Inter-vehicle communication systems: a survey

Inter-vehicle communication (IVC) systems (i.e., systems not relying on roadside infrastructure) have the potential to radically improve the safety, efficiency, and comfort of everyday road travel. Their main advantage is that they bypass the need for expensive infrastructure; their major drawback is the comparatively complex networking protocols and the need for significant penetration before their applications can become effective. In this article we present several major classes of applications and the types of services they require from an underlying network. We then proceed to analyze existing networking protocols in a bottom-up fashion, from the physical to the transport layers, as well as security aspects related to IVC systems. We conclude the article by presenting several projects related to IVC as well as a review of common performance evaluation techniques for IVC systems.

[1]  Prasant Mohapatra,et al.  Experimental characterization of multi-hop communications in vehicular ad hoc network , 2005, VANET '05.

[2]  Tracy Camp,et al.  A survey of mobility models for ad hoc network research , 2002, Wirel. Commun. Mob. Comput..

[3]  Masao Nakagawa,et al.  MAC protocol for inter-vehicle communication network using spread spectrum technique , 1994, Proceedings of VNIS'94 - 1994 Vehicle Navigation and Information Systems Conference.

[4]  Qingyan Yang,et al.  Using Bluetooth and sensor networks for intelligent transportation systems , 2004, Proceedings. The 7th International IEEE Conference on Intelligent Transportation Systems (IEEE Cat. No.04TH8749).

[5]  Tankut Acarman,et al.  Performance evaluation of inter-vehicle communication in highway systems and in urban areas , 2006 .

[6]  Dirk M. Reichardt,et al.  CarTALK 2000: safe and comfortable driving based upon inter-vehicle-communication , 2002, Intelligent Vehicle Symposium, 2002. IEEE.

[7]  Liviu Iftode,et al.  VITP: an information transfer protocol for vehicular computing , 2005, VANET '05.

[8]  Werner Wiesbeck,et al.  An investigation of millimeter wave propagation mechanisms for mobile intervehicle communications and outdoor MBS , 1998, VTC '98. 48th IEEE Vehicular Technology Conference. Pathway to Global Wireless Revolution (Cat. No.98CH36151).

[9]  Rajesh Rajamani,et al.  An Experimental Comparative Study of Autonomous and Co-operative Vehicle-follower Control Systems , 2001 .

[10]  Jinhua Guo,et al.  Context assisted routing protocols for inter-vehicle wireless communication , 2005, IEEE Proceedings. Intelligent Vehicles Symposium, 2005..

[11]  Wai Chen,et al.  Ad hoc peer-to-peer network architecture for vehicle safety communications , 2005, IEEE Commun. Mag..

[12]  A. Widodo,et al.  A new inter-vehicle communication system for intelligent transport systems and an autonomous traffic flow simulator , 1998, 1988 IEEE 5th International Symposium on Spread Spectrum Techniques and Applications - Proceedings. Spread Technology to Africa (Cat. No.98TH8333).

[13]  Jing Zhu,et al.  MAC for dedicated short range communications in intelligent transport system , 2003, IEEE Commun. Mag..

[14]  Y. Matsushita,et al.  A Network Based On Inter-vehicle Communication , 1993, Proceedings of the Intelligent Vehicles '93 Symposium.

[15]  Jing Tian,et al.  Spatially aware packet routing for mobile ad hoc inter-vehicle radio networks , 2003, Proceedings of the 2003 IEEE International Conference on Intelligent Transportation Systems.

[16]  T. Matsumura,et al.  Frequency hopping ultra wideband inter-vehicle radar system using chirp waveforms , 2004, 2004 International Workshop on Ultra Wideband Systems Joint with Conference on Ultra Wideband Systems and Technologies. Joint UWBST & IWUWBS 2004 (IEEE Cat. No.04EX812).

[17]  Pravin Varaiya,et al.  Smart cars on smart roads: problems of control , 1991, IEEE Trans. Autom. Control..

[18]  Srdjan Capkun,et al.  The security and privacy of smart vehicles , 2004, IEEE Security & Privacy Magazine.

