Secure Technique for Collision Avoidance in Car-to-Car Communication

(1)

International Journal of Emerging Technology and Advanced Engineering

Website: www.ijetae.com (ISSN 2250-2459,ISO 9001:2008 Certified Journal, Volume 3, Issue 7, July 2013)

355

Secure Technique for Collision Avoidance in Car-to-Car

Communication

Vanita Lonkar

1

, Manoj Sharma

2

1

Research Scholar, 2Assitant Professor, IT Department, NRIIST, Bhopal (MP, INDIA. Abstract—Inter-Vehicular ad hoc Networking is a capable

wireless communication technology for improving highway security and data services. Therefore communication links among vehicles must be safe. The objective of this paper is to introduce a technique that provides secure messaging technique in highway. All the Vehicles in IVAN broadcat secure messages, to provide future information to other vehicles on road using secure technique. Based on the evaluation of the vehicles dynamic information received by vehicle on road, Inter vehicular distance are calculated and collision between vehicles are avoided by broadcasting secure warning messages before colliding vehicle, if the distance is less. For this we purposed Secure-Pre warning Collision Avoidance Algorithm (S-PWCA). Simulations result shows that, the proposed technique is realistic solution for secure Inter vehicle Communication Network and provides secure communication for broadcasting messages. Simulation results shows Low delay, high throughput performance and high trustworthiness for secure message.

Index Terms— IVC, IVAN, IVCN, V2V, V2I, PKI,

S-PWCA.

I. INTRODUCTION

Vehicular networks have been developed to increase the safety, security and efficiency of the transportation systems and enable new mobile applications and services for the traveling public. Basically VANET consist of two modes of communications,Vehicle-to-Vehicle (V2V) communication and Vehicle-to-Infrastructure (V2I) communication [5]. The communications are controlled by Dedicated Short Range Communication (DSRC) protocol, IEEE 802.11p, Bluetooth which is equipped with On-Board Unit (OBU). V2V and V2I applications fall into two categories: Safety-related Information and Infotainment services. Only the security issues of safety-relatedapplications are focused for collision avoidance in this paper as they are lying at the core of IVAN concept and bring challenging problems, since its matter of saving lives by preventing traffic accidents. The main characteristic of the IVAN is the infrastructure absence, such as access point or base stations. The communication between the nodes that they are beyond of the reach of transmission of the radio is made in multi hops through the intermediate nodes contribution as shown in Fig.1.

Fig1. V2V Communication

A. Problem Definition

The developing Inter Vehicular automotive collision warning and avoidance systems will be very effective for reducing losses, injuries and related costs. In order to develop an Inter Vehicular automotive collision warning and collision avoidance system, it will be essential that the vehicles should be able to exchange (in real time) their dynamic information such as vehicle speed, vehicle acceleration, direction, comparative position, etc. The only way to exchange the vehicles dynamic information will be through wireless communications. The communication links among vehicles must be secured. Otherwise, hackers may inject some misleading data into the inter-vehicle messages to make the vehicle systems malfunction as shown in Fig2.

Fig2. In this example of Sybil Attack, attackers (V1 and V3) broadcast false information to affect the decisions of other vehicles (V4) and thus

(2)

International Journal of Emerging Technology and Advanced Engineering

356

There is a challenge in balancing security and privacy needs. On the one hand, the receivers want to make sure that they can trust the source of information. On the other hand, the availability of such trust might contradict the privacy requirements of a sender. A radio-based V2V collision warning system operates by using either periodic or emergent-event-driven V2V communications. Each vehicle on the roads is assumed to be equipped with a radio (such as an IEEE 802.11(b)-based or DSRC-based radio). Vehicles on the roads form a mobile ad-hoc network. Exchanging messages in such a network is not reliable because message collisions and link breakage are likely to occur due to high mobility of moving vehicles. Using such an unreliable message exchanging mechanism greatly degrades the performances of V2V – communication-based Collision Warning System. The IVAN is highly dynamic and the topology of the network changes frequently because wireless links are established and broken down with dynamic topologies. These high dynamics also cause very short times for data transfer. Therefore this paper presents a technique for exchanging vehicles dynamic information in a secure mode in IVAN. Vanet application decisions can be a matter of life or death decisions, therefore, securing these application is very crucial to the implementation for this technology. This is to ensure that the vehicles should perform safety communication with each other, by defining a critical “inter-vehicular distance” to be maintained between and any two vehicles. It is also feasibility of implementing secure inter-vehicle communication links using today’s technology. So that current technology will allow us to build such a system for collision avoidance secure technique in Vanet.

