Roadside Units Research Articles

Seamless Connectivity with Fuzzy-Based Unmanned Aerial Vehicle for VANET in Congested Zone

Providing seamless connectivity during transit in vehicular ad hoc networks (VANETs) is the most promising and challenging task. In VANET, the vehicles are able to communicate with other vehicles and also with the infrastructure units such as road side unit (RSU). The coverage range of RSU is not sufficient to cover the whole road. The vehicle can drive to an area which is not covered by any of the RSUs, and it is termed as congested zone (CZ). This will extremely lead to traffic congestion and maximize blocking probability. In order to provide connectivity between the road segments and to avoid long delay in message transmission, unmanned aerial vehicles (UAVs) are placed in CZs, which act as relay nodes. To enhance the connectivity of the vehicles, a fuzzy-based UAV-assisted handoff scheme (F-UAV-HO) is proposed in this work. By adopting fuzzy, the unwanted participation of UAV is limited in non-congested traffic, thereby saving the battery resource. To validate the proposed work, the simulations are executed in Network Simulator 2.35. The proposed system outperforms other conventional UAV-assisted schemes in congested traffic in terms of average end-to-end delay, PDR and throughput.

A Review on Secure Outsourcing and Privacy-Preserving Traffic Monitoring in Fog-Enabled VANETs

New possibilities for fog-based vehicle monitoring have emerged with the expansion of fog computing, but present privacy concerns provide a significant barrier that limits the extent to which vehicles can participate. Because of its potential to improve road network security and vehicle productivity, the field of Vehicle-based Ad hoc Networks (VANETs) is gaining prominence. The security problems with VANETs, such as data confidentiality and message access control are still need better solutions to provide better Quality of Service (QoS). The effectiveness of VANET networks is diminished due to their instability problem. Vehicles continually add requests to the Road Side Unit (RSU) queue whenever they want specific information. For ever-evolving networks like VANETs, better routing is a continual process. Fundamental problems arise in large-scale systems when centralized procedures are used to assign jobs to the nodes along a route. The present centralized system for computing and safety has many needs, including the protection of data storage, user authentication, access control, system availability across multiple network connections, and the provision of a real-time data flow overview. Distributed problem solving and work sharing between multiple agents can improve the system's scalability. This paper provides a brief survey on the secured outsourcing and privacy preservation-based traffic monitoring model with routing and task scheduling models in Fog-enabled VANETS. This survey presents the limitations of the traditional models that help the researchers design new solutions for secure outsourcing in VANETs.

Truck Platooning Merging Control Method in Merge Areas Based on the IDM Model and V2X Communication

Truck platooning technology has been widely studied for its advantages in traffic efficiency and energy savings. Although recent studies have made significant progress in specific scenarios, research on merging ramp trucks into the main road truck platoons remains insufficient. This paper proposes an innovative cooperative control method for merging ramp trucks and main road truck platoons based on vehicle-to-everything (V2X) technology. The method integrates the intelligent driver model (IDM), acceleration control logic for merging trucks before merging, lane-changing decision logic, steering control methods, and on-board unit (OBU) and roadside unit (RSU) communication technologies. This ensures that autonomous merging trucks can smoothly join the main road truck platoon under various insertion positions and acceleration lane lengths. After successfully joining the platoon, the merging trucks can maintain appropriate spacing and high speed, thereby improving overall traffic efficiency. Further analysis on different insertion positions and acceleration lane lengths reveals that when using the proposed method, merging trucks have the least impact on the overall platoon when they join at the head or tail of the main road truck platoon. Although the proposed method performs better with longer acceleration lanes, these lanes are costly to construct. The proposed method can also enable successful platoon joining with shorter acceleration lanes, optimizing the use of acceleration lanes to some extent.

