Title page -- Copyright page -- Contents -- Foreword -- Foreword -- Foreword -- Preface -- Acknowledgments -- 1: Traffic Safety -- 1.1 Traffic Safety Facts -- 1.1.1 Fatalities -- 1.1.2 Leading Causes of Crashes -- 1.1.3 Current Trends -- 1.2 European Union -- 1.3 Japan -- 1.4 Developing Countries -- References -- 2: Automotive Safety Evolution -- 2.1 Passive Safety -- 2.1.1 Safety Cage and the Birth of Passive Safety -- 2.1.2 Seat Belts -- 2.1.3 Air Bags -- 2.2 Active Safety -- 2.2.1 Antilock Braking System -- 2.2.2 Electronic Stability Control -- 2.2.3 Brake Assist -- 2.3 Advanced Driver Assistance Systems -- 2.3.1 Adaptive Cruise Control -- 2.3.2 Blind Spot Assist -- 2.3.3 Attention Assist -- 2.3.4 Precrash Systems -- 2.4 Cooperative Safety -- References -- 3: Vehicle Architectures -- 3.1 Electronic Control Units -- 3.2 Vehicle Sensors -- 3.2.1 Radars -- 3.2.2 Cameras -- 3.3 Onboard Communication Networks -- 3.3.1 Controller Area Network -- 3.3.2 Local Interconnect Network -- 3.3.3 FlexRay -- 3.3.4 Media Oriented Systems Transport -- 3.3.5 Onboard Diagnostics -- 3.4 Vehicle Data -- 3.5 Vehicle Data Security -- 3.6 Vehicle Positioning -- 3.6.1 Global Positioning System -- 3.6.2 Galileo -- 3.6.3 Global Navigation Satellite System -- 3.6.4 Positioning Accuracy -- References -- 4: Connected Vehicles -- 4.1 Connected Vehicle Applications -- 4.1.1 Hard Safety Applications -- 4.1.2 Soft Safety Applications -- 4.1.3 Mobility and Convenience Applications -- 4.2 Uniqueness in Consumer Vehicle Networks -- 4.3 Vehicle Communication Modes -- 4.3.1 Vehicle-to-Vehicle Local Broadcast -- 4.3.2 V2V Multihop Message Dissemination -- 4.3.3 Infrastructure-to-Vehicle Local Broadcast -- 4.3.4 Vehicle-to-Infrastructure Bidirectional Communications -- 4.4 Wireless Communications Technology for Vehicles -- References -- 5: Dedicated Short-Range Communications.

5.1 The 5.9 GHz Spectrum -- 5.1.1 DSRC Frequency Band Usage -- 5.1.2 DSRC Channels -- 5.1.3 DSRC Operations -- 5.2 DSRC in the European Union -- 5.3 DSRC in Japan -- 5.4 DSRC Standards -- 5.4.1 Wireless Access in Vehicular Environments -- 5.4.2 Wireless Access in Vehicular Environments Protocol Stack -- 5.4.3 International Harmonization -- References -- 6: WAVE Physical Layer -- 6.1 Physical Layer Operations -- 6.1.1 Orthogonal Frequency Division Multiplexing -- 6.1.2 Modulation and Coding Rates -- 6.1.3 Frame Reception -- 6.2 PHY Amendments -- 6.2.1 Channel Width -- 6.2.2 Spectrum Masks -- 6.2.3 Improved Receiver Performance -- 6.3 PHY Layer Modeling -- 6.3.1 Network Simulator Architecture -- 6.3.2 RF Model -- 6.3.3 Wireless PHY -- References -- 7: WAVE Media Access Control Layer -- 7.1 Media Access Control Layer Operations -- 7.1.1 Carrier Sensing Multiple Access with Collision Avoidance -- 7.1.2 Hidden Terminal Effects -- 7.1.3 Basic Service Set -- 7.2 MAC Layer Amendments -- 7.3 MAC Layer Modeling -- 7.3.1 Transmission -- 7.3.2 Reception -- 7.3.3 Channel State Manager -- 7.3.4 Back-Off Manager -- 7.3.5 Transmission Coordination -- 7.3.6 Reception Coordination -- 7.4 Overhauled ns-2 Implementation -- References -- 8: DSRC Data Rates -- 8.1 Introduction -- 8.2 Communication Density -- 8.2.1 Simulation Study -- 8.2.2 Broadcast Reception Rates -- 8.2.3 Channel Access Delay -- 8.2.4 Frames Reception Failures -- 8.3 Optimal Data Rate -- 8.3.1 Modulation and Coding Rates -- 8.3.2 Simulation Study -- 8.3.3 Simulation Matrix -- 8.3.4 Simulation Results -- References -- 9: WAVE Upper Layers -- 9.1 Introduction -- 9.2 DSRC Multichannel Operations -- 9.2.1 Time Synchronization -- 9.2.2 Synchronization Intervals -- 9.2.3 Guard Intervals -- 9.2.4 Channel Switching -- 9.2.5 Channel Switching State Machine -- 9.3 Protocol Evaluation -- 9.3.1 Simulation Study.

