Low-Cost Federated Broad Learning for Privacy-Preserved Knowledge Sharing in the RIS-Aided Internet of Vehicles

High-efficiency and low-cost knowledge sharing can improve the decision-making ability of autonomous vehicles by mining knowledge from the Internet of Vehicles(IoVs).However,it is challenging to ensure high efficiency of local data learning models while preventing privacy leakage in a high mobility environment.In order to protect data privacy and improve data learning efficiency in knowledge sharing,we propose an asynchronous federated broad learning(FBL)framework that integrates broad learning(BL)into federated learning(FL).In FBL,we design a broad fully connected model(BFCM)as a local model for training client data.To enhance the wireless channel quality for knowledge sharing and reduce the communication and computation cost of participating clients,we construct a joint resource allocation and reconfigurable intelligent surface(RIS)configuration optimization framework for FBL.The problem is decoupled into two convex subproblems.Aiming to improve the resource scheduling efficiency in FBL,a double Davidon–Fletcher–Powell(DDFP)algorithm is presented to solve the time slot allocation and RIS configuration problem.Based on the results of resource scheduling,we design a reward-allocation algorithm based on federated incentive learning(FIL)in FBL to compensate clients for their costs.The simulation results show that the proposed FBL framework achieves better performance than the comparison models in terms of efficiency,accuracy,and cost for knowledge sharing in the IoV.

3D Road Network Modeling and Road Structure Recognition in Internet of Vehicles

Internet of Vehicles (IoV) is a new system that enables individual vehicles to connect with nearby vehicles,people, transportation infrastructure, and networks, thereby realizing amore intelligent and efficient transportationsystem. The movement of vehicles and the three-dimensional (3D) nature of the road network cause the topologicalstructure of IoV to have the high space and time complexity.Network modeling and structure recognition for 3Droads can benefit the description of topological changes for IoV. This paper proposes a 3Dgeneral roadmodel basedon discrete points of roads obtained from GIS. First, the constraints imposed by 3D roads on moving vehicles areanalyzed. Then the effects of road curvature radius (Ra), longitudinal slope (Slo), and length (Len) on speed andacceleration are studied. Finally, a general 3D road network model based on road section features is established.This paper also presents intersection and road section recognition methods based on the structural features ofthe 3D road network model and the road features. Real GIS data from a specific region of Beijing is adopted tocreate the simulation scenario, and the simulation results validate the general 3D road network model and therecognitionmethod. Therefore, thiswork makes contributions to the field of intelligent transportation by providinga comprehensive approach tomodeling the 3Droad network and its topological changes in achieving efficient trafficflowand improved road safety.

Survey on digital twins for Internet of Vehicles:Fundamentals,challenges,and opportunities

As autonomous vehicles and the other supporting infrastructures(e.g.,smart cities and intelligent transportation systems)become more commonplace,the Internet of Vehicles(IoV)is getting increasingly prevalent.There have been attempts to utilize Digital Twins(DTs)to facilitate the design,evaluation,and deployment of IoV-based systems,for example by supporting high-fidelity modeling,real-time monitoring,and advanced predictive capabilities.However,the literature review undertaken in this paper suggests that integrating DTs into IoV-based system design and deployment remains an understudied topic.In addition,this paper explains how DTs can benefit IoV system designers and implementers,as well as describes several challenges and opportunities for future researchers.

Traffic Management in Internet of Vehicles Using Improved Ant Colony Optimization

The Internet of Vehicles(IoV)is a networking paradigm related to the intercommunication of vehicles using a network.In a dynamic network,one of the key challenges in IoV is traffic management under increasing vehicles to avoid congestion.Therefore,optimal path selection to route traffic between the origin and destination is vital.This research proposed a realistic strategy to reduce traffic management service response time by enabling real-time content distribution in IoV systems using heterogeneous network access.Firstly,this work proposed a novel use of the Ant Colony Optimization(ACO)algorithm and formulated the path planning optimization problem as an Integer Linear Program(ILP).This integrates the future estimation metric to predict the future arrivals of the vehicles,searching the optimal routes.Considering the mobile nature of IOV,fuzzy logic is used for congestion level estimation along with the ACO to determine the optimal path.The model results indicate that the suggested scheme outperforms the existing state-of-the-art methods by identifying the shortest and most cost-effective path.Thus,this work strongly supports its use in applications having stringent Quality of Service(QoS)requirements for the vehicles.

