The existing R&D efforts for protecting vulnerable road users (VRU) are mainly based on perception techniques, which aim to detect VRUs utilizing vehicle embedded sensors. The efficiency of such a technique is largely affected by the sensor's visibility condition. Vehicle-to-Pedestrian (V2P) communication can also contribute to the VRU safety by allowing vehicles and pedestrians to exchange information. This solution is, however, largely affected by the reliability of the exchanged information, which most generally is the GPS data. Since perception and communication have complementary features, we can expect that a combination of such approaches can be a solution to the VRU safety. This is the motivation of the current work. We develop theoretical models to present the characteristics of perception and communications systems. Experimental studies are conducted to compare the performances of these techniques in real-world environments. Our results show that the perception system reliably detects pedestrians and other objects within 50 m of range in the line-of-sight (LOS) condition. In contrast, the V2P communication coverage is approximately 340 and 200 meters in LOS and non-LOS (NLOS) conditions, respectively. However, the communication-based system fails to correctly position the VRU w.r.t the vehicle, preventing the system from meeting the safety requirement. Finally, we propose a cooperative system that combines the outputs of the communication and perception systems.
Cooperative Intelligent Transport Systems (C-ITS) is an ongoing technology that will change our driving experience in the near future. In such systems, vehicles and RoadSide Unit (RSU) cooperate by broadcasting V2X messages over the vehicular network. Safety applications use these data to detect and avoid dangerous situations on time. MisBehavior Detection (MBD) in C-ITS is an active research topic which consists of monitoring data semantics of the exchanged Vehicle-to-X communication (V2X) messages to detect and identify potential misbehaving entities. The detection process consists of performing plausibility and consistency checks on the received V2X messages. If an anomaly is detected, the entity may report it by sending a Misbehavior Report (MBR) to the Misbehavior Authority (MA). The MA will then investigate the event and decide to revoke the sender or not. In this paper, we present a MisBehavior Detection (MBD) simulation framework that enables the research community to develop, test, and compare MBD algorithms. We also demonstrate its capabilities by running example scenarios and discuss their results. Framework For Misbehavior Detection (F 2 MD) is open source and available for free on our github.
Global misbehavior detection is an important backend mechanism in Cooperative Intelligent Transport Systems (C-ITS). It is based on the local misbehavior detection information sent by Vehicle's On-Board Units (OBUs) and by RoadSide Units (RSUs) called Misbehavior Reports (MBRs) to the Misbehavior Authority (MA). By analyzing these reports, the MA provides more accurate and robust misbehavior detection results. Sybil attacks pose a significant threat to the C-ITS systems. Their detection and identification may be inaccurate and confusing. In this work, we propose a Machine Learning (ML) based solution for the internal detection process of the MA. We show through extensive simulation that our solution is able to precisely identify the type of the Sybil attack and provide promising detection accuracy results.
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