This thesis presents the formulation and validation of tracking algorithms for vehicular motion for use in active collision prevention in V2V communications. The main objective is to estimate position and velocity of a vehicle based on update from vehicular wireless network. By using vehicular wireless network, the range of position estimation improves when compare to conventional radars and sensors. On the other hand, from a vehicular wireless network point of view regular measurement information update is more difficult to obtain because of packet losses due to interference between communicating vehicles. Our proposed algorithms are based on methods from position tracking termed alpha-beta trackers in aerospace applications with constant rate of information updates, with some modifications to better solve the problem. We present the main algorithms and provide numerical evidence of their accuracy based on simulation data. The modified filters are shown to be computationally efficient (lightweight) and provide sufficient accuracy for estimation of vehicle positions based on information update in a wireless V2V system.

This thesis presents the formulation and validation of tracking algorithms for vehicular motion for use in active collision prevention in V2V communications. The main objective is to estimate position and velocity of a vehicle based on update from vehicular wireless network. By using vehicular wireless network, the range of position estimation improves when compare to conventional radars and sensors. On the other hand, from a vehicular wireless network point of view regular measurement information update is more difficult to obtain because of packet losses due to interference between communicating vehicles. Our proposed algorithms are based on methods from position tracking termed alpha-beta trackers in aerospace applications with constant rate of information updates, with some modifications to better solve the problem. We present the main algorithms and provide numerical evidence of their accuracy based on simulation data. The modified filters are shown to be computationally efficient (lightweight) and provide sufficient accuracy for estimation of vehicle positions based on information update in a wireless V2V system.

O desenvolvimento de redes veiculares possibilita o surgimento de sistemas inteligentes de transporte que podem aumentar a segurança nas vias, aperfeiçoar o controle de tráfego e fornecer entretenimento aos passageiros. O avanço e padronização de tecnologias de comunicação inter-veicular permitem que veículos compartilhem informações de forma colaborativa de maneira a viabilizar o estabelecimento de sistemas de transporte inteligentes cooperativos (C-ITS, Cooperative Intelligent Transportation Systems). Na comunicação veicular, cada nó compartilha periodicamente uma mensagem que contém informações sobre seu estado como posição, velocidade e aceleração. Estas mensagens são denominadas Cooperative Awareness Messages (CAMs) e podem ser utilizadas por veículos vizinhos para a operação de aplicações, sendo a formação de comboios um exemplo. Em um comboio veicular, um grupo de veículos viaja com distância reduzida entre cada membro através da operação de um controlador que utiliza informações compartilhadas por CAMs. O posicionamento compartilhado através de CAMs por cada veículo é crucial para a operação dos controladores de nós vizinhos, dado que este será utilizado para a condução do veículo. Embora os controles criptográficos padronizados para troca de mensagens em VANETs ofereçam contramedidas contra ataques como roubo de identidade e adulteração de pacotes, um atacante interno que possua credenciais válidas do sistema ainda pode mentir sobre as informações que são transmitidas para outros veículos. Em modelos atuais de redes veiculares, cada veículo é responsável por obter sua localização, normalmente através de GPS (Global Positioning System). A dependência de aplicações VANET na posição correta dos nós introduz a necessidade de mecanismos de garantia de localização. Nesta dissertação são identificados os riscos associados com a falsificação de posição em comboios veiculares. Através de simulações utilizando o ambiente de simulação Veins, mostramos que colisões em alta velocidade podem ser causadas por nós que atuam em conluio na falsificação de mensagens para um comboio. Dado que posicionamento legítimo é essencial para o funcionamento adequado das aplicações VANET, investigamos mecanismos de prova de localização propostos na literatura. Então, projetamos um mecanismo de prova de localização adaptado para VANETs usando equipamentos de estrada (RSUs, roadside units), com a