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Performance Evaluation of IEEE 802.11p for
          Vehicular Communication Networks
                                        A. Jafari, S. Al-Khayatt and A. Dogman
    Faculty of Art, Computing, Engineering and Sciences, Sheffield Hallam University, Sheffield, United Kingdom
               Email: Amir.Jafari@student.shu.ac.uk; s.alkhayatt@shu.ac.uk; aadogman@my.shu.ac.uk


Abstract— IEEE 802.11p is an emerging standard which             vehicles. Due to the characteristics of VANET and limited
provides vehicular safety communication through wireless         bandwidth, periodic broadcast messages can consume the
networks. In this paper, the architecture of Wireless Access     entire available bandwidth. Furthermore; the emergency
for Vehicular Environment (WAVE) and IEEE 802.11p                messages need to be disseminated quickly and efficiently.
standard were analysed. The key parameters of this               Consequently, there is a need to prioritise important and
standard are implemented in ns-2 network simulator to            time-critical messages and use quality of services. The
accurately simulate vehicular ad hoc networks (VANETs).          IEEE 802.11p MAC layer implements a priority scheme
The performance of this standard was measured in ns-2            in a similar way to IEEE 802.11e EDCA function.
network simulation environment using realistic vehicular
                                                                    The contribution of this paper is to evaluate the IEEE
mobility models. The main performance metrics for
                                                                 802.11p standard. A study was based on the structure of
vehicular safety communication; Throughput, End-to-End
                                                                 the WAVE architecture for VANETs. We, subsequently,
delay, and Packet loss ratio were analysed for our scenario.
                                                                 set up one real scenario which assisted us in analysing the
In addition, the effect of varying vehicle speed and different
message sizes on the performance metrics were measured.
                                                                 performance metrics of the IEEE 802.11p. This scenario
                                                                 was implemented and modelled using ns-2 network
                    I.    INTRODUCTION                           simulator [2] with VanetMobiSim traffic simulator [3].
                                                                 One of the most important points in the vehicular network
   Intelligent Transportation System (ITS) is one of the         simulation was that the nature of vehicular communication
information and communication technologies which has             is based on the movement. Therefore, it is necessary to
attracted a lot of attention recently. This technology           implement a realistic vehicular movement in the
enhances transportation safety, reliability, security and        simulation. The main novelty of this paper is to implement
productivity by integrating with existing technologies.          the key parameters of 802.11p standard in ns-2, and
Wireless data communication between vehicles is one of           prepare the realistic vehicular mobility model by
the technologies which has improved the deployment of            VanetMobiSim. In other words, all of the important
ITS applications. This communication is divided into two         parameters are implemented accurately in the VANET
types: Vehicle to Vehicle (V2V) and Vehicle to                   simulation.
Infrastructure (V2I). Vehicles are equipped with short
range wireless communication technology (approximately              Several publications [4], [5], [6] have studied the
100 to 300 metres) acting as computer nodes on the road.         performance of 802.11p. However, none of the previous
This is known as vehicular ad hoc network (VANET)                studies have supported realistic vehicular mobility
technology. The major objectives of VANET technology             simulation. In [7], the authors have presented a
can be stated as follows: broadcasts warning messages to         comprehensive evaluation and review of the performance
neighbouring vehicles in case of car accidents help              of 802.11p and WAVE protocols supporting realistic
emergency vehicles to pass other vehicles quickly, and           vehicular mobility model. However, standards were
provides drivers with latest real-time traffic information.      implemented in Qualnet network simulator. In terms of
                                                                 modelling accuracy, a new model of IEEE 802.11 MAC
   A wide range of project activities have initiated around      and PHY, which support IEEE 802.11P, is designed and
the world in order to improve vehicular communication            implemented in ns-2 network simulator version 2.34 [8].
networks. In 2004, IEEE 802.11 task group p developed            This version of ns-2 network simulator is used in this
an amendment to the 802.11 standard in order to enhance          paper.
the 802.11 to support VANETs. This standard is known as
802.11p, it defines physical and medium access control              The remainder of this paper is organised as follows. In
layers of VANETs. In addition, The IEEE 1609 working             section II the WAVE and IEEE802.11p structure are
group defined IEEE 1609 protocol family which                    clarified. The simulation scenario is conducted in section
developed higher layer specification based on 802.11p.           III. Results from the simulation and the analyses of the
This protocol consists of four documents: IEEE 1609.1,           performance metrics of the IEEE 802.11p are presented in
IEEE 1609.2, IEEE 1609.3, and IEEE 1609.4. IEEE 1609             section IV. Finally, this paper is concluded in Section V.
protocol family and 802.11p together are called WAVE                 II.    VEHICULAR COMMUNICATION BASED ON THE
standard. This system architecture is used for automotive
                                                                              IEEE 802.11P AND WAVE SYSTEM
wireless communications [1].
   The specific nature of VANET makes it different from             In this section we briefly present an outline of WAVE
other kinds of networks; some of the characteristics of          architecture system and IEEE 802.11p protocol for
VANET are high mobility, short communication periods,            VANET.
dynamic topology and limited bandwidth. Communication
in VANETs is based on event-driven messages or
broadcast messages exchanged between surrounding
A. Physical and MAC Layers                                           The contention procedure between channels to
   The physical and MAC layers of WAVE are based on                   access the medium supported by different timer
IEEE 802.11p standard. The physical layer of IEEE                     settings based on the internal contention
802.11p consists of seven channels in 5.9GHz band which               procedure. [7]
is similar to IEEE 802.11a design, but the main difference     Logical link control (LLC) is another element of
is that the IEEE 802.11p uses 10MHZ bandwidth for each       WAVE structure which is similar to upper sub-layer of
channel instead of 20MHZ bandwidth in IEEE 802.11a.          OSI layer two. LLC provides the communication between
The physical layer of 802.11p uses OFDM technology in        upper layers and the lower layer.
order to increase data transmission rate and overcome
signal fading in wireless communication. One of the          C. Network and Transport Layers
specifications of IEEE 802.11p is that the management           The IEEE 1609.3 defines the operation of services at
functions are connected to the physical and MAC layers       network and transport layers. Moreover, it provides
called physical layer management entity (PLME) and           wireless connectivity between vehicles, and vehicles to
MAC layer management entity (MLME), respectively [4].        roadside devices. The functions of the WAVE network
The IEEE 802.11p uses CSMA/CA to reduce collisions           services can be separated into two sets:
and provide fair access to the channel.                            Data-plane services: They transmit network
                                                                      traffics and support IPV6 and WSMP protocols.
         Resource Manager                        Security             WAVE short-message- Protocol (WSMP)
             IEEE 1609.1                         Services             provides this capability that applications can send
        UDP/TCP                WSMP                IEEE
         IPV6                          WME        1609.2              short message to increase the probability of
                LLC                     IEEE                          receiving the messages in time.
       Multi Channel Operation         1609.3                      Management-plane services: Their functions are
             IEEE 1609.4                                              to configure and maintain system, for instance:
            WAVE MAC                   MLME                           IPV6 configuration, channel usage monitoring,
            IEEE 802.11p                                              and application registration. This service is
             WAVE PHY                  PLME
            IEEE 802.11p
                                                                      known as WAVE management entity (WME).
                Figure 1. WAVE Architecture                  D. Resource Manager
B. Multichannel Operation                                      IEEE 1609.1 standard defines a WAVE application
                                                             known as resource manager (RM) which allows
   IEEE 1609.4 is one of the standards of the IEEE 1609      communication between applications runs on Roadside
protocol family, which manages channel coordination and      units (RSU) and On-board units (OBU). The RM resides
supports MAC service data unit delivery. This standard       on either OBUs or RSUs [10].
describes seven different channels with different features
and usages (six service channels and one control channel).   E. Security Services
In addition, these channels use different frequencies and       The IEEE 1609.2 standard defines security services for
transmit powers. Eichler [4] mentions that each station      the WAVE architecture and the applications which run
continuously alternates between the control channel and
one of the service channels; however the different           through this architecture. This standard defines the format
channels cannot be used at the same time. According to       and the processing of secure messages [1].
[9], the control channel is used for system control and
safety data transmission.                                                         III. SIMULATION
   The IEEE 802.11p MAC layer is based on multichannel          Implementing and deploying VANETs in a real world
operation of WAVE architecture and 802.11e EDCA.             can be prohibitively expensive and difficult.
EDCA mechanism defines four different access categories      Consequently, most of the researches in the area of
(AC) for each channel. The access categories are indicated   Vehicular communication network are based on
by AC0-AC3, and each of them has an independent queue        simulation for evaluation [11].
[4]. The EDCA mechanism provides prioritization by              Simulation in VANET consists of two components:
assigning different contention parameters to each access     traffic simulation and network simulation. Traffic
category. AC3 has the highest priority to access medium,     simulation focuses on vehicular mobility and it generates
whereas AC0 has the lowest priority. Each frame is           a trace file which provides realistic vehicles movement.
categorized into different access categories, depending on   This trace file is fed into the network simulator which
the importance of the message. In IEEE 802.11p MAC           defines the realistic position of each vehicle during the
layer, there are six service channels and one control        network simulation. The network simulator then
channel and each of them has four different access           implements the VANET protocols and produces a trace
categories. Consequently, during data transmission, there    file which prepares complete information about the events
are two contention procedures to access the medium:          taking place in the scenario. Information is then analysed
      Internal contention procedure which occurs            to evaluate the performance metrics of the IEEE 802.11p
         inside each channel between their access            in VANET.
         categories by using the contention parameters          VanetMobiSim is selected as a traffic simulator for this
         (Arbitrary InterFrame space (AIFS) and              paper, since it is an open source and is validated against
         Contention Window (CW)).                            commercial simulators. This simulator supports Intelligent
                                                             DriverModel with Intersection Management (IDMIM)
                                                             which generates realistic vehicular mobility model [12].
Jiang et al. [13] mention that vehicular safety                                  170
communications based on IEEE 802.11p consist of safety                              160
                                                                                    150
broadcast messages between neighbouring vehicles.                                   140
                                                                                    130
Consequently, the overall IEEE 802.11p performance is                               120




