Christina Obermaier, Christian Facchi · 7. September 2017Observations on OMNeT++ Real-Time Behaviour
Outline
1. Inter Vehicle Communication2. HIL Testing with OMNeT++3. Timing Observations4. Conclusion5. Further Work
2 · Christina Obermaier, Christian Facchi · 7. September 2017
Inter Vehicle Communication
3 · Christina Obermaier, Christian Facchi · 7. September 2017
Inter Vehicle CommunicationOverview
FeaturesCommunication between vehicles as well as road side unitsActs like a 360 degree (bidirectional) sensorEnhances traffic flow and traffic safety
4 · Christina Obermaier, Christian Facchi · 7. September 2017
Inter Vehicle CommunicationETSI ITS-G5 Protocol Stack
PHY: 5.9 GHz OFDM
MAC: EDCA
IEEE
80
2.1
1p
ETS
I IT
S-G
5
GeoNet & BTP
Facilities & ApplicationsS
ecu
rity
DC
C
5 · Christina Obermaier, Christian Facchi · 7. September 2017
Inter Vehicle CommunicationETSI ITS-G5 Protocol Stack
PHY: 5.9 GHz OFDM
MAC: EDCA
IEEE
80
2.1
1p
ETS
I IT
S-G
5
GeoNet & BTP
Facilities & ApplicationsS
ecu
rity
DC
C
dedicated spectrum
5 · Christina Obermaier, Christian Facchi · 7. September 2017
Inter Vehicle CommunicationETSI ITS-G5 Protocol Stack
PHY: 5.9 GHz OFDM
MAC: EDCA
IEEE
80
2.1
1p
ETS
I IT
S-G
5
GeoNet & BTP
Facilities & ApplicationsS
ecu
rity
DC
C Outside the Contextof Basic Service Set (OCB)
5 · Christina Obermaier, Christian Facchi · 7. September 2017
Inter Vehicle CommunicationETSI ITS-G5 Protocol Stack
PHY: 5.9 GHz OFDM
MAC: EDCA
IEEE
80
2.1
1p
ETS
I IT
S-G
5
GeoNet & BTP
Facilities & ApplicationsS
ecu
rity
DC
C
geographical routing
5 · Christina Obermaier, Christian Facchi · 7. September 2017
Inter Vehicle CommunicationETSI ITS-G5 Protocol Stack
PHY: 5.9 GHz OFDM
MAC: EDCA
IEEE
80
2.1
1p
ETS
I IT
S-G
5
GeoNet & BTP
Facilities & ApplicationsS
ecu
rity
DC
C local knowledge base
5 · Christina Obermaier, Christian Facchi · 7. September 2017
Inter Vehicle CommunicationETSI ITS-G5 Protocol Stack
PHY: 5.9 GHz OFDM
MAC: EDCA
IEEE
80
2.1
1p
ETS
I IT
S-G
5
GeoNet & BTP
Facilities & ApplicationsS
ecu
rity
DC
C HMI, automated driving…
5 · Christina Obermaier, Christian Facchi · 7. September 2017
Inter Vehicle CommunicationETSI ITS-G5 Protocol Stack
PHY: 5.9 GHz OFDM
MAC: EDCA
IEEE
80
2.1
1p
ETS
I IT
S-G
5
GeoNet & BTP
Facilities & ApplicationsS
ecu
rity
DC
C
Congestion Controlpackets, bitrate, tx power
5 · Christina Obermaier, Christian Facchi · 7. September 2017
Inter Vehicle CommunicationETSI ITS-G5 Protocol Stack
PHY: 5.9 GHz OFDM
MAC: EDCA
IEEE
80
2.1
1p
ETS
I IT
S-G
5
GeoNet & BTP
Facilities & ApplicationsS
ecu
rity
DC
C
Privacy & Authenticity
5 · Christina Obermaier, Christian Facchi · 7. September 2017
Simulation ToolsVANET simulation tools by THI Research Centre
open-source ITS-G5 stackstandard compliant packetsintegrated in Artery
variable application setssuitable for rapid prototypingsoon: radar sensors
Available at https://github.com/riebl/{artery, vanetza}6 · Christina Obermaier, Christian Facchi · 7. September 2017
HIL Testing with OMNeT++
7 · Christina Obermaier, Christian Facchi · 7. September 2017
HIL ConceptOverview
HIL OverviewSimulated environment vehicles(blue)Physical twin vehicle with strippeddown functionality (red)802.11p proxy (USRP RIO)Message forwardingSimulated packets are sent over theair
8 · Christina Obermaier, Christian Facchi · 7. September 2017
HIL ConceptPossible Problems
Timing ProblemsOMNeT++ is running too fastOMNeT++ is running too slowRunning too slow is not recognized
9 · Christina Obermaier, Christian Facchi · 7. September 2017
HIL TestingReal Time Scheduler
