La popularisation des véhicules a engendré des problèmes de sécurité et d’environnement. Desprojets ont été lancés à travers le monde pour améliorer la sécurité sur la route, réduire l’encombrementdu trafic et apporter plus de confort aux conducteurs. L’environnement des réseaux devéhicules est complexe et dynamique, les sources sont souvent hétérogènes, de ce fait les informationséchangées peuvent souvent être imparfaites. La théorie des fonctions de croyance modélisesouplement les connaissances et fournit des outils riches pour gérer les différents types d’imperfection.Elle est utilisée pour représenter l’incertitude, gérer les différentes informations acquises etles fusionner. Nous nous intéressons à la gestion des informations imparfaites échangées entre lesvéhicules concernant les événements sur la route. Les événements locaux et les événements étendusn’ayant pas les mêmes caractéristiques, les travaux réalisés les distinguent. Dans un environnementsans infrastructure où chaque véhicule a son propre module de fusion, l’objectif est de fournir auxconducteurs la synthèse la plus proche possible de la réalité. Différents modèles fondés sur desfonctions de croyance sont proposés et différentes stratégies sont étudiées : affaiblir ou renforcervers l’absence de l’événement pour prendre en compte le vieillissement des messages, garder lesmessages initiaux ou seulement le résultat de la fusion dans la base des véhicules, considérer la miseà jour du monde, prendre en compte l’influence du voisinage pour gérer la spatialité des embouteillages.Les perspectives restent nombreuses, certaines sont développées dans ce manuscrit commela généralisation des méthodes proposées à tous les événements étendus tels que les brouillards. / The popularization of vehicles has created safety and environmental problems. Projects havebeen launched worldwide to improve road safety, reduce traffic congestion and bring more comfortto drivers. The vehicle network environment is dynamic and complex, sources are often heterogeneous,and therefore the exchanged information may be imperfect. The theory of belief functionsoffers flexibility in uncertainty modeling and provides rich tools for managing different types of imperfection.It is used to represent uncertainty, manage and fuse the various acquired information.We focus on the management of imperfect information exchanged between vehicles concerningevents on the road. The carried work distinguishes local events and spatial events, which do nothave the same characteristics. In an environment without infrastructure where each vehicle is afusion center and creates its own vision, the goal is to provide to each driver the synthesis of thesituation on the road as close as possible to the reality. Different models using belief functionsare proposed. Different strategies are considered: discount or reinforce towards the absence of theevent to take into account messages ageing, keep the original messages or just the fusion result invehicle database, consider the world update, manage the spatiality of traffic jam events by takinginto account neighborhood. Perspectives remain numerous; some are developed in the manuscriptas the generalization of proposed methods to all spatial events such as fog blankets.

Les réseaux véhiculaires sont constitués de véhicules capables de s’échanger des informations par voie radio afin d'améliorer la sécurité routière (diffusion de messages d'alerte en cas d’accident ou de ralentissement anormal, conduite collaborative entre véhicules…) ou de permettre aux passager d’accéder à l’Internet (applications de réseaux collaboratifs, jeux interactifs, gestion des espaces libres dans les parkings…). Malheureusement, les messages liés à la sécurité routière échangés entre les véhicules peuvent être falsifiés ou éliminés par des entités malveillantes afin de causer des accidents et mettre en péril la vie des personnes. Dans cette thèse, nous nous concentrons particulièrement sur la définition, conception et l’évaluation d’une solution de sécurité pour les communications entre véhicules afin d’assurer une communication sécurisée et un bon niveau de confiance entre les différents véhicules participants. En adoptant un modèle basé sur la formation de groupes, nous procédons à l'évaluation de niveau de confiance des véhicules participants à ces réseaux et nous développons un modèle de confiance qui sert à analyser leurs comportements dans leurs groupes respectifs tout en respectant