P1: Gopal

November 10, 2008 15:34 AU8571 AU8571˙C001

Chapter 1

Introduction to Vehicular
Networks
Hassnaa Moustafa, Sidi Mohammed Senouci, Moez Jerbi

Contents
1.1 Vehicular Network Definition, Architectures,
and Deployment Scenarios . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.1.1 What Are Vehicular Networks? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.1.2 Vehicular Network Architectures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.1.3 Possible Deployment Scenarios for Vehicular Networks . . . . . . 5
1.2 Special Characteristics of Vehicular Networks . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3 Vehicular Network Potential Applications and Services . . . . . . . . . . . . . . 6
1.4 Technical Challenges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.4.1 Reliable Communication and MAC Protocols . . . . . . . . . . . . . . . . . . 8
1.4.2 Routing and Dissemination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.4.3 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.4.4 IP Configuration and Mobility Management . . . . . . . . . . . . . . . . . .10
1.4.5 Application Distribution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
1.4.6 Business Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
1.5 Vehicular Network Evolution and Progress . . . . . . . . . . . . . . . . . . . . . . . . . .11
1.5.1 Main Actors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
1.5.2 Main Standardization Activities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
1.5.2.1 IEEE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
1.5.2.2 C2C-CC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
1.5.2.3 ETSI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
1.5.2.4 ISO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

1
P1: Gopal
November 10, 2008 15:34 AU8571 AU8571˙C001

2  Vehicular Networks: Techniques, Standards, and Applications

1.5.3 Related Projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

1.5.3.1 Recent Projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
1.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

Intervehicle communication (IVC) is attracting considerable attention from

the research community and the automotive industry, where it is benefi-
cial in providing intelligent transportation system (ITS) as well as drivers
and passengers’ assistant services. In this context, vehicular ad hoc net-
works (VANETs) are emerging as a new class of wireless network, sponta-
neously formed between moving vehicles equipped with wireless interfaces
that could have similar or different radio interface technologies, employing
short-range to medium-range communication systems. A VANET is a form
of mobile ad hoc network, providing communications among nearby ve-
hicles and between vehicles and nearby fixed equipment on the roadside.
This chapter gives an overview of vehicular networks (also known as
VANETs), showing their potential architectures and possible deployment
scenarios. Vehicular network, benefits and real-life applications are pre-
sented from a network operator’s view, giving potential service examples.
A number of technical challenges in vehicular network deployment are
discussed; most of these challenges are detailed in the following chapters.
Moreover, the role of the involved actors (networks operators, car manu-
facturers, service providers, and governemental authorities) is shown, as
well as the related standardization activities. Finally, some related projects
are highlighted.

1.1 Vehicular Network Definition, Architectures,

and Deployment Scenarios
1.1.1 What Are Vehicular Networks?
Vehicular networks are a novel class of wireless networks that have emerged
thanks to advances in wireless technologies and the automotive indus-
try. Vehicular networks are spontaneously formed between moving vehi-
cles equipped with wireless interfaces that could be of homogeneous or
heterogeneous technologies. These networks, also known as VANETs, are
considered as one of the ad hoc network real-life application enabling
communications among nearby vehicles as well as between vehicles and
nearby fixed equipment, usually described as roadside equipment. Vehi-
cles can be either private, belonging to individuals or private companies,
or public transportation means (e.g., buses and public service vehicles such
P1: Gopal
November 10, 2008 15:34 AU8571 AU8571˙C001

Introduction to Vehicular Networks  3

as police cars). Fixed equipment can belong to the government or private

network operators or service providers.
Indeed, vehicular networks are promising in allowing diverse communi-
cation services to drivers and passengers. These networks are attracting con-
siderable attention from the research community as well as the automotive
industry. High interest for these networks is also shown from governmen-
tal authorities and standardization organizations. In this context, dedicated
short-range communications (DSRC) system has emerged in North America,
where 75 MHz of spectrum was approved by the U.S. FCC (Federal Commu-
nication Commission) in 2003 for such type of communication that mainly
targets vehicular networks. On the other hand, the Car-to-Car Communi-
cation Consortium (C2C-CC) has been initiated in Europe by car manufac-
turers and automotive OEMs (original equipment manufacturers), with the
main objective of increasing road traffic safety and efficiency by means of
intervehicle communication. IEEE is also advancing within the IEEE 1609
family of standards for wireless access in vehicular environments (WAVE).

1.1.2 Vehicular Network Architectures

Vehicular network can be deployed by network operators and service
providers or through integration between operators, providers, and a gov-
ernmental authority. Recent advances in wireless technologies and the cur-
rent and advancing trends in ad hoc network scenarios allow a number
of deployment architectures for vehicular networks, in highway, rural, and
city environments. Such architectures should allow communication among
nearby vehicles and between vehicles and nearby fixed roadside equip-
ment. Three alternatives include (i) a pure wireless vehicle-to-vehicle ad
hoc network (V2V) allowing standalone vehicular communication with no
infrastructure support, (ii) a wired backbone with wireless last hops that
can be seen as a WLAN-like vehicular networks, (iii) and a hybrid vehicle-
to-road (V2R) architecture that does not rely on a fixed infrastructure in
a constant manner, but can exploit it for improved performance and ser-
vice access when it is available. In this latter case, vehicles can commu-
nicate with the infrastructure either in a single hop or multihop fashion
according to the vehicles’ positions with respect to the point of attachment
with the infrastructure. Actually the V2R architecture implicitly includes V2V
communication.
A reference architecture for vehicular networks is proposed within the
C2C-CC, distinguishing between three domains: in-vehicle, ad hoc, and
infrastructure domain [1]. Figure 1.1 illustrates this reference architecture.
The in-vehicle domain refers to a local network inside each vehicle logically
composed of two types of units: (i) an on-board unit (OBU) and (ii) one or
more application unit(s) (AUs). An OBU is a device in the vehicle having
P1: Gopal
November 10, 2008 15:34 AU8571 AU8571˙C001