capacidade de usar diferentes freqüências de prova de acordo com os requisitos de precisão de detecção e sobrecarga. Através de simulações usando os ataques estudados neste trabalho, mostramos que o mecanismo pode detectar ataques de falsificação de mensagens e Sybil. / In vehicular communication, nodes periodically share Cooperative Awareness Messages (CAMs) in order to convey information such as identity, velocity, acceleration and position. The positioning of nodes in a vehicular network is a key factor that directly affects how applications operate, being the formation of platoons a major case. In vehicular platooning, a group of vehicles travels closely together and leverages information shared through CAMs to operate lateral and longitudinal control algorithms. While the standardised cryptographic mechanisms counteract threats such as identity hijacking and packet tampering, an internal member who holds valid credentials may still be able to lie about the data it transmits in CAMs. In current Vehicular ad hoc Network (VANET) models, each vehicle is responsible for determining and informing its own position, generally using a Global Navigation Satellite System (GNSS) such as the Global Positioning System (GPS). This allows malicious actors to lie about their position and therefore cause unwanted effects in vehicular applications. The dependence of VANET applications on correct node localization introduces the need for position assurance mechanisms. In this dissertation, we first identify the risks associated with falsifying the position in vehicular platooning. Through simulations using the Veins framework, we show that collisions at high speed on a platoon may be caused by nodes that collude in falsification attacks. Given that truthful positioning is essential to proper behavior of VANET applications, we investigate proof-of-location schemes proposed in the literature. Then, a proof-of-location mechanism tailored for VANETs is designed using roadside units, with the capability of using different proof frequencies according to detection accuracy and overhead requirements. Through simulations using the studied attacks in this work, we show that the mechanism can counteract Sybil and message falsification attacks.

IEEE 802.11p, the known standard for Vehicular Adhoc NETworks (VANETs), suffers from scalability issues and unbounded delay. In addition, the desire to use networks already in existence has created motivation for using cellular networks for vehicular applications. LTE-Advanced is one of the most promising access technologies in the wireless field, providing high data rate, low latency, and a large coverage area. Thus, LTE/LTE-A can be potential access technologies for supporting vehicular applications. Vehicular safety applications are based on broadcasting messages to neighboring vehicles. The vehicle location precision is crucial for safety applications. Thus, the freshness of the information (i.e. vehicle location) at the neighboring vehicles is very important. As LTE is an infrastructure-based network, all transmissions should pass through it. When the load of the network is high compared to the available resources, large delays may occur. The focus of this thesis is to propose solutions to make LTE suitable for vehicular safety applications. The first solution is to adapt the vehicular safety application to be suitable in LTE network. For this purpose, we propose an adaptation of the safety message generation rate. This adaptation uses a queueing model to compute the freshness of the information of vehicles at the destination, based on their message generation rates. It then adjusts the generation periods to provide a similar accuracy for all vehicles. The second approach is to modify the LTE and make it suitable for these kinds of applications. Thus, we proposed a scheduler for LTE which is suitable for vehicular safety applications. It considers the speed and location of the vehicles to allocate the resources to them for the transmission of safety messages. We also studied the message dissemination in the downlink, and proposed an efficient way to deliver the safety messages to the neighboring vehicles. Finally, we propose a scheme that uses both LTE-D2D and LTE-cellular communication for the transmission of safety messages. The centralized location information is used for Device-to-Device (D2D) pair discovery and resource allocation. The proposed scheme provides resource efficiency by enabling the reuse of the resources by vehicles. We also study the effect of the awareness range and period of updating location information at the server on resource usage and accuracy of D2D pair detection.

