Performance analysis of smartphone based real-time driver system over IEEE 802.11 wireless networks.
PERFORMANCE ANALYSIS OF SMARTPHONE BASED REAL-TIME
DRIVER ASSIST SYSTEM OVER IEEE 802.11 WIRELESS NETWORKS
WONG CHEE YIN
This report is submitted in partial fulfillment of requirements for the Bachelor
Degree of Electronic Engineering (Wireless Communication Electronic)
Faculty of Electronic and Computer Engineering
University Technical Malaysia Melaka
June 2013
© Universiti Teknikal Malaysia Melaka
ii
UNIVERSTI TEKNIKAL MALAYSIA MELAKA
FAKULTI KEJURUTERAAN ELEKTRONIK DAN KEJURUTERAAN KOMPUTER
BORANG PENG ESAHAN STA TUS LAPORA N
PROJEK SARJANA MUDA II
Tajuk Projek
PERFORMANCE ANALYSIS OF SMARTPHONE BASED
REAL-TIME DRIVER ASSIST SYSTEM OVER IEEE 802.11
WIRELESS NETWORKS
Sesi Pengaj ian
Saya WO G CHEE YIN mengaku membenarkan Laporan Projek Sarjana Muda ini disimpan di
Perpustakaan dengan syarat-syarat kegunaan seperti berikut:
1.
Laporan adalah hakmilik Universi
Teknikal Malaysia Melaka .
2.
Perpustakaan dibenarkan membuat salinan untuk tujuan pengajian sahaja .
3.
Perpustakaan dibenarkan membuat salinan la po ran ini sebagai bahan pertukaran antara inst usi
pengajian n ggi.
4.
Sila tandakan ( 'I ) :
D
D
D
*(Mengandungi maklumat yang berdarjah keselamatan atau
kepenn gan Malaysia seper yang termaktub di dalam AKTA
SULIT*
RAHSIA RASMI 1972)
**(Mengandungi maklumat terhad yang telah ditentukan oleh
TE RHAO**
organisasi/badan di mana penyelidikan dijalankan)
TIOA K TERHAO
Disahkan oleh :
(TANDATANGAN PENULIS)
© Universiti Teknikal Malaysia Melaka
iii
"I hereby declare that this report is the result of my own work except for quotes as
cited in the references."
Signature
Author
:WONG CHEE YIN
Date
:141h June 2013
© Universiti Teknikal Malaysia Melaka
iv
"I hereby declare that I have read this report and in my opinion this report is
sufficient in terms of scope and quality award of Bachelor of Electronic
Engineering (Wireless Communication Engineering) With Honors."
Signature
Author
:DR. LIM KIM CHUAN
Date
:141h June 2013
© Universiti Teknikal Malaysia Melaka
v
Dedicated to my beloved family members.
© Universiti Teknikal Malaysia Melaka
vi
ACKNOWLEDGMENT
This project was completed after I have working for it for two semesters. I have
learnt and gained a lot of experience and my knowledge was improved within these two
semesters.
First of all , I would like to deliver my sincere appreciation to my supervisor, Dr.
Lim Kim Chuan. Dr. Lim has taught me from the beginning of my project starts. He
guides me back to the correct path whenever I lost. Besides, he teaches me in a manner
that easy to understand by giving simple examples. He borrows reference books to me
and shares with me some useful links, too. Whenever I confused, Dr. Lim will try to
simplify my problem and explained to me patiently. Apart from that, Dr. Lim will let me
explore the things myself by giving general guidance. Thus, I can learn to solve the
problem myself after trying. Furthermore, I really appreciate Dr. Lim for borrowing me
his Smartphone when the Smartphone used previously sent for repair. I feel motivated
each time I attend meeting with Dr. Lim. I would like to thank Dr. Lim for giving
guidance to improve my presentation skills, too.
I would like to thanks to Wireless Lab assistant for her kindness. She always
allows me to use the computer and Wi-Fi . I would like to thanks to my lecturers who
concern about the progress of my project and give me permissions to use the computer
in lab.
I would like to express my gratitude to my friends who share with me the
knowledge in solving computing technical problem. My friends were helped me a lot by
sharing the experience, listen to problem I faced and give explanation on the problem I
faced .
Furthermore, I would like to express my deepest appreciation to my beloved
family members who always support me morally. They willing to listen to me and
encourage me all the times.
The guidance and support received from my supervisor, lecturer, friends and
family was vital for the success of this project. I am grateful for everyone' s constant
support and help.
© Universiti Teknikal Malaysia Melaka
vii
ABSTRACT
When a car is just behind the truck, car driver' s view is blocked by the truck in
front. Since the distance between the truck and car is about a length of a car, only the
truck is viewed by car driver, but not the incoming traffic. Car driver cannot determine
whether it is a suitable time for safely overtaking. A driver assisting system is proposed
for this scenario.
Two smartphones are needed in the proposed driver assisting system.
Smartphone A is placed in the truck while Smartphone B is placed in the car. Truck
driver' s view is captured using Smartphone A and sending out. Smartphone Bis used by
car driver to receive view shared by Smartphone A to extend the view. Therefore, car
driver will know the reason causing the slow moving truck in front. Car driver can then
decide and able to make safely overtaking decision. However, this video transmission
must be in real-time with over the inherently non real-time wireless communication
channel. This means that the Wi-Fi link performance has to be able to determine in realtime by the receiver smartphone, to make sure that data is smoothly transferred with
throughput of l Mbps. No video shall be displayed by the receiver smartphone if the link
is not able to stream the video at the required data throughput.
The investigation processes involved firstly determine the expected working
distance for this proposed driver assisting system. Then, the expected throughputs for
both vehicles in static and moving conditions including the Doppler effect are figured
determined. Throughput between smartphones and PC is measured using Iperf.