9.3.2 Simulation Scenarios -- 9.3.3 Simulation Results -- 9.3.4 Protocol Enhancements -- 9.4 WAVE Short Message Protocol -- References -- 10: Vehicle-to-Infrastructure Safety Applications -- 10.1 Intersection Crashes -- 10.2 Cooperative Intersection Collision Avoidance System for Violations -- 10.2.1 CICAS-V Design -- 10.2.2 CICAS-V Development -- 10.2.3 CICAS-V Testing -- 10.3 Integrated Safety Demonstration -- 10.3.1 Demonstration Concept -- 10.3.2 Hardware Components -- 10.3.3 Demo Design -- References -- 11: Vehicle-to-Vehicle Safety Applications -- 11.1 Cooperation among Vehicles -- 11.2 V2V Safety Applications -- 11.3 V2V Safety Applications Design -- 11.3.1 Basic Safety Messages -- 11.3.2 Minimum Performance Requirements -- 11.3.3 Target Classification -- 11.3.4 Vehicle Representation -- 11.3.5 Sample Applications -- 11.4 System Implementation -- 11.4.1 Onboard Unit Hardware Components -- 11.4.2 OBU Software Architecture -- 11.4.3 Driver-Vehicle Interface -- 11.5 System Testing -- 11.5.1 Communications Coverage and Antenna Considerations -- 11.5.2 Positioning -- References -- 12: DSRC Scalability -- 12.1 Introduction -- 12.2 DSRC Data Traffic -- 12.2.1 DSRC Safety Messages -- 12.2.2 Transmission Parameters -- 12.2.3 Channel Load Assessment -- 12.3 Congestion Control Algorithms -- 12.3.1 Desired Properties -- 12.3.2 Transmission Power Adjustment -- 12.3.3 Message Rate Adjustment -- 12.3.4 Simulation Study -- 12.4 Conclusions -- References -- 13: Security and Privacy Threats and Requirements -- 13.1 Introduction -- 13.2 Adversaries -- 13.3 Security Threats -- 13.3.1 Send False Safety Messages Using Valid Security Credentials -- 13.3.2 Falsely Accuse Innocent Vehicles -- 13.3.3 Impersonate Vehicles or Other Network Entities -- 13.3.4 Denial-of-Service Attacks Specific to Consumer Vehicle Networks -- 13.3.5 Compromise OBU Software or Firmware.

