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Current Trends in Vehicular Ad Hoc Networks - 132 - 132
Current Trends in Vehicular Ad Hoc Networks - 132 - 132
Ghassan M. T. Abdalla*, Mosa Ali AbuRgheff* and Sidi Mohammed Senouci**
*University of Plymouth – School of Computing, Communications & Electronics, UK
**France Télécom — Recherche et Développement CORE, France
Email: ghassan.abdalla@plymouth.ac.uk
ABSTRACT
Vehicular Networks are receiving a lot of attention due to the wide variety of services they can provide.
Their applications range from safety and crash avoidance to Internet access and multimedia. A lot of
work and research around the globe is being conducted to define the standards for vehicular
communications. These include frequency allocation, standards for physical and link layers, routing
algorithms, as well as security issues and new applications. In this paper we review the standardization
work and researches related to vehicular networks and discuss the challenges facing future vehicular
networks.
Keywords-- DSRC, IEEE 802.11, MAC, Routing, Security, UTRATDD, Vehicular communications,
WAVE.
5.865
5.875
5.885
5.895
5.905
5.915
5.925
Besides road safety, new applications are GHz
proposed for vehicular networks, among these
are Electronic Toll Collection (ETC), car to
home communications, travel and tourism Fig (1): DSRC bands in North America.
information distribution, multimedia and game
applications just to name a few. However these OFDM is a multicarrier modulation scheme.
applications need reliable communication Data is split into multiple lower rate streams and
equipment which is capable of achieving high each stream is used to modulate one of the
data rates and stable connectivity between the subcarriers. Since the data rate is reduced, lower
transmitter and the receiver under high mobility bandwidth is required for each carrier. The
conditions and different surroundings. carriers are spaced at intervals of 1/T, where T is
Different frequencies for VANET were the symbol duration; therefore they are
allocated in different parts of the world. In North orthogonal to each other. Although high data
America the Dedicated Short Range rates can be achieved using OFDM, the
Communications (DSRC) band 902928 MHz performance of OFDM can degrade rapidly if
was allocated. It provided short range careful considerations for synchronization and
communications (<30m) and low data rates (500 channel variations are not taken. OFDM is
kbps). It is still used for some types of electronic sensitive to frequency and phase errors [6, 7].
toll collection systems but its performance is too Because the subcarriers are very close to each
limited to satisfy the demanding requirements of other, any drift in the frequency causes Inter
ITS applications. Carrier Interference (ICI). In VANET the high
In Japan the bands 58355840 and 5845 relative speeds between vehicles on opposite
5850 MHz were allocated for uplink and 5790 sides or between the vehicle and the RSU cause
5795 and 58005805 MHz for downlink for the an increase in the received frequency as the
Association of Radio Industries and Businesses vehicles move towards each other and a decrease
standard ARIB STDT55. The system relies on as vehicles move away due to the Doppler effect.
road architecture, as with DSRC, and provides This must be taken into account during the
ETC service. The standard uses ASK modulation design of the receiver as it destroys the
for a data rate of 1Mbps with 8 slot TDMA/FDD orthogonality of the carriers and increases ICI [8].
to provide service for a maximum of 8 cars Reliable communications is an important
within a range of 30m. Currently a new standard issue in VANET and fading is a well known
(ARIB STDT75) is being developed [3]. limitation in all wireless links. However The
These systems can be regarded as the first effects of fading can be reduced by using
generation for vehicular communications. The diversity techniques in VANET. Diversity
different standards and frequencies hindered the techniques have been examined extensively in
implementation of ITS systems since each wireless communications, but due to the limited
country has its own specifications and operating space in mobile terminals they are only used in
systems. Moreover the low data rates and short basestations. Space is not an issue in VANET
Ubiquitous Computing and Communication Journal 2
and therefore using multiple antennas is a maximum data rate of 2 Mbps for still nodes and
reasonable solution for reliable communications. 384kbps for mobile nodes [3].