la vie privée des participants et en maintenant une surcharge minimale dans le réseau. Ensuite, nous proposons un modèle hiérarchique et modulaire permettant la détection de comportement malveillant et la gestion de la révocation des certificats des véhicules concernés / VANETs (Vehicular Ad-hoc Networks) consist of vehicles capable of exchanging information by radio to improve road safety (alerts in case of accidents or in case of abnormal slowdowns, collaborative driving…) or allow internet access for passengers (collaborative networks, infotainment, etc.). Road safety messages exchanged between vehicles may be falsified or eliminated by malicious entities in order to cause accidents and endanger people life. In this thesis, we focus on defining, designing and evaluating a security solution for V2V communications in VANET, to ensure a secure communication and a good level of confidence between the different participating vehicles. Adopting a group-based model, we consider the Trustworthiness evaluation of vehicles participating in VANET and we develop a Trust Model to analyze the behavior of the vehicles in the group while preserving the privacy of the participants and maintaining low network overhead. We then propose a hierarchical and modular framework for Misbehavior Detection and Revocation Management

Abstract : Embedded intelligence in vehicular applications is becoming of great interest since the last two decades. Position estimation has been one of the most crucial pieces of information for Intelligent Transportation Systems (ITS). Real time, accurate and reliable localization of vehicles has become particularly important for the automotive industry. The significant growth of sensing, communication and computing capabilities over the recent years has opened new fields of applications, such as ADAS (Advanced driver assistance systems) and active safety systems, and has brought the ability of exchanging information between vehicles. Most of these applications can benefit from more accurate and reliable localization. With the recent emergence of multi-vehicular wireless communication capabilities, cooperative architectures have become an attractive alternative to solving the localization problem. The main goal of cooperative localization is to exploit different sources of information coming from different vehicles within a short range area, in order to enhance positioning system efficiency, while keeping the cost to a reasonable level. In this Thesis, we aim to propose new and effective methods to improve vehicle localization performance by using cooperative approaches. In order to reach this goal, three new methods for cooperative vehicle localization have been proposed and the performance of these methods has been analyzed. Our first proposed cooperative method is a Cooperative Map Matching (CMM) method which aims to estimate and compensate the common error component of the GPS positioning by using cooperative approach and exploiting the communication capability of the vehicles. Then we propose the concept of Dynamic base station DGPS (DDGPS) and use it to generate GPS pseudorange corrections and broadcast them for other vehicles. Finally we introduce a cooperative method for improving the GPS positioning by incorporating the GPS measured position of the vehicles and inter-vehicle distances. This method is a decentralized cooperative positioning method based on Bayesian approach. The detailed derivation of the equations and the simulation results of each algorithm are described in the designated chapters. In addition to it, the sensitivity of the methods to different parameters is also studied and discussed. Finally in order to validate the results of the simulations, experimental validation of the CMM method based on the experimental data captured by the test vehicles is performed and studied. The simulation and experimental results show that using cooperative approaches can significantly increase the performance of the positioning methods while keeping the cost to a reasonable amount. / Résumé : L’intelligence embarquée dans les applications véhiculaires devient un grand intérêt depuis les deux dernières décennies. L’estimation de position a été l'une des parties les plus cruciales concernant les systèmes de transport intelligents (STI). La localisation précise et fiable en temps réel des véhicules est devenue particulièrement importante pour l'industrie automobile. Les améliorations