13.4 Privacy Threats -- 13.4.1 Privacy in a Vehicle Network -- 13.4.2 Privacy Threats in Consumer Vehicle Networks -- 13.4.3 How Driver Privacy can be Breached Today -- 13.5 Basic Security Capabilities -- 13.5.1 Authentication -- 13.5.2 Misbehavior Detection and Revocation -- 13.5.3 Data Integrity -- 13.5.4 Data Confidentiality -- 13.6 Privacy Protections Capabilities -- 13.7 Design and Performance Considerations -- 13.7.1 Scalability -- 13.7.2 Balancing Competing Requirements -- 13.7.3 Minimal Side Effects -- 13.7.4 Quantifiable Levels of Security and Privacy -- 13.7.5 Adaptability -- 13.7.6 Security and Privacy Protection for V2V Broadcast -- 13.7.7 Security and Privacy Protection for Communications with Security Servers -- References -- 14: Cryptographic Mechanisms -- 14.1 Introduction -- 14.2 Categories of Cryptographic Mechanisms -- 14.2.1 Cryptographic Hash Functions -- 14.2.2 Symmetric Key Algorithms -- 14.2.3 Public Key (Asymmetric Key) Algorithms -- 14.3 Digital Signature Algorithms -- 14.3.1 The RSA Algorithm -- 14.3.2 The DSA Algorithm -- 14.3.3 The ECDSA Algorithm -- 14.3.4 ECDSA for Vehicle Safety Communications -- 14.4 Message Authentication and Message Integrity Verification -- 14.4.1 Authentication and Integrity Verification Using Hash Functions -- 14.4.2 Authentication and Integrity Verification Using Digital Signatures -- 14.5 Diffie-Hellman Key Establishment Protocol -- 14.5.1 The Original Diffie-Hellman Key Establishment Protocol -- 14.5.2 Elliptic Curve Diffie-Hellman Key Establishment Protocol -- 14.6 Elliptic Curve Integrated Encryption Scheme (ECIES) -- 14.6.1 The Basic Idea -- 14.6.2 Scheme Setup -- 14.6.3 Encrypt a Message -- 14.6.4 Decrypt a Message -- 14.6.5 Performance -- References -- 15: Public Key Infrastructure for Vehicle Networks -- 15.1 Introduction -- 15.2 Public Key Certificates.

15.3 Message Authentication with Certificates -- 15.4 Certificate Revocation List -- 15.5 A Baseline Reference Vehicular PKI Model -- 15.6 Configure Initial Security Parameters and Assign Initial Certificates -- 15.6.1 Vehicles Create Their Private and Public Keys -- 15.6.2 Certificate Authority Creates Private and Public Keys for Vehicles -- 15.7 Acquire New Keys and Certificates -- 15.8 Distribute Certificates to Vehicles for Signature Verifications -- 15.9 Detect Misused Certificates and Misbehaving Vehicles -- 15.9.1 Local Misbehavior Detection -- 15.9.2 Global Misbehavior Detection -- 15.9.3 Misbehavior Reporting -- 15.10 Ways for Vehicles to Acquire CRLs -- 15.11 How Often CRLs should be Distributed to Vehicles? -- 15.12 PKI Hierarchy -- 15.12.1 Certificate Chaining to Enable Hierarchical CAs -- 15.12.2 Hierarchical CA Architecture Example -- 15.13 Privacy-Preserving Vehicular PKI -- 15.13.1 Quantitative Measurements of Vehicle Anonymity -- 15.13.2 Quantitative Measurement of Message Unlinkability -- References -- 16: Privacy Protection with Shared Certificates -- 16.1 Shared Certificates -- 16.2 The Combinatorial Certificate Scheme -- 16.3 Certificate Revocation Collateral Damage -- 16.4 Certified Intervals -- 16.4.1 The Concept of Certified Interval -- 16.4.2 Certified Interval Produced by the Original Combinatorial Certificate Scheme -- 16.5 Reduce Collateral Damage and Improve Certified Interval -- 16.5.1 Reduce Collateral Damage Caused by a Single Misused Certificate -- 16.5.2 Vehicles Become Statistically Distinguishable When Misusing Multiple Certificates -- 16.5.3 The Dynamic Reward Algorithm -- 16.6 Privacy in Low Vehicle Density Areas -- 16.6.1 The Problem -- 16.6.2 The Blend-In Algorithm to Improve Privacy -- References -- 17: Privacy Protection with Short-Lived Unique Certificates -- 17.1 Short-Lived Unique Certificates.

17.2 The Basic Short-Lived Certificate Scheme.