Research and Development Trends in Vehicular Networks …C7%D1%B5... · 2012-03-20 · Example...
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Research and Development Trends in Vehicular Networks Vehicular Network Research in ITS 2010. 6. 22. 경북대학교 전자공학부 핚동석 [email protected] 1
Transcript of Research and Development Trends in Vehicular Networks …C7%D1%B5... · 2012-03-20 · Example...
Research and Development Trends in Vehicular Networks
Vehicular Network Research in ITS
2010. 6. 22.
경북대학교 전자공학부 핚동석
1
KRnet2010
Contents
• Introduction
Vehicular Network의 필요성
Vehicular Network
기술개발 현황
표준화 현황
Technical Challenges
• VANETVANET(Vehicular Adhoc Network) Protocols
DSRC Spectrum & Applications
Brief IEEE WAVE Standards
MAC Protocols for Vehicular Networks
Routing Protocol
• CASE Study
COMeSafety
CVIS
SAFESPOT & Coopers
IntelliDrive
u-TSN
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1. Introduction
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Vehicular Network의 필요성
• Safety
전세계적으로 교통사고 사망자: 매년 120만 명, 매일 평균 3천200여명 사망
교통사고로 인한 부상자는 매년 2천만 ~ 5천만 명
• Mobility
2007년 미국 고속도로에서 교통체증으로 인해 소비된 시간은 약 42억 시간
한 사람당 일주일의 시간을 소비한 것이고, 금액으로 한 사람당 $750를 낭비
[Texas Transportation Institute]
• Environment
2007년 미국 고속도로에서 교통체증으로 인해 소비된 기름의 양은 약 28억 갤런
[Texas Transportation Institute]
• Vehicular Communication System 을 통해 이러핚 문제 경감 가능
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1. Introduction
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Vehicular Network
• 정의
교통정보의 수집, 가공 및 제공이 센서네트워크 기반에서 능동적, 자율적으로 이루어지게 하는 교통서비스 인프라
• 특징
차량간 및 차량과 시설물간 연속적인 통신기능
실시간 개별차량기반 정보수집/가공/제공 체계
Localized 교통정보 가공 및 제공 기능
차량의 고속이동환경에서의 ad-hoc Network 구성
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1. Introduction
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기술개발 현황
• CAR 2 CAR Communication Consortium
Invested significant effort into the specification of a car-to-car communications mechanism suitable for safety applications
• CVIS (Cooperative Vehicle Infrastructure Systems)
Developing communication systems including GPRS, UMTS, WLAN, DSRC and infrared based on CALM standard
• SAFESPOT (European Integrated Project on cooperative vehicular systems for road safety)
Design cooperative systems for road safety based on vehicle to vehicle (V2V) and vehicle to infrastructure (V2I) communication
Developing a "SAFETY MARGIN ASSISTANT“ to detect in advance potentially dangerous situations
• GeoNet
Implementing a reference specification
of a geographic addressing and routing protocol
with support for IPv6 to be used to deliver safety
messages between cars but also between cars and
the roadside infrastructure within
a designated destination area.
Bring the basic results from the CAR 2 CAR – CC
to the next step, by further improving these
specifications and creating a baseline software
implementation interfacing with IPv6
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1. Introduction
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기술개발 현황
• PReVENT : 지능형 운전자 시스템(Advanced Driver Assistance Systems) 개발
Sensing technologies for environment perception (infrared sensing, video and camera image perception, LIDAR / RADAR sensors, gyro sensors sensing vehicle motion and acceleration, inertial sensors such as tachometers and speedometers).
