Safety in transportation systems is of paramount concern to society; many improvements have been made in recent decades and yet thousands of fatalities still occur annually. Work zones in particular are areas with increased safety risks in transit networks. Advances in electronics have now allowed engineers to merge powerful computing and communication technologies with modern automotive and vehicular technology, known as connected vehicle. Connected vehicle will allow vehicles to exchange data wirelessly with each other and infrastructure to improve safety, mobility and sustainability. This thesis presents a paper that focuses on evaluating the impact of connected vehicle on work zone traffic safety. A dynamic route guidance system based on decaying average-travel-time and shortest path routing was developed and tested in a microscopic traffic simulation environment to avoid routes with work zones. To account for the unpredictable behaviour and psychology of driver’s response to information, three behaviour models, in the form of multinomial distributions, are proposed and studied in this research. The surrogate safety measure improved Time to Collision was used to gauge network safety at various market penetrations of connected vehicles. Results show that higher market penetrations of connected vehicles decrease network safety due to increased average travel distance, while the safest conditions, 5%-10% reduction in critical Time to Collision events, were observed at market penetrations of 20%-40% connected vehicle, with network safety strongly influenced by behaviour model. / Thesis / Master of Applied Science (MASc)

Vehicle-to-vehicle (V2V) communication using Dedicated Short Range Communications (DSRC) technology promises to help drastically reduce vehicle collisions. DSRC allows vehicles in a highly mobile and complex network to send and receive safety messages with more reliability and lower latency compared with other wireless technologies used for automotive communications. However, there are many factors that could cause a safety-critical automotive application to become unreliable due to communication failures. While the reliability of V2V communication has been a subject of study by several researchers, there are still open questions regarding how the placement of the DSRC devices (inside or outside the host vehicle), the vehicle’s interior elements and the differences in altitude can affect the V2V communications. This article provides experimental testing data and analyses in order to quantify the impacts of relative vehicle speeds, altitude differences between vehicles, and interior obstacles on V2V communication range and reliability for opposite traffic, in both city and highway environments. We discuss how these results can adversely affect the design parameters of safety critical applications by considering the V2V application “Safe Pass Advisory” on two-lane rural highways.

Air corridors are an integral part of the advanced air mobility infrastructure. They are the virtual highways in the sky for transportation of people and cargo in the controlled airspace at an altitude of around 1000 ft. to 2000 ft. above the ground level. This paper presents fundamental insights into the design of air corridors with high operational efficiency as well as zero collisions. It begins with the definitions of air cube, skylane or track, intersection, vertiport, gate, and air corridor. Then, a multi-layered air corridor model is proposed. Traffic at intersections is analyzed in detail with examples of vehicles turning in different directions. The concept of capacity of an air corridor is introduced along with the nature of distribution of locations of vehicles in the air corridor and collision probability inside the corridor are discussed. Finally, the results of simulations of traffic flows are presented.

Intelligent Transportation System (ITS)  is the main research domain for making road transport safer and more comfortable. For the sake of increasing the benefits of ITS, projects about Inter-Vehicle Communication (IVC)  system have been proposed to make communications among vehicles possible, to exchange traffic information and avoid accidents. In order to create communication network among vehicles or between vehicles and infrastructure,  Vehicular Ad hoc Networks (VANETs) has been proposed. Many applications in VANETs need to send messages to vehicles within a specific geographic region. This behavior is called geocast and this specific geographic region is called the Zone of Relevance (ZOR). Some routing protocols which are related to Geocast have been proposed in literature for VANETs. So it is significant to evaluate and compare the performance of these known Geocast routing protocols. In this thesis, categories of the routing protocols, as well as communication forwarding schemes are introduced. The routing protocols in VANETs are also summarized and compared. In order to evaluate the performance of these protocols, the evaluation methods are proposed and then a Geocast routing simulator is designed and used to simulate the Geocast network environment and several Geocast routing protocols.

<p>The number of vehicles has increased significantly in recent years, which causeshigh density in traffic and further problems like accidents and road congestions.A solution regarding to this problem is vehicle-to-vehicle communication, wherevehicles are able to communicate with their neighboring vehicles even in the absenceof a central base station, to provide safer and more efficient roads and toincrease passenger safety.The goal of this thesis is to investigate basic physical layer parameters of ainter-vehicle communication system, like emission power, spectral emission, errorvector magnitude, guard interval, ramp-up/down time, and third order interceptpoint. I also studied the intelligent transportation system’s channel layout inEurope, how the interference of other systems are working in co-channel and adjacentchannels, and some proposals to use the allocated frequency bands. On theother hand, the fundamentals of OFDM transmission and definitions of OFDMkey parameters in IEEE 802.11p are investigated.The focus of this work is on the measurement of transmitter frontend parametersof a new testbed designed and fabricated in order to be used at inter-vehiclecommunication based on IEEE 802.11p.</p> / Road safety applications, Vehicle-to-Vehicle communication