O desenvolvimento de redes veiculares possibilita o surgimento de sistemas inteligentes de transporte que podem aumentar a segurança nas vias, aperfeiçoar o controle de tráfego e fornecer entretenimento aos passageiros. O avanço e padronização de tecnologias de comunicação inter-veicular permitem que veículos compartilhem informações de forma colaborativa de maneira a viabilizar o estabelecimento de sistemas de transporte inteligentes cooperativos (C-ITS, Cooperative Intelligent Transportation Systems). Na comunicação veicular, cada nó compartilha periodicamente uma mensagem que contém informações sobre seu estado como posição, velocidade e aceleração. Estas mensagens são denominadas Cooperative Awareness Messages (CAMs) e podem ser utilizadas por veículos vizinhos para a operação de aplicações, sendo a formação de comboios um exemplo. Em um comboio veicular, um grupo de veículos viaja com distância reduzida entre cada membro através da operação de um controlador que utiliza informações compartilhadas por CAMs. O posicionamento compartilhado através de CAMs por cada veículo é crucial para a operação dos controladores de nós vizinhos, dado que este será utilizado para a condução do veículo. Embora os controles criptográficos padronizados para troca de mensagens em VANETs ofereçam contramedidas contra ataques como roubo de identidade e adulteração de pacotes, um atacante interno que possua credenciais válidas do sistema ainda pode mentir sobre as informações que são transmitidas para outros veículos. Em modelos atuais de redes veiculares, cada veículo é responsável por obter sua localização, normalmente através de GPS (Global Positioning System). A dependência de aplicações VANET na posição correta dos nós introduz a necessidade de mecanismos de garantia de localização. Nesta dissertação são identificados os riscos associados com a falsificação de posição em comboios veiculares. Através de simulações utilizando o ambiente de simulação Veins, mostramos que colisões em alta velocidade podem ser causadas por nós que atuam em conluio na falsificação de mensagens para um comboio. Dado que posicionamento legítimo é essencial para o funcionamento adequado das aplicações VANET, investigamos mecanismos de prova de localização propostos na literatura. Então, projetamos um mecanismo de prova de localização adaptado para VANETs usando equipamentos de estrada (RSUs, roadside units), com a capacidade de usar diferentes freqüências de prova de acordo com os requisitos de precisão de detecção e sobrecarga. Através de simulações usando os ataques estudados neste trabalho, mostramos que o mecanismo pode detectar ataques de falsificação de mensagens e Sybil. / In vehicular communication, nodes periodically share Cooperative Awareness Messages (CAMs) in order to convey information such as identity, velocity, acceleration and position. The positioning of nodes in a vehicular network is a key factor that directly affects how applications operate, being the formation of platoons a major case. In vehicular platooning, a group of vehicles travels closely together and leverages information shared through CAMs to operate lateral and longitudinal control algorithms. While the standardised cryptographic mechanisms counteract threats such as identity hijacking and packet tampering, an internal member who holds valid credentials may still be able to lie about the data it transmits in CAMs. In current Vehicular ad hoc Network (VANET) models, each vehicle is responsible for determining and informing its own position, generally using a Global Navigation Satellite System (GNSS) such as the Global Positioning System (GPS). This allows malicious actors to lie about their position and therefore cause unwanted effects in vehicular applications. The dependence of VANET applications on correct node localization introduces the need for position assurance mechanisms. In this dissertation, we first identify the risks associated with falsifying the position in vehicular platooning. Through simulations using the Veins framework, we show that collisions at high speed on a platoon may be caused by nodes that collude in falsification attacks. Given that truthful positioning is essential to proper behavior of VANET applications, we investigate proof-of-location schemes proposed in the literature. Then, a proof-of-location mechanism tailored for VANETs is designed using roadside units, with the capability of using different proof frequencies according to detection accuracy and overhead requirements. Through simulations using the studied attacks in this work, we show that the mechanism can counteract Sybil and message falsification attacks.

