Traditional satellite positioning systems have limited resolution and have proved inaccuratein areas such as urban canyons where signals are subject to bounce phenomena or indeed may be entirely unavailable. An alternative method of positioning is that of tri/multilateration, which uses known positions and distances from beacon points to locate a receiver. In this project, a software was developed which used DSRC Basic Safety Messages (containing locational information) in combination with Received Signal Strength metrics (translated to distance information) to carry out such positioning in static environments. Initial studies confirmed that a signal received on the Craton 2 hardware was subject to considerable signal strength spread approximating a Gaussian distribution. A software was developed to simulate BSMs, including a measure of perturbation, over TCP. Three different traffic scenarios were constructed. Furthermore, multilaterationsoftware was developed to receive the BSMs and calculate position using three separate algorithms. The performance of these algorithms in the three different traffic scenarios was then evaluated. Lastly, the multilateration software was further developed to allow for the capture and processing of real BSMs sent on the 5.9 GHzband. The multilateration software was capable of determining the location of the receiver to varying degrees of accuracy, depending on the geometrical distribution of surrounding vehicles and the algorithm used to multilaterate. The 3D Linear Least Squares method performed well in situations where beacons were well spaced in three dimensions. Other implemented multilateration algorithms, i.e., a 2D Linear Least Squares method and a 3D Gauss Newton method, performed better in typical traffic scenarios where vehicles tend to be coplanar.The software developed provides a useful starting point for further developmentof static, but also dynamic, multilateration algorithms.

The safety and efficiency of vehicular communications rely on the correctness of the data exchanged between vehicles. Location spoofing is a proven and powerful attack against Vehicle-to-everything (V2X) communication systems that can cause traffic congestion and other safety hazards. Recent work also demonstrates practical spoofing attacks that can confuse intelligent transportation systems at road intersections. In this work, we propose two self-reliant schemes at the application layer and the physical layer to detect such misbehaviors. These schemes can be run independently by each vehicle and do not rely on the assumption that the majority of vehicles is honest. We first propose a scheme that uses application-layer plausibility checks as a feature vector for machine learning models. Our results show that this scheme improves the precision of the plausibility checks by over 20% by using them as feature vectors in KNN and SVM classifiers. We also show how to classify different types of known misbehaviors, once they are detected. We then propose three novel physical layer plausibility checks that leverage the received signal strength indicator (RSSI) of basic safety messages (BSMs). These plausibility checks have multi-step mechanisms to improve not only the detection rate, but also to decrease false positives. We comprehensively evaluate the performance of these plausibility checks using the VeReMi dataset (which we enhance along the way) for several types of attacks. We show that the best performing physical layer plausibility check among the three considered achieves an overall detection rate of 83.73% and a precision of 95.91%. The proposed application-layer and physical-layer plausibility checks provide a promising framework toward the deployment of on self-reliant misbehavior detection systems.

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This thesis investigates the integration of vehicles with differing levels of automation and connectivity within suburban traffic systems, focusing on their impact on road safety, traffic efficiency, and risk, particularly concerning vulnerable road users. By employing a Cooperative and Connected Automotive Mobility (CCAM) framework, the study examines how vehicles that share real-time information and intentions under different CCAM configurations influence the dynamics of suburban mobility. Utilizing simulation tools like SUMO and Artery, this research conducts multiple traffic scenario simulations to capture the interactions between automated, connected, and conventional vehicles. The simulations specifically target the implementation of Intelligent Transport Systems (ITS) protocols such as ETSI ITS-G5, directed by the European standard, assessing their efficacy in fostering safer and more efficient suburban environments. The parameters used to determine the performance of a scenario are number of emergency brakes, collisions, average vehicle speed, average relative speed and ratio of departed speed. The findings aim to provide actionable insights into deploying advanced vehicular technologies, ensuring their beneficial integration into increasingly complex suburban traffic networks, thus supporting global road safety initiatives like Vision Zero. This project shows that safety-wise, the general mix of vehicles that provide the safest traffic conditions are the heterogenous mix of 50% automated, with higher levels of connectivity contributing to better metric scores from an efficiency standpoint.