4  Vehicular Networks: Techniques, Standards, and Applications

Internet

Access network

Hot spot
RSU RSU Infrastructure
domain

Ad hoc domain

In-vehicle OBU OBU

domain
OBU

AU
AU
AU

Figure 1.1 C2C-CC reference architecture.

communication capabilities (wireless and/or wired), while an AU is a de-

vice executing a single or a set of applications while making use of the
OBU’s communication capabilities. Indeed, an AU can be an integrated
part of a vehicle and be permanently connected to an OBU. It can also
be a portable device such as a laptop or PDA that can dynamically attach
to (and detach from) an OBU. The AU and OBU are usually connected
with a wired connection, while wireless connection is also possible (using,
e.g., Bluetooth, WUSB, or UWB). This distinction between AU and OBU is
logical, and they can also reside in a single physical unit.
The ad hoc domain is a network composed of vehicles equipped with
OBUs and road side units (RSUs) that are stationary along the road. OBUs
of different vehicles form a mobile ad hoc network (MANET), where an
OBU is equipped with communication devices, including at least a short-
range wireless communication device dedicated for road safety. OBUs and
RSUs can be seen as nodes of an ad hoc network, respectively, mobile and
static nodes. An RSU can be attached to an infrastructure network, which in
turn can be connected to the Internet. RSUs can also communicate to each
other directly or via multihop, and their primary role is the improvement of
road safety, by executing special applications and by sending, receiving, or
forwarding data in the ad hoc domain.
Two types of infrastructure domain access exist: RSU and hot spot.
RSUs may allow OBUs to access the infrastructure, and consequently to be
connected to the Internet. OBUs may also communicate with Internet via
P1: Gopal
November 10, 2008 15:34 AU8571 AU8571˙C001

Introduction to Vehicular Networks  5

public, commercial, or private hot spots (Wi-Fi hot spots). In the absence of
RSUs and hot spots, OBUs can utilize communication capabilities of cellular
radio networks (GSM, GPRS, UMTS, WiMax, and 4G) if they are integrated
in the OBU.

1.1.3 Possible Deployment Scenarios for Vehicular Networks

Regarding the C2C-CC reference architecture together with the advances
in heterogeneous communication technologies, vehicular networks poten-
tially have two main types of communication scenarios: car-to-car (C2C)
communication scenario and car-to-infrastructure (C2I) communication
scenario.
These types of communication scenarios allow a number of deploy-
ment options for vehicular networks. Vehicular network deployment can
be integrated into wireless hot spots along the road. Such hot spots can be
operated individually at home or at office, or by wireless Internet service
providers or an integrated operator. On the other hand, vehicular network
deployment can be integrated into the existing cellular systems. Vehicles
can even communicate with other vehicles directly without a communica-
tion infrastructure, where vehicles can cooperate and forward information
on behalf of each other. We notice that combination of these deployment
cases is also possible.
Moreover, future architecture for intelligent transportation systems (ITS)
considers vehicles as active nodes that are responsible for collecting and
forwarding critical information. Consequently, vehicular network coexis-
tence with sensor network would potentially take place, where vehicles
would be able to collect and process information by means of intelligent
sensors and to exchange information with other nodes (fixed or mobile) in
a global communication system.

1.2 Special Characteristics of Vehicular Networks

Vehicular networks have special behavior and characteristics, distinguish-
ing them from other types of mobile networks. In comparison to other
communication networks, vehicular networks come with unique attractive
features, as follows [2]:

 Unlimited transmission power: Mobile device power issues are usu-

ally not a significant constraint in vehicular networks as in the case of
classical ad hoc or sensor networks, since the node (vehicle) itself
can provide continuous power to computing and communication
devices.
 Higher computational capability: Indeed, operating vehicles can af-
ford significant computing, communication, and sensing capabilities.
P1: Gopal
November 10, 2008 15:34 AU8571 AU8571˙C001

6  Vehicular Networks: Techniques, Standards, and Applications

 Predictable mobility: Unlike classic mobile ad hoc networks, where it

is hard to predict the nodes’ mobility, vehicles tend to have very pre-
dictable movements that are (usually) limited to roadways. Roadway
information is often available from positioning systems and map-
based technologies such as GPS. Given the average speed, current
speed, and road trajectory, the future position of a vehicle can be
predicted.

However, to bring its potency to fruition, vehicular networks have to

cope with some challenging characteristics [3], which include

 Potentially large scale: Unlike most ad hoc networks studied in the

literature that usually assume a limited network size, vehicular net-
works can in principle extend over the entire road network and so
include many participants.
 High mobility: The environment in which vehicular networks oper-
ate is extremely dynamic, and includes extreme configurations: on
highways, relative speeds of up to 300 km/h may occur, while den-
sity of nodes may be 1–2 vehicles 1 km on low busy roads. On the
other hand, in the city, relative speeds can reach up to 60 km/h and
nodes’ density can be very high, especially during rush hour.
 Partitioned network: Vehicular networks will be frequently parti-
tioned. The dynamic nature of traffic may result in large intervehicle
gaps in sparsely populated scenarios, and hence in several isolated
clusters of nodes.
 Network topology and connectivity: Vehicular network scenarios are
very different from classic ad hoc networks. Since vehicles are mov-
ing and changing their position constantly, scenarios are very dy-
namic. Therefore the network topology changes frequently as the
links between nodes connect and disconnect very often. Indeed, the
degree to which the network is connected is highly dependent on
two factors: the range of wireless links and the fraction of partici-
pant vehicles, where only a fraction of vehicles on the road could
be equipped with wireless interfaces.