Container-Based Internet of Vehicles Edge Application Migration Mechanism

Internet of Vehicles(IoV)applications integrating with edge com-puting will significantly drive the growth of IoV.However,the contradiction between the high-speed mobility of vehicles,the delay sensitivity of corre-sponding IoV applications and the limited coverage and resource capacity of distributed edge servers will pose challenges to the service continuity and stability of IoV applications.IoV application migration is a promising solution that can be supported by application containerization,a technology for seamless cross-edge-server application migration without user perception.Therefore,this paper proposes the container-based IoV edge application migration mechanism,consisting of three parts.The first is the migration trigger determination algorithm for cross-border migration and service degra-dation migration,respectively,based on trajectory prediction and traffic awareness to improve the determination accuracy.The second is the migration target decision calculation model for minimizing the average migration time and maximizing the average service time to reduce migration times and improve the stability and adaptability of migration decisions.The third is the migration decision algorithm based on the improved artificial bee colony algorithm to avoid local optimal migration decisions.Simulation results show that the proposed migration mechanism can reduce migration times,reduce average migration time,improve average service time and enhance the stability and adaptability of IoV application services.

Federated Learning with Blockchain for Privacy-Preserving Data Sharing in Internet of Vehicles

Data sharing technology in Internet of Vehicles(Io V)has attracted great research interest with the goal of realizing intelligent transportation and traffic management.Meanwhile,the main concerns have been raised about the security and privacy of vehicle data.The mobility and real-time characteristics of vehicle data make data sharing more difficult in Io V.The emergence of blockchain and federated learning brings new directions.In this paper,a data-sharing model that combines blockchain and federated learning is proposed to solve the security and privacy problems of data sharing in Io V.First,we use federated learning to share data instead of exposing actual data and propose an adaptive differential privacy scheme to further balance the privacy and availability of data.Then,we integrate the verification scheme into the consensus process,so that the consensus computation can filter out low-quality models.Experimental data shows that our data-sharing model can better balance the relationship between data availability and privacy,and also has enhanced security.

PGSLM:Edge-Enabled Probabilistic Graph Structure Learning Model for Traffic Forecasting in Internet of Vehicles

With the rapid development of the 5G communications,the edge intelligence enables Internet of Vehicles(IoV)to provide traffic forecasting to alleviate traffic congestion and improve quality of experience of users simultaneously.To enhance the forecasting performance,a novel edge-enabled probabilistic graph structure learning model(PGSLM)is proposed,which learns the graph structure and parameters by the edge sensing information and discrete probability distribution on the edges of the traffic road network.To obtain the spatio-temporal dependencies of traffic data,the learned dynamic graphs are combined with a predefined static graph to generate the graph convolution part of the recurrent graph convolution module.During the training process,a new graph training loss is introduced,which is composed of the K nearest neighbor(KNN)graph constructed by the traffic feature tensors and the graph structure.Detailed experimental results show that,compared with existing models,the proposed PGSLM improves the traffic prediction performance in terms of average absolute error and root mean square error in IoV.

SDN-Enabled Content Dissemination Scheme for the Internet of Vehicles

The content-centric networking(CCN)architecture allows access to the content through name,instead of the physical location where the content is stored,which makes it a more robust and flexible content-based architecture.Nevertheless,in CCN,the broadcast nature of vehicles on the Internet of Vehicles(IoV)results in latency and network congestion.The IoVbased content distribution is an emerging concept in which all the vehicles are connected via the internet.Due to the high mobility of vehicles,however,IoV applications have different network requirements that differ from those of many other networks,posing new challenges.Considering this,a novel strategy mediator framework is presented in this paper for managing the network resources efficiently.Software-defined network(SDN)controller is deployed for improving the routing flexibility and facilitating in the interinteroperability of heterogeneous devices within the network.Due to the limited memory of edge devices,the delectable bloom filters are used for caching and storage.Finally,the proposed scheme is compared with the existing variants for validating its effectiveness.

