<p>Connected and autonomous vehicle (CAV) technologies provide disruptive and transformational opportunities for innovations toward intelligent transportation systems. Compared with human driven vehicles (HDVs), the CAVs can reduce reaction time and human errors, increase traffic mobility and will be more knowledgeable due to vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication. CAVs’ potential to reduce traffic accidents, improve vehicular mobility and promote eco-driving is immense. However, the new characteristics and capabilities of CAVs will significantly transform the future of transportation, including the dissemination of traffic information, traffic flow dynamics and network equilibrium flow. This dissertation seeks to realize and enhance the application of CAVs by specifically advancing the research in three connected topics: (1) modeling and controlling information flow propagation within a V2V communication environment, (2) designing a real-time deployable cooperative control mechanism for CAV platoons, and (3) modeling network equilibrium flow with a mix of CAVs and HDVs. </p> <p>Vehicular traffic congestion in a V2V communication environment can lead to congestion effects for information flow propagation due to full occupation of the communication channel. Such congestion effects can impact not only whether a specific information packet of interest is able to reach a desired location, but also the timeliness needed to influence traffic system performance. This dissertation begins with exploring spatiotemporal information flow propagation under information congestion effects, by introducing a two-layer macroscopic model and an information packet relay control strategy. The upper layer models the information dissemination in the information flow regime, and the lower layer model captures the impacts of traffic flow dynamics on information propagation. Analytical and numerical solutions of the information flow propagation wave (IFPW) speed are provided, and the density of informed vehicles is derived under different traffic conditions. Hence, the proposed model can be leveraged to develop a new generation of information dissemination strategies focused on enabling specific V2V information to reach specific locations at specific points in time.</p> <p>In a V2V-based system, multiclass information (e.g., safety information, routing information, work zone information) needs to be disseminated simultaneously. The application needs of different classes of information related to vehicular reception ratio, the time delay and spatial coverage (i.e., distance it can be propagated) are different. To meet the application needs of multiclass information under different traffic and communication environments, a queuing strategy is proposed for each equipped vehicle to disseminate the received information. It enables control of multiclass information flow propagation through two parameters: 1) the number of communication servers and 2) the communication service rate. A two-layer model is derived to characterize the IFPW under the designed queuing strategy. Analytical and numerical solutions are derived to investigate the effects of the two control parameters on information propagation performance in different information classes. </p> <p>Third, this dissertation also develops a real-time implementable cooperative control mechanism for CAV platoons. Recently, model predictive control (MPC)-based platooning strategies have been developed for CAVs to enhance traffic performance by enabling cooperation among vehicles in the platoon. However, they are not deployable in practice as they require anembedded optimal control problem to be solved instantaneously, with platoon size and prediction horizon duration compounding the intractability. Ignoring the computational requirements leads to control delays that can deteriorate platoon performance and cause collisions between vehicles. To address this critical gap, this dissertation first proposes an idealized MPC-based cooperative control strategy for CAV platooning based on the strong assumption that the problem can be solved instantaneously. It then develops a deployable model predictive control with first-order approximation (DMPC-FOA) that can accurately estimate the optimal control decisions of the idealized MPC strategy without entailing control delay. Application of the DMPC-FOA approach for a CAV platoon using real-world leading vehicle trajectory data shows that it can dampen the traffic oscillation effectively, and can lead to smooth deceleration and acceleration behavior of all following vehicles.</p> <p>Finally, this dissertation also develops a multiclass traffic assignment model for mixed traffic flow of CAVs and HDVs. Due to the advantages of CAVs over HDVs, such as reduced value of time, enhanced quality of travel experience, and seamless situational awareness and connectivity, CAV users can differ in their route choice behavior compared to HDV users, leading to mixed traffic flows that can significantly deviate from the single-class HDV traffic pattern. However, due to a lack of quantitative models, there is limited knowledge on the evolution of mixed traffic flows in a traffic network. To partly bridge this gap, this dissertation proposes a multiclass traffic assignment model. The multiclass model captures the effect of knowledge level of traffic conditions on route choice of both CAVs and HDVs. In addition, it captures the characteristics of mixed traffic flow such as the difference in value of time between HDVs and CAVs and the asymmetry in their driving interactions, thereby enhancing behavioral realism in the modeling. New solution algorithms will be developed to solve the multiclass traffic assignment model. The study results can assist transportation decision-makers to design effective planning and operational strategies to leverage the advantages of CAVs and manage traffic congestion under mixed traffic flows.</p> <p>This dissertation deepens our understanding of the characteristics and phenomena in domains of traffic information dissemination, traffic flow dynamics and network equilibrium flow in the age of connected and autonomous transportation. The findings of this dissertation can assist transportation managers in designing effective traffic operation and planning strategies to fully exploit the potential of CAVs to improve system performance related to traffic safety, mobility and energy consumption. </p>