Au cours des dernières années, on a observé l'intérêt croissant envers l'accessibilité à l'information et, en particulier, envers des approches innovantes utilisant les services à distance accessibles depuis les appareils mobiles à travers le monde. Parallèlement, la communication des véhicules, utilisant des capteurs embarqués et des dispositifs de communication sans fil, a été introduite pour améliorer la sécurité routière et l'expérience de conduite à travers ce qui est communément appelé réseaux véhiculaires (VANET). L'accès sans fil à l’Internet à partir des véhicules a déclenché l'émergence de nouveaux services pouvant être disponibles à partir ceux-ci. Par ailleurs, une extension du paradigme des réseaux véhiculaires a été récemment promue à un autre niveau. Le nuage véhiculaire (Vehicular Cloud) (VC) est la convergence ultime entre le concept de l’infonuagique (cloud computing) et les réseaux véhiculaires dans le but de l’approvisionnement et la gestion des services. Avec cette approche, les véhicules peuvent être connectés au nuage, où une multitude de services sont disponibles, ou ils peuvent aussi être des fournisseurs de services. Cela est possible en raison de la variété des ressources disponibles dans les véhicules: informatique, bande passante, stockage et capteurs. Dans cette thèse, on propose des méthodes innovantes et efficaces pour permettre la délivrance de services par des véhicules dans le VC. Plusieurs schémas, notamment la formation de grappes ou nuages de véhicules, la planification de transmission, l'annulation des interférences et l'affectation des fréquences à l'aide de réseaux définis par logiciel (SDN), ont été développés et leurs performances ont été analysées. Les schémas de formation de grappes proposés sont DHCV (un algorithme de clustering D-hop distribué pour VANET) et DCEV (une formation de grappes distribuée pour VANET basée sur la mobilité relative de bout en bout). Ces schémas de regroupement sont utilisés pour former dynamiquement des nuages de véhicules. Les systèmes regroupent les véhicules dans des nuages qui ne se chevauchent pas et qui ont des tailles adaptées à leurs mobilités. Les VC sont créés de telle sorte que chaque véhicule soit au plus D sauts plus loin d'un coordonnateur de nuage. La planification de transmission proposée implémente un contrôle d'accès moyen basé sur la contention où les conditions physiques du canal sont entièrement analysées. Le système d'annulation d'interférence permet d'éliminer les interférences les plus importantes; cela améliore les performances de planification d’utilisation de la bande passante et le partage des ressources dans les nuages construits. Enfin, on a proposé une solution à l'aide de réseaux définis par logiciel, SDN, où différentes bandes de fréquences sont affectées aux différentes liens de transmission de chaque VC afin d’améliorer les performances du réseau. / Abstract : In recent years, we have observed a growing interest in information accessibility and especially innovative approaches for making distant services accessible from mobile devices across the world. In tandem with this growth of interest, there was the introduction of vehicular communication, also known as vehicular ad hoc networks (VANET), leveraging onboard sensors and wireless communication devices to enhance road safety and driving experience. Vehicles wireless accessibility to the internet has triggered the emergence of service packages that can be available to or from vehicles. Recently, an extension of the vehicular networks paradigm has been promoted to a new level. Vehicular cloud (VC) is the ultimate convergence between the cloud computing concept and vehicular networks for the purpose of service provisioning and management. Vehicles can get connected to the cloud, where a multitude of services are available to them. Also vehicles can offer services and act as service providers rather than service consumers. This is possible because of the variety of resources available in vehicles: computing, bandwidth, storage and sensors. In this thesis, we propose novel and efficient methods to enable vehicle service delivery in VC. Several schemes including cluster/cloud formation, transmission scheduling, interference cancellation, and frequency assignment using software defined networking (SDN) have been developed and their performances have been analysed. The proposed cluster formation schemes are DHCV (a distributed D-hop clustering algorithm for VANET) and DCEV (a distributed cluster formation for VANET based on end-to-end relative mobility). These clustering schemes are used to dynamically form vehicle clouds. The schemes group vehicles into non-overlapping clouds, which have adaptive sizes according to their mobility. VCs are created in such a way that each vehicle is at most D-hops away from a cloud coordinator. The proposed transmission scheduling implements a contention-free-based medium access control where physical conditions of the channel are fully analyzed. The interference cancellation scheme makes it possible to remove the strongest interferences; this improves the scheduling performance and resource sharing inside the constructed clouds. Finally, we proposed an SDN based vehicular cloud solution where different frequency bands are assigned to different transmission links to improve the network performance.

