<p>In recent years, the number of vehicles has increased dramatically in Europe, USA and Japan. This causes a high traffic density and makes new security features a crucial point in order to keep the traffic safe. Inter-vehicle communication offers solutions in this field, as cars can communicate with each other. To this date, there is no special technology standardized for inter-vehicle communication. This is the reason why car makers, researchers and academics have invested money and time in different research projects so that in future they may come up with a common solution. Some of the technologies like DSRC, CALM, IEEE 802.11 or Infrared are thought to be more reliable than others according to different authors [9][23].</p><p>The technologies described above will help to improve road safety and application scenarios like lane change, blind merge or pre and post crash situations can be addressed. The position of each car is known through a GPS; speed, heading and other dynamic data of a car are known to all cars in the same vicinity.</p><p>In this thesis, a thorough investigation of services and applications related to inter-vehicular communication technology (i.e. car-to-car and car-to-infrastructure or vice versa) will be carry out. The emphasis will be on requirements on the communication system, sensors and user interface in order to make the technology more useful for future vehicle alert system and to avoid as many of the mentioned scenarios as possible. A rear-end collision can be avoided if the driver is warned within 0 to 5 second of potential accident.</p>

In recent years, the number of vehicles has increased dramatically in Europe, USA and Japan. This causes a high traffic density and makes new security features a crucial point in order to keep the traffic safe. Inter-vehicle communication offers solutions in this field, as cars can communicate with each other. To this date, there is no special technology standardized for inter-vehicle communication. This is the reason why car makers, researchers and academics have invested money and time in different research projects so that in future they may come up with a common solution. Some of the technologies like DSRC, CALM, IEEE 802.11 or Infrared are thought to be more reliable than others according to different authors [9][23]. The technologies described above will help to improve road safety and application scenarios like lane change, blind merge or pre and post crash situations can be addressed. The position of each car is known through a GPS; speed, heading and other dynamic data of a car are known to all cars in the same vicinity. In this thesis, a thorough investigation of services and applications related to inter-vehicular communication technology (i.e. car-to-car and car-to-infrastructure or vice versa) will be carry out. The emphasis will be on requirements on the communication system, sensors and user interface in order to make the technology more useful for future vehicle alert system and to avoid as many of the mentioned scenarios as possible. A rear-end collision can be avoided if the driver is warned within 0 to 5 second of potential accident.

IntelliDrive systems, including inter-vehicle communication and vehicle infrastructure integration, aim to improve safety, mobility, and efficiency of transportation. They build on the wireless ad hoc network technologies, enabling vehicles to communicate with roadside infrastructure and with each other. The process of information propagation in a multi-hop network underlies the system design and efficiency. As of now, the research has been restricted to a single road of traffic. This work expands the study of information propagation to two parallel roads, a step further towards the discrete network case. This thesis presents two methodologies to model the process of information propagation. By identifying an approximate Bernoulli process, we are able to derive the expectation and variance of propagation distance. A road separation distance of square root of 3 over 2 times the transmission range distinguishes two cases for approximating the success probability in the Bernoulli process. In addition, our results take the single road as a special case. The numerical test shows that the developed approximation works well. This work further identities a Markov property for instantaneous information propagation along two parallel roads based on two types of transmission regions. Communication capable vehicles are assumed to follow two homogeneous Poisson processes on both roads. The Markov property enables us to derive exact expectation and variance of the propagation distance and further, obtain a recursive formula for the probability distribution of successful propagation distance. The developed formulas enable numerical calculation of the characteristics of propagation process. We hope this research will shed light on studies of vehicular ad hoc networks on more general discrete roadway networks.

<p>Now a day, one of the most attractive research topics in the area of Intelligent Traffic Control is </p><p>Inter-vehicle communication (V2V communication). In V2V communication, a vehicle can </p><p>communicate to its neighbouring vehicles even in the absence of a central Base Station. The </p><p>concept of this direct communication is to send vehicle safety messages one-to-one or one-to- </p><p>many vehicles via wireless connection. Such messages are usually short in length and have very </p><p>short lifetime in which they must reach the destination. The Inter-vehicle communication system </p><p>is an ad-hoc network with high mobility and changing number of nodes, where mobile nodes </p><p>dynamically create temporary sensor networks and transferring messages from one network to </p><p>others by using multiple hops due to limitation of short range. </p><p> </p><p>The goal of the project is to investigate some basic research questions in order to organize such </p><p>sensor networks and at the same time highlight the appropriate routing protocol that support </p><p>mobile ad hoc networks in an efficient and reliable manner. </p><p> </p><p>In our investigation, we have answered the technical issues in order to construct a V2V </p><p>communication system. We have also studied some mobile ad hoc network routing protocols in </p><p>detail and then selected the DSR (Dynamic Source Routing) for our V2V communication and </p><p>then simulated it according to our system requirements. We are quite satisfied by the result of </p><p>DSR, but at the same time much more work is required to come up with an absolute application </p><p>for the end user.</p>