Experiment is carried out to ensure it throughput around 1Mbps can be obtained in real
scenario. The obtained measurement result using the developed application shows the
similar measurement as obtained with the Iperf. The actual per\ormance of the Wi-Fi
link in real-time, which is a good indication to alert user with the stability of the
inherently non real-time characteristics of Wi-Fi channel, can then be determined
through the develop application with the calculation on packets received and packet lost
at the receiver. The result obtained from the designed and constructed application not
only can give measurement as lperf, but also allow custom data (for instance, messages
in this case or video image for further development of deiver assisting system) to be
transmitted.
© Universiti Teknikal Malaysia Melaka
viii
ABSTRAK
Apabila sebuah kereta berada tepat pada belakang trak, pandangan pamandu
kereta dihalang oleh trak depan. Jarak antara kereta dan trak kira-kira panjang sebuah
kereta, oleh itu, hanya trak dilihat oleh pemandu kereta, bukan trafik yang dating.
Pemandu kereta tidak dapat mengambil keputusan memotong trak depan dengan
selamat. Satu system memandu pemandu dicadangkan.
Dua telefon pintar diperlukan dalam cadangan projeck ini . Telefon pintar A
diletakkan dalam trak, Samrtphone B diletakkan dalam kereta. Pandangan pemandu trak
ditangkap menggunakan Sarnrtphone A dan dihantarkan. Sarnrtphone B digunakan oleh
pemandu kereta untuk menerima pandangan yang dikongsi oleh Smartphone A untuk
meluaskan pandangan. Dengan itu, pemandu kereta akan tahu sebab trak yang lambat
bergerak. Pemandu kereta boleh mengambil keputusan memotong trak depan dengan
selamat. Akan tetapi, video yang dikongsi mesti diterima pada masa yang sama dengan
masa menghantar. Dengan itu, pemandu boleh mengharapkan system ini dalarn
mengambil keputusan memotong jalan. Ini bermaksud analisis pautan prestasi Wi-Fi
diperlukan untuk memastikan pemprosesan penghantaran data kira-kira lMbps. Tiada
video dikongsi apabila pemprosesan penghantaran data tidak memadai.
Proses penyiasatan yang terlibat kan megesan jangkaan pemprosesan jarak
berkesan untuk system ini. Selepas itu, jangkaan pemprosesan untuk kedua-dua
kenderaan dalam keadaan static dan bergerak yang melibatkan Doppler effect dikesan.
Pemprosesan antara telefon pintar and PC diukur menggunakan Iperf. Eksperimen
dijalankan untuk memastikan pemprosesan lebih kurang 1Mbps berkesan dalam
keadaaan sebenar. Keputusan yang dapat adalah lebi kurang sama dengan keputusan
sebenar, adalah satu
yang dapat melalui Iperf. Prestasi sebenar Wi-Fi dalam ｫ･｡､ｾ＠
petunjuk kepada pemandu mengenai kestabilan cirri-ciri masa sebenar Wi-Fi saluran,
dapat dikesan melalui pembangunan apikasi kiraan paket diterima dan kehilangan paket
pada penerima. Keputusan yang dapat daripada rekaan aplikasi bukan sahaja memberi
ukuran seperti lperf, tetapi juga membenarkan penghantaran data (contohnya, mesej
dalam kes ini atau video penggambaran untuk pembangunan system membantu
pemandu).
© Universiti Teknikal Malaysia Melaka
ix
CONTENT
CHAPTER
TITLE
PAGES
PROJECT TITLE
STATUS REPORT FORM
ii
STUDENT DECLARATION
iii
SUPERVISOR DECLARATION
iv
DEDICATION
v
ACKNOWLEDGMENT
vi
ABSTRACT
vii
ABSTRAK
viii
CONTENT
ix
LIST OF FIGURE
xiii
LIST OFTABLE
xv
LIST OF ABBREVIATIONS
xvi
© Universiti Teknikal Malaysia Melaka
x
2
INTRODUCTION
1
1.1 Overview of Project
1
1.2 Problem Statement
4
1.3 Objectives
4
1.4 Scope of Project
5
LITERATURE REVIEW
6
2.1 Introduction of the proposed driver assisting system
6
2.2 Existing Technologies
8
2.2.1 Adaptive Cruise Control
9
2.2.2 Lane Departure and Lane-Changing systems
10
2.2.3 Driver Vigilance
11
2.2.4 V2X-Based Android
13
2.3 Identified major components and possible issue faced by
the system
15
2.3.1 Transport protocol
15
2.3.2 Multicast
16
2.3.3 Carrying Multicast real-time traffic
16
2.3.4 Bit rate for IEEE 802.11
17
2.3.5 Downlink rate
17
2.3.6 Doppler effect
19
2.3.7 IEEE 802.1 lg Wi-Fi Standard
21
2.3.8 Identify Safe Following Distances
22
2.4 Possible tools used to construct the propose system
23
2.4.1 OpenCV4Android SDK
23
2.4.2 Eclipse
24
2.4.3 Terminal Emulator
25
© Universiti Teknikal Malaysia Melaka
xi
3
4
2.4.4 Iperf
25
2.4.5 Wireshark
27
2.4.6 inSSIDer
27
METHODOLOGY
29
3.1 Determine working distance
30
3.2 Measure throughput when both vehicles are static
30
3.3 Measure throughput when both vehicles are moving
31
3.4 Measure Throughput using Iperf
32
3.5 Experiment
32
3.6 Designing and Constructing Smartphone Application
33
RESULT AND DISCUSSION
36
a. The expected working distance of the proposed
Driver assisting system
37
4.2 Expected throughput between two smartphones
(When both vehicles are not moving)
42
4.3 Expected throughput between two smartphones
(When both vehicles are moving)
43
4.3.1 Doppler Effect
43
4.4 Performance from Measurement and Application
Construction
46
4.4.1 Using Iperf to measure UDP throughput, delay
And jitter of unicast and multicast
(Smartphone to Smartphone)
4.4.2 Using Iperf to measure UDP throughput, delay
© Universiti Teknikal Malaysia Melaka
48
xii
And jitter of unicast and multicast
(Smartphone to PC)
51
4.4.3 Using Iperf to measure UDP throughput, delay
And jitter of unicast and multicast
(PC to Smartphone)
55
4.4.4 Experiment fro throughput measurement carried
out by using Iperf
58
4.4.5 Validate the performance of the Constructed
