Cooperative Intelligent Transport Systems Research Articles

Development of Cooperative-Intelligent Transport Systems (C-ITS) based Motorcycle Traffic Signal Detection System

Development of Cooperative-Intelligent Transport Systems (C-ITS) based Motorcycle Traffic Signal Detection System

Modelling interrelations between C-ITS impact categories: a system-dynamics approach using causal loop diagrams

The growing number of connected vehicles has led to an increased focus on Vehicle-to-Everything (V2X) communication in the field of transport research. This communication paradigm facilitates cooperation between vehicles and infrastructure to address traffic challenges such as efficiency, sustainability and safety. The development and standardisation of such Cooperative Intelligent Transport Systems (C-ITS) has been pursued in several projects. Beyond technical considerations, assessing the effect of these applications in terms of various impact categories is of paramount importance. However, existing research tends to examine impact categories such as efficiency, sustainability, safety, psychological or socioeconomic impacts separately, often overlooking potential interactions and interdependencies. This approach is inadequate as impacts on one category can have both cascading effects on others and rebound effects. To address this gap, this paper proposes a system dynamics approach using Causal Loop Diagrams (CLD) to illustrate the interconnectedness of impact categories and the potential impacts of C-ITS services. By depicting general relationships, interdependencies and feedback loops between impact category elements, the model accommodates the introduction of single or multiple C-ITS services as separate modules, allowing an analysis of their combined effects on the overall system. To this end, two use cases demonstrate the applicability of the developed CLD and illustrate some of the multiple interrelations between the effects of C-ITS services. The results of this paper support road operators and researchers when setting up the impact assessment of C-ITS services by revealing the dynamic and intertwined nature of different impact categories.

Automated Evaluation of C-ITS Message Content for Enhanced Compliance and Reliability

In the field of Cooperative Intelligent Transport Systems (C-ITSs), the traditional approach to testing often emphasizes technological parameters, leaving the validation of message content insufficiently addressed. Since the content of these messages is crucial for the correct functioning of C-ITS, this article demonstrates the potential for automated evaluation of C-ITS message content against relevant standards. It leverages our novel tools, Karlos and C-ITS SIM, to facilitate this process. Through detailed laboratory testing and data analysis, the study showcases the effectiveness of these automated solutions in enhancing the accuracy and reliability of message content validation.

Assessing the impact of communication delays for Autonomous Intersection Management systems

Communication is essential for Cooperative Intelligent Transportation Systems (C-ITS) to achieve better road efficiency, especially for Autonomous Intersection Management (AIM) which coordinates vehicles to pass the intersection safely and efficiently. Communication delays cause severe safety crises (i.e., collisions) and vehicular-performance degradation regarding intersection capacities and vehicular delays. Targeting the delays, network researchers have been working on low-latency communication technologies, and C-ITS researchers have proposed delay-tolerant AIM systems to avoid collisions in intersections. The impacts of communication delays are observed and discussed in the literature; however, models and assessments of the delay requirements for AIM are needed to provide insights for future network and C-ITS research. Here, we model the impact of communication delays on vehicular performance at an autonomous intersection and validate the models with the simulation results from over two million experiments, two types of multi-lane intersections (a typical 4-legged intersection and a roundabout), and four AIM systems. The simulations are conducted with SUMO simulator and AIM systems, where communication delays are inserted into the message exchanges during the simulation. The models are represented in linear, quintic, and cubic polynomials, showing that communication delay between 0 to 100 milliseconds is linearly related to vehicular performance in terms of intersection capacity and vehicular delay. According to the models, we show that by reducing communication delay from 100 to 10 milliseconds, the capacity degradation can be reduced from 7-10% to 0.7-1.0%. Moreover, communication delays must be less than 247 milliseconds to allow AIM systems to outperform traditional traffic lights.