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Now a day, one of the most attractive research topics in the area of Intelligent Traffic Control is Inter-vehicle communication (V2V communication). In V2V communication, a vehicle can communicate to its neighbouring vehicles even in the absence of a central Base Station. The concept of this direct communication is to send vehicle safety messages one-to-one or one-to- many vehicles via wireless connection. Such messages are usually short in length and have very short lifetime in which they must reach the destination. The Inter-vehicle communication system is an ad-hoc network with high mobility and changing number of nodes, where mobile nodes dynamically create temporary sensor networks and transferring messages from one network to others by using multiple hops due to limitation of short range. The goal of the project is to investigate some basic research questions in order to organize such sensor networks and at the same time highlight the appropriate routing protocol that support mobile ad hoc networks in an efficient and reliable manner. In our investigation, we have answered the technical issues in order to construct a V2V communication system. We have also studied some mobile ad hoc network routing protocols in detail and then selected the DSR (Dynamic Source Routing) for our V2V communication and then simulated it according to our system requirements. We are quite satisfied by the result of DSR, but at the same time much more work is required to come up with an absolute application for the end user.

The dissertation investigates communication quality issues in Vehicular Ad-hoc Network (VANET) using statistical analysis, experimental measurements, simulations and modelling. The Object of research is quality characteristics of Inter-Vehicle communication, which is based on IEEE 802.11p standard. The main objective of current research is to investigate Inter-Vehicle communication quality characteristics: packet loss and delay. Additionally propose a redundant safety message transmission method and create the confidence index concept and the calculation method. To reach these objectives following tasks have to be solved: define the boundary vehicular multi-hop transmission algorithms and investigate their performance for latency times defined in different use cases; analyze a packet loss caused by obstacles on the road and define approximation equations, for use in modelling tools; create the redundant packet transmission method for the lost safety message reduction; investigate the confidence index concept in a vehicular network and propose the confidence metrics calculation method; investigate the safe following distance dependency on road conditions and compare it to reliable communication distance. The dissertation consists of introduction, 4 chapters, conclusions and references. The introduction reveals the aim of the dissertation. The first chapter gives detailed overview of Inter-Vehicle communication environments and defines the main Inter-Vehicle communication... [to full text] / Disertacijoje nagrinėjama VANET ryšio kokybės problematika, analizei naudojant statistikos metodus, eksperimentinius tyrimus, modeliavimą ir simuliacijas. Tyrimų objektas yra ryšio tarp automobilių, kurio pagrindas IEEE 802.11p standartas, kokybės charakteristikos. Pagrindinis darbo tikslas – ištirti ryšio tarp automobilių kokybės charakteristikas: vėlinimus ir paketų praradimus. Papildomai pasiūlyti metodus ir algoritmus, mažinančius prarandamų saugos pranešimų skaičių. Pasiūlyti vairuotojo pasitikėjimo indekso koncepciją ir skaičiavimo metodus. Norint pasiekti šiuos tikslus, buvo spręsti sekantys uždaviniai: apibrėžti ribinius perdavimo grandine algoritmus ir ištirti jų efektyvumą perduodant pranešimus grandine; išanalizuoti duomenų paketų praradimus dėl kliūčių ir pateikti atitinkamus aproksimavimo algoritmus, tinkamus modeliavimams; sukurti dubliuotų saugos pranešimų perdavimo metodą, kuris leistų sumažinti prarandamų saugos pranešimų skaičių; sukurti vairuotojo pasitikėjimo indekso koncepciją ryšio tarp automobilių tinkle ir pasiūlyti pasitikėjimo indekso dedamųjų skaičiavimo metodus; ištirti saugaus važiavimo atstumo priklausomybę nuo kelio sąlygų ir palyginti ją su patikimo ryšio nuotolio išraiška. Disertaciją sudaro įvadas, 4 skyriai, rezultatų apibendrinimas, naudotos literatūros ir autoriaus publikacijų disertacijos tema sąrašai. Įvade atskleidžiamas disertacijos tikslas. Pirmame skyriuje pateikiamas detalus ryšio tarp automobilių aplinkos savybių tyrimas. Yra... [toliau žr. visą tekstą]

