An ADAS Design based on IoT V2X Communications to Improve

Safety

Case Study and IoT Architecture Reference Model

Yakusheva Nadezda

, Gian Luca Foresti

and Christian Micheloni

Department of Information Engineering,University of Udine, Udine, Italy

Department of Mathematics, Informatics and Physics, University of Udine, Udine, Italy

Keywords: Vehicle Safety, Advanced Driver Assistance Systems; Vehicular Ad Hoc Networks, Internet of Things,

Connected Vehicles, Intelligent Transportation Systems, Wireless Sensor Networks, Vehicle to X

Communications.

Abstract: Several technologies are used today to improve safety in transportation systems. The development of a

system for drivability based on both V2V and V2I communication is considered an important task for the

future. V2X communication will be a next step for the transportation safety in the nearest time. A lot of

different structures, architectures and communication technologies for V2I based systems are under

development. Recently a global paradigm shift known as the Internet-of-Things (IoT) appeared and its

integration with V2I communication could increase the safety of future transportation systems. This paper

brushes up on the state-of-the-art of systems based on V2X communications and proposes an approach for

system architecture design of a safe intelligent driver assistant system using IoT communication. In

particular, the paper presents the design process of the system architecture using IDEF modeling

methodology and data flows investigations. The proposed approach shows the system design based on IoT

architecture reference model.

1 INTRODUCTION

In the recent years a lot of efforts have been made to

improve traffic safety. But transportation-related

fatalities and injuries due to road accidents are

constantly growing. Therefore improvement of

driver assistance is an urgent task.

A lot of efforts have been made to face safety

problems in the transportation systems. Avenues of

research and development of automotive industry

are directed towards a driver assistance system,

active control and safety mechanism. Today we can

see a lot of on-board control systems (in-vehicle

systems) thanks to investigations of automotive

industry (Audi, BMW, Daimler, General Motors,

Ford, Honda, Mercedes-Benz, Nissan, Opel, PSA,

Toyota, Volkswagen, Volvo).

In-vehicle safety technologies presented by

different kinds of passive and active protection

mechanisms (van Ratingen, 2015): warning systems;

car robust control systems; emergency braking

systems; automatic parking systems, etc. According

to Khan (2016) the main sensors of ADAS

architecture are Camera, Lidar, Radar, ultrasonic

sensor, IR sensor, GPS. For example, Lussereau et

al. (2015) describe the ADAS project of INRIA

Rhone-Alpes and Toyota Europe, which uses high-

resolution camera, stereo camera, two Lidars, GPS

with IMU.

Moreover, the information from out-vehicle

sensors can be used in order to improve the road

safety along with the information from in-vehicle

sensors. Therefore, governments and the business

support investigation of Intelligent Transportation

Systems (ITS) and vehicle ad-hoc networks

(VANET) (European Parliament Directive

2010/40/EU 2010, Stübing et al. 2010, Wieker, H et

al. 2009). Mostafa (2011) notes that VANET

connects cars between each other and with the

current infrastructure to decide safety issues. Wieker

et al. (2009) defines the main purpose of ITSs like

the traffic management: prevention of traffic

congestions and warning drivers. ITSs can provide

regulation of the traffic flow velocity, the traffic

lights switching, driver notification, electronic

payments, real-time road mapping, route

optimization and adaptation to specific weather

conditions.

352

Nadezda, Y., Foresti, G. and Micheloni, C.

An ADAS Design based on IoT V2X Communications to Improve Safety - Case Study and IoT Architecture Reference Model.

DOI: 10.5220/0006375303520358

In Proceedings of the 3rd International Conference on Vehicle Technology and Intelligent Transport Systems (VEHITS 2017), pages 352-358

ISBN: 978-989-758-242-4

A number of partnerships and associations have

been created recently to develop ITS: Intelligent

Transportation Society in USA, ERTICO-ITS

Partnership (2016) in Europe, etc. ‘The Network of

National ITS Associations’ website (2016) refers to

27 member-organizations. In the field of VANET

the associations are Car2Car Communication

Consortium (C2C-CC) in Europe (Papadimitratos et

al. 2009), Vehicle Safety Communication

Consortium (VSCC) in United States and Advanced

Safety Vehicle (ASV) in Japan. Different ITS and

VANET projects were developed: CVIS, SIM-TD

(Germany), COMeSafety, PRE-DRIVE C2X, CVIS,

SAFESPOT, COOPERS, SEVECOM, Network on

Wheels (NoW), ACTIV (Germany), CVHS (UK),

IVSS (Sweden), Adaptive (EU), Autonet2030 (EU)

(Papadimitratos et al. 2009,

Stübing et al. 2010).