                                                               Distance (m)
                                                                                    110
related to broadcast messages reception performance. PBC                            100
                                                                                     90
agent is a broadcast message generator implemented in ns-                            80
                                                                                     70
2 version 2.34. We used this agent in order to define the                            60
                                                                                     50
broadcast message generation behaviour in our simulation.                            40
                                                                                     30
                                                                                     20
The scenario is a highway of 1500 metres long with three                             10
                                                                                      0
lanes in one direction and nine vehicles moving in these
                                                                                               0     6        12   18    24    30     36        42   48    54     60
three lanes. The maximum speeds of the lanes are around
                                                                                                   Vehicle 2
80, 100 and 130 km/h respectively. The speed limit for                                                                   Simulation Time (s)
                                                                                                   Vehicle 4
each lane is 60 km/h. The distance between each lane is 4
metres. In the scenario, an ambulance is in the emergency                                          Vehicle 10
situation travelling in the same direction as other vehicles      Figure 3. Distance between the ambulance and other vehicles during
at the speed of 150 km/h. The ambulance is located behind                                    movement
other cars which are 100 metres apart. The IDMIM
generates realistic vehicular mobility model. The                                  Packet loss (%)
ambulance transmits one periodic broadcast message with
a payload of 250 bytes in every 0.2 seconds. In order to
evaluate the effect of different message sizes on the
performance metrics, we implemented another two
scenarios in which the ambulance transmits period
broadcast messages with the payload of 500, 1000 bytes
respectively. Each network simulations run twenty times
with the same mobility trace to obtain an average and get
a notion of statistical significance.