[19]  Azim Eskandarian,et al.  Fast, robust message forwarding for inter-vehicle communication netw , 2006, 2006 IEEE Intelligent Transportation Systems Conference.

[20]  M. Nakagawa,et al.  Mutual decentralized synchronization for intervehicle communications , 1999 .

[21]  Takaaki Hasegawa,et al.  A new scheme of nearby vehicles' positions recognition and inter-vehicle communication without signal collision-V-PEACE scheme , 2000, VTC2000-Spring. 2000 IEEE 51st Vehicular Technology Conference Proceedings (Cat. No.00CH37026).

[22]  Dhiraj K. Pradhan,et al.  A cluster-based approach for routing in dynamic networks , 1997, CCRV.

[23]  Jianping Wu,et al.  Vehicle to vehicle communication outage and its impact on convoy driving , 2000, Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511).

[24]  Lei Rao,et al.  Traffic flow simulation using CORSIM , 2000, 2000 Winter Simulation Conference Proceedings (Cat. No.00CH37165).

[25]  Kiyohito Tokuda,et al.  A study of real-time and autonomous decentralized DSRC system for inter-vehicle communications , 2000, ITSC2000. 2000 IEEE Intelligent Transportation Systems. Proceedings (Cat. No.00TH8493).

[26]  Azim Eskandarian,et al.  Mobility management in IVC networks , 2003, IEEE IV2003 Intelligent Vehicles Symposium. Proceedings (Cat. No.03TH8683).

[27]  Martin Mauve,et al.  Geographic routing in city scenarios , 2005, MOCO.

[28]  Charles E. Perkins,et al.  Ad-hoc on-demand distance vector routing , 1999, Proceedings WMCSA'99. Second IEEE Workshop on Mobile Computing Systems and Applications.

[29]  Martin Mauve,et al.  A routing strategy for vehicular ad hoc networks in city environments , 2003, IEEE IV2003 Intelligent Vehicles Symposium. Proceedings (Cat. No.03TH8683).

[30]  Akihiko Sugiura,et al.  In traffic jam IVC-RVC system for ITS using Bluetooth , 2005, IEEE Transactions on Intelligent Transportation Systems.

[31]  Lars Wischhof,et al.  Information dissemination in self-organizing intervehicle networks , 2005, IEEE Transactions on Intelligent Transportation Systems.

[32]  Christian Maihöfer,et al.  Time-stable geocast for ad hoc networks and its application with virtual warning signs , 2004, Comput. Commun..

[33]  Jae Weon Choi,et al.  Implementation of inter-vehicle communication system for vehicle platoon experiments via testbed , 2003, SICE 2003 Annual Conference (IEEE Cat. No.03TH8734).

[34]  Hao Wu,et al.  An empirical study of short range communications for vehicles , 2005, VANET '05.

[35]  M. Nakagawa,et al.  Car detection using curved mirrors by automotive millimeter wave radar , 2003, Fourth International Conference on Information, Communications and Signal Processing, 2003 and the Fourth Pacific Rim Conference on Multimedia. Proceedings of the 2003 Joint.

[36]  Raja Sengupta,et al.  Empirical determination of channel characteristics for DSRC vehicle-to-vehicle communication , 2004, VANET '04.

[37]  S. Katragadda,et al.  A decentralized location-based channel access protocol for inter-vehicle communication , 2003, The 57th IEEE Semiannual Vehicular Technology Conference, 2003. VTC 2003-Spring..

[38]  C. Maihofer,et al.  A survey of geocast routing protocols , 2004, IEEE Communications Surveys & Tutorials.

[39]  Liviu Iftode,et al.  TrafficView: traffic data dissemination using car-to-car communication , 2004, MOCO.

[40]  Tim Leinmüller,et al.  POSITION VERIFICATION APPROACHES FOR VEHICULAR AD HOC NETWORKS , 2006, IEEE Wireless Communications.

[41]  Thomas Nowey,et al.  Towards a security architecture for vehicular ad hoc networks , 2006, First International Conference on Availability, Reliability and Security (ARES'06).