Current geocasting algorithms for VANETs are being designed to enable either private or reliable communications, but not both. Existing algorithms preserve privacy by minimizing the information used for routing, and sacrifice message delivery success. On the other hand, reliable protocols often store node information that can be used to compromise a vehicle's privacy. We have designed two private and reliable geocasting protocols for VANETs that ensure confidentiality. One is a probabilistic algorithm that uses direction-based dissemination, while the other is a deterministic algorithm that uses transmission-coverage dissemination. To preserve privacy, we create unlinkable and pseudonymous channels of communication with geocasting. For encryption and authentication, we use a public key technique. Our probabilistic forwarding model depends on message rate and cumulative payload, as well as the value of the angle of spreading of the direction-based scheme. To reduce message duplication, we apply dynamic traffic restriction and probabilistic forwarding techniques. The deterministic forwarding algorithm delays forwarding messages based on its uncovered transmission area after neighbouring nodes have broadcast the message. We prove that both algorithms ensure node privacy with appropriate message encryption security, and we ran simulations to demonstrate that both meet the message delivery requirements. From the gathered data, we observe that both algorithms behave differently depending on the scenario, with node density affecting the deterministic algorithm, while the angle of spreading does have a significant impact on the probabilistic protocol.

Les réseaux véhicules (VANET) permettent d’offrir des solutions efficaces et rentables pour diverses applications telles que celles liées à : la sécurité routière, la gestion du trafic routier et les applications multimédia en utilisant les communications sans fil multi-sauts entre les véhicules communicants. Cependant, la mise en place et le maintien de liens multi-sauts fiables dans les environnements VANET posent de réels défis principalement à cause des changements rapides de topologie et des déconnexions fréquentes des liens, ce qui conduit à l'échec et l'inefficacité des protocoles de routage ad hoc traditionnels. Cette thèse propose une nouvelle famille de protocoles de routage (nommés AQRV, AQRV-1 et AQRV-2) adaptés aux caractéristiques intrinsèques des réseaux VANET. Basés sur l’estimation de la qualité de service en temps réel des segments de route (à savoir la probabilité de connectivité, le taux de perte de paquets et le délai), ces trois protocoles de routage reposent sur la sélection dynamique aux intersections du meilleur prochain segment de route pour un routage de bout-en-bout affichant la meilleure QoS (Quality of Service). Cette propriété de sélection opportuniste confère aux protocoles AQRV une bonne adaptation aux scénarios urbains à grande échelle tout en répondant aux contraintes QoS d'un grand nombre d'applications. Afin d'explorer la meilleure route en termes de QoS, la question du routage est vue comme un problème d'optimisation pour lequel un algorithme basé sur l’approche de colonie de fourmis ACO (Ant Colony Optimization) est employé. Par ailleurs, afin de réduire le temps d’exploration des routes et diminuer la charge du trafic de signalisation sur le réseau, une méthode opportuniste est proposée pour explorer efficacement le réseau et rechercher les meilleurs chemins disponibles en termes de QoS locale et globale. En outre, en exploitant des informations sur le trafic, telles que la densité véhiculaire, la vitesse des véhicules et de la longueur des segments de routes, des modèles théoriques sont élaborés pour estimer la qualité de service en temps réel pour deux scénarios distincts : des segments de routes à 1 et à 2 voies. Ces modèles offrent deux principaux avantages: des estimations précises de la qualité des segments de routes et un gain en charge de trafic de signalisation par rapport à la méthode d'estimation traditionnelle reposant sur l’envoi périodique de paquets de signalisation dédiés. Par ailleurs, le concept de TI (Terminal Intersection) est introduit pour mutualiser les routes entre intersections et éviter un routage basé sur nœuds communicants. Ainsi, les différentes paires de communication partagent les informations les plus à jour sur les meilleures routes, ce qui est bénéfique à la réduction de la charge de signalisation et au délai d’établissement des routes. Enfin, pour réduire davantage le trafic de signalisation et diminuer ainsi la congestion du réseau, la technique de transmission à un saut est améliorée, dans le protocole AQRV-2, grâce au concept d'élection distribuée du relayeur qui permet d’éviter la découverte du voisinage par échanges périodiques de paquets Hello. Les performances des protocoles proposés et la pertinence des modèles mathématiques de QoS dérivés ont été évaluées par des séries de simulations implémentant des scénarios réalistes. Une analyse approfondie a permis de montrer la meilleure performance des protocoles de routage développés en termes de signalisation, de délai et de taux de remise de paquets en comparaison aux protocoles de routage de référence. L’étude a également montré l’effet des différents paramètres protocolaires sur les