Véhicule-à-tous (V2X) se réfère à un Système de Transport Intelligent (ITS) où les véhicules et l'infrastructure sont interconnectés. Cette connectivité permet une connaissance précise des conditions de circulation sur l'ensemble du réseau routier, ce qui contribue à améliorer la sécurité routière, réduire les temps d'encombrement et éviter les pertes économiques. Cette communication permet aussi une variété de nouvelles applications pour la sécurité routière et l'infodivertissement. Bien que la communauté de scientifique ait réalisé de grands progrès dans l'étude sur le V2X, il reste encore des défis à surmonter et des problèmes clés qui doivent être étudiés plus en profondeur. Cette thèse considère deux des questions les plus importantes; fiabilité et sécurité des communications V2X. Du point de vue de la fiabilité, nous proposons d'abord une méthode basée sur la modélisation de l'utilisateur pour évaluer la capacité de la norme DSRC IEEE 802.11p à répondre aux exigences de Qualité De Service (QoS) de la diffusion des messages de sécurité. La nouveauté de la méthode réside dans son application qui élimine le problème de la définition d'un modèle Markovien par la détermination des moments d'équilibre du processus de retard. Cette méthode fournit des informations importantes sur les paramètres de conception IEEE 802.11p et sur ses fonctionnalités, ce qui permet d'améliorer la configuration proposée. De plus, nous proposons un modèle Régénératif pour résoudre le problème de la caractérisation des processus de trafic interconnecté dans les réseaux V2X hybrides à grande échelle. Ce dernier est une préoccupation majeure pour parvenir à une opérabilité efficace et adéquate pour les réseaux de véhicules à grande échelle. Du point de vue de la sécurité, nous introduisons une nouvelle méthodologie d'optimisation. Notre méthodologie lie les exigences de QoS des différentes classes d'application avec le paramètre de conception de base du mécanisme de résolution de contention dans le protocole MAC IEEE 802.11p. En outre, un nouvel algorithme de détection d'attaque de brouillage dans l'environnement véhiculaire est proposé. L'algorithme utilise la méthodologie d'optimisation développée pour définir un seuil de détection et intègre la méthode séquentielle de détection pour détecter les attaques de brouillage à chaque fois que la valeur seuil est franchie. Des expérimentations analytiques et de simulation approfondies ont été effectuées pour chaque contribution afin de montrer la validité des méthodes/modèles proposés et de prouver leur efficacité. / Vehicle-to-anything (V2X) refers to an Intelligent Transportation System (ITS) where the vehicles and infrastructure systems are all interconnected with each other. This connectivity provides precise knowledge of the traffic situations across the entire road network which in turn helps to enhance traffic safety, reduce congestion time, avoid economic losses, in addition to enable a variety of novel ITS applications for road safety and passenger infotainment. V2X communications is based on two technologies; Dedicated Short-Range Communications (DSRC) which is an essential technology for realizing V2X and cellular networks which provide an o_-the-shelf potential solution for V2X communications. Although the research community has achieved much great progress on V2X study, there are still some challenges that need to be overcome and some key issues that need to be further investigated. This thesis considers two of the most prominent issues; reliability and security of V2X communications. From the reliability perspective, we first propose User Model-based Method to evaluate the capacity of IEEE 802.11p-based DSRC standard to meet the Quality-of-Service (QoS) requirements of safety messages dissemination. The novelty of the method lies in its application which avoids the problem of defining a Markovian model by determining the steady state moments of the induced delay process. This applicability feature provides important insights about IEEE 802.11p design parameters and its functionality leading to proposed reconfigurations for enhanced performance. Moreover, we propose Regenerative model, that we believe to be the first to address the problem of interconnected-traffic process characterization in large-scale hybrid V2X networks. The latter is a primary concern in achieving efficient and adequate operability for large-scale vehicular networks. From the security perspective, we introduce a new optimization methodology which ties the QoS requirements of different application classes with the basic design parameters of the contention resolution mechanism in IEEE 802.11p MAC protocol. In addition, a novel detection algorithm for jamming attacks in the vehicular environment is proposed. The algorithm utilizes the developed optimization methodology to de_ne a detection threshold. By integrating the sequential detection of change method it traces and detects jamming attacks whenever the threshold value is crossed. Analytical and simulation experimentations have been performed for each contribution to show the validity of the proposed methods/models and to prove their efficiency.

