Positioning Information Privacy in Intelligent Transportation Systems: An Overview and Future Perspective †
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paper_title: UAV-Enabled Intelligent Transportation Systems for the Smart City: Applications and Challenges

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There could be no smart city without a reliable and efficient transportation system. This necessity makes the ITS a key component of any smart city concept. While legacy ITS technologies are deployed worldwide in smart cities, enabling the next generation of ITS relies on effective integration of connected and autonomous vehicles, the two technologies that are under wide field testing in many cities around the world. Even though these two emerging technologies are crucial in enabling fully automated transportation systems, there is still a significant need to automate other road and transportation components. To this end, due to their mobility, autonomous operation, and communication/processing capabilities, UAVs are envisaged in many ITS application domains. This article describes the possible ITS applications that can use UAVs, and highlights the potential and challenges for UAV-enabled ITS for next-generation smart cities.
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paper_title: LTE evolution for vehicle-to-everything services

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Wireless communication has become a key technology for competitiveness of next generation vehicles. Recently, the 3GPP has initiated standardization activities for LTE-based V2X services composed of vehicle-to-vehicle, vehicle- to-pedestrian, and vehicle-to-infrastructure/network. The goal of these 3GPP activities is to enhance LTE systems to enable vehicles to communicate with other vehicles, pedestrians, and infrastructure in order to exchange messages for aiding in road safety, controlling traffic flow, and providing various traffic notifications. In this article, we provide an overview of the service flow and requirements of the V2X services LTE systems are targeting. This article also discusses the scenarios suitable for operating LTE-based V2X services, and addresses the main challenges of high mobility and densely populated vehicle environments in designing technical solutions to fulfill the requirements of V2X services. Leveraging the spectral-efficient air interface, the cost-effective network deployment, and the versatile nature of supporting different communication types, LTE systems along with proper enhancements can be the key enabler of V2X services.
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paper_title: Vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication in a heterogeneous wireless network – Performance evaluation

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Connected Vehicle Technology (CVT) requires wireless data transmission between vehicles (V2V), and vehicle-to-infrastructure (V2I). Evaluating the performance of different network options for V2V and V2I communication that ensure optimal utilization of resources is a prerequisite when designing and developing robust wireless networks for CVT applications. Though dedicated short range communication (DSRC) has been considered as the primary communication option for CVT safety applications, the use of other wireless technologies (e.g., Wi-Fi, LTE, WiMAX) allow longer range communications and throughput requirements that could not be supported by DSRC alone. Further, the use of other wireless technology potentially reduces the need for costly DSRC infrastructure. In this research, the authors evaluated the performance of Het-Net consisting of Wi-Fi, DSRC and LTE technologies for V2V and V2I communications. An application layer handoff method was developed to enable Het-Net communication for two CVT applications: traffic data collection, and forward collision warning. The handoff method ensures the optimal utilization of available communication options (i.e., eliminate the need of using multiple communication options at the same time) and corresponding backhaul communication infrastructure depending on the connected vehicle application requirements. Field studies conducted in this research demonstrated that the use of Het-Net broadened the range and coverage of V2V and V2I communications. The use of the application layer handoff technique to maintain seamless connectivity for CVT applications was also successfully demonstrated and can be adopted in future Het-Net supported connected vehicle applications. A long handoff time was observed when the application switches from LTE to Wi-Fi. The delay is largely due to the time required to activate the 802.11 link and the time required for the vehicle to associate with the RSU (i.e., access point). Modifying the application to implement a soft handoff where a new network is seamlessly connected before breaking from the existing network can greatly reduce (or eliminate) the interruption of network service observed by the application. However, the use of a Het-Net did not compromise the performance of the traffic data collection application as this application does not require very low latency, unlike connected vehicle safety applications. Field tests revealed that the handoff between networks in Het-Net required several seconds (i.e., higher than 200 ms required for safety applications). Thus, Het-Net could not be used to support safety applications that require communication latency less than 200 ms. However, Het-Net could provide additional/supplementary connectivity for safety applications to warn vehicles upstream to take proactive actions to avoid problem locations. To validate and establish the findings from field tests that included a limited number of connected vehicles, ns-3 simulation experiments with a larger number of connected vehicles were conducted involving a DSRC and LTE Het-Net scenario. The latency and packet delivery error trend obtained from ns-3 simulation were found to be similar to the field experiment results.
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paper_title: Real-Time Energy Management Strategy Based on Velocity Forecasts Using V2V and V2I Communications

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The performance of energy management in hybrid electric vehicles is highly dependent on the forecasted velocity. To this end, a new velocity-prediction approach utilizing the concept of chaining neural network (CNN) is introduced. This velocity forecasting approach is subsequently used as the basis for an equivalent consumption minimization strategy (ECMS). The CNN is used to predict the velocity over different temporal horizons, exploiting the information provided through vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication channels. In addition, a new adaptation law for the so-called equivalent factor (EF) in ECMS is devised to investigate the effects of future velocity on fuel economy and to impose charge sustainability. Compared with traditional adaptation law, this paper considers the impact of predicted velocity on EF. The control objective is to improve the fuel economy relative to the ECMS without considering predicted velocity. Finally, simulations are conducted in three cases over different prediction horizons to demonstrate the performance of the proposed velocity-prediction method and ECMS with adaptation law. Simulation results confirm that ECMS with EF adjusted by the proposed adaptation law produces between 0.2% and 5% improvements in fuel economy relative to ECMS with traditional adaptation law. In addition, better charge sustainability is achieved as well.
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paper_title: Latency of Cellular-Based V2X: Perspectives on TTI-Proportional Latency and TTI-Independent Latency

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Vehicle-to-everything (V2X) is a form of wireless communication that is extremely sensitive to latency, because the latency is directly related to driving safety. The V2X systems developed so far have been based on the LTE system. However, the conventional LTE system is not able to support the latency requirements of latency-aware V2X. Fortunately, the state-of-the-art cellular technology standard includes the development of latency reduction schemes, such as shortened transmission time intervals (TTI) and self-contained subframes. This paper verifies and analyzes the latency of cellular-based V2X with shortened TTI, which is one of the most efficient latency reduction schemes. To verify the feasibility of V2X service, we divide the V2X latency into two types of latency, TTI-independent latency and TTI-proportional latency. Moreover, using system-level simulations considering additional overhead from shortened TTI, we evaluate the latency of cellular-based V2X systems. Based on this feasibility verification, we then propose cellular-based V2X system design principles in terms of shortened TTI with only one OFDM symbol and while sustaining radio resource control connection.
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paper_title: MoZo: A Moving Zone Based Routing Protocol Using Pure V2V Communication in VANETs

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Vehicular Ad-hoc Networks (VANETs) are an emerging field, whereby vehicle-to-vehicle communications can enable many new applications such as safety and entertainment services. Most VANET applications are enabled by different routing protocols. The design of such routing protocols, however, is quite challenging due to the dynamic nature of nodes (vehicles) in VANETs. To exploit the unique characteristics of VANET nodes, we design a moving-zone based architecture in which vehicles collaborate with one another to form dynamic moving zones so as to facilitate information dissemination. We propose a novel approach that introduces moving object modeling and indexing techniques from the theory of large moving object databases into the design of VANET routing protocols. The results of extensive simulation studies carried out on real road maps demonstrate the superiority of our approach compared with both clustering and non-clustering based routing protocols.
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paper_title: Realizing the Tactile Internet: Haptic Communications over Next Generation 5G Cellular Networks

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Prior Internet designs encompassed the fixed, mobile, and lately the "things" Internet. In a natural evolution to these, the notion of the Tactile Internet is emerging, which allows one to transmit touch and actuation in real-time. With voice and data communications driving the designs of the current Internets, the Tactile Internet will enable haptic communications, which in turn will be a paradigm shift in how skills and labor are digitally delivered globally. Design efforts for both the Tactile Internet and the underlying haptic communications are in its infancy. The aim of this article is thus to review some of the most stringent design challenges, as well as propose first avenues for specific solutions to enable the Tactile Internet revolution.
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paper_title: Modeling of V2V Communications for C-ITS Safety Applications: A CPS Perspective