Fig (2) shows a bit error rate (BER) comparison 0
10
BER vs EbNo
receivers using maximal ratio combining (MRC) 180 km/hr
[9]. 1
10
BER vs SNR
0
10
1 antenna
BER
1 2 antennas 2
10
10
3 antennas
4 antennas
2
10
3
10
3
10
BER
4
10
4
10
0 1 2 3 4 5 6 7 8 9 10
5
10 EbNo (dB)
6
10 Fig (3): BER performance with 4 th order diversity
7
and different speeds.
10
0 2 4 6 8 10 12 14 16 18 20
SNR(dB)
Part 2 Part 1 Part 2
Fig (2): BER performance with diversity. Road
Non Critical Road
safety
safety road safety and
and
IEEE 802.11a standard uses 64 carriers, 48 related
traffic
safety traffic
IVC and efficiency
are dedicated for data, 4 are pilot carriers and the efficie
R2V
ncy
other carriers are not used to reduce interference IVC and Focus on IVC and
to other bands. Training sequences are used at the R2V IVC R2V
IVC and
beginning of the packet for training and the pilot R2V
Channel
Control
Focus on
carriers channel response is extrapolated to R2V
Focus on
estimate the channel response for the other R2V
carriers [10]. This scheme performed well with 5.850 5.865 5.875 5.885 5.895 5.905 5.915 5.925
WLAN since the terminals had limited mobility, GHz
however with VANET the terminals can move in Fig (4): Frequency Proposal in Europe.
speeds of 100 km/hr or more. To illustrate this
consider two cars moving in opposite directions In Japan the new ARIB STDT75 standard
each with speed of 150 km/hr. At 5.9 GHz this uses 14, 4.4 MHz channels, 7 for downlink and 7
results in a Doppler Shift of 1.6 kHz, yielding a for uplink as shown in Fig (5). The standard uses
channel coherence time of 300 ms. The maximum ASK to provide a data rate of 1Mbps and QPSK
length of an IEEE 802.11 packet is 18768 bits to provide 1 or 4 Mbps. It also makes use of 8
and at 54 Mbps this takes 348 ms to be slots TDMA/FDD to provide service to a
transmitted. Note that 54 Mbps is the maximum maximum of 56 cars within a range of 30m. The
data rate, if the nodes are using a lower data rate system provides ETC service as well as
(e.g. 6 Mbps) this will take much longer. information shower [3]. For InterVehicle
Therefore the training sequence at the start of the Communication (IVC) cars need to communicate
frame will lose its significance at the end of the in an ad hoc manner. Since no infrastructure is
packet and whether the 4 pilot carriers are present, cars in the road form a temporary group
significant to estimate the channel or not is a in order to use the standard to exchange
matter of concern. Fig (3) shows the effect of information.
speed in channel estimation using training Downlink
sequence and a MRC receiver with four antennas. 4.4MHz
Networking WAVE Reserve slots are used by the nodes to reserve a
P1609.3 Security slot prior to communication while high priority
Services
data are transmitted via separate dedicated slots
P1609.4 Lower Layers
802.11p [19]. Simulations showed that the modified
UTRATDD outperformed the IEEE 802.11b
[20]. The proposed access mode was extended
Medium afterwards to work with several frequencies [21].
6. Routing Algorithms
Fig (7): WAVE standards Routing has always been a challenge in
mobile ad hoc networks (MANET) since the
positions of the nodes change with time. Existing
Ubiquitous Computing and Communication Journal 4
solutions were generally optimised for slow message set a retransmission timer inversely
movement and their design was constraint by the proportional to their distance from the source and
power consumption and/or the processing rebroadcast the message if no other node
capabilities of the nodes. Such constraints are not broadcasts first and keeps rebroadcasting till it
essential in VANET. Moreover the movement in receives a message from another node or the
VANET is constraint by the road and highly message is no longer relevant [24].