                                                                                          ▬Packet loss between vehicle 1 and 2
                                                                                          ▬Packet loss between vehicle 1 and 4              Simulation Time (s)
                                                                                          ▬Packet loss between vehicle 1 and 10



                                                               Figure 4. Packet loss between the ambulance and other vehicles during
                                                                                            movement
                     Figure 2. Scenario

                       IV. RESULTS                                Fig. 5 demonstrates the throughput of vehicles 2, 4, and
                                                               10 with the message size of 250 bytes. The figure shows
   Results obtained from the scenario previously described     that the throughput of vehicles 4 and 10 fluctuate between
are presented in this section. Throughput, End-to-End          1.8 and 2.2 Kbps, when the distances between the vehicles
delay, and packet loss were calculated for nine vehicles as    and the ambulance are less than 138 metres. It can be seen
numbered in Fig. 2 during the simulation run-time (i.e. 65     from Fig. 5 that all of the vehicles have nearly similar
seconds). In addition, the impact of various speeds on         throughput when the distances between vehicles and
different performance metrics was also evaluated.              ambulance are less than 138 metres. In other words,
   Fig. 3 shows the distances between the ambulance and        throughput of all the vehicles which their distances do not
vehicles 2, 4, and 10 throughout the simulation . Also,        exceed 138 metres from the ambulance are same and there
Packet loss between the ambulance and these vehicles           is no packet loss between these vehicles and ambulance.
during the simulation time is illustrated in Fig. 4. It is     The most important point is that each vehicle has different
clearly shown in Fig. 4 that there is no packet loss           speed, as a result the throughput and packet loss are not
between the ambulance and vehicle 4 after 58 seconds of        affected by the varying speed.
the simulation time; regarding to Fig. 3, the distance
                                                                                    6.4
between the ambulance and vehicle 4 is less than 138                                5.9
metres after 58 seconds. Fig.4 shows that packet loss is                            5.4
dropped to 0% after 38 seconds of simulation, at the same                           4.9
                                                               Throughput (kbps)




time Fig. 3 demonstrates that the distance between                                  4.4
                                                                                    3.9
ambulance and vehicle 10 is less than 138 metres after 38                           3.4
seconds. It provides similar results for vehicle 10 and 4.                          2.9

Accordingly, the vehicles can receive the broadcast                                 2.4
                                                                                    1.9
message when their distance from the ambulance is less                              1.4
than 138 metres.                                                                    0.9
                                                                                    0.4
                                                                                   -0.1
                                                                                    0
                                                                                           0             10         20        30           40         50          60
                                                                                                                         Simualtion Time (s)



                                                               Figure 5. Throughput of vehicle 2,4, and 10 (message size 250 bytes)
180
   End-to-End delay between the ambulance and vehicles                                                                                                                                             160
2, 4, and 10 with the message size of 250 bytes are shown




                                                                                                                                                                            Average Distance (m)
                                                                                                                                                                                                   140
in Fig. 6. A comparison between Fig. 3 and Fig. 6 shows                                                                                                                                            120
that as long as the distance between vehicle and the                                                                                                                                               100
ambulance is below 138 metres, the results of both figures                                                                                                                                         80

look similar. As the distance between sender and receiver                                                                                                                                          60
                                                                                                                                                                                                   40
increases, End-to-End delay increases accordingly. It is
                                                                                                                                                                                                   20
observed that End-to-End delay is significantly influenced                                                                                                                                             0
by the distance between sender and receiver of the                                                                                                                                                               2     3       4       5       6       7       8       9       10
message. As mentioned earlier, vehicles have different                                                                                                                                                                                 Vehicle Numbers
speed; consequently, various vehicle speeds do not have
any impact on End-to-End delay.                                                                                                                 Figure 8. Average distance between the ambulance and other vehicles
                                                                                                                                                                     (message size 250 bytes)

                                                       0.4665
                                                                                                                                                                                                           100
                                           0.46645
                                                                                                                                                                                                           90
                                                       0.4664                                                                                                                                              80
   End-to-End Delay (ms)




                                                                                                                                                                                    Package Loss (%)
                                           0.46635                                                                                                                                                         70
                                                                                                                                                                                                           60




                                                                                                                                                                                        Average
                                                       0.4663
                                                                                                                                                                                                           50
                                           0.46625
                                                                                                                                                                                                           40
                                                       0.4662                                                                                                                                              30

