Dissertations / Theses on the topic 'Inter-vehicular communication'

Intelligent transportation systems (ITS) have enjoyed a tremendous growth in the last decade and the advancement in communication technologies has played a big role behind the success of ITS. Inter-vehicle communication (IVC) is a critical requirement for ITS and due to the nature of communication, vehicular ad-hoc network technology (VANET) is the most suitable communication technology for inter-vehicle communications. In Practice, however, VANET poses some extreme challenges including dropping out of connections as the moving vehicle moves out of the coverage range, joining of new nodes moving at high speeds, dynamic change in topology and connectivity, time variability of signal strength, throughput and time delay. One of the most challenging issues facing vehicular networks lies in the design of efficient resource management schemes, due to the mobile nature of nodes, delay constraints for safety applications and interference. The main application of VANET in ITS lies in the exchange of safety messages between nodes. Moreover, as the wireless access in vehicular environment (WAVE) moves closer to reality, management of these networks is of increasing concern for ITS designers and other stakeholder groups. As such, management of resources plays a significant role in VANET and ITS. For resource management in VANET, a medium access control protocol is used, which makes sure that limited resources are distributed efficiently. In this thesis, an efficient Multichannel Cognitive MAC (MCM) is developed, which assesses the quality of channel prior to transmission. MCM employs dynamic channel allocation and negotiation algorithms to achieve a significant improvement in channel utilisation, system reliability, and delay constraints while simultaneously addressing Quality of Service. Moreover, modified access priority parameters and safety message acknowledgments will be used to improve the reliability of safety messages. The proposed protocols are implemented using network simulation tools. Extensive experiments demonstrated a faster and more efficient reception of safety messages compared to existing VANET technologies. Finally, improvements in delay and packet delivery ratios are presented.

La convergencia de las telecomunicaciones, la informática, la tecnología inalámbrica y los sistemas de transporte, va a facilitar que nuestras carreteras y autopistas nos sirvan tanto como plataforma de transporte, como de comunicaciones. Estos cambios van a revolucionar completamente cómo y cuándo vamos a acceder a determinados servicios, comunicarnos, viajar, entretenernos, y navegar, en un futuro muy cercano. Las redes vehiculares ad hoc (vehicular ad hoc networks VANETs) son redes de comunicación inalámbricas que no requieren de ningún tipo de infraestructura, y que permiten la comunicación y conducción cooperativa entre los vehículos en la carretera. Los vehículos actúan como nodos de comunicación y transmisores, formando redes dinámicas junto a otros vehículos cercanos en entornos urbanos y autopistas. Las características especiales de las redes vehiculares favorecen el desarrollo de servicios y aplicaciones atractivas y desafiantes. En esta tesis nos centramos en las aplicaciones relacionadas con la seguridad. Específicamente, desarrollamos y evaluamos un novedoso protocol que mejora la seguridad en las carreteras. Nuestra propuesta combina el uso de información de la localización de los vehículos y las características del mapa del escenario, para mejorar la diseminación de los mensajes de alerta. En las aplicaciones de seguridad para redes vehiculares, nuestra propuesta permite reducir el problema de las tormentas de difusión, mientras que se mantiene una alta efectividad en la diseminación de los mensajes hacia los vehículos cercanos. Debido a que desplegar y evaluar redes VANET supone un gran coste y una tarea dura, la metodología basada en la simulación se muestra como una metodología alternativa a la implementación real. A diferencia de otros trabajos previos, con el fin de evaluar nuestra propuesta en un entorno realista, en nuestras simulaciones tenemos muy en cuenta tanto la movilidad de los vehículos, como la transmisión de radio en entornos urbanos, especialmente cuando los edificios interfieren en la propagación de la señal de radio. Con este propósito, desarrollamos herramientas para la simulación de VANETs más precisas y realistas, mejorando tanto la modelización de la propagación de radio, como la movilidad de los vehículos, obteniendo una solución que permite integrar mapas reales en el entorno de simulación. Finalmente, evaluamos las prestaciones de nuestro protocolo propuesto haciendo uso de nuestra plataforma de simulación mejorada, evidenciando la importancia del uso de un entorno de simulación adecuado para conseguir resultados más realistas y poder obtener conclusiones más significativas.<br>Martínez Domínguez, FJ. (2010). Improving Vehicular ad hoc Network Protocols to Support Safety Applications in Realistic Scenarios [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/9195<br>Palancia

