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IVC Simulation and Modeling (Part 1) Christoph Sommer (U Erlangen) Schloss Dagstuhl, Oct 5 2010

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Motivation Multitude of Applications Christoph Sommer: IVC Simulation and Modeling2 Vehicle-to-XNon-Safety Comfort Contextual Information Entertainment Traffic Information Systems Optimal Speed Advisory Congestion, Accident Information Safety Situation Awareness Adaptive Cruise Control Blind Spot Warning Warning Messages Traffic Light Violation Electronic Break Light [1]T. L. Willke, P. Tientrakool, and N. F. Maxemchuk, "A Survey of Inter-Vehicle Communication Protocols and Their Applications," IEEE Communications Surveys and Tutorials, vol. 11 (2), pp. 3-20, 2009

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Motivation Multitude of Technologies Christoph Sommer: IVC Simulation and Modeling3 [1]Dar, K. and Bakhouya, M. and Gaber, J. and Wack, M. and Lorenz, P., "Wireless Communication Technologies for ITS Applications," IEEE Communications Magazine, vol. 48 (5), pp. 156-162, May 2010 Wireless Communication Technologies Infrastructure-based Broadcast Radio DAB, DVB Cellular GSM 2G Cellular UMTS 3G, 3.5G Cellular WiMAX 4G Cellular Infrastructureless Short Range Infrared Millimeter Wave ZigBeeBluetooth Medium Range Wi-Fi DSRC / WAVE

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Motivation Penetration Rate prognosis (of vendors!) in Germany and the U.S. - 14-15 years until penetration rate 100% cf. Personal Navigation Assistants (PNAs) in cars - 13 years until penetration rate 14% Christoph Sommer: IVC Simulation and Modeling4 [1] Bai, F. and Krishnamachari, B., "Exploiting the Wisdom of the Crowd: Localized, Distributed Information-Centric VANETs," IEEE Communications Magazine, vol. 48 (5), pp. 138-146, May 2010 [2] Ulrich Dietz (ed.), CoCar Feasibility Study: Technology, Business and Dissemination, CoCar Consortium, Public Report, May 2009. [3] Verband der Automobilindustrie e.V., Auto 2007 Jahresbericht des Verbands der Automobilindustrie (VDA), , July 2007.

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Motivation Infrastructure-based or Ad Hoc? Central coordination Ressource allocation Security High latency at short ranges Low latency at long ranges Central coordination Ressource allocation Security High latency at short ranges Low latency at long ranges Distributed coordination Ressource allocation Security Low latency at short ranges High latency at long ranges Distributed coordination Ressource allocation Security Low latency at short ranges High latency at long ranges Source: AKTIV CoCar

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Motivation Highway or Urban Deployment? 1D-mobility Bipolar connectivity pattern Stable (downstream traffic) -AND- Unstable (upstream traffic) 1D-mobility Bipolar connectivity pattern Stable (downstream traffic) -AND- Unstable (upstream traffic) 2D-mobility Alternating connectivity pattern High density (waiting) -OR- Low density (driving) 2D-mobility Alternating connectivity pattern High density (waiting) -OR- Low density (driving) Source: BMW/C2C-CC

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Motivation Convergence!

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Motivation Field Operational Tests highest degree of realism Drawbacks allows for only superficial examination of network behavior suffer from non-suppressible side effects can results from 100s of cars (sim TD ) be reliably extrapolated? - to 2%, to 10%, to 100% penetration rate? Christoph Sommer: IVC Simulation and Modeling8 Picture: Mario Roberto Duran Ortiz

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Modeling and Performance Analysis Simulation default approach for performance evaluation of network protocols and systems network simulators: - ns-2/ns-3, JiST/SWANS, OMNeT++, Capabilities highly detailed, validated models of all communication layers Open Issues appropriate modeling of mobility in network simulators? level of detail needed / affordable for individual subcomponents validation of scenarios, validation of models Christoph Sommer: IVC Simulation and Modeling9

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Modeling and Performance Analysis Integrated mobility models pick destination, shift node, repeat Random Waypoint (RWP) - extendable to consider mass, inertia - pattern can be restricted to follow streets Manhattan Grid Problem (very) low degree of realism Christoph Sommer: IVC Simulation and Modeling10 Network Simulation A. Random node movement