                                           0.46615                                                                                                                                                         20
                                                                                                                                                                                                           10
                                                       0.4661
                                                                                                                                                                                                            0
                                           0.46605
                                                                                                                                                                                                                 2     3        4       5          6       7       8       9        10
                                                        0.466                                                                                                                                                                           Vehicle Numbers
                                                                0   5       10   15   20   25       30   35   40       45   50   55   60   65
                                                        End-to-End Delay between vehicle 1 and 2
                                                                                                          Simulation Time (s)
                                                                                                                                                                            Figure 9. Average packet loss between the ambulance and other
                                                        End-to-End Delay between vehicle 1 and 4
                                                                                                                                                                                        vehicles (message size of 250 bytes)
                                                        End-to-End Delay Between vehicle 1 and 10
                                                                                                                                                   Fig. 10 and Fig. 11 illustrate the average throughput and
                                                                                                                                                End-to-End delay with three different message sizes (250,
Figure 6. End-to-End delay between the ambulance and other vehicles                                                                             500, 1000 bytes). According to these figures the average
                     (message size 250 bytes)                                                                                                   throughput and End-to-End delay are increased by
                                                                                                                                                increasing the message size, but the increment of
   Fig. 7, Fig. 8 and Fig. 9 illustrate the average                                                                                             throughput of vehicles 4, 7, and 10 is not as high as other
throughput, distance and packet loss between all vehicles                                                                                       vehicles.
and the ambulance respectively. The probability of
message reception for vehicles 4, 7 and 10 is less than                                                                                                                     10
other vehicles and they have the highest average packet
                                                                                                                                                Average Throughput (kbps)




                                                                                                                                                                             9
                                                                                                                                                                             8
loss, since their average distance is more than other                                                                                                                        7
vehicles and at the beginning of simulation their distance                                                                                                                   6
                                                                                                                                                                             5
from the ambulance is more than 138 metres. However                                                                                                                          4
other vehicles, which their distances do not exceed 138                                                                                                                      3
metres from the ambulance during simulation time, have                                                                                                                       2
                                                                                                                                                                             1
equal and highest rate of average throughout without any                                                                                                                     0
packet loss. This is another reason indicating that                                                                                                                                                0          1         2       3          4       5       6       7       8         9   10
throughput and packet loss are not influenced by different                                                                                                                                                   Message size 250 bytes
                                                                                                                                                                                                                                        Vehicle Numbers
vehicle speed.                                                                                                                                                                                               Message size 500 bytes

                                                                                                                                                                                                             Message size 1000 bytes



                                                       1.8
                           Average Throughput (kbps)




                                                                                                                                                Figure 10. Average throughput of vehicles with different message sizes
                                                       1.5

                                                       1.2

                                                       0.9

                                                       0.6

                                                       0.3

                                                        0
                                                                2       3        4     5        6        7         8        9    10
                                                                                      Vehicle Numbers


 Figure 7. Average throughput of vehicles (message size 250 bytes)
[9]    M. Amadeo, C. Campolo, and A. Molinaro, "Enhancing IEEE
                                      1.6                                                                           802.11p/WAVE to provide infotainment applications in
      Average End-toEnd Delay (ms)


                                      1.4                                                                           VANETs," Ad Hoc Networks, Elsevier, 2010.
                                      1.2                                                                    [10]   WILLIAMS, B. “Intelligent Transport Systems Standards,” Artech
                                        1                                                                           House Publishers, 2008.
                                      0.8                                                                    [11]   S. Olariu and M. Weigle, Eds., “Vehicular Networks: From
                                      0.6                                                                           Theory to Practice,” Chapman & Hall/CRC, 2009.
                                      0.4                                                                    [12]   J. Härri, F. Filali, and C. Bonnet, “Mobility Models for Vehicular
                                      0.2                                                                           Ad Hoc Networks: A Survey and Taxonomy,” research rep. RR-
                                        0                                                                           06-168, Institut Eurecom, Mar. 2007.
                                              0      1       2        3    4     5     6    7   8   9   10   [13]   D. Jiang, V. Taliwal, A. Meier, W. Holfelder, and R. Herrtwich,
                                                                                                                    “Design of 5.9 GHz DSRC-based vehicular safety
                                            Message size 250 bytes
                                                                          Vehicle Numbers                           communication,” IEEE Wireless Communications, vol. 13, no. 5,
                                            Message size 500 bytes                                                  pp. 36–43, Oct. 2006.

                                            Message size 1000 bytes




Figure 11. Average End-to-End delay between the ambulance and other
                 vehicles with different message size

