In recent years, research has been conducted on connected vehicles (CVs) that are equipped with communication devices and can be connected to networks. CVs share their own position information and surrounding informat...In recent years, research has been conducted on connected vehicles (CVs) that are equipped with communication devices and can be connected to networks. CVs share their own position information and surrounding information with other vehicles using Vehicle-to-Everything (V2X) communication. CVs can recognize obstacles on non-line-of-sight (NLoS), which cannot be recognized by autonomous vehicles, and reduce travel time to a destination by cooperative driving. Therefore, CVs are expected to provide safe and efficient transportation. On the other hand, problems of security of V2X communication by CVs have been discussed. Safe and efficient transportation by </span><span style="font-family:Verdana;">CVs is on the basis of the assumption that correct vehicle information is </span><span style="font-family:Verdana;">shared. If fake vehicle information is shared, it will affect the driving of CVs. In particular, vehicle position faking has been shown that it can induce traffic congestion and accidents, which is a serious problem. </span><span style="font-family:Verdana;">In this study, we define position faking by CV as misbehavior and propose a method to detect misbehavior on the basis of changes in vehicle position time series data composed of vehicle position information. We evaluated the proposed method using four different misbehavior models. F-measure of misbehavior models that CV sends random position information detected by the proposed method is higher than one by a related method. Therefore, the proposed method </span><span style="font-family:Verdana;">is suitable for detecting misbehavior in which the position information</span><span style="font-family:Verdana;"> changes over time.展开更多
This paper explores the exploitation of Mobile/Multi-access Edge Computing (MEC) for Vehicle-to-Everything (V2X) communications. Certain V2X applications that aim at improving road safety require reliable and low late...This paper explores the exploitation of Mobile/Multi-access Edge Computing (MEC) for Vehicle-to-Everything (V2X) communications. Certain V2X applications that aim at improving road safety require reliable and low latency message delivery. As the number of connected vehicles increases, these requirements cannot be satisfied by technologies relying on the IEEE 802.11p standard. Therefore, the exploitation of the 4th generation Long Term Evolution (LTE) mobile networks has been considered. However, despite their widespread use, LTE systems are characterized by high end-to-end latency since the messages have to traverse the core network. MEC addresses this problem by offering computing, storage and network resources at the edge of the network closer to the end-users. This paper aims at investigating the benefits MEC may offer toward implementing V2X communications. In this framework, simulation scenarios were examined concerning various V2X use cases implemented employing either LTE or MEC. The simulation results indicate a clear superiority of MEC over LTE, especially in the case of delivering critical data.展开更多
In this paper,a statistical cluster-based simulation channel model with a finite number of sinusoids is proposed for depicting the multiple-input multiple-output(MIMO)communications in vehicleto-everything(V2X)environ...In this paper,a statistical cluster-based simulation channel model with a finite number of sinusoids is proposed for depicting the multiple-input multiple-output(MIMO)communications in vehicleto-everything(V2X)environments.In the proposed sum-of-sinusoids(SoS)channel model,the waves that emerge from the transmitter undergo line-of-sight(LoS)and non-line-of-sight(NLoS)propagation to the receiver,which makes the model suitable for describing numerous V2X wireless communication scenarios for sixth-generation(6G).We derive expressions for the real and imaginary parts of the complex channel impulse response(CIR),which characterize the physical propagation characteristics of V2X wireless channels.The statistical properties of the real and imaginary parts of the complex CIRs,i.e.,autocorrelation functions(ACFs),Doppler power spectral densities(PSDs),cross-correlation functions(CCFs),and variances of ACFs and CCFs,are derived and discussed.Simulation results are generated and match those predicted by the underlying theory,demonstrating the accuracy of our derivation and analysis.The proposed framework and underlying theory arise as an efficient tool to investigate the statistical properties of 6G MIMO V2X communication systems.展开更多