In the next section, related work is discussed. Section III defines secure inter-vehicle communication. Details of the proposed secure technique for collision avoidance and assumptions are presented in section IV. Section V shows the simulation results for collision avoidance between V2V using secure technique. Section VI concludes the paper.

II. RELATED WORK

Sehun Kim et. al in [5] proposed the vehicle collision warning system that detects car crash and gives indication about upcoming danger to drivers in advance. This collision warning system is implemented by using sensors and GPS system. In [6] Samaneh Khakbaz et. al presented an approach to broadcast a message among highly mobile hosts like vehicles in road traffic. The proposed and implemented method considers unreliability that can occur in propagating message in roads that constitute an intersection.

(3)

International Journal of Emerging Technology and Advanced Engineering

357

III. SECURE INTER-VEHICLE COMMUNICATION

In secure V2V communication, vehicles communicate with each other in order to support different applications and services such as cooperative driver assistance, collisions avoidance and decentralized floating car data such as traffic state monitoring information.Safety messages are time-sensitive, require high reliability, have a small packet, and have different priorities. As any wireless communication network VANET is subject to many different kinds of attacks, which in some cases can be fatal. Therefore, it should be noticed that any wireless device that runs on the same communication protocol stack can be a threat to the network.

A.Attacks in IVC

Several possible attacks can be launched in IVC: 1) Jamming / Interference: A malicious vehicle can cause communication interference to prevent other vehicles from communicating. Consequently, some vehicles may not be able to receive urgent safety information

2) Replay attack: - An attacker can forge messages or replay stale messages to others. Thus, some vehicles may make wrong decision, leading to accidents.

3) Message Alternation: - Message fabrication and reply can be used to impersonate other vehicles. For example, an attacker masquerades an emergency vehicle to mislead other vehicles to show down.

4) Privacy: - Due to broadcast communication, an attacker may keep tracking messages sent from a particular vehicle. Therefore, the attacker can gain information such as time, location, and vehicle identifier, violating driver’s privacy. [18]

B. Security-Goals

To prevent the attacks described above, the system must provide the following requirements:

1)Authentication: - Driving decision must be decided based on secure messages. Thus, each vehicle needs to be authenticated in order to transmit any safety messages.

2)Integrity: - Even if the transmitter is authenticated, integrity is needed to guarantee correctness of messages.

3) Non-Repudiation: - Drivers causing accident should be reliably identified for law investigation, i.e., a sender should not be able to deny the transmission of any messages.

IV. PROPOSED SECURE TECHNIQUE FOR COLLISION AVOIDANCE

Securing any type of communication links involves three key requirements. Firstly, the links must be protected from eavesdropping, so that unauthorized persons can’t listen private information. Second, the end users must be authenticated user before anything is sent to or received from them. Third, the communication links must be protected from tampering by hackers. Therefore before the consumption of any vehicular communication system, security and privacy issues have to be determined In this paper, for maintain secure and privacy preserving communications for collision avoidance, an easily implementable PKI-based technique is proposed. For broadcasting the secure message from vehicle in IVC network RSA algorithm is defined which provides the secure communication Network between V2V. With the help of this technique Secure Pre-warning Collision Avoidance Algorithm is proposed in this paper. Providing privacy and security, our proposed technique does not introduce any complexity and computational overheads.

A. Public Key Infrastructure Technique

At the basic level, PKI (Public Key Infrastructure) can be described as a technique that enables users on a network to securely exchange data. This is achieved by the use of public key/ private key pair that are generated and exchanged through a certified authority. A PKI is an arrangement that binds public keys with users’ identities through a certificate authority (CA). CA uniquely identifies user identities individually. To achieve that, each user must be individually registered with a CA. After registration the CA adds this user to a list and updates its list of users’ identities and their assigned public keys. In addition to the registered users, CA will keep another list of the users with revoked certification. Meaning, the ones who were registered before, and for a reason, they should not trusted anymore. Each node is registered with only one local CA. In registration process, local CA issues a certificate, containing unique identity and validity period information of the node, and a public-private key pair. Local Ca’s is responsible for revoking the compromised certificates. [20]

(4)

International Journal of Emerging Technology and Advanced Engineering

358

Due to smooth and easy logic PKI infrastructure is advantageous. In this sender will sign a message, encrypt it using his private key. Similarly the receiver decrypts with the public key of the sender. It is also feasible for the sender to encrypt something the sender encrypts the message with the public key of the receiver. Then only the receiver can decrypt the message using his private key. For creating the secure communication between V2V RSA is used in this paper. RSA is a public-key cryptosystem that supports both encryption and digital signatures (authentication). Like all public key cryptography models, the RSA encrypts and decrypts a message using a pair of keys known as public key and private key [21]. Its security is based on the difficulty of factoring large integers. Presently, most implementations of the RSA algorithm employ the use of 512-bit numbers. Cracking such a system requires the ability to factor the product of two 512-bit prime numbers. Factoring a number of this size is well beyond the capability of the best current factoring algorithms.