                     V. CONCLUSION
   In this paper we studied the full details of the WAVE
architecture and IEEE 802.11p standard for vehicular ad
hoc networks (VANET). We implemented the key
parameters of 802.11p in ns-2 network simulation using
realistic vehicular mobility model generated by
VanetMobisim traffic simulation. One scenario was
implemented in the simulation. We analysed three
important metrics in order to evaluate the performance of
IEEE 802.11p standards. Based on our findings, we have
observed that the performance metrics (throughput, End-
to-End delay, and packet loss) are not affected by varying
vehicle speed. Analysis of throughput for the all vehicles
showed that the probability of successful message
reception was same for all the vehicles when the distance
between sender and receiver of the message was less than
138 metres. In addition, End-to-end delay metric was
directly related to the distance between the vehicle
transmitting the broadcast messages and its neighbouring
vehicles. Results of scenarios with different message sizes
demonstrated that the average throughput and End-to-End
delay metrics were increased by increasing message sizes.
                                                                     REFERENCES
[1]                                  R. A. Uzcátegui and G. Acosta-Marum, “WAVE: A Tutorial,”
                                     IEEE Commun. Mag., May 2009.
[2]                                  “Network Simulator ns-2,” http://www.isi.edu/nsnam/ns.
[3]                                  “VanetMobiSim, ” http://vanet.eurecom.fr.
[4]                                  S. Eichler, “Performance evaluation of the IEEE 802.11p WAVE
                                     communication standard,” in Proc. IEEE Vehicular Technology
                                     Conf., Baltimore, MD, US, Oct. 2007, pp. 2199-2203.
[5]                                  T. Murray, M. Cojocari, H. Fu, “Measuring the performance of
                                     IEEE 802.11p using ns-2 simulator for vehicular networks,” in:
                                     Proc. IEEE EIT, 2008, pp. 98–503.
[6]                                  K. Bilstrup, E. Uhlemann, E. G. Ström and U. Bilstrup,
                                     “Evaluation of the IEEE 802.11p MAC method for vehicle-to-
                                     vehicle communication,” Proc. IEEE Int. Symposium on Wireless
                                     Vehicular Communications, Calgary, Canada, Sept. 2008.
[7]                                  S. Grafling, P. Mahonen, and J. Riihijarvi, “Performance
                                     evaluation of IEEE 1609 WAVE and IEEE 802.11p for vehicular
                                     communications,” in Proceedings of the 2nd International
                                     Conference on Ubiquitous and Future Networks (ICUFN ’10),
                                     June 2010, pp. 344 –348.
[8]                                  Q. Chen, F. Schmidt-Eisenlohr, D. Jiang, M. Torrent-Moreno, L.
                                     Delgrossi, and H. Hartenstein, “Overhaul of IEEE 802.11
                                     modeling and simulation in ns-2,” in Proc. 10th ACM Symp.
                                     MSWiM, Chania, Greece, Oct. 2007, pp. 159–168.

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Performance evaluation-of-ieee-802.11p-for-vehicular-communication-networks

