User Manual, Version 1.2
Contents
1. MATLAB implementa tion to the simulator or online by re implementing GEMV in the simula tor 2 Getting Started 2 1 Installation Installation of GEMV is quite simple download the zip file containing GEMV unzip to a directory and you re ready to go Since GEMV code is organized in package folderg there is no need to add any directories to MATLAB path Furthermore care has been taken so that GEMV depends on as few MATLAB toolboxes as possible That said mapping statistics and machine learning tool box can speed up the simulation considerably since the backup functions used in case these toolboxes are unavailable are far slower GEMV should work on any platform running recent version of MATLAB However because it uses package folders it will not work with MATLAB R2007b and older without some modifications It was tested with MATLAB R2011la R2011b R2012b and R2013a under Mac OS X and Windows 2 2 Running the simulation To run the simulation go to GEMV root directory and type runSimulation in MATLAB command window This will kick off the simulation by loading the script runSimulation m which in turn loads simSettings m the script that contains the default settings including the source files for vehicle build ing and foliage outlines propagation related parameters visualization options etc 2 3 Simulation output After the simulation is finished relevant variables related to received power smal2. simulation IEEE Transactions on Vehic ular Technology vol PP no 99 pp 1 1 2014 2 D G Bell F Kuehnel C Maxwell R Kim K Kasraie T Gaskins P Hogan and J Coughlan NASA World Wind Opensource GIS for mis sion operations in IEEE Aerospace Conference 2007 pp 1 9 3 M Boban Demo Visualization of vehicular communication Insights into power effective range clustering and neighborhood size in IEEE Vehicu lar Networking Conference VNC 2014 December 2014 pp 205 206 4 M Ferreira H Concei o R Fernandes and O K Tonguz Stereo scopic aerial photography an alternative to model based urban mobility approaches in Proceedings of the Sixth ACM International Workshop on VehiculAr Inter NETworking VANET 2009 ACM New York NY USA 2009 E M Haklay and P Weber OpenStreetMap User generated street maps IEEE Pervasive Computing vol 7 no 4 pp 12 18 2008 6 D Krajzewicz G Hertkorn C R ssel and P Wagner SUMO simula tion of urban mobility in Proc of the 4th Middle East Symposium on Simulation and Modelling 2002 pp 183 187 7 M Boban T T V Vinhoza M Ferreira J Barros and O K Tonguz Impact of vehicles as obstacles in vehicular ad hoc networks IEEE Journal on Selected Areas in Communications vol 29 no 1 pp 15 28 January 2011 2 B Aygun M Boban J Vilela and A Wyglinski Geometry based propa gatio
3. structure 3 2 Converting Shapefiles to OpenStreetMap If you have buildings and foliage in shapefile format to use them with GEMV one option is to first convert the data to OpenStreetMap format This can be done using the shp to osm jar utility available at http wiki openstreetmap related GitHub project is located at github com iandees shp to osm downloads The conversion has been suc cessfully tested with version shp to osm 0 8 6 jar with dependencies jar available on GitHub Example of usage java cp shp to osm 0 8 6 jar with dependencies jar com yellowbkpk geo shp Main shapefile inputPolygons shp rulesfile RULES TXT osmfile output0SM osm outputFormat osmc maxnodes 100000000 Once the OSM files have been generated they can be converted to the simulator readable array as explained in Section 3 1 4 Vehicular Mobility and Outlines SUMO Float ing Car Data Vehicular mobility generated by SUMO can be used as input for GEMV The function parseSUMOMobility m converts SUMO XML output to a five column array ID Latitude Longitude vehicleType bearing which is then converted to the three column array objectID Latitude Longitude us ing the function generateVehiclePolygons m First export the vehicular mobility from SUMO by using fcd output option and outputting latitudes and longitudes For example in Windows sumo exe c sumoCfgFile cfg fcd output SUMOMobility xml fcd output geo tru