B. Tamper Proof Device for Key Storage

For Secure V2V communication, all vehicles in IVAN contain wireless broadcasting unit and on board unit (OBU) to produce safety related messages. OBU collects information from wireless unit and generates safety messages. Before transmitting the message, some cryptographic operations have to be performed. In any cryptographic system, the confidentiality and the integrity of the private keys are essential whilst vehicles by their nature are highly vulnerable for tampering. Security and reliability of VANET relies on the tamper resistant secure hardware modules (SHM) in which the cryptographic keys are stored and cryptographic operations, such as digital signatures and encryption, are performed using RSA. SHM never gives away the sensitive information outside and is hardly mounted on the vehicle. SHM is designed to erase all the sensitive information it contains if it is physically tampered from the vehicle. In addition to being tamper proof, SHM also needs to be resistant against side-channel attacks to prevent the reveal of the sensitive information. [22]

C. Secure Pre-Warning Collision Avoidance (S-PWCA) System

All the Vehicles in IVCN regularly broadcast secure messages, to provide critical information to other nodes. In order to ensure proper operation of safety-related applications the security of safety messages should be guaranteed even in the presence of persistent attackers.

As a wireless communication technology, Inter – vehicular Network is highly vulnerable to abuses and attacks. An adversary may inject a false information in order to mislead the target vehicles or with tampering the on board unit, implement an impersonation attack. He may also, by recording the messages of a target vehicle, track the vehicle’s location and collect private information about the vehicle. To facilitate communications, two distinct wireless channels are considered to exchange signaling messages to formulate vehicles’ clusters and to issue/forward warning messages, respectively. The vehicles’ clusters are formed with different parameters such as direction of vehicle movement, and its speed. Each vehicle is considered to have knowledge on its maximum wireless transmission range. Depending on its wireless transmission range, vehicle direction and speed, which has highest priority then would elected as a cluster head. The S-PWCA system inside each vehicle continuously carries out the following algorithm:

1) Information Collection: In this all vehicle’s is gathered information from the GPS such as position and time. Then each vehicle obtains its speed and acceleration from the vehicle speed meter. In order to ensure synchronization between all vehicles, current-time is obtained from the GPS. All the information is placed in a packet which is stamped with the vehicle identification number of the vehicle. The structure of the packet is as shown in following Fig3.

Fig3. Packet Structure

2) Generating Secure Message: For generating the secure message we need the cryptographic material such as encryption / decryption algorithm, digital signature, signer’s public and private key and CA’s certificate.

Following are the steps for creating secure message listed below.

(5)

International Journal of Emerging Technology and Advanced Engineering

359

b.Secure Hardware module adds time stamp t to message.

c. Then secure hardware module uses v-node’s private key & digital signature on safety message is encrypted to create secure message.

d.The secure packet is broadcasted to nearby vehicles through multi-hop IVCs.

e. On the receiving side, secure message is passed to secure hardware module by on board unit.

f. Secure hardware module validates the signature of the sender by using public key of the anonymity key set. g.If the signature is valid, secure hardware module

extract original safety message. Otherwise discards the message.

Fig4. Generating Secure Message

Generated secure message is periodically broadcasting in IVAN network using broadcasting wireless unit is installed at each vehicle should have the wireless unit which can communicate with another vehicle shown in Fig4. Vehicles do not know position, speed, acceleration, time of neighbour vehicles. With the help of S-PBM message every vehicle get the status of the signal, to avoid collision. For Transmission of packets interval time is assumed to be small enough to ensure safety.

A. S-PWCA algorithm

Assumptions: - The collision Warning and Avoidance system is installed at on board unit. In this system, it is assumed that every vehicle is equipped with a system which is able to get the geographical positionof the vehicle and having wireless transceiver. The proposed S-PWCA algorithm will work for both V2V and V2I.

Step1: -Start originating secure message periodically.

Step2: -Secure message arrives at a vehicle.

Step3:-After receiving the status of vehicle, distances are calculated.