Disertacijoje nagrinėjama VANET ryšio kokybės problematika, analizei naudojant statistikos metodus, eksperimentinius tyrimus, modeliavimą ir simuliacijas. Tyrimų objektas yra ryšio tarp automobilių, kurio pagrindas IEEE 802.11p standartas, kokybės charakteristikos. Pagrindinis darbo tikslas – ištirti ryšio tarp automobilių kokybės charakteristikas: vėlinimus ir paketų praradimus. Papildomai pasiūlyti metodus ir algoritmus, mažinančius prarandamų saugos pranešimų skaičių. Pasiūlyti vairuotojo pasitikėjimo indekso koncepciją ir skaičiavimo metodus. Norint pasiekti šiuos tikslus, buvo spręsti sekantys uždaviniai: apibrėžti ribinius perdavimo grandine algoritmus ir ištirti jų efektyvumą perduodant pranešimus grandine; išanalizuoti duomenų paketų praradimus dėl kliūčių ir pateikti atitinkamus aproksimavimo algoritmus, tinkamus modeliavimams; sukurti dubliuotų saugos pranešimų perdavimo metodą, kuris leistų sumažinti prarandamų saugos pranešimų skaičių; sukurti vairuotojo pasitikėjimo indekso koncepciją ryšio tarp automobilių tinkle ir pasiūlyti pasitikėjimo indekso dedamųjų skaičiavimo metodus; ištirti saugaus važiavimo atstumo priklausomybę nuo kelio sąlygų ir palyginti ją su patikimo ryšio nuotolio išraiška. Disertaciją sudaro įvadas, 4 skyriai, rezultatų apibendrinimas, naudotos literatūros ir autoriaus publikacijų disertacijos tema sąrašai. Įvade atskleidžiamas disertacijos tikslas. Pirmame skyriuje pateikiamas detalus ryšio tarp automobilių aplinkos savybių tyrimas. Yra... [toliau žr. visą tekstą] / The dissertation investigates communication quality issues in Vehicular Ad-hoc Network (VANET) using statistical analysis, experimental measurements, simulations and modelling. The Object of research is quality characteristics of Inter-Vehicle communication, which is based on IEEE 802.11p standard. The main objective of current research is to investigate Inter-Vehicle communication quality characteristics: packet loss and delay. Additionally propose a redundant safety message transmission method and create the confidence index concept and the calculation method. To reach these objectives following tasks have to be solved: define the boundary vehicular multi-hop transmission algorithms and investigate their performance for latency times defined in different use cases; analyze a packet loss caused by obstacles on the road and define approximation equations, for use in modelling tools; create the redundant packet transmission method for the lost safety message reduction; investigate the confidence index concept in a vehicular network and propose the confidence metrics calculation method; investigate the safe following distance dependency on road conditions and compare it to reliable communication distance. The dissertation consists of introduction, 4 chapters, conclusions and references. The introduction reveals the aim of the dissertation. The first chapter gives detailed overview of Inter-Vehicle communication environments and defines the main Inter-Vehicle communication... [to full text]