Application with the collected Iperf Results
(throughput only)
64
4.4.6 Ability of Application to send and receive data
64
4.4. 7 Link Performance
67
4.4.8 Implementation of real-time client and server based
Wi-Fi link performance measurement function
in the smartphones
68
4.4 Designation and Construction of
First Working Application
5
55
CONCLUSION AND RECOMMENDATION
70
5.1 Conclusion
71
5.2 Recommendation
73
REFERENCES
74
BIBLIOGRAPHY
77
APPENDICES
78
© Universiti Teknikal Malaysia Melaka
xiii
LIST OF FIGURE
FIGURE
TITLE
PAGE
l.l(a)
Driver's vision when moving behind the truck
3
1.1 (b)
Driver' s vision \:vhen just behind the truck
4
2.1
Flow chart of proposed driver assisting system
7
2.2(a)
Continental 's ACC system
10
2.2(b)
Hella' s LOWS
11
2.2(c)
Hella' s Alertness Assistant
13
2.2(d)
DriveAssist' s main menu
14
2.3
OSI reference model
15
2.4
Expected bit rate at different ranges
17
2.5(a)
Outdoor urban scenario
18
2.5(b)
Outdoor rural scenario
18
2.6
BER versus Doppler sh ift graph for QPSK Y2
20
2.7
Throughput of IEEE 802.1 1g with different bit rates
22
© Universiti Teknikal Malaysia Melaka
xiv
2.8(a)
Throughput measurement from PC to smartphone
26
2.8(b)
Throughput measurement from smartphone to PC
26
2.9
Packets captured using Wireshark
27
2.10
Software inSSIDer
28
3. l
Flow chart of procedure to analyze link performance
30
3.2
Iperf Android is installed in both smartphone
32
3.3
Flow chart for designation and construction of smartphone
application
34
4. l
Scenario for the usage of proposed driver assist system
37
4.2
Graph distance versus speed between two vehicles
39
4.3
Throughput versus Theoretical bit rate
41
4.4(a)
Graph expected bit rate for different distances
42
4.4(b)
Graph expected throughput for different distances
43
4.5
Doppler shift diagram
45
4.6
BER versus Doppler shift
46
4.7
Flow chart using Iperf between two smartphones
47
4.8(a)
Average jitter of unicast measured between two
smartphones when bandwidth is I Mbps
4.8(b)
Average jitter of unicast measured between two
smartphones when bandwidth is I OMbps
4.8(c)
49
Average jitter of multicast measured between two
© Universiti Teknikal Malaysia Melaka
49
xv
smartphones when bandwidth is I Mbps
4.8(d)
Average jitter of multicast measured between two
smartphones when bandwidth is I OMbps
4.9(a)
56
Average jitter of multicast measured for bandwidth I Mbps
when smartphone runs as server
4. lO(d)
56
Average jitter of unicast measured for bandwidth I Mbps
when smartphone runs as server
4. IO(c)
54
Average jitter of unicast measured for bandwidth I Mbps
when smartphone runs as server
4. IO(b)
54
Average jitter of multicast measured for bandwidth I Mbps
when PC runs as server
4. IO(a)
53
Average jitter of multicast measured for bandwidth I Mbps
when PC runs as server
4.9(d)
52
Average jitter of unicast measured for bandwidth I Mbps
when PC runs as server
4.9(c)
50
Average jitter of unicast measured for bandwidth I Mbps
when PC runs as server
4.9(b)
50
57
Average jitter of multicast measured for bandwidth I Mbps
when smartphone runs as server
58
4.ll(a)
Distance between truck and car is small (a car length)
59
4.1 l(b)
Car driver vision is completely blocked by truck in front
60
© Universiti Teknikal Malaysia Melaka
xvi
4. ll(c)
Car driver' s vision is extended by using Smartphone B
to receive view shared by Smartphone A in the truck in front
4.l2(a)
Average jitter of unicast measured for experiment
when bandwidth I Mbps
4.l2(b)
62
Average jitter of multicast measured for experiment
when bandwidth 1Mbps
4.12(d)
61
Average jitter of unicast measured for experiment
when bandwidth I OMbps
4. l2(c)
60
63
Average jitter of multicast measured for experiment
when bandwidth 1OM bps
63
4.13(a)
Application testing sending data continuously
65
4.l3(b)
UDP datagram captured using Wireshark
65
4.13(c)
Application testing receiving data continuously
66
4.14(a)
Application result for sending data continuously
66
4.14(b)
Application result for receiving data continuously
67
4.15
Packet received calculated for every second
68
4.16
Performance of Wi-Fi link obtained from calculating the
4.17
packet lost
69
87 frames received within 1 second captured using Wireshark
65
© Universiti Teknikal Malaysia Melaka
xvii
LIST OF TABLE
TABLE
TITLE
PAGE
2.1
Polynomial coefiicient for QPSK Y2
20
2.2
The hypothetical speed and range
21
4.0
Calculated distance (d) with respect to the vehicle speed (v)
According to the 2-second rules
4.1
39
The expected bit rate and throughput for the
safety following distance
41
4.2
Doppler shift for various speeds different
44
4.3(a)
Throughput unicast measured between two smartphones
48
4.3(b)
Throughput multicast measured between two smartphone
48
4.3(c)
Throughput multicast measured using different buffer size 51
4.4(a)
Throughput unicast measured from smartphone to PC
51
4.4(b)
Throughput multicast measured from smartphone to PC
52
© Universiti Teknikal Malaysia Melaka
xviii
4.5(a)
Throughput unicast measured from PC to smartphone
55
4.5(b)
Throughput multicast measured from PC to smartphone
55
4.6(a)
Throughput unicast measured from experiment
61
4.6(b)
Throughput multicast measured from experiment
61
© Universiti Teknikal Malaysia Melaka
xix
LIST OF ABBREVIATIONS
ISM
Industrial, Scientific and Medical
SNR
Signal-to-Noise Ratio
BER
Bit Error Rate
UDP
User Datagram Protocol
TCP