Enhancing Driving Safety through User Experience Evaluation of the C-ITS Mobile Application: A Case Study of the DARS Traffic Plus App in a Driving Simulator Environment.

The paper evaluates the DARS Traffic Plus mobile application within a realistic driving simulator environment to assess its impact on driving safety and user experience, particularly focusing on the Cooperative Intelligent Transport Systems (C-ITS). The study is positioned within the broader context of integrating mobile technology in vehicular environments to enhance road safety by informing drivers about potential hazards in real time. A combination of experimental methods was employed, including a standardised user experience questionnaire (meCUE 2.0), measuring quantitative driving parameters and eye-tracking data within a driving simulator, and post-experiment interviews. The results indicate that the mobile application significantly improved drivers' safety perception, particularly when notifications about hazardous locations were received. Notifications displayed at the top of the mobile screen with auditory cues were deemed most effective. The study concludes that mobile applications like DARS Traffic Plus can play a crucial role in enhancing road safety by effectively communicating hazards to drivers, thereby potentially reducing road accidents and improving overall traffic safety. Screen viewing was kept below the safety threshold, affirming the app's efficacy in delivering crucial information without distraction. These findings support the integration of C-ITS functionalities into mobile applications as a means to augment older vehicle technologies and extend the safety benefits to a broader user base.

Design of New BLE GAP Roles for Vehicular Communications.

Bluetooth Low Energy (BLE) is a prominent short-range wireless communication protocol widely extended for communications and sensor systems in consumer electronics and industrial applications, ranging from manufacturing to retail and healthcare. The BLE protocol provides four generic access profile (GAP) roles when it is used in its low-energy version, i.e., ver. 4 and beyond. GAP roles control connections and allow BLE devices to interoperate each other. They are defined by the Bluetooth special interest group (SIG) and are primarily oriented to connect peripherals wirelessly to smartphones, laptops, and desktops. Consequently, the existing GAP roles have characteristics that do not fit well with vehicular communications in cooperative intelligent transport systems (C-ITS), where low-latency communications in high-density environments with stringent security demands are required. This work addresses this gap by developing two new GAP roles, defined at the application layer to meet the specific requirements of vehicular communications, and by providing a service application programming interface (API) for developers of vehicle-to-everything (V2X) applications. We have named this new approach ITS-BLE. These GAP roles are intended to facilitate BLE-based solutions for real-world scenarios on roads, such as detecting road traffic signs or exchanging information at toll booths. We have developed a prototype able to work indistinctly as a unidirectional or bidirectional communication device, depending on the use case. To solve security risks in the exchange of personal data, BLE data packets, here called packet data units (PDU), are encrypted or signed to guarantee either privacy when sharing sensitive data or authenticity when avoiding spoofing, respectively. Measurements taken and their later evaluation demonstrated the feasibility of a V2X BLE network consisting of picocells with a radius of about 200 m.

The Impacts of Centralized Control on Mixed Traffic Network Performance: A Strategic Games Analysis

Cooperative Intelligent Transport Systems (C-ITS) address contemporary transportation challenges, as Connected Vehicles (CVs) can play a pivotal role in enhancing efficiency and safety. The role of central governing authorities in shaping traffic management policies for CVs influences decision-making processes and system performance. In this work, the role of central governing authorities in the traffic management of a mixed traffic network is examined, integrating System Optimum principles with game theory. More specifically, we introduce and develop a framework that models and analyses the strategic interactions between different stakeholders in a mixed traffic environment, considering central governing authorities with varying levels of control. The results indicate how the various levels of control of a central governing authority may have an impact on the network in terms of traffic measures. Through a strategic games analysis, the trade-offs associated with centralized control mechanisms are demonstrated and recommendations are offered for policymakers and practitioners to optimize traffic management strategies.

