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CVIS Performance Test Results – 1Oth ITST – November 2010
CVIS Performance Test Results: Fast Handovers in an 802.11p Network
Marie Moe – Q-Free
Vilmos Nebehaj – Q-Free
Thierry Ernst – INRIA
CVIS Performance Test Results – 1Oth ITST – November 2010 2
ITS Station: Vision
Communicating vehicleCommunication scenarios diversity (V2V, V2I, I2V, Internet)Communications diversity (WiFi, WiMax, 3G, Satellite, ...)Application diversity (road safety, road effi ciency, infotainment, ...)
CVIS Performance Test Results – 1Oth ITST – November 2010 3
ITS Station: Vision
Application and scenario diversitySafety, non-safety and infotainment applicationsCommunication architecture allows V2V, V2I and continuous Internet access
Media diversityMicrowave (802.11p)Microwaves CEN DSRCCellular (2G/3G)Infrared light (IR)Millimeter waves=> Media selection & switching based on availability & application requirements
Networking diversityIPv6 (Internet connectivity + mobility management) Non-IP networking (GeoNetworking / FAST => time critical)
CVIS Performance Test Results – 1Oth ITST – November 2010 4
Facilities
Station-ExternalInterfaces
MI-
SA
P
IN-SAP
Man
agem
ent
Info
rmat
ion
Ba
se (
MIB
)
Station-InternalInterfaces
ITS Network
IN-SAP
MN
-SA
P
Networking & Transport
Access Technologies (PHY&DLL)
...IPv6 +Mobility
Extensions
NF-SAP
Geo-Routing
MI-
SA
PM
N-S
AP
MF-
SA
P
Ma
na
ge
men
t
Application Support
NF-SAP
MF-
SA
P
ITS Station Reference Architecture
Otherprotocols
e.g.GPS
e.g.2G/3G/...
e.g.BlueTooth
e.g.Ethernet
e.g.5.9GHz
Sec
uri
ty
SI-
SA
P
SI-
SA
P
SN
-SA
P
SN
-SA
P
SF
-SA
P
SF
-SA
P
Sec
urity
Inf
orm
atio
n B
ase
(Id
entit
y, C
rypt
oKe
y an
d C
ert
ifica
te M
anag
men
t)
Session Support
SM-SAP
ITS Transport TCP/UDP
e.g.WiFi
Information Support
ApplicationsTraffic
EfficiencyRoadSafety
OtherApplications
FA-SAP
SA
-SA
P
SA
-SA
P
MA
-SA
P
MA
-SA
P
FA-SAP
SM-SAP
Hardware Security Module (HSM)
Aut
hent
icat
ion,
Aut
horiz
atio
n, P
rofil
e M
anag
eme
nt
Fire
wal
l and
Intru
sion
Man
age
me
nt
Cro
ss-I
nte
rfac
e M
anag
emen
tN
etw
orki
ng M
anag
eme
ntS
tatio
n m
anag
em
ent
Proposed European ITS Communication ArchitectureJoint development:
ETSI TC ITSCOMeSafety+ R&D projectsISO TC 204 WG16 (CALM)
Network layer allows for
non-IP and IPv6 communications1-hop or multihop communications
ITS Station: Reference Architecture (ETSI / ISO)
CVIS Performance Test Results – 1Oth ITST – November 2010 6
Vehicle ITS Station: In-vehicle IP network
V2V & V2I communication crucial for ITSVehicles will be fully networked / in-vehicle networkIn-vehicle devices will require (continuous) Internet connectivity Internet connectivity will be provided transparently to the applications through a range of access technologies
2G/3G/4G, IEEE 802.11 a/b/g, IEEE 802.11p, DSRC, ...