With the rapid advances of technology, digitisation of many facets of our existence is taking place in an attempt to improve everyday life. The automotive industry is following suit, attempting to introduce connected traffic technology that is meant to improve traffic fluidity and safety. To facilitate this, connected vehicles aim to create solutions for the sharing of information between other vehicles, infrastructure - such as traffic light controllers, and pedestrians. In an attempt to further investigate the connected vehicle landscape of today, the thesis compared the two most prominent technologies, DSRC and cellular communication. An essential part of this comparison was highlighting the potential attacks that the two technologies could be exposed to. This was done in order to open up a discussion on what technology is the most suitable to focus on for the future both in terms of viability and security. DSRC has been considered the prominent communication technology for connected vehicles, but the development has stagnated. As such, the ever-evolving cellular technology is looking like the superior technology. This, however, is reliant on 5G delivering the speeds, stability and security promised. The state of constant vehicular connection is going to lead to many issues and concerns, both for the privacy of the individual but also the safety of the public. While connected traffic aims to solve a number of issues from traffic accidents to emissions - if the security of the communication is not constantly evolving to meet the rapid development of new technology, the consequences of connecting such a delicate system might nullify the potential benefits.

Dagens samhälle har stort beroende av central elförsörjning för att ha kapacitet att fungera. Beroendet av centrala produktionsenheter kopplade till stamnätet kan i sin tur göra det svenska elnätet mer sårbart och ostabilt. En potentiell lösning för att göra nätet mer resilient och stabilt är att bygga ut nätet med mindre lokala nät kompletterade av lokala energilager. Dessa energilager kan bestå av villabatterier men även genom att utnyttja elbilar via olika integrationer av V2X. På grund av det ovanliga jordningssystemet i Sverige, utan lokala jordtag i hemmen, är kravet på jordtag en mycket viktig fråga att undersöka för att inte förhindra utvecklingen och utökningen av energilager. Det EU-direktiv som idag gäller vid inmatning från generatorer, RfG, inkluderar uttryckligen inte energilager. Detta skapar en ”lucka” i regelverket där det saknas tydliga krav för energilager och elbilar. Historiskt sett har kraven för ödrift grundats i kraven för reservkraftsystem med en teknik som skiljer sig från den kraftelektronik med växelriktare som existerar idag. Denna studie syftar till att kartlägga de krav som finns för inmatning till det centrala nätet eller det lokala önätet via växelriktare. Det syftar även till att undersöka huruvida de krav som identifierats är applicerbara på modern teknik eller om de behöver uppdateras. Kraven identifierades genom en litteraturgenomgång av det svenska regelverket för el och genom 17 intervjuer med aktörer från myndigheter, organisationer, nätbolag, tillverkare och högskolor där ”krav-kartan”, se nedan bild, även förankrades och utvecklades. Studien visade att det finns en uppdelning för vilka funktioner som relaterar till vilka krav där den tydligaste skillnaden är att kravet på lokalt jordtag endast existerar för anläggningar som är förutsatta att drivas i ödrift. Studien visar även att ett flertal av de krav som identifierats inte är helt applicerbara på det svenska perspektivet eller på modern kraftelektronik och behöver uppdateras. / Todays society has a great dependence on central power production in order to function. The reliance on central production on the main grid exposes the Swedish power grid and makes it more vulnerable and unstable. One potential solution to make the grid more resilient is to expand the network with local micro grids with energy storage. These microgrids can be powered by home batteries but there is also the potential of utilizing electric vehicles through various V2X integrations. Due to the unusual grounding system in Sweden without local earth electrodes in the homes, the requirement for earthing is a very important issue to investigate to prevent any hinders on the development of local energy storages. The EU directive that regulates the requirements for generators, RfG, explicitly does not include energy storage requirements, creating a void in the regulations where there are no clear requirements for energy storages and electric vehicles. Historically, the requirements for island operations have been decided on the requirements for reserve/backup power system which utilizes generators that differs from the power electronics with inverters that are utilized today. This study aims to identify the requirements for feeding while “grid connected” and while in island mode. It also aims to investigate whether the identified requirements are applicable to modern technology or if they need to be updated. The requirements were identified through a literature overview of the Swedish regulations for electricity and through 17 interviews with stakeholders from authorities, organizations, grid companies, manufacturers, and universities, where the "map of requirements" was also discussed and developed. The study showed that there is distinction what requirement relate to what function, where the clearest difference is that the requirement for local earth electrodes only exists for buildings intended for island-operations. The study also shows that several of the identified requirements are not fully applicable to the Swedish perspective or to modern power electronics and need to be updated.