Enhancing Autonomous Driving Robot Systems with Edge Computing and LDM Platforms

The efficient operation and interaction of autonomous robots play crucial roles in various fields, e.g., security, environmental monitoring, and disaster response. For these purposes, processing large volumes of sensor data and sharing data between robots is essential; however, processing such large data in an on-device environment for robots results in substantial computational resource demands, causing high battery consumption and heat issues. Thus, this study addresses challenges related to processing large volumes of sensor data and the lack of dynamic object information sharing among autonomous robots and other mobility systems. To this end, we propose an Edge-Driving Robotics Platform (EDRP) and a Local Dynamic Map Platform (LDMP) based on 5G mobile edge computing and Kubernetes. The proposed EDRP implements the functions of autonomous robots based on a microservice architecture and offloads these functions to an edge cloud computing environment. The LDMP collects and shares information about dynamic objects based on the ETSI TR 103 324 standard, ensuring cooperation among robots in a cluster and compatibility with various Cooperative-Intelligent Transport System (C-ITS) components. The feasibility of operating a large-scale autonomous robot offloading system was verified in experimental scenarios involving robot autonomy, dynamic object collection, and distribution by integrating real-world robots with an edge computing–based offloading platform. Experimental results confirmed the potential of dynamic object collection and dynamic object information sharing with C-ITS environment components based on LDMP.

Influences of Vehicle Communication on Human Driving Reactions: A Simulator Study on Reaction Times and Behavior for Forensic Accident Analysis.

Cooperative intelligent transport systems (C-ITSs) are mass-produced and sold in Europe, promising enhanced safety and comfort. Direct vehicle communication, known as vehicle-to-everything (V2X) communication, is crucial in this context. Drivers receive warnings about potential hazards by exchanging vehicle status and environmental data with other communication-enabled vehicles. However, the impact of these warnings on drivers and their inclusion in accident reconstruction remains uncertain. Unlike sensor-based warnings, V2X warnings may not provide a visible reason for the alert, potentially affecting reaction times and behavior. In this work, a simulator study on V2X warnings was conducted with 32 participants to generate findings on reaction times and behavior for accident reconstruction in connection with these systems. Two scenarios from the Car-2-Car Communication Consortium were implemented: "Stationary Vehicle Warning-Broken-Down Vehicle" and "Dangerous Situation-Electronic Emergency Brake Lights". Volkswagen's warning concept was utilized, as they are the sole provider of cooperative vehicles in Europe. Results show that V2X warnings without visible reasons did not negatively impact reaction times or behavior, with average reaction times between 0.58 s (steering) and 0.69 s (braking). No significant distraction or search for warning reasons was observed. However, additional information in the warnings caused confusion and was seldom noticed by subjects. In this study, participants responded correctly and appropriately to the shown false-positive warnings. A wrong reaction triggering an accident is possible but unlikely. Overall, V2X warnings showed no negative impacts compared with sensor-based systems. This means that there are no differences in accident reconstruction regarding the source of the warning (sensors or communication). However, it is important that it is known that there was a warning, which is why the occurrence of V2X warnings should also be saved in the EDR in the future.

Investigation on cellular LTE C-V2X network serving vehicular data traffic in realistic urban scenarios

The need for reliable vehicular communication is an essential precondition of future Cooperative Intelligent Transportation Systems (C-ITS). The C-ITS applications and their diverse requirements necessitate a hybrid approach that combines ad hoc and cellular networks to support seamless and robust connectivity. While the research showed tremendous potential, the successful adaptation of the hybrid approach depends on the optimal understanding of its impact on network and protocol performance in an actual reference scenario. This work, which has practical implications for the field, focuses on creating a realistic representation of the dual-link-enabled Hybrid Vehicular Network (HVN) in the simulator. Several enhancements were implemented into a network simulator, including multiple Radio Access Technologies (multi-RAT) support, models for path loss predictions, static subscribers, background interference, and SINR throughput mapping within a multi-cell environment. We then presented a parameterized data traffic steering algorithm that enables switching between Dedicated Short-Range Communication (DSRC) and Long Term Evolution (LTE) RAT based on channel congestion and cell load conditions. The simulation result shows the high potential of a dual-link-enabled hybrid approach and its implications on both networks under realistic vehicular networking conditions. The investigations reveal that an intelligent decision to steer traffic can target balanced connectivity and highly reliable vehicular communication at a reduced network load.