In-vehicle digital maps and positioning technologies (GPS, GNSS and GALILEO)
Wireless communication technologies for high-value safety
• i2010 Intelligent Car Initiative7
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기술개발 현황
• IntelliDrive
미 DOT(Department of Transportation) 주관
차량간 통신(V2V), 차량과 노변기지국 간 통신(V2I) 통신 시스템 개발
2009년 1월 VII(Vehicle Infrastructure Institute)에서 IntelliDrive 로 프로젝트명 변경
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Level 2Vehicle-Based Data
Level 2.A Non-Time CriticalNon-Proprietary
Vehicle Data
Level 2.B Non-Time CriticalProprietary Vehicle
Data
Level 2.CTime Critical Proprietary Vehicle
Data
Level 1Non-Vehicle-Based Data
Level 1.ANon-Time Critical
Level 1.BTime Critical
Application Areas
Active Safety (V2V, V2I)
Weather
Situational Awareness Safety
Tolling & E-Payment
“Here I Am” Messages
Real Time Traffic & Transit Management
Emissions & Energy
Commercial Vehicle Enforcement & Fleet Management
1. Introduction
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기술개발 현황
• DSRC (dedicated short-range communications) System
1999년 미 FCC 5.9GHz대 75MHz를 ITS 용 주파수로 할당
2008년 ETSI 5.9GHz대 30MHz를 ITS 용 주파수로 할당
ETC(electronic toll collection) 용으로 사용 중
• VSCC (Vehicle Safety Communication Consortium)
DOT와 BMW, Daimler Chrysler, Ford, GM, Nissan, Toyota, Volkswagen 7개 자동차 업체 참여
차량간 통신을 이용한 차량 안전 서비스 기술 연구
2002년 5월~2006.11월 개발
Communications Between Vehicle and Infrastructure
Blind Merge Warning, Curve Speed Warning, Emergency Vehicle Signal Preemption, Highway/Rail Collision Warning, Intersection Collision Warning, In Vehicle Amber Alert, In-Vehicle Signage, Just-In-Time Repair Notification, Left Turn Assistant, Pedestrian Crossing Information at Intersection, Road Condition Warning, Stop Sign Movement Assistance, Stop Sign Violation Warning, Traffic Signal Violation Warning, Work Zone Warning Note
Communications Between Vehicles
Approaching Emergency Vehicle Warning, Cooperative Adaptive Cruise Control, Cooperative Forward Collision Warning, Cooperative Vehicle-Highway Automation System, Emergency Electronic Brake Lights, Highway Merge Assistant, Lane Change Warning, Post-Crash Warning, Pre-Crash Sensing
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1. Introduction
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표준화 현황
• IEEE
IEEE 802.11p: Essentially IEEE 802.11a standard adjusted for low overhead operations in the DSRC spectrum
5.85 – 5.925 GHz, seven 10-MHz wide channels
IEEE 1609: A standard for link layer and applications based on IEEE 802.11p
IEEE P1609.1: WAVE (wireless access in vehicular environments) resource manager
IEEE P1609.2: WAVE security service
IEEE P1609.3: WAVE networking
IEEE P1609.4: WAVE multichannel operations
• C2C-CC (CAR 2 CAR Communication Consortium)
• ETSI
Technical committee TC ITS
WG1: User & application requirements
WG2: Architecture & cross-layer issues
WG3: Transport and network
WG4: Media and related issues
WG5: Security
ISO TC204/WG16
CALM(communications access for land mobiles) standards
Provides universal access through a number of complimentary media and links
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Technical Challenges
• Reliable Communication & MAC Protocols
Multi-hop communication
Efficient MAC
Adapting to the highly dynamic environment, Message priority
Support heterogeneous communication protocols (e.g. Wi-Fi, GSM)
• Routing & Dissemination
Handle the broadcast storm problem in a highly dense network
Assure the message propagation to the required cluster of vehicle
• Security & Privacy
• IP Configuration & Mobility Management
Provide Internet-related services: IP address configuration & mobility management
No standard for IP auto-configuration in ad hoc networks
Considering IPv6 stack: IEEE 1609, ISO TC 204(CALM), C2C-CC, ETSI TC ITS
• Business Model
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1. Introduction
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DSRC Spectrum & Applications
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2. VANET Protocols
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Example Vehicular network Applications
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Applications PriorityAllowable Latency
(ms)
Network Traffic type
Message Range (m)
Life-critical safetySafety warningElectronic toll collectionInternet accessGroup communicationsRoadside service finder
Class 1Class 2Class 3Class 4Class 4Class 4
10010050
500500500
EventPeriodicEventEventEventEvent
30050-300
15300300300
2. VANET Protocols
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Brief IEEE WAVE Standards
• WBSS (WAVE mode basic service set): Enhances IEEE 802.11 MAC function for rapidly changing communication environments
• Mobile station: WBSS provider or WBSS user
• Do not require MAC sublayer authentication and association prior to being allowed transmit data
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2. VANET Protocols
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MAC Protocols for Vehicular Networks
• Vehicular Ad-hoc NETetworks (VANETs)
Efficient medium sharing is even more difficult in VANETs due to high node mobility and fast topology changes.