Communication-Efficient Decision-Making of Digital Twin Assisted Internet of Vehicles: A Hierarchical Multi-Agent Reinforcement Learning Approach

The connected autonomous vehicle is considered an effective way to improve transport safety and efficiency.To overcome the limited sensing and computing capabilities of individual vehicles,we design a digital twin assisted decision-making framework for Internet of Vehicles,by leveraging the integration of communication,sensing and computing.In this framework,the digital twin entities residing on edge can effectively communicate and cooperate with each other to plan sub-targets for their respective vehicles,while the vehicles only need to achieve the sub-targets by generating a sequence of atomic actions.Furthermore,we propose a hierarchical multiagent reinforcement learning approach to implement the framework,which can be trained in an end-to-end way.In the proposed approach,the communication interval of digital twin entities could adapt to timevarying environment.Extensive experiments on driving decision-making have been performed in traffic junction scenarios of different difficulties.The experimental results show that the proposed approach can largely improve collaboration efficiency while reducing communication overhead.

A Novel Load Balancing Strategy of Software-Defined Cloud/Fog Networking in the Internet of Vehicles

The Internet of Vehicles(IoV)has been widely researched in recent years,and cloud computing has been one of the key technologies in the IoV.Although cloud computing provides high performance compute,storage and networking services,the IoV still suffers with high processing latency,less mobility support and location awareness.In this paper,we integrate fog computing and software defined networking(SDN) to address those problems.Fog computing extends computing and storing to the edge of the network,which could decrease latency remarkably in addition to enable mobility support and location awareness.Meanwhile,SDN provides flexible centralized control and global knowledge to the network.In order to apply the software defined cloud/fog networking(SDCFN) architecture in the IoV effectively,we propose a novel SDN-based modified constrained optimization particle swarm optimization(MPSO-CO) algorithm which uses the reverse of the flight of mutation particles and linear decrease inertia weight to enhance the performance of constrained optimization particle swarm optimization(PSO-CO).The simulation results indicate that the SDN-based MPSO-CO algorithm could effectively decrease the latency and improve the quality of service(QoS) in the SDCFN architecture.

MADCR:Mobility Aware Dynamic Clustering-Based Routing Protocol in Internet of Vehicles

Internet of Vehicles(IoV)is an evolution of the Internet of Things(IoT)to improve the capabilities of vehicular ad-hoc networks(VANETs)in intelligence transport systems.The network topology in IoV paradigm is highly dynamic.Clustering is one of the promising solutions to maintain the route stability in the dynamic network.However,existing algorithms consume a considerable amount of time in the cluster head(CH)selection process.Thus,this study proposes a mobility aware dynamic clustering-based routing(MADCR)protocol in IoV to maximize the lifespan of networks and reduce the end-to-end delay of vehicles.The MADCR protocol consists of cluster formation and CH selection processes.A cluster is formed on the basis of Euclidean distance.The CH is then chosen using the mayfly optimization algorithm(MOA).The CH subsequently receives vehicle data and forwards such data to the Road Side Unit(RSU).The performance of the MADCR protocol is compared with that ofAnt Colony Optimization(ACO),Comprehensive Learning Particle Swarm Optimization(CLPSO),and Clustering Algorithm for Internet of Vehicles based on Dragonfly Optimizer(CAVDO).The proposed MADCR protocol decreases the end-toend delay by 5–80 ms and increases the packet delivery ratio by 5%–15%.

Privacy Protection Algorithm for the Internet of Vehicles Based on Local Differential Privacy and Game Model

In recent years,with the continuous advancement of the intelligent process of the Internet of Vehicles(IoV),the problem of privacy leakage in IoV has become increasingly prominent.The research on the privacy protection of the IoV has become the focus of the society.This paper analyzes the advantages and disadvantages of the existing location privacy protection system structure and algorithms,proposes a privacy protection system structure based on untrusted data collection server,and designs a vehicle location acquisition algorithm based on a local differential privacy and game model.The algorithm first meshes the road network space.Then,the dynamic game model is introduced into the game user location privacy protection model and the attacker location semantic inference model,thereby minimizing the possibility of exposing the regional semantic privacy of the k-location set while maximizing the availability of the service.On this basis,a statistical method is designed,which satisfies the local differential privacy of k-location sets and obtains unbiased estimation of traffic density in different regions.Finally,this paper verifies the algorithm based on the data set of mobile vehicles in Shanghai.The experimental results show that the algorithm can guarantee the user’s location privacy and location semantic privacy while satisfying the service quality requirements,and provide better privacy protection and service for the users of the IoV.