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Modeling and Performance Analysis Replaying collected real-world traces using GPS dongles installed in taxis, busses, highest degree of realism Problems extrapolation taxis -> all cars? no simulation of arbitrary scenarios Christoph Sommer: IVC Simulation and Modeling11 [1]V. Naumov, R. Baumann, and T. Gross, "An evaluation of inter-vehicle ad hoc networks based on realistic vehicular traces," Proceedings of 7th ACM International Symposium on Mobile Ad Hoc Networking and Computing (ACM Mobihoc 2006), Florence, Italy, March 2006, pp. 108-119 [2]M. Fiore, J. Hrri, F. Filali, and C. Bonnet, "Vehicular Mobility Simulation for VANETs," Proceedings of 40th Annual Simulation Symposium (ANSS 2007), March 2007, pp. 301-309 [3]H-Y. Huang, P-E. Luo, M. Li, D. Li, X. Li, W. Shu, and M-Y. Wu, "Performance Evaluation of SUVnet With Real-Time Traffic Data," IEEE Transactions on Vehicular Technology, vol. 56 (6), pp. 3381-3396, November 2007 Network Simulation B. Real-world traces

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Modeling and Performance Analysis Solution: (Micro-)Simulation of road traffic -> see part 2 Christoph Sommer: IVC Simulation and Modeling12

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Modeling and Performance Analysis Replaying simulated traces source: microsimulation of road traffic requires accurate representation of desired scenario Problem: No interaction with traffic possible Christoph Sommer: IVC Simulation and Modeling13 [1]C. Sommer, I. Dietrich, and F. Dressler, "Realistic Simulation of Network Protocols in VANET Scenarios," Proceedings of 26th IEEE Conference on Computer Communications (INFOCOM 2007): IEEE Workshop on Mobile Networking for Vehicular Environments (MOVE 2007), Poster Session, Anchorage, AK, May 2007, pp. 139-143 [2]B. Raney, A. Voellmy, N. Cetin, M. Vrtic, and K. Nagel, "Towards a Microscopic Traffic Simulation of All of Switzerland," Proceedings of International Conference on Computational Science (ICCS 2002), Amsterdam, The Netherlands, April 2002, pp. 371-380 [3]M. Treiber, A. Hennecke, and D. Helbing, "Congested Traffic States in Empirical Observations and Microscopic Simulations," Physical Review E, vol. 62, pp. 1805, 2000 Network SimulationRoad Traffic Simulation C. Micro- simulation

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Modeling and Performance Analysis Bidirectional Coupling VSimRTI TraCI ... Christoph Sommer: IVC Simulation and Modeling14 [1]C. Sommer, Z. Yao, R. German, and F. Dressler, "On the Need for Bidirectional Coupling of Road Traffic Microsimulation and Network Simulation," Proceedings of 9th ACM International Symposium on Mobile Ad Hoc Networking and Computing (Mobihoc 2008): 1st ACM International Workshop on Mobility Models for Networking Research (MobilityModels 2008), Hong Kong, China, May 2008, pp. 41-48 [2]C. Sommer, R. German, and F. Dressler, "Bidirectionally Coupled Network and Road Traffic Simulation for Improved IVC Analysis," IEEE Transactions on Mobile Computing, 2010. (to appear) Network SimulationRoad Traffic Simulation D. Bidirect. coupling

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Modeling and Performance Analysis Advantages of bidirectional coupling Precise mobility model, high execution speed use of established network simulation frameworks Examples IDM/MOBIL -> OMNeT++ [1] VGSim: VISSIM traces -> ns-2 [2] NCTUns (hand-made simulator) [3] TraNS: SUMO ns-2 [4] Veins: SUMO OMNeT++ [5] (!) Christoph Sommer: IVC Simulation and Modeling15 [1]C. Sommer, I. Dietrich, and F. Dressler, "Realistic Simulation of Network Protocols in VANET Scenarios," Proceedings of 26th IEEE Conference on Computer Communications (INFOCOM 2007): IEEE Workshop on Mobile Networking for Vehicular Environments (MOVE 2007), Poster Session, Anchorage, AK, May 2007, pp. 139-143 [2]B. Liu, B. Khorashadi, H. Du, D. Ghosal, C-N. Chuah, and M. Zhang, "VGSim: An Integrated Networking and Microscopic Vehicular Mobility Simulation Platform," IEEE Communications Magazine, vol. 47 (5), pp. 134-141, May 2009 [3]S. Y. Wang, C. L. Chou, Y. H. Chiu, Y. S. Tseng, M. S. Hsu, Y. W. Cheng, W. L. Liu, and T. W. Ho, "NCTUns 4.0: An Integrated Simulation Platform for Vehicular Traffic, Communication, and Network Researches," Proceedings of 1st IEEE International Symposium on Wireless Vehicular Communications (WiVec 2007), Baltimore, MD, October 2007 [4]M. Piorkowski, M. Raya, A. L. Lugo, P. Papadimitratos, M. Grossglauser, J.-P. Hubaux, "TraNS: Joint Traffic and Network Simulator," Proceedings of 13th ACM International Conference on Mobile Computing and Networking (ACM MobiCom 2007), Poster Session, Montreal, Canada, September 2007 [5]C. Sommer, R. German, and F. Dressler, "Bidirectionally Coupled Network and Road Traffic Simulation for Improved IVC Analysis," IEEE Transactions on Mobile Computing, 2010. (to appear)