technologiques significatives en matière de capteurs, de communication et de calcul embarqué au cours des dernières années ont ouvert de nouveaux champs d'applications, tels que les systèmes de sécurité active ou les ADAS, et a aussi apporté la possibilité d'échanger des informations entre les véhicules. Une localisation plus précise et fiable serait un bénéfice pour ces applications. Avec l'émergence récente des capacités de communication sans fil multi-véhicules, les architectures coopératives sont devenues une alternative intéressante pour résoudre le problème de localisation. L'objectif principal de la localisation coopérative est d'exploiter différentes sources d'information provenant de différents véhicules dans une zone de courte portée, afin d'améliorer l'efficacité du système de positionnement, tout en gardant le coût à un niveau raisonnable. Dans cette thèse, nous nous efforçons de proposer des méthodes nouvelles et efficaces pour améliorer les performances de localisation du véhicule en utilisant des approches coopératives. Afin d'atteindre cet objectif, trois nouvelles méthodes de localisation coopérative du véhicule ont été proposées et la performance de ces méthodes a été analysée. Notre première méthode coopérative est une méthode de correspondance cartographique coopérative (CMM, Cooperative Map Matching) qui vise à estimer et à compenser la composante d'erreur commune du positionnement GPS en utilisant une approche coopérative et en exploitant les capacités de communication des véhicules. Ensuite, nous proposons le concept de station de base Dynamique DGPS (DDGPS) et l'utilisons pour générer des corrections de pseudo-distance GPS et les diffuser aux autres véhicules. Enfin, nous présentons une méthode coopérative pour améliorer le positionnement GPS en utilisant à la fois les positions GPS des véhicules et les distances inter-véhiculaires mesurées. Ceci est une méthode de positionnement coopératif décentralisé basé sur une approche bayésienne. La description détaillée des équations et les résultats de simulation de chaque algorithme sont décrits dans les chapitres désignés. En plus de cela, la sensibilité des méthodes aux différents paramètres est également étudiée et discutée. Enfin, les résultats de simulations concernant la méthode CMM ont pu être validés à l’aide de données expérimentales enregistrées par des véhicules d'essai. La simulation et les résultats expérimentaux montrent que l'utilisation des approches coopératives peut augmenter de manière significative la performance des méthodes de positionnement tout en gardant le coût à un montant raisonnable.

車載網路在未來社會將會越來越普及，車載網路資料傳遞技術，不僅能連接上網提供多元化的網路應用，甚至提供行車安全性服務。然而車載網路的網路品質不是十分理想，乃因存在著許多不確定因素，因為網路品質低，所以需要更完善的機制來提升車載網路品質。如車輛間速度不一，車輛間的距離變化相當頻繁，若因此而需要重新建立連線路徑是相當浪費傳輸時間並影響到傳輸的頻寛。本篇論文提出Cookie-Cooperative Automatic Repeat request (CCARQ) 的機制是針對這類型的間歇性斷線做修補，其方法是透過MAC (Media Access Control) 層協助網路層 (Network Layer) 的轉送。因為車輛是行駛在道路上，所建立的車載網路拓樸是沿著道路佈建，所以當連線路徑中斷時，周圍鄰近的車輛將是最好的替代選擇。本模擬將比較CCARQ, AODV與Bypass-AODV，透過 packet delivery ratio、end to end delay、control overhead及goodput為效能指標，調整在不同的hop數、車輛數目及車輛速度來觀察效能表現。模擬結果顯示packet delivery ratio增加14.6%、end to end delay減少41.3%、control overhead減少38%。 / VANET (Vehicular Ad-hoc Network) is expected to become more popular in the near future. VANET transmission technology will offer not only bountiful network applications but also safety driving information. Network quality of VANET is usually bad due to speed variation, high mobility, driver behavior variation, traffic density, traffic signal, environment complexity and swarm effect, et al. In this research, we propose a Cookie-Cooperative Automatic Repeat reQues (CCARQ) to enhance network performance by repairing intermittent broken connection. As mentioned above, speed variation will dynamically change the distances of car-to-car frequently and result in broken connections. Each re-establishment of broken connections will waste transmission time and reduce transmission bandwidth. The proposed CCARQ mechanism will help network layer transmission through MAC layer. Since VANET’s topology deployed along with road, the surrounded cars will be the best candidate to be a substitute car when a broken connection occurs. The performance indices are set to varied hops, varied speed and number of cars. Simulations show that CCARQ outperforms AODV and Bypass-AODV in packet delivery ratio by 14.6% increase, end to end delay by 41.3% decrease and control overhead by 38% decrease.