精确的环境感知是实现自主代客泊车(automated valet parking,AVP)功能的基础,传统的AVP系统主要依赖于单车的感知,但随着场端智能技术的不断发展,车端与场端之间协同交互成为自主代客泊车落地的必然趋势。本文提出了一种基于V2X车场协...精确的环境感知是实现自主代客泊车(automated valet parking,AVP)功能的基础,传统的AVP系统主要依赖于单车的感知,但随着场端智能技术的不断发展,车端与场端之间协同交互成为自主代客泊车落地的必然趋势。本文提出了一种基于V2X车场协同的地下停车场全域感知方法,该方法将地下停车场的全域感知问题转化为大规模图模型的构建与优化问题。通过输入场端激光雷达、摄像头的传感器信息以及智能网联车的感知数据,以车辆位姿为节点,建立多种边约束关系。为了提高感知精度,本文提出了一种融合车道级地图信息的大规模图模型方法,通过将停放车辆作为半静态信息约束,并结合车道级地图信息构建横向约束,在求解过程中引入滑动窗口以减小图模型的规模,最终以地图形式输出感知结果供车端使用。通过仿真实验和在占地面积为2 500 m^(2)以上的地下停车场场景中进行实地实验,结果表明,该方法显著提升了在复杂停车场环境下的感知能力,实现了地下停车场的全域感知。展开更多
With the increasing of electric vehicles(EVs)penetration in power grids,the charging of EVs will have significant impacts on power system planning and operation.It is necessary to note that the majority of EVs are not...With the increasing of electric vehicles(EVs)penetration in power grids,the charging of EVs will have significant impacts on power system planning and operation.It is necessary to note that the majority of EVs are not in use in most ofthe time in a day.Therefore,the onboard batteries can be utilized as energy storage devices.This article reviews and discusses the current related research in the following areas.展开更多
In recent years,autonomous driving technology has made good progress,but the noncooperative intelligence of vehicle for autonomous driving still has many technical bottlenecks when facing urban road autonomous driving...In recent years,autonomous driving technology has made good progress,but the noncooperative intelligence of vehicle for autonomous driving still has many technical bottlenecks when facing urban road autonomous driving challenges.V2I(Vehicle-to-Infrastructure)communication is a potential solution to enable cooperative intelligence of vehicles and roads.In this paper,the RGB-PVRCNN,an environment perception framework,is proposed to improve the environmental awareness of autonomous vehicles at intersections by leveraging V2I communication technology.This framework integrates vision feature based on PVRCNN.The normal distributions transform(NDT)point cloud registration algorithm is deployed both on onboard and roadside to obtain the position of the autonomous vehicles and to build the local map objects detected by roadside multi-sensor system are sent back to autonomous vehicles to enhance the perception ability of autonomous vehicles for benefiting path planning and traffic efficiency at the intersection.The field-testing results show that our method can effectively extend the environmental perception ability and range of autonomous vehicles at the intersection and outperform the PointPillar algorithm and the VoxelRCNN algorithm in detection accuracy.展开更多
With the development of automated driving vehicles, more and more vehicles will be fitted with more than one automotive radars, and the radar mutual interference will become very significant. Vehicle to everything (V2...With the development of automated driving vehicles, more and more vehicles will be fitted with more than one automotive radars, and the radar mutual interference will become very significant. Vehicle to everything (V2X) communication is a potential way for coordinating automotive radars and reduce the mutual interference. In this paper, we analyze the positional relation of the two radars that interfere with each other, and evaluate the mutual interference for different types of automotive radars based on Poisson point process (PPP). We also propose a centralized framework and the corresponding algorithm, which relies on V2X communication systems to allocate the spectrum resources for automotive radars to minimize the interference. The minimum spectrum resources required for zero-interference are analyzed for different cases. Simulation results validate the analysis and show that the proposed framework can achieve near-zero-interference with the minimum spectrum resources.展开更多
With the shortages of resources,environmental pollution,climate change,and other issues becoming more and more serious,it is extremely urgent to vigorously develop new energy vehicles.As the cost of batteries decrease...With the shortages of resources,environmental pollution,climate change,and other issues becoming more and more serious,it is extremely urgent to vigorously develop new energy vehicles.As the cost of batteries decrease year by year,the production and quantity of sales of electric vehicles(EVs)in the world,especially in China,increased substantially.In order to make vehicles to grid(V2G)technology better developed and applied in China.The brief introduction to V2G is given at first.Then the development status and specific cases of V2G at home and abroad are summarized.Finally,the problems that V2G may encounter during promotion and application in China are analyzed.Based on the development of the United States and Japan,specific policy recommendations are given in line with the basic national conditions of China.展开更多