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Tight coupling between the performance of vehicle-to-vehicle (V2V) communications and the performance of cooperative intelligent transportation system (C-ITS) safety applications is addressed. A cyber-physical system analytical framework is developed which links the characteristics of V2V communications (such as packet loss probability and packet transmission delay) with the physical mobility characteristics of the vehicular system (such as safe intervehicular distance). The study is applied to the Day 1 C-ITS application, emergency electronic brake lights, enabled by the European Telecommunication Standard Institute ITS-G5 and IEEE 802.11p standards.
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paper_title: Accuracy Of The GPS Positioning System In The Context Of Increasing The Number Of Satellites In The Constellation

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Abstract A possibility of utilising the GPS system for navigation and transport are fundamentally dependent on the accuracy in positioning. Two fundamental factors decisive for its value are the values of the User Range Error (URE) and Dilution of Precision (DOP), strictly related to the number of satellites forming the constellation. The nominal constellation of GPS satellites consists of 24 units which gives a possibility of identification of coordinates all over the globe. In the last few years, however, the nominal number of satellites in the constellation was much higher, and the URE value has been constantly increasing. The authors of the paper try to estimate the impact of the changing number of GPS satellites on accuracy of position coordinates with a variable URE value. Mathematical model for estimating geometrical indicators’ value, utilising data derived from the almanac files has been presented. Following a drawn-up algorithm and calculations made with Mathcad software, the authors carried out a comparative analysis of mean daily values of DOP indicators for a variable number of satellites included in the GPS constellation in the years 2001-2013. Then, the authors have established representative values of Two Distance Root Mean Square Error (2drms) 2D and 3D, and calculated a percentage increase of accuracy in the period under discussion.
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paper_title: Improving Positioning Accuracy Using GPS Pseudorange Measurements for Cooperative Vehicular Localization

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Accurate positioning is a key factor for enabling innovative applications in intelligent transportation systems. Cutting-edge communication technologies make cooperative localization a promising approach for accurate vehicle positioning. In this paper, we first propose a ranging technique called weighted least squares double difference (WLS-DD), which is used to detect intervehicle distances based on the sharing of GPS pseudorange measurements and a weighted least squares method. It takes the carrier-to-noise ratio (CNR) of raw pseudorange measurements into consideration for mitigating noises so that it can improve the accuracy of the distance detection. We show the superiority of WLS-DD by conducting a series of field experiments. Based on intervehicle distance detection, we propose a distributed location estimate algorithm (DLEA) to improve the accuracy of vehicle positioning. The implementation of DLEA only relies on inaccurate GPS pseudorange measurements and the obtained intervehicle distances without using any reference points for positioning correction. Moreover, to evaluate the joint effect of WLS-DD and DLEA, we derive a data fitting model based on the observed distance detection bias from field experiments, which generates parameters in a variety of environments for performance evaluation. Finally, we demonstrate the effectiveness of the proposed solutions via a comprehensive simulation study.
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paper_title: Performance assessment of GPS/GLONASS single point positioning in an urban environment

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In signal-degraded environments such as urban canyons and mountainous area, many GNSS signals are either blocked or strongly degraded by natural and artificial obstacles. In such scenarios standalone GPS is often unable to guarantee a continuous and accurate positioning due to lack (or the poor quality) of signals. The combination of different GNSSs could be a suitable approach to fill this gap, because the multi-constellation system guarantees an improved satellite availability compared to standalone GPS, thus providing enhanced accuracy, continuity and integrity of the positioning. The present GNSSs are GPS, GLONASS, Galileo and Beidou, but the latter two are still in the development phase. In this work GPS/GLONASS systems are combined for single point positioning and their performance are assessed for different configurations. Using GPS/GLONASS multi-constellation implies the addition of an additional unknown, i.e. the intersystem time scale offset, which requires a sacrifice of one measurement. Since the intersystem offset is quasi-constant over a short period, a pseudo-measurement can be introduced to compensate the sacrifice.
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paper_title: Research and progress of Beidou satellite navigation system

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The paper gives a brief review of the development course and strategic planning of Beidou satellite navigation system, and introduces its construction progress, with emphasis on the research progress of some key technologies of Beidou, including navigation constellation design, navigation signal structure and performance, compatibility and interoperability, precise orbit determination, navigation and precise positioning. The main problems and challenges of Beidou are described.
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paper_title: Access point significance measures in WLAN-based location

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This paper focuses on the WLAN-based indoor location by taking into account the contribution of each hearable Access Point (AP) in the location estimation. Typically, in many indoor scenarios of interest for the future location services, such as malls, shopping centers, airports or other transit hubs, the amount of hearable APs is huge and it is important to find out whether some of these APs are redundant for the purpose of location accuracy and may be dropped. Moreover, many APs nowadays are multi-antenna APs or support multiple MAC addresses coming from exactly the same location, thus it is likely that they may bring little or no benefit if keeping all in the positioning stage. The purpose of our paper is to address various significance measures in WLAN-based location and to compare them from the point of view of the accuracy of the location solution. The access point significance is studied both at the training stage and at the estimation stage. Our models are based on real measurement data.
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paper_title: Recognizing individuals in groups in outdoor environments combining stereo vision, RFID and BLE

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Vision-based people localization systems in outdoor environments can be enhanced by means of radio frequency identification technologies. This combination has the potential to enable a wide range of new applications. When individuals wear a radio frequency tag, they may be both identified and localized. In this way, the technology may interact with individuals in a personalized way. In this paper, two radio frequency identification technologies, UHF Radio Frequency IDentification (RFID) and Bluetooth Low Energy (BLE), are combined with a stereo-based people detection system to recognize individuals in groups in complex outdoor scenarios in medium sized areas up to 20 m. The proposed approach is validated in crosswalks with pedestrians wearing portable RFID passive tags and active BLE beacons.
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paper_title: LTE Positioning Accuracy Performance Evaluation

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In this paper we investigate the positioning accuracy of user equipment (UE) with observed time difference of arrival (OTDoA) technique in Long Term Evolution (LTE) networks using dedicated positioning reference signal (PRS) by means of comprehensive simulation model. System-level model includes typical cellular network layout with spatially distributed eNodeB (eNB) and link-level model simulates PRS transmission and reception with LTE System Toolbox. Matlab “TDOA Positioning Using PRS example” was developed to include known linear least squares (LLS), nonlinear Gauss-Newton (GN) and Levenberg-Marquardt (LM) positioning algorithms and compare it with Cramer-Rao lower bound (CRLB). Resulting estimates clarify known results and reveal that simple LLS achieves close to LM positioning accuracy when the number of eNB is 6, while further increasing the number of eNB degrades positioning algorithms accuracy.
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paper_title: A Positioning Accuracy Enhancement Method Based on Inter-Vehicular Communication and Self-Organizing Map

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Traditional low-cost GPS installed on vehicles and other equipment has a tolerance of tens of meters. With the help of auxiliary devices and/or methodologies such as Differential GPSs (DGPSs), Assisted GPSs (AG-PSs), Real-Time Kinematic (RTK), computer vision and etc., the positioning accuracy of GPS receivers increased a lot, but a certain amount of cost increased at the same time. In this paper, we propose a new cooperative vehicular localization scheme for improving the accuracy of GPS fixes based on Vehicle-to-vehicle (V2V) communication. The proposed scheme first estimates the distances between neighboring vehicles using WLS-DD scheme [1] and uses a machine learning technique called Constrained Self-Organizing Map (C-SOM) with a set of GPS fixes collected over time to generate the final estimates of GPS locations with much lower errors. We present simulation results that demonstrate the superior performance of the proposed Constrained-SOM.
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paper_title: Joint 3D Positioning and Network Synchronization in 5G Ultra-Dense Networks Using UKF and EKF

