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HOW TO BEGINV2X DEVELOPMENT ON LINUXAUTOMOTIVE LINUX SUMMIT 2015, TOKYOHONG-JONG JEONG (HJ.JEONG@ZENOME.CO.KR)STEVE KWON (STEVE.KWON@ZENOME.CO.KR)WWW.ZENOME.CO.KR2015 ZENOME INC.

CONNECTED DRIVING FOR LIFEWHAT IS V2X?WHAT IS V2X COMMUNICATION AND ITS FUTURE? “TALKING” CARS COMING SOON‣ VEHICLE-TO-VEHICLE (V2V) TECHNOLOGY IN 2017 CADILLAC CTS‣ US NHTSA FINISHES ITS ANALYSIS OF DATA FROM NEARLY 3,000 VEHICLESV2X STANDARDS- IEEE 802.11 & 1609.X- SAE J2735V2X ON LINUX- CURRENT STATUS ABI RESEARCH, 2014‣ GLOBAL VEHICLE-TO-X (V2X) MODULES IN NEW VEHICLES WILL REACH 62% BY 2027‣ OEM AND AFTERMARKET V2X MODULES WILL GROW TO 423 MILLION BY 2027- RAW SOCKET APPROACHMETA-V2X- CONCEPT ARCHITECTURE- WSMP KERNEL MODULE- WSMP SOCKET- W/ COMMERCIAL VENDORSSOURCE:THE DAILY CONVERSATION - HTTPS://YOUTU.BE/JZSPODKA1EEWWW.ZENOME.CO.KR22015 ZENOME INC.

CONNECTED DRIVING FOR LIFEWHAT IS V2X?V2X STANDARDS- IEEE 802.11 & 1609.XWHAT IS V2X COMMUNICATION AND ITS FUTURE? VEHICLE TO EVERYTHING‣ ADVANCED DRIVING ASSISTANT SYSTEM (ADAS)‣ CONNECTED CAR SMART CAR‣ AUTONOMOUS DRIVING DRIVERLESS DRIVING- SAE J2735V2X ON LINUX- CURRENT STATUS- RAW SOCKET APPROACHHIGHDRIVERLESSAUTONOMOUS DRIVINGDRIVINGINTERNET & CLOUDSMARTPHONECONNECTIVITYCONNECTIVITYM2M (HOME, )TO EVICEREAL-SEAT EHICLETELEMATICSCONNECTIVITYMETA-V2X- CONCEPT ARCHITECTUREV- NTNAVIGATIONNAVIGATIONVEHICLE-TO-EVERYTHING- WSMP SOCKET- W/ COMMERCIAL VENDORSCOMPLEXITY- WSMP KERNEL MSAVBDIGITAL ULLY-CONNECTED2015 ZENOME INC.

