Observations on OMNeT++ Real-Time Behaviour Christina Obermaier, Christian Facchi 7. September 2017
Outline 1. Inter Vehicle Communication 2. HIL Testing with OMNeT++ 3. Timing Observations 4. Conclusion 5. Further Work 2 Christina Obermaier, Christian Facchi 7. September 2017
3 Christina Obermaier, Christian Facchi 7. September 2017 Inter Vehicle Communication
Inter Vehicle Communication Overview Features Communication between vehicles as well as road side units Acts like a 360 degree (bidirectional) sensor Enhances traffic flow and traffic safety 4 Christina Obermaier, Christian Facchi 7. September 2017
Inter Vehicle Communication ETSI ITS-G5 Protocol Stack DCC Security Facilities & Applications GeoNet & BTP ETSI ITS-G5 MAC: EDCA PHY: 5.9 GHz OFDM IEEE 802.11p 5 Christina Obermaier, Christian Facchi 7. September 2017
Inter Vehicle Communication ETSI ITS-G5 Protocol Stack DCC Security Facilities & Applications GeoNet & BTP ETSI ITS-G5 MAC: EDCA PHY: 5.9 GHz OFDM IEEE 802.11p dedicated spectrum 5 Christina Obermaier, Christian Facchi 7. September 2017
Inter Vehicle Communication ETSI ITS-G5 Protocol Stack DCC Security Facilities & Applications ETSI ITS-G5 GeoNet Outside & BTP the Context of Basic Service Set (OCB) MAC: EDCA PHY: 5.9 GHz OFDM IEEE 802.11p 5 Christina Obermaier, Christian Facchi 7. September 2017
Inter Vehicle Communication ETSI ITS-G5 Protocol Stack DCC Security Facilities & Applications GeoNet & BTP ETSI ITS-G5 geographical routing MAC: EDCA PHY: 5.9 GHz OFDM IEEE 802.11p 5 Christina Obermaier, Christian Facchi 7. September 2017
Inter Vehicle Communication ETSI ITS-G5 Protocol Stack DCC Security Facilities & Applications GeoNet local & knowledge BTP base ETSI ITS-G5 MAC: EDCA PHY: 5.9 GHz OFDM IEEE 802.11p 5 Christina Obermaier, Christian Facchi 7. September 2017
Inter Vehicle Communication ETSI ITS-G5 Protocol Stack DCC Security Facilities & Applications GeoNet HMI, automated & BTP driving ETSI ITS-G5 MAC: EDCA PHY: 5.9 GHz OFDM IEEE 802.11p 5 Christina Obermaier, Christian Facchi 7. September 2017
Inter Vehicle Communication ETSI ITS-G5 Protocol Stack DCC Security Facilities & Applications GeoNet & BTP ETSI ITS-G5 Congestion MAC: Control EDCA packets, bitrate, tx power PHY: 5.9 GHz OFDM IEEE 802.11p 5 Christina Obermaier, Christian Facchi 7. September 2017
Inter Vehicle Communication ETSI ITS-G5 Protocol Stack DCC Security Facilities & Applications GeoNet & BTP ETSI ITS-G5 Privacy & Authenticity MAC: EDCA PHY: 5.9 GHz OFDM IEEE 802.11p 5 Christina Obermaier, Christian Facchi 7. September 2017
Simulation Tools VANET simulation tools by THI Research Centre open-source ITS-G5 stack standard compliant packets integrated in Artery variable application sets suitable for rapid prototyping soon: radar sensors Available at https://github.com/riebl/{artery, vanetza} 6 Christina Obermaier, Christian Facchi 7. September 2017
7 Christina Obermaier, Christian Facchi 7. September 2017 HIL Testing with OMNeT++
HIL Concept Overview HIL Overview Simulated environment vehicles (blue) Physical twin vehicle with stripped down functionality (red) 802.11p proxy (USRP RIO) Message forwarding Simulated packets are sent over the air 8 Christina Obermaier, Christian Facchi 7. September 2017
HIL Concept Possible Problems Timing Problems OMNeT++ is running too fast OMNeT++ is running too slow Running too slow is not recognized 9 Christina Obermaier, Christian Facchi 7. September 2017