1.3 Vehicular Network Potential Applications

and Services
Vehicular network applications range from road safety applications oriented
to the vehicle or to the driver, to entertainment and commercial applications
for passengers, making use of a plethora of cooperating technologies.
P1: Gopal
November 10, 2008 15:34 AU8571 AU8571˙C001

Introduction to Vehicular Networks  7

The primary vision of vehicular networks includes real-time and safety

applications for drivers and passengers, providing safety for the latter and
giving essential tools to decide the best path along the way. These appli-
cations thus aim to minimize accidents and improve traffic conditions by
providing drivers and passengers with useful information including colli-
sion warnings, road sign alarms, and in-place traffic view.
Nowadays, vehicular networks are promising in a number of useful
driver- and passenger-oriented services, which include Internet connec-
tions facility exploiting an available infrastructure in an “on-demand” fash-
ion, electronic tolling system, and a variety of multimedia services. As
well as, a variety of communication networks, such as 2-3G, WLANs IEEE
802.11a/b/g/p, and WiMAX, can be exploited to enable new services de-
signed for passengers apart from the safety applications, such as infomobil-
ity and entertainment applications, which can rely on the vehicular network
itself.
Regarding the discussed applications’ potential, vehicular networks open
new business opportunities for car manufacturers, automotive OEMs, net-
work operators, service providers, and integrated operators in terms of
infrastructure deployment as well as service provision and commercializa-
tion. For safety-related applications, the network operator can assure the
authentication of each participant through playing the role of a trusted
third party that authenticates the participating nodes, or even having the
role of a certification authority issuing a certificate to each participant in
order to prove the authenticity of them later during the communication.
On the other hand, in nonsafety-related applications, network operators
and/or service providers, besides network access and services’ provision,
can have the role of authorizing services’ access and billing users for the
consumed services. However, one should notice that ad hoc systems still
require a certain level of penetration and necessitate high vehicle density
for more reliable communication. Also, the investment cost for new com-
munication infrastructure for vehicular networks is high, where as on the
other hand cellular communication systems offer a high coverage along
roads and have a reliable authentication and security mechanism. Conse-
quently number of technical challenges needs to be resolved in order to
help the evolution of vehicular networks for wide-scale deployment. The
following section discusses some of these challenges.

1.4 Technical Challenges

Vehicular networks’ special behavior and characteristics create some chal-
lenges for vehicular communication, which can greatly impact the future
deployment of these networks. A number of technical challenges need to
be resolved in order to deploy vehicular networks and to provide useful
P1: Gopal
November 10, 2008 15:34 AU8571 AU8571˙C001

8  Vehicular Networks: Techniques, Standards, and Applications

services for drivers and passengers in such networks. Generally speaking,

scalability and interoperability are two important issues that should be sat-
isfied, and the employed protocols and mechanisms should be scalable
to numerous vehicles and interoperable with different wireless technolo-
gies. The following subsections discuss a number of these challenges, more
details are given in the following chapters.

1.4.1 Reliable Communication and MAC Protocols

Similar to ad hoc networks, vehicular networks experience multihop com-
munication, which can potentially extend the network operator fixed infras-
tructure and thus provide virtual infrastructure among the moving vehicles.
Indeed, multihop wireless communication represents a major challenge on
the reliability of communication. Consequently, efficient MAC (medium ac-
cess control) protocols need to be in place, while adapting to the highly
dynamic environment of vehicular networks, and considering messages pri-
ority of some applications (e.g., accident warnings). In spite of the dynamic
topology and the high mobility, fast association and low communication
latency should be satisfied between communicating vehicles in order to
guarantee (i) service reliability for safety-related applications while taking
into consideration the time-sensitivity during message transfer, and (ii) the
quality and continuity of service for nonsafety applications. Moreover, MAC
protocols should take into consideration the heterogeneous communication
that is liable to take place between different wireless technologies (e.g.,
Wi-Fi and GSM) in vehicular networks.

1.4.2 Routing and Dissemination

Vehicular networks differ from conventional ad hoc wireless networks by
not only experiencing rapid changes in wireless link connections, but also
having to deal with different types of network densities [4]. For example,
vehicular networks on freeways or urban areas are more likely to form
highly dense networks during rush hour traffic, while vehicular networks
are expected to experience frequent network fragmentation in sparsely
populated rural freeways or during late night hours. Moreover, vehicular
networks are expected to handle a wide range of applications ranging
from safety to leisure. Consequently, routing and dissemination algorithms
should be efficient and should adapt to vehicular network characteristics
and applications, permitting different transmission priorities according to
the application type (safety-related or not). Until now, most of vehicular
network research has focused on analyzing routing algorithms to handle
the broadcast storm problem in a highly dense network topology [5,6],
under the oversimplified assumption that a typical vehicular network is a
P1: Gopal
November 10, 2008 15:34 AU8571 AU8571˙C001

Introduction to Vehicular Networks  9

well-connected network in nature. So far, the penetration of vehicular net-

work technology is somewhat weak, and hence these networks should rely
on an existing infrastructure support for wide-scale deployment. However,
in the future, these networks are expected to observe high penetration
with lesser infrastructure support, and hence it is important in this case
to consider the disconnected network problem which is a crucial research
challenge for developing a reliable and efficient routing protocol that can
support highly diverse network topologies.
As for message dissemination, the dissemination algorithms should de-
pend on the network density as well as the application type. For exam-
ple, message dissemination in safety-related applications should be mostly
broadcast-like, in a way to assure the message propagation to the required
cluster of vehicles without causing a broadcast storm. In nonsafety-related
applications, message transfer through unicast or multicast transmission is
more suitable.