• MAC protocols for MANETs
ALOHA : the 1st MAC protocol, random access:
When a node wants to use a common channel, 1st, it transmits on it, then, if a transmission collision occurs, it waits for a random time before retransmitting again.
Maximum throughput : 18.4% of the channel capacity for a fixed message length
• S-ALOHA : Divides the medium into several time slots and a sender attempts to transmit at the beginning of a time slot
Compared to ALOHA, in S-ALOHA the vulnerable period of a transmission is halved, so doubling the efficiency (maximum throughput) of the system.
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2. VANET Protocols
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MAC Protocols for Vehicular Networks
• CSMA/CA (Carrier Sense Multiple Access/ Collision Avoidance)
• MACAW (Multiple Access with Collision Avoidance Wireless)
Overcomes the hidden terminal problem
Overcome exposed terminal by adding Data Sending (DS) and ACKnowledgment (ACK) packets.
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2. VANET Protocols
Simplified Algorithm of CSMA/
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MAC Protocols for Vehicular Networks
• MAC protocols for VANETs
Disadvantage : the network topology changes frequently and very fast
Advantage : No power constraints or time synchronization problem by using GPS
Requirements: Fast topology changing, short medium access delay
• IEEE 802.11 MAC in Ad-hoc mode for VANETs
Idle for a certain duration time (DIFS) the vehicle can transmit
(1) Sends an RTS packet including ID and transmission duration time
(2) Neighbors set their NAV (network allocation vector) according to the transmission duration
(3) Receiver waits for a Short IFS (SIFS) time and sends a CTS packet including the transmission duration time and neighbors set their NAV
(4) The sender waits for SIFS before starting the data transmission
(5) The receiver after receiving waits for SIFS then it sends an ACK to the sender
(6) Each terminal set its NAV to zero after receiving the ACK packet
Otherwise, backs off and attempts again after within a contention window (CW)
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2. VANET Protocols
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MAC Protocols for Vehicular Networks
• ADHOC MAC
Works in slotted frame structure but independently from the physical layer, and it uses a dynamic TDMA mechanism that can be easily adapted to the UMTS Terrestrial Radio Access Time Division Duplex (UTRA-TDD), which was chosen as physical target system in the CarTALK2000 project
Based on Reliable Reservation ALOHA
Each terminal propagates slot status information (Frame Information) using BCH
Basic Chanel (BCH) : one time slot periodically repeated in successive frames
FI lets terminals know the whole ongoing transmissions in a two-hop neighborhood RR-ALOHA to easily overcome the hidden terminal problem
Guarantee a relatively good QoS in VANETs
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2. VANET Protocols
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MAC Protocols for Vehicular Networks
• Reliable Reservation ALOHA
Example: terminal-1, by receiving the FI (Frame Information) -2, the FI-4, and the FI-5 Determines the time slot used by those direct neighbors which correspond to the exact time slots on which they sent their FIs.
Terminal-1 determines the time slots used by terminal-3, terminal-6, and terminal-7 which are two-hop neighbors.
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2. VANET Protocols
FI-5
FI-3
FI-1FI-2
FI-4FI-7
FI-6
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Routing Protocol
• DYMO routing protocol
Successor to the popular Ad hoc On-Demand Distance Vector (AODV)
• Sending data from Alice to Bob
Step 1 : Alice broadcasts a new RREQ (Route Request)
Step 2 : Carol receives Alice's RREQ, remembers the contained information about how to reach Alice (directly). Appends information about itself and re-broadcasts the packet
….
Step 3 : Bob receives Dave's RREQ and remembers the contained information about how to reach Dave (directly), Carol (via Dave) and Alice (also via Dave). Realizing that he is the target of the RREQ (Routing Reply) he creates an RREP containing information about itself.