  • 1. Performance Evaluation of IEEE 802.11p for Vehicular Communication Networks A. Jafari, S. Al-Khayatt and A. Dogman Faculty of Art, Computing, Engineering and Sciences, Sheffield Hallam University, Sheffield, United Kingdom Email: Amir.Jafari@student.shu.ac.uk; s.alkhayatt@shu.ac.uk; aadogman@my.shu.ac.uk Abstract— IEEE 802.11p is an emerging standard which vehicles. Due to the characteristics of VANET and limited provides vehicular safety communication through wireless bandwidth, periodic broadcast messages can consume the networks. In this paper, the architecture of Wireless Access entire available bandwidth. Furthermore; the emergency for Vehicular Environment (WAVE) and IEEE 802.11p messages need to be disseminated quickly and efficiently. standard were analysed. The key parameters of this Consequently, there is a need to prioritise important and standard are implemented in ns-2 network simulator to time-critical messages and use quality of services. The accurately simulate vehicular ad hoc networks (VANETs). IEEE 802.11p MAC layer implements a priority scheme The performance of this standard was measured in ns-2 in a similar way to IEEE 802.11e EDCA function. network simulation environment using realistic vehicular The contribution of this paper is to evaluate the IEEE mobility models. The main performance metrics for 802.11p standard. A study was based on the structure of vehicular safety communication; Throughput, End-to-End the WAVE architecture for VANETs. We, subsequently, delay, and Packet loss ratio were analysed for our scenario. set up one real scenario which assisted us in analysing the In addition, the effect of varying vehicle speed and different message sizes on the performance metrics were measured. performance metrics of the IEEE 802.11p. This scenario was implemented and modelled using ns-2 network I. INTRODUCTION simulator [2] with VanetMobiSim traffic simulator [3]. One of the most important points in the vehicular network Intelligent Transportation System (ITS) is one of the simulation was that the nature of vehicular communication information and communication technologies which has is based on the movement. Therefore, it is necessary to attracted a lot of attention recently. This technology implement a realistic vehicular movement in the enhances transportation safety, reliability, security and simulation. The main novelty of this paper is to implement productivity by integrating with existing technologies. the key parameters of 802.11p standard in ns-2, and Wireless data communication between vehicles is one of prepare the realistic vehicular mobility model by the technologies which has improved the deployment of VanetMobiSim. In other words, all of the important ITS applications. This communication is divided into two parameters are implemented accurately in the VANET types: Vehicle to Vehicle (V2V) and Vehicle to simulation. Infrastructure (V2I). Vehicles are equipped with short range wireless communication technology (approximately Several publications [4], [5], [6] have studied the 100 to 300 metres) acting as computer nodes on the road. performance of 802.11p. However, none of the previous This is known as vehicular ad hoc network (VANET) studies have supported realistic vehicular mobility technology. The major objectives of VANET technology simulation. In [7], the authors have presented a can be stated as follows: broadcasts warning messages to comprehensive evaluation and review of the performance neighbouring vehicles in case of car accidents help of 802.11p and WAVE protocols supporting realistic emergency vehicles to pass other vehicles quickly, and vehicular mobility model. However, standards were provides drivers with latest real-time traffic information. implemented in Qualnet network simulator. In terms of modelling accuracy, a new model of IEEE 802.11 MAC A wide range of project activities have initiated around and PHY, which support IEEE 802.11P, is designed and the world in order to improve vehicular communication implemented in ns-2 network simulator version 2.34 [8]. networks. In 2004, IEEE 802.11 task group p developed This version of ns-2 network simulator is used in this an amendment to the 802.11 standard in order to enhance paper. the 802.11 to support VANETs. This standard is known as 802.11p, it defines physical and medium access control The remainder of this paper is organised as follows. In layers of VANETs. In addition, The IEEE 1609 working section II the WAVE and IEEE802.11p structure are group defined IEEE 1609 protocol family which clarified. The simulation scenario is conducted in section developed higher layer specification based on 802.11p. III. Results from the simulation and the analyses of the This protocol consists of four documents: IEEE 1609.1, performance metrics of the IEEE 802.11p are presented in IEEE 1609.2, IEEE 1609.3, and IEEE 1609.4. IEEE 1609 section IV. Finally, this paper is concluded in Section V. protocol family and 802.11p together are called WAVE II. VEHICULAR COMMUNICATION BASED ON THE standard. This system architecture is used for automotive IEEE 802.11P AND WAVE SYSTEM wireless communications [1]. The specific nature of VANET makes it different from In this section we briefly present an outline of WAVE other kinds of networks; some of the characteristics of architecture system and IEEE 802.11p protocol for VANET are high mobility, short communication periods, VANET. dynamic topology and limited bandwidth. Communication in VANETs is based on event-driven messages or broadcast messages exchanged between surrounding
  • 2. A. Physical and MAC Layers  The contention procedure between channels to The physical and MAC layers of WAVE are based on access the medium supported by different timer IEEE 802.11p standard. The physical layer of IEEE settings based on the internal contention 802.11p consists of seven channels in 5.9GHz band which procedure. [7] is similar to IEEE 802.11a design, but the main difference Logical link control (LLC) is another element of is that the IEEE 802.11p uses 10MHZ bandwidth for each WAVE structure which is similar to upper sub-layer of channel instead of 20MHZ bandwidth in IEEE 802.11a. OSI layer two. LLC provides the communication between The physical layer of 802.11p uses OFDM technology in upper layers and the lower layer. order to increase data transmission rate and overcome signal fading in wireless communication. One of the C. Network and Transport Layers specifications of IEEE 802.11p is that the management The IEEE 1609.3 defines the operation of services at functions are connected to the physical and MAC layers network and transport layers. Moreover, it provides called physical layer management entity (PLME) and wireless connectivity between vehicles, and vehicles to MAC layer management entity (MLME), respectively [4]. roadside devices. The functions of the WAVE network The IEEE 802.11p uses CSMA/CA to reduce collisions services can be separated into two sets: and provide fair access to the channel.  