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It is commonly expected that future fifth generation (5G) networks will be deployed with a high spatial density of access nodes (ANs) in order to meet the envisioned capacity requirements of the upcoming wireless networks. Densification is beneficial not only for communications but it also creates a convenient infrastructure for highly accurate user node (UN) positioning. Despite the fact that positioning will play an important role in future networks, thus enabling a huge amount of location-based applications and services, this great opportunity has not been widely explored in the existing literature. Therefore, this paper proposes an unscented Kalman filter (UKF)-based method for estimating directions of arrival (DoAs) and times of arrival (ToA) at ANs as well as performing joint 3D positioning and network synchronization in a network-centric manner. In addition to the proposed UKF-based solution, the existing 2D extended Kalman filter (EKF)-based solution is extended to cover also realistic 3D positioning scenarios. Building on the premises of 5G ultra-dense networks (UDNs), the performance of both methods is evaluated and analysed in terms of DoA and ToA estimation as well as positioning and clock offset estimation accuracy, using the METIS map-based ray-tracing channel model and 3D trajectories for vehicles and unmanned aerial vehicles (UAVs) through the Madrid grid. Based on the comprehensive numerical evaluations, both proposed methods can provide the envisioned one meter 3D positioning accuracy even in the case of unsynchronized 5G network while simultaneously tracking the clock offsets of network elements with a nanosecond-scale accuracy.
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paper_title: User Positioning in mmW 5G Networks Using Beam-RSRP Measurements and Kalman Filtering

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In this paper, we exploit the 3D-beamforming features of multiantenna equipment employed in fifth generation (5G) networks, operating in the millimeter wave (mmW) band, for accurate positioning and tracking of users. We consider sequential estimation of users' positions, and propose a two-stage extended Kalman filter (EKF) that is based on reference signal received power (RSRP) measurements. In particular, beamformed downlink (DL) reference signals (RS) are transmitted by multiple base stations (BSs) and measured by user equipmentn(UE) employing receive beamforming. The so-obtained BRSRP measurements are fed back to the BS where the corresponding direction-of-departure are sequentially estimated by a novel EKF. Such angle estimates from multiple BSs are subsequently fused on a central entity into 3D position estimates of UE by means of an angle-based EKF. The proposed positioning scheme is scalable since the computational burden is shared among different network entities, namely transmission/reception points (TRPs) and 5G-NR Node B (gNB), and may be accomplished with the signalling currently specified for 5G. We assess the performance of the proposed algorithm on a realistic outdoor 5G deployment with a detailed ray tracing propagation model based on the METIS Madrid map. Numerical results with a system operating at 39 GHz show that sub-meter 3D positioning accuracy is achievable in future mmW 5G networks.
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paper_title: Prospective Positioning Architecture and Technologies in 5G Networks

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Accurate and real-time positioning is highly demanded by location-based services in 5G networks, which are currently being standardized and developed to achieve significant performance improvement over existing cellular networks. In 5G networks, many new envisioned technologies, for example, massive Multiple Input Multiple Output (MIMO), millimeter Wave (mmWave) communication, ultra dense network (UDN), and device-to-device (D2D) communication, are introduced to not only enhance communication performance but also offer the possibility to increase positioning accuracy. In this article, we provide an extensive overview of positioning architectures in previous generations of cellular networks to show a road map of how positioning technologies have evolved in past decades. With this insight, we then propose a general positioning architecture for 5G networks, by exploiting the new features of emerging technologies wherein. We also investigate positioning technologies that have great potential in achieving sub-meter accuracy in 5G networks, and discuss some of the new challenges and open issues.
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paper_title: 5G NR Testbed 3.5 GHz Coverage Results

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5G New Radio (NR) has attracted a large amount of interest with its foreseen improvement of user experience and capacity. To become a commercial success coverage is also an important con- sideration. The sub-6 bands are expected to provide good coverage. One such useful band is 3.5 GHz. In this paper the coverage of 3.5 GHz is studied by means of a full-scale trial with a NR testbed. With beamforming the increased propagation losses at 3.5 GHz compared to 2.1 GHz can be compensated and the coverage was demonstrated to be on par with 2.1 GHz LTE fixed antenna coverage both outdoor and indoor.
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paper_title: 5G mm Wave Downlink Vehicular Positioning

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5G new radio (NR) provides new opportunities for accurate positioning from a single reference station: large bandwidth combined with multiple antennas, at both the base station and user sides, allows for unparalleled angle and delay resolution. Nevertheless, positioning quality is affected by multipath and clock biases. We study, in terms of performance bounds and algorithms, the ability to localize a vehicle in the presence of multipath and unknown user clock bias. We find that when a sufficient number of paths is present, a vehicle can still be localized thanks to redundancy in the geometric constraints. Moreover, the 5G NR signals enable a vehicle to build up a map of the environment.
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paper_title: 5G mmWave Positioning for Vehicular Networks

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5G technologies present a new paradigm to provide connectivity to vehicles, in support of high data-rate services, complementing existing inter-vehicle communication standards based on IEEE 802.11p. As we argue, the specific signal characteristics of 5G communication turn out to be highly conducive for vehicle positioning. Hence, 5G can work in synergy with existing on-vehicle positioning and mapping systems to provide redundancy for certain applications, in particular automated driving. This article provides an overview of the evolution of cellular positioning and discusses the key properties of 5G as they relate to vehicular positioning. Open research challenges are presented.
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paper_title: Vehicle Localization in Vehicular Networks

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We propose a distributed algorithm that uses inter-vehicle distance estimates, made using a radio-based ranging technology, to localize a vehicle among its neighbours. Given that the inter-vehicle distance estimates contain noise, our algorithm reduces the residuals of the Euclidean distance between the vehicles and their measured distances, allowing it to accurately estimate the position of a vehicle within a cluster. In this paper, we show that our proposed algorithm outperforms previously proposed algorithms and present its performance in a simulated vehicular environment.
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paper_title: Privacy-Preserved Pseudonym Scheme for Fog Computing Supported Internet of Vehicles

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As a promising branch of Internet of Things, Internet of Vehicles (IoV) is envisioned to serve as an essential data sensing and processing platform for intelligent transportation systems. In this paper, we aim to address location privacy issues in IoV. In traditional pseudonym systems, the pseudonym management is carried out by a centralized way resulting in big latency and high cost. Therefore, we present a new paradigm named Fog computing supported IoV (F-IoV) to exploit resources at the network edge for effective pseudonym management. By utilizing abundant edge resources, a privacy-preserved pseudonym ( $P^{3}$ ) scheme is proposed in F-IoV. The pseudonym management in this scheme is shifted to specialized fogs at the network edge named pseudonym fogs, which are composed of roadside infrastructures and deployed in close proximity of vehicles. $P^{3}$ scheme has following advantages: 1) context-aware pseudonym changing; 2) timely pseudonym distribution; and 3) reduced pseudonym management overhead. Moreover, a hierarchical architecture for $P^{3}$ scheme is introduced in F-IoV. Enabled by the architecture, a context-aware pseudonym changing game and secure pseudonym management communication protocols are proposed. The security analysis shows that $P^{3}$ scheme provides secure communication and privacy preservation for vehicles. Numerical results indicate that $P^{3}$ scheme effectively enhances location privacy and reduces communication overhead for the vehicles.
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paper_title: Autonomous land vehicle navigation using millimeter wave radar

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This paper discusses the use of a 77 GHz millimeter wave radar as a guidance sensor for autonomous land vehicle navigation. A test vehicle has been fitted with a radar and encoders that give steer angle and velocity. An extended Kalman filter optimally fuses the radar range and bearing measurements with vehicle control signals to give estimated position and variance as the vehicle moves around a test site. The effectiveness of this data fusion is compared with encoders alone and with a satellite positioning system. Consecutive scans have been combined to give a radar image of the surrounding environment. Data in this format are invaluable for future work on collision detection and map building navigation.
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paper_title: Vehicle Localization using 76GHz Omnidirectional Millimeter-Wave Radar for Winter Automated Driving*

