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The longitudinal velocity is necessary for accurate vehicular positioning in urban environment. The pitch angle, which is a road slope, should be calculated to acquire the longitudinal velocity. However, it is impossible to consider very accurate pitch, when using a sensor and an algorithm. That`s why process noise and positioning stimation error of IMU should be adjusted to the driving environment and fuse GPS, OBD data with ACF which consist of AKF, CF in this paper. Then, final pitch angle which is appropriate for driving environment is estimated by IMMKF in order to optimize the system model according to road slope models.

For vehicle safety-related services using wireless communications, reliable collection of various driving informations transmitted periodically by neighbor vehicles is the most important. Every host vehicle analyses them to estimate a potential dangerous situation in a very short time and warns drivers to prevent an accident. However tremendous amount of periodic messages can cause the wireless communication in chaos and the services not in safe. In this paper, we propose a time-division broadcasting protocol to mitigate the communication congestion. It utilizes the received information of vehicle velocity and location, i.e. vehicle traffic density on a road to adjust the number of time slots in a given broadcasting period, and transmission power. The simulation results show that message reception ratio is changed to approximately 40% and channel access time also decreased from 10ms to 0.23ms. ※ 본 연구는 지식경제부 및 한국산업기술평가관리원의 산업융합원천기술개발사업[10040990, UTIS 연동 통신기술 및 도심형 교통안전 지원 서비스 개발]의 일환으로 수행되었습니다. ※ 본 연구는 2014년도 두뇌한국21플러스사업의 일환으로 수행되었습니다. First Author : 한양대학교 전자컴퓨터통신학부 유비쿼터스통신 연구실, leedg81@hanyang.ac.kr, 학생회원 ° Corresponding Author : 한양대학교 융합전자공학부 유비쿼터스통신 연구실, ssnlee@hanyang.ac.kr, 종신회원 * 한양대학교 전자컴퓨터통신학부 유비쿼터스통신 연구실, inthewood78@naver.com 논문번호:KICS2014-02-039, Received February 4, 2014; Reviewed February 17, 2014; Accepted March 20, 2014 The Journal of Korea Information and Communications Society '14-03 Vol.39B No.03

° ABSTRACT Recently, various services are provided by using WAVE protocol for communication among neighboring vehicles. And in order to operate stable system, the gateway fo r interconnecting in and out vehicle networks is required. In this paper, we propose gateway interconnecting WAVE and CAN protocol. The proposed gateway based on OSEK OS consists of a communication layer, a message translator layer and a message management layer. In the communication layer, WAVE communication part and CAN communication part are designed to communicate with WAVE and CAN. And in the message management layer, message management layer functions to store the received messages and check errors with the message. Based on these functions, experiment was conducted to analyze performance of the gateway with two scenarios such as transmitting periodically BSM as a message structure for safety services in vehicle-to-vehicle communications and responding to road side equipments requiring in-vehicle information. As a result of test, we verify our gateway performance by analyzing measured time in test scenarios.

Due to the development of ITS technology, various services related to transportation under vehicular environments have been provided. Especially, as wireless communication technology, WAVE has been established as a standard for vehicle-to-vehicle communications. WAVE has fast connection and excellent mobility characteristics. A VSC-A project is conducting by global automotive OEMs in USDOT. This project introduces the advanced safety services with vehicle-to-vehicle communications. In this paper, we presented the scenario of a do not pass warning service, which prevents an accident during overtaking activity by using vehicle-to-vehicle communications. In addition, we analyzed network performance under WAVE. In conclusion, we introduced the simulation results. Finally, we summarized the communication range and delay values for consideration factors for a overtaking model.

In order for the support of the ETCS (Electronic Toll Collection System) model, which have been operated successfully till now, with multi-lane service, the wireless communication system of the multi-lane-supported ETCS based on RF-DSRC (Radio Frequency - Dedicated Short Range Communication) was used. In this paper, the SME algorithm attaching data flow and form into RFID communication technology was newly suggested to overcome technical problems on RF-DSRC communication system. In addition, in order to verify the SME algorithm, experiments based on ETCS and 900Mhz RFID were carried out. From the result of realization experiment of RFID dependent on the velocity and precision experiment of information inside of RFID, we can see that RFID is detected below 70Km/h and the precision of estimation is more than 90%.