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Lucas RIVOIRARD a, Martine WAHL a, Patrick SONDI b, Marion BERBINEAU a, Dominique GRUYER c
a Univ Lille Nord de France, F-...
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Cooperative Vehicle Ego-localization Application Using V2V Communications with CBL Clustering

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Cooperative Vehicle Ego-localization Application Using V2V Communications with CBL Clustering

  1. 1. Lucas RIVOIRARD a, Martine WAHL a, Patrick SONDI b, Marion BERBINEAU a, Dominique GRUYER c a Univ Lille Nord de France, F-59000 Lille, IFSTTAR, COSYS, LEOST, F-59650 Villeneuve d’Ascq b Univ. Littoral Côte d‘Opale, LISIC - EA 4491, F-62228 Calais, France c IFSTTAR, COSYS, LIVIC, F-78000 Versailles, France Vehicle to vehicule - V2V DECENTRALIZED http://www.digitaltrends.com/ http:// motorvehicleregs.com/ • Low cost deployment, integrated in the vehicle • Collaborative ad hoc cooperative network • Need to structure the network: • Expensive deployment for road managers • What happens if a terminal fails? MULTIPOINT RELAY Features: • Routing protocol for VANETs • Pro-active distributed algorithm • One-hop Clusters Leaf node : an ordinary node that links to the nearest branch node. Branch node : a relay node responsible of a group of leaf nodes. Elected by other nodes to forward application messages and build a chain. A chain: a virtual backbone consisting of a set of relay nodes. ROAD NETWORK CLUSTERING CBL Components Objective: to offer, via V2V communication, a routing service enabling communications in close and distant environments. Objective: performance of the CBL scheme with CMM and DDGPS applications Road Context: • 10-km A27 highway section (2x2 lanes) • 4-km D90 by-way (2x1 lane) • Traffic density recorded on the A27 on April 6th, 2017, 12:35 p.m. • SUMO software generated node trajectories lucas.rivoirard@ifsttar.fr martine.wahl@ifsttar.fr dominique.gruyer@ifsttar.fr Future work • Evaluation of CBL on other ITS applciations in VANETs, ex : extended perception • A new CBL version with higher number of leaf nodes in clusters Conclusion - performance CBL • GPS Position improvement ranges from 30% to 75% according to the cluster sizes • IP Delays are below 250 ms - PDR are higher than 92% ROUTING PROTOCOLS Vehicle to infrastructure - V2I CENTRALIZED Our proposal: CBL (Chain Branch Leaf) M. Rohani, D. Gingras, and D. Gruyer, “A Novel Approach for Improved Vehicular Positioning Using Cooperative Map Matching and Dynamic Base Station DGPS Concept,” IEEE Transactions on Intelligent Transportation Systems, vol. 17, no. 1, p. 10, 2016. Technology Context: • IEEE 802.11p • OPNET Riverbed Modeler Adaptation to CBL clustering scheme: • Leaf nodes broadcast CMM message to their branch nodes • Branch nodes run both the CMM and DDGPS applications to compute the correction data • Branch nodes forward DDGPS messages to the upstream branch nodes and their leaf nodes. • “End-to-end delay” concerns the time taken by a packet to reach its destination. • Delays decrease when sending interval increases. • Delays are always below 250 ms in every scneario. • The packet delivery ratio (PDR) ranges from 92.5% to 95%. • It is sensitive to the number of nodes and the sending period. DISJOINT GROUP Cooperative Vehicle Ego-localization Application Using V2V Communications with CBL Clustering Vehicular communication technologies CMM and DDGPS algorithms for ego-localization on CBL CMM: Cooperative Map Matching DDGPS: Dynamic base station Differential GPS Comparative evaluation CBL results A27 RD90 • For R1 scenario, a branch node receives CMM corrections from 1 to 5 leaf nodes. • The GPS biais estimation error in distance ranges from 13.2 m for 1 neighbor node to 9.2 m for 5 neighbor nodes; and the standard deviation respectively varies from 5 m to 3.4 m. • The precision improvement of node positions and the level of confidence of this position increase with the number of the nodes in each cluster. GPS biais estimation error Standard deviation of GPS biais estimation error

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