Transmission Control Protocol
IP
Internet Protocol
OSI
Interconnection Model
© Universiti Teknikal Malaysia Melaka
1
CHAPTER I
INTRODUCTION
Driver assist systems reveal how technology is being applied to augment drivers '
skills and at the same time, improved road safety throughput. ln Europe, the European
Commission formed the eSafety working-group in 2002 (J.Jaaskelainen, 2002). The aim
of his working-group is to encourage the development and use of intelligent and
integrated safety systems in cars. According to the statistics, this eSafety web site shown
that more than l .2 million people were involved in road
｡｣ｩ､･ｮｴｾ＠
and being injured in
the EU in 2005 and, over 40,000 were killed (Christine, 2009). Analysis of accidents
shows that human error is the main cause of accidents, it takes about 93 percent. Thus, a
sensing system that able to assist and warn the driver could save lives. The existing
technologies is on preventing rear-ending collisions, keeping the vehicle in the lane,
assist vehicle in overtaking, and technologies that wakens sleepy drivers.
© Universiti Teknikal Malaysia Melaka
2
A driver assist system is used to provide driver additional information when
driving. It can provide driver information in different ways, the path to a destination or
the nearby traffic condition in the road. For instance, when driving in a two-way road, it
is extremely useful in providing driver the nearby traffic condition in real time,
especially when vision of driver is blocked by a vehicle with huge size. For example,
when two vehicles are moving in a lane, the vision of driver may be blocked if there is a
truck in front. With the use of real-time driver assist system, the driver's vision has
greatly extended and allow driver to react accordingly. If there is an accident occurred or
road block, the vehicles behind may choose to use an alternative lane or make a U-tum.
Driver may choose to queue patiently or overtaking when the flow of vehicles in the
road is slow.
With the development of advanced technologies today, mobile devices with
multiple functions are available. For example, in a smartphone, the camera is able to
capture a higher quality video and images, significant amount of computing power and
connectivity via various wireless local area networks. The making use the inherently
ISM band wireless communication connectivity is possible to send and receive the
compressed video images to assist driver in making life critical decision in real time is to
be examined.
1.1
Overview of project:
When driver in a car is moving behind a truck, the driver' s vision is blocked by
the truck. In order to extend the vision, the driver can move the car slightly to the right
or left from the truck. However, this could only work if there is a far distance between
the car and the truck, illustrate in Figure l . l (a).
The problem comes when a driver in the car is just behind the truck . The driver ' s
vision is blocked by the truck in front, as illustrate in Figure l . l (b ). Since the driver
cannot determine whether there is any vehicle occupied the space in front of the truck or
not, the driver cannot determine is it a suitable time to overtake the truck.
© Universiti Teknikal Malaysia Melaka
3
ln the case where driver in the car is just behind the truck and driver' s vision is
blocked, the distance between both vehicles is considered short. Thus, car driver is
forced to slow down the car speed until almost the same as the truck in front in order to
avoid collision. The distance between both vehicles is assumed a car length according to
the safe following distance by using 2-second rule. This is the scenario where the
propose driver assisting system is used.
Two smartphones are needed for the usage of the proposed driver assisting
system. Smartphone A is placed in the truck while Smartphone B is placed in the car.
View from truck driver will be captured and sending out from Smartphone A; car driver
uses Smartphone B to receive the view shared by Smartphone A. Thus, car dri ver's view
is extended by using the proposed driver assisting system. Car driver can determine
whether it is the suitable time to overtaking safely.
Figure l.l(a) Driver's vision when moving behind the truck.
© Universiti Teknikal Malaysia Melaka
4
Figure l. I(b) Driver's vision when just behind the truck.
1.2
Problem Statement:
I. Wi-Fi is inherently non real-time. Car driver required a stable wireless
channel to receive view shared by truck driver to make life critical decision.
(Example: Safely overtaking the slow moving truck). The data rate in PHY
layer must highly enough to support !Mbps throughput for compressed video
transmission. The data rate in PHY layer must highly enough to support data
transmission between two smartphones. There are parameters that affect
stability of Wi-Fi channel. The effect of those parameters that will affect the
usage of proposed driver assist system in the identified scenario need to be
determined.
2. Besides, the parameters that will affect the usage of the proposed driver assist
system in the identified scenario are unknown.
3. Designation and construction of smartphone application to capture and
analyze the identified Wi-Fi channel parameter.
© Universiti Teknikal Malaysia Melaka
5
1.3
Objectives:
1. To critically define the scenario where the proposed driver assist system will
be used.