CVIS Performance Test Results – 1Oth ITST – November 2010 8
ISO TC204 WG16: CALM
ISO Technical Committee 204: Currently 12 active WGshttp://www.iso.org/iso/iso_technical_committee.html?commid=54706
WG 16: Wide Area CommunicationsSince Y 2000 / Led by Russell Shields (Ygomi)CALM: Communication Architecture for Land Mobile
Renamed from Communications Air-interface, Long and Medium rangeDocs:
Web: http://www.calm.huCALM Handbook
7 sub-WGs SWG 16.0: CALM ArchitectureSWG 16.1: CALM MediaSWG 16.2: CALM Network SWG 16.3: Probe DataSWG 16.4: Application ManagementSWG 16.5: Emergency notifi cations (eCall)SWG 16.6: CALM ad-hoc subsystemSWG 16.6: Security
CVIS Performance Test Results – 1Oth ITST – November 2010 9
ISO TC204 WG16: ISO 21217 - CALM Architecture
Application and scenario diversitySafety, non-safety and infotainment applicationsCommunication architecture allows V2V, V2I and continuous Internet access
Media diversityCellular (CALM 2G/3G) – ISO 21212 & 21213Infrared light (IR) – ISO 21214Microwave (CALM M5 => 802.11p) – ISO 21215Millimeter waves (CALM MM) – ISO 21216Microwaves CEN DSRC
Networking diversityIPv6 (Internet connectivity, mobility management) – ISO 21210Non-IP networking (FAST => time critical applications) – ISO 29281
Medium Selection & SwitchingMedia selection based on availability & application needs – ISO 24102
CVIS Performance Test Results – 1Oth ITST – November 2010 10
Variable Message Sign
Hot-Spot(Wireless LAN)
Terrestrial BroadcastRDS, DAB
UMTSWiMAX
Beacon•CALM-M5•CEN-DSRC•CALM-IR
GPS, Galileo
Info-Broadcaster
BroadcastTransmitter
Vehicle-to-Vehicle (M5, IR, MM)
GSM-GPRS
Sat-Comm
PDA, SmartPhone
The generic Comm ArchitectureThe generic Comm Architectureis CALMis CALM
ISO TC204 WG16: Media Diversity
Cellular (CALM 2G/3G)ISO 21212 & 21213
Infrared light (IR)
ISO 21214
Microwave (CALM M5) ISO 21215 (IEEE 802.11 a/b/g/p
and CEN DSRC
Millimeter waves (CALM MM)
ISO 21216
CVIS Performance Test Results – 1Oth ITST – November 2010 11
ISO TC204 WG16: Specifi cations (subset)
21217: ITS station Architecture24102: ITS station management29281: non-IP networking21210: IPv6 networking21215: Medium SAPs
21217
29281
21210
24102
CVIS Performance Test Results – 1Oth ITST – November 2010 12
ITS station: IPv6 Networking – Design Goals
IPv6 networkingIPv6 suite of protocols & mobility features (NEMO)
Roaming requirementsAll nodes must be reachable at current location and permanent address
IPv6 mobility management: NEMO + etcMaintain a permanent address space on board the vehicleMaintain sessions during handovers (horizontal & vertical)Packets are forwarded to the current location of the vehicle
Medium Selection & Switching: MCoA + etcHorizontal handover: between access points using the same mediaVertical handover: heterogeneous handovers Purpose: Continuous communication during handoffSelect the most appropriate media based on application needsManage simultaneous access to the Internet (multiple interfaces)
CVIS Performance Test Results – 1Oth ITST – November 2010 13
Coordinator: Fiat Research CentreTotal budget: € 38 MillionConsortium: 51 partners - 12 countriesFocus: Safety – V2V low latency
• Coordinator: Austria tech• Total budget: € 16,8 Million• Consortium: 37 partners - 14 countries• Focus: Roadside / Infrastructure
• Coordinator: ERTICO• Total budget: € 41 Million• Consortium: 61 partners - 12 countries• Focus: Efficiency – V2R services
• Co-operating projects also includes: GeoNet, SeVeCOM, COMeSafety, Car-2-Car Communications Consortium (C2C-CC), Network on Wheels (NoW), INVENT, ACTIV (Germany), CVHS (UK), IVSS (Sweden)
Car<->Car
CALM: European R&D Projects supported by DG INFSO
Core Technologies
Car<->Infrastructure
CVIS Performance Test Results – 1Oth ITST – November 2010 14
CVIS: FP6 Integrated Project (IP)
Cooperative Vehicle-Infrastructure Systemhttp://www.cvisproject.orgFrom Feb. 2006 till Feb. 201061 partners / 12 countries / Total Budget: 41 M€
ObjectivesDevelop, trial & demonstrate
Inter-operable architecture for vehicular communicationsNovel applications for:
Cooperative traffic and road network monitoringCooperative road & traffic network management & controlCooperative logistics & fleet managementCooperative public transport & intermodality
VisionUse and extend existing standardsProduce open design and softwareOutput intended to be reused by other EC projects
CVIS Performance Test Results – 1Oth ITST – November 2010 16
Networking & Transport
Access Technologies
...