Step4: -Calculate Distance

Get Val of DV1 as VNode, Val of DV2 as VNode X = DV1.X - DV2.X

Y = DV1.Y - DV2.Y DV1, V2 = √ X*X + Y*Y

Step5: - If the distance between two or more vehicle is less than 5m in our simulation, then warning message is generated and broadcasted to the nearby vehicles to avoid the possibility of collision.

If Dv1, v2 < 5m Then

Collision Detected, Broadcast Secure Warning Message in Network.

Else

Data Transfer to other Node in Network related to traffic Information

End

Step6: - After receiving secure message to avoid collision, one of the vehicle will increase the speed with prior communication related to position, speed, time & another vehicle speed measure set to slow.

VI. SIMULATION AND RESULTS

In Inter Vehicular Adhoc Network nodes (vehicles) can only move long streets, prompting the need for a road model. Another important aspect in a vehicular network is that nodes do not move independent of each other; they move according to fairly well established traffic models. Basically four types of road models are often considered: the straight highway, the circular highway, the road grid, and real road maps. Figure 5 shows the road model. In this model vehicles move in lanes, in either one or two directions. Simulations are complied with Microsoft Visual Studio .NET 2005. Following parameters are considered for the carrying out the simulations shown in table1. Each vehicle periodical broadcasts its state (e.g. location, speed, position and acceleration), in the form of secure message, with maintaining inter-vehicular distance, to its neighbors as shown in following simulation Fig5. In the given simulator yellow circle is used for broadcasting the information, green circle is used for secure data transfer range, white circle is used for secure data communication and blue circle is used for dynamic cluster formation.

(6)

International Journal of Emerging Technology and Advanced Engineering

360

Fig5. Road Model and Vehicles broadcasting their own Information

Every vehicle knows its transmission range which is 250m. Collision zone radius of vehicle is assumed at 30 pixels. All vehicles in a predefined area will receive the before mentioned packet. Each Receiver Vehicle, and for each packet received, will calculate distance that represents the neighbor vehicle it received the packet from. In dynamic cluster, if the distance between two or more vehicles has the less inter-vehicular distance then collision will occur between vehicles as shown in simulation Fig6. It is also possible for vehicle to vehicle communication with the help of inter vehicular collision avoidance system to maintain the distance between vehicles. Here the green circle shows the data transfer range. Group formation can be predefined or dynamic [23].

Fig6. Collision Warning Scenario due to less Inter-Vehicular Distance indicating in red circle

In this scenario, if the interface range of every vehicle has 550m and having same direction movement then it is possible to communicate with each other by forming group to the dynamic cluster mechanism. Using this group communication, certain vehicles such as ambulance, fire service vans, and police patrols has given a high priorityas their requirements are crucial during emergency situations. The trace file is obtained from the simulation. The trace file includes information about source ID, destination ID, time, position of the vehicle considering X & Y coordinate and warning messages. Fig.7 shows the response time of the simulation with encryption and without encryption of the messages. It is cleared that the response time in the case of encrypted communication is higher than in regular communication (without encryption).

Fig7. Response time with Encryption and without Encryption

(7)

International Journal of Emerging Technology and Advanced Engineering

361

Fig8. Throughput of sending packets

Fig9. Throughput of receiving packets

Fig10. End to End Delay

Fig11. Collision Warning Avoidance Vs Node Speed

VII. CONCLUSION

The deployment of vehicular communication networks is rapidly increasing. In this paper PKI based secure technique for collision avoidance is presented for exchanging vehicles dynamic information in a secure. The secure technique is designed to guarantee the fresh message, message authentication, integrity, non-repudiation, privacy. Also the work has been carried out to avoid the collision, Secure – Pre Warning Collision Avoidance (S-PWCA) algorithm is proposed. Our Simulations result shows that the broadcasting secure message will improve the nearby collision avoidance to improve highway safety. The simulation result gives low delay, high throughput performance and High reliability for secure message.

REFERENCES

[1] Falko Dressler_, Frank Kargly, J¨org Ottz, Ozan K. Tonguzx, Lars Wischhof “Research Challenges in Inter-Vehicular Communication” – Lessons of the 2010 Dagstuhl Seminar.

[2] P. Krishnamurthy, "Information dissemination and information assurance in vehicular networks: A survey," in A Conference Poster in iConferenc 08`, Los Angeles, Feb. 2008.

[3] L. Xiaodong, L. Rongxing, Z. Chenxi, Z. Haojin, H. Pin-Han, and S. Xuemin, "Security in vehicular ad hoc networks," IEEE Communications Magazine, Vol. 46, pp. 88-95, Feb. 2008. [4] M. Raya, P. Papadimitratos, and J.P. Hubaux, "Securing vehicular

communications," IEEE Wireless Communications, Vol. 13, pp. 8-15, Oct. 2006.

