Contents	5
	1 Introduction	7
	1.1 Overview	8
	1.2 Why Vehicular Communication?	8
	1.3 Architecture Layers	9
	References	10
	2 Applications of Vehicular Communication	11
	2.1 Safety	11
	2.1.1 Critical Traffic Situations	15
	2.1.1.1 Cars Passing at Close Distance (Head-on)	16
	2.1.1.2 Head-on Vehicle Collision	16
	2.1.1.3 Rear-End Vehicle Collision	17
	2.1.1.4 Side Collisions at Intersections	18
	2.1.2 Classification of Safety Applications	23
	2.1.3 Normal Transmission Scheme	26
	2.1.3.1 Cooperative Adaptive Cruise Control	26
	2.1.3.2 Cooperative Glare Reduction	27
	2.1.3.3 Cooperative Merging Assistance	27
	2.1.4 Bidirectional Transmission Scheme	28
	2.1.4.1 Pre-crash Sensing	28
	2.1.5 Non-autonomous Systems	29
	2.1.5.1 Cooperative Forward Collision Warning	30
	2.1.5.2 Lane Change Assistance	30
	2.1.5.3 Wrong Way Driving Warning	31
	2.1.6 Quick Warning Alerts	31
	2.1.6.1 Cooperative Intersection Collision Warning	33
	2.1.6.2 Emergency Electronic Brake Lights	33
	2.1.6.3 Approaching Emergency Vehicle Warning	34
	2.1.6.4 Rail Collision Warning	34
	2.1.6.5 Slow Vehicle Warning	35
	2.1.6.6 Post-crash Warning	35
	2.1.6.7 Traffic Jam Ahead Warning	35
	2.1.6.8 Hazardous Location Notification	35
	2.1.6.9 Working Area Warning	36
	2.1.6.10 Limited Access Warning	36
	2.2 Resource Efficiency	36
	2.2.1 Autonomous Systems	37
	2.2.2 Normal Traffic Alerts	37
	2.2.2.1 Green Light Wave	38
	2.2.2.2 Enhanced Route Guidance and Navigation	38
	2.3 Infotainment	39
	2.3.1 Ad Hoc Services	40
	2.3.1.1 Point of Interest (PoI) Notification	40
	2.3.1.2 Drive-Through Toll/Park Payment	40
	2.3.1.3 Remote Diagnostics	40
	2.3.2 Provider Services	41
	2.3.2.1 Internet Access	41
	2.3.2.2 Repair Notification	41
	2.3.2.3 Fleet Management	41
	2.4 Summary of Application Requirements	41
	References	44
	3 Communication Regimes	45
	3.1 Bidirectional Communication Regime	46
	3.2 Position Based Communication Regime	48
	3.3 Multi-Hop Position Based Communication Regime	50
	References	51
	4 Information in the Vehicular Network	52
	4.1 Accuracy of Information	53
	4.2 Time Critical Information	53
	4.3 Time and Distance for Braking	54
	4.4 Time and Distance for Overtaking	61
	4.5 Time Zones for Proactive Applications	63
	4.5.1 Data Requirements	63
	4.5.2 Network Requirements	65
	4.5.3 The Cooperative Collision Avoidance System	66
	References	70
	5 Routing	72
	5.1 Multi-hop Routing Protocols	74
	5.1.1 Ad Hoc on Demand Distance Vector (AODV)	74
	5.1.2 Grid Location Service (GLS)	76
	5.1.3 Greedy Perimeter Stateless Routing (GPSR)	79
	5.1.4 Geographic Source Routing (GSR)	80
	5.1.5 Contention-Based Forwarding (CBF)	81
	5.1.6 Octopus	85
	5.1.7 Advanced Greedy Forwarding (AGF)	86
	5.1.8 Preferred Group Broadcasting (PGB)	86
	5.2 Secure Multi-hop Routing	89
	5.2.1 Authenticated Routing for Ad Hoc Networks (ARAN)	89
	5.2.2 Secure Ad Hoc on Demand Vector (SAODV)	90
	5.2.3 Secure Link State Routing Protocol (SLSP)	91
	5.2.4 Secure Position Aided Ad Hoc Routing (SPAAR)	91
	References	92
	6 Medium Access for Vehicular Communications	94
	References	101
	7 Physical Layer Technologies	103
	References	106
	8 Security	107
	References	110
	Index	111