Step 4 : Dave receives the RREP to Alice sent by Bob
…
Step 5 : Alice receives the RREP sent to her by Carol
Step 6 : Send data from Alice to Bob19
Alice
Carol
Bob
Dave
2. VANET Protocols
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COMeSafety
• Co-ordination and consolidation of research results and their implementation
• eSafety Forum support in case of Standardisation and Frequency Allocation
• Worldwide harmonization (Japan/US/Europe)
• Support Frequency allocation process
• Dissemination of the results
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3. CASE Study
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COMeSafety
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3. CASE Study
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COMeSafety : Communication Architecture
• Satellite Broadcast
• Terrestrial Broadcast
• GPS
• 2G, 3G cellular
• 5GHz Wireless LAN
• 5.8GHz DSRC
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3. CASE Study
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CVIS
• CVIS : (Cooperative Vehicle Infrastructure System) – 차량 인프라 협력 시스템
CVIS의 목적은 차량 대 차량(V2V), 및 차량 대 인프라(V2I) 사이에서 통신 하는 플랫폼을설계하고, 개발 및 시험을 하기 위한 프로젝트
Roadside subsystem
Vehicle subsystem
Central subsystem
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CVIS : Communication Requirements
• Specification
Standard : CALM
Physical layer
CVIS Cellular(2.5G/3G), CVIS-Infrared,
CALM-M5(European IEEE 802.11p & C2C-CC)
CALM-MM(30~300 GHz, 63~64 GHz)
Network layer
CALM FAST, Geo-routing, Only IPv6
• Requirement
Channel capacity
Safety channels : 1.5Mbit/sec per 100 nodes
Non-safety channels : 1Mbit/sec per 100 nodes
Control channels : 1Mbit/sec per 1000 nodes
Communication range
Single hop (30m/300m), Multi hop (3000 m)
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3. CASE Study
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CVIS : Platform (System)
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3. CASE Study
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CVIS : Platform (Roadside)
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CVIS : Demonstration
• Helmond, the Netherlands, 12 May 2009
First on-road demonstrations of core technologies and applications
At its first European test site to go live, CVIS is showing real life applications using 5.9 GHz wireless LAN and cellular 3G communication media.
• Demonstrated features
Communication with traffic lights for specific types of vehicles can actively
Warning against potential collisions.
Recommendations on the best route to their destination as well as predicted travel time for alternative routes
Enhanced (sub-1 metre) positioning, digital maps and location referencing, able to help a driver stay in lane by use of driver assistance systems such as lane departure warning.
Hazard warning at a one-way road in the wrong direction.
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CVIS : Application Services
• COMO : Cooperative Monitoring
Provides central traffic data services for all CVIS applications
Network monitoring
Incident and hazard detection
Virtual loop detection for traffic control systems etc.
Local/area traffic state
Provides merged data on basis of mobile (XFCD/EFCD) and stationary (e.g. loops) detectors achieving better quality than by using one source alone
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CVIS : Application Services
• CURB (COOPERATIVE URBAN APPLICATIONS)
Cooperative exchange of data between individual vehicles and the roadside equipment
Cooperative Network Management
Optimum area traffic management by using vehicle/driver destination and other characteristics, and individualised route guidance.
Cooperative Network Management Cooperative Area Routing Cooperative Local Traffic Control Cooperative Flexible Lane Allocation
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3. CASE Study
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CVIS : Application Services
• CINT (COOPERATIVE INTER-URBAN APPLICATIONS)
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SAFESPOT & Coopers
• SAFESPOT - 도로 안전 협력 시스템
CAR 2 CAR Communication Consortium에서 정의핚 기준에 따라 무선접속 인터페이스를 개발하고, 안전관련 어플리케이션에 활용되도록 하였다.
• Coopers
I2I 통신 솔루션 개발
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IntelliDrive
• A multimodal initiative that aims to enable safe, interoperable networked wireless
communications among vehicles, the infrastructure, and passengers' personal
communications devices
• Aims to tackle some of the biggest challenges in the surface transportation industry.
Safety Challenges
Mobility Challenges
Environmental Challenges
Challenges
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IntelliDrive: Communication Requirement
• Standard WAVE(IEEE 802.11p & IEEE 1609 Family)
• Network IPv4, IPv6, WSMP
• Channel bandwidth 10MHz 75MHz (5.85~5.925GHz)
• Communication range 1 km
• GPS• Probe Data
Speed and direction Braking, Temperature etc.
• V2V, V2I Communication
Vehicle Information
• Existing Camera Poles• Communication Network• Traffic Signals• User Access Point
Infrastructure
Requirement
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IntelliDrive: Service
• Applications
Safety applications
Mobility applications
Environmental applications
• Information
Vehicle Information (Status, Location , …)
Local Information (Traffic, Weather, Travel , …)
Safety Information (Work, Ice, Accident, …)
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IntelliDrive: V2V Communication for Safety
• All each vehicle on the roadway will be able to communicate with other vehicles.
• And this rich set of data and communications will support a new generation of active safety applications and systems.