[5] Mihail L. Sichitiu, North Carolina State University Maria Kihl, Lund

University INTER-VEHICLE COMMUNICATION SYSTEMS: A SURVEY 2ND QUARTER 2008, VOLUME 10, NO. 2 IEEE Communication Surveys

[6] Sehun Kim, Sunghyun Lee, Inchan Yoon, Mija Yoon and Do-Hyeun Kim, Department of Computer engineering Jeju National University Jeju, Korea “The Vehicle Collision Warning System based on GPS” 2011 First ACIS/JNU International Conference on Computers, Networks, Systems, and Industrial Engineering

[7] Samaneh Khakbaz, Iran University of Science and Technology Tehran, Iran Mahila Dadfarnia, Amirkabir University of technology Tehran, Iran “The Challenge of Broadcasting at Intersections in Vehicular Adhoc Networks” 2010 International Conference on Electronics and Information Engineering (ICEIE 2010)

[8] Nadra Ben Romdhane, Mohamed Hammami and Hanêne Ben-Abdallah “A Generic Obstacle Detection Method for Collision Avoidance” 2011 IEEE Intelligent Vehicles Symposium (IV) Baden-Baden, Germany, June 5-9, 2011

[9] M. R. Hafner1, D. Cunningham2, L. Caminiti2 and D. Del Vecchio3 “Automated Vehicle-to-Vehicle Collision Avoidance at Intersections” This work has been in part funded by NSFGOALI Award CMMI-0854907.

(8)

International Journal of Emerging Technology and Advanced Engineering

362

[11] Juan-Bautista Tomas-Gabarron, Esteban Egea-Lopez, Joan Garcia-Haro, Rocio Murcia-Hernandez “Performance evaluation of a CCA application for VANETs using IEEE 802.11p” Department of Information Technologies and Communications Technical University of Cartagena. 2010 IEEE

[12] Huang Zhu & Gurdip Singh “A Communication Protocol for a Vehicle Collision Warning System” 2010 IEEE/ACM International Conference on Green Computing and Communications & 2010 IEEE/ACM International Conference on Cyber, Physical and Social Computing.

[13] Zaydoun Yahya Rawashdeh and Syed Masud Mahmud “Intersection Collision Avoidance System Architecture” IEEE Communications Society subject matter experts for publication in the IEEE CCNC 2008 proceedings.

[14] Shouzhi XU, Huan Zhou, Chengxia Li, Yu Zhao “A MULTI-HOP V2V BROADCAST PROTOCOL FOR CHAIN COLLISION AVOIDANCE ON HIGHWAYS” Proceedings of ICCTA2009 IEEE [15] Fawzi Yassine “VCDnet: A Vehicular Collision Warning System that Relies on Vehicular Ad Hoc Networks” 2009 IEEE Wireless VITAE’09

[16] J. Hubaux, S. Capkun, and J. Luo, "The security and privacy of smart vehicles", IEEE Security and Privacy Magazine, May 2004.

[17] A. Aijaz, B. Bochow, F. D6tzer, A. Festag, M. Gerlach, R. Kroh and T. Leinmulller, "Attacks on Inter-Vehicle Communication Systems – An Analysis", the 3rd International Workshop on Intelligent Transportation (WIT06), March 2006.

[18] Irshad Ahmed Sumra,Iftikhar Ahmad, Halabi Hasbullah, Jamalul-lail bin Ab Manan “Classes of Attacks in VANET” 2011 IEEE [19] P. Papadimitratos, L. Buttyan, T. Holczer, E. Schoch, J. Freudiger,

M. Raya Z. Ma, F. Kargl, A. Kung, J.-P. Hubaux “ “Secure Vehicular Communication Systems : Design and Architecture” [20] Albert Wasef And Rongxing Lu, “Complementing Public Key

Infrastructure To secure Vehicular Ad Hoc Networks” IEEE Wireless Communications, October 2010

[21] Sasikumar P, Vivek C, Jayakrishnan P “Key-Management Systems in Vehicular Ad-Hoc Networks” International Journal of Computer Applications (0975 – 8887) Volume 10– No.1, November 2010 [22] Henry W. Patton “Secure and Privacy-Preserving Inter-Vehicle

Communication Framework” The University of Michigan-Dearborn Henry W. Patton Center for Engineering Education and Practice 2006