2. To identify the parameters that will affect the usage of the proposed driver
assist system in the identified scenario.
3. To construct Smartphone Application to capture and analyze the identified
Wi-Fi channel parameter.
1.4
Scope of project:
1. Wireless Communication channel is used for the transmission of compressed
video between transmitter and receiver.
2. Scenario where the proposed driver assists system will be used.
3. Parameters that will affect the usage of the proposed driver assist system in
the identified scenario.
4. Smartphone Application to capture and analyze the identified Wi-Fi channel
parameter.
© Universiti Teknikal Malaysia Melaka
DRIVER ASSIST SYSTEM OVER IEEE 802.11 WIRELESS NETWORKS
WONG CHEE YIN
This report is submitted in partial fulfillment of requirements for the Bachelor
Degree of Electronic Engineering (Wireless Communication Electronic)
Faculty of Electronic and Computer Engineering
University Technical Malaysia Melaka
June 2013
© Universiti Teknikal Malaysia Melaka
ii
UNIVERSTI TEKNIKAL MALAYSIA MELAKA
FAKULTI KEJURUTERAAN ELEKTRONIK DAN KEJURUTERAAN KOMPUTER
BORANG PENG ESAHAN STA TUS LAPORA N
PROJEK SARJANA MUDA II
Tajuk Projek
PERFORMANCE ANALYSIS OF SMARTPHONE BASED
REAL-TIME DRIVER ASSIST SYSTEM OVER IEEE 802.11
WIRELESS NETWORKS
Sesi Pengaj ian
Saya WO G CHEE YIN mengaku membenarkan Laporan Projek Sarjana Muda ini disimpan di
Perpustakaan dengan syarat-syarat kegunaan seperti berikut:
1.
Laporan adalah hakmilik Universi
Teknikal Malaysia Melaka .
2.
Perpustakaan dibenarkan membuat salinan untuk tujuan pengajian sahaja .
3.
Perpustakaan dibenarkan membuat salinan la po ran ini sebagai bahan pertukaran antara inst usi
pengajian n ggi.
4.
Sila tandakan ( 'I ) :
D
D
D
*(Mengandungi maklumat yang berdarjah keselamatan atau
kepenn gan Malaysia seper yang termaktub di dalam AKTA
SULIT*
RAHSIA RASMI 1972)
**(Mengandungi maklumat terhad yang telah ditentukan oleh
TE RHAO**
organisasi/badan di mana penyelidikan dijalankan)
TIOA K TERHAO
Disahkan oleh :
(TANDATANGAN PENULIS)
© Universiti Teknikal Malaysia Melaka
iii
"I hereby declare that this report is the result of my own work except for quotes as
cited in the references."
Signature
Author
:WONG CHEE YIN
Date
:141h June 2013
© Universiti Teknikal Malaysia Melaka
iv
"I hereby declare that I have read this report and in my opinion this report is
sufficient in terms of scope and quality award of Bachelor of Electronic
Engineering (Wireless Communication Engineering) With Honors."
Signature
Author
:DR. LIM KIM CHUAN
Date
:141h June 2013
© Universiti Teknikal Malaysia Melaka
v
Dedicated to my beloved family members.
© Universiti Teknikal Malaysia Melaka
vi
ACKNOWLEDGMENT
This project was completed after I have working for it for two semesters. I have
learnt and gained a lot of experience and my knowledge was improved within these two
semesters.
First of all , I would like to deliver my sincere appreciation to my supervisor, Dr.
Lim Kim Chuan. Dr. Lim has taught me from the beginning of my project starts. He
guides me back to the correct path whenever I lost. Besides, he teaches me in a manner
that easy to understand by giving simple examples. He borrows reference books to me
and shares with me some useful links, too. Whenever I confused, Dr. Lim will try to
simplify my problem and explained to me patiently. Apart from that, Dr. Lim will let me
explore the things myself by giving general guidance. Thus, I can learn to solve the
problem myself after trying. Furthermore, I really appreciate Dr. Lim for borrowing me
his Smartphone when the Smartphone used previously sent for repair. I feel motivated
each time I attend meeting with Dr. Lim. I would like to thank Dr. Lim for giving
guidance to improve my presentation skills, too.
I would like to thanks to Wireless Lab assistant for her kindness. She always
allows me to use the computer and Wi-Fi . I would like to thanks to my lecturers who
concern about the progress of my project and give me permissions to use the computer
in lab.
I would like to express my gratitude to my friends who share with me the
knowledge in solving computing technical problem. My friends were helped me a lot by
sharing the experience, listen to problem I faced and give explanation on the problem I
faced .
Furthermore, I would like to express my deepest appreciation to my beloved
family members who always support me morally. They willing to listen to me and
encourage me all the times.
The guidance and support received from my supervisor, lecturer, friends and
family was vital for the success of this project. I am grateful for everyone' s constant
support and help.
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ABSTRACT
When a car is just behind the truck, car driver' s view is blocked by the truck in
front. Since the distance between the truck and car is about a length of a car, only the
truck is viewed by car driver, but not the incoming traffic. Car driver cannot determine
whether it is a suitable time for safely overtaking. A driver assisting system is proposed
for this scenario.
Two smartphones are needed in the proposed driver assisting system.
Smartphone A is placed in the truck while Smartphone B is placed in the car. Truck
driver' s view is captured using Smartphone A and sending out. Smartphone Bis used by
car driver to receive view shared by Smartphone A to extend the view. Therefore, car
driver will know the reason causing the slow moving truck in front. Car driver can then
decide and able to make safely overtaking decision. However, this video transmission
must be in real-time with over the inherently non real-time wireless communication
channel. This means that the Wi-Fi link performance has to be able to determine in realtime by the receiver smartphone, to make sure that data is smoothly transferred with
throughput of l Mbps. No video shall be displayed by the receiver smartphone if the link
is not able to stream the video at the required data throughput.