Intelligent Transport Systems (ITS) are aiming to provide innovative services related to different modes of transport and traffic management, and enable various users to be better informed and make safer, more coordinated and smarter use of transport networks. Cooperative-ITS (C-ITS) support connectivity between vehicles, vehicles and roadside infrastructure, traffic signals as well as with other road users. In order to enable vehicular communications European Telecommunication Standards Institute (ETSI) delivered ITS-G5 -- a of set of C-ITS standards. Considering the goals of C-ITS, inter-vehicle communications should be reliable and efficient. In this thesis we study the performance, efficiency, and dependability of ITS-G5 communications for Cooperative adaptive cruise control (C-ACC) and platooning C-ITS applications. We provide an overview of currently available and ongoing standardization targeting communications in C-ACC/platooning. We study the performance of ITS-G5 beaconing in a C-ACC/platooning scenario, where we show that its performance may deteriorate when implemented in cooperative driving applications due to the kinematic-dependent design of the message triggering mechanism. We explain in detail the cause of this phenomenon and test it for a wide range of parameters. Also, we study the influence of different available ITS-G5 legitimate setups on the C-ACC/platooning fuel efficiency and demonstrate that proper communication setup may enhance fuel savings. This thesis also proposes a jamming denial-of-service attack detection algorithm for platooning. The main advantage of our detector is its short learning phase that not exceed a second and low detection delay of a few hundreds of milliseconds. Under some assumptions, the proposed algorithm demonstrates the ability to detect certain types of attacks with average probability above 0.9. / ACDC

Drahtlose ad-hoc Netzwerke zwischen Fahrzeugen, sog. Vehicular ad-hoc Networks (VANETs), bilden einen Ansatz zur Verbesserung der Verkehrssicherheit, indem sie zukünftige kooperative Fahrerassistenzsysteme ermöglichen. Diese Netzwerke erfordern ein hohes Sicherheitsniveau, sowohl in Bezug auf Datenintegrität und -authentizität als auch im Bereich Datenschutz. Aktuell verfügbare Technologien können diese Anforderungen nicht vollständig erfüllen. Etliche Nachteile aktueller VANET-Ansätze werden in dieser Arbeit aufgezeigt. In dieser Arbeit werden drei Schachpunkte von ETSI ITS bzw. WAVE basierten VANETs identifiziert, welche Angriffe auf Teilnehmer dieser Netzwerke ermöglichen. Diese ergeben sich aus 1. konstanten und für Teilnehmer charakteristischen Datensätzen innerhalb der zyklisch versandten Statusnachrichten, welche den Datenschutz der Fahrzeuge und damit auch ihrer Fahrer gefährden, 2. die Strategie zur Verteilung von digitalen Zertifikaten von Zertifizierungsstellen erlaubt es selbst Angreifern mit minimalen Fähigkeiten (einzelner, statischer Angreifer von außerhalb des Netzwerkes) die Kanallast in einem großen Teilgebiet des Netzwerkes massiv zu erhöhen, 3. GNSS Manipulation durch sog. spoofing erlaubt Angriffe auf zeit- und ortsbasiere Informationen in Fahrzeugen, wodurch sich folgende Gefährdungen ergeben: a. Der Grundanforderung Teilnehmer durch Nichtabstreitbarkeit der gesendeten Daten für ihr Verhalten zur Rechenschaft ziehen zu können wird die Grundlage entzogen, da der Zeitpunkt des Sendens der Daten nicht mehr sicher festgestellt werden kann. b. Die Zugangskontrolle zum System wird gefährdet, da angegriffene Teilnehmer veraltete Nachrichten und digitale Zertifikate akzeptieren. c. Angreifer können einen sog. Sybil Angriff durchführen. Es ist notwendig die identifizierten Sicherheitsprobleme zu beheben um eine sichere Verwendung von VANETs für zukünftige kooperative Fahrerassistenzsysteme zu ermöglichen. Weiterhin werden einige Designprobleme in ETSI ITS Protokollen identifiziert. Die bisherige Art der Nachrichtenzusammensetzung auf den einzelnen Protokollschichten führt häufig zu Gesamtnachrichten, welche die zulässige maximale Gesamtlänge auf niedrigen Protokollschichten überschreitet. Da solche Nachrichten nicht versandt werden könne, können diverse wichtige Datensätze nicht im Netzwerk verteilt werden. Außerdem ist keine verschlüsselte Ende-zu-Ende Kommunikation über eine Multi-Hop Verbindung möglich, da die notwendigen Routing-Informationen den weiterleitenden Teilnehmern nicht zur Verfügung stehen. Es werden Vorschläge diskutiert, wie diese Probleme gelöst werden können. Zur Adressierung der genannten Probleme werden u.a. folgende Maßnahmen vorgeschlagen: 1. Eine sichere Zeitsynchronisierung in VANETs ist notwendig. 