Le domaine des transports intelligents repose sur une infrastructure robuste de communication véhiculaire, essentielle à la gestion du trafic, à la surveillance des routes, à l'accessibilité à l'Internet des objets (IoT) et aux informations des conducteurs/passagers. Alors que la norme conventionnelle IEEE802.11p a longtemps dominé ce domaine, l'avènement de la 5G et de ses successeurs marque un changement de paradigme.Cette thèse représente une exploration complète des technologies 5G et au-delà spécifiquement adaptées aux exigences uniques de la communication véhicule-à-tout (V2X). L'objectif principal est une analyse méticuleuse de la technologie Non-Orthogonal Multiple Access (NOMA) et des schémas de modulation multiporteuse (MCM) dans le contexte des applications V2X de nouvelle génération. Au cœur de cette exploration se trouve la recherche de stratégies de conception PHY/MAC (couches physique et de contrôle d'accès au support) transversales visant à élever les performances.Le parcours de recherche commence par une vue d'ensemble introductive, plongeant dans le contexte historique et la pertinence des communications V2X, accompagnée d'un examen des diverses exigences des groupes de cas d'utilisation V2X. Ce travail préliminaire combine des connaissances issues d'organisations normatives et des dernières publications, offrant une vue d'ensemble complète du paysage historique de la communication véhiculaire.Ensuite, la thèse navigue dans le paysage contemporain, mettant l'accent sur l'application des technologies 5G aux différents cas d'utilisation V2X. Elle cartographie la relation entre les groupes de cas d'utilisation V2X et les technologies habilitantes tout en explorant l'architecture hiérarchique 5G V2X. Cette exploration fait le lien entre les exigences actuelles de communication, les normes existantes et les directions de recherche ouvertes ainsi que les défis imminents.Le cœur de la thèse tourne autour de l'exploration des implications des schémas NOMA et MCM dans les applications V2X de prochaine génération. La culmination de cette recherche se manifeste dans un paradigme de conception transversale axé sur l'amélioration des performances et de l'adaptabilité des systèmes de communication cellulaires véhiculaires à tout (C-V2X). En disséquant les mécanismes NOMA au sein des couches physique et de contrôle d'accès au support (PHY/MAC), cette étude démontre des améliorations substantielles des performances de débit par rapport aux systèmes d'accès multiple orthogonal (OMA) conventionnels.Les résultats de cette thèse aspirent à contribuer à des solutions avancées pour les futurs systèmes de transport autonomes et connectés, avec un accent spécifique sur l'amélioration des performances des couches physique et d'accès au support dans des scénarios V2X sophistiqués<br>The realm of intelligent transportation hinges upon robust vehicular communication infrastructure, vital for traffic management, road monitoring, Internet of Things (IoT) accessibility, and driver/passenger information. While the conventional IEEE802.11p standard has long dominated this domain, the advent of 5G and its successors marks a paradigm shift.This thesis represents a comprehensive exploration of 5G and beyond technologies specifically tailored to the unique demands of Vehicle-to-Everything (V2X) communication. The primary aim is a meticulous analysis of Non-Orthogonal Multiple Access (NOMA) technology and Multi-Carrier Modulation (MCM) schemes within the context of next-generation V2X applications. Central to this exploration is the pursuit of cross-layer PHY/MAC (Physical Layer/Medium Access Control) design strategies aimed at elevating performance benchmarks.The research journey begins with an introductory overview, delving into the historical context and relevance of V2X communications, accompanied by an examination of the diverse requirements across V2X use case groups. This foundational groundwork combines insights from normative organizations and the latest literature, providing a comprehensive overview of the historical landscape of vehicular communication.Subsequently, the thesis navigates the contemporary landscape, emphasizing the application of 5G enabling technologies to various V2X use cases. It maps the relationship between V2X Use Case Groups and Enabling Technologies while exploring the Hierarchical 5G V2X high-level architecture. This exploration bridges current communication