Autonomous driving relies on a variety of sensors, especially radars, which have unique robustness under heavy rain/fog/snow and poor light conditions. With the rapid increase of the amount of radars used on modern vehicles, where most radars operate in the same frequency band, the risk of radar interference becomes a compelling issue. This article analyzes automotive radar interference and proposes several new approaches that combine industrial and academic expertise toward the goal of achieving interference-free autonomous driving (AD).

In the automotive sector, both radars and wireless communication are susceptible to interference. However, combining the radar and communication systems, i.e., radio frequency (RF) communications and sensing convergence, has the potential to mitigate interference in both systems. This article analyses the mutual interference of spectrally coexistent frequency modulated continuous wave (FMCW) radar and communication systems in terms of occurrence probability and impact, and introduces RadChat, a distributed networking protocol for mitigation of interference among FMCW based automotive radars, including self-interference, using radar and communication cooperation. The results show that RadChat can significantly reduce radar mutual interference in single-hop vehicular networks in less than 80 ms.

We present an analytical model for the IEEE 802.11 DCF in multihop wireless networks that considers hidden terminals and accurately works for a large range of traffic loads. An energy model, which considers energy consumption due to collisions, retransmissions, exponential backoff and freezing mechanisms, and overhearing of nodes, and the proposed IEEE 802.11 DCF analytical model are used to analyze the energy consumption of various relaying strategies. The results show that the energy-efficient relaying strategy depends significantly on the traffic load. Under light traffic, energy spent during idle mode dominates, making any relaying strategy nearly optimal. Under moderate traffic, energy spent during idle and receive modes dominates and multihop transmissions become more advantageous where the optimal hop number varies with processing power consumed at relay nodes. Under very heavy traffic, where multihopping becomes unstable due to increased collisions, direct transmission becomes more energy efficient. The choice of relaying strategy is observed to affect energy efficiency more for large and homogeneous networks where it is beneficial to use multiple short hops each covering similar distances. The results indicate that a cross-layered relaying approach, which dynamically changes the relaying strategy, can substantially save energy as the network traffic load changes in time.

We investigate how multi‐hop routing affects the goodput and throughput performances of IEEE 802.11 distributed coordination function‐based wireless networks compared with direct transmission (single hopping), when medium access control dynamics such as carrier sensing, collisions, retransmissions, and exponential backoff are taken into account under hidden terminal presence. We propose a semi‐Markov chain‐based goodput and throughput model for IEEE 802.11‐based wireless networks, which works accurately with both multi‐hopping and single hopping for different network topologies and over a large range of traffic loads. Results show that, under light traffic, there is little benefit of parallel transmissions and both single‐hop and multi‐hop routing achieve the same end‐to‐end goodput. Under moderate traffic, concurrent transmissions are favorable as multi‐hopping improves the goodput up to 730% with respect to single hopping for dense networks. At heavy traffic, multi‐hopping becomes unstable because of increased packet collisions and network congestion, and single‐hopping achieves higher network layer goodput compared with multi‐hop routing. As for the link layer throughput is concerned, multi‐hopping increases throughput 75 times for large networks, whereas single hopping may become advantageous for small networks. The results point out that the end‐to‐end goodput can be improved by adaptively switching between single hopping and multi‐hopping according to the traffic load and topology. Copyright © 2015 John Wiley & Sons, Ltd.

Automotive radar interference mitigation is expected to be inherent in all future ADAS and AD vehicles. Joint radar communications is a candidate technology for removing this interference by coordinating radar sensing through communication. Coordination of radars requires strict time synchronization among vehicles, and our formerly proposed protocol (RadChat) achieves this by a precise absolute time, provided by GPS clocks of vehicles. However, interference might appear if synchronization among vehicles is lost in case GPS is spoofed, satellites are blocked over short intervals, or GPS is restarted/updated. Here we present a synchronization-free version of RadChat (Sync-free RadChat), which relies on using the relative time for radar coordination, eliminating the dependency on the absolute time provided by GPS. Simulation results obtained for various use cases show that Sync-free RadChat is able to mitigate interference without degrading the radar performance.

We investigate the joint effect of data rate and routing strategy on energy-efficiency of multi-hop wireless networks incorporating a comprehensive behavior of the IEEE 802.11 DCF under the presence of hidden terminals. Two basic routing strategies, direct transmission versus multi-hop routing, are considered over a large range of traffic loads. The goal of this study is to layout guidelines for a cross-layer energy-efficient rate adaptation algorithm, which takes medium access control and network layer dynamics into account together with the hidden terminal effect. Our results show that, for the low-power wireless IEEE 802.11g standard considered in this article, the highest data rate consumes the least power in multi-hop wireless networks when hidden terminals mostly constitute the reason of collisions. In case of channel impairments, adapting the rate jointly with the routing strategy can save the energy consumed per bit by up to 250% under moderate traffic loads and much more under heavy traffic loads. © 2015 Elsevier B.V. All rights reserved