Improving Emergency Collision Avoidance with Vehicle to Vehicle Communications

In this Hi-Fi modernization world coping up with road safety and traffic congestion is the need of the hour. Many research works are proposed and undergoing in this particular thrust area. This paper proposes an Intelligent Transport System (ITS) that provides an effective Vehicle to Vehicle (V2V) communication mechanism using Zigbee. Especially in V2V communication Zigbee proves vital and it is the key protocol for wireless sensor network applications. The key features of Zigbee include long battery life, low-cost for installation and ease maintenance. These features in Zigbee enable uniform mesh networking, which effectively supports the wireless communication between many vehicles, routers and receivers. In this paper suggestions are proposed for periodic monitoring of vehicular movements, enhancing road safety and handling traffic congestion are dealt with. Since these two above mentioned issues are the core aspects in transportation industry and an important problem which the world faces today, this paper deals with effective inter communication of vehicles using Zigbee protocol.

Dedicated short range communication (DSRC) in the 5.9 GHz band has been considered as the main inter- vehicle communication (IVC) method in the past. Recently, IVC by cellular V2X (LTE support for V2X services) has attracted much attention, which includes two schemes: sidelink by which vehicles communicate directly with each other and broadcast via eNodeB for dissemination to farther vehicles. In this paper, we will show that none of these methods alone can fulfill the reliable and low delay communication, and investigate a basic method that combines DSRC for fast dissemination in a short distance and cellular V2X (broadcast via eNodeB) for reliable dissemination in a wide range. We notice that vehicles near the same event (e.g., falling object) may repeatedly disseminate the same message and some messages may be disseminated beyond their required range, which degrade network performance. Therefore, we further improve the efficiency of the basic method from two aspects: (i) dissemination range control that constrains the dissemination of each message within its required range, and (ii) duplicate dissemination control that avoids disseminating the message containing the same information in the network. Simulations on network simulator with LTE release-14 confirm that the method combining DSRC and cellular V2X reduces the delay by up to 66% compared to the method using only cellular V2X, and the extended method further improves the reachability by up to 15%.

Bounding volume based approaches in velocity obstacle (VO) provide a good solution for collision avoidance of mobile robots with uncertainty. However, the VO built with the bounding footprint always has over-constraining problems which may lead to conservative maneuvers of the mobile robots. Addressing this problem, a vertical ellipse based velocity obstacle (VEVO) collision avoidance method is proposed in this paper. The method mitigates the over-constraining situation by building the footprint probability ellipse whose minor axis is vertical to the direction of the obstacle to minimize the VO area. Based on VEVO, a DWA (Dynamic Window Approach) integrated method is proposed to provide a set of available velocities in speed selection. According to different collision avoidance objectives like collision safety, shortest time consumption and shortest trajectory length, a multi-objective velocity selecting strategy is proposed to provide optimal velocities for motion planning. Furthermore, a dynamic local path adjustment method is proposed to help robots react to the closest obstacle (dynamic or static) according to different collision safety requirements. We validate our methods in a simulated workspace with different numbers of robots going to their goal points. Experimental results show VEVO method could improve the collision avoidance performance in crowded multi-robot environment and robots could achieve their different objectives when suitable parameters are set in the velocity evaluation function. The proposed dynamic local path adjustment method only affects the trajectories in local areas and could ensure collision avoidance safety and performance at the same time.

Vehicle-to-vehicle (V2V) communications network is a subclass of mobile ad hoc networks (MANET). With the new dedicated short range communications (DSRC) at 5.9 GHz, vehicles equipped with DSRC devices will communicate and collaborate to broadcast their safety-critical information to each other. DSRC is to be used in a wide range of advanced vehicle safety applications such as intersection collision avoidance system. The DSRC specification is based on the physical (PHY) and medium access control (MAC) layers of the IEEE 802.11a. The MAC mechanism for the IEEE 802.11a is the distributed coordination function (DCF), which is based on carrier sense multiple access with collision avoidance (CSMA/CA). Mobile nodes contend for the channel using a DCF random backoff timer. A random backoff algorithm chooses a Contention Window (CW) value between aCWmin and aCWmax. The random number, CW, is the number of time slots the mobile node has to sense the channel idle before it may transmit. In this paper, we developed an intersection traffic simulator to evaluate the settings of IEEE 802.11a DCF aCWmax on the available bandwidth per vehicle and on the required communication range. Our simulation results show that it is sufficient to set the aCWmax to 200 and the communication range to 200m for the intersection collision avoidance system enabled by DSRC.