requirements and existing standards with open research directions and impending challenges.The core of the thesis revolves around the exploration of NOMA and MCM schemes' implications within next-generation V2X applications. The culmination of this research manifests in a cross-layer design paradigm focusing on the enhancement of performance and adaptability within cellular vehicle-to-everything (C-V2X) communication systems. By dissecting NOMA mechanisms within the Physical/Medium Access Control (PHY/MAC) layers, this study demonstrates substantial throughput performance improvements compared to conventional Orthogonal Multiple Access (OMA) systems.The outcomes of this thesis aspire to contribute advanced solutions for future autonomous and connected transport systems, with a specific emphasis on the enhancement of physical and medium access layer performance within sophisticated V2X scenarios

Pendant les deux dernières décennies, les technologies de réseaux ad-hoc de véhicules (VANETs : Vehicular Ad-Hoc Networks) ont été développées sous l’impulsion du monde de la recherche comme de l’industrie, étant donnés les liens des VANETs avec la sécurité routière, l’internet des objets (IoT/WoT : Internet of Things/Web of Things) pour les systèmes de transport intelligents (ITS : Intelligent Transportation Systems), les villes intelligentes et les villes vertes. Composant essentiel des VANETs, les protocoles de communication inter-véhicules (IVC : Inter-Vehicle Communication) font face à des défis techniques, en particulier à cause de la diversité des applications dans lesquelles ils sont impliqués. Dans cette thèse, après une présentation des VANETs et de l’état de l’art des IVC, nous proposons un protocole de dissémination de données, TrAD, conçu pour diffuser de manière efficiente des messages d’une source vers les véhicules présents dans la zone d’intérêt (ROI : Range of Interest). TrAD se base sur les états du trafic routier et du trafic réseau pour adapter localement la stratégie et les paramètres de transmission des données afin d’optimiser les performances des applications qui l’utilisent. De plus, un algorithme de classification des clusters locaux de véhicules est conçu pour permettre l’usage de TrAD sur autoroute aussi bien qu’en ville. Pour éviter l’encombrement des canaux de communication, un mécanisme illustratif de contrôle de la congestion reposant sur une approche distribuée est utilisé. Trois protocoles IVC de l’état de l’art ont été comparés à TrAD dans des scénarios réalistes de simulation, basés sur différentes villes réelles, différents trajets et densités véhiculaires. Les performances de TrAD surpassent celles des protocoles de référence en termes de taux de délivrance des paquets (PDR : Packet Delivery Ratio), nombre de transmissions et latence. De plus, nous montrons que TrAD est tolérant, dans une certaine mesure, aux erreurs sur les données GPS. Pour s’assurer de la qualité des simulations, nous avons étudié le modèle de déplacement employé dans le simulateur de trafic, puis couplé ce dernier au simulateur de réseau, afin que les deux s’échangent des informations en temps-réel. Grâce à la compréhension acquise lors de l’analyse du modèle de déplacement, nous avons pu développer un simulateur de conduite de tramway pour la T2C (Transports en Commun de l’agglomération Clermontoise). Des tests menés sur le matériel roulant nous ont permis d’élaborer des modèles de déplacement fidèles correspondants aux diverses situations rencontrées par le tramway. L’affichage de la simulation est assuré par un flux vidéo ajusté plutôt que des images de synthèse, ce qui permet de limiter le coût de développement tout en garantissant un certain réalisme dans l’affichage. Ce projet est soutenu par la T2C pour une durée de deux ans<br>In the last two decades, Vehicular Ad hoc Network (VANETs) were developed significantly by both academic institute and industries association, since VANETs originate from traffic safety and are also an important application of Internet of Things / Web of Things (IoT/WoT) for Intelligent Transportation System (ITS), Intelligent Vehicles and Smart Cities. As an essential component of VANETs, Inter-Vehicle Communication (IVC) protocols face many critical challenges, in particular, because they relate to various specific applications. In this thesis, after elaborating on related knowledge of VANETs and state-of-the-art of IVC protocols, we propose a data dissemination protocol for vehicular networking, named TrAD, to disseminate efficiently warning messages from a source to vehicles in a range of interest (ROI). TrAD considers the status of road traffic and network traffic to adapt locally the strategy and the parameters of transmissions in order to optimize the global performance of IVC