[42]  Anna Scaglione,et al.  Transmit antennae space-time block coding for generalized OFDM in the presence of unknown multipath , 2001, IEEE J. Sel. Areas Commun..

[43]  Shie-Yuan Wang.  The effects of wireless transmission range on path lifetime in vehicle-formed mobile ad hoc networks on highways , 2005, IEEE International Conference on Communications, 2005. ICC 2005. 2005.

[44]  Lars Michael Kristensen,et al.  Specification and performance evaluation of two zone dissemination protocols for vehicular ad-hoc networks , 2006, 39th Annual Simulation Symposium (ANSS'06).

[45]  A. M. Abdullah,et al.  Wireless lan medium access control (mac) and physical layer (phy) specifications , 1997 .

[46]  Klaus Jobmann,et al.  Performance analysis of ARQ schemes for UTRA TDD ad hoc mode , 2004, IEEE International Conference on Performance, Computing, and Communications, 2004.

[47]  Roberto Verdone,et al.  Multihop R-ALOHA for intervehicle communications at millimeter waves , 1997 .

[48]  Shie-Yuan Wang,et al.  A practical routing protocol for vehicle-formed mobile ad hoc networks on the roads , 2005 .

[49]  Takayuki Warabino,et al.  Broadcast methods for inter-vehicle communications system , 2005, IEEE Wireless Communications and Networking Conference, 2005.

[50]  Jun Luo,et al.  A Survey of Inter-Vehicle Communication , 2004 .

[51]  Kiyohito Tokuda,et al.  Experimental system of 60 GHz millimeter wave band inter-vehicle communications based CSMA method , 2002, Intelligent Vehicle Symposium, 2002. IEEE.

[52]  M. Itami,et al.  An analysis of incident information transmission performance using an IVC system that assigns PN codes to the locations on the road , 2004, IEEE Intelligent Vehicles Symposium, 2004.

[53]  Jian Liu,et al.  ATCP: TCP for mobile ad hoc networks , 2001, IEEE J. Sel. Areas Commun..

[54]  Gianni Pasolini,et al.  Bluetooth for ITS? , 2002, The 5th International Symposium on Wireless Personal Multimedia Communications.

[55]  Nick McKeown,et al.  Automated vehicle control developments in the PATH program , 1991 .

[56]  Nitin H. Vaidya,et al.  A vehicle-to-vehicle communication protocol for cooperative collision warning , 2004, The First Annual International Conference on Mobile and Ubiquitous Systems: Networking and Services, 2004. MOBIQUITOUS 2004..

[57]  H. Okada,et al.  Multi-hop control scheme on Vehicular Information BROadcasting Relay (VIBROR) , 2001, IEEE 54th Vehicular Technology Conference. VTC Fall 2001. Proceedings (Cat. No.01CH37211).

[58]  Marc Bechler,et al.  Design alternatives for IP in vehicles , 2003, The 57th IEEE Semiannual Vehicular Technology Conference, 2003. VTC 2003-Spring..

[59]  Masao Nakagawa,et al.  An anti-car collision system using GPS and 5.8 GHz inter-vehicle communication at an off-sight intersection , 2000, Vehicular Technology Conference Fall 2000. IEEE VTS Fall VTC2000. 52nd Vehicular Technology Conference (Cat. No.00CH37152).

[60]  O. Hayashi,et al.  Experimental research on inter-vehicle communication using infrared rays , 1996, Proceedings of Conference on Intelligent Vehicles.

[61]  N. Fisal,et al.  Implementation of geocast-enhanced AODV-bis routing protocol in MANET , 2004, 2004 IEEE Region 10 Conference TENCON 2004..

[62]  R. Verdone,et al.  Provision of an emergency warning service through GPRS: performance evaluation , 2004, Proceedings. The 7th International IEEE Conference on Intelligent Transportation Systems (IEEE Cat. No.04TH8749).

[63]  H. Hartenstein,et al.  Performance measurements of a vehicular ad hoc network , 2004, 2004 IEEE 59th Vehicular Technology Conference. VTC 2004-Spring (IEEE Cat. No.04CH37514).