The investigation processes involved firstly determine the expected working
distance for this proposed driver assisting system. Then, the expected throughputs for
both vehicles in static and moving conditions including the Doppler effect are figured
determined. Throughput between smartphones and PC is measured using Iperf.
Experiment is carried out to ensure it throughput around 1Mbps can be obtained in real
scenario. The obtained measurement result using the developed application shows the
similar measurement as obtained with the Iperf. The actual per\ormance of the Wi-Fi
link in real-time, which is a good indication to alert user with the stability of the
inherently non real-time characteristics of Wi-Fi channel, can then be determined
through the develop application with the calculation on packets received and packet lost
at the receiver. The result obtained from the designed and constructed application not
only can give measurement as lperf, but also allow custom data (for instance, messages
in this case or video image for further development of deiver assisting system) to be
transmitted.
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ABSTRAK
Apabila sebuah kereta berada tepat pada belakang trak, pandangan pamandu
kereta dihalang oleh trak depan. Jarak antara kereta dan trak kira-kira panjang sebuah
kereta, oleh itu, hanya trak dilihat oleh pemandu kereta, bukan trafik yang dating.
Pemandu kereta tidak dapat mengambil keputusan memotong trak depan dengan
selamat. Satu system memandu pemandu dicadangkan.
Dua telefon pintar diperlukan dalam cadangan projeck ini . Telefon pintar A
diletakkan dalam trak, Samrtphone B diletakkan dalam kereta. Pandangan pemandu trak
ditangkap menggunakan Sarnrtphone A dan dihantarkan. Sarnrtphone B digunakan oleh
pemandu kereta untuk menerima pandangan yang dikongsi oleh Smartphone A untuk
meluaskan pandangan. Dengan itu, pemandu kereta akan tahu sebab trak yang lambat
bergerak. Pemandu kereta boleh mengambil keputusan memotong trak depan dengan
selamat. Akan tetapi, video yang dikongsi mesti diterima pada masa yang sama dengan
masa menghantar. Dengan itu, pemandu boleh mengharapkan system ini dalarn
mengambil keputusan memotong jalan. Ini bermaksud analisis pautan prestasi Wi-Fi
diperlukan untuk memastikan pemprosesan penghantaran data kira-kira lMbps. Tiada
video dikongsi apabila pemprosesan penghantaran data tidak memadai.
Proses penyiasatan yang terlibat kan megesan jangkaan pemprosesan jarak
berkesan untuk system ini. Selepas itu, jangkaan pemprosesan untuk kedua-dua
kenderaan dalam keadaan static dan bergerak yang melibatkan Doppler effect dikesan.
Pemprosesan antara telefon pintar and PC diukur menggunakan Iperf. Eksperimen
dijalankan untuk memastikan pemprosesan lebih kurang 1Mbps berkesan dalam
keadaaan sebenar. Keputusan yang dapat adalah lebi kurang sama dengan keputusan
sebenar, adalah satu
yang dapat melalui Iperf. Prestasi sebenar Wi-Fi dalam ｫ･｡､ｾ＠
petunjuk kepada pemandu mengenai kestabilan cirri-ciri masa sebenar Wi-Fi saluran,
dapat dikesan melalui pembangunan apikasi kiraan paket diterima dan kehilangan paket
pada penerima. Keputusan yang dapat daripada rekaan aplikasi bukan sahaja memberi
ukuran seperti lperf, tetapi juga membenarkan penghantaran data (contohnya, mesej
dalam kes ini atau video penggambaran untuk pembangunan system membantu
pemandu).
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CONTENT
CHAPTER
TITLE
PAGES
PROJECT TITLE
STATUS REPORT FORM
ii
STUDENT DECLARATION
iii
SUPERVISOR DECLARATION
iv
DEDICATION
v
ACKNOWLEDGMENT
vi
ABSTRACT
vii
ABSTRAK
viii
CONTENT
ix
LIST OF FIGURE
xiii
LIST OFTABLE
xv
LIST OF ABBREVIATIONS
xvi
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2
INTRODUCTION
1
1.1 Overview of Project
1
1.2 Problem Statement
4
1.3 Objectives
4
1.4 Scope of Project
5
LITERATURE REVIEW
6
2.1 Introduction of the proposed driver assisting system
6
2.2 Existing Technologies
8
2.2.1 Adaptive Cruise Control
9
2.2.2 Lane Departure and Lane-Changing systems
10
2.2.3 Driver Vigilance
11
2.2.4 V2X-Based Android
13
2.3 Identified major components and possible issue faced by
the system
15
2.3.1 Transport protocol
15
2.3.2 Multicast
16
2.3.3 Carrying Multicast real-time traffic
16
2.3.4 Bit rate for IEEE 802.11
17
2.3.5 Downlink rate
17
2.3.6 Doppler effect
19
2.3.7 IEEE 802.1 lg Wi-Fi Standard
21
2.3.8 Identify Safe Following Distances
22
2.4 Possible tools used to construct the propose system
23
2.4.1 OpenCV4Android SDK
23
2.4.2 Eclipse
24
2.4.3 Terminal Emulator
25
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3
4
2.4.4 Iperf
25
2.4.5 Wireshark
27
2.4.6 inSSIDer
27
METHODOLOGY
29
3.1 Determine working distance
30
3.2 Measure throughput when both vehicles are static
30
3.3 Measure throughput when both vehicles are moving
31
3.4 Measure Throughput using Iperf
32
3.5 Experiment
32
3.6 Designing and Constructing Smartphone Application
33
RESULT AND DISCUSSION
36
a. The expected working distance of the proposed
Driver assisting system
37
4.2 Expected throughput between two smartphones
(When both vehicles are not moving)
42
4.3 Expected throughput between two smartphones
(When both vehicles are moving)
43
4.3.1 Doppler Effect
43
4.4 Performance from Measurement and Application
Construction
46
4.4.1 Using Iperf to measure UDP throughput, delay
And jitter of unicast and multicast
(Smartphone to Smartphone)
4.4.2 Using Iperf to measure UDP throughput, delay
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xii
And jitter of unicast and multicast
(Smartphone to PC)
51
4.4.3 Using Iperf to measure UDP throughput, delay
And jitter of unicast and multicast
(PC to Smartphone)
55
4.4.4 Experiment fro throughput measurement carried
out by using Iperf
58
4.4.5 Validate the performance of the Constructed
Application with the collected Iperf Results