application. Moreover, a local vehicular cluster classification algorithm is designed to support TrAD to be performed in both highway and urban scenarios. In addition, an illustrative congestion control mechanism is used to avoid channel congestion using a distributed approach. Three state-of-the-art IVC protocols have been compared with TrAD by means of realistic simulations. The performance of all those protocols is evaluated quantitatively in various scenarios by taking into account different real road maps, trafic routes and vehicular densities. Compared with the reference protocols, TrAD gains an outstanding overall performance in terms of packet delivery ratio, number of transmissions and delay. Furthermore, TrAD also can tolerate a reasonable degree of GPS drift while achieving efficient data dissemination. In order to ensure the quality of simulations, we deeply investigated the mobility model of road traffic simulator, and then performed the bidirectionally coupled simulation in which the network simulator and the road trafic simulator can exchange information in real-time. Upon understanding of the mobility model, we obtained a chance to develop a low-cost tram simulator for the local public transportation provider, the T2C (Transports en Commun de l’agglomération Clermontoise). We attempt to design accurate mobility models from different scenarios for the specific type of tram used by T2C. Real world trials are carried out to explore the key parameters required by theoretical deduction for our mobility model. Moreover, the display GUI relies on a video stream, rather than 3D graphics, which can reduce the cost while guaranteeing the quality of service. This project was supported for two years by T2C

The primary goal of this thesis is to implement peer to peer technology in vehicular communication. The emerging concept of Vehicular Communication including road side infrastructure is a promising solution to avoid accidents and providing live traffic data. There is a high demand for the technologies which ensure low latency communication. Modern vehicles equipped with computing, communication and storage and sensing capabilities eased the transmission of data. To achieve deterministic bounds on data delivery, ability to be established anywhere quickly, and efficiency of data query we have chosen to implement a structured peer to peer overlay model in a cluster of vehicles. The vehicles in the cluster exchange information with the cluster head. The cluster head acts as a leader of the cluster, it fetches the data from the Road-side unit and other cluster heads. We have implemented Pyramid Tree Model in structured peer to peer models. A pyramid tree is group of clusters organized in a structured format with the data links between the clusters. The core concepts behind the pyramid tree model is clustering the nodes based on interest.

Data Dissemination consists on spreading a large amount of information to all nodes belonging to a network. The peculiar characteristics of the system in use make this goal particularly interesting and challenging. Developing efficient data dissemination schemes for wireless ad hoc networks, for instance, is still an open issue due to the broadcast nature of the channel and to the need of managing all data transmissions in a distributed way. The former leads to a lot of problems related to the channel contention, collisions and interference. The latter requires to define algorithms which exploit only local information of the network and which are scalable and robust to the node mobility. The focus of this thesis is to investigate such wireless ad hoc networks by defining and developing data dissemination schemes which can be efficient. The efficiency of an algorithm mainly depends on the requirements imposed by the application scenario of that scheme. In general, they can be reliability, low latency, limited energy consumption and computational complexity and so on. Thus, the problem of efficiently disseminate data, as defined right now, is too wide and general. For these reasons, in this thesis, we will focus on two case studies. We will define two application scenarios in order to point out all the peculiarities and issues related to the data dissemination. In the first part we will focus on dissemination of alert messages in inter-vehicular networks while in the second part we will deal with the data dissemination problem in pervasive systems. We choose these two scenarios as they are specific, i.e., we can precisely define the initial requirements, constraints and objective. But they are also general, i.e., the solutions we will find, could be implemented in different contexts. Thus, the analysis of such case studies will give us a wide and detailed view of the data dissemination problem.