The number of vehicles has increased significantly in recent years, which causeshigh density in traffic and further problems like accidents and road congestions.A solution regarding to this problem is vehicle-to-vehicle communication, wherevehicles are able to communicate with their neighboring vehicles even in the absenceof a central base station, to provide safer and more efficient roads and toincrease passenger safety.The goal of this thesis is to investigate basic physical layer parameters of ainter-vehicle communication system, like emission power, spectral emission, errorvector magnitude, guard interval, ramp-up/down time, and third order interceptpoint. I also studied the intelligent transportation system’s channel layout inEurope, how the interference of other systems are working in co-channel and adjacentchannels, and some proposals to use the allocated frequency bands. On theother hand, the fundamentals of OFDM transmission and definitions of OFDMkey parameters in IEEE 802.11p are investigated.The focus of this work is on the measurement of transmitter frontend parametersof a new testbed designed and fabricated in order to be used at inter-vehiclecommunication based on IEEE 802.11p. / Road safety applications, Vehicle-to-Vehicle communication

This research develops and evaluates an Advanced Traveler Information System (ATIS) model using a Vehicle-to-Vehicle (V2V) communication system (referred to as the GATIS-V2V model) with the off-the-shelf microscopic simulation model, VISSIM. The GATIS-V2V model is tested on notional small traffic networks (non-signalized and signalized) and a 6X6 typical urban grid network (signalized traffic network). The GATIS-V2V model consists of three key modules: vehicle communication, on-board travel time database management, and a Dynamic Route Guidance System (DRGS). In addition, the system performance has been enhanced by applying three complementary functions: Autonomous Automatic Incident Detection (AAID), a minimum sample size algorithm, and a simple driver behavior model. To select appropriate parameter ranges for the complementary functions a sensitivity analysis has been conducted. The GATIS-V2V performance has been investigated relative to three underlying system parameters: traffic flow, communication radio range, and penetration ratio of participating vehicles. Lastly, the enhanced GATIS-V2V model is compared with the centralized traffic information system. This research found that the enhanced GATIS-V2V model outperforms the basic model in terms of travel time savings and produces more consistent and robust system output under non-recurrent traffic states (i.e., traffic incident) in the simple traffic network. This research also identified that the traffic incident detection time and driver's route choice rule are the most crucial factors influencing the system performance. As expected, as traffic flow and penetration ratio increase, the system becomes more efficient, with non-participating vehicles also benefiting from the re-routing of participating vehicles. The communication radio ranges considered were found not to significantly influence system operations in the studied traffic network. Finally, it is found that the decentralized GATIS-V2V model has similar performance to the centralized model even under low flow, short radio range, and low penetration ratio cases. This implies that a dynamic infrastructure-based traffic information system could replace a fixed infrastructure-based traffic information system, allowing for considerable savings in fixed costs and ready expansion of the system off of the main network corridors.

New cooperative intelligent transportation system (C-ITS) applications become enabled thanks to advances in communication technologies between vehicles(V2V) and with the infrastructure (V2I). Communicating vehicles share information with each other and cooperate, which results in improved safety, fuel economy, and traffic efficiency. An example of a C-ITS application is platooning, which comprises a string of vehicles that travel together with short inter-vehicle distances (IVDs). Any solution related to C-ITS must comply with high safety requirements in order to pass standardization and be commercially deployed. Furthermore, trusted safety levels should be assured even for critical scenarios. This thesis studies the conditions that guarantee safety in emergency braking scenarios for heterogeneous platooning, or string-like, formations of vehicles. In such scenarios, the vehicle at the head of the string emergency brakes and all following vehicles have to automatically react in time to avoid rear-end collisions. The reaction time can be significantly decreased with vehicle-to-vehicle (V2V) communication usage since the leader can explicitly inform other platooning members about the critical braking. The safety analysis conducted in the thesis yields computationally efficient methods and algorithms for calculating minimum inter-vehicle distances that allow avoiding rear-end collisions with a predefined high guarantee. These IVDs are theoretically obtained for an open-loop and a closed-loop configurations. The former implies that follower drives with a constant velocity until braking starts, whereas in the latter, an adaptive cruise control (ACC) with a constant-distance policy serves as a controller. In addition, further optimization of inter-vehicle distances in the platoon is carried out under an assumption of centralized control. Such an approach allows achieving better fuel consumption and road utilization. The performed analytical comparison suggests that our proposed V2V communication based solution is superior to classical automated systems, such as automatic emergency braking system (AEBS), which utilizes only onboard sensors and no communication. Wireless communication, enabling to know the intentions of other vehicles almost immediately, allows for smaller IVDs whilst guaranteeing the same level of safety. Overall, the presented thesis highlights the importance of C-ITS and, specifically, V2V in the prevention of rear-end collisions in emergency scenarios. Future work directions include an extension of the obtained results by considering more advanced models of vehicles, environment, and communication settings; and applying the proposed algorithms of safety guaranteeing to other controllers, such as ACC with a constant time headway policy.