4. GEMV Geometry based Efficient propagation Model for V2V communication http vehicle2x net User Manual Version 1 2 Mate Boban mate boban live com http mateboban net Copyright 2014 2015 Mate Boban I Contents 1 Introduction 2 Getting Started 21 Installation a a 02 ee 2 2 Running the simulation soo 2 3 Simulation output e a ee 2 3 1 Visualizing the output of GEMV 2 4 GEMV function dependencies o oo a 2 5 What is in the package o ooa a 3 Building and Foliage Outlines 3 1 Using Outlines of Buildings and Foliage from OpenStreetMap 3 2 Converting Shapefiles to OpenStreetMap 4 Vehicular Mobility and Outlines SUMO Floating Car Data 9 NWWWNHNYDY WN oNN 5 Referencing GEMV 9 Acknowledgements 10 10 II 1 Introduction This user manual describes the MATLAB implementation of GEMV a geometry based efficient propagation model for vehicle to vehicle V2V and vehicle to infrastructure V2I communication l The main features of GEMV are e Uses outlines of vehicles buildings and foliage to distinguish the following three types of links line of sight LOS non LOS due to vehicles and non LOS due to static objects e Deterministically calculates large scale signal variations path loss and shadowing Calculates the small scale power variations using the number and size of objects around the communicating vehicles Models b
5. and ing of propagation characteristics in vehicular communication More details are available in the demo paper on visualization 3 Note if the output is large large being a few hundred thousand communication pairs in total or alterna tively a few hundred megabytes the following can occur e generating the km1 file can take a long time e opening the Google Earth output can be cumbersome and could even lead to Google Earth throwing an out of memory error e g for km1 files larger than a few hundred megabytes Therefore make sure to turn the visualization off in such cases 2 4 GEMV function dependencies Figure B shows GEMV function dependencies The functions have been orga nized in package folders based on their functionality e g functions for loading data are in loadFunctions directory functions for plotting are in plotFunctions etc Each function shown in Fig 3 has been thoroughly commented therefore for a detailed description open the containing m file 2 4 1 External function dependencies GEMV requires the following functions available at MATLAB Central File Exchange http www mathworks com matlabcentral http www google com earth http en wikipedia org wiki Virtual_globe 09 99 a Snapshot showing a part of transmit receive pairs in the city of Porto Google earth b Street level view Figure 1 Visualization of received power generat
6. e Next use SUMOMobility xml as input to GEMV In terms of the size of the input SUMO mobility file same considerations apply as in Section 3 1 5 Referencing GEMV If you find GEMV useful in your work please cite the following reference 1 y Mate Boban Jo o Barros and Ozan K Tonguz Geometry Based Vehicle to Vehicle Channel Modeling for Large Scale Simulation IEEE Transactions on Vehicular Technology Vol 63 No 9 November 2014 doi 10 1109 TVT 2014 281180 If you primarily use vehicles as obstacles model implemented as part of GEMV please cite the following reference f Mate Boban Tiago T V Vinhoza Michel Ferreira Jo o Barros and Ozan K Tonguz Impact of Vehicles as Obstacles in Vehicular Ad Hoc Networks IEEE Journal on Selected Areas in Communications vol 29 no 1 pp 15 28 January 2011 doi 10 1109 JSAC 2011 11010 Similarly if you are primarily using the V2I propagation modeling please cite the following reference 3 Bengi Aygun Mate Boban Joao P Vilela and Alexander M Wyglinski Geometry Based Propagation Modeling and Simulation of Vehicle to Infrastructure Links under submission Acknowledgements This work was funded in part by the Portuguese Foundation for Science and Technology under grants SFRH BD 33771 2009 and CMUPT NGN 0052 2008 References 1 M Boban J Barros and O Tonguz Geometry based vehicle to vehicle channel modeling for large scale