(throughput only)
64
4.4.6 Ability of Application to send and receive data
64
4.4. 7 Link Performance
67
4.4.8 Implementation of real-time client and server based
Wi-Fi link performance measurement function
in the smartphones
68
4.4 Designation and Construction of
First Working Application
5
55
CONCLUSION AND RECOMMENDATION
70
5.1 Conclusion
71
5.2 Recommendation
73
REFERENCES
74
BIBLIOGRAPHY
77
APPENDICES
78
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LIST OF FIGURE
FIGURE
TITLE
PAGE
l.l(a)
Driver's vision when moving behind the truck
3
1.1 (b)
Driver' s vision \:vhen just behind the truck
4
2.1
Flow chart of proposed driver assisting system
7
2.2(a)
Continental 's ACC system
10
2.2(b)
Hella' s LOWS
11
2.2(c)
Hella' s Alertness Assistant
13
2.2(d)
DriveAssist' s main menu
14
2.3
OSI reference model
15
2.4
Expected bit rate at different ranges
17
2.5(a)
Outdoor urban scenario
18
2.5(b)
Outdoor rural scenario
18
2.6
BER versus Doppler sh ift graph for QPSK Y2
20
2.7
Throughput of IEEE 802.1 1g with different bit rates
22
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2.8(a)
Throughput measurement from PC to smartphone
26
2.8(b)
Throughput measurement from smartphone to PC
26
2.9
Packets captured using Wireshark
27
2.10
Software inSSIDer
28
3. l
Flow chart of procedure to analyze link performance
30
3.2
Iperf Android is installed in both smartphone
32
3.3
Flow chart for designation and construction of smartphone
application
34
4. l
Scenario for the usage of proposed driver assist system
37
4.2
Graph distance versus speed between two vehicles
39
4.3
Throughput versus Theoretical bit rate
41
4.4(a)
Graph expected bit rate for different distances
42
4.4(b)
Graph expected throughput for different distances
43
4.5
Doppler shift diagram
45
4.6
BER versus Doppler shift
46
4.7
Flow chart using Iperf between two smartphones
47
4.8(a)
Average jitter of unicast measured between two
smartphones when bandwidth is I Mbps
4.8(b)
Average jitter of unicast measured between two
smartphones when bandwidth is I OMbps
4.8(c)
49
Average jitter of multicast measured between two
© Universiti Teknikal Malaysia Melaka
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xv
smartphones when bandwidth is I Mbps
4.8(d)
Average jitter of multicast measured between two
smartphones when bandwidth is I OMbps
4.9(a)
56
Average jitter of multicast measured for bandwidth I Mbps
when smartphone runs as server
4. lO(d)
56
Average jitter of unicast measured for bandwidth I Mbps
when smartphone runs as server
4. IO(c)
54
Average jitter of unicast measured for bandwidth I Mbps
when smartphone runs as server
4. IO(b)
54
Average jitter of multicast measured for bandwidth I Mbps
when PC runs as server
4. IO(a)
53
Average jitter of multicast measured for bandwidth I Mbps
when PC runs as server
4.9(d)
52
Average jitter of unicast measured for bandwidth I Mbps
when PC runs as server
4.9(c)
50
Average jitter of unicast measured for bandwidth I Mbps
when PC runs as server
4.9(b)
50
57
Average jitter of multicast measured for bandwidth I Mbps
when smartphone runs as server
58
4.ll(a)
Distance between truck and car is small (a car length)
59
4.1 l(b)
Car driver vision is completely blocked by truck in front
60
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xvi
4. ll(c)
Car driver' s vision is extended by using Smartphone B
to receive view shared by Smartphone A in the truck in front
4.l2(a)
Average jitter of unicast measured for experiment
when bandwidth I Mbps
4.l2(b)
62
Average jitter of multicast measured for experiment
when bandwidth 1Mbps
4.12(d)
61
Average jitter of unicast measured for experiment
when bandwidth I OMbps
4. l2(c)
60
63
Average jitter of multicast measured for experiment
when bandwidth 1OM bps
63
4.13(a)
Application testing sending data continuously
65
4.l3(b)
UDP datagram captured using Wireshark
65
4.13(c)
Application testing receiving data continuously
66
4.14(a)
Application result for sending data continuously
66
4.14(b)
Application result for receiving data continuously
67
4.15
Packet received calculated for every second
68
4.16
Performance of Wi-Fi link obtained from calculating the
4.17
packet lost
69
87 frames received within 1 second captured using Wireshark
65
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LIST OF TABLE
TABLE
TITLE
PAGE
2.1
Polynomial coefiicient for QPSK Y2
20
2.2
The hypothetical speed and range
21
4.0
Calculated distance (d) with respect to the vehicle speed (v)
According to the 2-second rules
4.1
39
The expected bit rate and throughput for the
safety following distance
41
4.2
Doppler shift for various speeds different
44
4.3(a)
Throughput unicast measured between two smartphones
48
4.3(b)
Throughput multicast measured between two smartphone
48
4.3(c)
Throughput multicast measured using different buffer size 51
4.4(a)
Throughput unicast measured from smartphone to PC
51
4.4(b)
Throughput multicast measured from smartphone to PC
52
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4.5(a)
Throughput unicast measured from PC to smartphone
55
4.5(b)
Throughput multicast measured from PC to smartphone
55
4.6(a)
Throughput unicast measured from experiment
61
4.6(b)
Throughput multicast measured from experiment
61
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LIST OF ABBREVIATIONS
ISM
Industrial, Scientific and Medical
SNR
Signal-to-Noise Ratio
BER
Bit Error Rate
UDP
User Datagram Protocol
TCP
Transmission Control Protocol
IP
Internet Protocol
OSI
Interconnection Model
© Universiti Teknikal Malaysia Melaka
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CHAPTER I
INTRODUCTION
Driver assist systems reveal how technology is being applied to augment drivers '
skills and at the same time, improved road safety throughput. ln Europe, the European