<p>This thesis describes the simulation of the proposed IEEE 802.11p Physical layer (PHY). A MATLAB simulation is carried out in order to analyze baseband processing of the transceiver. Orthogonal Frequency Division Multiplexing (OFDM) is applied in this project according to the IEEE 802.11p standard, which allows transmission data rates from 3 up to 27Mbps. Distinct modulation schemes, Binary Phase Shift Keying (BPSK), Quadrate Phase Shift Keying (QPSK) and Quadrature Amplitude modulation (QAM), are used according to differing data rates. These schemes are combined with time interleaving and a convolutional error correcting code. A guard interval is inserted at the beginning of the transmitted symbol in order to reduce the effect of Intersymbol Interference (ISI). The Viterbi decoder is used for decoding the received signal. Simulation results illustrate the Bit Error Rate (BER), Packet Error Rate (PER) for different channels. Different channel implementations are used for the simulations. In addition a ray-tracing based software tool for modelling time variant vehicular channels is integrated into SIMULINK. BER versus Signal to Noise Ratio (SNR) statistics are as the basic reference for the physical layer of the IEEE 802.11p standard for all vehicular wireless network simulations.</p>

This thesis describes the simulation of the proposed IEEE 802.11p Physical layer (PHY). A MATLAB simulation is carried out in order to analyze baseband processing of the transceiver. Orthogonal Frequency Division Multiplexing (OFDM) is applied in this project according to the IEEE 802.11p standard, which allows transmission data rates from 3 up to 27Mbps. Distinct modulation schemes, Binary Phase Shift Keying (BPSK), Quadrate Phase Shift Keying (QPSK) and Quadrature Amplitude modulation (QAM), are used according to differing data rates. These schemes are combined with time interleaving and a convolutional error correcting code. A guard interval is inserted at the beginning of the transmitted symbol in order to reduce the effect of Intersymbol Interference (ISI). The Viterbi decoder is used for decoding the received signal. Simulation results illustrate the Bit Error Rate (BER), Packet Error Rate (PER) for different channels. Different channel implementations are used for the simulations. In addition a ray-tracing based software tool for modelling time variant vehicular channels is integrated into SIMULINK. BER versus Signal to Noise Ratio (SNR) statistics are as the basic reference for the physical layer of the IEEE 802.11p standard for all vehicular wireless network simulations.

No description available.

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.

<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

<p>This licentiate thesis work investigates two medium access control (MAC) methods, when used in traffic safety applications over vehicular <em>ad hoc</em> networks (VANETs). The MAC methods are carrier sense multiple access (CSMA), as specified by the leading standard for VANETs IEEE 802.11p, and self-organizing time-division multiple access (STDMA) as used by the leading standard for transponders on ships. All vehicles in traffic safety applications periodically broadcast cooperative awareness messages (CAMs). The CAM based data traffic implies requirements on a predictable, fair and scalable medium access mechanism. The investigated performance measures are <em>channel access delay</em>, <em>number of consecutive packet drops</em> and the <em>distance between concurrently transmitting nodes</em>. Performance is evaluated by computer simulations of a highway scenario in which all vehicles broadcast CAMs with different update rates and packet lengths. The obtained results show that nodes in a CSMA system can experience <em>unbounded channel access delays</em> and further that there is a significant difference between the best case and worst case channel access delay that a node could experience. In addition, with CSMA there is a very high probability that several <em>concurrently transmitting nodes are located close to each other</em>. This occurs when nodes start their listening periods at the same time or when nodes choose the same backoff value, which results in nodes starting to transmit at the same time instant. The CSMA algorithm is therefore both <em>unpredictable</em> and <em>unfair</em> besides the fact that it <em>scales badly</em> for broadcasted CAMs. STDMA, on the other hand, will always grant channel access for all packets before a predetermined time, regardless of the number of competing nodes. Therefore, the STDMA algorithm is <em>predictable</em> and <em>fair</em>. STDMA, using parameter settings that have been adapted to the vehicular environment, is shown to outperform CSMA when considering the performance measure <em>distance between concurrently transmitting nodes</em>. In CSMA the distance between concurrent transmissions is random, whereas STDMA uses the side information from the CAMs to properly schedule concurrent transmissions in space. The price paid for the superior performance of STDMA is the required network synchronization through a global navigation satellite system, e.g., GPS. That aside since STDMA was shown to be scalable, predictable and fair; it is an excellent candidate for use in VANETs when complex communication requirements from traffic safety applications should be met.</p>