CONNECTED DRIVING FOR LIFEWHAT IS V2X?V2X STANDARDSV2X COMMUNICATION STANDARDS WIRELESS ACCESS IN VEHICULAR ENVIRONMENTS(WAVE) STANDARDS‣ INCLUDING IEEE 802.11P & 1609.X SAE J2735/2945STANDARDUSAGEDESCRIPTIONOSI LAYERIEEE 802.11-2012(IEEE 802.11P)WAVE PHY AND MACIEEE 1609.0-2013ARCHITECTUREDESCRIBES THE ARCHITECTURE AND SERVICE NECESSARY FOR MULTICHANNEL WAVE DEVICESN/AIEEE 1609.2-2013SECURITY SERVICES FORAPPLICATIONS AND MANAGEMENTMESSAGESCOVERS METHODS FOR SECURING WAVE MANAGEMENT MESSAGES ANDAPPLICATION MESSAGES, IT ALSO DESCRIBES ADMINISTRATIVE FUNCTIONSNECESSARY TO SUPPORT THE CORE SECURITY FUNCTIONSN/AIEEE 1609.3-2010NETWORKING SERVICESDESCRIBES STANDARD MESSAGES THAT SUPPORT HIGHER LAYERCOMMUNICATION STACKS, INCLUDING TCP/IP2, 3, AND 4IEEE 1609.4-2010MULTI-CHANNEL OPERATIONDESCRIBES VARIOUS STANDARD MESSAGE FORMATS FOR DSRCAPPLICATIONS AT 5.9 GHZ2IEEE 1609.11-2010OVER-THE-AIR ELECTRONICPAYMENT DATA EXCHANGEPROTOCOLDEFINES A BASIC LEVEL OF TECHNICAL INTEROPERABILITY FOR ELECTRONICPAYMENT EQUIPMENT, I.E. ON BOARD UNIT (OBU) AND ROADSIDEEQUIPMENT (RSE) USING DSRC7IDENTIFIER ALLOCATIONSINDICATES IDENTIFIER VALUES THAT HAVE BEEN ALLOCATED FOR USE BYWAVE SYSTEMS, INCLUDING THE PROVIDER SERVICE IDENTIFIERALLOCATIONS HARMONIZED WITH ISO, CEN, AND ETSI.N/ASAE J2735-2015DSRC MESSAGE SET DICTIONARYCOMPRISES A COMPLETE LIST OF ALL DIALOGS (MESSAGES EXCHANGES),MESSAGES, DATA FRAMES (COMPLEX ELEMENTS), AND DATA ELEMENTS(ATOMIC ELEMENTS) WHICH ARE USED IN THE MESSAGE SET7SAE J2945(WIP)DSRC MINIMUM PERFORMANCEREQUIREMENTSSPECIFIES THE MINIMUM COMMUNICATION PERFORMANCE REQUIREMENTS OFTHE DSRC MESSAGE MESSAGE SETS, THE ASSOCIATED DATA FRAMES ANDDATA ELEMENTS DEFINED IN SAE J2735N/A- IEEE 802.11 & 1609.X- SAE J2735V2X ON LINUXSPECIFIES THE PHY AND MAC FUNCTIONS REQUIRED OF AN IEEE 802.11DEVICE TO WORK IN THE RAPIDLY VARYING VEHICULAR ENVIRONMENT1 AND 2- CURRENT STATUS- RAW SOCKET APPROACHMETA-V2X- CONCEPT ARCHITECTURE- WSMP KERNEL MODULE- WSMP SOCKET- W/ COMMERCIAL VENDORSIEEE 1609.12-2012SOURCE(MODIFIED): OVERVIEW OF WAVE PROTOCOLS AND STANDARDS, INDIAN JOURNAL OF SCIENCE AND TECHNOLOGY, 2013WWW.ZENOME.CO.KR42015 ZENOME INC.

CONNECTED DRIVING FOR LIFEWHAT IS V2X?IEEE 802.11P & 1609.X IEEE 802.11-2012‣ INCORPORATES AMENDMENTS 1 TO 10 PUBLISHED IN 2008 TO 2011V2X STANDARDS- IEEE 802.11 & 1609.X- SAE J2735V2X ON LINUX IT INCLUDES IEEE 802.11P-2010‣ OUTSIDE THE CONTEXT OF A BSS (OCB) MODE DOT11OCBACTIVATED - TRUE OR FALSE DATA FRAME CAN BE SENT TO EITHER AN INDIVIDUAL OR A GROUP DESTINATION MAC ADDRESS- CURRENT STATUS IMMEDIATE COMMUNICATION, AVOIDING LATENCY ASSOCIATED WITH ESTABLISHING A BSS- RAW SOCKET APPROACH NOT UTILIZE IEEE 802.11 AUTHENTICATION, ASSOCIATION, OR DATA CONFIDENTIALITY IN A FREQUENCY BAND THAT IS DEDICATED FOR ITS USEMETA-V2X- CONCEPT ARCHITECTURE- WSMP KERNEL MODULE- WSMP SOCKET- W/ COMMERCIAL VENDORSJAPANUSEUSTANDARD / COMMITTEEITS-FORUMIEEE802.11P/1609.XCEN/ETSI EN 302 663FREQUENCY RANGE755 765 MHZ5850 5925 MHZ5855 5925 MHZNO. OF CHANNELSONE 10 MHZSEVEN 10 MHZ(TWO 20 MHZ BY COMBINING 10 MHZ)SEVEN 10 MHZMODULATIONOFDMOFDM SUBCARRIERS3 18 MBIT/S3 27 MBIT/S3 27 MBIT/SOUTPUT POWER20 DBM (ANTENNAINPUT)ONE DIRECTION23 33 DBM (EIRP)23 33 DBM (EIRP)COMMUNICATIONUPPER POROTOCOLMULTICASTING SERVICE(BROADCAST W/O ACK)ARIB STD-T109ONE DIRECTION MULTICASTING SERVICE, ONE TO MULTICOMMUNICATION, SIMPLEX COMMUNICATION(BROADCAST W/O ACK, MULTICAST, UNICAST W/ ACK)WAVE (IEEE 1609) / TCP/IPETSI EN 302 665(INCL. GEONETWORKING, )TCP/UDP/IPSOURCE - INTELLIGENT TRANSPORTATION SYSTEMS USING IEEE 802.11P, ROHDE & SCHWARZWWW.ZENOME.CO.KR52015 ZENOME INC.