Robust License Plate Recognition in OCC-Based Vehicle Networks Using Image Reconstruction

With the help of traffic lights and street cameras, optical camera communication (OCC) can be adopted in Internet of Vehicles (IoV) applications to realize communication between vehicles and roadside units. However, the encoded light emitted by these OCC transmitters (LED infrastructures on the roadside and/or LED-based headlamps embedded in cars) will generate stripe patterns in image frames captured by existing license-plate recognition systems, which seriously degrades the accuracy of the recognition. To this end, we propose and experimentally demonstrate a method that can reduce the interference of OCC stripes in the image frames captured by the license-plate recognition system. We introduce an innovative pipeline with an end-to-end image reconstruction module. This module learns the distribution of images without OCC stripes and provides high-quality license-plate images for recognition in OCC conditions. In order to solve the problem of insufficient data, we model the OCC strips as multiplicative noise and propose a method to synthesize a pairwise dataset under OCC using the existing license-plate dataset. Moreover, we also build a prototype to simulate real scenes of the OCC-based vehicle networks and collect data in such scenes. Overall, the proposed method can achieve a recognition performance of 81.58% and 79.35% on the synthesized dataset and that captured from real scenes, respectively, which is improved by about 31.18% and 24.26%, respectively, compared with the conventional method.

Ensemble and Gossip Learning-Based Framework for Intrusion Detection System in Vehicle-to-Everything Communication Environment.

Autonomous vehicles are revolutionizing the future of intelligent transportation systems by integrating smart and intelligent onboard units (OBUs) that minimize human intervention. These vehicles can communicate with their environment and one another, sharing critical information such as emergency alerts or media content. However, this communication infrastructure is susceptible to cyber-attacks, necessitating robust mechanisms for detection and defense. Among these, the most critical threat is the denial-of-service (DoS) attack, which can target any entity within the system that communicates with autonomous vehicles, including roadside units (RSUs), or other autonomous vehicles. Such attacks can lead to devastating consequences, including the disruption or complete cessation of service provision by the infrastructure or the autonomous vehicle itself. In this paper, we propose a system capable of detecting DoS attacks in autonomous vehicles across two scenarios: an infrastructure-based scenario and an infrastructureless scenario, corresponding to vehicle-to-everything communication (V2X) Mode 3 and Mode 4, respectively. For Mode 3, we propose an ensemble learning (EL) approach, while for the Mode 4 environment, we introduce a gossip learning (GL)-based approach. The gossip and ensemble learning approaches demonstrate remarkable achievements in detecting DoS attacks on the UNSW-NB15 dataset, with efficiencies of 98.82% and 99.16%, respectively. Moreover, these methods exhibit superior performance compared to existing schemes.

Zigbee-Based Wireless Sensor Network of MEMS Accelerometers for Pavement Monitoring

In this paper, we propose a wireless sensor network for pavement health monitoring exploiting the Zigbee technology. Accelerometers are adopted to measure local accelerations linked to pavement vibrations, which are then converted into displacements by a signal processing algorithm. Each device consists of an on-board unit buried in the roadway and a roadside unit. The on-board unit comprises a microcontroller, an accelerometer and a Zigbee module that transfers acceleration data wirelessly to the roadside unit. The roadside unit consists of a Raspberry Pi, a Zigbee module and a USB Zigbee adapter. Laboratory tests were conducted using a vibration table and with three different accelerometers, to assess the system capability. A typical displacement signal from a five-axle truck was applied to the vibration table with two different displacement peaks, allowing for two different vehicle speeds. The prototyped system was then encapsulated in PVC packaging, deployed and tested in a real-life road situation with a fatigue carousel featuring rotating truck axles. The laboratory and on-road measurements show that displacements can be estimated with an accuracy equivalent to that of a reference sensor.