performances globales. / Vehicular ad hoc networks (VANETs) are able to supply scalable and cost-effective solutions for various applications such as road safety, traffic efficiency and entertainments through multi-hop vehicle-to-vehicle wireless communications. However, developing multi-hop communications in VANET environments is a very challenging problem due to the rapid topology changes and frequent network disconnections, which lead to routing failure or inefficiency in traditional mobile ad hoc routing protocols. This dissertation proposes a novel class of routing protocols (AQRV, AQRV-1 and AQRV-2), which can account for specific characteristics of VANETs. Based on real-time QoS of road segment (namely connectivity probability, packet delivery ratio and delay), these three routing protocols rely on dynamic intersection-based best QoS route selection to cope with the scalability challenge in large-scale urban scenarios and meet varying requirements of a large number of applications. In order to explore the best QoS routing path, we regard the corresponding routing issue as an optimization problem, and propose an ACO-based (Ant Colony Optimization) algorithm to solve it. Besides, to reduce routing exploration time and decrease network overhead, an opportunistic method is proposed to explore the network and search available routing paths in terms of local/global QoS. In addition, by taking benefit from traffic information, such as vehicle density, vehicle speed and road length, we design mathematical models to estimate real-time QoS for 1-lane and 2-lane road scenarios. The main advantages of these models are twofold: provide accurate estimations of road segments’ QoS metrics and decrease the overhead compared with the estimation method by forwarding periodic packets. Furthermore, a TI-based (Terminal Intersection) concept is proposed to make a group of communication pairs share the same back-bone best route, which is beneficial to update latest routing information, decrease overhead and reduce transmission delay. Upon best route identification, data packets forwarding process is initiated including a dynamic road segment selection at intersections based on the updated global QoS, and a simple greedy carry-and-forward scheme to relay data packets between two neighboring intersections. Finally, to further reduce signaling overhead and alleviate network congestion, the one-hop geographical forwarding is improved using a distributed receiver-based election concept and utilized in AQRV-2 routing protocol to avoid periodic Hello packets exchanges. Extensive simulations are implemented to prove the effectiveness of the proposed protocols and the accuracy of the derived mathematical QoS models. A thorough analysis showed the better performance of our routing protocols in terms of overhead, delay and packet delivery ratio compared with reference routing protocols, and investigated the effects of related influencing factors.

This thesis explores the combined subjects of keep alive forwarding, denial of service attacks and decentralized congestion control. In a society where the technical requirements on vehicles constantly escalate; inter-vehicle communication has risen as a potential springboard for new technologies. The ETSI ITS-G5 standard is a vehicular ad-hoc network standard that offers manufacturers the possibility to include a feature called keep alive forwarding. This feature lets the nodes forward messages on a pre-defined time interval even if the original broadcaster is no longer present. As this feature might provide exploits for potential people with malicious intent it has been evaluated how resilient the standard might be in such a situation. Also included in this thesis is the decentralized congestion control, a feature required by the standard. To evaluate these features a series of simulations has been performed where vehicles in a highway scenario have been exposed to a denial of service attack where the attacker uses the keep-alive forwarding as an exploit. The findings are that decentralized congestion control does mitigate some of the direct consequences of such an attack. Although it does not eliminate these entirely and new problems are introduced. Finally, alternative methods to perform keep alive forwarding are suggested to enhance this feature.

With the fast development of 5G networks and the advancement in networking technologies, more and more new technologies such as internet of vehicles (IoV) is catching our eyes. With technologies of artificial intelligence and automatic control, IoV is transformed into an intelligent transportation system (ITS). The object of this thesis is to analyze the connectivity probability issues in vehicle ad hoc networks (VANETs), which is a subset of ITS. This will be achieved by a platoon-based two dimensional model. In order to make the results more accurate and more close to real scenario, different situations will be analyzed separately, and different types of platoon will be included. In addition, other system parameters are also discussed and stimulated. The results show that many parameters like the increases of traffic density, ratio of platoon, and lane numbers will improve connectivity probability. No-leader based platoons are easier to connect to the base stations compared to leader based platoons.