Commission formed the eSafety working-group in 2002 (J.Jaaskelainen, 2002). The aim
of his working-group is to encourage the development and use of intelligent and
integrated safety systems in cars. According to the statistics, this eSafety web site shown
that more than l .2 million people were involved in road
｡｣ｩ､･ｮｴｾ＠
and being injured in
the EU in 2005 and, over 40,000 were killed (Christine, 2009). Analysis of accidents
shows that human error is the main cause of accidents, it takes about 93 percent. Thus, a
sensing system that able to assist and warn the driver could save lives. The existing
technologies is on preventing rear-ending collisions, keeping the vehicle in the lane,
assist vehicle in overtaking, and technologies that wakens sleepy drivers.
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A driver assist system is used to provide driver additional information when
driving. It can provide driver information in different ways, the path to a destination or
the nearby traffic condition in the road. For instance, when driving in a two-way road, it
is extremely useful in providing driver the nearby traffic condition in real time,
especially when vision of driver is blocked by a vehicle with huge size. For example,
when two vehicles are moving in a lane, the vision of driver may be blocked if there is a
truck in front. With the use of real-time driver assist system, the driver's vision has
greatly extended and allow driver to react accordingly. If there is an accident occurred or
road block, the vehicles behind may choose to use an alternative lane or make a U-tum.
Driver may choose to queue patiently or overtaking when the flow of vehicles in the
road is slow.
With the development of advanced technologies today, mobile devices with
multiple functions are available. For example, in a smartphone, the camera is able to
capture a higher quality video and images, significant amount of computing power and
connectivity via various wireless local area networks. The making use the inherently
ISM band wireless communication connectivity is possible to send and receive the
compressed video images to assist driver in making life critical decision in real time is to
be examined.
1.1
Overview of project:
When driver in a car is moving behind a truck, the driver' s vision is blocked by
the truck. In order to extend the vision, the driver can move the car slightly to the right
or left from the truck. However, this could only work if there is a far distance between
the car and the truck, illustrate in Figure l . l (a).
The problem comes when a driver in the car is just behind the truck . The driver ' s
vision is blocked by the truck in front, as illustrate in Figure l . l (b ). Since the driver
cannot determine whether there is any vehicle occupied the space in front of the truck or
not, the driver cannot determine is it a suitable time to overtake the truck.
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ln the case where driver in the car is just behind the truck and driver' s vision is
blocked, the distance between both vehicles is considered short. Thus, car driver is
forced to slow down the car speed until almost the same as the truck in front in order to
avoid collision. The distance between both vehicles is assumed a car length according to
the safe following distance by using 2-second rule. This is the scenario where the
propose driver assisting system is used.
Two smartphones are needed for the usage of the proposed driver assisting
system. Smartphone A is placed in the truck while Smartphone B is placed in the car.
View from truck driver will be captured and sending out from Smartphone A; car driver
uses Smartphone B to receive the view shared by Smartphone A. Thus, car dri ver's view
is extended by using the proposed driver assisting system. Car driver can determine
whether it is the suitable time to overtaking safely.
Figure l.l(a) Driver's vision when moving behind the truck.
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Figure l. I(b) Driver's vision when just behind the truck.
1.2
Problem Statement:
I. Wi-Fi is inherently non real-time. Car driver required a stable wireless
channel to receive view shared by truck driver to make life critical decision.
(Example: Safely overtaking the slow moving truck). The data rate in PHY
layer must highly enough to support !Mbps throughput for compressed video
transmission. The data rate in PHY layer must highly enough to support data
transmission between two smartphones. There are parameters that affect
stability of Wi-Fi channel. The effect of those parameters that will affect the
usage of proposed driver assist system in the identified scenario need to be
determined.
2. Besides, the parameters that will affect the usage of the proposed driver assist
system in the identified scenario are unknown.
3. Designation and construction of smartphone application to capture and
analyze the identified Wi-Fi channel parameter.
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1.3
Objectives:
1. To critically define the scenario where the proposed driver assist system will
be used.
2. To identify the parameters that will affect the usage of the proposed driver
assist system in the identified scenario.
3. To construct Smartphone Application to capture and analyze the identified
Wi-Fi channel parameter.
1.4
Scope of project:
1. Wireless Communication channel is used for the transmission of compressed
video between transmitter and receiver.
2. Scenario where the proposed driver assists system will be used.
3. Parameters that will affect the usage of the proposed driver assist system in
the identified scenario.
4. Smartphone Application to capture and analyze the identified Wi-Fi channel
parameter.
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