Design, synthesis and validation of cooperative driving algorithm are the main actor of our treatment. Owing to the ever-increasing traffic demand, modern societies, with well-planned road management systems, and sufficient infrastructures for transportation, still face problems like traffic congestion and pollution. Intelligent transportation system supporting the driver during driving task are called ADA systems or ADAS. ADAS promise to increase the driver's safety and comfort with positive impact on traffic flow performance, emissions and fuel consumption. Examples of ADAS system are various forms of cruise control, lane keeping systems and collision warning systems. Recently the development of new communication protocols for vehicular environment based on WAVE/IEEE 802.11p standard has pushed industry and researchers toward the development of the concept of Cooperative Driving and Cooperative Adaptive Cruise Control systems. Cooperative driving control systems exploit the wireless communication as an additional sensor both to perceive the presence of neighbouring vehicles and to communicate their own presence and in-vehicle data. One of the most envisioned applications in cooperative driving systems is certainly platooning. Platooning concept can be defined as a collection of vehicles that travel together, actively coordinated in formation. Some expected advantages of platooning include increased fuel and traffic efficiency, safety and driver comfort. All vehicles within the platoon communicate with each other and exchange information in order to reach a common target. Here we aim to represent the platooning as a complex network, in which nodes represent the vehicles belonging to platoon and links model the existence/absence of communication among vehicles. In particular, we model platooning not only as a complex network, but as a delayed complex network. First we present how a group of interconnected vehicles can be modelled as a complex networks and then we treat the platooning problem first as an high-order consensus problem and then as synchronization problem. The consensus goal is to regulate speed and relative position of each vehicle to that of the respective predecessor and of the leading vehicle. The idea is to analytically solve problem by designing a distributed control action depending on information received from the neighbouring vehicles (within the transmission range). The control approach is able to counteract the presence of different time-varying delays introduced by the wireless vehicular communications, take into account the drivetrain dynamics and the heterogeneity of the platoon. First of all we give sufficient and necessary condition on the control gain that guarantee both exponential and global asymptotic stability. The stability of the proposed control strategy, has been shown by exploiting the Lyapunov-Krasovkii theorem for retarded functional differential equations, according a delay dependent approach. The stability conditions gives as additional result, an upper bound estimation of the maximum allowable communication delay that guarantee stability. Then we solve the platooning problem as a synchronization problem. Our target is to synchronize the dynamics of all agent of the platoon to the leader dynamics. The problem essentially consists in leader tracking manoeuvres. The synchronization goal is achieved here by using an appropriate adaptive distributed strategy, depending from local state variables as well as from the information received by the neighbouring vehicles. The control approach counteract the presence of different time-varying delays introduced by the wireless vehicular communications, and is robust to parameter variations. Also in this case we prove the stability of the proposed control strategy exploiting the Lyapunov-Krasovkii theorem. Since in a real environment there is the unavoidable presence of time-delays, it is crucial, before the experimental validation of cooperative driving algorithms, of proper simulation tool taking into account of vehicular and control dynamics, not neglecting traffic patterns and the characteristics of the communication channel. These tools, known as VANET simulators, requires two types of simulation components: i) Network and ii) Mobility that in general are separate. Within a collaboration with the University of Trento, I have contributed to the development of Plexe, a VANET simulator, that is the evolution of the well known Veins framework. In particular we have contributed to the formulation of a vehicle model to embed into Plexe framework, that takes into account of transmission ratio and power of vehicles. All the proposed control strategy have been intensively validated and simulated with Plexe simulator, both with the vehicle model and with default mobility model already present in Plexe. The thesis is organized as follows. In Chap. 1 we give first an overview on the Cooperative Driving systems. After an introduction about them, we focus on the main application considered during the dissertation: i) Probe Vehicles, ii) Automated Fleets and Cooperative Driving. Then we will give an overview on communication paradigms and enabling technologies in support of cooperative driving systems. In Chap. 2 we focus on Plexe, an open source and free to download VANET simulator allowing the simulation, validation and analysis of cooperative driving control strategy in mixed traffic scenario. After a brief description of Plexe, we will illustrate the major enhancement and contributions given during this PhD work to develop a new vehicle dynamical model. We remark that these contributes have been embedded into Plexe as part of a collaboration with the DISI - University of Trento. In Chap. 3 first we present how a group of interconnected vehicles can be modelled as a complex networks and then we treat the platooning problem first as an high-order consensus problem and then as synchronization problem. The consensus goal is to regulate speed and relative position of each vehicle to that of the respective predecessor and of the leading vehicle. The idea is to analytically solve problem by designing a proper local action depending on the vehicle state variables and a cooperative action depending on information received from the neighbouring vehicles (e.g., within the transmission range). The control approach counteract the presence of different time-varying delays introduced by the wireless vehicular communications. We prove the stability of the proposed control strategy exploiting the Lyapunov-Krasovkii theorem and finally we will show the results obtained by exploiting Plexe simulator. Then we treat the platooning problem as a synchronization problem. Our target is to synchronize the dynamics of all agent of the platoon to the leader dynamics. The problem essentially consists in leader tracking manoeuvres. The synchronization goal is achieved here by using an appropriate adaptive distributed strategy, depending from local state variables as well as from the information received by the neighbouring vehicles. The control approach counteract the presence of different time-varying delays introduced by the wireless vehicular communications. We prove the stability of the proposed control strategy exploiting the Lyapunov-Krasovkii theorem and finally we will show the results obtained using Plexe simulator. In Chap. 4 are resumed the company duties. We will present in particular the design and implementation of an On Board Unit, for collection and transmission of in-vehicle data to neighbourhood vehicle in an ITS scenario. To this purpose, a proper DSRC communication system has been designed and implemented. To validate the effectiveness of the designed On Board Unit a proper Hardware In the Loop platform has been developed to test the effectiveness of the control and communication strategy. Finally, in Appendix A we present the maths instrument employed for our analysis: first we focus on the theorems used to show the stability of time delay systems; in second instance we present some theorems about the stability analysis of time-varying systems; finally we present some useful lemmas used in this thesis.

