Through connecting intelligent vehicles as well as the roadside infrastructure, the perception range of vehicles can be significantly extended, and hidden objects at blind spots can be efficiently detected and avoided. To realize this, accurate road map data must be downloaded in real time to these intelligent vehicles for navigation and localization purposes. Besides, the cloud must be updated with dynamic changes that happened in the road network. These involve the transmissions of high-definition 3D road map data for accurately representing the physical environments. In this work, we propose solutions under the fog computing architecture in a heterogeneous vehicular network to optimize data exchange among intelligent vehicles, the roadside infrastructure, as well as regional databases. Specifically, the efficiency of 3D road map data dissemination at roadside fog nodes is achieved by exploiting index coding techniques to reduce the overall data load, while opportunistic scheduling of heterogeneous transmissions can be done to judiciously manage network resources and minimize operating cost. In addition, 3D point cloud coding and hashing techniques are applied to expedite the updates of various dynamic changes in the network. We empirically evaluate the proposed solutions based on real-world mobility traces of vehicles and 3D LIght Detection And Ranging (LIDAR) data of city streets. The proposed system is also implemented in a multi-robotic testbed for practical evaluation.
Along with the development of Internet of Things (IoT) and the rise of fog computing, more new joint technologies have been proposed. Vehicular Ad-hoc Networks (VANET) are one of the emergent technologies that come with a very promising role, where the spare processing capabilities of vehicles can be exploited. In this paper, we propose a fog architecture to provide services for end users based on a cluster of static vehicles in a parking lot referred to as a vehicular fog. The proposed vehicular fog architecture is connected to the central data center through an optical infrastructure. As the…
Vehicular fog computing (VFC) has been envisioned as a promising paradigm for enabling a variety of emerging intelligent transportation systems (ITS). However, due to inevitable as well as non-negligible issues in wireless communication, including transmission latency and packet loss, it is still challenging in implementing safety-critical applications, such as real-time collision warning in vehicular networks. In this paper, we present a vehicular fog computing architecture, aiming at supporting effective and real-time collision warning by offloading computation and communication overheads to…
Vehicular ad hoc networks (VANETs) facilitate vehicles to broadcast beacon messages to ensure road safety. The rogue nodes in VANETs broadcast malicious information leading to potential hazards, including the collision of vehicles. Previous researchers used either cryptography, trust values, or past vehicle data to detect rogue nodes, but they suffer from high processing delay, overhead, and false-positive rate (FPR). We propose fog-based rogue nodes detection (F-RouND), a fog computing scheme, which dynamically creates a fog utilizing the on-board units (OBUs) of all vehicles in the region fo…
The rapid development of vehicles on-board units and the proliferation of autonomous vehicles in modern cities create a potential for a new fog computing paradigm, referred to as vehicular fog computing (VFC). In this paper, we propose an architecture that integrates a vehicular fog (VF) composed of vehicles clustered in a parking lot with a fixed fog node at the access network and the central cloud. We investigate the problem of energy efficient software matching in the VF considering different approaches to deploy software packages in vehicles.
Vehicular users are expected to consume large amounts of data, for both entertainment and navigation purposes. This will put a strain on cellular networks, which will be able to cope with such a load only if proper caching is in place, this in turn begs the question of which caching architecture is the best-suited to deal with vehicular content consumption. In this paper, we leverage a large-scale, crowd-collected trace to (i) characterize the vehicular traffic demand, in terms of overall magnitude and content breakup, (ii) assess how different caching approaches perform against such a real-wo…
Future vehicles will have rich computing resources to support autonomous driving and be connected by wireless technologies. Vehicular fog networks (VeFN) have thus emerged to enable computing resource sharing via computation task offloading, providing wide range of fog applications. However, the high mobility of vehicles makes it hard to guarantee the delay that accounts for both communication and computation throughout the whole task offloading procedure. In this article, we first review the state-of-the-art of task offloading in VeFN, and argue that mobility is not only an obstacle for timel…
Advances in connected vehicles based on Vehicular Ad-hoc Networks (VANETs) in recent years have gained significant attention in Intelligent Transport Systems (ITS) in terms of disseminating messages in an efficient manner. VANET uses Dedicated Short Range Communication (DSRC) for disseminating messages between vehicles and between infrastructures. Though DSRC based communications are viable, it is still challenging to disseminate messages in a timely manner when vehicles are not in the transmission range of each other. Furthermore, DSRC communication channels are heavily congested when the veh…