Human-Centric Digitization in Montenegro: Progress through 17 Years of National Independence and Future Trends

Montenegro restored its national independence in 2006, and in the 17 years since then, the country has made significant progress in digital transformation, which is especially important for its accession to the European Union. In this paper, this period of 17 years of Montenegrin digital transformation is reviewed. The work aims to provide comprehensive coverage of the digitization processes across all relevant sectors, including healthcare, education, telecommunications and internet, personal and public transportation, tourism, agriculture, energy and sustainability, and public administration. The human-centric nature of digitization is emphasized where relevant, as well as related future trends. This paper also highlights barriers and limitations, such as the lack of consideration for cooperative intelligent transportation systems in national strategies, and user-related issues in digital public administration.

Intelligent defense strategies: Comprehensive attack detection in VANET with deep reinforcement learning

Vehicular Ad Hoc Network (VANET) facilitates the exchange of vehicular information through Vehicle-to-Vehicle (V2V) communication, contributing to Cooperative Intelligent Transportation Systems (C-ITS). The transmitted messages among vehicles are vulnerable to various security threats executed by malicious insider nodes. The dynamic VANET necessitates context-aware solutions for detecting various security attacks. Existing learning and deterministic mechanisms showed high detection accuracy for attacks on which they were trained explicitly for large datasets. Therefore, we propose an intelligent framework utilizing Deep Reinforcement Learning (DRL) for attack detection in evolving scenarios and mitigate the need for extensive training datasets. Our approach employs a Deep Q Network (DQN) trained on a compact dataset encompassing multiple attacks. The trained model is then applied to an unknown and extensive dataset, detecting various attacks with high accuracy. Notably, the model autonomously updates itself upon observing changes in the network context. This framework represents a promising security solution that is effective and adaptable for V2V communication in VANET.

A Lagrangian approach for variable speed limit implementation in C-ITS framework

With the development of Cooperative-Intelligent Transport System (C-ITS) technologies, new strategies based on embedded technologies have emerged to manage road networks. This paper focuses on adapting to this connectivity context a Variable Speed Limit (VSL) system to detect shockwaves and anticipate their propagation based on the kinematic wave theory to dampen them. We provide an alternative framework to adapt the VSL strategy, well-suited for Eulerian approaches, into a Lagrangian context. While the Eulerian approach is based on Loop Detector (LD) and macroscopic traffic indicators (e.g. flow, density), our Lagrangian approach relies on Road Side Units (RSUs) that record the GPS traces shared by Connected Vehicles (CVs). Based on the combination of CV trajectories, Fundamental and Space-Time Diagrams theory, shockwave estimation and prediction processes directly operate on congestion waves, which release the estimation issue for traffic density. The simulation-based analysis reveals that the performance of the Lagrangian approach is comparable to the Eulerian configurations.

Modeling and evaluation of cooperative Vulnerable Road User protection schemes in realistic C-ITS environments

Vulnerable Road Users (VRUs) comprising pedestrians, cyclists, and motorcyclists are more susceptible to road traffic accidents and fatalities than other road users. Improving safety for vulnerable road users is a priority for many cities and governments, and various measures are being taken to reduce the risk of accidents and increase road safety. Advanced Cooperative Intelligent Transport Systems (C-ITS) that facilitate Vehicle-to-Everything (V2X) communication encompass Vehicle-to-Pedestrian (V2P) schemes. To address the issues and decrease the number of VRU fatalities, efficient VRU protection solutions can be seamlessly incorporated into evolving C-ITS services. This paper introduces a novel implementation and integration of VRU protection models into the Artery/OMNeT++ V2X-simulation framework as a promising solution for further wide-scale evolution in enhancing the safety of vulnerable road users. VRUs can transmit messages about their existence using the VRU Awareness Message (VAM) messaging protocol. This paper presents a performance evaluation of cooperative VRU protection scenarios with VAM protocol and deployment. Simulation results will be given for pedestrian protection models with VRU detection using sensors, collective perception, and active, VAM-based VRU Awareness message transmission.