A Blockchain‐Based Proxy Re‐Encryption Scheme With Cryptographic Reverse Firewall for IoV

ABSTRACTAs the internet of vehicles (IoV) technology develops, it promotes the intelligent interaction among vehicles, roadside units, and the environment. Nevertheless, it also brings vehicle information security challenges. In recent years, vehicle data sharing is suffering to algorithm substitution attacks (ASA), which means backdoor adversaries can carry out filtering attacks through data sharing. Therefore, this paper designs a blockchain‐based proxy re‐encryption (PRE) scheme with cryptographic reverse firewall (BIBPR‐CRF) for IoV. In our proposal, CRF can promise the internal safety of vehicle units. More specifically, it can prevent ASA attacks while ensuring chosen plaintext attack (CPA)‐security. Meanwhile, the PRE algorithm can provide the confidential sharing and secure operation of data. Moreover, we use a consortium blockchain service center (CBSC) to store the first ciphertext and re‐encrypt it with smart contracts on the blockchain, which can avoid single point of failure and achieve higher efficiency compared to proxy servers. Finally, we evaluate the performance of BIBPR‐CRF with regard to communication cost, computational cost, and energy consumption. Our proposal is the most fitting for IoV application, in contrast with the other three schemes.

Enhancing the Vehicular Public Key Infrastructure to Develop Privacy-Preserving Authentication Scheme for Vanet by Using PCM and MSS Scheme

This article proposes a security-based authentication as well as efficient certificate management approach for VANET to detect fraudulent nodes with better precision, less latency and overhead. The primary purpose of the developed system is to establish effectual and heftiness of VANET security that lead to the stability of overall network. VANETs are composed of vehicles and Road Side Units (RSUs) assisting with network management and the vehicles connect with one another and RSUs to furnish roadside information and safety solutions. Security is an essential factor in VANETs because the confidentiality of humans (passengers) is paramount; hence, Vehicular Public Key Infrastructure (VPKI) is utilised to offer authentication and safety services in VANETs. The developed structure provides an encrypted VANET transmission infrastructure by utilising the concepts of Merkle Signature Scheme (MSS) and Pseudo-code Certificate Management (PCM) to minimise overhead for communication and latency while ensuring entity authenticity. Messages are authenticated by sender, encoded with a vehicular public key distributed by a PCM-MSS and decrypted by the destination, resulting in every transmission including a certification from a reliable authority. During that verification, the transmitter and receiver of message’s authentication and validation is accomplished. Simulation findings show that the proposed approach improves the reliability of identifying hostile nodes and PDR while reducing authentication delays and overhead.

EPAKA: An efficient and privacy-preserving authenticated key agreement scheme based on physical security for VANET

Vehicular ad hoc network (VANET) has been a promising technology in smart transportation system, which can enable information exchange between vehicles and roadside units (RSUs). However, the privacy of vehicles and RSUs is a critical challenge in VANET, as they may expose sensitive information to malicious attackers or unauthorized parties. Many existing authenticated key agreement (AKA) schemes aim to protect the privacy of vehicles and RSUs, but they often neglect the physical security of the devices involved in the communication. Therefore, we propose an efficient and privacy-preserving AKA scheme in VANET, which embeds physical unclonable function (PUF) and fuzzy extraction (FE) technology. PUF is a physical device that generates random strings based on their intrinsic characteristics and external inputs, which can protect the secrets in the devices from being stolen by attackers. FE can compensate for the drawbacks of PUF affected by environmental factors. Our scheme preserves the identity privacy of legitimate RSUs and vehicles, as well as intercepts and traces the identity of malicious attackers. In addition, we eliminate the involvement of the third party (TP) in the AKA phase to better meet the high-speed driving of vehicles. Finally, we conduct formal and informal security analyses in random oracle model (ROM), which prove that our scheme can resist various attacks. We also show in the performance analysis that our scheme has the lowest computational cost, communication overhead, and total energy consumption.