1.4.3 Security
Vehicular communication security is a major challenge, having a great im-
pact on the future deployment and application of vehicular networks. In-
deed, security and privacy are major concerns in the development and
acceptance of services and should not be compromised by ease-of-use of
service discovery protocols. As the demand for service discovery is growing,
passengers may use services in foreign networks and create immense se-
curity problems for themselves and for other network users. Consequently,
it is important to propose innovative solutions for secure communication
between participants as well as authorized and secure service access. To en-
hance the vehicular network access ubiquity, these solutions should take
advantage of (i) the ad hoc multihop authentication and communication
concepts, which on one hand allow secure communication and on the
other hand extend the infrastructure coverage with the minimum deploy-
ment cost for the network operator, and (ii) the distributed-based authen- AQ: Pls
tication. Appropriate security architectures should be in place providing confirm is
communication between vehicles and allowing different service access. As it ok to
change
well as, a set of security mechanisms suitable for any vehicular network
to“distribution-
environment should be developed, providing trust, authentication, access based
control, and authorized and secure service access. In this context, authenti- authentica-
cation optimization is important to be studied for both infrastructure-based tion”
and infrastructure-less communications, aiming to facilitate the reauthenti-
cation process that may need to take place during the vehicle mobility.
Moreover, node behavior is an important issue that can threaten the
security of communication and service delivery in vehicular networks, and
hence is worth consideration. Due to the open and dynamic environment of
P1: Gopal
November 10, 2008 15:34 AU8571 AU8571˙C001

10  Vehicular Networks: Techniques, Standards, and Applications

vehicular networks, nodes cooperation is an important aspect that should

be satisfied for allowing successful communication between vehicles. We
notice that nodes may behave selfishly by not forwarding messages for
others in order to save power and bandwidth or just because of security
and privacy concerns. Consequently, appropriate mechanisms should be
developed to detect selfishness and enforce node cooperation in vehicular
network environment.

1.4.4 IP Configuration and Mobility Management

The potential vehicle-to-infrastructure architecture is promising in allowing
vehicular Internet access as well as provision of Internet-related services to
drivers and passengers. However, two technical challenges exist under this
issue: IP address configuration and mobility management. These challenges
can threaten the service quality and the service continuity. Regarding the
vehicular network characteristics, IP address configuration should be car-
ried out in an automatic and distributed manner. So far, there is no standard
for IP autoconfiguration in ad hoc networks, and hence the problem be-
comes complex for vehicular networks. We notice a considerable work in
progress by a number of standardization bodies aiming to resolve this prob-
lem. Besides the IETF efforts through the Autoconf WG for developing IPv6
solutions for ad hoc networks including vehicular network scenarios, all of
the international committees defining architectures for vehicular communi-
cation have included a native IPv6 stack in their protocol stacks, namely,
IEEE 1609, ISO TC 204 (CALM), C2C-CC, and the newly formed ETSI TC ITS.
As for mobility management, this is a crucial problem for nonsafety ap-
plications, where messages dissemination is not broadcast-based. Indeed,
the absence of mobility management mechanism threatens service com-
mercialization in vehicular networks, and loses the benefit of the vehicle-
to-infrastructure architecture since all Internet-related services would
guarantee neither service quality nor their continuity.

1.4.5 Application Distribution

From a general view, we can notice that building distributed applications in-
volving passengers in different vehicles requires new distributed algorithms.
As a consequence, a distributed algorithmic layer is required for manag-
ing the group of participants and ensuring data sharing among distributed
programs. Such algorithms could assimilate the neighborhood instability
to a kind of fault. However, the lack of communication reliability necessi-
tates employing fault-tolerant techniques. An important requirement, in this
context, is allowing mobile participants in vehicular networks to have ser-
vice access with an acceptable quality level while facilitating the message
exchange between vehicles.
P1: Gopal
November 10, 2008 15:34 AU8571 AU8571˙C001

Introduction to Vehicular Networks  11

1.4.6 Business Models

Business models represent an important challenge for service commercial-
ization in vehicular networks. As a matter of opening a new business op-
portunity, business models should be rentable for telecom operators and
service provides aiming to promoting services and attracting clients. It is
also important that business models be affordable and attractive to clients,
taking into account the cooperation between mobile clients in vehicular
networks, where nodes can be compensated (rewarded) according to their
participation. Special payment strategies could be proposed, in this con-
text, for encouraging the cooperation between mobile nodes, where a sort
of remuneration can be done for each participant according to his contri-
bution. Consequently, special accounting mechanisms and tailored billing
systems are needed, which also assure interdomain accounting. However,
processing delay constraints should be considered as well as the need for
authentication and integrity, where the operator could assure the authenti-
cation, authorization, and secure communication between clients in a way
that protects the clients’ data and allows for billing the used services.