A Federated Bidirectional Connection Broad Learning Scheme for Secure Data Sharing in Internet of Vehicles

Data sharing in Internet of Vehicles(IoV)makes it possible to provide personalized services for users by service providers in Intelligent Transportation Systems(ITS).As IoV is a multi-user mobile scenario,the reliability and efficiency of data sharing need to be further enhanced.Federated learning allows the server to exchange parameters without obtaining private data from clients so that the privacy is protected.Broad learning system is a novel artificial intelligence technology that can improve training efficiency of data set.Thus,we propose a federated bidirectional connection broad learning scheme(FeBBLS)to solve the data sharing issues.Firstly,we adopt the bidirectional connection broad learning system(BiBLS)model to train data set in vehicular nodes.The server aggregates the collected parameters of BiBLS from vehicular nodes through the federated broad learning system(FedBLS)algorithm.Moreover,we propose a clustering FedBLS algorithm to offload the data sharing into clusters for improving the aggregation capability of the model.Some simulation results show our scheme can improve the efficiency and prediction accuracy of data sharing and protect the privacy of data sharing.

Reinforcement Learning Based Dynamic Spectrum Access in Cognitive Internet of Vehicles

Cognitive Internet of Vehicles(CIoV)can improve spectrum utilization by accessing the spectrum licensed to primary user(PU)under the premise of not disturbing the PU’s transmissions.However,the traditional static spectrum access makes the CIoV unable to adapt to the various spectrum environments.In this paper,a reinforcement learning based dynamic spectrum access scheme is proposed to improve the transmission performance of the CIoV in the licensed spectrum,and avoid causing harmful interference to the PU.The frame structure of the CIoV is separated into sensing period and access period,whereby the CIoV can optimize the transmission parameters in the access period according to the spectrum decisions in the sensing period.Considering both detection probability and false alarm probability,a Q-learning based spectrum access algorithm is proposed for the CIoV to intelligently select the optimal channel,bandwidth and transmit power under the dynamic spectrum states and various spectrum sensing performance.The simulations have shown that compared with the traditional non-learning spectrum access algorithm,the proposed Q-learning algorithm can effectively improve the spectral efficiency and throughput of the CIoV as well as decrease the interference power to the PU.

A blockchain-based trustworthy collaborative power trading scheme for 5G-enabled social internet of vehicles

Social Internet of Vehicles(SIoV)falls under the umbrella of social Internet of Things(IoT),where vehicles are socially connected to other vehicles and roadside units that can reliably share information and services with other social entities by leveraging the capabilities of 5G technology,which brings new opportunities and challenges,e.g.,collaborative power trading can address the mileage anxiety of electric vehicles.However,it relies on a trusted central party for scheduling,which introduces performance bottlenecks and cannot be set up in a distributed network,in addition,the lack of transparency in state-of-the-art Vehicle-to-Vehicle(V2V)power trading schemes can introduce further trust issues.In this paper,we propose a blockchain-based trustworthy collaborative power trading scheme for 5G-enabled social vehicular networks that uses a distributed market mechanism to introduce trusted power trading and avoids the dependence on a centralized dispatch center.Based on the game theory,we design the pricing and trading matching mechanism for V2V power trading to obtain maximum social welfare.We use blockchain to record power trading data for trusted pricing and use smart contracts for transaction matching.The simulation results verify the effectiveness of the proposed scheme in improving social welfare and reducing the load on the grid.

Decision Making in Internet of Vehicles Using Pervasive Trusted Computing Scheme

Pervasive schemes are the significant techniques that allow intelligent communication among the devices without any human intervention.Recently Internet of Vehicles(IoVs)has been introduced as one of the applications of pervasive computing that addresses the road safety challenges.Vehicles participating within the IoV are embedded with a wide range of sensors which operate in a real time environment to improve the road safety issues.Various mechanisms have been proposed which allow automatic actions based on uncertainty of sensory and managed data.Due to the lack of existing transportation integration schemes,IoV has not been completely explored by business organizations.In order to tackle this problem,we have proposed a novel trusted mechanism in IoV during communication,sensing,and record storing.Our proposed method uses trust based analysis and subjective logic functions with the aim of creating a trust environment for vehicles to communicate.In addition,the subjective logic function is integrated with multi-attribute SAW scheme to improve the decision metrics of authenticating nodes.The trust analysis depends on a variety of metrics to ensure an accurate identification of legitimate vehicles embedded with IoT devices ecosystem.The proposed scheme is determined and verified rigorously through various IoT devices and decision making metrics against a baseline solution.The simulation results show that the proposed scheme leads to 88%improvement in terms of better identification of legitimate nodes,road accidents and message alteration records during data transmission among vehicles as compared to the baseline approach.