Vehicular Ad-hoc Network (VANET) has emerged as a promising solution for enhancing road safety. Routing of messages in VANET is challenging due to packet delays arising from high mobility of vehicles, frequently changing topology, and high density of vehicles, leading to frequent route breakages and packet losses. Previous researchers have used either mobility in vehicular fog computing or cloud computing to solve the routing issue, but they suffer from large packet delays and frequent packet losses. We propose Dynamic Fog for Connected Vehicles (DFCV), a fog computing based scheme which dynam…
Vehicular congestion is directly impacting the efficiency of the transport sector. A wireless sensor network for vehicular clients is used in Internet of Vehicles based solutions for traffic management applications. It was found that vehicular congestion detection by using Internet of Vehicles based connected vehicles technology are practically feasible for congestion handling. It was found that by using Fog Computing based principles in the vehicular wireless sensor network, communication in the system can be improved to support larger number of nodes without impacting performance. In this pa…
Vehicular fog computing (VFC) is envisioned as a promising solution to process the explosive tasks in autonomous vehicular networks. In the VFC system, task offloading is the key technique to process the computation-intensive tasks efficiently. In the task offloading, the task is transmitted to the VFC system according to the 802.11p standard and processed by the computation resources in the VFC system. The delay of task offloading, consisting of the transmission delay and computing delay, is extremely critical especially for some delay-sensitive applications. Furthermore, the long-term reward…
Fixed edge processing has become a key feature of 5G networks, while playing a key role in reducing latency, improving energy efficiency and introducing flexible compute resource utilization on-demand with added cost savings. Autonomous vehicles are expected to possess significantly more on-board processing capabilities and with improved connectivity. Vehicles continue to be used for a fraction of the day, and as such there is a potential to increase processing capacity by utilizing these resources while vehicles are in short-term and long-term car parks, in roads and at road intersections. Su…
The emergence of in-vehicle entertainment systems and self-driving vehicles, and the latter's need for high-resolution, up-to-date maps, will bring a further increase in the amount of data vehicles consume. Considering how difficult WiFi offloading in vehicular environments is, the bulk of this additional load will be served by cellular networks. Cellular networks, in turn, will resort to caching at the network edge in order to reduce the strain on their core network, an approach also known as mobile edge computing, or fog computing. In this work, we exploit a real-world, large-scale trace com…
In recent years, the number of IoT devices has been growing fast which leads to a challenging task for managing, storing, analyzing, and making decisions about raw data from different IoT devices, especially for delay-sensitive applications. In a vehicular network (VANET) environment, the dynamic nature of vehicles makes the current open research issues even more challenging due to the frequent topology changes that can lead to disconnections between vehicles. To this end, a number of research works have been proposed in the context of cloud and fog computing over the 5G infrastructure. On the…
With the emerging of the fifth generation (5G) mobile communication systems and software defined networks, not only the performance of vehicular networks could be improved but also new applications of vehicular networks are required by future vehicles, e.g., pilotless vehicles. To meet requirements from intelligent transportation systems, a new vehicular network architecture integrated with 5G mobile communication technologies and software defined network is proposed in this paper. Moreover, fog cells have been proposed to flexibly cover vehicles and avoid frequently handover between vehicles …
This paper investigates distributed processing in Vehicular Edge Cloud (VECs), where a group of vehicles in a car park, at a charging station or at a road traffic intersection, cluster and form a temporary vehicular cloud by combining their computational resources in the cluster. We investigated the problem of energy efficient processing task allocation in VEC by developing a Mixed Integer Linear Programming (MILP) model to minimize power consumption by optimizing the allocation of different processing tasks to the available network resources, cloud resources, fog resources and vehicular proce…
To enlarge the perception range and reliability of individual autonomous vehicles, cooperative perception has been received much attention. However, considering the high volume of shared messages, limited bandwidth and computation resources in vehicular networks become bottlenecks. In this paper, we investigate how to balance the volume of shared messages and constrained resources in fog-based vehicular networks. To this end, we first characterize sum satisfaction of cooperative perception taking account of its spatial-temporal value and latency performance. Next, the sensing block message, co…