7. ed by GEMV Color bars are in dBm Figure 2 Visualization of neighborhood size generated by GEMV e deg2utm and utm2deg 2006 by Rafael Palacios http www mathworks com matlabcentral fileexchange 10915 and http www mathworks com matlabcentral fileexchange 10914 e Line Simplification 2009 by Wolfgang Schwanghart http www mathworks com matlabcentral fileexchange 21132 e Google Earth Toolbox 2012 by Scott Lee Davis http www mathworks com matlabcentral fileexchange 12954 e Fast and Robust Curve Intersections 2006 by Douglas Schwarz http ww mathworks com matlabcentral fileexchange 11837 e Line Line Intersection 2d 2012 by Sebastian W http www mathworks com matlabcentral fileexchange 35606 e OpenStreetMap Functions 2012 by Ioannis Filippidis http www mathworks com matlabcentral fileexchange 35819 e Fast Range Search through JIT ver 2 2009 by Yi Cao mathworks com matlabcentral fileexchange 19480 e xml2struct 2010 by Wouter Falkena http www mathworks com matlabcentral fileexchange 28518 These functions are copyrighted by their respective authors and licensed under the BSD license For convenience they are included in the GEMV package in the externalCode directory along with their respective licenses Some func tions were modified to suit the purpose of GEMV Google Earth Toolbox and OpenStreetMap Functions are elaborate toolboxes with many functionalities not requ
8. ing and foliage outlines extracted from OpenStreetMap 5 representing a part of downtown Cologne Ger many For vehicular mobility in Cologne the package contains a prepro cessed SUMO 6 file generated using TAPAS Cologne scenario Running GEMV with this dataset results in 100 simulated seconds Additionally in the package there is a dataset with 20 simulated seconds in Newcastle UK 3 Building and Foliage Outlines 3 1 Using Outlines of Buildings and Foliage from Open Street Map The outlines of buildings and foliage are available from OpenStreetMap 5 which is the most comprehensive free geographical database That said the ac tual representation of buildings and particularly foliage in the OpenStreetMap can be limited with many objects missing You need to be judicious where you perform simulations since a database missing a lot of buildings and foliage will likely result in unrealistic simulation output Buildings and foliage can be imported into MATLAB using the OpenStreetMap Functions package available at http www mathworks com matlabcentral fileexchange 35819 A version of the package has been included with the model It was modified to output a three column array objectID Latitude Longitude each row representing one point of an object To use buildings and foliage from OpenStreetMap other than those already in cluded in GEMV package simply go to http www openstreetmap org and export the object
9. ingsFoliage plotBigBoxes loadVehicles GEOutput prepareData F plotData eG extractStatic RTree Ko getRefiEfield getReflCoeff generateVehiclePolygons parse_openstreetmap gt parse_osm getVehicleHeight getVehicleMidpoint utm2deg plotNumNeighbors plotRecPwr plotPolygons ait ae plot_wayMod get_way_tag_key parseSUMOMobility assign_from_parsed ge_cylinder ge_circle ge_plot3 ge_poly3 ge_output Figure 3 GEMV function dependencies 6 deg2rad authoptions parsepairs A getReflRays F findIntersectionVector xml2structMod 2 5 What is in the package The complete GEMV zip package contains the following 1 GEMV code 2 GEMV license 3 This user manual 4 Dataset collected via aerial photography containing buildings and vehicles in the city of Porto Portugal obtained through the DRIVE IN project and described in Ferreira et al 4 This dataset is highly precise and can be used as a starting point for the simulations 5 Since Porto dataset contains only a single time step in addition to it packaged with GEMV you will find build
10. ired by GEMV Therefore the minimum set of required functions from these toolboxes is included in GEMV package The original versions of func tions can be downloaded from the MATLAB Central File Exchange as indicated above smallScaleVariation __ getPolygonsArea compMultKnifeAtten obstacleAttenuation LOSNLOSy diffract twoRay ITURKnifeEdge sumEfields linlinintersect bullingtonKnifeEdge getLinePointDist SC getEfieldFromPwr intersections tripletOrientation mapCommPairs getObjectsInsideEllipse getObstructingObjects simOneTimestep _ getObstructingObjects V2X rangesearch setAndGetAngles freeSpace rad2deg obstacleAttenuationCorner getAngles segmentintersect simSettings runSimulation gt simMain largeScaleVariations powerLawPL reflect calcReflEfield Cheng getReflections getRandCommPairs dpsimplify deg2utm addChildrenRTree mergeBuildings getBoxesAndCells Legend Function Script External_Function loadBuildingsFoliage simplifyBuild