1.5 Vehicular Network Evolution and Progress

1.5.1 Main Actors
Vehicular networks present a highly active field of research, development,
standardization, and field trials. Throughout the world, there are many na-
tional and international projects in governments, industry, and academia
devoted to such networks. These include the consortia like Vehicle Safety
Consortium—VSC (United States) [7], Collision Avoidance Metrics Partner-
ship. CAMP (United States) [8], Car-2-Car Communication Consortium—
C2C-CC (Europe) [9], Advanced Safety Vehicle—ASV Program (Japan) [10],
a lot of standardization efforts as we will see in the following section, and
field trials like the large-scale Vehicle Infrastructure Integration Consortium
(VIIC) United States [11].
The Vehicle Infrastructure Integration initiative was first launched by the
U.S. Department of Transportation (USDOT) during the ITS World Congress
in 2003. Then the Vehicle Infrastructure Integration Consortium was formed
in early 2005 by a group of light-duty vehicle manufacturers to actively
engage in the design, testing, and evaluation of a deployable VII system
for the United States. USDOT’s VII program is divided into three phases:
(i) Phase I—operational testing and demonstration, (ii) Phase II—research
in the areas of enabling technology, institutional issues, and applications to
support deployment, and (iii) Phase III—technology scanning to determine
potential new technology horizons for VII. The first experimental results
P1: Gopal
November 10, 2008 15:34 AU8571 AU8571˙C001

12  Vehicular Networks: Techniques, Standards, and Applications

presented in the symposium IEEE Wivec2007 in Detroit show the strong

viability of VII.
In Japan, we notice large initiatives and advanced ITS solutions such as
VICS (Vehicle Information and Communication System), AHS (Advanced
Cruise-Assist Highway System, since 1996), DSSS (Driving Safety Support
Systems, since 2002), and ASV (Advanced Safety Vehicle, since 1991). In
the milestones of ITS-Safety 2010 project, a large-scale verification testing
on public roads is scheduled in 2008 and a nation-wide deployment in
2010.
We notice that the target applications in the United States include safety,
traffic efficiency, electronic toll collect (ETC), and customer relationship
management (CRM). On the other hand, in Europe, less roadside infras-
tructure is expected than in the United States and consequently the target
applications are safety and traffic efficiency. In this context, the Car2Car
Communication Consortium [9] is a nonprofit organization initiated by six
European car manufacturers (Audi, BMW, DaimlerChrysler, Fiat, Renault,
and Volkswagen) with the aim to develop an open industrial standard for
intervehicle communication to ensure pan-European interoperability, using
wireless LAN technology (WLAN IEEE 802.11 standards). More details are
given in the following subsection.
Moreover, the telcos with their large existing infrastructures also give a
special attention to the development of vehicular networks. Orange Labs,
Telcom Italia, AT&T labs, or Deutsche Telekom all take part in the develop-
ment of the technology via partnerships with industries, universities, and
their own R&D teams. In fact, they see such networks as a natural evolution
or extension of the current wireless systems, while representing a low-cost
solution that improves the performance of telco networks by overcoming
the limitations of using multihop technology and giving a potential of new
business (develop customer loyalty, catch new customers).
Many industries, and companies, involved in the consortiums cited
above, are investing enormous budget for the development of new ITS so-
lutions. Some of them (such as, Dash, Google, and TomTom) are interested
in particular in real-time infotainment and guidance of the travelers. They
do more than only charting the roads; they also allow the drivers or pas-
sengers to receive real-time information about the traffic, to connect to the
Internet, and to have other useful information (such as, nearest gas station,
restaurants and cinemas) on the way. Other example is Microsoft, which
proposed to carmakers and their suppliers a new version of its operating
system capable of managing all the embedded systems within the car [12].
Being a technology always under development, vehicular networks belong
to the main tendencies in research topics. Large number of conferences
and workshops dealing with this is the proof. A set of universities and re-
search institutes (UCLA, Karlsruhe University, Stanford University, INRETS,
etc.) take part in the optimization of several challenges encountered in
P1: Gopal
November 10, 2008 15:34 AU8571 AU8571˙C001

Introduction to Vehicular Networks  13

these networks, among which are routing and data dissemination, Phy/Mac,
security, self-organization, and the like.

1.5.2 Main Standardization Activities

In 1999, the U.S. Federal Communication Commission allocated 75 MHz of
dedicated short-range communication (DSRC) spectrum at 5.9 GHz (5.850–
5.925 GHz) to be used exclusively for vehicle-to-vehicle and infrastructure-
to-vehicle communications in North America. The primary purpose was to
enable public safety applications that save lives and improve traffic flow.
Private services are also permitted in order to lower cost and to encour-
age DSRC development and adoption. The DSRC spectrum is divided into
seven 10-MHz wide channels. Channel 5885–5895-MHz is the control chan-
nel, which is generally restricted to safety communications only. The two
channels at the edges of the spectrum are reserved for future advanced
accident-avoidance applications and high-powered public safety usages.
The rest are service channels and are available for both safety and non-
safety usage.
On the other hand, in Japan, the allocated frequency bands, namely for
DSRC, range from 5.770 to 5.850 GHz.
As for Europe, one obstacle to introduce VANETs for road safety was the
lack of a dedicated frequency spectrum. Compared to North America and
Japan, the process for frequency allocation is considerably complex and
time consuming since all European countries and their national authori-
ties are involved. Major steps taken after few years of work for frequency
regulation and redeployment are analysis of spectrum requirements, re-
quest for the proposed spectrum, study of compatibility aspects, and rec-
ommendation of policies for harmonized spectrum usage. A decision by
the European Commission to designate the spectrum has been carried out
and the spectrum has been allocated in the middle of 2008 [13] and is in AQ: Pls.
its way for implementation by the EU countries (at the time this book was see if it is
written). Eventually, the frequency bands 5875–5905 MHz for road safety, ok to
provide
additional 20 MHz above this band as future extension, and 5855–5875 MHz
month in
for nonsafety will be available. The allocated frequency of 50 MHz and op- 2008.
tional the additional 20 MHz are similar to the 75 MHz ITS band in North
America.