[64]  Imrich Chlamtac,et al.  Mobile ad hoc networking: imperatives and challenges , 2003, Ad Hoc Networks.

[65]  Y. Gunter,et al.  Usage of wireless LAN for inter-vehicle communication , 2005, Proceedings. 2005 IEEE Intelligent Transportation Systems, 2005..

[66]  Nahid Shahmehri,et al.  A context-based vehicular communication protocol , 2004, 2004 IEEE 15th International Symposium on Personal, Indoor and Mobile Radio Communications (IEEE Cat. No.04TH8754).

[67]  M. Heddebaut,et al.  Using UWB Gaussian pulses for inter-vehicle communications , 2005 .

[68]  Mingyan Liu,et al.  Random waypoint considered harmful , 2003, IEEE INFOCOM 2003. Twenty-second Annual Joint Conference of the IEEE Computer and Communications Societies (IEEE Cat. No.03CH37428).

[69]  Bu-Sung Lee,et al.  Performance of Mobile Ad Hoc Network in Constrained Mobility Pattern , 2003, International Conference on Wireless Networks.

[70]  Wolfgang Kellerer,et al.  (Auto) mobile communication in a heterogeneous and converged world , 2001, IEEE Wirel. Commun..

[71]  Markus Radimirsch,et al.  Medium access and radio resource management for ad hoc networks based on UTRA TDD , 2001, MobiHoc '01.

[72]  M. Lott,et al.  A new approach to exploit multiple frequencies in DSRC , 2004, 2004 IEEE 59th Vehicular Technology Conference. VTC 2004-Spring (IEEE Cat. No.04CH37514).

[73]  Hamid Menouar,et al.  A survey and qualitative analysis of mac protocols for vehicular ad hoc networks , 2006, IEEE Wireless Communications.

[74]  Brad Karp,et al.  GPSR: greedy perimeter stateless routing for wireless networks , 2000, MobiCom '00.

[75]  Flaminio Borgonovo,et al.  ADHOC MAC: New MAC Architecture for Ad Hoc Networks Providing Efficient and Reliable Point-to-Point and Broadcast Services , 2004, Wirel. Networks.

[76]  Masayuki Fujise,et al.  Distance dependence of path loss for millimeter wave inter-vehicle communications , 2003, 2003 IEEE 58th Vehicular Technology Conference. VTC 2003-Fall (IEEE Cat. No.03CH37484).

[77]  Abderrahim Benslimane.  Optimized Dissemination of Alarm Messages in Vehicular Ad-Hoc Networks (VANET) , 2004, HSNMC.

[78]  Christian F. Tschudin,et al.  Embedding MANETs in the Real World , 2003, PWC.

[79]  Wu-chi Feng,et al.  GPS-based message broadcasting for inter-vehicle communication , 2000, Proceedings 2000 International Conference on Parallel Processing.

[80]  L. Briesemeister,et al.  Disseminating messages among highly mobile hosts based on inter-vehicle communication , 2000, Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511).

[81]  S. Obana,et al.  The video streaming at multihop communication on WACNet (wireless ad hoc community network) test system for ITS inter vehicle communications , 2005, The European Conference on Wireless Technology, 2005..

[82]  Rudolf Mathar,et al.  Histogram and integral based evaluation of an experimental inter vehicle communication trial , 1993, IEEE 43rd Vehicular Technology Conference.

[83]  Moe Z. Win,et al.  Impulse radio: how it works , 1998, IEEE Communications Letters.

[84]  Kiyohito Tokuda,et al.  Vehicle control algorithms for cooperative driving with automated vehicles and intervehicle communications , 2002, IEEE Trans. Intell. Transp. Syst..

[85]  Takaaki Hasegawa,et al.  An autonomous distributed inter-vehicle communication network using multicode sense CDMA , 1998, 1988 IEEE 5th International Symposium on Spread Spectrum Techniques and Applications - Proceedings. Spread Technology to Africa (Cat. No.98TH8333).

[86]  J. Kaltwasser,et al.  A new cooperative optimized channel access for inter-vehicle communication , 1994, Proceedings of VNIS'94 - 1994 Vehicle Navigation and Information Systems Conference.