Vehicle communication is an important part of

ITSs and VANETs and the basis of autonomous

cars. In 2015 Massachusetts Institute of Technology

has choose V2V communication as one of its Ten

Breakthrough Technologies of 2015. Moreover,

Zhang (2015) and Mostafa (2011) have shown that

the use of V2X communication instead of Vehicle-

to-Vehicle (V2V) provides a number of

improvements. The V2X can be uses to obtain

various kinds of infrastructure information about

dangers and content information, not directly related

to cars.

But there is a number of issues that need

improvement to get further enhanced safe driving

systems. First of all, ADAS systems are embedded

only in some models of car. In-vehicle, VANET and

ITS systems are mostly separated, using different

technologies and standards, their own designed

microchips. Some of them have no connection with

infrastructure (V2I), some of them even have no

V2V connection. It is therefore important to

investigate mechanisms in order to combine

different vehicle systems. It could be a huge step

forward and will expedite their implementation. As

well as development of the systems using the same

Standards and reference model are important issues

for the future vehicle infrastructure.

In this paper is proposed an ADAS design

approach using methodologies IDEF and data flow

analysis, in order to get objectives: to improve traffic

safety and to face existing problems. We propose

cooperative DAS architecture, which taking into

account most of common equipment currently

available in cars: car DVR, cameras, navigators and

smartphones. Also we updated system with new

vehicle communications technologies based on

Internet of Things (IoT) and ensure its comparability

with other systems by using actual Standards. We

proposed an approach in order to integrate IoT into

V2X communication by using IoT reference model

and modern Standards. The approach is

demonstrated on the case-study example.

2 MODERN COMMUNICATION

TECHNOLOGIES AND ISSUES

Vehicle communications have their roots in

machine-to-machine (M2M) communications

technologies. Nowadays M2M concept came out of

the scope of communication between devices of the

same type, and developed into a broader and more

modern concept Internet of Things (IoT). The IoT

allows connecting different types of physical objects

or "things" to the network via the Internet protocols

(IP) to enable it exchanging data with other

connected devices, infrastructures, and operators

(Vasseur 2014), (Al-Fuqaha et al. 2015). Each

“thing” is uniquely identifiable through its

embedded computing system and it is able to

interoperate within the existing Internet

infrastructure.

The most important advantage of IoT is using IP

to connect devices via Internet. It is very important

for the possibility to integrate different IoT systems

(government, transport, medicine, education, energy

etc) with regards to more global Internet of

Everything concept (IoE). Let’s note the

revolutionary meaning of the IoT and IoE concepts

for our life. In the future IoE should combine all our

devices, gadgets, vehicles, biochips. IoT/IoE

technologies are the essential building blocks of the

future information society (Vasseur 2014).

There are a lot of issues in the transformation

vehicle systems according to IoT concept. Most of

the existing solutions are isolated from each other

and seem to be “INTRAnet of Things” but not

“INTERnet of Things” (Bassi 2013). That’s why

formulating new approach for design of the IoT

system architecture and building IoT systems

according to modern Standards are important issues.

3 CASE STUDY

3.1 An Approach to the System

Architecture Design

The proposed system is focused on the road safety

mission. In the architecture modeling process we

have used Integration Definition (IDEF) modeling

methodology and Data Flow analysis. IDEF is a set

An ADAS Design based on IoT V2X Communications to Improve Safety - Case Study and IoT Architecture Reference Model

353

of powerful modeling methods and modeling

languages most used to design and analyze highly

complex systems. In Fig. 1 system being developed

presents in function modeling language (IDEF0

Diagram). The input of the function is issues and

sensors data. The output of the function is our main

objective: in result we would have improved safety.

Figure 1: Function model (IDEF0 Diagram).

The control of the IDEF0 function is the new

technologies and new standards. We supposed the

new technologies are IoT/IoE, Cloud computing.

Also according with the IDEF0 control we would

design architecture with modern V2V and V2I

communication standards, as well as update it with

IoT standards. The mechanisms of the IDEF0

function are communication infrastructure, powerful

Data Centers, intelligent algorithms. We suppose to

use Cloud, Fog computing to provide Big data

analysis with object detection complex algorithms.

The designed system architecture is shown in

Fig. 2. In order to realize V2X communication we

suppose to use on-board cameras inside the car as

well as infrastructure cameras network. Moreover,

we use improved IoT V2X communication which

allows collecting information from different kind of

sensors, devices and systems - “things” in IoT:

vehicles, DAS, in-vehicle and infrastructures sensors

and driver`s gadgets (Laptop, Smartphone). All

these “things” connected to the server (Data Center)

with intelligent logic via IoT. The system has been

designed according to the objective of getting a

maximum standardization. On the fig. 2 the cars

have reachable ITS. Usually ITS consist of Vehicle

Station (VS), Road Station (RS), Road Side Unit

(RSU) and Server (Stübing et al. 2010). The

information from ITS and over infrastructure

information became available for the driver in order

to connection of the ITS station to the IoT.