predictable which is not the case in MANET Another routing algorithm known as Greedy
where the mobility is random and in two Traffic Aware Routing (GyTAR) has also been
dimensions. proposed in [25]. The algorithm targets the
Broadcasting and routing algorithms for routing problem in cities. It works with the aid of
VANET were studied in FleetNet project. Their maps and traffic density information to calculate
focus was on using the positioning information the best direction in junctions the packet should
provided by GPS for routing and broadcasting. take to reach its destination. The calculation is
Three routing protocols were considered, based on the distance, number of cars within that
Position Based Forwarding (PBF), Contention distance, their movement and speed. The paper
Based Forwarding (CBF) and Ad hoc On also proposed a system for collecting and
Demand Distance Vector (AODV). All these distributing information about the road and
protocols are reactive protocols. Reactive traffic conditions which can be used with
protocols discover the route to a destination only GyTAR as well as other algorithms.
when a message is to be delivered counter to Although these algorithms, and others,
proactive protocols which tend to store routing provide a solution to the routing problem in
tables for every destination and update these VANET, still more research is required to
routing tables continuously. As the topology of examine their performance, applicability and
VANET changes frequently, the signalling overhead. A major issue of concern is the
messages of proactive protocols can result in a achievable throughput of the system. This has
large overhead load. PBF and CBF use location been examined in [26]. According to their results
service algorithms to find the position of the the throughput decreases considerably with the
destination, based on this position PBF selects number of hops and can be as low as 20kbps in
one of the surrounding nodes to forward the 2Mbps links with 6 hops.
message. This process is repeated till the
message reaches it destination. In CBF the source 7. Applications of VANET
transmits the message with the position of the A large number of applications have been
destination; every node receiving the message specified by governments for DSRC applications,
sets a timer proportional to the difference we cover here a few of them. Traffic control is a
between its position and the destination. If the major factor for efficient use of the network.
timer expires and no other node has broadcasted Currently traffic lights organize the flow of
the message, the node forwards the message to traffic at junctions. With DSRC traffic lights
the destination. In AODV the source floods the become adaptive to the traffic and can provide
network with a route request for the destination. priority to emergency vehicles as well as safety
Nodes receiving the request calculate a distance to pedestrians and cyclists. Moreover information
vector and forward the message, this process is about the status of the road can be distributed to
repeated till the destination is reached which cars to warn them of problems ahead such as ice
sends a route reply. Once the reply is received or maintenance work on the road. This system
the route is ready for sending the data. To reduce will also be very efficient in the case of accidents,
the flooding effects maximum hop count and automatically notifying the nearest ambulance
Time To Live (TTL) fields are used in route and other emergency vehicles to approach the
messages. Simulations show that CBF performs accident if needed and even provide telemedicine
better than the other algorithms and it adapts to services if the patient requires immediate
changes in the topology which interrupt routes in attention, especially when there are no nearby
the other two protocols. CBF, however, requires hospitals. Crash prevention is the main motive
the assistance of maps in cities when multiple behind ITS, therefore a number of applications
roads intersect and run in parallel, its have been specified. Crash prevention
performance in congested areas also requires applications that rely on an infrastructure include
more investigation since several cars might have road geometry warning to help drivers at steep or
the same distance to the destination which might curved roads and warn overweight or overheight
cause collisions [22, 23]. A broadcasting vehicles, highwayrail crossing and intersection
algorithm based on CBF has also been suggested collision systems to help drivers cross safely,
for safety applications. A car encountering an pedestrian, cyclist and animal warning systems to
accident broadcasts a safety message and its inform drivers of possible collisions, these
current position. Other cars receiving this
Ubiquitous Computing and Communication Journal 5
systems become of vital importance at night or In Europe the eSafety initiative was
under low visibility conditions [1]. launched in April 2002. Currently it has 14
Safety applications which do not rely on an workgroups working in the areas of accident
infrastructure include an emergency brake causation analysis, communications, digital maps,
announcement which is the most important Emergency Call (eCall), heavy duty vehicles,
application for crash prevention. The first two HumanMachine Interaction (HMI), information
cars might not benefit from the emergency brake and communication technologies for clean
system but further cars can avoid the crash. Lane mobility, implementation road map, international
change assistance, road obstacle detection, road cooperation, Realtime Traffic and Travel
departure warning as well as forward and rear Information (RTTI), research and development,
collision warning are all examples of safety V2V security, serviceoriented architectures and user
applications. Vehicles can also automatically outreach. The eSafety forum aims to accelerate
send help requests in case of an accident which the development, deployment and use of eSafety
can be vital when no other cars are around [1]. systems to reduce the number of fatalities in
An ongoing European project, eCall, aims at Europe to 50% by 2010 [27].