With the increasing development of advanced communication technologies, vehicles are becoming smarter and more connected. Due to the tremendous growth of various vehicular applications, a huge amount of data is generated through advanced on-board devices and is deemed critical to improve driving safety and enhance vehicular services. However, cloud based models often fall short in applications where latency and mobility are critical. In order to fully realize the potential of vehicular networks, the challenges of efficient communication and computation need to be addressed. In this direction, …
Smart mobility management would be an important prerequisite for future fog computing systems. In this research, we propose a learning-based handover optimization for the Internet of Vehicles that would assist the smooth transition of device connections and offloaded tasks between fog nodes. To accomplish this, we make use of machine learning algorithms to learn from vehicle interactions with fog nodes. Our approach uses a three-layer feed-forward neural network to predict the correct fog node at a given location and time with 99.2 % accuracy on a test set. We also implement a dual stacked rec…
In this paper, we address the problem of distributing a large amount of bulk data to a sparse vehicular network from roadside infostations, using efficient vehicle-to-vehicle collaboration. Due to the highly dynamic nature of the underlying vehicular network topology, we depart from architectures requiring centralized coordination, reliable MAC scheduling, or global network state knowledge, and instead adopt a distributed paradigm with simple protocols. In other words, we investigate the problem of reliable dissemination from multiple sources when each node in the network shares a limited amou…
LLM-Empowered Cooperative Content Caching in Vehicular Fog Caching-Assisted Platoon Networks
School of Internet of Things Engineering, Jiangnan University（江南大学物联网工程学院）；School of Information Engineering, Jiangxi Provincial Key Laboratory of Advanced Signal Processing and Intelligent Communications, Nanchang University（江西省级先进信号处理与智能通信重点实验室，南昌大学信息工程学院）；Department of Electronic Engineering, State Key Laboratory of Space Network and Communications, and the Beijing National Research Center for Information Science and Technology, Tsinghua University（电子工程系，空间网络与通信国家重点实验室，信息科学与技术国家研究中心，清华大学）；Department of Computer Science, Brunel University（计算机科学系，布鲁内尔大学）；State Key Laboratory of ISN and the School of Telecommunications Engineering, Xidian University（信息与通信国家重点实验室，西安电子科技大学电信工程学院）
The increasing availability of on-board processing units in vehicles has led to a new promising mobile edge computing (MEC) concept which integrates desirable features of clouds and VANETs under the concept of vehicular clouds (VC). In this paper we propose an architecture that integrates VC with metro fog nodes and the central cloud to ensure service continuity. We tackle the problem of energy efficient resource allocation in this architecture by developing a Mixed Integer Linear Programming (MILP) model to minimize power consumption by optimizing the assignment of different tasks to the avai…
Vehicular Ad-hoc Networks (VANET) is a derived subclass of Mobile Ad-hoc Networks (MANET) with vehicles as mobile nodes. VANET facilitate vehicles to share safety and non-safety information through messages. Safety information includes road accidents, natural hazards, roadblocks, etc. Non-safety information includes tolling information, traveler information, etc. The main goal behind sharing this information is to enhance road safety and reduce road accidents by alerting the driver about the unexpected hazards. However, routing of messages in VANET is challenging due to packet delays arising f…
The rapid increase of vehicular traffic and congestion on the highways began hampering the safe and efficient movement of traffic. Consequently, year by year, we see the ascending rate of car accidents and casualties in most of the countries. Therefore, exploiting the new technologies, e.g. wireless sensor networks, is required as a solution of reduction of these saddening and reprehensible statistics. This has motivated us to propose a novel and comprehensive system to utilize Wireless Sensor Networks for vehicular networks. We coin the vehicular network employing wireless Sensor networks as …
In this paper we have discussed about the number of automobiles that has been increased on the road in the past few years. Due to high density of vehicles, the potential threats and road accident is increasing. Wireless technology is aiming to equip technology in vehicles to reduce these factors by sending messages to each other. The vehicular safety application should be thoroughly tested before it is deployed in a real world to use. Simulator tool has been preferred over out door experiment because it simple, easy and cheap. VANET requires that a traffic and network simulator should be used …
Rogue nodes broadcasting false information in beacon messages may lead to catastrophic consequences in Vehicular Ad Hoc Networks (VANETs). Previous researchers used either cryptography, trust scores, or past vehicle data to detect rogue nodes; however, these methods suffer from high processing delay, overhead, and False-Positive Rate (FPR). We propose herein Greenshield's traffic model-based fog computing scheme called Fog-based Rogue Nodes Detection (F-RouND), which dynamically utilizes the On-Board Units (OBUs) of all vehicles in the region for rogue node detection. We aim to reduce the data…