Vehicle to grid is an emerging technology that utilizes plug in hybrid electric vehicle batteries to benefit electric utilities during times when the vehicle is parked and connected to the electric grid. In its curren...Vehicle to grid is an emerging technology that utilizes plug in hybrid electric vehicle batteries to benefit electric utilities during times when the vehicle is parked and connected to the electric grid. In its current form however, vehicle to grid implementation poses many challenges that may not be easily overcome and many existing studies neglect critical aspects such as battery cost or driving profiles. The goal of this research is to ease some of these challenges by examining a vehicle to grid scenario on a university campus, as an example of a commercial campus, based on time of use electricity rates. An analysis of this scenario is conducted on a vehicle battery as well as a stationary battery for comparison. It is found that vehicle to campus and a stationary battery both have the potential to prove economical based on battery cost and electricity rates.展开更多
An overview of V2G （vehicle-to-grid） technology is presented in this paper, it aims to highlight the main features, opportunities and requirements of V2G. Thus, after briefly resuming the most popular charging strat...An overview of V2G （vehicle-to-grid） technology is presented in this paper, it aims to highlight the main features, opportunities and requirements of V2G. Thus, after briefly resuming the most popular charging strategies lbr PEVs （plug-in electric vehicles）, the V2G concept is introduced, especially highlighting its potentiality as a revenue opportunity ｜br PEV owners： this is mainly due to the V2G ability to provide ancillary services, such as load leveling, regulation and reserve. Such solutions have been thoroughly investigated in the literature from both the economic and technical points of view and are here reported. In addition, V2G requirements such as mobility needs, charging stations availability and appropriate PEV aggregative architectures are properly taken into account. Finally, future developments and scenarios have also been reported.展开更多
1 Introduction Amid escalating global climate change,the“dual carbon”goals of carbon peak and carbon neutrality have become a focal point of global attention and an important strategy for sustainable development[1]....1 Introduction Amid escalating global climate change,the“dual carbon”goals of carbon peak and carbon neutrality have become a focal point of global attention and an important strategy for sustainable development[1].With the rapid development of renewable energy technologies and the increasing public demand for environmental protection and low-carbon living,the adoption of new energy vehicles,particularly electric vehicles(EVs).展开更多
文摘In recent years, research has been conducted on connected vehicles (CVs) that are equipped with communication devices and can be connected to networks. CVs share their own position information and surrounding information with other vehicles using Vehicle-to-Everything (V2X) communication. CVs can recognize obstacles on non-line-of-sight (NLoS), which cannot be recognized by autonomous vehicles, and reduce travel time to a destination by cooperative driving. Therefore, CVs are expected to provide safe and efficient transportation. On the other hand, problems of security of V2X communication by CVs have been discussed. Safe and efficient transportation by </span><span style="font-family:Verdana;">CVs is on the basis of the assumption that correct vehicle information is </span><span style="font-family:Verdana;">shared. If fake vehicle information is shared, it will affect the driving of CVs. In particular, vehicle position faking has been shown that it can induce traffic congestion and accidents, which is a serious problem. </span><span style="font-family:Verdana;">In this study, we define position faking by CV as misbehavior and propose a method to detect misbehavior on the basis of changes in vehicle position time series data composed of vehicle position information. We evaluated the proposed method using four different misbehavior models. F-measure of misbehavior models that CV sends random position information detected by the proposed method is higher than one by a related method. Therefore, the proposed method </span><span style="font-family:Verdana;">is suitable for detecting misbehavior in which the position information</span><span style="font-family:Verdana;"> changes over time.