HIL Testing Real Time Scheduler cevent* RealTimeScheduler::takeNextEvent pseudocode Result: next cevent currentrealtimemiss = simtime - wallclocktime; if (currentrealtimemiss * -1) realtimemissthreshold then // simulation unacceptable slow stop simulation; else eventduration = wallclocktime - eventstarttime; log currentrealtimemiss and eventduration and nexteventidentifier; while SimTime wallclocktime do // simulation faster than real time wait; end set nexteventidentifier; set eventstarttime; return nextevent; end 10 Christina Obermaier, Christian Facchi 7. September 2017
HIL Testing Real Time Requirements Duplicate packet detection GPS timestamp Replay attack detection DENM validity Long range communication using MAC layer unicasts 11 Christina Obermaier, Christian Facchi 7. September 2017
12 Christina Obermaier, Christian Facchi 7. September 2017 Timing Observations
Real-Time Observations Scenario Description Hardware Component Laptop Computer Simulation Cluster CPU Intel Core i5-6300u @ 2.40GHz Cores 1 x 4 4 x 18 RAM 16GB 3TB Intel Xeon E7-8867 v4 @ 2.40GHz Hard Drive 256GB SSD 450GB SAS SSD RAID 1 Scenario Three vehicles on highway Five vehicles on highway 13 Christina Obermaier, Christian Facchi 7. September 2017
Real-Time Observations Event List ID Event name # Events 3 vehicles 1 TraCI Connect 1 1 2 TraCI Step 322 370 3 GeoNet packet 3870 11298 4 GeoNet data frame 3870 11298 5 txstart-0 3 5 6 endifs 661 1189 7 configureradiomode 1322 2378 8 transmissiontimer 661 1189 9 remove non Interfering Transmission 661 1188 10 report CL 928 1650 11 middleware update 925 1645 12 txstart-1 658 1184 13 GeoNet radio frame 1274 4460 # Events 5 vehicles 14 reception Timer 1274 4460 Overall events 16430 42315 14 Christina Obermaier, Christian Facchi 7. September 2017
Real-Time Observation Event Times 1e+00 1e+00 Event Duration in [s] 1e-02 1e-04 Event Duration in [s] 1e-02 1e-04 1 2 3 4 5 6 7 8 9 10 11 12 13 14 Event ID 1 2 3 4 5 6 7 8 9 10 11 12 13 14 Event ID Figure: Event times cluster Figure: Event times laptop 15 Christina Obermaier, Christian Facchi 7. September 2017
Real-Time Observation Real-Time Flow 0.04 Real time in [s] 0.03 0.02 0.01 3 vehicles (laptop) 3 vehicles (cluster) instant event durations real time delay 0.00 10.1 10.2 10.3 10.4 10.1 10.2 10.3 10.4 Simulation time in [s] Real time in [s] 0.06 0.04 0.02 5 vehicles (laptop) 5 vehicles (cluster) instant event durations real time delay 0.00 10.1 10.2 10.3 10.4 10.1 10.2 10.3 10.4 Simulation time in [s] 16 Christina Obermaier, Christian Facchi 7. September 2017
Real-Time Observation Simulation Run Overview 10000 10000 Amount of Events 1000 100 10 Amount of Events 1000 100 10 1 0 1 0-3.0-2.5-2.0-1.5-1.0 Real Time Loss in [s] -0.5 0.0-3.0-2.5-2.0-1.5-1.0 Real Time Loss in [s] -0.5 0.0 10000 10000 Amount of Events 1000 100 10 Amount of Events 1000 100 10 1 0 1 0-3.0-2.5-2.0-1.5-1.0 Real Time Loss in [s] -0.5 0.0-3.0-2.5-2.0-1.5-1.0 Real Time Loss in [s] -0.5 0.0 Figure: Laptop Figure: Cluster 17 Christina Obermaier, Christian Facchi 7. September 2017
18 Christina Obermaier, Christian Facchi 7. September 2017 Conclusion
Conclusion Which Parts can be Tested Properly? Duplicate packet detection GPS timestamp Replay attack detection DENM validity Long range communication using MAC layer unicasts 19 Christina Obermaier, Christian Facchi 7. September 2017
20 Christina Obermaier, Christian Facchi 7. September 2017 Further Work
Further Work Tweak simulation performance Add some parallelism Replay simulated test data 21 Christina Obermaier, Christian Facchi 7. September 2017
Thank You For Your Attention Any Questions? 22 Christina Obermaier, Christian Facchi 7. September 2017