Autonomous driving technology has been regarded as a promising solution to reduce road accidents and traffic congestion, as well as to optimize the usage of fuel and lane. Reliable and high efficient Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I) communications are essential to let commercial autonomous driving vehicles be on the road before 2020. The current paper firstly presents the concept of Heterogeneous Vehicular NETworks (HetVNETs) for autonomous driving, in which an improved protocol stack is proposed to satisfy the communication requirements of not only safety but also …
With the emergence of Information and Communication Technologies (ICT) and wireless embedded sensing devices into modern vehicles, Intelligent Transport System (ITS) becomes a reality and an indispensable component of smart cities. The purpose of ITS is to improve road safety and traffic efficiency as well as offering infotainments services. In fact, warning drivers in the right time about dangerous situations on the road and providing them with prior information about traffic will undoubtedly leads to enhance driver's safety and reduce traffic congestion. Technically speaking, ITS is based on…
With the rapid growth of Vehicular Ad-Hoc Networks (VANETs), huge amounts of road condition data are constantly being generated and sent to the cloud for processing. However, this introduces a significant load on the network bandwidth causing delay in the network and for a time-critical application like VANET such delay may have severe impact on real-time traffic management. This delay maybe reduced by offloading some computational tasks to devices as close as possible to the vehicles. Further, security and privacy of vehicles is another important concern in such applications. Thus, this paper…
Vehicular Networks are one of the enabling technologies for cooperative Intelligent Transportation Systems. For accurate and precise time synchronization in vehicular networks, Global Navigation Satellite System (GNSS) is getting increasing attention for effective use of its time dissemination to vehicular networks. In urban road scenarios, the blockage of satellite signals affects precise positing due to erroneous geometry. However, for timing, it creates less deflection as long as a single satellite is visible. With the recent development of Multi-GNSS receivers, signal reception no longer r…
A Vehicular Ad hoc Network consists of vehicles which communicate with each other and exchange data via wireless communication links available between the vehicles which are in communication ranges of vehicles to improve the road safety in city.The communication between vehicles is used to provide road safety, comfort and entertainment.The performance of communication depends on how better routing takes place in the network.Routing data between the source and destination vehicle depends on the routing protocols being used in vehicular adhoc network.In this simulation based study we investigate…
5G vehicular communication is one of key enablers in next generation intelligent transportation system (ITS), that require ultra-reliable and low latency communication (URLLC). To meet this requirement, a new hybrid vehicular network structure which supports both centralized network structure and distributed structure is proposed in this paper. Based on the proposed network structure, a new vehicular network utility model considering the latency and reliability in vehicular networks is developed based on Euclidean norm theory. Building on the Pareto improvement theory in economics, a vehicular…
In the last few years, the Vehicular Ad-hoc Network (VANET) has come to be an important area of research. Significant research has been conducted to improve the performance of VANETS. One output of further research conducted on VANET is the Vehicular Delay Tolerant Network (VDTN). It is an application of the mobile DTN where nodes relay messages in the network using a store-carry-forward approach. Due to its high mobility, it suffers frequent disconnections and also congestions at nodes which leads to message drops. To minimize the rate of message drops and so optimize the probability of messa…
Vehicular communication is an essential part of a smart city. Scalability is a major issue for vehicular communication, specially, when the number of vehicles increases at any given point. Vehicles also suffer some other problems such as broadcast problem. Clustering can solve the issues of vehicular ad hoc network (VANET); however, due to the high mobility of the vehicles, clustering in VANET suffers stability issue. Previously proposed clustering algorithms for VANET are optimized for either straight road or for intersection. Moreover, the absence of the intelligent use of a combination of t…
We consider a one-dimensional vehicular network where the time headway (time difference between successive vehicles as they pass a point on the roadway) follows the shifted-exponential distribution. We show that neglecting the impact of shift in the deployment model, which degenerates the distribution of vehicles to a Poisson Point Process, overestimates the temporal correlation of interference at the origin. The estimation error becomes large at high traffic conditions and small time-lags.