2. Das Speichern von mehreren Fahrzeug-Zertifikaten mit gleicher Laufzeit ist zu vermeiden. 3. Das Speichern von Fahrzeug-Zertifikaten mit zukünftiger Laufzeit ist auf ein Minimum zu begrenzen. 4. Konstante und gleichzeitig für Teilnehmer charakteristische Datensätze sind nicht zu versenden. 5. Weitere Mechanismen zur Minimierung der Kanallast durch Zertifikatsverteilung sind notwendig, u.a. a. nach einem Pseudonymwechsel sollte dieser explizit signalisiert werden um das Versenden aller Zertifikate in der Umgebung durch die Detektion eines neuen Nachbarn zu verhindern. b. es sollte keine Verteilung von Zertifikatsketten erfolgen, da einzelne Zertifikate ausreichen. c. die Anzahl der Übermittlungen von Zertifikaten von Zertifizierungsstellen ist zu minimieren. Die Anwendung der genannten Verbesserungen überwindet die meisten Sicherheitsprobleme (1,2, und 3c). Für die weiteren Probleme kann der notwendige Aufwand für einen erfolgreichen Angriff deutlich erhöht werden. / Vehicular ad-hoc networks (VANETs) are an important approach to increase future safety of driving by enabling cooperative advanced driver assistance systems. However, rigid security and privacy requirements employed to conducted wireless data exchange still pose significant challenges for VANET approaches. Several weaknesses of the current state of the art of VANET approaches from ETSI ITS as well as WAVE standard frameworks have been identified in this work. Three main attack surfaces of ETSI ITS or WAVE based VANETs are identified in this thesis, which are 1. constant and distinctive content in data fields within frequently sent VANET messages highly endanger privacy of vehicles, and thereby also their drivers, 2. the distribution strategy of certificate authority (CA) certificates allows even a simple static outsider attacker to massively increase the channel load within a large area around the attacker, which significantly exceeds his own communication range, and 3. GNSS spoofing modifying time and position information inside nodes a. endangers the basic system requirement of accountability by circumventing the nonrepudiation feature of the employed digital signature scheme, b. endangers the access control system by forcing the acceptance of outdated messages and certificates, and c. enables an attacker to perform a Sybil attack. The identified security problems need to be overcome to re-enable secure usage of VANETs and ADASs, which are based on the information obtained via VANETs. Several protocol design weaknesses of the ETSI ITS approach have been identified. It is found that the standardized way of cross layer message assembly leads to frequent violation of low layers’ maximum packet size restrictions. This causes inabilities to distribute important data sets from the application layer. Furthermore, confidential end-to-end encrypted communication over a multi-hop connection is impossible, as forwarders cannot access required routing information. This is caused by incorrect data encryption rules. Approaches to overcome the found shortcomings are proposed and evaluated. To overcome the outlined security issues, several improvements have been proposed. These include, 1. secure time synchronization among nodes, but current mechanisms can hardly provide it, 2. caching of multiple pseudonym certificates being valid during the same time span is to be avoided, 3. pre-caching of pseudonym certificates valid in the future is to be limited to a minimum, 4. presence of constant but distinctive data sets within VANET messages has to be avoided to enable privacy conserving pseudonym changes, 5. mechanisms for limiting the channel load caused by certificate distribution are required, especially a. after a pseudonym change the number of superficial pseudonym certificate distributions due to new neighbor detection should be limited by using explicit signaling of the change, b. sending of certificate chains should be removed altogether, instead individual dissemination should be used for CA certificates, and c. the number of CA certificate deliveries after a request for such a kind of certificate should be limited to a minimum by using targeted requests. By employing the given improvements most of the found security weaknesses can be overcome (issues 1, 2 and 3c). For the remaining weaknesses the required capabilities for a successful attack can be made significantly more challenging.