Le travail de cette thèse a été consacré au développement d’une nouvelle méthode de détection pour un système anticollision par la mesure de trajectographie, ce qui pourrait contribuer aux systèmes d’aide à la conduite. Pour obtenir une haute probabilité de détection, nous avons choisi la solution de vidéo stéréoscopique coopérative : la coopération entre véhicules rend la détection plus facile et fiable. Il y a deux participants dans le système : les véhicules « porteurs du système » aussi bien que les « suiveurs », sont équipés de caméras stéréoscopiques, c’est à dire de deux capteurs d’image, appartenant à des familles technologique à haute cadence; les véhicules « cibles » sont équipés des feux à Leds modulés, dont la fréquence de modulation est déjà connue par les véhicules « suiveurs ». Après filtrage dans l’espace temporel, le système ne détecte que des signaux issus des feux modulés, ce qui réduit fortement l’information à traiter par rapport aux calculs de trajectographie traditionnels. La détection de feux modulés est donc réalisée par le filtrage par traitement numérique des images, qui est adapté à la fréquence de modulation recherchée. Pour cela, nous avons proposé 3 types de filtres adaptés à la fréquence de modulation et conçus de façon à rejeter au mieux les signaux de fond.Pour évaluer les performances tant en détection qu’en réjection des fausses alarmes, nous avons d’abord effectué des simulations numériques en prenant en compte des signaux artificiels, puis des calculs sur vrais signaux obtenus dans les expérimentations avec véhicule d’essai statique, puis roulant. Les roulages étaient de différentes vitesses, de 30km/h jusqu’à 100km/h, ce qui nous a permis d’analyser le signal issu du feu ainsi que le comportement de nos filtres à des vitesses angulaires de feu nulles, faibles ou élevées. Le résultat de ces expérimentations montre que le filtrage permet de détecter les feux à Leds de type DRL jusqu’à 140m sans aucune fausse détection sur le fond. Ces expérimentations sont une étape essentielle pour définir de façon plus précise un tel système, en particulier dans le choix du seuil. Nous avons aussi évalué des technologies qui peuvent améliorer la performance du système, mais qui ne sont pas encore prêtes à industrialiser. Par exemple, les « rétines » artificielles nous permettent d’utiliser les filtres analogiques intégrés, et ainsi de réduire leurs bandes passantes. / This thesis was devoted to the development of a new detection method for vehicular collision avoidance system based on trajectory measurement, which could contribute to driver assistance systems.In order to obtain high detection probability, we have chosen the cooperative stereoscopic video solution: the cooperation between vehicles makes it easier and more reliable when they aim to detect each other. There are two participants in the system: the “system carriers" vehicles, or the " followers" are equipped with stereoscopic cameras (two image sensors), who belong to high speed technology families; the "targets" vehicles are equipped with modulated LED lights, with the modulation frequency being already known by the "followers". After space-time filtering, the system detects the signals emitted bymodulated lights sources, which greatly reduces the amount of information to be processed comparing to traditional trajectory calculations methods. The detection of modulated light is achieved by filtering based on digital image processing, which is adapted to the desired modulation frequency. We have proposed three types of filters suitable for detecting the modulation at this frequency and at the same time for rejecting the background as well as possible.In order to be able to evaluate the performances of both detecting signals and rejecting false alarms, we first performed numerical simulations based on the model signals, then calculations on real signals acquired in static and driving experiments. The tested speeds were from 30km/h up to 100km/h, which allowed us to analyze the signals emitted from vehicle lights as well as the behavior of our filters under different angular velocities of the lights (zero, low and high). The result of these experiments showed that our method of filtering could detect LED-type DRL lights up to 140m without any false alarm. This is essential to define more precisely the values of thresholds of such systems. We have also evaluated technologies that are possible to improve system performance in the future, which are not yet ready to be used in industry productions. For example, artificial "retinas" could allow us to integrate analog filters in the chips, and thus to reduce bandwidth of the filters.

This thesis presents a novel approach to several problems in intelligent transportation systems using collaborative driving coordination. With inter-vehicle communication and intelligent vehicle cooperation, important tasks in transportation such as lane position determination, lane assignment and platoon formation can be solved. Several topics in regard to inter-vehicle communication, lane positioning, lane assignment and platoon formation are explored in this thesis: First, the design and experimental results of low-cost lane-level positioning system that can support a large number of transportation applications are discussed. Using a Markov-based approach based on sharing information among a group of vehicles that are traveling within the communication range of each other, the lane positions of vehicles can be determined. The robustness effectiveness of the system is shown in both simulations and real road tests. Second, a decentralized approach to lane scheduling for vehicles with an aim to increase traffic throughput while ensuring the vehicles exit successfully at their destinations is presented. Most of current traffic management systems do not consider lane organization of vehicles and only regulate traffic flows by controlling traffic signals or ramp meters. However, traffic throughput and efficient use of highways can be increased by coordinating driver behaviors intelligently. The lane optimization problem is formulated as a linear programming problem that can be solved using the Simplex method. Finally, a direction for cooperative vehicle platoon formation is proposed. To enhance traffic safety, increase lane capacities and reduce fuel consumption, vehicles can be organized into platoons with the objective of maximizing the travel distance that platoons stay intact. Toward this end, this work evaluates a proposed strategy which assigns vehicles to platoons by solving an optimization problem. A linear model for assigning vehicles to appropriate platoons when they enter the highway is formulated. Simulation results demonstrate that lane capacity can be increased effectively when platooning operation is used.