Christian Facchi · 7. September 2017

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Simulation Tools

VANET simulation tools by THI Research Centre

  • pen-source ITS-G5 stack

standard compliant packets integrated in Artery variable application sets suitable for rapid prototyping soon: radar sensors

Available at https://github.com/riebl/{artery, vanetza}

6 · Christina Obermaier, Christian Facchi · 7. September 2017

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HIL Testing with OMNeT++

7 · Christina Obermaier, Christian Facchi · 7. September 2017

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HIL Concept

Overview

HIL Overview

Simulated environment vehicles (blue) Physical twin vehicle with stripped down functionality (red) 802.11p proxy (USRP RIO) Message forwarding Simulated packets are sent over the air

8 · Christina Obermaier, Christian Facchi · 7. September 2017

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HIL Concept

Possible Problems

Timing Problems

OMNeT++ is running too fast OMNeT++ is running too slow Running too slow is not recognized

9 · Christina Obermaier, Christian Facchi · 7. September 2017

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HIL Testing

Real Time Scheduler

cEvent* RealTimeScheduler::takeNextEvent pseudocode

Result: next cEvent currentRealTimeMiss = simTime - wallClockTime; if (currentRealTimeMiss * -1) ∠realTimeMissThreshold then // simulation unacceptable slow stop simulation; else eventDuration = wallClockTime - eventStartTime; log currentRealTimeMiss and eventDuration and nextEventIdentifier; while SimTime ∠wallClockTime do // simulation faster than real time wait; end set nextEventIdentifier; set eventStartTime; return nextEvent; end

10 · Christina Obermaier, Christian Facchi · 7. September 2017

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HIL Testing

Real Time Requirements

Duplicate packet detection GPS timestamp Replay attack detection DENM validity Long range communication using MAC layer unicasts

11 · Christina Obermaier, Christian Facchi · 7. September 2017

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Timing Observations

12 · Christina Obermaier, Christian Facchi · 7. September 2017

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Real-Time Observations

Scenario Description

Hardware

Component Laptop Computer Simulation Cluster CPU Intel Core i5-6300U @ 2.40GHz Intel Xeon E7-8867 v4 @ 2.40GHz Cores 1 x 4 4 x 18 RAM 16GB 3TB Hard Drive 256GB SSD 450GB SAS SSD RAID 1

Scenario

Three vehicles on highway Five vehicles on highway

13 · Christina Obermaier, Christian Facchi · 7. September 2017

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Real-Time Observations

Event List

ID Event name # Events ”3 vehicles” # Events ”5 vehicles” 1 TraCI Connect 1 1 2 TraCI Step 322 370 3 GeoNet packet 3870 11298 4 GeoNet data frame 3870 11298 5 txStart-0 3 5 6 endIFS 661 1189 7 configureRadioMode 1322 2378 8 transmissionTimer 661 1189 9 remove non Interfering Transmission 661 1188 10 report CL 928 1650 11 middleware update 925 1645 12 txStart-1 658 1184 13 GeoNet radio frame 1274 4460 14 reception Timer 1274 4460 Overall events 16430 42315

14 · Christina Obermaier, Christian Facchi · 7. September 2017

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Real-Time Observation

Event Times

1e-04 1e-02 1e+00 1 2 3 4 5 6 7 8 9 10 11 12 13 14

Event ID Event Duration in [s]

Figure: Event times cluster

1e-04 1e-02 1e+00 1 2 3 4 5 6 7 8 9 10 11 12 13 14

Event ID Event Duration in [s]

Figure: Event times laptop

15 · Christina Obermaier, Christian Facchi · 7. September 2017

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Real-Time Observation

Real-Time Flow

3 vehicles (cluster) 3 vehicles (laptop) 10.1 10.2 10.3 10.4 10.1 10.2 10.3 10.4 0.00 0.01 0.02 0.03 0.04

Simulation time in [s] Real time in [s] instant event durations real time delay

5 vehicles (cluster) 5 vehicles (laptop) 10.1 10.2 10.3 10.4 10.1 10.2 10.3 10.4 0.00 0.02 0.04 0.06

Simulation time in [s] Real time in [s] instant event durations real time delay 16 · Christina Obermaier, Christian Facchi · 7. September 2017

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Real-Time Observation

Simulation Run Overview

1 10 100 1000 10000 0.0

  • 0.5
  • 1.0
  • 1.5
  • 2.0
  • 2.5
  • 3.0

Real Time Loss in [s] Amount of Events

1 10 100 1000 10000 0.0

  • 0.5
  • 1.0
  • 1.5
  • 2.0
  • 2.5
  • 3.0

Real Time Loss in [s] Amount of Events

Figure: Laptop

1 10 100 1000 10000 0.0

  • 0.5
  • 1.0
  • 1.5
  • 2.0
  • 2.5
  • 3.0

Real Time Loss in [s] Amount of Events

1 10 100 1000 10000 0.0

  • 0.5
  • 1.0
  • 1.5
  • 2.0
  • 2.5
  • 3.0

Real Time Loss in [s] Amount of Events

Figure: Cluster

17 · Christina Obermaier, Christian Facchi · 7. September 2017

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Conclusion

18 · Christina Obermaier, Christian Facchi · 7. September 2017

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Conclusion

Which Parts can be Tested Properly?

Duplicate packet detection GPS timestamp Replay attack detection DENM validity Long range communication using MAC layer unicasts

19 · Christina Obermaier, Christian Facchi · 7. September 2017

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Further Work

20 · Christina Obermaier, Christian Facchi · 7. September 2017

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Further Work

Tweak simulation performance Add some parallelism Replay simulated test data

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Thank You For Your Attention

Any Questions?

22 · Christina Obermaier, Christian Facchi · 7. September 2017