1.5.2.1 IEEE
The DSRC radio technology is essentially IEEE 802.11a adjusted for low
overhead operations in the DSRC spectrum and it is being standardized as
IEEE 802.11p (at the time this book was written). The overall DSRC com-
munication stack between the link layer and applications is being standard-
ized by the IEEE1609 working group. Hence, IEEE 1609 is a higher-layer
P1: Gopal
November 10, 2008 15:34 AU8571 AU8571˙C001

14  Vehicular Networks: Techniques, Standards, and Applications

standard on which IEEE 802.11p is based. Indeed, the IEEE 1609 family
of standards for wireless access in vehicular environments consists of four
standards: (i) IEEE P1609.1—WAVE Resource Manager defines the basic
application platform and includes application data read/write protocol be-
tween RSU and OBU, (ii) IEEE P1609.2—WAVE Security Services defines
the 5.9-GHz DSRC Security, anonymity, authenticity, and confidentiality,
(iii) IEEE P1609.3—WAVE Networking Services defines network and trans-
port layer services, including addressing and routing, in support of secure
WAVE data exchange, and (iv) IEEE P1609.4—WAVE Multichannel Opera-
tions provides DSRC frequency band coordination and management, where
it manages lower-layer usage of the seven DSRC channels, and integrates
tightly with IEEE 802.11p.

1.5.2.2 C2C-CC
A major driving force for vehicular communication based on WLAN tech-
nology in Europe is the C2C-CC [9], a consortium of car manufacturers,
suppliers, and research institutes. The C2C-CC assimilates developments
from various European R&D projects, creates system and protocol speci-
fications, and provides a framework for system prototyping. In 2007, the
C2C-CC took a substantial step forward and published its “manifesto” de-
scribing the main concepts of the system, covering system and protocol
architecture, use cases, and communication protocols. A core concept of
C2C-CC’s networking approach is based on wireless ad hoc and multihop
communication utilizing geographical addressing and routing. The con-
sortium is looking forward for allowing interoperability among cars from
different car manufacturers and suppliers of on-board and roadside units.
In this context, the C2C-CC is concerned with real-life demonstrations of
safety applications for tangible ad hoc networks.

1.5.2.3 ETSI
The European Telecommunications Standards Institute (ETSI) has recently
created a new technical committee TC ITS [14] in order to develop standards
and specifications for ITS services. The TC ITS is organized in five work-
ing groups: WG1—User and Application Requirements, WG2—Architecture
and Cross-Layer Issues, WG3—Transport and Network, WG4—Media and
Related Issues, and WG5—Security. The working groups have already
agreed on a number of work items for various aspects of vehicular commu-
nication including media, networking, and security and safety applications.
In WG3, the current focus is on specification of ad hoc networking based
on geographical addressing and routing. In order to allow for use of dif-
ferent media, the specification distinguishes between media-independent
and media-dependent network functions. The specifications are backed by
other work groups, which specifically address media and security issues,
P1: Gopal
November 10, 2008 15:34 AU8571 AU8571˙C001

Introduction to Vehicular Networks  15

such as a European profile standard of IEEE 802.11 for ITS. The technical
committee is developing a road map for standardization developments for
the coming years in order to achieve a complete set of standards ranging
from communication architecture to protocol specifications together with
formal test procedures. ITS-related work within ETSI is led by ETSI ERM
TG37 (Electromagnetic compatibility and Radio spectrum Matters), which
works in close cooperation with other ETSI committees and with other
SDOs, notably ISO TC204. ERM TG37 contributes to the development pro-
cess standards of being led by ISO TC204 and will develop complementary
ETSI standards as appropriate.
1.5.2.4 ISO
The worldwide ISO TC204/WG16 has produced a series of draft standards
known as CALM (Continuous Air-interface, Long and Medium Range [15]).
The goal of CALM is to develop a standardized networking terminal that
is capable of connecting vehicles and roadside systems continuously and
seamlessly. This would be accomplished through the use of wide range of
communication media, such as the mobile, cellular, and wireless local area
networks, and the shortrange microwave (DSRC) or infrared (IR). CALM
provides universal access through a number of complimentary media and
links them with modern Internet protocols, adaptation layers, and man-
agement entities. The CALM architecture separates service provision from
medium provision via an IPv6 networking layer, with media handover, and
will support services using 2G, 3G, 5 GHz, 60 GHz, MWB (802.16e, 802.20,
and HC-SDMA). It will be able to include other technologies as they evolve
by use of common service access protocols and the IPv6 networking.
The CALM [15] concept, that ETSI is also helping to develop, is now at
the core of several major EU sixth framework research and development
projects such as SAFESPOT [16] and CVIS [17], which will test CALM so-
lutions. In the United States the VII initiative will be operating using IEEE
802.11p/1609 Standards at 5.9 GHz, which are expected to be aligned with
CALM 5.9-GHz standards, although the IEEE standards do not have media
handover.