The Industrial Internet of Things (IIoT) is the use of Internet of Things (IoT) technologies in manufacturing. The vehicular ad hoc networks (VANETs) are a typical application of IIoT. Benefiting from Dedicated Short‐Range Communication (DSRC) technology, vehicles can communicate with each other through wireless manner. Therefore, road safety is able to be greatly improved by the broadcast of safety messages, which contain vehicle’s real‐time speed, position, direction, etc. In existing DSRC, safety messages are broadcasted at a fixed frequency by default. However, traffic conditions are dynamic. In this way, there are too many transmission collisions when vehicles are too dense and the wireless channel is underused when vehicles are too sparse. In this paper, we address broadcast congestion issue in DSRC and propose lightweight adaptive broadcast (LAB) control for DSRC safety message. The objectives of LAB are to make full use of DSRC channel and avoid congestion. LAB meets two key challenges. First, it is hard to adopt a centralized method to control the communication parameters of distributed vehicles. Furthermore, the vehicle cannot easily acquire the channel conditions of other vehicles. To overcome these challenges, channel condition is attached with safety messages in LAB and broadcast frequency is adapted according to neighboring vehicles’ channel conditions. To evaluate the performance of LAB, we conduct extensive simulations on different roads and different vehicle densities. Performance results demonstrate that LAB effectively adjusts the broadcast frequency and controls the congestion.

The mining industry has been acting as a leader in the development of fully autonomous vehicles. Mining equipment manufacturers have been developing and testing autonomous vehicle technologies for many years. There are many ongoing innovations in autonomous vehicle technology. One of these is the Dedicated Short Range Communications (DSRC). The DSRC is a one-way or two-way short-to-medium-range wireless communications capability. In this paper, we present a review of the DSRC large-scale fading channel at 5.9 GHz in the tunnels and underground mines. The requirements for DSRC receiver performance for VANET- Vehicular Ad-hoc Networks applications in an underground mine is calculated. This paper also reports the overall performance evaluation of three existing routing protocols, namely, Emergency Message Dissemination for Vehicular Environments (EMDV), Enhanced Multi-Hop Vehicular Broadcast (MHVB), and Efficient Directional Broadcast (EDB) for active safety applications. Finally, a comparative study of these three routing protocols for cooperative collision warning in underground mining galleries was evaluated.

Future Connected and Autonomous Vehicles (CAVs) will be equipped with a large set of sensors. The large amount of generated sensor data is expected to be exchanged with other CAVs and the road-side infrastructure. Both in Europe and the US, Dedicated Short Range Communications (DSRC) systems, based on the IEEE 802.11p Physical Layer, are key enabler for the communication among vehicles. Given the expected market penetration of connected vehicles, the licensed band of 75 MHz, dedicated to DSRC communications, is expected to become increasingly congested. In this paper, we investigate the performance of a vehicular communication system, operated over the unlicensed bands 2.4 GHz - 2.5 GHz and 5.725 GHz - 5.875 GHz. Our experimental evaluation was carried out in a testing track in the centre of Bristol, UK and our system is a full-stack ETSI ITS-G5 implementation. Our performance investigation compares key communication metrics (e.g., packet delivery rate, received signal strength indicator) measured by operating our system over the licensed DSRC and the considered unlicensed bands. In particular, when operated over the 2.4 GHz - 2.5 GHz band, our system achieves comparable performance to the case when the DSRC band is used. On the other hand, as soon as the system, is operated over the 5.725 GHz - 5.875 GHz band, the packet delivery rate is 30% smaller compared to the case when the DSRC band is employed. These findings prove that operating our system over unlicensed ISM bands is a viable option. During our experimental evaluation, we recorded all the generated network interactions and the complete data set has been publicly available.