This thesis will research and evaluate the state of the current ETSI VAM standard. The thesis evaluates and discusses the means of improving the speed and response of ETSI VAM by reducing the load on the radio medium. The research looks to prove that fewer messages broadcasted improve VRU awareness. The thesis focuses mainly on the benefits of VRU clustering as a means of reducing radio medium load through numerical evaluation and physical implementation testing. Evaluation of basic and alternate cluster parameters is performed to find the most optimal ones; alternate clustering strategies are also discussed and proposed. The thesis aims to improve the standard by finding and evaluating alternate methods and parameters in order to propose improved options. / Projektet utvärderar och diskuterar sätten att förbättra hastigheten och responsen hos ETSI VAM genom att minska belastningen på radiomediet. Forskningen syftar till att bevisa att färre meddelanden som sänds förbättrar systemets VRU-medvetenhet. Fokuset ligger huvudsakligen på att utvärdera fördelarna med "VRU-klustring" som ett sätt att minska radiomediebelastningen genom numerisk utvärdering och fysisk testning. Utvärdering av grundläggande och alternativa klusterparametrar utförs för att hitta de mest optimala; alternativa klustringsstrategier diskuteras och föreslås också. Projektet syftar till att förbättra standarden genom att hitta och utvärdera alternativa metoder och parametrar för att föreslå förbättrade alternativ.

<p dir="ltr">Cellular-Vehicle to Everything or C-V2X refers to vehicles connected to their surroundings using cellular based networks. With the rise of connected vehicles, C-V2X is emerging as one of the major standards for message transmission in automotive scenarios. The project aims to study the feasibility of C-V2X-based message transmission by building a prototype system, named <b>RampCast</b>, for transmitting traffic information from roadside message boards to vehicles. The RampCast framework would also implement geocasting-based algorithms to deliver messages to targeted vehicles. These algorithms focus on improving location-based message delivery using retransmission and prioritization strategies. The messages used for transmission are selected from the 511 web application built by INDOT, which contains the live traffic information for the state of Indiana which includes Travel Time information, Crash Alerts, Construction Alerts etc.</p><p dir="ltr">The major objectives of this project consist of building the RampCast prototype, a system implementing C-V2X networks using a Software Defined Radio(SDR). The RampCast system implements a Publisher-subscriber messaging architecture with the primary actors being a Road Side Unit(RSU) and a Vehicle Onboard Unit(OBU). A data store containing traffic messages sourced from the 511 API is set up to be the input to the RampCast system. An end-to-end message transmission pipeline is built that would implement message transmission algorithms on the RSU and OBU side. Finally, the performance of message transmission on the RampCast system is evaluated using a metrics-capturing module. The system was evaluated on a test track in Columbus, Indiana. The performance metrics of the system were captured and analyzed, and the system met the key performance indicators for Latency, Packet Delivery Rate, and Packet Inter-reception Rate. The results indicate the satisfactory performance of the C-V2X standard for message transmission in the RampCast traffic guidance scenarios.</p>

Wireless technologies and networks are a part of our daily lives and we are surrounded by a constant stream of wireless signals. Unfortunately, there are a lot of limitations. At Toyota Material Handling Europe, future demands and expectations are raising but the technologies available today are not adapting fast enough. Indoor factory environments, moving network nodes and rapidly changing topologies are demanding situations. In this new Internet of Things day and age, transferring information in these challenging environments, the standard master and slave configuration is not enough. This report looks at the specific challenges establishing a wireless communication link between trucks in an indoor factory and warehouse environment. There are many factors to consider. Antennas, noise, frequency bands, different network technologies, propagation and path loss modeling to mention a few. Antennas and on-the-truck antenna positioning require design choices to be made. If we want to benefit from using high gain antennas, positioning is an important factor. Noise, in the highly congested 2.4 GHz band is a problem, especially considering safety critical applications. The license free ISM frequency bands have all different advantages in range, available communication protocols and amount of other technologies sharing the spectrum. The Wi-Fi, Bluetooth, ZigBee and V2X technologies looked at, tailored to the particular case of a warehouse environment like the Toyota factory, and the final selection relates to potential use case scenarios. Prioritizing, scalability, ad hoc network topologies, low latencies and short connection times together with long range, the new V2X technology building upon the IEEE 802.11p standard stands out. This report evaluates the IEEE 802.11p wireless standard running the ETSI ITS G5 V2X protocol in an indoor factory and warehouse environment. Thanks to Kapsch and their EVK-3300 V2X Evaluation Kit it was possible to evaluate transferring information between nodes, the PSR, and looking at how useful different path loss models are for estimating relative distances between trucks.