CONNECTED DRIVING FOR LIFEIEEE 802.11P & 1609.XWHAT IS V2X? V2X STANDARDS- IEEE 802.11 & 1609.X- SAE J2735DSRC SPECTRUM BAND AND CHANNELS IN THE U.S.‣ DATA & MANAGEMENT PLANE SERVICES‣ SAFETY & NON-SAFETY APPLICATION - CONTROL CHANNEL (CCH) / SERVICE CHANNEL (SCH)V2X ON LINUX- CURRENT STATUS- RAW SOCKET APPROACHMETA-V2X- CONCEPT ARCHITECTURE- WSMP KERNEL MODULE- WSMP SOCKET- W/ COMMERCIAL VENDORSWWW.ZENOME.CO.KR62015 ZENOME INC.

CONNECTED DRIVING FOR LIFEWHAT IS V2X?IEEE 802.11P & 1609.X WAVE SHORT MESSAGE PROTOCOL (WSMP)‣ PROVIDER SERVICE IDENTIFIER (PSID) - SUPPLEMENTARY INFORMATION RELATED TO THE SERVICEV2X STANDARDS- IEEE 802.11 & 1609.X- SAE J2735APPLICATION LAYERSAFETY APP.- CURRENT STATUS- RAW SOCKET APPROACHMETA-V2XSAE J2735SAE J2945IEEE 1609.2MESSAGE SUBLAYERSECURITYV2X ON LINUXIEEE 1609.3NETWORK &TRANSPORT LAYERS- WSMP- CONCEPT ARCHITECTURE- WSMP KERNEL MODULE- WSMP SOCKETTRANSPORT LAYER- TCP/UDPNETWORK LAYER- IPV6LLC SUBLAYERMAC SUBLAYER EXTENSIONIEEE 1609.4- W/ COMMERCIAL VENDORSMAC SUBLAYERIEEE 802.11PPHY . IDLENGTHWSMDATASOURCE: COHDA WIRELESS INTRODUCTION, 2014WSMP HEADERWAVE SHORT MESSAGEWWW.ZENOME.CO.KR72015 ZENOME INC.

CONNECTED DRIVING FOR LIFEWHAT IS V2X?V2X STANDARDS- IEEE 802.11 & 1609.XSAE J2735 DEDICATED SHORT RANGE COMMUNICATIONS (DSRC) MESSAGE SET DICTIONARY1)‣ REVISED AT APR. 2015 (2ND REVISED VERSION AFTER ISSUING AT DEC. 2006)‣ SPECIFIED AS ASN.1 REPRESENTATION2)‣ ENCODING STYLE - BER-DER- SAE J2735V2X ON LINUX- CURRENT STATUS- RAW SOCKET APPROACHMETA-V2X- CONCEPT ARCHITECTURE- WSMP KERNEL MODULE- WSMP SOCKET- W/ COMMERCIAL VENDORSBASIC SAFETY MESSAGE (BSM)COMMON SAFETY REQUEST (CSR)EMERGENCY VEHICLE ALERT (EVA)INTERSECTION COLLISION AVOIDANCE (ICA)MAP DATA (MAP)NMEA CORRECTIONS (NMEA)PROBE DATA MANAGEMENT (PDM)PROBE VEHICLE DATA (PVD)ROAD SIDE ALERT (RSA)RTCM CORRECTIONS (RTCM) MESSAGEENCODER/DECODER(*.C, *.H)DSRC MESSAGE SET(ASN.1)ASN.1COMPILER3) SAE J2735 MESSAGE TYPES PROTOCOL STACK USED IN THE BSM EXAMPLES 1)SAE ASN.1 REPRESENTATION OF “BASIC SAFETY MESSAGE” WWW.ZENOME.CO.KR82)SAEJ2735 - HTTP://WWW.SAE.ORG/STANDARDSDEV/DSRCJ2735 ASN.1 SPECIFICATION - HTTP://WWW.SAE.ORG/STANDARDSDEV/DSRC/USA3)ASN.1 COMPILER FOR C/C - HTTPS://GITHUB.COM/VLM/ASN1C2015 ZENOME INC.