In this paper, we focus on ensuring encrypted vehicular communication using wireless controller area network performance at high node densities, by means of Dedicated Short-Range Communication (DSRC) algorithms. We analyses the effect of the vehicular communication parameters, message-rate, data-rate, transmission power and carrier sensing threshold, on the application performance. After a state-of-the-art analysis, we propose a data-rate DSRC algorithm. Simulation studies show that DSRC performs better than other decentralized vehicular communication algorithms for a wide range of application requirements and densities. Vehicular communication plays one of the most important roles for future autonomous vehicle. We have systematically investigated the impact of vehicular communication using the MATLAB© application platform and achieved an accuracy of 93.74% after encrypting all the communications between the vehicles and securing them by applying the encryption on V2V communication in comparison with the existing system of Sensor Networks which stands at 92.97%. The transmission time for the encryption is 165 seconds while the rate of encryption is as low as 120 Mbps for the proposed awareness range of vehicles to vehicle using DSRC algorithm in Wireless-Controller Area Network for communication. Experimental results show that our proposed method performs 3% better than the recently developed algorithms.

A novel intelligent collision avoidance algorithm based on deep reinforcement learning approach for USV

Intelligent Transportation Systems (ITS) are all types of communications in vehicles, between them and to infrastructure. ITS improve travelling experience through enhancements in safety, traffic efficiency and a wide range of entertainment services. This paper answers the question: how much does it cost to build and operate a dedicated Radio Access Network (RAN) for intelligent public transport? Investigated communication technologies are Ultra High Frequency (UHF) communications, Dedicated Short Range Communications (DSRC) or 802.11p, 802.11n Wi-Fi and LTE. It is shown that the 802.11 standards feature the highest Capital and Operational Expenditures (CapEx and OpEx). In comparison with LTE, DSRC-based RAN causes 2.3 times higher upfront costs (CapEx) and 6.5 times higher annual operation costs (OpEx).

IEEE- and ASTM-adopted Dedicated Short Range Communications (DSRC) vehicle safety-related communication services, which require reliable and fast message delivery, usually demand broadcast communications in vehicular ad hoc networks (VANETs). In this paper, we propose and justify a distributive robust scheme for DSRC one-hop safety-critical services. The new scheme enhances broadcast reliability using dynamic receiver-oriented packet repetitions and mini-slot within DIFS in IEEE 802.11 for one-hop emergency warning message dissemination. In addition, we investigate the reliability and performance of the proposed broadcast scheme for DSRC VANET safety-related services on highway analytically and by simulations. The analytic model accounts for the impact of the beacon message broadcast and the fading channel conditions on the reliability and performance.

