cvis performance test results: fast handovers in an 802 ... · ipv6 (internet connectivity +...

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, ...)


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)


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)


ITS Station: ITS sub-systems


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, ...


Roadside ITS Station


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

http://www.iso.org/iso/iso_technical_committee.html?commid=54706

http://www.calm.hu/


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


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


ISO TC204 WG16: Specifi cations (subset)

21217: ITS station Architecture24102: ITS station management29281: non-IP networking21210: IPv6 networking21215: Medium SAPs

21217

29281

21210

24102


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)


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: 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

http://www.cvisproject.org/


CVIS: Architecture - ITS Subsystems



Access Technologies

...

Man

agem

ent

5.9GHz

Secu

rity

Ethernet

5.9GHzVehicle Station

Facilities


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


Access Technologies

...

Managem

ent

Ethernet

Security

CAN bus

ECU ECU


VMS 5.9

SENSCtrl


Access Technologies

. ..

Managem

ent

Ethernet

Secu

rity

IPv6

BorderRouterFacilities


Access Technologies

...

Man

agem

ent

Ethernet

Secu

rity

CAN bus

Facilities


Access Technologies

...

Man

agem

ent

Secu

rity

Applications

Ethernet

RoadsideHost


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: NEMO & MCoA


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: CALM Implementation

Host

Router


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

http://lilliput.manufacturer.globalsources.com/si/6008801432124/pdtl/LCD-PC/1003557382/7-Inch-Standalone-Car-PC-Monitor.htm


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: Results – Test Site Norway

http://www.item.ntnu.no/its-tsn/


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 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: 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: 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: 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: 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: 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


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

http://www.calm.hu/

http://www.cvisproject.org/

http://www.item.ntnu.no/its-tsn/

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

[email protected]

INRIA IMARA project-team / JRU LARA

http://www.lara.prd.fr

mailto:[email protected]

http://www.lara.prd.fr/

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