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IntelliDrive: V2V Communication for Safety
• Vehicle-to-Infrastructure (V2I) communications for safety is the wireless exchange of critical safety and operational data between vehicles and highway infrastructure, intended primarily to avoid motor vehicle crashes, while also enabling a wide range of other safety, mobility, and environmental benefits All each vehicle on the roadway will be able to communicate with other vehicles.
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3. CASE Study
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IntelliDrive: Application Service
• Collision Avoidance
Run Off the Road Warning
Lane Changing Warning
Stop Ahead Warning
Signalized Intersection
Violation Warning
Timing Modification
• Traveler Information
Real-time travel data
Navigation
• Work Zone Signing
• Emergency Vehicle Warning
• Weather Information
• Parking Information
• Clearance Signing
Traveler Information Work Zone
Bridge Height WarningEmergency Vehicle
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3. CASE Study
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IntelliDrive: The progress of research
• Safety, mobility, weather and environmental applications take different paths to achieving the IntelliDrive vision.
• but may ultimately converge in the use of DSRC over time.
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3. CASE Study
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u-TSN System
• 한국교통연구원 주관 2006부터 개발
• Ubiquitous-Transportation Sensor Networks
• UVS/UIS communication module (H/W, S/W)
• Multi-hop routing protocol, Vehicular MAC protocol, Vehicular security protocol
• Applications
Traffic control application
Enhanced Route Guidance and Navigation
Green Light Optimal Speed Advisory, V2V Merging Assistance
Safety application
Cooperative Forward Collision Warning, Pre-Crashing Sensing/Warning
Hazardous Location V2V Notification
Infotainment application
Internet Access in Vehicle, Point of Interest Notification
Remote Diagnostics
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3. CASE Study
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u-TSN System : UVS/UIS-COM H/W
WAN + uT
network
Internet
UVS-MPU
GNSSReceiver
UART1PPS
UART1PPSUSB2.0
UVS
DGPSServer
교통정보수집센터(UTC)
WAN
Internet
UVS-MPU
GNSSReceiver
UART1PPS
UART1PPSUSB2.0
UIS
UIS
DGPSServer
RF모듈
교통정보수집센터(UTC)
1. Data rate : 3Mbps (802.11p 적용 시 : 3, 4.5, 6, 9, 12, 18, 24, 27Mbps 지원)
2. Bandwidth : 10MHz(11p)/20MHz(11a)3. Channel switching (Interval : 100ms)
- SCH/CCH : 50ms, Guard time : 10ms4. Throughput : 0.7Mbps 이상
(1, 2 항목 적용 및 최적 통신환경 기준)5. Coverage : 500m(V2X), 1km(I2I)6. 멀티 홉 수신율 : 90% 이상 (LOS기준)7. 차량 이동 속도 : 110km/h 이상
UVS/UIS-COM 성능
1. UVS에서 UTC로 주기적인 정보 전송(전송주기 100ms, UIS 인프라가 구축되지 않은 지역에서 차량간 통신으로 전송가능 : V2V2I2C 전송)
2. 신속핚 돌발경고 메시지 전파(V2V 멀티 홉 전송, UIS 협업을 통한 전송 가능 : V2I2V, V2I2I2V 전송)
3. u-TSN 통신을 위핚 보안 모듈 탑재(차량간 인증, 차량과 센터간 인증, 데이터 암호화 기능)
통신 시스템 주요 기능
1. IXP435-MCU 2. UVS-COM(실내 테스트 베드용) 3. 실내 테스트 베드
1. IXP435-MCU : 성능 향상을 위핚 메인 프로세서 업그레이드2. UVS-COM : UIS 통신용량 실험을 위핚 UVS-COM Ver1.13. 실내 테스트 베드 : UVS-COM 150대, UIS 통신용량 실험용
시제품 (추가개발)
UVS-COM
UIS-COM
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u-TSN System : UVS/UIS-COM H/W
• UVS/UIS-COM 성능측정
처리율 (CCH:40ms, SCH:40ms, Guard time:10ms)
V2V, V2I 1홉 처리율 (최적통신환경 기준): Data rate 3Mbps 설정, CCH / SCH 스위칭 시 채널당 처리율
0.75 Mbps 이상 만족
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3. CASE Study
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u-TSN System : UVS/UIS-COM H/W
• V2V 멀티홉 수신율
0
50
100
2 3 4
수신
율[%
]
차량번호
1-Hop
Multi-Hop
0
50
100
1 2 3 4 5 6 7 8 9 10
수신
율[%
]
실험회차 – 2호차
0
50
100
1 2 3 4 5 6 7 8 9 10
수신
율[%
]
실험회차 – 3호차
0
50
100
1 2 3 4 5 6 7 8 9 10
수신
율[%
]
실험회차 – 4호차
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3. CASE Study
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u-TSN System : UVS/UIS-COM S/W
• Linux applications WAVE Configuration : WAVE 기능 및 설정
프로그램
UIS/UVS 전송 응용 : COM 동작 프로그램
EMD : 멀티 홉 테스트 프로그램
Security Demo 응용 : 구현한 보안 데모 프로그램
• Linux Kernel Cross compiled for CEST IXP425 Platform
(ARM XScale, Big Endian)
Wi-Fi Driver Support (Atheros chipset, WAVE 구현)
USB Ethernet Gadget Support
(NET2282, IXP425 USB Device Controller)
WSMP 멀티 홉 라우팅 구현
IPv4/IPv6 지원
IEEE 1609.2 기반의 보안 기능 구현
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• u-TSN 통신모듈 S/W Stack
WAVEApp.