providing this automatic call service by 2009 The CARLINK project was launched in
using existing cellular infrastructure [27]. The 2006 by CELTIC EUREKA with realtime local
OBU system can also help the driver in other weather information, the urban transport traffic
different ways such as vision enhancement via management and the urban information
image processing techniques, lane keeping broadcasting as the primary applications. It aims
assistance and monitoring of onboard systems as at integrating WLAN, WiMAX as well as
well as any cargo or trailers connected to the cellular technology to provide the information to
vehicle. Such systems are generalised as cars on the road as well as to PDAs and mobile
Advanced Driver Assistance Systems (ADAS) phones [30].
[27].
The commercial applications of the system 8. Security Issues
cover a wide range of innovative ideas aiding The ongoing Network On Wheels (NOW)
individuals and tourists such as booking a project addresses a number of issues in vehicular
parking place, downloading tourism information networks with a focus on security. The project
and maps for restaurants and gas stations, adopts an IEEE 802.11 standard for wireless
navigation and route guidance, payment at toll access and aim at implementing a reference
plazas, Internet access and connection to home system. The project addresses a number of
computers. Other devices within the vehicle can security issues for VANET [31]. VANET
also be connected to the On Board Units (OBU) security should satisfy four goals, it should
to access any services provided by the network or ensure that the information received is correct
through the Internet. These applications are not (information authenticity), the source is who he
required by the government but they encourage claims to be (message integrity and source
people to install the system. authentication), the node sending the message
A Japanese project called PDRGS cannot be identified and tracked (privacy) and the
(Dynamic Route Guidance System) is one system is robust. Several attacks can be identified
possible implementation of the navigation and and these can be generalized depending on the
route service. This project is developing a system layer the attacker uses. At the physical and link
known as PRONAVI that currently consists of a layers the attacker can either disturb the system
server accessible through the Internet. Users by jamming or overloading the channel with
enter their start position, destination and time to messages. Injecting false messages or re
start their journey and the server responds with broadcasting an old message is another possible
the best two routes. The routes are compiled from attack. The attacker can also steal or tamper with
a 9 months survey as well as simulations. In its a car system or destroy a RSU. At the network
final version the system should be able to collect layer the attacker can inject false routing
data from the sensors installed in cars and messages or overload the system with routing
provide the routes to the OBU [28]. messages. The attacker can also compromise the
The Vehicle Information and privacy of drivers by revealing and tracking the
Communication System (VICS) is another positions of the nodes. The same attacks can be
Japanese implementation of roadside to vehicle achieved from the application layer [32].
communications. Subscribers to the system get In the IEEE WAVE standard vehicles can
an onboard navigation system that receives change their IP addresses and use random MAC
information about the weather, road conditions, addresses to achieve security [13]. Vehicles also
traffic and any other related data from road side keep the message exchange to a minimum at the
units and displays it to the user [29]. start of the journey for some time so that the
messages cannot be tied to the vehicle.