Man
agem
ent
5.9GHz
Secu
rity
Ethernet
5.9GHzVehicle Station
Facilities
Networking & Transport
Access Technologies
...Manag
em
ent
Sec
uri
ty
Applications
Ethernet
CVIS Mobile Router CVIS Host
CVIS Vehicle Station: In-vehicle IP network
In-vehicle IPv6 subnetCVIS Router: Mobile Router maintaining Internet Access through several physical interfacesCVIS Host: run dedicated ITS applicationsOEM Gateway (optional): between IPv6 and CAN
Facilities
Networking & Transport
Access Technologies
...
Managem
ent
Ethernet
Security
CAN bus
ECU ECU
CVIS Performance Test Results – 1Oth ITST – November 2010 17
VMS 5.9
SENSCtrl
Networking & Transport
Access Technologies
. ..
Managem
ent
Ethernet
Secu
rity
IPv6
BorderRouterFacilities
Networking & Transport
Access Technologies
...
Man
agem
ent
Ethernet
Secu
rity
CAN bus
Facilities
Networking & Transport
Access Technologies
...
Man
agem
ent
Secu
rity
Applications
Ethernet
RoadsideHost
Networking & Transport
Access Technologies
...
Man
ag
em
ent
5.9GHz
Secu
rity
Ethernet
AccessRouter
IPv6 Internet(Tunneled)
RoadsideGateway
Roadside Station
Roadside IPv6 subnetRoadside Host: Provides services to the vehicleAccess Router: Relays services to the vehicleBorder Router: Provides Internet access to the roadsideRoadside Gateway: between IPv6 and legacy roadside devices
CVIS Roadside Station: Confi guration
CVIS Performance Test Results – 1Oth ITST – November 2010 20
Roadside System
Vehicle System
CVIS: IPv6 Communications between subsystems
InternetInternet
Central System
(MNN)
Vehicle Host
MobileRouter
Antenna
VehicleGateway
SENS
SENS
CtrlCtrl
ServiceCentre
ControlCentre
InternetInternet
AuthorityDatabases
Home Agent
CentralHost
Gate-way
BorderRouter
CentralHost
Gate-way
BorderRouter
CentralHost
Gate-way
BorderRouter
VMS Ant
SENSCtrl
AccessRouter
RoadsideHost
RoadsideGateway
BorderRouter
Native IPv6 or IPv6 Tunneled in IPv4
Native IPv6 or L2Native IPv6 or IPv6 Tunneled in IPv4
Native IPv6 ;Session continuity
with NEMO
IPv6 or IPv4
IPv6 only IPv6 only (or dual IPv4/IPv6)
IPv6 only (or dual IPv4/IPv6)
CVIS Performance Test Results – 1Oth ITST – November 2010 22
CVIS: Vehicle ITS Station
CVIS Sensor & M5 cardGyro
Accelero-meter
20chGPS
OBD-IICAN Bus
CEN DSRC
2.5 / 5 GHz 802.11 radiosmodified for:
- Euro 802.11p- DSRC RT sync- GPS time sync
FPGA: PCI, Serial ports & softcore CPURealtime GPS & DSRC sync, sensor fusion/timestamp
CVIS Core SW
Mobile RouterMobile Host
GPSAntenna
CEN DSRCAntenna
5.9 GHzAntenna 1
2-6 GHzAntenna 2
GSM/UMTSAntenna
Infrared OBUCVIS Vehicle Antenna
Touch Screen
CVIS Performance Test Results – 1Oth ITST – November 2010 23
CVIS: Communication Performance Tests
ObjectivesDemonstrate that communications technology supports CVIS and COMM high level objectivesDemonstrate correctly implemented Use Cases
H-L MeasurementsData ratesHandover performanceInternet reachability
Tests were performed at 2 different test sitesGothenburg (V2V - 180 km/h)Trondheim (V2I – data throughput)
CVIS Performance Test Results – 1Oth ITST – November 2010 24
CVIS: Results – Test Site Norway
http://www.item.ntnu.no/its-tsn/
CVIS Performance Test Results – 1Oth ITST – November 2010 25
CVIS Results: M5 Data Throughput on CCH ChannelVehicle driving towards and away from roadside station at different speedsRoadside transmitter is fl ooding CCH (1000 bytes) / Vehicle receiver samples the number of received packets at each GPS sample
Performance dip ~200m from roadside due to multipath effectsAsymmetry of graph due to vehicle antenna not being perfect omnidirectional (antenna facing or turning away from roadside)
CVIS Performance Test Results – 1Oth ITST – November 2010 26
CVIS Results: M5 Data Throughput on AUX ChannelVehicle driving towards and away from roadside station at speed > 40 km/h (aggregated speeds as not signifi cant factor)Roadside transmitter is fl ooding AUX (1000 bytes) / Vehicle receiver samples the number of received packets at each GPS sample
Performance dip ~200m from roadside due to multipath effectsAsymmetry of graph due to vehicle antenna not being perfect omnidirectional (antenna facing or turning away from roadside)U-turn ~800m from the roadside
CVIS Performance Test Results – 1Oth ITST – November 2010 27
CVIS: Interface SelectionThe interface management policy plug-in was confi gured to choose the most reliable interface based on the CI/VCI status list and to prefer M5 over 3G if an M5 interface with suffi cient reliability is available.