CONNECTED DRIVING FOR LIFEWHAT IS V2X?CURRENT STATUS OF V2X ON LINUX ‣ INCLUDED IN KERNEL V3.19‣ PULL REQUEST FROM WIRELESS-NEXT 2014-11-07‣ OCB MODE SUPPORTED FROM CZECH TECHNICAL UNIVERSITY IN PRAGUE AND VOLKSWAGENGROUP RESEARCHV2X STANDARDS- IEEE 802.11 & 1609.X- SAE J2735V2X ON LINUX- CURRENT STATUS- RAW SOCKET APPROACHOCB MODE ON LINUX MAINLINE KERNEL OCB MODE ON IW‣ IW - NL80211 BASED CLI CONFIGURATION UTILITY FOR WIRELESS DEVICES‣ INCLUDED IN V4.0META-V2X- CONCEPT ARCHITECTURE- WSMP KERNEL MODULE- WSMP SOCKET- W/ COMMERCIAL VENDORSMAC80211: 802.11P OCB MODE SUPPORTTHIS PATCH ADDS 802.11P OCB (OUTSIDE THE CONTEXT OF A BSS) MODE SUPPORT.WHEN COMMUNICATING IN OCB MODE A MANDATORY WILDCARD BSSID(48 '1' BITS) IS USED.THE EDCA PARAMETERS HANDLING FUNCTION WAS CHANGED TO SUPPORT 802.11P SPECIFIC VALUES.THE INSERTION OF A NEWLY DISCOVERED STAS IS DONE IN THE SIMILAR WAY AS IN THE IBSS MODE -- THROUGH THE DEFERRED INSERTION.THE OCB MODE USES A PERIODIC 'HOUSEKEEPING TASK' FOR EXPIRATION OF DISCONNECTED STAS (IN THE SIMILAR MANNER AS IN THE MESH MODE).NEW KCONFIG OPTION FOR VERBOSE OCB DEBUGGING OUTPUTS IS ADDED.CFG80211: 802.11P OCB MODE HANDLINGTHIS PATCH ADDS NEW IFACE TYPE (NL80211 IFTYPE OCB) REPRESENTING THE OCB (OUTSIDE THE CONTEXT OF A BSS) MODE.WHEN ESTABLISHING A CONNECTION TO THE NETWORK A CFG80211 JOIN OCB FUNCTION IS CALLED (PARTICULAR NL80211 COMMAND IS ADDED ASWELL).A MANDATORY PARAMETERS DURING THE OCB JOIN OPERATION ARE ‘CENTER FREQUENCY' AND 'CHANNEL WIDTH (5/10 MHZ)'.CHANGES DONE IN MAC80211 ARE MINIMAL POSSIBLE REQUIRED TO AVOID MANY WARNINGS (WARNING: ENUMERATION VALUE ‘NL80211 IFTYPE OCB'NOT HANDLED IN SWITCH) DURING COMPILATION. FULL FUNCTIONALITY (WHERE NEEDED) IS ADDED IN THE FOLLOWING PATCH.IW: ADD OCB MODE HANDLINGMODIFY THE COMMAND FOR DEVICE TYPE SETTING TO SUPPORT OCB MODE. ADD COMMANDS FOR "JOINING" AND "LEAVING" THE OCB MODENETWORK. WHEN JOINING TWO ARGUMENTS ARE MANDATORY -- FREQUENCY AND CHANNEL BANDWIDTH (5 OR 10 MHZ).WWW.ZENOME.CO.KR92015 ZENOME INC.