[87]  M. Watanabe,et al.  A sideways-looking radar for inter-vehicle communication: DEMO2000 , 2001, IVEC2001. Proceedings of the IEEE International Vehicle Electronics Conference 2001. IVEC 2001 (Cat. No.01EX522).

[88]  K. Tsukamoto,et al.  A joint road-to-vehicle and vehicle-to-vehicle communications system based on non-regenerative repeater , 1999, Gateway to 21st Century Communications Village. VTC 1999-Fall. IEEE VTS 50th Vehicular Technology Conference (Cat. No.99CH36324).

[89]  Abdelmalik Bachir,et al.  A multicast protocol in ad hoc networks inter-vehicle geocast , 2003, The 57th IEEE Semiannual Vehicular Technology Conference, 2003. VTC 2003-Spring..

[90]  Charles E. Perkins,et al.  Ad hoc On-Demand Distance Vector (AODV) Routing , 2001, RFC.

[91]  W. Wiesbeck,et al.  A new inter-vehicle communications (IVC) channel model , 2004, IEEE 60th Vehicular Technology Conference, 2004. VTC2004-Fall. 2004.

[92]  H. Rohling,et al.  Performance of UTRA TDD ad hoc and IEEE 802.11b in vehicular environments , 2003, The 57th IEEE Semiannual Vehicular Technology Conference, 2003. VTC 2003-Spring..

[93]  M. Williams.  PROMETHEUS-The European research programme for optimising the road transport system in Europe , 1988 .

[94]  Fabián E. Bustamante,et al.  An integrated mobility and traffic model for vehicular wireless networks , 2005, VANET '05.

[95]  Ryuji Kohno,et al.  Inter-vehicle spread spectrum communication and ranging system with concatenated EOE sequence , 2001, IEEE Trans. Intell. Transp. Syst..

[96]  Lars Wolf,et al.  An Optimized TCP for Internet Access of Vehicular Ad Hoc Networks , 2005, NETWORKING.

[97]  Paolo Bucciol,et al.  Dynamic Packet Size Selection for 802.11 Inter-Vehicular Video Communications , 2005 .

[98]  W. Kremer.  Realistic simulation of a broadcast protocol for an inter vehicle communication system (IVCS) , 1991, [1991 Proceedings] 41st IEEE Vehicular Technology Conference.

[99]  D. de Bruin,et al.  Design and test of a cooperative adaptive cruise control system , 2004, IEEE Intelligent Vehicles Symposium, 2004.

[100]  Martin Mauve,et al.  A survey on position-based routing in mobile ad hoc networks , 2001, IEEE Netw..

[101]  Wolfgang Effelsberg,et al.  Analysis of Path Characteristics and Transport Protocol Design in Vehicular Ad Hoc Networks , 2006, 2006 IEEE 63rd Vehicular Technology Conference.

[102]  Raúl Aquino-Santos,et al.  Performance evaluation of routing protocols in vehicular ad-hoc networks , 2005, Int. J. Ad Hoc Ubiquitous Comput..

[103]  Hao Wu,et al.  MDDV: a mobility-centric data dissemination algorithm for vehicular networks , 2004, VANET '04.

[104]  M. Salah,et al.  Simulator for inter-vehicle communication based on traffic modeling , 2004, IEEE Intelligent Vehicles Symposium, 2004.

[105]  H. Alshaer,et al.  An optimized adaptive broadcast scheme for inter-vehicle communication , 2005, 2005 IEEE 61st Vehicular Technology Conference.

[106]  Tracy Camp,et al.  Comparison of broadcasting techniques for mobile ad hoc networks , 2002, MobiHoc '02.

[107]  Azim Eskandarian,et al.  Challenges of intervehicle ad hoc networks , 2004, IEEE Transactions on Intelligent Transportation Systems.

[108]  Hannes Hartenstein,et al.  Broadcast reception rates and effects of priority access in 802.11-based vehicular ad-hoc networks , 2004, VANET '04.