A general task offloading and resources allocation strategy for multi-RSUs with load unbalance and priority awareness

Vehicular Edge Computing is a new computing paradigm that enables real-time response to vehicular applications and servers by performing data processing on edge computing devices near the vehicle. However, on the one hand, the random distribution and the mobility of vehicles may lead to load unbalance among different Roadside Units (RSUs), and some tasks may not be able to get timely response due to inadequate computing resources and communication resources in the high-load RSU areas. On the other hand, considering the different urgency of the tasks, the service quality of the system will be seriously affected if these tasks are not treated indistinguishably. To address the above challenges, this paper constructs a priority-aware task offloading and computing&communication resources allocation problem in a general scenario of unbalanced load among multi-RSUs, aiming at minimizing the average delay. In the problem, considering the absence of communication resources, the relay vehicle is used to offload the subtasks of splittable tasks to the RSUs that are in the neighbouring and low-load. Moreover, to take full advantage of computing resources, the task can be reasonably split into at most four parts and processed in parallel on a relay vehicle, a current RSU, a neighbouring RSU and a local vehicle. To solve the problem, a Split-Hop Offloading and Resources Allocation Strategy (SHORAS) based on an improved particle swarm optimisation algorithm is proposed, which uses a penalty function to incline resources towards high priority tasks. Simulation results show that SHORAS improves 24% in terms of the total system delay and effectively reduces the processing delay in the high-load areas compared to other strategies, while ensuring the delay requirements of high priority tasks.

Securing the vetaverse: Web 3.0 for decentralized Digital Twin-enhanced vehicle–road safety

The rapid evolution of vehicular communication technologies in recent times necessitates robust security measures and enhanced road safety protocols. Integrity of data shared between vehicles, their Digital Twins (DT) and road side units is at stake. Intrusion in these data can potentially lead to misinformation in Advanced Driving Assistance Systems (ADAS) causing serious consequences upon road safety. These include improper detection of drunk driving behaviors. In this domain, Web 3.0 emerges as the overarching approach that can transform security of vehicles and ensure road safety. This paper explores the potential of Web 3.0 and its key enabling technologies to establish a VEhicular meTAVERSE (Vetaverse) utilizing edge-based DTs of the vehicles to process their dynamics shared in real-time, and based on its deep learning models, predict whether the driving behavior is drunk or sober. This Deep Neural Network (DNN) performs these predictions with 96% accuracy. It secures all Vehicle-to-Digital Twin (V2DT) communications via Multichain - a horizontally scaled parallel blockchains platform that tamper proofs each bit of sensor data, and optimizes transaction validation time to leverage vetaverse security. Results reveal that this framework is accurate and computationally lightweight in comparison to existing state-of-the-art, and brings Web 3.0 to the crucial road safety use-case.

An Internet of Vehicles road traffic data sharing scheme based on signcryption and editable blockchain

Aiming at the problems of low real-time update efficiency of traffic data and privacy leakage of vehicle users in the Internet of Vehicles (IoV) data sharing, an IoV road traffic data sharing scheme based on signcryption and editable blockchain is proposed. Road-Side Unit (RSU) implements proxy signcryption for sharing data based on the authorization of the vehicle, ensuring the reliability of data and reducing the frequent interaction between vehicles and authorized map companies when sharing data. The editable blockchain is implemented by the chameleon hash function, and no new blocks need to be generated when updating data, thereby reducing the storage overhead caused by updating data. Combined with editable blockchain and fog computing server, the storage, sharing and update of traffic data are better realized. Security analysis shows that the proposed scheme satisfies the confidentiality, integrity, verifiability and unforgeability. Simulation results show that the proposed scheme has less communication overhead and computing overhead.

Collaborative Joint Perception and Prediction for Autonomous Driving.

Collaboration among road agents, such as connected autonomous vehicles and roadside units, enhances driving performance by enabling the exchange of valuable information. However, existing collaboration methods predominantly focus on perception tasks and rely on single-frame static information sharing, which limits the effective exchange of temporal data and hinders broader applications of collaboration. To address this challenge, we propose CoPnP, a novel collaborative joint perception and prediction system, whose core innovation is to realize multi-frame spatial-temporal information sharing. To achieve effective and communication-efficient information sharing, two novel designs are proposed: (1) a task-oriented spatial-temporal information-refinement model, which filters redundant and noisy multi-frame features into concise representations; (2) a spatial-temporal importance-aware feature-fusion model, which comprehensively fuses features from various agents. The proposed CoPnP expands the benefits of collaboration among road agents to the joint perception and prediction task. The experimental results demonstrate that CoPnP outperforms existing state-of-the-art collaboration methods, achieving a significant performance-communication trade-off and yielding up to 11.51%/10.34% Intersection over union and 12.31%/10.96% video panoptic quality gains over single-agent PnP on the OPV2V/V2XSet datasets.