Ubiquitous Computing and Communication Journal 6
A number of security algorithms have been needed, diversity techniques to overcome fading
developed in France Telecom R&D department. effects should be examined and Doppler effects
The security proposal provides security at the should be carefully considered especially when
link layer for vehicle safety and commercial using OFDM signalling.
applications, higher layer security protocols can The link layer is expected to provide various
also be used to further enhance the security or delay needs and QoS classes to satisfy the
provide end to end security in a multihop link. different requirements of the applications. It
The proposal makes use of four types of should also organize the access to the medium
certificates, two long term and two short term. and resolve collisions under high mobility
One long term and one short term certificates are conditions. The RTS/CTS mechanism of IEEE
used for ITS services while the others are for 802.11 will perform poorly in V2V
nonITS applications. Long term certificates are communications because the nodes move very
used for authentication while short term fast. UTRATDD provides a number of elegant
certificates are used for data transmission using solutions but how it will perform under different
public/private key cryptography. Safety messages load conditions is a matter that requires further
are not encrypted as they are intended for investigation. The maximum data rate for UTRA
broadcasting, but their validity must be checked; TDD is 2Mbps which is lower than the minimum
therefore a source signs a message and sends it data rate specified for IEEE 802.11p.
without encryption with its certificate, other Efficient broadcasting algorithms are
nodes receiving the message validate it using the essential for delivery of safety and routing
certificate and signature and may forward it messages. Routing protocols that rely on GPS
without modification if it is a valid message. were introduced in section 5. However these
NonITS data can rely on higher layer protocols protocols still require further investigations and
to provide endtoend security especially over a their throughput, stability and capability to work
multihop link [33]. when few cars are on the road as well as in
Another scheme has been proposed in [34]. congested areas are of concern.
The proposal suggests the use of a long term IP version 6 has been proposed for use in
certificate, issued by a governmental authority vehicular networks. Cars should be able to
(GA), and temporary certificates, issued by change their IP addresses so that they are not
private authorities (PA), as well as pseudonyms traceable, however it is not clear how this will be
to protect the privacy of the drivers. For achieved. Moreover this can cause inefficiency in
commercial services, if the user is address usage since when a new address is
communicating directly with the RSU, its assigned the old address cannot be reused
identity is validated via the long term certificate immediately. Delayed packets will be dropped
by the GA and then it is issued a temporary when the car changes its IP address which causes
certificate and pseudonym by the PA to be able unnecessary retransmissions.
to use the service. For communications via hops Vehicular networks rely on distributed
the source signs the message using the long term untrustworthy nodes which should cooperate
certificate, forwarding vehicles verify the with each other and with RSU. Issues of security
message and sign it using their own certificates are a major concern for safety applications as
and so on till it reaches the RSU. The rest of the well as for commercial applications. Any
processing is similar to the direct case. The developed security solution should meet the
obvious limitation of this proposal is the diverse needs of the applications while taking
overhead and processing time required especially into consideration the processing capabilities of
when several hops are needed to reach the RSU. the OBU. The network should also work with
minimum human interaction since otherwise it
9. Open Research Areas will divert the driver’s attention from the road.
Vehicular networks introduce a new Other related research areas of great
challenging environment for communication importance include sensor design, antenna design,
engineers. The communication channel can vary OBU specifications, driverOBU interface, RSU
from a simple point to point microwave link for design, RSU to RSU communication network
cars in open areas, to rich Rayleigh fading within specifications and VANET servers’ requirements
the cities. Moreover the channel varies and software platform just to name a few. These
considerably every few seconds and line of sight systems should cooperate in an efficient manner
blockage occurs frequently. Therefore the to reach the ultimate goal of faster, safer and
physical layer commonly operates under various information rich journeys on the road.
channel conditions and is expected to provide
high data rates even though the communication 10. Conclusion
time can be limited to a few seconds. Adaptive In this paper we have provided an overview of
and efficient channel estimation algorithms are the development of the communication standards
Ubiquitous Computing and Communication Journal 7
and ongoing research for vehicular networks. [13] "IEEE Draft P802.11p/D2.0, November
Frequencies have already been allocated in North 2006."
America and Japan and are expected soon in [14] "IEEE Draft P1609.0/D01, February
Europe. The IEEE 802.11p and WAVE suite 2007."
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protocols, broadcasting algorithms and security November 2005."
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The authors would like to thank France Telecom M. Lott, "Synchronization in Ad Hoc
and the University of Plymouth for supporting Networks Based on UTRA TDD," in
this work. Proceedings of the 13th IEEE International
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