1.5.3 Related Projects

The earliest research in intervehicular communications was conducted by
JSK (Association of Electronic Technology for Automobile Traffic and Driv-
ing) of Japan in the early 1980s [18]. This work treated intervehicular com-
munications primarily as traffic and driver information systems incorporated
in ATMs (asynchronous transfer mode).
From the 1990s through 2000, American PATH [19] and European “Chaf-
feur” [20] projects investigated and deployed automated platooning systems
through the transmission of data among vehicles.
P1: Gopal
November 10, 2008 15:34 AU8571 AU8571˙C001

16  Vehicular Networks: Techniques, Standards, and Applications

Recently, the promises of wireless communications to support vehicular

safety applications have led to several national and international projects
around the world. Since 2000, many European projects (CarTALK2000,
FleetNet, etc.), supported by automobile manufacturers, private compa-
nies, and research institutes, have been proposed with the common goal
to create a communication platform for intervehicle communication.

 The IST European project CarTALK2000 [21] was focused on new

driver assistance systems which are based upon intervehicle commu-
nication. The main objectives were the development of cooperative
driver assistance systems and the development of a self-organizing
ad hoc network as a communication basis, with the aim of preparing
a future standard.
 The FleetNet project in Germany [22], supported by six manufac-
turers and three universities from 2000 through 2003, produced
important results in several research areas, including the experi-
mental characterization of vehicular networks, the proposal of novel
network protocols (MAC, routing), and the exploration of different
wireless technologies.

1.5.3.1 Recent Projects

At the time this book was written, many activities in research and develop-
ment of vehicular networks were ongoing. In Europe, major R&D projects
were being initiated to constitute the basis of a Europe-wide intelligent
transportation system, for example, NoW [23], CVIS [17], SAFESPOT [16],
COOPERS [24], GeoNet [25], and GST [26].

 NoW [23].
Network on Wheels (NoW) is a German project, successor of the
project FleetNet-Internet on the Road [22], which mainly works on
communication aspects for vehicle-to-vehicle and vehicle-to-
roadside communication based on WLAN technology. The specific
objective of the NoW project is the development of a communi-
cation system which integrates both safety [such as extended elec-
tronic break light (EEBL)] and nonsafety applications (such as car-
to-home applications). Started in 2004, the final project presentation
in May 2008 demonstrated a consolidated technical basis, which
serves as reference for planned field. One of the main outcomes
of the project is a prototype software platform for car-to-car and
car-to-infrastructure communication (http://c2x-sdk.neclab.eu). This
platform provides the protocol stack and an open API and offers a
toolkit for application design, implementation, and testing.
P1: Gopal
November 10, 2008 15:34 AU8571 AU8571˙C001

Introduction to Vehicular Networks  17

 CVIS [17].
Cooperative Vehicle Infrastructure Systems (CVIS) project aims at
developing a communication system that is capable of using a wide
range of wireless technologies, including cellular networks (GPRS,
UMTS), wireless local area networks (WLAN), short-range microwave
beacons (DSRC, and infrared. Access to these wireless technologies
is based on the new international “CALM” standard [15], which al-
lows future vehicular networking implementation to be integrated
with the CVIS platform via standardized CALM service access points.
A framework for open application management (FOAM) is defined
that connects the in-vehicle systems, roadside infrastructure, and
back-end infrastructure, which is necessary for cooperative trans-
port management.
 SAFESPOT [16].
SAFESPOT provides cooperative systems for road safety, referred
to as smart vehicles on smart roads, to prevent road accidents by
developing a safety margin assistant that detects potentially danger-
ous situations in advance and extends the drivers’ awareness of the
surrounding environment in space and time. This assistant repre-
sents an intelligent cooperative system utilizing vehicle-to-vehicle
and vehicle-to infrastructure communication based on WLAN tech-
nology (IEEE 802.11p).
 COOPERS [24].
Cooperative Systems for Intelligent Road Safety (COOPERS) project
focuses on the development of innovative telematics applications
on the road infrastructure with the long-term goal of a cooperative
traffic management between vehicle and infrastructure. COOPERS
attempts to improve road sensor infrastructure and traffic control
applications, develops a communication concept and applications
able to cope with the requirements for infrastructure-to-vehicle com-
munication, and demonstrates results at major European motorways
with high-density traffic.
 GeoNet [25].
The EU project GeoNet (http://www.geonet-project.eu/) has started
in February 2008 and implements a reference system for vehicular
ad hoc networking using concepts for geographical addressing and
routing. Particular focus lies on integration of geonetworking with
IPv6 and solutions for IP mobility support. In GeoNet, a vehicle is
regarded as a mobile network, where the NEMO protocol handles
Internet connectivity of the nodes in the mobile network with inter-
mittent access to roadside units. For wide deployment of the project
results, it is planned to provide the GeoNet implementations to other
R&D projects.
P1: Gopal
November 10, 2008 15:34 AU8571 AU8571˙C001

18  Vehicular Networks: Techniques, Standards, and Applications

 GST [26].
Global System for Telematics (GST) project creates an open and
standardized end-to-end architecture for automotive telematics ser-
vices. The project targets at infrastructure-oriented services typically
provided by a network operator, such as emergency call services,
enhanced floating car data services, safety warning, and information
services.