Multisource‐multitarget cooperative positioning using probability hypothesis density filter in internet of vehicles

AbstractAccurate positioning of intelligent connected vehicle (ICV) is a key element for the development of cooperative intelligent transportation system. In vehicular networks, lots of state‐related measurements, especially the mutual measurements between ICVs, are shared. It is an advisable strategy to fuse these measurements for a more robust positioning. In this context, an innovative framework, referred to as multisource‐multitarget cooperative positioning (MMCP) is presented. In MMCP, ICVs are local information source, that upload both the states of ICVs estimated by on‐board sensors and the relative vectors between surrounding objects and vehicles to a fusion centre. In the fusion centre, ICVs are selected as the global targets, and the relative vectors are converted into global measurements. Then, the MMCP is modelled into a multi‐target tracking problem with specific targets. This paper proposes a low complexity Gaussian mixture probability hypothesis density (GM‐PHD‐LC) filter to match and fuse the global measurements to further improve the estimation of ICVs. The evaluation results show that our GM‐PHD‐LC can provide 10 Hz positioning services in urban area, and significantly improve the positioning accuracy compared to the standalone global navigation satellite system.

SDN-Based Secure Common Emergency Service for Railway and Road Co-Existence Scenarios

In the near future, there will be a greater emphasis on sharing network resources between roads and railways to improve transportation efficiency and reduce infrastructure costs. This could enable the development of global Cooperative Intelligent Transport Systems (C-ITSs). In this paper, a software-defined networking (SDN)-based common emergency service is developed and validated for a railway and road telecommunication shared infrastructure. Along with this, the developed application is capable of reducing the chances of distributed denial-of-service (DDoS) situations. A level-crossing scenario is considered to demonstrate the developed solution where railway tracks are perpendicular to the roads. Two cases are considered to validate and analyze the developed SDN application for common emergency scenarios. In case 1, no cross-communication is available between the road and railway domains. In this case, emergency message distribution is carried out by the assigned emergency servers with the help of the SDN controller. In case 2, nodes (cars and trains) are defined with two wireless interfaces, and one interface is reserved for emergency data communication. To add the DDoS resiliency to the developed system the messaging behavior of each node is observed and if an abnormality is detected, packets are dropped to avoid malicious activity.

Optimizing Hybrid V2X Communication: An Intelligent Technology Selection Algorithm Using 5G, C-V2X PC5 and DSRC

Cooperative communications advancements in Vehicular-to-Everything (V2X) are bolstering the autonomous driving paradigm. V2X nodes are connected through communication technology, such as a short-range communication mode (Dedicated Short Range Communication (DSRC) and Cellular-V2X) or a long-range communication mode (Uu). Conventional vehicular networks employ static wireless vehicular communication technology without considering the traffic load on any individual V2X communication technology and the traffic dynamics in the vicinity of the V2X node, and are hence inefficient. In this study, we investigate hybrid V2X communication and propose an autonomous and intelligent technology selection algorithm using a decision tree. The algorithm uses the information from the received Cooperative Intelligent Transport Systems (C-ITS) Cooperative Awareness Messages (CAMs) to collect statistics such as inter vehicular distance, one-way end-to-end latency and CAM density. These statistics are then used as input for the decision tree for selecting the appropriate technology (DSRC, C-V2X PC5 or 5G) for the subsequent scheduled C-ITS message transmission. The assessment of the intelligent hybrid V2X algorithm’s performance in our V2X test setup demonstrates enhancements in one-way end-to-end latency, reliability, and packet delivery rate when contrasted with the conventional utilization of static technology.