CONNECTED DRIVING FOR LIFEWHAT IS V2X?V2X STANDARDS- IEEE 802.11 & 1609.XRAW SOCKET APPROACH NEEDS ROOT OR CAP NET RAW CAPABILITIES‣ SET PF PACKET AS A DOMAIN TYPE‣ SET SOCK RAW AS A SOCKET TYPE‣ SET HTONS(ETH P WSMP) AS A PROTOCOL TYPE- SAE J2735#define ETH P WSMP 0x88DC /* WAVE Short Message Protocol */V2X ON LINUX- CURRENT STATUS- RAW SOCKET APPROACHMETA-V2X- CONCEPT ARCHITECTURE- WSMP KERNEL MODULE/* Open PF PACKET Socket for EtherType ETHER P WSMP */sockfd socket(PF PACKET, SOCK RAW, htons(ETH P WSMP)))/* Bind to Device */setsockopt(sockfd, SOL SOCKET, SO BINDTODEVICE, ifName, IFNAMSIZ - 1)while (1) {/* Receive WSMP Packets */nread recvfrom(sockfd, buf, BUF SIZ, 0, NULL, NULL); ber decode(0, &asn DEF BasicSafetyMessage, (void **)&basicSafetyMessage, buf, nread); } RX EXAMPLE - WSMP SOCKET- W/ COMMERCIAL VENDORSBSD SOCKET INTERFACEPF INETSOCK STREAM/* Open PF PACKET Socket for EtherType ETHER P WSMP */sockfd socket(PF PACKET, SOCK RAW, htons(ETH P WSMP)))/* Construct Ethernet Header */eh (struct ether header *)buf;eh- ether type htons(ETH P WSMP);memcpy(eh- ether shost, src mac, ETH ALEN);memcpy(eh- ether dhost, dst mac, ETH ALEN);tx len sizeof(struct ether header);PF PACKETSOCK DGRAMTCPSOCK RAWSOCK DGRAMUDPIPNETWORK DEVICE/* Construct sockaddr ll */socket address.sll ifindex ifindex;socket address.sll halen ETH ALEN;memset(socket address.sll addr, 0xFF, ETH ALEN); PF INET VS. PF PACKET /* File WSMP packet as payload */ while (1) {/* Send WSMP packets */sendto(sockfd, buf, tx len, 0, (struct sockaddr *)&socket address, sizeof(struct sockaddr ll)) } TX EXAMPLE WWW.ZENOME.CO.KR102015 ZENOME INC.

CONNECTED DRIVING FOR LIFEWHAT IS V2X?META-V2X YOCTO PROJECT LAYER YOCTO PROJECT‣ OPEN SOURCE PROJECT FOR CUSTOM EMBEDDED LINUX-BASED SYSTEMS REGARDLESS OFV2X STANDARDSHARDWARE ARCHITECTURE‣ HTTPS://WWW.YOCTOPROJECT.ORG- IEEE 802.11 & 1609.X- SAE J2735V2X ON LINUX- CURRENT STATUS- RAW SOCKET APPROACHMETA-V2X LAYER FOR VEHICLE TO EVERYTHING‣ HTTPS://GITHUB.COM/ZENOME/META-V2X.GIT‣ BASED ON YOCTO V1.8 FIDO RELEASE‣ FOCUSED ON RX-SIDE‣ WORK IN PROGRESS*- CONCEPT ARCHITECTURE- WSMP KERNEL MODULE- WSMP SOCKETMETA-V2XCONF- W/ COMMERCIAL VENDORSRECIPES-CONNECTIVITYCRDACENTRAL REGULATORY DOMAIN AGENTUDEV HELPER FOR COMM. BTW KERNEL AND USERSPACE FOR REGULATORY COMPLIANCEIWWIRELESS-REGDBWIRELESS-REGDBREGULATORY DATABASE USED BY S RELEASED ON NEWER KERNELSBACKPORTED FOR USAGE ON OLDER NUXETH P WSMP (0X88DC) & PF/AF WSMP2015 ZENOME INC.