文摘This paper explores the exploitation of Mobile/Multi-access Edge Computing (MEC) for Vehicle-to-Everything (V2X) communications. Certain V2X applications that aim at improving road safety require reliable and low latency message delivery. As the number of connected vehicles increases, these requirements cannot be satisfied by technologies relying on the IEEE 802.11p standard. Therefore, the exploitation of the 4th generation Long Term Evolution (LTE) mobile networks has been considered. However, despite their widespread use, LTE systems are characterized by high end-to-end latency since the messages have to traverse the core network. MEC addresses this problem by offering computing, storage and network resources at the edge of the network closer to the end-users. This paper aims at investigating the benefits MEC may offer toward implementing V2X communications. In this framework, simulation scenarios were examined concerning various V2X use cases implemented employing either LTE or MEC. The simulation results indicate a clear superiority of MEC over LTE, especially in the case of delivering critical data.
基金supported by National Natural Science Foundation of China(NSFC)(No.62101274 and 62101275)Natural Science Foundation of Jiangsu Province(BK20210640)Open Research Fund of National Mobile Communications Research Laboratory Southeast University under Grant 2021D03。
文摘In this paper,a statistical cluster-based simulation channel model with a finite number of sinusoids is proposed for depicting the multiple-input multiple-output(MIMO)communications in vehicleto-everything(V2X)environments.In the proposed sum-of-sinusoids(SoS)channel model,the waves that emerge from the transmitter undergo line-of-sight(LoS)and non-line-of-sight(NLoS)propagation to the receiver,which makes the model suitable for describing numerous V2X wireless communication scenarios for sixth-generation(6G).We derive expressions for the real and imaginary parts of the complex channel impulse response(CIR),which characterize the physical propagation characteristics of V2X wireless channels.The statistical properties of the real and imaginary parts of the complex CIRs,i.e.,autocorrelation functions(ACFs),Doppler power spectral densities(PSDs),cross-correlation functions(CCFs),and variances of ACFs and CCFs,are derived and discussed.Simulation results are generated and match those predicted by the underlying theory,demonstrating the accuracy of our derivation and analysis.The proposed framework and underlying theory arise as an efficient tool to investigate the statistical properties of 6G MIMO V2X communication systems.
文摘精确的环境感知是实现自主代客泊车(automated valet parking,AVP)功能的基础,传统的AVP系统主要依赖于单车的感知,但随着场端智能技术的不断发展,车端与场端之间协同交互成为自主代客泊车落地的必然趋势。本文提出了一种基于V2X车场协同的地下停车场全域感知方法,该方法将地下停车场的全域感知问题转化为大规模图模型的构建与优化问题。通过输入场端激光雷达、摄像头的传感器信息以及智能网联车的感知数据,以车辆位姿为节点,建立多种边约束关系。为了提高感知精度,本文提出了一种融合车道级地图信息的大规模图模型方法,通过将停放车辆作为半静态信息约束,并结合车道级地图信息构建横向约束,在求解过程中引入滑动窗口以减小图模型的规模,最终以地图形式输出感知结果供车端使用。通过仿真实验和在占地面积为2 500 m^(2)以上的地下停车场场景中进行实地实验,结果表明,该方法显著提升了在复杂停车场环境下的感知能力,实现了地下停车场的全域感知。
文摘With the increasing of electric vehicles(EVs)penetration in power grids,the charging of EVs will have significant impacts on power system planning and operation.It is necessary to note that the majority of EVs are not in use in most ofthe time in a day.Therefore,the onboard batteries can be utilized as energy storage devices.This article reviews and discusses the current related research in the following areas.
基金This research was supported by the National Key Research and Development Program of China under Grant No.2017YFB0102502the Beijing Municipal Natural Science Foundation No.L191001+2 种基金the National Natural Science Foundation of China under Grant No.61672082 and 61822101the Newton Advanced Fellowship under Grant No.62061130221the Young Elite Scientists Sponsorship Program by Hunan Provincial Department of Education under Grant No.18B142.