A multi‐objective optimization model for RSU deployment in intelligent expressways based on traffic adaptability

AbstractThe intelligent expressway exemplifies a prominent application of intelligent transportation systems. Roadside units (RSUs), strategically deployed alongside roadways, serve as pivotal infrastructure in facilitating interactions within intelligent expressways. A well‐planned RSU deployment strategy is crucial for enhancing service quality, it necessitates balancing performance improvements with significant financial costs due to the limited transmission range and high deployment expenses of RSUs. To tackle these challenges, an adaptive approach for RSU deployment is proposed, which takes into account economic feasibility, service requirements, and dynamic traffic demands. A traffic adaptability‐based RSU deployment (TARD) model, which integrates factors such as deployment cost, the effectiveness of information coverage, road network topology, and traffic flow characteristics have been devised. The TARD aims to minimize deployment expenses while maximizing the benefits of information coverage and alignment with road traffic demands. The Non‐dominated Sorting Genetic Algorithm II (NSGA‐II) is employed to solve this optimization model. To validate its efficacy, simulations are conducted on the G2 expressway in Shandong Province, China, demonstrating the superior performance of the TARD compared to three other deployment strategies. Ablation experiments further underscore the critical role of tunnel deployments and comprehensive coverage along long sections in bolstering network connectivity and elevating service quality.

Secured fog-based vehicular crowd-sensing protocol by Modified Attribute based Encryption Model

The contemporary fog computing paradigm evolved from traditional cloud computing to give storage and computation resources at the network’s edge. Fog enabled vehicular processing is anticipated to be a fundamental component that may expedite a variety of applications, notably crowd-sensing, when applied to vehicular networks. As a result, the confidentiality and safety of vehicles participating in the crowd-sensing platform are now recognized as critical challenges for smart police and cyber defence. Furthermore, sophisticated access control is essential to meet the requirements of crowd-sensing users of information. This work presents a novel secured fog-based protocol for vehicular crowd sensing utilizing an attribute-based encryption model. The proposed framework incorporates a two-layered fog architecture termed fog layer A and fog layer B. Fog layer A includes data owners (vehicles) and fog nodes, while fog layer B consists of fog nodes integrated with Road Side Units (RSUs). The Transport Triggered Architecture (TTA) governs the retrieval of regular or specialized data as per the request of data users. The data collection procedure varies based on the type of data being processed. Regular data is gathered from data owners, aggregated using the Multiple Kernel Induced in Kernel Least Mean Square (MKI-KLMS) technique, which employs kernel least mean square and hierarchical fractional bidirectional least mean square methods to handle redundancy in data aggregation. Subsequently, the aggregated data is encrypted using the Proposed Fusion Key for Encryption (PFKE) technique, which employs a fusion key for message encryption. Additionally, an enhanced Blowfish algorithm is applied for an extra layer of encryption on the already encrypted data. The encrypted data is then transmitted to the TTA. The decryption process utilizes the same key to retrieve the original message. The Modified Attribute based Encryption Model (MAEM) scheme achieves the highest efficiency of 90.9476.

V2X Communication Computing Resource Collaboration Technology Based on Deep Reinforcement Learning

In traditional cloud computing, data needs to be transferred from distributed data sources to remote cloud data centers for high-performance computing. However, tasks often experience network transmission delays of hundreds of milliseconds or more from data sources to cloud data centers, which does not meet the need for low latency in V2X (Vehicle to Everything) systems. On the basis of the existing heterogeneous task scenario, this paper proposes a communication computing resource collaboration technology scheme based on heterogeneous task, which can meet the requirements of delay and cost when facing tasks with different delay requirements and different divisibility. This scheme uses the communication computing resources of the roadside unit and the service vehicle, so that the computing task of the task vehicle can be completed within the delay requirement and the cost is minimal. We use the deep reinforcement learning method to study, and finally the performance of the proposed scheme is verified by simulation.

