Observations on OMNeT++ Real-Time Behaviour Christina Obermaier, - PowerPoint PPT Presentation

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

Inter Vehicle Communication 3 · Christina Obermaier, Christian Facchi · 7. September 2017

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 Security Facilities & Applications ITS-G5 ETSI DCC GeoNet & BTP 802.11p MAC: EDCA IEEE PHY: 5.9 GHz OFDM 5 · Christina Obermaier, Christian Facchi · 7. September 2017

Inter Vehicle Communication ETSI ITS-G5 Protocol Stack Security Facilities & Applications ITS-G5 ETSI DCC GeoNet & BTP 802.11p MAC: EDCA IEEE PHY: 5.9 GHz OFDM dedicated spectrum 5 · Christina Obermaier, Christian Facchi · 7. September 2017

Inter Vehicle Communication ETSI ITS-G5 Protocol Stack Security Facilities & Applications ITS-G5 ETSI DCC GeoNet & BTP Outside the Context of Basic Service Set (OCB) 802.11p MAC: EDCA IEEE PHY: 5.9 GHz OFDM 5 · Christina Obermaier, Christian Facchi · 7. September 2017

Inter Vehicle Communication ETSI ITS-G5 Protocol Stack Security Facilities & Applications ITS-G5 ETSI DCC GeoNet & BTP geographical routing 802.11p MAC: EDCA IEEE PHY: 5.9 GHz OFDM 5 · Christina Obermaier, Christian Facchi · 7. September 2017

Inter Vehicle Communication ETSI ITS-G5 Protocol Stack Security Facilities & Applications ITS-G5 ETSI local knowledge base DCC GeoNet & BTP 802.11p MAC: EDCA IEEE PHY: 5.9 GHz OFDM 5 · Christina Obermaier, Christian Facchi · 7. September 2017

Inter Vehicle Communication ETSI ITS-G5 Protocol Stack Security Facilities & Applications ITS-G5 ETSI HMI, automated driving… DCC GeoNet & BTP 802.11p MAC: EDCA IEEE PHY: 5.9 GHz OFDM 5 · Christina Obermaier, Christian Facchi · 7. September 2017

Inter Vehicle Communication ETSI ITS-G5 Protocol Stack Security Facilities & Applications ITS-G5 ETSI DCC GeoNet & BTP 802.11p MAC: EDCA Congestion Control packets, bitrate, tx power IEEE PHY: 5.9 GHz OFDM 5 · Christina Obermaier, Christian Facchi · 7. September 2017

Inter Vehicle Communication ETSI ITS-G5 Protocol Stack Security Facilities & Applications ITS-G5 ETSI DCC GeoNet & BTP Privacy & Authenticity 802.11p MAC: EDCA IEEE PHY: 5.9 GHz OFDM 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

HIL Testing with OMNeT++ 7 · Christina Obermaier, Christian Facchi · 7. September 2017

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

Timing Observations 12 · Christina Obermaier, Christian Facchi · 7. September 2017

Real-Time Observations Scenario Description Hardware Component Laptop Computer Simulation Cluster CPU Intel Core i5-6300U @ Intel Xeon E7-8867 v4 @ 2.40GHz 2.40GHz Cores 1 x 4 4 x 18 RAM 16GB 3TB 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 # Events ”3 vehicles” ”5 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 661 1188 Transmission 10 report CL 928 1650 11 middleware update 925 1645 12 txStart-1 658 1184 13 GeoNet radio frame 1274 4460 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] Event Duration in [s] 1e-02 1e-02 1e-04 1e-04 1 2 3 4 5 6 7 8 9 10 11 12 13 14 1 2 3 4 5 6 7 8 9 10 11 12 13 14 Event ID 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 instant event durations real time delay Real time in [s] 0.03 3 vehicles (laptop) 3 vehicles (cluster) 0.02 0.01 0.00 10.1 10.2 10.3 10.4 10.1 10.2 10.3 10.4 Simulation time in [s] instant event durations 0.06 real time delay Real time in [s] 5 vehicles (cluster) 5 vehicles (laptop) 0.04 0.02 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 Amount of Events 1000 1000 100 100 10 10 1 1 0 0 -3.0 -2.5 -2.0 -1.5 -1.0 -0.5 0.0 -3.0 -2.5 -2.0 -1.5 -1.0 -0.5 0.0 Real Time Loss in [s] Real Time Loss in [s] 10000 10000 Amount of Events Amount of Events 1000 1000 100 100 10 10 1 1 0 0 -3.0 -2.5 -2.0 -1.5 -1.0 -0.5 0.0 -3.0 -2.5 -2.0 -1.5 -1.0 -0.5 0.0 Real Time Loss in [s] Real Time Loss in [s] Figure: Laptop Figure: Cluster 17 · Christina Obermaier, Christian Facchi · 7. September 2017

Conclusion 18 · Christina Obermaier, Christian Facchi · 7. September 2017

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

Further Work 20 · Christina Obermaier, Christian Facchi · 7. September 2017

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