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Veins (Vehicles in Network Simulation) Framework Bidirectional coupling of dedicated simulators C2X communication: Dedicated network simulator (OMNeT++) Vehicle movement: Microscopic road traffic simulator (SUMO) Coupling via TCP socket TraCI protocol (SUMO, Shawn, OMNeT++, ns-2, JiST/SWANS, www7.cs.fau.de/veins [1]C. Sommer, Z. Yao, R. German, and F. Dressler, "On the Need for Bidirectional Coupling of Road Traffic Microsimulation and Network Simulation," Proceedings of 9th ACM International Symposium on Mobile Ad Hoc Networking and Computing (Mobihoc 2008): 1st ACM International Workshop on Mobility Models for Networking Research (MobilityModels 2008), Hong Kong, China, May 2008, pp. 41-48 [2]C. Sommer, R. German, and F. Dressler, "Bidirectionally Coupled Network and Road Traffic Simulation for Improved IVC Analysis," IEEE Transactions on Mobile Computing, 2010. (to appear)

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Veins (Vehicles in Network Simulation) Framework TraCI: Small, subscription-based client/server protocol Christoph Sommer: IVC Simulation and Modeling17

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Veins (Vehicles in Network Simulation) Framework OMNeT++ discrete event simulation core domain: network simulation MANETs / sensor networks INET Framework models of Internet protocols MiXiM models of wireless transmissions on physical layer -> generic building blocks -> heterogeneous networks Christoph Sommer: IVC Simulation and Modeling18 [1]A. Varga, "The OMNeT++ Discrete Event Simulation System," Proceedings of European Simulation Multiconference (ESM 2001), Prague, Czech Republic, June 2001

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Veins (Vehicles in Network Simulation) Framework ATB adaptive traffic beacon Christoph Sommer: IVC Simulation and Modeling19 [1]C. Sommer, O. K. Tonguz and F. Dressler, "Traffic Information Systems: Efficient Message Dissemination via Adaptive Beaconing, submitted to IEEE Communications Magazine

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Veins (Vehicles in Network Simulation) Framework SUMO Simulation of Urban Mobility car following model (Krauss) lane change model time discrete micro simulation Open Source, portable, scalable model encompasses... - speed restrictions - turn and access restrictions - traffic lights -... Christoph Sommer: IVC Simulation and Modeling20 [1]D. Krajzewicz, G. Hertkorn, C. Rssel, and P. Wagner, "SUMO (Simulation of Urban MObility); An open-source traffic simulation," Proceedings of 4th Middle East Symposium on Simulation and Modelling (MESM2002), Sharjah, United Arab Emirates, September 2002, pp. 183-187

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Number of Neighbors Need for realistic scenarios Christoph Sommer: IVC Simulation and Modeling21

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Simulation scenarios Realistic simulation setups based on accurate street maps as available in the OpenStreetMap project Christoph Sommer: IVC Simulation and Modeling22

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Simulation scenarios Christoph Sommer: IVC Simulation and Modeling23

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Simulation scenarios Christoph Sommer: IVC Simulation and Modeling24

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Simulation scenarios Christoph Sommer: IVC Simulation and Modeling25

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Simulation scenarios Christoph Sommer: IVC Simulation and Modeling26 [1] C. Sommer, D. Eckhoff and F. Dressler, "Improving the Accuracy of IVC Simulation using Crowd-sourced Geodata," Praxis der Informationsverarbeitung und Kommunikation (PIK), submitted

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Distance per Hop The Impact of Obstacles Christoph Sommer: IVC Simulation and Modeling27

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Number of Neighbors The Impact of Obstacles Christoph Sommer: IVC Simulation and Modeling28

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Neighbor Lifetime The Impact of Obstacles Christoph Sommer: IVC Simulation and Modeling29

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Raytracing? Christoph Sommer: IVC Simulation and Modeling30 Source: AWE Communications

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Measurements! Christoph Sommer: IVC Simulation and Modeling31

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Measurements! Christoph Sommer: IVC Simulation and Modeling32

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Results Christoph Sommer: IVC Simulation and Modeling33

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Results Christoph Sommer: IVC Simulation and Modeling34

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Data Basis Christoph Sommer: IVC Simulation and Modeling35

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Obstacle Model Christoph Sommer: IVC Simulation and Modeling36

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Outlook Dealing with low market penetration (P