Data-plane services: They transmit network traffics and support IPV6 and WSMP protocols. Resource Manager Security WAVE short-message- Protocol (WSMP) IEEE 1609.1 Services provides this capability that applications can send UDP/TCP WSMP IEEE IPV6 WME 1609.2 short message to increase the probability of LLC IEEE receiving the messages in time. Multi Channel Operation 1609.3  Management-plane services: Their functions are IEEE 1609.4 to configure and maintain system, for instance: WAVE MAC MLME IPV6 configuration, channel usage monitoring, IEEE 802.11p and application registration. This service is WAVE PHY PLME IEEE 802.11p known as WAVE management entity (WME). Figure 1. WAVE Architecture D. Resource Manager B. Multichannel Operation IEEE 1609.1 standard defines a WAVE application known as resource manager (RM) which allows IEEE 1609.4 is one of the standards of the IEEE 1609 communication between applications runs on Roadside protocol family, which manages channel coordination and units (RSU) and On-board units (OBU). The RM resides supports MAC service data unit delivery. This standard on either OBUs or RSUs [10]. describes seven different channels with different features and usages (six service channels and one control channel). E. Security Services In addition, these channels use different frequencies and The IEEE 1609.2 standard defines security services for transmit powers. Eichler [4] mentions that each station the WAVE architecture and the applications which run continuously alternates between the control channel and one of the service channels; however the different through this architecture. This standard defines the format channels cannot be used at the same time. According to and the processing of secure messages [1]. [9], the control channel is used for system control and safety data transmission. III. SIMULATION The IEEE 802.11p MAC layer is based on multichannel Implementing and deploying VANETs in a real world operation of WAVE architecture and 802.11e EDCA. can be prohibitively expensive and difficult. EDCA mechanism defines four different access categories Consequently, most of the researches in the area of (AC) for each channel. The access categories are indicated Vehicular communication network are based on by AC0-AC3, and each of them has an independent queue simulation for evaluation [11]. [4]. The EDCA mechanism provides prioritization by Simulation in VANET consists of two components: assigning different contention parameters to each access traffic simulation and network simulation. Traffic category. AC3 has the highest priority to access medium, simulation focuses on vehicular mobility and it generates whereas AC0 has the lowest priority. Each frame is a trace file which provides realistic vehicles movement. categorized into different access categories, depending on This trace file is fed into the network simulator which the importance of the message. In IEEE 802.11p MAC defines the realistic position of each vehicle during the layer, there are six service channels and one control network simulation. The network simulator then channel and each of them has four different access implements the VANET protocols and produces a trace categories. Consequently, during data transmission, there file which prepares complete information about the events are two contention procedures to access the medium: taking place in the scenario. Information is then analysed  Internal contention procedure which occurs to evaluate the performance metrics of the IEEE 802.11p inside each channel between their access in VANET. categories by using the contention parameters VanetMobiSim is selected as a traffic simulator for this (Arbitrary InterFrame space (AIFS) and paper, since it is an open source and is validated against Contention Window (CW)). commercial simulators. This simulator supports Intelligent DriverModel with Intersection Management (IDMIM) which generates realistic vehicular mobility model [12].
  • 3. Jiang et al. [13] mention that vehicular safety 170 communications based on IEEE 802.11p consist of safety 160 150 broadcast messages between neighbouring vehicles. 140 130 Consequently, the overall IEEE 802.11p performance is 120 Distance (m) 110 related to broadcast messages reception performance. PBC 100 90 agent is a broadcast message generator implemented in ns- 80 70 2 version 2.34. We used this agent in order to define the 60 50 broadcast message generation behaviour in our simulation. 40 30 20 The scenario is a highway of 1500 metres long with three 10 0 lanes in one direction and nine vehicles moving in these 0 6 12 18 24 30 36 42 48 54 60 three lanes. The maximum speeds of the lanes are around Vehicle 2 80, 100 and 130 km/h respectively. The speed limit for Simulation Time (s) Vehicle 4 each lane is 60 km/h. The distance between each lane is 4 metres. In the scenario, an ambulance is in the emergency Vehicle 10 situation travelling in the same direction as other vehicles Figure 3. Distance between the ambulance and other vehicles during at the speed of 150 km/h. The ambulance is located behind movement other cars which are 100 metres apart. The IDMIM generates realistic vehicular mobility model. The Packet loss (%) ambulance transmits one periodic broadcast message with a payload of 250 bytes in every 0.2 seconds. In order to evaluate the effect of different message sizes on the performance metrics, we implemented another two scenarios in which the ambulance transmits period broadcast messages with the payload of 500, 1000 bytes respectively. Each network simulations run twenty times with the same mobility trace to obtain an average and get a notion of statistical significance. ▬Packet loss between vehicle 1 and 2 ▬Packet loss between vehicle 1 and 4 Simulation Time (s) ▬Packet loss between vehicle 1 and 10 Figure 4. Packet loss between the ambulance and other vehicles during movement Figure 2. Scenario IV. RESULTS Fig. 5 demonstrates the throughput of vehicles 2, 4, and 10 with the message size of 250 bytes. The figure shows Results obtained from the scenario previously described that the throughput of vehicles 4 and 10 fluctuate between are presented in this section. Throughput, End-to-End 1.8 and 2.2 Kbps, when the distances between the vehicles delay, and packet loss were calculated for nine vehicles as and the ambulance are less than 138 metres. It can be seen numbered in Fig. 2 during the simulation run-time (i.e. 65 from Fig. 5 that all of the vehicles have nearly similar seconds). In addition, the impact of various speeds on throughput when the distances between vehicles and different performance metrics was also evaluated. ambulance are less than 138 metres. In other words, Fig. 3 shows the distances between the ambulance and throughput of all the vehicles which their distances do not vehicles 2, 4, and 10 throughout the simulation . Also, exceed 138 metres from the ambulance are same and there Packet loss between the ambulance and these vehicles is no packet loss between these vehicles and ambulance. during the simulation time is illustrated in Fig. 4. It is The most important point is that each vehicle has different clearly shown in Fig. 4 that there is no packet loss speed, as a result the throughput and packet loss are not between the ambulance and vehicle 4 after 58 seconds of affected by the varying speed. the simulation time; regarding to Fig. 3, the distance 6.4 between the ambulance and vehicle 4 is less than 138 5.9 metres after 58 seconds. Fig.4 shows that packet loss is 5.4 dropped to 0% after 38 seconds of simulation, at the same 4.9 Throughput (kbps) time Fig. 3 demonstrates that the distance between 4.4 3.9 ambulance and vehicle 10 is less than 138 metres after 38 3.4 seconds. It provides similar results for vehicle 10 and 4. 2.9 Accordingly, the vehicles can receive the broadcast 2.4 1.9 message when their distance from the ambulance is less 1.4 than 138 metres. 0.9 0.4 -0.1 0 0 10 20 30 40 50 60 Simualtion Time (s) Figure 5. Throughput of vehicle 2,4, and 10 (message size 250 bytes)