The reliability parameter for the M5 channels is calculated based on signal quality reported by CALM Management SAP and active measurements (latency between Home Agent and vehicle mobile router)
Reliability for 3G is calculated from the RSSI value
Handovers were tested with a simple IPv6 application that established a session with a UDP/TCP echo server, sending and receiving one message every second
CVIS Performance Test Results – 1Oth ITST – November 2010 28
CVIS: Results – Horizontal Handover M5 - M5
Rush traffi c driving with stop and start speed conditions passing 3 M5 RSUs with distance ~200 meters between them
The red line shows the distance from the RSUs (RSU1 on top, RSU2 middle and RSU3 lower)
The application is sending and receiving one UDP message each second
Green dots show reliability parameter for the M5 channel belonging to each roadside
Yellow shading shows which roadside is being used for the packet fl ow
CVIS Performance Test Results – 1Oth ITST – November 2010 29
CVIS: Results – Vertical Handover M5 - 3G
Vehicle driving away from roadside and turning around a corner to get out of reach of M5 communication and then turning and driving back again to the roadsideThe system policy was set to prefer M5 over 3GThe application is sending & receiving one TCP message each secondGreen dots show reliability parameter for the M5 channel on upper plot and 3G reliability on lower plot (3G reliability only calculated from RSSI and not updated that frequently)Yellow shading shows which communication channel is being used for the packet fl ow
CVIS Performance Test Results – 1Oth ITST – November 2010 30
CVIS: Results – Handover Latency (M5-M5 & M5-3G)
The handover appears seamless to the application layer since the network layer confi guration has already been performed with the previous link still in use (make before break)
The plot shows aggregated handover latency times for both M5-M5 and M5-3G handovers
Most likely the latency is very short (< 100 ms)
In case a policy exchange request message is lost, there is a resend timeout of 300 ms, giving some peaks around 300 and 600 ms (the in-between values are mostly due to 3G latency)
Handover latency time: time it takes from the mobile router to send a policy exchange message to the HA until it gets a reply message back confi rming that the new policy is ready to be used for the application packet fl ow
CVIS Performance Test Results – 1Oth ITST – November 2010 31
CVIS: Conclusions
Demonstrated ability to maintain continuous IPv6 Internet connection while packet fl ow is handed off
Between different roadside ITS stations (horizontal handover)Between multiple wireless carriers (vertical handover)
CVIS: proof of concept of CALMFirst implementation of CALM (open source)Hardware equipmentFirst large scale validation of IPv6 in the ITS sectorEncouraging results
CVIS platform offers its advanced communication features to applications via the ITS facilities layer implemented in the open source Java/OSGI Knopfl erfi sh framework
CVIS Performance Test Results – 1Oth ITST – November 2010 32
Links
WG 16 (CALM): Wide Area CommunicationsSince Y 2000 / Led by Russell Shields (Ygomi)CALM: Communication Architecture for Land Mobilehttp://www.calm.hu
CVIS: http://www.cvisproject.org
Test Site Norway: http://www.item.ntnu.no/its-tsn/
IPv6 for ITS portal: http://www.lara.prd.fr/ipv6-its
CVIS Performance Test Results – 1Oth ITST – November 2010
CVIS Performance Test Results: Fast Handovers in an 802.11p Network
INRIA IMARA project-team / JRU LARA
http://www.lara.prd.fr