Figure 3: Data Flow Diagram for cooperated DAS.

The system is connected to the powerful Data

Center via Internet. In this case can be used more

sophisticated intelligent algorithms. That allows

building a enhanced and low-cost client part of the

system for drivability.

Data flow diagram is shown on the Fig. 3. You can

see that proposed system evaluates different aspects

of the traffic situation due to video and navigation

data both from in-vehicle and infrastructure sensors.

Figure 2: Designed V2X system architecture with proposed approach.

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3.2 IoT ARM Development for the

Designed System

We designed IoT architecture for cooperative DAS

according to the standard of European

Telecommunications Standards Institute (2010)

ETSI 302 665 ITS and IoT Reference Architecture

Model (ARM) (Bassi 2013) to ensure compatibility

with other IoV decision in the future (Fig. 4). The

standard ETSI 302 665 ITS presents network layers

for vehicle networks, where IoT architecture have to

include 4 layers: “Access level” representing ITSC`s

OSI layers 1 and 2, “Networking and Transport

level” representing ITSC`s OSI layers 3 and 4,

“Facilities” representing ITSC`s layers 5-7,

“Application level” representing layers 7.

The IoT Management is a semantic level of IoT

process management; it describes the conceptual

integration of management in IoT ARM. This level

provides integration of all subsystems, different IoT

component and push IoT systems from isolated

«inTRAnet of things» to the Internet of things.

The IoT Service Organization layer describes

structure of IoT services and provide possibility to

control these services. Because of these two layers

(IoT Management and Service Organization) we can

build balanced system architecture.

The IoT Service layer provides data acquisition

and control of the “things” (sensors and devices).

It’s a different host server IoT apps (IoT services)

for interaction with physical sources.

The Virtual Entity (VE) presents real physical

objects and subjects like abstract information

business model (present “things” of the real world

by classes, database data representation model etc.).

Lets describe IoT ARM layers of the designed

cooperated DAS.

3.2.1 Device Level: Sensors

Sensors module consists of sensors inside the car

(in-vehicle sensor) and road infrastructure sensors

(Fig. 5). We propose to use common devices we

have in the car: navigators, car DVR, cameras, GPS,

Smartphone, Tablet, existing infrastructure cameras,

infrastructure road sensors and other sources of

information. The most important sensors are

cameras.

Navigation sensors are GPS receiver, low-cost

models strapdown INS or mobile enable device with

A-GPS technology.

3.2.2 Communication Layer

We consider car has a vehicle station (VS) and M2M

microchip supported Dedicated Shot-Range

Communication (DSRC) technology to realize V2V

communication.

In Fig. 2 and 4 are shown that cars are connected

each other by V2V with wireless protocols for

vehicle WAVE (Wireless Access in Vehicular

Environments). PSY and MAC levels of the WAVE

was described in the Standard IEEE 802.11p

Figure 4: Proposed system ARM network levels according to ETSI standard.

An ADAS Design based on IoT V2X Communications to Improve Safety - Case Study and IoT Architecture Reference Model

355

Figure 5: Device level: sensors.

(Abdeldime et al. 2014); media level data, network

and transport was presented by the set of standards

IEEE 1609x designed by Institute of Electrical and

Electronics Engineers in 2013 and 2016; APP level

was described in SAE J2735. Vehicles connected

with infrastructure ITS Road station through V2I

connection using IEEE 802.11 (PSY MAC Wi-Fi),

IEEE 802.11p (Abdeldime et al. 2014), IEEE

802.11b (WAVE) (Al-Fuqaha et al. 2015) or IEEE

802.15.4 (Institute of Electrical and Electronics

Engineers IEEE 2011) with ZigBee protocols

(Herrera-Quintero et al. 2015). Road Station (RS)

connects with IoT infrastructure through IoT

protocols: MQTT was designed by Organization for

the Advancement of Structured Information

Standards (OASIS) in 2014, CoAP was designed by

Internet Engineering Task Force (IETF) in 2014 and

HTML/2 was developed by Internet Engineering

Task Force (IETF) in 2015.

IoT based V2X communication unifies

communication standards and equipment for

communication between vehicles like “things” in

IoT. This fact allows connecting transport systems

not only between each other, but also with other

existing and future systems in different spheres to

realize in the future concept of Internet-of-

Everything.

If vehicle or infrastructure sensor detect a

potential danger, it warns other cars using WAVE

communications or IoT.