11. l and large scale variations link types etc are saved in two formats e MATLAB mat file suitable for easy manipulation in MATLAB e comma separated values csv files with each variable saved in a different file suitable for analyzing the results outside MATLAB Output files can be found in outputSim directory located in the main GEMV directory The file names are appended with current date note that if you do lFor details please refer to http www mathworks com help matlab matlab_oop scoping classes with packages html not copy rename the output files and if there were simulation runs previously that day the output from those runs will be overwritten 2 3 1 Visualizing the output of GEMV GEMV generates the V2V and V2I simulation output in Keyhole Markup Language KML format To visualize the result you can use Google EartH or NASA World Wind 2 though any tool for displaying three dimensional virtual glob can be used provided that it supports KML format Figure 1 shows the Google Earth visualization in terms of power whereas Fig shows the visualization of neighborhood size defined as the number of vehicles that the ego vehicle can communicate with directly without multi hop com munication If the simulation is composed of multiple time steps the output is an animation of all time steps a number of sample videos is available at http vehicle2x net videos The visualization enables easier underst
12. n modeling and simulation of vehicle to infrastructure links in paper under review 2015 10
13. oth V2V and V2I links Validated against V2V and V2I measurements in urban suburban high way and open space environments Imports vehicular mobility from SUMO uses floating car data format to generate vehicle outlines e Imports outlines of buildings and foliage from OpenStreetMap Easily extensible to import vehicular mobility and object outlines from other data sources Exports the visualization of vehicular communication to KML format for use with Google Earth or NASA World Wind e Implemented in MATLAB free of charge and openly distributed This user manual describes how to install and run GEMV what type of output it generates and gives a high level overview of GEMV code For a detailed description of GEMV from a research standpoint please refer to the following paper Mate Boban Jo o Barros and Ozan K Tonguz Geometry Based Vehicle to Vehicle Channel Modeling for Large Scale Simulation IEEE Transactions on Vehicular Technology Vol 68 No 9 November 2014 doi 10 1109 TVT 2014 231780 MATLAB implementation of GEMV can be used as a standalone tool for analyzing V2V and V2I communication in terms of key communications and networking performance metrics received power packet delivery rate interfer ence levels neighborhood size etc GEMV can also be used as a propagation model for discrete time network simulators e g NS 3 JiST SWANS STRAW either offline i e by providing the output from the
14. s for a desired location Then point the variable staticFile in simSettings m to the downloaded osm file This will invoke the Open Street Map parser and save the processed data into an array so that the conver sion is performed only once If you plan to run the simulation over a large area e g an entire city follow these steps 1 Download osm or pbf file containing desired simulation area from sources indicated on the OpenStreetMap website http wiki openstreetmap org wiki Downloading_data 2 Get the osm file for the specified region defined with southwestern and northeastern bounding points using osmconvert http wiki openstreetmap org wiki Osmconvert Clipping_based_on_Longitude_and_Latitude osmconvert bigArea pbf b 75 8 45 1 75 7 45 2 gt cityArea osm 3 To further reduce the osm file you can filter out unnecessary objects using osmfilter http wiki openstreetmap org wiki Osmfilter osmfilter cityArea osm keep building keep shop keep amenity keep landuse keep forest keep natural keep wood keep tree keep tree_row o cityAreaPoly osm In practice the input osm file containing buildings and foliage can be up to approximately 50 MB in size This limitation is mainly due to xml2struct function www mathuorks con aatlabcentral tileexchange 28518 which requires approximately 5 10 times the size of osm file in memory when con verting the osm file to MATLAB
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