Indiana University-Purdue University Indianapolis (IUPUI) / Autonomous Emergency Braking (AEB) system uses vehicle’s on-board sensors such as radar, LIDAR, camera, infrared, etc. to detect the potential collisions, alert the driver and make safety braking decision to avoid a potential collision. Its limitation is that it requires clear line-of-sight to detect what is in front of the vehicle. Whereas, in current V2V (vehicle-to-vehicle communication) systems, vehicles communicate with each other over a wireless network and share information about their states. Thus the safety of a V2V system is limited to the vehicles with communication capabilities. Our idea is to integrate the complementary capabilities of V2V and AEB systems together to overcome the limitations of V2V and AEB systems. In a V2V-AEB system, vehicles exchange data about the objects information detected by their onboard sensors along with their locations, speeds, and movements. The object information detected by a vehicle and the information received through the V2V network is processed by the AEB system of the subject vehicle. If there is an imminent crash, the AEB system alerts the driver or applies the brake automatically in critical conditions to prevent the collision. To make V2V-AEB system advance, we have developed an intelligent heart Monitoring system and integrated it with the V2V-AEB system of the vehicle. The advancement of wearable and implantable sensors enables them to communicate driver’s health conditions with PC’s and handheld devices. Part of this thesis work concentrates on monitoring the driver’s heart status in real time by using fitness tracker. In the case of a critical health condition such as the cardiac arrest of a driver, the system informs the vehicle to take an appropriate operation decision and broadcast emergency messages over the V2V network. Thus making other vehicles and emergency services aware of the emergency condition, which can help a driver to get immediate medical attention and prevent accident casualties. To ensure that the effectiveness of the V2V-AEB system is not reduced by a time delay, it is necessary to study the effect of delay thoroughly and to handle them properly. One common practice to control the delayed vehicle trajectory information is to extrapolate trajectory to the current time. We have put forward a dynamic system that can help to reduce the effect of delay in different environments without extrapolating trajectory of the pedestrian. This method dynamically controls the AEB start braking time according to the estimated delay time in the scenario. This thesis also addresses the problem of communication overload caused by V2V-AEB system. If there are n vehicles in a V2V network and each vehicle detects m objects, the message density in the V2V network will be n*m. Processing these many messages by the receiving vehicle will take considerable computation power and cause a delay in making the braking decision. To prevent flooding of messages in V2V-AEB system, some approaches are suggested to reduce the number of messages in the V2V network that include not sending information of objects that do not cause a potential collision and grouping the object information in messages.

Over the past decades, congestion and emission problems has increased remarkablywhich escalates the demands on vehicles. The advancements withinthe eld of information and communication systems gives the opportunity todeal with the aforementioned problems. The concept of platooning shows tobe an attractive way of reducing both congestion and emissions by having ashort inter-vehicle spacing. The ndings in studies show that fuel reductionpotentials of 5-20 % are viable as a result of the lowered air drag by drivingin platoon. This thesis investigates the state of the art within the areaof intelligent transport systems (ITS) along with advanced driver assistancesystems (ADAS). Furthermore, the prosecuted work results in a proposedcontrol design for a longitudinal control in a platoon of vehicles. The platoonconsists of two homogeneous radio controlled vehicles (RCV) which aremodelled by taking advantage of system identication methods. The identi-ed plant models are implemented into a Simulink model where the controlsystem is developed. Moreover, the developed control system is implementedinto a real-time demonstrator for experimental evaluation. The results showsthat the modelled dynamics corresponds reasonably well with the real dynamicsof the system. The developed control system proves to work well andagree with the expectations of its performance obtained from simulations.The performance of the proposed controller has been evaluated by means ofsimulations and real experiments. The resulting control system consists ofPID controllers for both speed and spacing control. / Under de senaste decennierna har mangden trakstockningar och problemmed utslapp okat - darmed aven kraven pa vara fordon. Samtidigt skaparframstegen inom informations- och kommunikationssystem mojligheter foratt hantera ovannamnda problem. Kolonnkorning, eller platooning har visatsig vara en eektiv metod for att minska saval trakstockningar som utslappsom en foljd av kortare avstand mellan fordon. Resultat fran studier visarhur en branslereduktion runt 5-20 % ar mojlig till foljd av det sankta luftmotstandet vid kolonnkorning. Avhandlingen undersoker teknikens standpunktinom intelligenta transportsystem (ITS) tillsammans med avancerade drivhjalpsystem(ADAS). Vidare resulterar arbetet i ett forslag till regleringsdesignfor en longitudinell kontroll i en kolonn av fordon. Kolonnen bestar av tvahomogena radiostyrda fordon (RCV) som modelleras genom att utnyttjametoder for systemidentiering. De identierade systemmodellerna implementerasi en Simulink-modell dar styrsystemet utvecklas. Dessutom implementerasdet utvecklade styrsystemet i en realtids-demonstration for experimentellutvardering. Resultaten visar att den modellerade dynamikenstammer bra overens med systemets verkliga dynamik. Det utvecklade styrsystemetvisar sig fungera bra och overensstammer med forvantningarna pa dessprestanda som erhallits genom simuleringar. Den foreslagna regulatorns prestandahar utvarderats med hjalp av simuleringar och verkliga experiment.Det resulterande styrsystemet bestar av PID regulatorer for bade hastighetsochavstandskontroll.