Abstract
Future automation and control units for advanced driver assistance systems (ADAS) will exchange sensor and kinematic data with nearby vehicles using wireless communication links to improve traffic safety. In this paper we present an accurate real-time system-level simulation for multi-vehicle communication scenarios to support the development and test of connected ADAS systems. The physical and data-link layer are abstracted and provide the frame error rate (FER) to a network simulator. The FER is strongly affected by the non-stationary doubly dispersive fading process of the vehicular radio communication channel. We use a geometry-based stochastic channel model (GSCM) to enable a simplified but still accurate representation of the non-stationary vehicular fading process. The propagation path parameters of the GSCM are used to efficiently compute the time-variant condensed radio channel parameters per stationarity region of each communication link during run-time. Five condensed radio channel parameters mainly determine the FER forming a parameter vector: path loss, root mean square delay spread, Doppler bandwidth, <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">K</i> -factor, and line-of-sight Doppler shift. We measure the FER for a pre-defined set of discrete grid points of the parameter vector using a channel emulator and a given transmitter-receiver modem pair. The FER data is stored in a table and looked up during run-time of the real-time system-level simulation. We validate our methodology using empirical measurement data from a street crossing scenarios demonstrating a close match in terms of FER between simulation and measurement.
Highlights
Wireless vehicular communication systems are a key component to improve road-safety and reach zero casualties with active collision avoidance by connected advanced driver assistance systems (ADAS)
We investigate the hypothesis that the time-variant condensed channel parameters of a non-stationary fading channel can be locally approximated for each stationarity region by the statistics of those from a wireless channel generated by a stochastic channel model with an exponentially decaying power delay profile (PDP) and Clark’s Doppler power spectral density (DSD) [12] with an additional LOS component
The channel impulse response from a stochastic channel model with the condensed channel parameter vector (RMS delay spread στ, Doppler bandwidth fDmax, LOS Doppler shift fLOS, K -factor K, and received power P) is emulated. (b) System-level simulation: geometry-based stochastic channel model (GSCM) module for simulating the environment and computing the propagation paths; channel parameter extraction module for estimating the condensed channel parameter vector and frame error rate (FER) lookup table for obtaining the FER during run-time. (c) Validation: The FER obtained by emulating the channel impulse response from real world measurements is compared with the FER obtained by the system-level simulator
Summary
Wireless vehicular communication systems are a key component to improve road-safety and reach zero casualties with active collision avoidance by connected advanced driver assistance systems (ADAS). For this purpose, vehicles need to exchange kinematic vehicle data and environment status information with low-latency and high reliability. Radio propagation conditions between vehicles change rapidly, since both, transmitter and receiver, are moving, which results in a non-stationary time- and frequency-selective fading process [1]. The direct propagation path between transmitter and receiver is blocked by buildings or other vehicles, leading to harsh wireless communication conditions. Vehicles is a key requirement for robust operation in real road conditions. An accurate, repeatable and resource efficient real-time system-level test methodology is needed. In a laboratory environment we shall be able to reproduce different traffic scenarios, vary simulation parameters and investigate vehicular communication under realistic and repeatable wireless channel conditions
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