Recent technological advances and pervasiveness of wireless communication devices have offered novel and promising solutions to the road safety problem and on-the-go entertainment. One such solution is the Inter-Vehicular Communications (IVC) where vehicles cooperate in receiving and delivering the messages to each other, establishing a decentralized communication system. The communication between vehicles can be made more effective and reliable at the physical layer by using the concept of space-time coding (STC). STC demonstrated that the deployment of multiple antennas at the transmitter allows for simultaneous increase in throughput and reliability because of the additional degree of freedom offered by the spatial dimension of the wireless. However, the use of multiple antenna at the receiver is not feasible because of the size and power limitations. Cooperative diversity, which is also known as user cooperation is ideal to overcome these limitations by introducing a new concept of using the antenna of neighboring node. This technique exploits the broadcast nature of wireless transmissions and creates a virtual (distributed) antenna array through cooperating nodes to realize spatial diversity advantage. Although there has been a growing literature on cooperative diversity, the current literature is mainly limited to Rayleigh fading channel model which typically assumes a wireless communication scenario with a stationary base station antenna above roof-top level and a mobile station at street level. In this thesis, we investigate cooperative diversity for inter-vehicular communication based on cascaded Rayleigh fading. This channel model provides a realistic description of inter-vehicular channel where two or more independent Rayleigh fading processes are assumed to be generated by independent groups of scatters around the two mobile terminals. We investigate the performance of amplify-and-forward relaying for an inter-vehicular cooperative scheme assisted by either a road-side access point or another vehicle which acts as a relay. Our diversity analysis reveals that the cooperative scheme is able to extract the full distributed spatial diversity. We further formulate a power allocation problem for the considered scheme to optimize the power allocated to broadcasting and relaying phases. Performance gains up to 3 dB are obtained through optimum power allocation depending on the relay location.

碩士<br>國立中央大學<br>資訊工程學系碩士在職專班<br>96<br>Safety is the only way home. Even though governments around the world announce the importance of traffic safety, it seems extremely hard to avoid traffic accidents happening repeatedly every year. Rear-end crashes are the most frequently occurring for tragedy and resulting in a substantial number of injuries. People are eager to find clever solutions to such critical problems. 　　 　　With the techniques of wireless communications growing mature, Inter-Vehicle Communications provide an efficient way to improve traffic safety and prevent congestion through exchanging or disseminating the traffic conditions. Broadcasting techniques are the widely used applications of delivering the emergency messages to drivers; however, they often suffer the broadcast storm, hidden node, interference, and contention problems, which makes the emergency message undelivered or delayed. For this reason, using current techniques to forward emergency messages, it remains difficult to lower the incidence of traffic accidents efficiently. 　　 　　A novel broadcasting algorithm by event-driven was proposed in the thesis and is categorized as area-based method broadcast. Not only does it overcome the broadcast storm problem effectively, but it is also suitable for cooperative collision avoidance on two-way highway. Its message-relaying decisions are made by receivers based on the position, direction, and speed properties of re-transmitters and itself. Moreover, the time delay is adaptively adjusted in opposite directions to reduce the hidden node problem and result the delivery more efficiently and reliably. 　　 　　The simulation results show that the proposed algorithm disseminates the emergency messages most efficaciously and steadily, for instance, it can reduce the delay of compared protocols at least 10% and the retransmission rate at most 79% since the delivery on 100 vehicles within 4.5 km is only taking 15.30 ms and 21 retransmissions. Not merely does it have the lower latency and packet loss rate, but also it takes the fewer retransmissions than other flooding based protocols. Consequently, it can help prevent the rear-end crashes. In addition, a sophisticate data format is defined as well for future extensions and developments of vehicular services.