[109]  Bob O'Hara,et al.  Medium access control (MAC) , 2005 .

[110]  Takaaki Hasegawa,et al.  A study on encoding of position information using predictive algorithms in inter-vehicle communications , 2001, ITSC 2001. 2001 IEEE Intelligent Transportation Systems. Proceedings (Cat. No.01TH8585).

[111]  Jae Hong Lee,et al.  Infrared transmission for intervehicle ranging and vehicle-to-roadside communication systems using spread-spectrum technique , 2004, IEEE Transactions on Intelligent Transportation Systems.

[112]  Jatinder Pal Singh,et al.  Empirical observations on wireless LAN performance in vehicular traffic scenarios and link connectivity based enhancements for multihop routing , 2005, IEEE Wireless Communications and Networking Conference, 2005.

[113]  K. Tokuda,et al.  DOLPHIN for inter-vehicle communications system , 2000, Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511).

[114]  Jenn-Hwan Tarng,et al.  System development and performance investigation of mobile ad-hoc networks in vehicular environments , 2005, IEEE Proceedings. Intelligent Vehicles Symposium, 2005..

[115]  T. Fukuhara,et al.  Inter-vehicle P2P communication experimental on-board terminal , 2005, Second IEEE Consumer Communications and Networking Conference, 2005. CCNC. 2005.

[116]  M. Itami,et al.  A study on multipath propagation modeling in millimeter wave IVC , 2002, The 5th International Symposium on Wireless Personal Multimedia Communications.

[117]  Takaaki Hasegawa,et al.  On Encoding of Position Information in Inter-Vehicle Communications , 2002 .

[118]  Raja Sengupta,et al.  A multi-channel VANET providing concurrent safety and commercial services , 2005, VANET '05.

[119]  Giovanni Pau,et al.  AdTorrent: Digital Billboards for Vehicular Networks , 2005 .

[120]  Eylem Ekici,et al.  A new high throughput internet access protocol for vehicular networks , 2005, VANET '05.

[121]  Shugong Xu,et al.  Does the IEEE 802.11 MAC protocol work well in multihop wireless ad hoc networks? , 2001, IEEE Commun. Mag..

[122]  Jörg Ott,et al.  Drive-thru Internet: IEEE 802.11b for "automobile" users , 2004, IEEE INFOCOM 2004.

[123]  Y. Furukawa,et al.  Autonomous vehicle control system of ICVS City Pal: electrical tow-bar function , 2000, Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511).

[124]  Guido R. Hiertz,et al.  Vehicular wireless media network (VWMN): a distributed broadband MAC for inter-vehicle communications , 2005, VANET '05.

[125]  H. T. Kung,et al.  Ad hoc relay wireless networks over moving vehicles on highways , 2001, MobiHoc '01.

[126]  Hariharan Krishnan,et al.  Performance evaluation of safety applications over DSRC vehicular ad hoc networks , 2004, VANET '04.

[127]  B. Hofmann-Wellenhof,et al.  Global Positioning System , 1992 .

[128]  Kiyohito Tokuda.  Applications of Wireless Communication Technologies for Intelligent Transport Systems , 2001, Wirel. Pers. Commun..

[129]  Masao Nakagawa,et al.  Multi-hopping data considerations for inter-vehicle communication over multiple lanes , 1997, 1997 IEEE 47th Vehicular Technology Conference. Technology in Motion.

[130]  Celestino A. Corral,et al.  On the suitability of 802.11a/RA for high-mobility DSRC , 2002, Vehicular Technology Conference. IEEE 55th Vehicular Technology Conference. VTC Spring 2002 (Cat. No.02CH37367).

[131]  Elizabeth M. Belding-Royer,et al.  A review of current routing protocols for ad hoc mobile wireless networks , 1999, IEEE Wirel. Commun..

[132]  Roberto Verdone,et al.  Intelligent transportation systems: the role of third-generation mobile radio networks , 2000, IEEE Commun. Mag..

[133]  Li Ai,et al.  Information dissemination in multihop inter-vehicle networks , 2002, Proceedings. The IEEE 5th International Conference on Intelligent Transportation Systems.