Edge computing in Internet of Vehicles: A federated learning method based on Stackelberg dynamic game

With the development of Intelligent Transportation Systems (ITS), data on the Internet of Vehicles (IoV) is increasing day by day. To alleviate computing pressure in IoV, Vehicle Edge Computing (VEC) is being widely used as a new computing paradigm. Moreover, to address the serious problem of privacy leakage in VEC, Federated Learning (FL) is increasingly considered for analyzing big data in VEC. However, in actual VEC, problems such as data heterogeneity and poor training often occur. To address this set of problems, we introduce a two-stage Stackelberg game structure for FL training, choosing the Cloud Server (CS) as the leader and the Roadside Unit (RSU) as the follower. Then, we define the utility functions of CS and RSU and obtain the optimal reward rate and local accuracy for each iteration. To address the problem of inefficiency during learning process, we separate high-dimensional data features into global features and personalized features based on feature separation, and use them to capture historical information. Next, vehicle federated learning with historical information based on dynamic Stackelberg game (VFLHI-DSG) was proposed. Finally, we conducted a comprehensive comparative experiment, results show that VFLHI-DSG has excellent performance in different scenarios.

A dynamic temporal and spatial speed control strategy for partially connected automated vehicles at a signalized arterial

The connected and automated vehicle (CAV) is able to acquire the global intelligence in advance by communicating with other CAVs and roadside units (RSU), thus integrated speed control has the potential of easing the traffic wave, reducing the fuel consumption and emissions. In this paper, a dynamic temporal and spatial speed control framework is proposed to optimize the travel speed of CAVs along the signalized arterial under the mixed traffic flow including CAVs and human driven vehicles (HDVs). A speed control optimization method is proposed to minimize the number of stops of the ego CAV and its follower HDV with considering the signal status and queuing. A secondary speed control method based on the dynamic control areas is introduced in the mentioned framework to guide the CAV to the targeted positions. The corresponding dynamic variable parameter model is then designed to optimize the operational parameters of the corresponding control area to minimize the total fuel consumption of all vehicles under different market penetration rates. Finally, the simulation platform of Urban Mobility (SUMO) is used to test the proposed speed control strategy. The results indicate that the total stop delays are reduced by 60.9 % and saving 6.5 % total fuel consumption under the 30 % penetration rate.

Privacy-Preserving Authentication Based on PUF for VANETs

The secret key is stored in an ideal tamper-proof device so that a vehicle can implement a secure authentication with the road-side units (RSUs) and other drivers. However, some adversaries can capture the secret key by physical attacks. To resist physical attacks, we propose a physical-preserving authentication based on a physical unclonable function for vehicular ad hoc networks. In the proposed scheme, a physical unclonable function is deployed on the vehicle and the RSU to provide a challenge–response mechanism. A secret key is only generated by the challenge–response mechanism when it is needed, which eliminates the need to store a long-term secret key. As a result, this prevents secret keys from being captured by adversaries, improving system security. In addition, route planning is introduced into the proposed scheme so that a vehicle can obtain the authentication key of RSUs on its route before vehicle-to-infrastructure authentication, which greatly speeds up the authentication when the vehicle enters the RSUs’ coverage. Furthermore, a detailed analysis demonstrates that the proposed scheme achieves security objectives in vehicular ad hoc networks. Ultimately, when contrasted with similar schemes, the performance assessment demonstrates that our proposed scheme surpasses others in terms of computational overhead, communication overhead and packet loss rate.

Optimizing Roadside Unit Deployment in VANETs: A Study on Consideration of Failure

Optimizing Roadside Unit Deployment in VANETs: A Study on Consideration of Failure