cEvent* RealTimeScheduler::takeNextEvent pseudocodeResult: next cEventcurrentRealTimeMiss = simTime - wallClockTime;if (currentRealTimeMiss * -1) órealTimeMissThreshold then
// simulation unacceptable slowstop simulation;else
eventDuration = wallClockTime - eventStartTime;log currentRealTimeMiss and eventDuration and nextEventIdentifier;while SimTime òwallClockTime do
// simulation faster than real timewait;endset nextEventIdentifier;set eventStartTime;return nextEvent;
end
10 · Christina Obermaier, Christian Facchi · 7. September 2017
HIL TestingReal Time Requirements
Duplicate packet detectionGPS timestampReplay attack detectionDENM validityLong range communication using MAC layer unicasts
11 · Christina Obermaier, Christian Facchi · 7. September 2017
Timing Observations
12 · Christina Obermaier, Christian Facchi · 7. September 2017
Real-Time ObservationsScenario Description
Hardware
Component Laptop Computer Simulation ClusterCPU Intel Core i5-6300U @2.40GHz Intel Xeon E7-8867 v4 @2.40GHzCores 1 x 4 4 x 18RAM 16GB 3TB
Hard Drive 256GB SSD 450GB SAS SSD RAID 1
ScenarioThree vehicles on highwayFive vehicles on highway
13 · Christina Obermaier, Christian Facchi · 7. September 2017
Real-Time ObservationsEvent List
ID Event name # Events”3 vehicles” # Events”5 vehicles”1 TraCI Connect 1 12 TraCI Step 322 3703 GeoNet packet 3870 112984 GeoNet data frame 3870 112985 txStart-0 3 56 endIFS 661 11897 configureRadioMode 1322 23788 transmissionTimer 661 11899 remove non InterferingTransmission 661 118810 report CL 928 165011 middleware update 925 164512 txStart-1 658 118413 GeoNet radio frame 1274 446014 reception Timer 1274 4460
Overall events 16430 42315
14 · Christina Obermaier, Christian Facchi · 7. September 2017
Real-Time ObservationEvent Times
1e-04
1e-02
1e+00
1 2 3 4 5 6 7 8 9 10 11 12 13 14
Event ID
Eve
ntD
urat
ion
in[s
]
Figure: Event times cluster
1e-04
1e-02
1e+00
1 2 3 4 5 6 7 8 9 10 11 12 13 14
Event ID
Eve
ntD
urat
ion
in[s
]Figure: Event times laptop
15 · Christina Obermaier, Christian Facchi · 7. September 2017
Real-Time ObservationReal-Time Flow
3ve
hicl
es(c
lust
er)
3ve
hicl
es(l
apto
p)
10.1 10.2 10.3 10.4 10.1 10.2 10.3 10.4
0.00
0.01
0.02
0.03
0.04
Simulation time in [s]
Rea
ltim
ein
[s]
inst
ant
even
tdu
ratio
ns
real
time
dela
y
5ve
hicl
es(c
lust
er)
5ve
hicl
es(l
apto
p)
10.1 10.2 10.3 10.4 10.1 10.2 10.3 10.4
0.00
0.02
0.04
0.06
Simulation time in [s]
Rea
ltim
ein
[s]
inst
ant
even
tdu
ratio
ns
real
time
dela
y
16 · Christina Obermaier, Christian Facchi · 7. September 2017
Real-Time ObservationSimulation Run Overview
01
10
100
1000
10000
0.0-0.5-1.0-1.5-2.0-2.5-3.0
Real Time Loss in [s]
Am
ount
ofE
vent
s
01
10
100
1000
10000
0.0-0.5-1.0-1.5-2.0-2.5-3.0
Real Time Loss in [s]
Am
ount
ofE
vent
s
Figure: Laptop
01
10
100
1000
10000
0.0-0.5-1.0-1.5-2.0-2.5-3.0
Real Time Loss in [s]
Am
ount
ofE
vent
s
01
10
100
1000
10000
0.0-0.5-1.0-1.5-2.0-2.5-3.0
Real Time Loss in [s]
Am
ount
ofE
vent
s
Figure: Cluster17 · Christina Obermaier, Christian Facchi · 7. September 2017
Conclusion
18 · Christina Obermaier, Christian Facchi · 7. September 2017
ConclusionWhich Parts can be Tested Properly?
Duplicate packet detection 5
GPS timestamp 5
Replay attack detection 5
DENM validity�Long range communication using MAC layer unicasts 4
19 · Christina Obermaier, Christian Facchi · 7. September 2017
Further Work
20 · Christina Obermaier, Christian Facchi · 7. September 2017
Further Work
Tweak simulation performanceAdd some parallelismReplay simulated test data
21 · Christina Obermaier, Christian Facchi · 7. September 2017
Thank You For Your AttentionAny Questions?
22 · Christina Obermaier, Christian Facchi · 7. September 2017