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This paper presents the 76GHz MWR (Millimeter-Wave Radar)-based self-localization method for automated driving during snowfall. Previously, there were many LIDAR (Light Detection and Ranging)-based localization techniques proposed for high measurement accuracy and robustness to changes of day and night. However, they did not provide effective approaches for snow conditions because of sensing noise (i.e., environmental resistance) created by snowfall. Therefore, this paper developed a MWR-based map generation and a real-time localization method by modeling the uncertainties of error propagation. Quantitative evaluations are performed on driving data with and without snow conditions, using a LIDAR-based method as the baseline. Experimental results show that a lateral root mean square error of about 0. 25m can be obtained, regardless of the presence or absence of snowfall. Thus, it can be investigated that a potential performance of radar-based localization.
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paper_title: Secure positioning of wireless devices with application to sensor networks

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So far, the problem of positioning in wireless networks has been mainly studied in a non-adversarial setting. In this work, we analyze the resistance of positioning techniques to position and distance spoofing attacks. We propose a mechanism for secure positioning of wireless devices, that we call verifiable multilateration. We then show how this mechanism can be used to secure positioning in sensor networks. We analyze our system through simulations.
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paper_title: Vehicle control algorithms for cooperative driving with automated vehicles and intervehicle communications

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Describes the technologies of cooperative driving with automated vehicles and intervehicle communications in the Demo 2000 cooperative driving. Cooperative driving, aiming at the compatibility of safety and efficiency of road traffic, means that automated vehicles drive by forming a flexible platoon over a couple of lanes with a short intervehicle distance while performing lane changing, merging, and leaving the platoon. The vehicles for the demonstration are equipped with automated lateral and longitudinal control functions with localization data by the differential global positioning system (DGPS) and the intervehicle communication function with 5.8-GHz dedicated short range communication (DSRC) designed for the dedicated use in the demonstration. In order to show the feasibility and potential of the technologies, the demonstration was held in November 2000, on a test track with five automated vehicles. The scenario included stop and go, platooning, merging, and obstacle avoidance.
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paper_title: The Human Element in Autonomous Vehicles

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Autonomous vehicle research has been prevalent for well over a decade but only recently has there been a small amount of research conducted on the human interaction that occurs in autonomous vehicles. Although functional software and sensor technology is essential for safe operation, which has been the main focus of autonomous vehicle research, handling all elements of human interaction is also a very salient aspect of their success. This paper will provide an overview of the importance of human vehicle interaction in autonomous vehicles, while considering relevant related factors that are likely to impact adoption. Particular attention will be given to prior research conducted on germane areas relating to control in the automobile, in addition to the different elements that are expected to affect the likelihood of success for these vehicles initially developed for human operation. This paper will also include a discussion of the limited research conducted to consider interactions with humans and the current state of published functioning software and sensor technology that exists.
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paper_title: An overview of 3GPP device-to-device proximity services

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Device-to-device communication is likely to be added to LTE in 3GPP Release 12. In principle, exploiting direct communication between nearby mobile devices will improve spectrum utilization, overall throughput, and energy consumption, while enabling new peer-to-peer and location-based applications and services. D2D-enabled LTE devices can also become competitive for fallback public safety networks, which must function when cellular networks are not available or fail. Introducing D2D poses many challenges and risks to the long-standing cellular architecture, which is centered around the base station. We provide an overview of D2D standardization activities in 3GPP, identify outstanding technical challenges, draw lessons from initial evaluation studies, and summarize "best practices" in the design of a D2D-enabled air interface for LTE-based cellular networks
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paper_title: PrivHab+: A secure geographic routing protocol for DTN

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Abstract We present PrivHab+, a secure geographic routing protocol that learns about the mobility habits of the nodes of the network and uses this information in a secure manner. PrivHab+ is designed to operate in areas that lack of network, using the store-carry-and-forward approach. PrivHab+ compares nodes and chooses the best choice to carry messages towards a known geographical location. To achieve a high performance and low overhead, PrivHab+ uses information about the usual whereabouts of the nodes to make optimal routing decisions. PrivHab+ makes use of cryptographic techniques from secure multi-party computation to preserve nodes’ privacy while taking routing decisions. The overhead introduced by PrivHab+ is evaluated using a proof-of-concept implementation, and its performance is studied under the scope of a realistic application of podcast distribution. PrivHab+ is compared, through simulation, with a set of well-known delay-tolerant routing algorithms in two different scenarios of remote rural areas.
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paper_title: Extended Privacy in Crowdsourced Location-Based Services Using Mobile Cloud Computing

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Crowdsourcing mobile applications are of increasing importance due to their suitability in providing personalized and better matching replies. The competitive edge of crowdsourcing is twofold; the requestors can achieve better and/or cheaper responses while the crowd contributors can achieve extra money by utilizing their free time or resources. Crowdsourcing location-based services inherit the querying mechanism from their legacy predecessors and this is where the threat lies. In this paper, we are going to show that none of the advanced privacy notions found in the literature except for -anonymity is suitable for crowdsourced location-based services. In addition, we are going to prove mathematically, using an attack we developed, that -anonymity does not satisfy the privacy level needed by such services. To respond to this emerging threat, we will propose a new concept, totally different from existing resource consuming privacy notions, to handle user privacy using Mobile Cloud Computing.
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paper_title: Real-Time Positioning Based on Millimeter Wave Device to Device Communications

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Current generation mobile wireless communication networks are not suitable for real-time positioning applications because timing information is not readily available. Fifth generation (5G) cellular networks provide device to device real-time communications which can be used for real-time positioning. Millimeter-wave (mmWave) transmission is regarded as a key technology in 5G networks. In this paper, several 73-GHz mmWave waveforms are investigated. A new threshold selection algorithm for energy detector-based ranging is proposed which employs a dynamic threshold based on an artificial neural network. The positioning performance using this algorithm with mmWave waveforms is investigated.
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paper_title: Evolution of Positioning Techniques in Cellular Networks, from 2G to 4G

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This review paper presents within a common framework the mobile station positioning methods applied in 2G, 3G, and 4G cellular networks, as well as the structure of the related 3GPP technical specifications. The evolution path through the generations is explored in three steps at each level: first, the new network elements supporting localization features are introduced; then, the standard localization methods are described; finally, the protocols providing specific support to mobile station positioning are studied. To allow a better understanding, this paper also brings a brief review of the cellular networks evolution paths.
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paper_title: Supporting Implicit Human-to-Vehicle Interaction: Driver Identification from Sitting Postures

paper_content:

Mobile internet services have started to pervade into vehicles, approaching a new generation of networked, ”smart” cars. With the evolution of in-car services, particularly with the emergence of services that are personalized to an individual driver (like road pricing, maintenance, insurance and entertainment services) the need for reliable, yet easy to handle identification and authentication has arisen. Services that demand unambiguous and unmistakable continuous identification of the driver have recently attracted many research efforts, mostly proposing video-based face/pose recognition, or acoustic analysis. A driver identification system for vehicular services is proposed, that, as opposed to video or audio based techniques, does not suffer from the continuously changing environment while driving, like lighting or noise conditions. A posture recognition technique based on a high resolution pressure sensor integrated invisibly and unobtrusively into the fabric of the driver seat has been developed, taking the pelvic bone distance as a biometric trait. Data coming from two 32x32 pressure sensor arrays (seatand backrest) is classified according to features defined based on the pelvic bone signature, mid and high pressure distribution and body weight. Empirical studies, besides analyzing (quantitative) driver recognition performance, assess the identification technique according to the qualitative attributes universality, collectability, uniqueness, and permanency. The proposed driver identification technique is implicit and thus not reliant to attention, it is continuously in operation while seated, and requires no active person cooperation. Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. To copy otherwise, to republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. ISVCS 2008, July 22 – 24, 2008, Dublin, Ireland. Copyright 2008 ACM ISBN 978-963-9799-27-1 ...$5.00. These characteristics encourage the universal use of the approach – a whole new modality for person-to-environment interaction seems possible.
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paper_title: Securing vehicles against cyber attacks

paper_content:

The automobile industry has grown to become an integral part of our everyday life. As vehicles evolve, the primarily mechanical solutions for vehicle control are gradually replaced by electronics and software solutions forming in-vehicle computer networks. An emerging trend is to introduce wireless technology in the vehicle domain by attaching a wireless gateway to the in-vehicle network. By allowing wireless communication, real-time information exchange between vehicles and between infrastructure and vehicles become reality. This communication allows for road condition reporting, decision making, and remote diagnostics and firmware updates over-the-air. However, allowing external parties wireless access to the in-vehicle network creates a potential entry-point for cyber attacks. In this paper, we investigate the security issues of allowing external wireless communication. We use a defense-in-depth perspective and discuss security challenges for each of the prevention, detection, deflection, countermeasures, and recovery layers.
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paper_title: Secure positioning of wireless devices with application to sensor networks

paper_content:

So far, the problem of positioning in wireless networks has been mainly studied in a non-adversarial setting. In this work, we analyze the resistance of positioning techniques to position and distance spoofing attacks. We propose a mechanism for secure positioning of wireless devices, that we call verifiable multilateration. We then show how this mechanism can be used to secure positioning in sensor networks. We analyze our system through simulations.
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paper_title: Vehicle Authentication via Monolithically Certified Public Key and Attributes

paper_content:

Vehicular networks are used to coordinate actions among vehicles in traffic by the use of wireless transceivers (pairs of transmitters and receivers). Unfortunately, the wireless communication among vehicles is vulnerable to security threats that may lead to very serious safety hazards. In this work, we propose a viable solution for coping with Man-in-the-Middle attacks. Conventionally, Public Key Infrastructure is utilized for a secure communication with the pre-certified public key. However, a secure vehicle-to-vehicle communication requires additional means of verification in order to avoid impersonation attacks. To the best of our knowledge, this is the first work that proposes to certify both the public key and out-of-band sense-able static attributes to enable mutual authentication of the communicating vehicles. Vehicle owners are bound to preprocess (periodically) a certificate for both a public key and a list of fixed unchangeable attributes of the vehicle. Furthermore, the proposed approach is shown to be adaptable with regards to the existing authentication protocols. We illustrate the security verification of the proposed protocol using a detailed proof in Spi calculus.
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paper_title: Role-Based Access Control for Vehicular Adhoc Networks

paper_content:

VANET, the vehicular ad-hoc network, is a new communication technology that is characterized by a large amount of moving hosts, dynamic topology, and permanently changing data flows. VANE T specific features result in poor access control and isolation of sensitive data in intranetwork. Our paper discusses this issue and adapts the role-based access control to VANET with a hierarchy of objects and roles to ensure access control and improve data confidentiality.
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paper_title: RAISE: An Efficient RSU-Aided Message Authentication Scheme in Vehicular Communication Networks

paper_content:

Addressing security and privacy issues is a prerequisite for a market-ready vehicular communication network. Although recent related studies have already addressed most of these issues, few of them have taken scalability issues into consideration. When the traffic density becomes larger, a vehicle cannot verify all signatures of the messages sent by its neighbors in a timely manner, which results in message loss. Communication overhead as another issue has also not been well addressed in previously reported studies. To deal with these issues, this paper introduces a novel RSU-aided messages authentication scheme, called RAISE. With RAISE, roadside units (RSUs) are responsible for verifying the authenticity of the messages sent from vehicles and for notifying the results back to vehicles. In addition, our scheme adopts the k-anonymity approach to protect user identity privacy, where an adversary cannot associate a message with a particular vehicle. Extensive simulations are conducted to verify the proposed scheme, which demonstrates that RAISE yields much better performance than any of the previously reported counterparts in terms of message loss ratio and delay.
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paper_title: Potential Cyberattacks on Automated Vehicles

paper_content:

Vehicle automation has been one of the fundamental applications within the field of intelligent transportation systems (ITS) since the start of ITS research in the mid-1980s. For most of this time, it has been generally viewed as a futuristic concept that is not close to being ready for deployment. However, recent development of “self-driving” cars and the announcement by car manufacturers of their deployment by 2020 show that this is becoming a reality. The ITS industry has already been focusing much of its attention on the concepts of “connected vehicles” (United States) or “cooperative ITS” (Europe). These concepts are based on communication of data among vehicles (V2V) and/or between vehicles and the infrastructure (V2I/I2V) to provide the information needed to implement ITS applications. The separate threads of automated vehicles and cooperative ITS have not yet been thoroughly woven together, but this will be a necessary step in the near future because the cooperative exchange of data will provide vital inputs to improve the performance and safety of the automation systems. Thus, it is important to start thinking about the cybersecurity implications of cooperative automated vehicle systems. In this paper, we investigate the potential cyberattacks specific to automated vehicles, with their special needs and vulnerabilities. We analyze the threats on autonomous automated vehicles and cooperative automated vehicles. This analysis shows the need for considerably more redundancy than many have been expecting. We also raise awareness to generate discussion about these threats at this early stage in the development of vehicle automation systems.
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paper_title: Generalized geometric triangulation algorithm for mobile robot absolute self-localization

paper_content:

Triangulation with active beacons is widely used in the absolute localization of mobile robots. The geometric triangulation algorithm allows the self-localization of a robot on a plane. However, the three beacons it uses must be "properly ordered" and the algorithm works consistently only when these beacons within the triangle form the robot. This paper presents an improved version of the algorithm, which does not require beacon ordering and works over the whole navigation plane except for a few well-determined lines where localization is not possible.
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paper_title: Survey of Cellular Mobile Radio Localization Methods: From 1G to 5G

paper_content:

Cellular systems evolved from a dedicated mobile communication system to an almost omnipresent system with unlimited coverage anywhere and anytime for any device. The growing ubiquity of the network stirred expectations to determine the location of the mobile devices themselves. Since the beginning of standardization, each cellular mobile radio generation has been designed for communication services, and satellite navigation systems, such as Global Positioning System (GPS), have provided precise localization as an add-on service to the mobile terminal. Self-contained localization services relying on the mobile network elements have offered only rough position estimates. Moreover, satellite-based technologies suffer a severe degradation of their localization performance in indoors and urban areas. Therefore, only in subsequent cellular standard releases, more accurate cellular-based location methods have been considered to accommodate more challenging localization services. This survey provides an overview of the evolution of the various localization methods that were standardized from the first to the fourth generation of cellular mobile radio, and looks over what can be expected with the new radio and network aspects for the upcoming generation of fifth generation.
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paper_title: A Novel Approach for Improved Vehicular Positioning Using Cooperative Map Matching and Dynamic Base Station DGPS Concept

paper_content:

In this paper, a novel approach for improving vehicular positioning is presented. This method is based on the cooperation of the vehicles by communicating their measured information about their position. This method consists of two steps. In the first step, we introduce our cooperative map matching method. This map matching method uses the V2V communication in a vehicular ad hoc network (VANET) to exchange global positioning system (GPS) information between vehicles. Having a precise road map, vehicles can apply the road constraints of other vehicles in their own map matching process and acquire a significant improvement in their positioning. After that, we have proposed the concept of a dynamic base station DGPS (DDGPS), which is used by vehicles in the second step to generate and broadcast the GPS pseudorange corrections that can be used by newly arrived vehicles to improve their positioning. The DDGPS is a decentralized cooperative method that aims to improve the GPS positioning by estimating and compensating the common error in GPS pseudorange measurements. It can be seen as an extension of DGPS where the base stations are not necessarily static with an exact known position. In the DDGPS method, the pseudorange corrections are estimated based on the receiver's belief on its positioning and its uncertainty and then broadcasted to other GPS receivers. The performance of the proposed algorithm has been verified with simulations in several realistic scenarios.
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paper_title: Design and Implementation of Urban Vehicle Positioning System Based on RFID, GPS and LBS

paper_content:

In order to monitor the mobile vehicles efficiently and judge the congestion status under complex condition of road and traffic, Radio frequency identification (RFID) technology is used to realize the dynamic identification and information exchange of the vehicles together with using the advantage of technologies of Global Positioning System (GPS) and Location Based Service (LBS) to get the precise position of vehicle. LBS technology is used to realize the function of showing the congestion status under complex condition of road and traffic, and the status of the vehicle can be shown to users by electronic map on website. The model of vehicle monitoring is designed and the system is implemented and tested on the basis of combination of RFID, GPS and LBS, which can be of great significance to the information construction of traffic detection.
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paper_title: Secure positioning of wireless devices with application to sensor networks

paper_content:

So far, the problem of positioning in wireless networks has been mainly studied in a non-adversarial setting. In this work, we analyze the resistance of positioning techniques to position and distance spoofing attacks. We propose a mechanism for secure positioning of wireless devices, that we call verifiable multilateration. We then show how this mechanism can be used to secure positioning in sensor networks. We analyze our system through simulations.
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paper_title: Secure Information Exchange in Defining the Location of the Vehicle

paper_content:

With the advent of the electric vehicle market, the problem of locating a vehicle is becoming more and more important. Smart roads are creating, where the car control system can work without a person - communicating with the elements on the road. The standard technologies, such as GPS, can't always accurately determine the location, and not all vehicles have a GPS-module. It is very important to build an effective secure communication protocol between the vehicle and the base stations on the road. In this paper we consider different methods of location determination, propose the improved communicating protocol between the vehicle and the base station.
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paper_title: A comparative study of Message Digest 5(MD5) and SHA256 algorithm

paper_content:

The document is a collection of written or printed data containing information. The more rapid advancement of technology, the integrity of a document should be kept. Because of the nature of an open document means the document contents can be read and modified by many parties so that the integrity of the information as a content of the document is not preserved. To maintain the integrity of the data, it needs to create a mechanism which is called a digital signature. A digital signature is a specific code which is generated from the function of producing a digital signature. One of the algorithms that used to create the digital signature is a hash function. There are many hash functions. Two of them are message digest 5 (MD5) and SHA256. Those both algorithms certainly have its advantages and disadvantages of each. The purpose of this research is to determine the algorithm which is better. The parameters which used to compare that two algorithms are the running time and complexity. The research results obtained from the complexity of the Algorithms MD5 and SHA256 is the same, i.e., (N), but regarding the speed is obtained that MD5 is better compared to SHA256.
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paper_title: A Guide to Fully Homomorphic Encryption

paper_content:

Fully homomorphic encryption (FHE) has been dubbed the holy grail of cryptography, an elusive goal which could solve the IT world’s problems of security and trust. Research in the area exploded after 2009 when Craig Gentry showed that FHE can be realised in principle. Since that time considerable progress has been made in finding more practical and more efficient solutions. Whilst research quickly developed, terminology and concepts became diverse and confusing so that today it can be difficult to understand what the achievements of different works actually are. The purpose of this paper is to address three fundamental questions: What is FHE? What can FHE be used for? What is the state of FHE today? As well as surveying the field, we clarify different terminology in use and prove connections between different FHE notions.
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paper_title: Secure positioning of wireless devices with application to sensor networks

paper_content:

So far, the problem of positioning in wireless networks has been mainly studied in a non-adversarial setting. In this work, we analyze the resistance of positioning techniques to position and distance spoofing attacks. We propose a mechanism for secure positioning of wireless devices, that we call verifiable multilateration. We then show how this mechanism can be used to secure positioning in sensor networks. We analyze our system through simulations.
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paper_title: PrOLoc: resilient localization with private observers using partial homomorphic encryption

paper_content:

Aided by advances in sensors and algorithms, systems for localizing and tracking target objects or events have become ubiquitous in recent years. Most of these systems operate on the principle of fusing measurements of distance and/or direction to the target made by a set of spatially distributed observers using sensors that measure signals such as RF, acoustic, or optical. The computation of the target's location is done using multilateration and multiangulation algorithms, typically running at an aggregation node that, in addition to the distance/direction measurements, also needs to know the observers' locations. This presents a privacy risk for an observer that does not trust the aggregation node or other observers and could in turn lead to lack of participation. For example, consider a crowd-sourced sensing system where citizens are required to report security threats, or a smart car, stranded with a malfunctioning GPS, sending out localization requests to neighboring cars -- in both cases, observer (i.e., citizens and cars respectively) participation can be increased by keeping their location private. This paper presents PrOLoc, a localization system that combines partially homomorphic encryption with a new way of structuring the localization problem to enable efficient and accurate computation of a target's location without requiring observers to make public their locations or measurements. Moreover, and unlike previously proposed perturbation based techniques, PrOLoc is also resilient to malicious active false data injection attacks. We present two realizations of our approach, provide rigorous theoretical guarantees, and also compare the performance of each against traditional methods. Our experiments on real hardware demonstrate that PrOLoc yields location estimates that are accurate while being at least 500\times faster than state-of-art secure function evaluation techniques.
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paper_title: Efficient Fully Homomorphic Encryption from (Standard) LWE

paper_content:

We present a fully homomorphic encryption scheme that is based solely on the(standard) learning with errors (LWE) assumption. Applying known results on LWE, the security of our scheme is based on the worst-case hardness of ``short vector problems'' on arbitrary lattices. Our construction improves on previous works in two aspects:\begin{enumerate}\item We show that ``somewhat homomorphic'' encryption can be based on LWE, using a new {\em re-linearization} technique. In contrast, all previous schemes relied on complexity assumptions related to ideals in various rings. \item We deviate from the "squashing paradigm'' used in all previous works. We introduce a new {\em dimension-modulus reduction} technique, which shortens the cipher texts and reduces the decryption complexity of our scheme, {\em without introducing additional assumptions}. \end{enumerate}Our scheme has very short cipher texts and we therefore use it to construct an asymptotically efficient LWE-based single-server private information retrieval (PIR) protocol. The communication complexity of our protocol (in the public-key model) is $k \cdot \polylog(k)+\log \dbs$ bits per single-bit query (here, $k$ is a security parameter).
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paper_title: Securing Road Traffic Congestion Detection by Incorporating V2I Communications

paper_content:

In this paper, we address the security properties of automated road congestion detection systems. SCATS, SCOOT and InSync are three examples of Adaptive Traffic Control Systems (ATCSs) widely deployed today. ATCSs minimize the unused green time and reduce traffic congestion in urban areas using different methods such as induction loops and camcorders installed at intersections. The main drawback of these system is that they cannot capture incidents outside the range of these camcorders or induction loops. To overcome this hurdle, theoretical concepts for automated road congestion alarm systems including the system architecture, communication protocol, and algorithms are proposed. These concepts incorporate secure wireless vehicle-to-infrastructure (V2I) communications. The security properties of this new system are presented and then analyzed using the ProVerif protocol verification tool.
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paper_title: Vehicular Ad Hoc Networks (VANETS): Status, Results, and Challenges

paper_content:

Recent advances in hardware, software, and communication technologies are enabling the design and implementation of a whole range of different types of networks that are being deployed in various environments. One such network that has received a lot of interest in the last couple of years is the Vehicular Ad-Hoc Network (VANET). VANET has become an active area of research, standardization, and development because it has tremendous potential to improve vehicle and road safety, traffic efficiency, and convenience as well as comfort to both drivers and passengers. Recent research efforts have placed a strong emphasis on novel VANET design architectures and implementations. A lot of VANET research work have focused on specific areas including routing, broadcasting, Quality of Service (QoS), and security. We survey some of the recent research results in these areas. We present a review of wireless access standards for VANETs, and describe some of the recent VANET trials and deployments in the US, Japan, and the European Union. In addition, we also briefly present some of the simulators currently available to VANET researchers for VANET simulations and we assess their benefits and limitations. Finally, we outline some of the VANET research challenges that still need to be addressed to enable the ubiquitous deployment and widespead adoption of scalable, reliable, robust, and secure VANET architectures, protocols, technologies, and services.
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paper_title: Survey on security attacks in Vehicular Ad hoc Networks (VANETs)

paper_content:

Vehicular Ad hoc Networks (VANETs) are emerging mobile ad hoc network technologies incorporating mobile routing protocols for inter-vehicle data communications to support intelligent transportation systems. Among others security and privacy are major research concerns in VANETs due to the frequent vehicles movement, time critical response and hybrid architecture of VANETs that make them different than other Ad hoc networks. Thus, designing security mechanisms to authenticate and validate transmitted message among vehicles and remove adversaries from the network are significantly important in VANETs. This paper presents several existing security attacks and approaches to defend against them, and discusses possible future security attacks with critical analysis and future research possibilities.
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paper_title: GSIS: A Secure and Privacy-Preserving Protocol for Vehicular Communications

paper_content:

In this paper, we first identify some unique design requirements in the aspects of security and privacy preservation for communications between different communication devices in vehicular ad hoc networks. We then propose a secure and privacy-preserving protocol based on group signature and identity (ID)-based signature techniques. We demonstrate that the proposed protocol cannot only guarantee the requirements of security and privacy but can also provide the desired traceability of each vehicle in the case where the ID of the message sender has to be revealed by the authority for any dispute event. Extensive simulation is conducted to verify the efficiency, effectiveness, and applicability of the proposed protocol in various application scenarios under different road systems.
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paper_title: Security and Privacy in VANET to reduce Authentication Overhead for Rapid Roaming Networks

paper_content:

Since the last few years VANET have received increased attention as the potential technology to enhance active and preventive safety on the road, as well as travel comfort. Security and privacy are indispensable in vehicular communications for successful acceptance and deployment of such a technology. Generally, attacks cause anomalies to the network functionality. A secure VANET system, while exchanging information should protect the system against unauthorized message injection, message alteration, eavesdropping. In this paper, various security and privacy issues and challenges are discussed. The various authentication schemes in wireless LAN, VANETS are discussed. Out of various authentication schemes that are used to reduce the overhead in authentication, when roaming proxy reencryption scheme and new proxy re encryption scheme is reviewed in detail. A comparison between the two schemes is done, which shows that the privacy can be maintained better by using new proxy re encryption.
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paper_title: Survey on Security Issues in Vehicular Ad Hoc Networks

paper_content:

Abstract Vehicular Ad hoc NETworks are special case of ad hoc networks that, besides lacking infrastructure, communicating entities move with various accelerations. Accordingly, this impedes establishing reliable end-to-end communication paths and having efficient data transfer. Thus, VANETs have different network concerns and security challenges to get the availability of ubiquitous connectivity, secure communications, and reputation management systems which affect the trust in cooperation and negotiation between mobile networking entities. In this survey, we discuss the security features, challenges, and attacks of VANETs, and we classify the security attacks of VANETs due to the different network layers.
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paper_title: Temporal Outlier Detection in Vehicle Traffic Data

paper_content:

Outlier detection in vehicle traffic data is a practical problem that has gained traction lately due to an increasing capability to track moving vehicles in city roads. In contrast to other applications, this particular domain includes a very dynamic dimension: time. Many existing algorithms have studied the problem of outlier detection at a single instant in time. This study proposes a method for detecting temporal outliers with an emphasis on historical similarity trends between data points. Outliers are calculated from drastic changes in the trends. Experiments with real world traffic data show that this approach is effective and efficient.
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paper_title: Secure positioning in wireless networks

paper_content:

So far, the problem of positioning in wireless networks has been studied mainly in a nonadversarial setting. In this paper, we analyze the resistance of positioning techniques to position and distance spoofing attacks. We propose a mechanism for secure positioning of wireless devices, that we call verifiable multilateration. We then show how this mechanism can be used to secure positioning in sensor networks. We analyze our system through simulations.
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paper_title: Detecting Sybil attacks in VANETs

paper_content:

Sybil attacks have been regarded as a serious security threat to Ad hoc Networks and Sensor Networks. They may also impair the potential applications in Vehicular Ad hoc Networks (VANETs) by creating an illusion of traffic congestion. In this paper, we make various attempts to explore the feasibility of detecting Sybil attacks by analyzing signal strength distribution. First, we propose a cooperative method to verify the positions of potential Sybil nodes. We use a Random Sample Consensus (RANSAC)-based algorithm to make this cooperative method more robust against outlier data fabricated by Sybil nodes. However, several inherent drawbacks of this cooperative method prompt us to explore additional approaches. We introduce a statistical method and design a system which is able to verify where a vehicle comes from. The system is termed the Presence Evidence System (PES). With PES, we are able to enhance the detection accuracy using statistical analysis over an observation period. Finally, based on realistic US maps and traffic models, we conducted simulations to evaluate the feasibility and efficiency of our methods. Our scheme proves to be an economical approach to suppressing Sybil attacks without extra support from specific positioning hardware.
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paper_title: A review and classification of various VANET Intrusion Detection Systems

paper_content:

The use of wireless links renders a vehicular ad-hoc network (VANET) vulnerable to malicious attacks such as Denial of Service, blackhole attack, Sybil attack, selective forwarding and altering routing information. In wired networks the attacker needs to gain access to the physical media to make an attack. In wireless networks the scenario is much different, there are no firewalls and gateways in place hence attacks can take place from any location within radio coverage area. Each mobile node in ad-hoc network is an autonomous unit in itself free to move independently. This means a node with not adequate physical protection is very much susceptible to be compromised. It is difficult to track down a single compromised node in a large network, attacks stemming from a compromised node are far more detrimental and much harder to detect.
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paper_title: An optimized adaptive algorithm for authentication of safety critical messages in VANET

paper_content:

Authentication is one of the essential frameworks to ensure safe and secure message dissemination in Vehicular Adhoc Networks (VANETs). But an optimized authentication algorithm with reduced computational overhead is still a challenge. In this paper, we propose a novel classification of safety critical messages and provide an adaptive algorithm for authentication in VANETs using the concept of Merkle tree and Elliptic Curve Digital Signature Algorithm (ECDSA). Here, the Merkle tree is constructed to store the hashed values of public keys at the leaf nodes. This algorithm addresses Denial of Service (DoS) attack, man in the middle attack and phishing attack. Experimental results show that, the algorithm reduces the computational delay by 20 percent compared to existing schemes.
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paper_title: Securing Road Traffic Congestion Detection by Incorporating V2I Communications

paper_content:

In this paper, we address the security properties of automated road congestion detection systems. SCATS, SCOOT and InSync are three examples of Adaptive Traffic Control Systems (ATCSs) widely deployed today. ATCSs minimize the unused green time and reduce traffic congestion in urban areas using different methods such as induction loops and camcorders installed at intersections. The main drawback of these system is that they cannot capture incidents outside the range of these camcorders or induction loops. To overcome this hurdle, theoretical concepts for automated road congestion alarm systems including the system architecture, communication protocol, and algorithms are proposed. These concepts incorporate secure wireless vehicle-to-infrastructure (V2I) communications. The security properties of this new system are presented and then analyzed using the ProVerif protocol verification tool.
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paper_title: An Analytical Study of Routing Attacks in Vehicular Ad-hoc Networks (VANETs)

paper_content:

Vehicular Ad-hoc Network (VANET) is a rising & most challenging research area to provide Intelligent Transportation System (ITS) services to the end users. The implementation of routing protocols in VANET is an exigent task as of its high mobility & frequent link disruption topology. VANET is basically used to provide various infotainment services to each and every end user; these services are further responsible to provide an efficient driving environment. At present, to provide efficient communication in vehicular networks several routing protocols have been designed, but the networks are vulnerable to several threats in the presence of malicious nodes. Today, security is the major concern for various VANET applications where a wrong message may directly or indirectly affect the human lives. In this paper, we investigate the several security issues on network layer in VANET. In this, we also examine routing attacks such as Sybil & Illusion attacks, as well as available solutions for such attacks in existing VANET protocols.
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paper_title: Mitigating the Effects of Position-Based Routing Attacks in Vehicular Ad Hoc Networks

paper_content:

In this paper, we investigate the effects of routing loop, sinkhole, and wormhole attacks on the position-based routing (PBR) in vehicular ad hoc networks (VANETs). We also introduce a new attack termed wormhole-aided sybil attack on PBR. Our study shows that the wormhole-aided sybil attack has the worst impact on the packet delivery in PBR. To ensure the reliability of PBR in VANETs, we propose a set of plausibility checks that can mitigate the impact of these PBR attacks. The proposed plausibility checks do not require adding extra hardware to the vehicles. In addition, they can adapt to different road characteristics and traffic conditions. Simulation results are given to demonstrate that the proposed plausibility checks are able to efficiently mitigate the impact of the previously mentioned PBR attacks.
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paper_title: VANet security challenges and solutions: A survey

paper_content:

Abstract VANET is an emergent technology with promising future as well as great challenges especially in its security. In this paper, we focus on VANET security frameworks presented in three parts. The first presents an extensive overview of VANET security characteristics and challenges as well as requirements. These requirements should be taken into consideration to enable the implementation of secure VANET infrastructure with efficient communication between parties. We give the details of the recent security architectures and the well-known security standards protocols. The second focuses on a novel classification of the different attacks known in the VANET literature and their related solutions. The third is a comparison between some of these solutions based on well-known security criteria in VANET. Then we draw attention to different open issues and technical challenges related to VANET security, which can help researchers for future use.
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paper_title: The scrambler attack: A robust physical layer attack on location privacy in vehicular networks

paper_content:

Vehicular networks provide the basis for a wide range of both safety and non-safety applications. One of the key challenges for wide acceptance is to which degree the drivers' privacy can be protected. The main technical privacy protection mechanism is the use of changing identifiers (from MAC to application layer), so called pseudonyms. The effectiveness of this approach, however, is clearly reduced if specific characteristics of the physical layer (e.g., in the transmitted signal) reveal the link between two messages with different pseudonyms. In this paper, we present such a fingerprinting technique: the scrambler attack. In contrast to other physical layer fingerprinting methods, it does not rely on potentially fragile features of the channel or the hardware, but exploits the transmitted scrambler state that each receiver has to derive in order to decode a packet, making this attack extremely robust. We show how the scrambler attack bypasses the privacy protection mechanism of state-of-the-art approaches and quantify the degradation of drivers' location privacy with an extensive simulation study. Based on our results, we identify additional technological requirements in order to enable privacy protection mechanisms on a large scale.
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paper_title: Protecting Location Privacy with Personalized k-Anonymity: Architecture and Algorithms

paper_content:

Continued advances in mobile networks and positioning technologies have created a strong market push for location-based applications. Examples include location-aware emergency response, location-based advertisement, and location-based entertainment. An important challenge in the wide deployment of location-based services (LBSs) is the privacy-aware management of location information, providing safeguards for location privacy of mobile clients against vulnerabilities for abuse. This paper describes a scalable architecture for protecting the location privacy from various privacy threats resulting from uncontrolled usage of LBSs. This architecture includes the development of a personalized location anonymization model and a suite of location perturbation algorithms. A unique characteristic of our location privacy architecture is the use of a flexible privacy personalization framework to support location k-anonymity for a wide range of mobile clients with context-sensitive privacy requirements. This framework enables each mobile client to specify the minimum level of anonymity that it desires and the maximum temporal and spatial tolerances that it is willing to accept when requesting k-anonymity-preserving LBSs. We devise an efficient message perturbation engine to implement the proposed location privacy framework. The prototype that we develop is designed to be run by the anonymity server on a trusted platform and performs location anonymization on LBS request messages of mobile clients such as identity removal and spatio-temporal cloaking of the location information. We study the effectiveness of our location cloaking algorithms under various conditions by using realistic location data that is synthetically generated from real road maps and traffic volume data. Our experiments show that the personalized location k-anonymity model, together with our location perturbation engine, can achieve high resilience to location privacy threats without introducing any significant performance penalty.
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paper_title: Vehicular Ad Hoc Networks

paper_content:

Vehicular Ad Hoc Networks(VANETs) are computer networks of moving nodes attached to vehicles. Theyalso include stationary infrastructure elements. This use of wireless local area network technology is becoming necessity and will grow rapidly in the near future. There is a wide range of VANET and associated Dedicated Short Range Communications (DSRC)applications. It starts fromsimple cases likeactive safety systems for driving, traffic information and collision warning, to more comprehensive Intelligent Transport Systems (ITS). Step up from simple driver assistance will be the complete takeover of the vehicle control. Finally, VANETs will support auto driver algorithms and applications for unmanned ground vehicles (UGVs). The aim of this paper is to present an overview of the technology, standards and problems, with some proposals for the quick start with the most necessary applications and for the future research.
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paper_title: Software defined security for vehicular ad hoc networks

paper_content:

Vehicular Ad hoc NETwork (VANET) is one of the intensively growing technologies which shape new social and engineering opportunities such as smart traffic control, effective road safety, optimal rescue maintenance, enhanced customer services. However, common VANET as a large-scale wireless environment with extremely dynamic topology lacks in information security. Specific nature of VANET prevents traditional solutions to be applied ‘as is’ for security purposes. The paper reviews software defined security (SDS) suggested to be employed to provide the programmable and flexible access control to VANET.
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paper_title: A Pseudonym Management System to Achieve Anonymity in Vehicular Ad Hoc Networks

paper_content:

In this paper we propose a framework for providing anonymity to communicating cars in VANETs. The anonymity is accomplished based on a system of pseudonym generation, distribution, and replenishing. The road side units (RSUs) play a key role in the framework by receiving the originally generated pseudonyms from the trusted authority, and then distributing pseudonym sets to cars while shuffling the sets amongst themselves to maximize anonymity. The pseudonym distribution process among the RSUs and to the vehicles is highly adaptive to accommodate the needs of the vehicles. We develop a distributed optimization algorithm for the shuffling process and a novel mechanism for cars to change their pseudonyms. Experimental evaluations based on ns3 simulations demonstrate the effectiveness of the framework through showing relatively high values of the used metric, namely the anonymity set.
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paper_title: Privacy in VANETs using Changing Pseudonyms - Ideal and Real

paper_content:

Vehicular ad hoc networks (VANETs) and vehicular communications are considered a milestone in improving the safety, efficiency and convenience in transportation. Vehicular ad hoc networks and many vehicular applications rely on periodic broadcast of the vehicles' location. For example, the location of vehicles can be used for detecting and avoiding collisions or geographical routing of data to disseminate warning messages. At the same time, this information can be used to track the users' whereabouts. Protecting the location privacy of the users of VANETs is important, because lack of privacy may hinder the broad acceptance of this technology. Frequently changing pseudonyms are commonly accepted as a solution to protect the privacy in VANETs. In this paper, we discuss their effectiveness and different methods to change pseudonyms. We introduce the context mix model that can be used to describe pseudonym change algorithms. Further, we asses in which situations, i.e. mix contexts, a pseudonym change is most effective and improves the privacy in vehicular environments.
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Title: Positioning Information Privacy in Intelligent Transportation Systems: An Overview and Future Perspective

Section 1: Introduction
Description 1: Introduce the penetration of technology in modern systems, with emphasis on Intelligent Transportation Systems (ITS) and their main components. Outline the key contributions and structure of the paper.

Section 2: Solutions for Spotting of Vehicles on the Road
Description 2: Present various approaches for vehicle localization, detailing their benefits and drawbacks.

Section 3: Node-centric Localization
Description 3: Discuss localization methods where vehicles determine their locations using data from neighboring vehicles and other direct communications.

Section 4: Human-centric Localization
Description 4: Explore localization methods focused on human-carried gadgets and their interaction with vehicles.

Section 5: Vehicle Location Protocols Using Additional Information
Description 5: Describe protocols for vehicle location determination involving external data, explaining the technical details and security aspects.

Section 6: Distance Determination without Anonymity
Description 6: Review distance-bounding protocols that do not ensure vehicle anonymity, discussing their operation and limitations.

Section 7: Location Determination with Mutual Base Station Authentication
Description 7: Present enhanced protocols that guarantee mutual authentication between vehicles and base stations while preserving location privacy.

Section 8: Related Security and Privacy Threats
Description 8: Identify various security and privacy threats related to vehicle localization and data exchange in ITS, detailing conventional, infrastructure-related, and distributed attacks.

Section 9: Discussion and Future Perspectives
Description 9: Provide an overview of future development for privacy strategies in the context of positioning, specifically considering EU regulations and technological advancements such as 5G.

Section 10: Acknowledgments and Conflicts of Interest
Description 10: Acknowledge the contributions and support for the research and disclose any potential conflicts of interest.