3.2.3 IoT Communication with “Things”

Data transmission from the in-vehicle sensors and

driver`s gadgets to the IoT can be direct for internet

enable devices. For devices without IP support we

should use special microchips. This microchip has to

support IoT protocols as well as different required

interfaces of the connecting “thing”. For example,

we can use cheap Raspberry Pi minicomputer to

connect driver`s not IP camera of video recorder to

the IoT.

It is need special gateways with relevant protocols

in order to connect ITS, Vanets and ADAS systems

to the IoT.

3.2.4 Application Level: Proposed Apps

Structure for Safety Problem and

Issues

A number of safety applications have already been

implemented on modern cars using video cameras

and radars, for example algorithms for the

emergency braking assistance (van Ratingen, 2015),

road line detection, map-based location, the abrupt

change of car movement direction using information

about speed, sharp pressing the brake pedal

(Lussereau er al. 2015). Also the dangers can be

recognized on the basis of the evaluation of the cars

movements and drivers behavior (Cheng and

Zongxin 2013).

The designed system based V2X communication

can provide more high level of safety in the driving

assistance system by using external information:

assistance during the passage of the intersection;

help when turning; safe separation from oncoming

vehicle; warning when leaving for highway;

detection of obstacles on the road; information about

the traffic accidents; warning emergency braking;

warning rear collision (e-stop signal); warning lane

change; warning about bad weather conditions;

information on road signs; notification of an

approaching motorcyclist (Fig. 6).

But these systems cannot see around corners. Mostly

they do not connected with infrastructure and use

only onboard sensors. Even if all the cars and

motorcycles will be equipped with V2V, remain

other road users (cyclists, pedestrians), in which this

system is absent.

Designed driver assistance system based on V2X

IoT communication did not present those

disadvantages. Designed system provides

infrastructure notification and also cyclists and

pedestrians can use IoT safety apps to enjoy the

vehicle safety system

However, some problems are remained. The main

problem of proposed system is the low level of the

distribution system, due to relatively high rates

WLAN module. For effective use of the Car-to-X at

least 10-15% of vehicles must be equipped with

Sensors

Infrastructure

/ITS/Smart City

In-vehicle

Video block

Road cameras

networ

Car Camera

(

)

Car DVR

In-vehicle systems

Lida

Navigation block

INS

GPS

A-GPS

Inductive-loop

traffic detectors

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356

Figure 6: Application level and connection with IoT.

wireless equipment, and it's still very far away.

Another problem is the low system reliability in

determining dangers. When proposed system might

simply overwhelm the driver of various kinds of

information, from which not all are needed for

movement. This, ultimately, will constantly distract

the driver from his primary occupation is driving.

3.3 Application Level: Driver Alert and

Notification

As soon as the vehicle or infrastructure sensors have

detected a potential danger, they warn other drivers

by IoT V2X system.

Smartphone/Tablet Apps provide driver alerts.

Proposed system realizes end-to-end communication

by mobile networks standards GSM/UMTS

(3G)/LTE(4G). Mobile networks use to transmit

notification to the driver alerts subsystem.

For driver alerts in ITS and VANET network on

the App level and network level can use ZigBee

protocol on the top of IEEE 802.15.4 (PSY level).

ZigBee is a low-power WPAN. ZigBee can work

with vehicle networks thanks to ZigBee network

layer supports mesh ad-hoc network (also it supports

point-point and stars network configurations).

By using IoT we suggest significantly simplify

and integrate important functions of driver

assistance to improve safety on the road.

4 CONCLUSIONS AND FUTURE

WORK

We have proposed the approach to the design of the

cooperative ADAS architecture and structure based

on the IoT V2X communications. The proposed

solution is able to collect different kinds of signals

from different sensors and devices to analyze the

traffic situation.

We have developed the DAS architecture

according with IoT reference architecture model and

modern communication standards. Therefore, the

proposed system design is ensure comparability with

different kind of existing in-vehicles and V2I

systems. We are confident that it will allow the use

of important information from other networks for

road safety in the future. It can be Smart grids,

VANET, mobile networks, and even business,

education or social networks. It was shown the way

to present common driver`s sensors and gadgets in

the car like “things” in the IoT. These common

devices can give us a lot of information to improve

safety.

In the further work we presume enormous

opportunities to enhance safety and provide for the

driver wide range warning information like results of

Big data intelligent analyze, event notification,

significant context information would be available.

It can be danger driver alerts, access to appropriate

infrastructure information about current road,

An ADAS Design based on IoT V2X Communications to Improve Safety - Case Study and IoT Architecture Reference Model

357

congestions, significant event from infrastructure or

other cars, potential danger from infrastructure or

other cars for driver alerts or safe active control

systems. IoT-based V2X communication also has

great potential to improve automated vehicle.

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