UIS/UVSApp.
EMDApp.
SecurityApp.
Application
NET
PCIUSB
MadWifiWAVE
USB ETHSecurity
IEEE1609.2
Multi-HopRouting
WSMP IP
TCP UDP
KERNEL
NET2282
ATHSK
IXP425(ARM Xscale)
HARDWARE
WMIA-166AGH(Atheros chipset)
3. CASE Study
KRnet2010
u-TSN System : UVS/UIS-COM S/W
통신 기 능 통신 기 능
I2VV2I
V2V멀티홉
• UIS 방송 메시지• 개별 차량 정보 수집- UIS 통신범위에 속하면 방송 메시지를 듣고 차량정보를 전송
• 돌발 경고 전송- 돌발 상황 발생시 경고 내용을 멀티 홉으로 전달
V2V1홉
V2C
• 주변 차량 위치 수집- 램프 구간 진입과 같은 경우 주변 차량의 위치를 파악
• UTC 개별 차량 모니터링- UTC에서 이동하는 차량의 위치를 모니터링
UIS(S)
WBSS
UIS(M)
WBSS
UIS(S)
UIS(M)
UIS(M)
UIS(S)
Internet(ISP)UTC
UIS(M)
UIS(S)
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3. CASE Study
KRnet2010
u-TSN System : Test Bed
• u-TSN 통신시스템 및 통신시험 환경구축
경북대 통신시험 환경구축 (Master 3개, Slave 4개)
2
1
756
3
4
UIS(M)
UIS(M)
UIS(M)
UIS(S)
UIS(S)
UIS(S)
UIS(S)
Master UIS : 유선 통신으로 UTC와 연결
Slave UIS : Master UIS와의 무선 통신을 통해 UTC와 연결ex) UIS7이 수신한 차량정보 -> 11g 통신으로 UIS6으로 전송 -> UTC로 전송
I2I 통신(11g)
45
3. CASE Study
KRnet2010
u-TSN System : Applications
• u-TSN 통신시스템
통신시험 환경 응용 S/W - 차량용 UI 및 UTC 개별 차량 모니터링
UIS 방송 메시지 수신 돌발 경고 메시지 수신
주변 차량 위치 수집 UTC 개별 차량 모니터링
UIS 접속 정보(UIS 주변 모습,UIS MAC 주소,접속가능 UIS 수,UIS 접속시간)
COM으로부터송신하는 주기적인메시지 (GPS 정보,UIS방송 메시지 등)
COM과의 단발성송수신 메시지(주변 차량 정보,기본 메시지 등)
주변 차량 위치정보 수신 후상대적인 위치표시
경고 메시지수신시 경고를보낸 차량의위치 표시
정보 전송 과정UIS4(S)
↓UIS3(M)
↓UTC
46
3. CASE Study
KRnet2010
References
• H. Menouar, F. Filali, M. Lenardi, ”A Survey and Qualitative Analusis of MAC Protocols for Vehicular Ad Hoc Networks”, IEEE Wireless Communications, pp. 30-35, Oct. 2006
• H. Moustafa and Y. Zhang, Vehicular Networks, CRC Press, 2009.
• http://www.COMeSafety.org
• http://www.cvisproject.org
• http://www.intellidriveusa.org
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KRnet2010
감사합니다.
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