Evaluating the Impact of V2V Warning Information on Driving Behavior Modification Using Empirical Connected Vehicle Data

A connected vehicle (CV) enables vehicles to communicate not only with other vehicles but also the road infrastructure based on wireless communication technologies. A road system with CVs, which is often referred to as a cooperative intelligent transportation system (C-ITS), provides drivers with road and traffic condition information using an in-vehicle warning system. Road environments with CVs induce drivers to reduce their speed while increasing the spacing or changing lanes to avoid potential risks downstream. Such avoidance maneuvers can be considered to improve driving behavior from a traffic safety point of view. This study seeks to quantitatively evaluate the effect of in-vehicle warning information using per-vehicle data (PVD) collected from freeway C-ITSs. The PVD are reproduced to extract the speed–spacing relationship and are evaluated to determine whether the warning information induces drivers to drive in a conservative way. This study reveals that the in-vehicle warning prompts drivers to increase the spacing while decreasing their speed in the majority of samples. The rate of conservative driving behavior tends to increase during the initial operation period, but no significant changes were observed after this period; that is, the reliability of in-vehicle warning information is not constant in the CV environment.

A scalable, dynamic, and secure traffic management system for vehicular named data networking applications

Several intelligent transport systems in vehicular networks (VANETs) rely on IP-based models for inter-vehicle communication. However, many approaches for Cooperative Intelligent Transport Systems and distributed systems are not secure and appropriate for VANETs, using specific technologies, centralized network architectures, or limited communication models. In addition, many applications are forced to deal with complex services that the network layer does not provide. This paper proposes NDN-Waze, a comprehensive distributed and lightweight system for vehicular traffic management using Named Data Networking as the main underlying communication protocol. NDN-Waze is a proof-of-concept design that has applications in vehicular route guidance, traffic and mobility monitoring, as well as roadside units as a service in urban areas. We use the NDN-Waze route guidance module to compare the VANET model via Named Data Networking (NDN) and Internet Protocol (IP). Our study employs traditional network metrics to support the hypothesis that the communication architecture has a direct impact on both efficiency and the quality of service operations. The simulation results demonstrate that NDN properties can override traditional IP-based forwarding proposals in VANET.

Data accuracy in Vehicle-to-X cooperative awareness messages: An experimental study for the first commercial deployment of C-ITS in Europe

Cooperative Intelligent Transportation Systems have achieved a mature technology stage and are in an early phase of mass deployment in Europe. Relying on Vehicle-to-X communication, these systems were primarily developed to improve traffic safety, efficiency, and driving comfort. However, they also offer great opportunities for other use cases. One of them is forensic accident analysis, where the received data provide details about the status of other traffic participants, give insights into the accident scenario, and therefore help in understanding accident causes. A high accuracy of the sent information is essential: For safety use cases, such as traffic jam warning, a poor accuracy of the data may result in wrong driver information, undermine the usability of the system and even create new safety risks. For accident analysis, a low accuracy may prevent the correct reconstruction of an accident. This paper presents an experimental study of the first generation of Cooperative Intelligent Transportation Systems in Europe. The results indicate a high accuracy for most of the data fields in the Vehicle-to-X messages, namely speed, acceleration, heading and yaw rate information, which meet the accuracy requirements for safety use cases and accident analysis. In contrast, the position data, which are also carried in the messages, have larger errors. Specifically, we observed that the lateral position still has an acceptable accuracy. The error of the longitudinal position is larger and may compromise safety use cases with high accuracy requirements. Even with limited accuracy, the data provide a high value for the accident analysis. Since we also found that the accuracy of the data increases for newer vehicle models, we presume that Vehicle-to-X data have the potential for exact accident reconstruction.