This research devises a unified method for the distribution of pseudonyms in hybrid ephemeral vehicular networks (VNs), which are often referred to as vehicular ad hoc networks (VANETs), for the purposes of refill, intra-regional, and inter-regional movement. This work addresses a significant impediment to the use of pseudonyms, which has been almost universally accepted (and is on the verge of being standardized by the Institute for Electrical and Electronic Engineers (IEEE) and the Society for Automotive Engineers (SAE) as the best means to balance attribution and privacy to maximize the value of infrastructure deployment and citizen acceptability (i.e. use). The results include a pseudonym distribution protocol that maximizes ease of use while not compromising the security or privacy pseudonyms afford. These results contribute to the solution, in a scalable, adaptive, and bandwidth efficient manner, one of the remaining impediments to the adoption of VANETs. The new method shows improved performance compared to a baseline pseudonym distribution method that does not take these factors into consideration.

User desire for ubiquitous applications on-board a vehicle motivates the necessity for Network Mobility (NEMO) solutions for Vehicular Ad-Hoc Networks (VANETs). Due to the dynamic topology of VANETs, this approach incurs excessive infrastructure cost to maintain stable connectivity and support these applications. Our solution to this problem is focused on a novel NEMO-based Network Architecture where vehicles are the main network infrastructure. Within this Architecture, we present a Network Criticality-based clustering algorithm, which adapts to mobility changes to form stable self-organizing clusters of vehicles and dynamically builds on vehicle clusters to form more stable Mobile Networks. Simulation results show that the proposed method provides more stable clusters, lower handoffs and better connectivity compared to popular density-based vehicle clustering methods. In addition, they confirm the validity of the proposed Network Architecture. The proposed method is also robust to channel error and exhibits better performance when the heterogeneity of vehicles is exploited.

User desire for ubiquitous applications on-board a vehicle motivates the necessity for Network Mobility (NEMO) solutions for Vehicular Ad-Hoc Networks (VANETs). Due to the dynamic topology of VANETs, this approach incurs excessive infrastructure cost to maintain stable connectivity and support these applications. Our solution to this problem is focused on a novel NEMO-based Network Architecture where vehicles are the main network infrastructure. Within this Architecture, we present a Network Criticality-based clustering algorithm, which adapts to mobility changes to form stable self-organizing clusters of vehicles and dynamically builds on vehicle clusters to form more stable Mobile Networks. Simulation results show that the proposed method provides more stable clusters, lower handoffs and better connectivity compared to popular density-based vehicle clustering methods. In addition, they confirm the validity of the proposed Network Architecture. The proposed method is also robust to channel error and exhibits better performance when the heterogeneity of vehicles is exploited.

The Vehicular Ad-hoc Network (VANET) has been studied in many fields since it has the ability to provide a variety of services, such as detecting oncoming collisions and providing warning signals to alert the driver. The services provided by VANET are often based on collaboration among vehicles that are equipped with relatively simple motion sensors and GPS units. Awareness of its precise location is vital to every vehicle in VANET so that it can provide accurate data to its peers. Currently, typical localization techniques integrate GPS receiver data and measurements of the vehicle’s motion. However, when the vehicle passes through an environment that creates a multipath effect, these techniques fail to produce the high localization accuracy that they attain in open environments. Unfortunately, vehicles often travel in environments that cause a multipath effect, such as areas with high buildings, trees, or tunnels. The goal of this research is to minimize the multipath effect with respect to the localization accuracy of vehicles in VANET. The proposed technique first detects whether there is a noise in the vehicle location estimate that is caused by the multipath effect using neural network technique. It next takes advantage of the communications among the VANET vehicles in order to obtain more information from the vehicle’s neighbours, such as distances from target vehicle and their location estimates. The proposed technique integrates all these pieces of information with the vehicle’s own data and applies optimization techniques in order to minimize the location estimate error. The new techniques presented in this thesis decrease the error in the location estimate by 53% in the best cases, and in the worst case produce almost the same error in the location estimate as the traditional technique. Moreover, the simulation results show that 60% of the vehicles in VANET decrease the error in their location estimates by more than 13.8%.