  • 4. 180 End-to-End delay between the ambulance and vehicles 160 2, 4, and 10 with the message size of 250 bytes are shown Average Distance (m) 140 in Fig. 6. A comparison between Fig. 3 and Fig. 6 shows 120 that as long as the distance between vehicle and the 100 ambulance is below 138 metres, the results of both figures 80 look similar. As the distance between sender and receiver 60 40 increases, End-to-End delay increases accordingly. It is 20 observed that End-to-End delay is significantly influenced 0 by the distance between sender and receiver of the 2 3 4 5 6 7 8 9 10 message. As mentioned earlier, vehicles have different Vehicle Numbers speed; consequently, various vehicle speeds do not have any impact on End-to-End delay. Figure 8. Average distance between the ambulance and other vehicles (message size 250 bytes) 0.4665 100 0.46645 90 0.4664 80 End-to-End Delay (ms) Package Loss (%) 0.46635 70 60 Average 0.4663 50 0.46625 40 0.4662 30 0.46615 20 10 0.4661 0 0.46605 2 3 4 5 6 7 8 9 10 0.466 Vehicle Numbers 0 5 10 15 20 25 30 35 40 45 50 55 60 65 End-to-End Delay between vehicle 1 and 2 Simulation Time (s) Figure 9. Average packet loss between the ambulance and other End-to-End Delay between vehicle 1 and 4 vehicles (message size of 250 bytes) End-to-End Delay Between vehicle 1 and 10 Fig. 10 and Fig. 11 illustrate the average throughput and End-to-End delay with three different message sizes (250, Figure 6. End-to-End delay between the ambulance and other vehicles 500, 1000 bytes). According to these figures the average (message size 250 bytes) throughput and End-to-End delay are increased by increasing the message size, but the increment of Fig. 7, Fig. 8 and Fig. 9 illustrate the average throughput of vehicles 4, 7, and 10 is not as high as other throughput, distance and packet loss between all vehicles vehicles. and the ambulance respectively. The probability of message reception for vehicles 4, 7 and 10 is less than 10 other vehicles and they have the highest average packet Average Throughput (kbps) 9 8 loss, since their average distance is more than other 7 vehicles and at the beginning of simulation their distance 6 5 from the ambulance is more than 138 metres. However 4 other vehicles, which their distances do not exceed 138 3 metres from the ambulance during simulation time, have 2 1 equal and highest rate of average throughout without any 0 packet loss. This is another reason indicating that 0 1 2 3 4 5 6 7 8 9 10 throughput and packet loss are not influenced by different Message size 250 bytes Vehicle Numbers vehicle speed. Message size 500 bytes Message size 1000 bytes 1.8 Average Throughput (kbps) Figure 10. Average throughput of vehicles with different message sizes 1.5 1.2 0.9 0.6 0.3 0 2 3 4 5 6 7 8 9 10 Vehicle Numbers Figure 7. Average throughput of vehicles (message size 250 bytes)
  • 5. [9] M. Amadeo, C. Campolo, and A. Molinaro, "Enhancing IEEE 1.6 802.11p/WAVE to provide infotainment applications in Average End-toEnd Delay (ms) 1.4 VANETs," Ad Hoc Networks, Elsevier, 2010. 1.2 [10] WILLIAMS, B. “Intelligent Transport Systems Standards,” Artech 1 House Publishers, 2008. 0.8 [11] S. Olariu and M. Weigle, Eds., “Vehicular Networks: From 0.6 Theory to Practice,” Chapman & Hall/CRC, 2009. 0.4 [12] J. Härri, F. Filali, and C. Bonnet, “Mobility Models for Vehicular 0.2 Ad Hoc Networks: A Survey and Taxonomy,” research rep. RR- 0 06-168, Institut Eurecom, Mar. 2007. 0 1 2 3 4 5 6 7 8 9 10 [13] D. Jiang, V. Taliwal, A. Meier, W. Holfelder, and R. Herrtwich, “Design of 5.9 GHz DSRC-based vehicular safety Message size 250 bytes Vehicle Numbers communication,” IEEE Wireless Communications, vol. 13, no. 5, Message size 500 bytes pp. 36–43, Oct. 2006. Message size 1000 bytes Figure 11. Average End-to-End delay between the ambulance and other vehicles with different message size V. CONCLUSION In this paper we studied the full details of the WAVE architecture and IEEE 802.11p standard for vehicular ad hoc networks (VANET). We implemented the key parameters of 802.11p in ns-2 network simulation using realistic vehicular mobility model generated by VanetMobisim traffic simulation. One scenario was implemented in the simulation. We analysed three important metrics in order to evaluate the performance of IEEE 802.11p standards. Based on our findings, we have observed that the performance metrics (throughput, End- to-End delay, and packet loss) are not affected by varying vehicle speed. Analysis of throughput for the all vehicles showed that the probability of successful message reception was same for all the vehicles when the distance between sender and receiver of the message was less than 138 metres. In addition, End-to-end delay metric was directly related to the distance between the vehicle transmitting the broadcast messages and its neighbouring vehicles. Results of scenarios with different message sizes demonstrated that the average throughput and End-to-End delay metrics were increased by increasing message sizes. REFERENCES [1] R. A. Uzcátegui and G. Acosta-Marum, “WAVE: A Tutorial,” IEEE Commun. Mag., May 2009. [2] “Network Simulator ns-2,” http://www.isi.edu/nsnam/ns. [3] “VanetMobiSim, ” http://vanet.eurecom.fr. [4] S. Eichler, “Performance evaluation of the IEEE 802.11p WAVE communication standard,” in Proc. IEEE Vehicular Technology Conf., Baltimore, MD, US, Oct. 2007, pp. 2199-2203. [5] T. Murray, M. Cojocari, H. Fu, “Measuring the performance of IEEE 802.11p using ns-2 simulator for vehicular networks,” in: Proc. IEEE EIT, 2008, pp. 98–503. [6] K. Bilstrup, E. Uhlemann, E. G. Ström and U. Bilstrup, “Evaluation of the IEEE 802.11p MAC method for vehicle-to- vehicle communication,” Proc. IEEE Int. Symposium on Wireless Vehicular Communications, Calgary, Canada, Sept. 2008. [7] S. Grafling, P. Mahonen, and J. Riihijarvi, “Performance evaluation of IEEE 1609 WAVE and IEEE 802.11p for vehicular communications,” in Proceedings of the 2nd International Conference on Ubiquitous and Future Networks (ICUFN ’10), June 2010, pp. 344 –348. [8] Q. Chen, F. Schmidt-Eisenlohr, D. Jiang, M. Torrent-Moreno, L. Delgrossi, and H. Hartenstein, “Overhaul of IEEE 802.11 modeling and simulation in ns-2,” in Proc. 10th ACM Symp. MSWiM, Chania, Greece, Oct. 2007, pp. 159–168.