文摘In recent years,autonomous driving technology has made good progress,but the noncooperative intelligence of vehicle for autonomous driving still has many technical bottlenecks when facing urban road autonomous driving challenges.V2I(Vehicle-to-Infrastructure)communication is a potential solution to enable cooperative intelligence of vehicles and roads.In this paper,the RGB-PVRCNN,an environment perception framework,is proposed to improve the environmental awareness of autonomous vehicles at intersections by leveraging V2I communication technology.This framework integrates vision feature based on PVRCNN.The normal distributions transform(NDT)point cloud registration algorithm is deployed both on onboard and roadside to obtain the position of the autonomous vehicles and to build the local map objects detected by roadside multi-sensor system are sent back to autonomous vehicles to enhance the perception ability of autonomous vehicles for benefiting path planning and traffic efficiency at the intersection.The field-testing results show that our method can effectively extend the environmental perception ability and range of autonomous vehicles at the intersection and outperform the PointPillar algorithm and the VoxelRCNN algorithm in detection accuracy.
基金support by China Information Communication Technologies Group Corporationsupported in part by Chinese Ministry of Education-China Mobile Communication Corporation Research Fund under Grant MCM20170101the European Union’s Horizon 2020 research and innovation programme under the Marie Skldowska-Curie Grant Agreement No.793345
文摘With the development of automated driving vehicles, more and more vehicles will be fitted with more than one automotive radars, and the radar mutual interference will become very significant. Vehicle to everything (V2X) communication is a potential way for coordinating automotive radars and reduce the mutual interference. In this paper, we analyze the positional relation of the two radars that interfere with each other, and evaluate the mutual interference for different types of automotive radars based on Poisson point process (PPP). We also propose a centralized framework and the corresponding algorithm, which relies on V2X communication systems to allocate the spectrum resources for automotive radars to minimize the interference. The minimum spectrum resources required for zero-interference are analyzed for different cases. Simulation results validate the analysis and show that the proposed framework can achieve near-zero-interference with the minimum spectrum resources.
基金Natural Science Foundation of Shanghai,China(No.17ZR1411200)Shanghai International Automobile City(Group)Co.,Ltd.,China,(No.H2017-032)
文摘With the shortages of resources,environmental pollution,climate change,and other issues becoming more and more serious,it is extremely urgent to vigorously develop new energy vehicles.As the cost of batteries decrease year by year,the production and quantity of sales of electric vehicles(EVs)in the world,especially in China,increased substantially.In order to make vehicles to grid(V2G)technology better developed and applied in China.The brief introduction to V2G is given at first.Then the development status and specific cases of V2G at home and abroad are summarized.Finally,the problems that V2G may encounter during promotion and application in China are analyzed.Based on the development of the United States and Japan,specific policy recommendations are given in line with the basic national conditions of China.
文摘Vehicle to grid is an emerging technology that utilizes plug in hybrid electric vehicle batteries to benefit electric utilities during times when the vehicle is parked and connected to the electric grid. In its current form however, vehicle to grid implementation poses many challenges that may not be easily overcome and many existing studies neglect critical aspects such as battery cost or driving profiles. The goal of this research is to ease some of these challenges by examining a vehicle to grid scenario on a university campus, as an example of a commercial campus, based on time of use electricity rates. An analysis of this scenario is conducted on a vehicle battery as well as a stationary battery for comparison. It is found that vehicle to campus and a stationary battery both have the potential to prove economical based on battery cost and electricity rates.
文摘An overview of V2G （vehicle-to-grid） technology is presented in this paper, it aims to highlight the main features, opportunities and requirements of V2G. Thus, after briefly resuming the most popular charging strategies lbr PEVs （plug-in electric vehicles）, the V2G concept is introduced, especially highlighting its potentiality as a revenue opportunity ｜br PEV owners： this is mainly due to the V2G ability to provide ancillary services, such as load leveling, regulation and reserve. Such solutions have been thoroughly investigated in the literature from both the economic and technical points of view and are here reported. In addition, V2G requirements such as mobility needs, charging stations availability and appropriate PEV aggregative architectures are properly taken into account. Finally, future developments and scenarios have also been reported.
基金supported by Yunnan Provincial Basic Research Project(202401AT070344)National Natural Science Foundation of China(62263014).
文摘1 Introduction Amid escalating global climate change,the“dual carbon”goals of carbon peak and carbon neutrality have become a focal point of global attention and an important strategy for sustainable development[1].With the rapid development of renewable energy technologies and the increasing public demand for environmental protection and low-carbon living,the adoption of new energy vehicles,particularly electric vehicles(EVs).
