Rahul Mangharam, D' Weller, D' Stancil, Raj Rajkumar

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GrooveSim A Topography-Accurate Simulator for
Geographic Routing in Vehicular Networks

• Rahul Mangharam, D. Weller, D. Stancil, Raj
  Rajkumar
• rahul_at_cmu.edu
• General Motors-CMU Collaborative Research
  Laboratory
• Carnegie Mellon University
• Jay Parikh, General Motors
• ACM VANET, Cologne, Germany. 2 September 2005

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Outline

• The GM-CMU Collaborative Research Lab
• On-Road GM-CMU CRL Vehicular Networking Test-bed
• The GrooveSim Simulator
• Market Penetration to make v2v useful?
• Performance in urban, rural and highway?
• What mix of mobile gateways, infrastructure and
  on-board wireless?
• Which multi-hop protocols work best and under
  what conditions?
• Evaluation
• Conclusions

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The GM-CMU Collaborative Research Lab

• Operational since Jan 1, 2000
• Over 15 CMU faculty members and 15 graduate
  students
• Close collaboration with researchers from General
  Motors
• Projects on
• Vehicular networking
• Dependable architectures and software
• Human-machine interfaces
• Wireless sensor communications

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Experimental Multi-hop Vehicular Network Test-bed
5.9 GHz DSRC Dedicated Short Range Communications
Between vehicles
GPS
Differential GPS reference station beacons
Mobile Nodes

• Vehicle-to-Vehicle Multi-hop
• Vehicle-to-Mobile Gateway
• Vehicle-to-Infrastructure

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Vehicular Networking Application Categories

• Safety Alerts
• Sudden Braking
• Airbag deployment
• Skidding
• Traffic Congestion Probing
• Travel Time
• Dynamic Route Planning
• Road Condition Notification
• Interactive Applications
• Social Networking
• Multimedia Content Exchange
• Advertising

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GrooveNet Test Kit
LAPTOP w/ RADIO CARD
GPS RECEIVER
GPS ANTENNA
POWER CORD (12 DC)
5.8 GHz ANTENNAS
WEB CAM
HEADPHONES W/ MICROPHONE

• Driven 5 vehicles over 400 miles Urban, Rural
  and Highway
• Over 625,000 link measurements

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GeoRoute Broadcast Scenarios
Highway Driving City
Driving Rural Driving

• Path with Intermediate points
• Static Source Routing

• Radial Broadcast

• Bounding Box
• Controlled Flooding

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GrooveSim Hybrid Simulator for Vehicular Networks
Five Modes of Operation

• Drive On-road communication, tracking, logging
• Over 400 miles driven with 5 vehicles
• Test Robustness of Protocol
• Simulate Over 5,000 concurrent vehicles Anywhere
  in the US
• Scalability Performance Analysis over City,
  Rural, Highway
• Playback Visual Performance Analysis
• Networking, Propagation, GPS Performance
• Hybrid Simulate Mix Real Virtual Vehicles
• Effect of real Traffic and Channel
• Test Generation Easy Large-scale test setup

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On-Road Tests

• Over 400 miles of on-road testing with a group of
  5 vehicles
• Signal Attenuation (20-50 mph) Approx. 100m
  range
• Packet error lt 10
• Parallel effort on vehicle-to-vehicle channel
  modeling

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GrooveSim On-Road Alerts (1)

• Broadcast Safety Alerts to all vehicles in the
  vicinity
• Messages are valid in a specific geographic
  region
• Regions are determined by position, speed and
  direction

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GrooveSim On-Road Alerts (2)

• Only vehicles in the relevant geographic region
  receive alerts

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On-Road Geographic Routing Tests

• GPS-enabled routing
• All vehicles West of event receive alert messages
• 50m accuracy at 40mph

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On-Road Circular Routing Region Tests
Reject ALERT Invalid Region
Accept ALERT Valid Region

• Geographic Region using Event heading Position
• Targets messages to approaching vehicles only
• Opposite direction vehicles forward messages but
  do not accept

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GrooveSim Large Scale Vehicle Network Simulator
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1,000 Vehicles in Chicago, IL suburb
Routed with Minimum Cost Routing
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v2v Degrees of Freedom Metrics

• Degrees of Freedom
• Speed
• Temporal Vehicle density
• Spatial Vehicle density
• Travel direction
• Size of routing region
• Message rebroadcast frequency
• Transmission power
• Performance Metrics
• Message Penetration Distance
• Message Delay
• Message Lifetime

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Vehicular Network Modeling

• Mobility Model
• Speed Uniform, Street Speed, Markov Model,
  Load-based model
• Trip Model
• Random walk, Explicit Origin-Destination,
  Distributed Origin-Destination
• Communication Model
• Channel Model and Multiple Access Model
• Traffic Model
• Start time distribution, use real or synthetic
  traces

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Minimum Weight Routing
Vehicles migrate to roads with higher speed limits
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Performance Message Propagation Distance
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Performance Message Lifetime
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Performance Message Delay
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GrooveSim is Easy to Use
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GrooveSim Conclusion

• GrooveSim Five modes of operation
• Drive
• Simulate
• Visual Playback
• Test Generation
• Hybrid Simulation
• Realistic Simulation of thousands of vehicles in
  US locations
• Basic Vehicular Network Models
• Trip
• Mobility Speed and direction
• Traffic Density in time and space
• Communication
• Over 400 miles on-road driving
• Realistic network and channel models

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GrooveSim Public Domain Release

• GrooveSim is available for research use at
• http//www.ece.cmu.edu/rahulm/GrooveSim
• Easily Extensible for Customized Models
• Extend Models Super Classes
• Enhance Vehicle Navigation Graph-based approach
• Modify Log Files

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GrooveSim Speed Models