Results of system simulations on link level for vehicle-to-vehicle (v2v) communications are presented in this paper. The corresponding system model complies with the IEEE802.11a wireless LAN standard, which is expected to play a major role in future inter-vehicle communications (IVC) systems. Only the physical (PHY) layer is considered for the simulations. A realistic channel model is integrated in the system model. Different characteristic road traffic scenarios, such as a motorway and an urban road are investigated. Both, line-of-sight (LOS) and non-line-of-sight (NLOS) situations are taken into account. For the simulations only the link between two vehicles is considered. Interference resulting from other vehicles is neglected. The results are characteristic curves of the bit error rate (BER) and packet error rate (PER) over the signal to noise ratio (SNR) at the receiver. I. INTRODUCTION The road traffic density is continuously increasing. The re- sulting large number of vehicles on the streets leads to congestion and accidents, which cause delays, costs, injuries and sometimes death. It is therefore a challenging task to cope with all the upcoming traffic. A necessary step to solve the problem is to provide the driver in time with specific route dependent information. This includes mobility-relevant information (e.g. the actual traffic conditions on the whole route) as well as safety-relevant information (e.g. detailed information about the road and traffic conditions in the vicinity of the vehicle). Thereby, the primary goal is to improve the traffic flow, avoid accidents and shorten journey lengths. Moreover, the increasing demand for mobile computing will have the future automobiles being equipped with high data rate access to the internet. Various multimedia applications, such as video on demand, games, email, etc. will be available. To provide automobiles with this large amount of informa- tion, inter-vehicle communications will be one necessary tool (1), (2). It is expected that in the future all vehicles on a road are able to communicate with each other and to share data. As the number of participants in such a dynamic communication scenario is fluctuating rapidly, IVC will be organised in an ad-hoc network manner (3). North American authorities allocated 75MHz of spectrum in the 5GHz band for dedicated short-range communications (DSRC). DSRC is expected to enable delivery of large amount of data to vehicles at short ranges via v2v and vehicle-to- roadside (v2r) wireless links (3). The Federal Communications Commission (FCC) report and order 03-324 is adopting licen- sing and service rules for the DSRC standard, especially focu- sed on v2v and v2r communication (4). Currently, the Ameri- can Society for Testing and Materials (ASTM) and the Institute of Electrical and Electronics Engineers (IEEE) are working on an evolution of the IEEE802.11a wireless LAN standard for v2v and v2r communications termed IEEE802.11p (Wireless Access in Vehicular Environments, WAVE) (5), (6). The PHY layer of IEEE802.11p will be similar to that of IEEE802.11a. Results of IVC link level simulations, which are performed on the basis of IEEE802.11a (7), are presented in this paper. For the investigations a base-band model of IEEE802.11a is implemented in the development environment System Studio (8). The model contains solely the PHY layer of the system. In order to get reasonable results a realistic model of the inter-vehicle transmission channel is used for the system simulations (9). Different characteristic road traffic scenarios, such as a motorway and an urban road are investigated. Both, LOS and NLOS situations are taken into account. For the simulations only the link between two vehicles is considered. Interference resulting form other vehicles is neglected. For each scenario the BER and PER over the SNR at the receiver are determined. The 6Mbit/s and 12Mbit/s transmission mode of IEEE802.11a are analysed. The channel model and the system model are described in the following two sections. Subsequently, the results of the simulations are presented.

This study presents the path-following control design for a group of autonomous underwater vehicles in a plane with obstacle and collision avoidance. A distributed backstepping controller is exploited for an autonomous vehicle to design a path-following controller. Then, the controller is applied for the path-following of a group of autonomous vehicle systems in the formation setting. The graph theory is used to model the interconnection between the vehicles. To avoid obstacles and collisions, a dynamic limit-cycle-based algorithm is proposed. It is assumed that each obstacle is involved an elliptical shape and if the collision or conflict of one vehicle to the surrounded environmental obstacles is detected, the obstacle avoidance algorithm will be active to prevent collisions. Finally, the introduced algorithm is implemented and simulated for a group of underwater autonomous vehicles in MATLAB software. The simulation results illustrate the effectiveness and performance of the proposed distributed controller apparently.

The fast emergence of autonomous vehicles promises a drastic change on how road traffic congestion is detected, controlled, and mitigated. To this end, we believe that it is beneficial to explore different ways of collaboration between autonomous vehicles, with the aid of modern road infrastructure, to optimize the commuters' travel time. We, therefore, propose in this paper a novel solution based on a multi-parties collaboration framework and built upon the WAVE standard to optimize the usage of the road network and lower commuters' travel time. Our solution, which is based on a Belief-Desire-Intention architecture, enables autonomous vehicles to opt for selfish or collaborative behaviors depending on their goals and current situations. The results obtained from our preliminary prototype under three representative road maps demonstrate the effectiveness of our approach in dealing with traffic congestion.

Vehicle-to-vehicle (V2V) communication enables intention sharing among neighboring vehicles and thereby vehicles' motion can be coordinated to incorporate collision (or conflict) avoidance. In this paper, we propose a general framework to distribute the computational burden for coordinating multiple vehicles' stop-or-go motion. We formulate the multi-vehicle motion coordination problem as a total stopping time minimization problem under the constraint of mutual collision avoidance. The minimal stopping time solution, if such exists, is found using the A∗ search algorithm in the coordination diagram. The solution is executed efficiently by placing temporary virtual obstacles on the desired path. The communication latency is analyzed for practical applications. The simulations show the correctness and efficacy of our algorithm. An on-road experiment involving two autonomous vehicles, each equipped with V2V communication devices, was performed to demonstrate how deadlocks are successfully avoided.