University of South Florida（南佛罗里达大学）；Electrical Engineering Department, University of South Florida（南佛罗里达大学电气工程系）；University of South Florida, Tampa, FL 33620, USA（南佛罗里达大学，美国佛罗里达州坦帕市，邮编33620）
Intelligent vehicular systems and smart city applications are the fastest growing Internet of things (IoT) implementations at a compound annual growth rate of 30%. In view of the recent advances in IoT devices and the emerging new breed of IoT applications driven by artificial intelligence (AI), fog radio access network (F-RAN) has been recently introduced for the fifth generation (5G) wireless communications to overcome the latency limitations of cloud-RAN (C-RAN). We consider the network slicing problem of allocating the limited resources at the network edge (fog nodes) to vehicular and smar…
The introduction of cloud data centres has opened new possibilities for the storage and processing of data, augmenting the limited capabilities of peripheral devices. Large data centres tend to be located away from the end users which increases latency and power consumption in the interconnecting networks. These limitations led to the introduction of edge processing where small distributed data centres or fog units are located at the edge of the network close to the end user. Vehicles can have substantial processing capabilities, often un-used, in their on-board-units (OBUs). These can be used…
Now a days Many car manufacturers are planning to install wireless connectivity equipment in their vehicles to enable communications with "roadside base station" and also between vehicles, for the purposes of safety, driving assistance, and entertainment. One distinct feature is that vehicles are highly mobile, with speed up to 30 m/s, though their mobility patterns are more predictable than those of nodes in Mobile Ad-hoc Networks (MANET) due to the constraints imposed by road, speed limits, and commuting habits. Therefore, these networks require specific solutions and identify a novel resear…
Vehicular Edge Clouds (VECs) is a new distributed processing paradigm that exploits the revolution in the processing capabilities of vehicles to offer energy efficient services and improved QoS. In this paper we tackle the problem of processing allocation in a cloud-fog-VEC architecture by developing a joint optimization Mixed Integer Linear Programming (MILP) model to minimize power consumption, propagation delay, and queuing delay. The results show that while VEC processing can reduce the power consumption and propagation delay, VEC processing can increase the queuing delay because of the lo…
Evaluation of Road User Radio-Frequency Exposure Levels in an Urban Environment from Vehicular Antennas and the Infrastructure in ITS-G5 5.9 GHz Communication
Vehicular fog computing (VFC) is envisioned as an extension of cloud and mobile edge computing to utilize the rich sensing and processing resources available in vehicles. We focus on slow-moving cars that spend a significant time in urban traffic congestion as a potential pool of on-board sensors, video cameras, and processing capacity. For leveraging the dynamic network and processing resources, we utilize a stochastic mobility model to select nodes with similar mobility patterns. We then design two distributed applications that are scaled in real-time and placed as multiple instances on sele…
Autonomous Vehicles (AVs) generated a plethora of data prior to support various vehicle applications. Thus, a big storage and high computation platform is necessary, and this is possible with the presence of Cloud Computing (CC). However, the computation for vehicular networks at the cloud computing suffers from several drawbacks, such as latency and cost, due to the proximity issue. As a solution, the computing capability has been recently proposed at the edge of vehicular networks, which is known as Vehicle Edge Computing (VEC). This leads to other open problems for vehicles to offload and c…
Autonomous driving is expected to provide a range of far-reaching economic, environmental and safety benefits. In this study, we propose a fog computing based framework to assist autonomous driving. Our framework relies on overhead views from cameras and data streams from vehicle sensors to create a network of distributed digital twins, called an edge twin, on fog machines. The edge twin will be continuously updated with the locations of both autonomous and human-piloted vehicles on the road segments. The vehicle locations will be harvested from overhead cameras as well as location feeds from …
We present a real-world testbed for research and development in vehicular networking that has been deployed successfully in the sea port of Leixões in Portugal. The testbed allows for cloud-based code deployment, remote network control and distributed data collection from moving container trucks, cranes, tow boats, patrol vessels and roadside units, thereby enabling a wide range of experiments and performance analyses. After describing the testbed architecture and its various modes of operation, we give concrete examples of its use and offer insights on how to build effective testbeds for wire…
In a Vehicular Ad-hoc Network (VANET), the amount of interference from neighboring nodes to a communication link is governed by the vehicle density dynamics in vicinity and transmission probabilities of terminals. It is obvious that vehicles are distributed non-homogeneously along a road segment due to traffic controls and speed limits at different portions of the road. The common assumption of homogeneous node distribution in the network in most of the previous work in mobile ad-hoc networks thus appears to be inappropriate in VANETs. In light of the inadequacy, we present in this paper an or…
The IEEE 802.11p is the technology dedicated to vehicular communications to support road safety, efficiency, and comfort applications. A large number of research activities have been carried out to study the characteristics of the IEEE 802.11p. The key weakness of the IEEE 802.11p is the channel congestion issue, where the wireless channel gets saturated when the road density increases. The European Telecommunications Standardization Institute (ETSI) is in the progress of studying the channel congestion problem and proposed so-called Reactive Distributed Congestion Control (DCC) algorithm as a…