This licentiate thesis work investigates two medium access control (MAC) methods, when used in traffic safety applications over vehicular ad hoc networks (VANETs). The MAC methods are carrier sense multiple access (CSMA), as specified by the leading standard for VANETs IEEE 802.11p, and self-organizing time-division multiple access (STDMA) as used by the leading standard for transponders on ships. All vehicles in traffic safety applications periodically broadcast cooperative awareness messages (CAMs). The CAM based data traffic implies requirements on a predictable, fair and scalable medium access mechanism. The investigated performance measures are channel access delay, number of consecutive packet drops and the distance between concurrently transmitting nodes. Performance is evaluated by computer simulations of a highway scenario in which all vehicles broadcast CAMs with different update rates and packet lengths. The obtained results show that nodes in a CSMA system can experience unbounded channel access delays and further that there is a significant difference between the best case and worst case channel access delay that a node could experience. In addition, with CSMA there is a very high probability that several concurrently transmitting nodes are located close to each other. This occurs when nodes start their listening periods at the same time or when nodes choose the same backoff value, which results in nodes starting to transmit at the same time instant. The CSMA algorithm is therefore both unpredictable and unfair besides the fact that it scales badly for broadcasted CAMs. STDMA, on the other hand, will always grant channel access for all packets before a predetermined time, regardless of the number of competing nodes. Therefore, the STDMA algorithm is predictable and fair. STDMA, using parameter settings that have been adapted to the vehicular environment, is shown to outperform CSMA when considering the performance measure distance between concurrently transmitting nodes. In CSMA the distance between concurrent transmissions is random, whereas STDMA uses the side information from the CAMs to properly schedule concurrent transmissions in space. The price paid for the superior performance of STDMA is the required network synchronization through a global navigation satellite system, e.g., GPS. That aside since STDMA was shown to be scalable, predictable and fair; it is an excellent candidate for use in VANETs when complex communication requirements from traffic safety applications should be met.

Dans le cadre du développement des innovations dans les Systèmes de Transport Intelligents, les véhicules connectés devront être capables de télécharger des informations basées sur la position sur et depuis des serveurs distants. Ces véhicules seront équipés avec des différentes technologies d’accès radio, telles que les réseaux cellulaires ou les réseaux véhicule-à-véhicule (V2V) comme IEEE 802.11p. Les réseaux cellulaires, avec une couverture presque omniprésente, fournissent un accès à internet avec garanties de qualité de service. Cependant, l’accès à ces réseaux est payant. Dans cette thèse, un algorithme de clustering multi-saut est proposé avec pour objectif de réduire le coût d’accès au réseau cellulaire en agrégeant des données sur le réseau V2V. Pour faire ceci, le leader du cluster (CH, de l’anglais Cluster Head) est utilisé comme passerelle unique vers le réseau cellulaire. Pour le test d’une application d’exemple pour télécharger du Floating Car Data agrégé, les résultats des simulations montrent que cette approche réduit l’utilisation du réseau cellulaire de plus de 80%, en s’attaquant à la redondance typique des données basées sur la position dans les réseaux véhiculaires. Il y a une contribution en trois parties : Premièrement, une approche pour déléguer la sélection du CH à la station de base du réseau cellulaire afin de maximiser la taille des clusters, et par conséquent le taux de compression. Deuxièmement, un algorithme auto-adaptatif qui change dynamiquement le nombre maximum de sauts afin de maintenir un équilibre entre la réduction des coûts d’accès au réseau cellulaire et le taux de perte de paquets dans le réseau V2V. Finalement, l’incorporation d’une théorie de la justice distributive, afin d’améliorer l’équité sur la durée concernant la distribution des coûts auxquels les CH doivent faire face, améliorant ainsi l’acceptabilité sociale de la proposition. Les algorithmes proposés ont été testés via simulation, et les résultats montrent une réduction significative dans l’utilisation du réseau cellulaire, une adaptation réussie du nombre de sauts aux changements de la densité du trafic véhiculaire, et une amélioration dans les métriques d’équité, sans affecter la performance des réseaux. / For the development of innovative Intelligent Transportation Systems applications, connected vehicles will frequently need to upload and download position-based information to and from servers. These vehicles will be equipped with different Radio Access Technologies (RAT), like cellular and vehicle-to-vehicle (V2V) technologies such as LTE and IEEE 802.11p respectively. Cellular networkscan provide internet access almost anywhere, with QoS guarantees. However, accessing these networks has an economic cost. In this thesis, a multi-hop clustering algorithm is proposed in the aim of reducing the cellular access costs by aggregating information and off-loading data in the V2V network, using the Cluster Head as a single gateway to the cellular network. For the example application of uploading aggregated Floating Car Data, simulation results show that this approach reduce cellular data consumption by more than 80% by reducing the typical redundancy of position-based data in a vehicular network. There is a threefold contribution: First, an approach that delegates the Cluster Head selection to the cellular base station in order to maximize the cluster size, thus maximizing aggregation. Secondly, a self-adaptation algorithm that dynamically changes the maximum number of hops, addressing the trade-off between cellular access reduction and V2V packet loss. Finally, the incorporation of a theory of distributive justice, for improving fairness over time regarding the distribution of the cost in which Cluster Heads have to incur, thus improving the proposal’s social acceptability. The proposed algorithms were tested via simulation, and the results show a significant reduction in cellular network usage, a successful adaptation of the number of hops to changes in the vehicular traffic density, and an improvement in fairness metrics, without affecting network performance.