1.6 Conclusion
Inter vehicular communication (IVC) is becoming a reality, driven by nav-
igation safety requirements and by the investments of car manufacturers
and public transport authorities. Its opportunities and areas of applica-
tions are growing rapidly, and include many kind of services with different
goals and requirements. However, it does pose numerous unique and novel
challenges from network evolution to event detection and dissemination,
making research in this area very attractive. Consequently, IVC is attracting
a considerable attention from the research community and the automotive
industry, where it is beneficial in providing intelligent transportation system
as well as driver and passenger assistant services. In this context, vehicular
ad hoc networks are emerging as a new class of wireless networks, spon-
taneously formed between moving vehicles, and allowing for a number
of useful services for drivers and passengers, ranging from road safety ap-
plications to entertainment applications. These networks are promising for
network operators, service providers, and for a number of industrials and
telecom companies in terms of opening new business opportunities.
However, the penetration of vehicular network technology is still weak,
and hence there is a need for infrastructure support to help its penetration.
At the same time, deploying new infrastructure for these networks neces-
sitate a lot of investment and high cost. It is more economical to rely on
the existing infrastructure (owned by network operators for instance) for
accelerating the penetration of such technology with the least cost.
Although many standard organizations are involved in the study and
standardization of IVC, vehicular ad hoc networks are considered as a
technology under development that merits a lot of research and field trials.
Besides the ongoing standardization activities, a number of technical chal-
lenges, as discussed in the following chapters, need to be resolved aim-
ing for wide-scale deployment of these networks in the near future. Still,
many topics in this field are currently under discussion, such as alloca-
tion of a protected frequency band for road safety in Europe, potential
usage of the IEEE 802.11p/WAVE standard, integration of multiple wireless
technologies, data security, congestion control, data transport, and others.
P1: Gopal
November 10, 2008 15:34 AU8571 AU8571˙C001

Introduction to Vehicular Networks  19

In addition to technical breakthroughs, the phase of market introduction is

critical for the success of this new technology. Also, car manufactures like
BMW, Mercedes, Fiat, Ford, Toyota, and Nissan, are currently prototyping
vehicles equipped with Wi-Fi (802.11a/b/g) and DSRC technologies, which
are expected to be on the road within the next 3–5 years.

References
[1] Car2Car Communication Consortium Manifesto, work in progress, May
2007.
[2] M. Nekovee, “Sensor networks on the road: the promises and challenges of
vehicular ad hoc networks and vehicular grids,” In Proc. of the Workshop on
Ubiquitous Computing and e-Research, Edinburgh, U.K., May 2005.
[3] J. Blum, A. Eskandarian, and L. Hoffmman, “Challenges of intervehicle ad hoc
networks,” IEEE Trans. Intelligent Transportation Systems 5(4)(December
2004):347–351.
[4] O. K. Tonguz and G. Ferrari, Ad HocWireless Networks: A Communication-
Theoretic Perspective, John Wiley & Sons, 2006. Au: Pls.
[5] N. Wisitpongphan, O. Tonguz, J. Parikh, F. Bai, P. Mudalige, and V. Sadekar, provide
“On the Broadcast Storm Problem in Ad hoc Wireless Network”, IEEE Wireless the place
Communications, 2007. of publica-
[6] M. Torrent-Moreno, D. Jiang, and H. Hartenstein, “Broadcast reception rates tion.
and effects of priority access in 802.11-based vehicular ad-hoc networks,” In
Proc. of ACM International Workshop on Vehicular Ad hoc Networks (VANET
2004), Philadelphia, U.S., October 2004.
[7] Vehicle Safety Communications (VSC) Projects, http://www.car-to-car.org/
fileadmin/dokumente/pdf. Au: Pls.
[8] Collision Avoidance Metrics Partnership—CAMP (U.S.), http://www.its.dot. provide
gov/cicas. access date
[9] Car-to-Car Communication Consortium, http://www.car-to-car.org. for all the
[10] Advanced Safety Vehicle (ASV) Program, http://www.its-lectures.ae.keio. referred
ac.jp/2001. Web sites
[11] The Vehicle Infrastructure Integration (VII), http://www.its.dot.gov/vii.
[12] Microsoft—Helping Carmakers and Suppliers Drive Innovation, http://
www.microsoft.com/windowsautomotive/default.mspx.
[13] Andreas Festag, “Vehicular Ad Hoc Networks Research: Europe,”
IEEE Comsoc AHSNTC Newsletter 1(1), 2008, http://ieee-comsoc.jot.com/
WikiHome/AdHocTC/AHSNTC.
[14] The European Telecommunications Standards Institute (ETSI), http://
www.etsi.org.
[15] CALM (Communications Air-Interface, Long and Medium Range), http://
www.calm.hu.
[16] SafeSpot (Cooperative vehicles and road infrastructure for road safety),
http://www.safespot-eu.org.
[17] CVIS (Cooperative Vehicle-Infrastructure Systems), http://www.cvisproject.
org.
P1: Gopal
November 10, 2008 15:34 AU8571 AU8571˙C001

20  Vehicular Networks: Techniques, Standards, and Applications

[18] S. Tsugawa, “Issues and recent trends in vehicle safety communication sys-
tems,” IATSS Research 29(1) (2005), Journal of international association of
traffic and safety sciences.
[19] Hedrick, J., Tomizuka, M., and Varaiya, P. “Control Issues in Automated High-
way Systems,” IEEE Control Systems Magazine 14(6), 1994.
[20] O. Gehring and H. Fritz, “Practical results of a longitudinal control concept
for truck platooning with vehicle to vehicle communication,” In Proc. of the
IEEE Conference on Intelligent Transportation Systems, Boston, 1997.
[21] Safe and comfortable driving based upon inter-vehicle communication,
http://www.cartalk2000.net.
[22] FleetNet project—Internet on the road, http://www.et2.tuharburg.de/
fleetnet.
[23] NoW (Network-on-Wheels), http://www.network-on-wheels.de.
[24] COOPERS (Co-operative Systems for Intelligent Road Safety), http://www.
coopers-ip.eu.
[25] GeoNet (Geographic Network), http://www.geonet-project.eu.
[26] GST (Global Systems for Telematics), http://www.gstforum.org.