A Practical Intrusion Detection System for Internet of Vehicles

Internet of Vehicles(henceforth called IoV) is a public network system and high-value target for intrusions that may cause efficiency issues, privacy leakages or even physical damage. Conventional intrusion detection methods are normally designed for the Internet infrastructures which cannot directly apply in the context of IoV. This work proposes an FPGA based intrusion detection method that can not only achieve real-time scanning performance but also be applied in vehicular environment. We evaluate our scheme on a Xilinx FPGA based platform. Experiments show that the proposed system can achieve a throughput of more than 39 Gbps on existing FPGA platform which is about 15% higher than state-of-the-art techniques,and the total power consumption for the prototype is about 7.5 w. Moreover, the processing latency of the prototype is about 4 us and is about one sixtieth part of the popular software IDS systems.

Artificial Intelligence Based Clustering with Routing Protocol for Internet of Vehicles

With recent advances made in Internet of Vehicles(IoV)and Cloud Computing(CC),the Intelligent Transportation Systems(ITS)find it advantageous in terms of improvement in quality and interactivity of urban transportation service,mitigation of costs incurred,reduction in resource utilization,and improvement in traffic management capabilities.Many trafficrelated problems in future smart cities can be sorted out with the incorporation of IoV in transportation.IoV communication enables the collection and distribution of real-time essential data regarding road network condition.In this scenario,energy-efficient and reliable intercommunication routes are essential among vehicular nodes in sustainable urban computing.With this motivation,the current research article presents a new Artificial Intelligence-based Energy Efficient Clustering with Routing(AI-EECR)Protocol for IoV in urban computing.The proposed AI-EECR protocol operates under three stages namely,network initialization,Cluster Head(CH)selection,and routing protocol.The presented AI-EECR protocol determines the CHs from vehicles with the help of Quantum Chemical Reaction Optimization(QCRO)algorithm.QCROalgorithmderives a fitness function with the help of vehicle speed,trust level,and energy level of the vehicle.In order to make appropriate routing decisions,a set of relay nodeswas selected usingGroup Teaching Optimization Algorithm(GTOA).The performance of the presented AI-EECR model,in terms of energy efficiency,was validated against different aspects and a brief comparative analysis was conducted.The experimental outcomes established that AI-EECR model outperformed the existing methods under different measures.

Context and Machine Learning Based Trust Management Framework for Internet of Vehicles

Trust is one of the core components of any ad hoc network security system.Trust management(TM)has always been a challenging issue in a vehicular network.One such developing network is the Internet of vehicles(IoV),which is expected to be an essential part of smart cities.IoV originated from the merger of Vehicular ad hoc networks(VANET)and the Internet of things(IoT).Security is one of the main barriers in the on-road IoV implementation.Existing security standards are insufficient to meet the extremely dynamic and rapidly changing IoV requirements.Trust plays a vital role in ensuring security,especially during vehicle to vehicle communication.Vehicular networks,having a unique nature among other wireless ad hoc networks,require dedicated efforts to develop trust protocols.Current TM schemes are inflexible and static.Predefined scenarios and limited parameters are the basis for existing TM models that are not suitable for vehicle networks.The vehicular network requires agile and adaptive solutions to ensure security,especially when it comes to critical messages.The vehicle network’s wireless nature increases its attack surface and exposes the network to numerous security threats.Moreover,internet involvement makes it more vulnerable to cyberattacks.The proposed TM framework is based on context-based cognition and machine learning to be best suited to IoV dynamics.Machine learning is the best solution to utilize the big data produced by vehicle sensors.To handle the uncertainty Bayesian machine learning statistical model is used.The proposed framework can adapt scenarios dynamically and infer using the maximum possible parameter available.The results indicated better performance than existing TM methods.Furthermore,for future work,a high-level machine learning model is proposed.

Security and Privacy in 5G Internet of Vehicles(IoV)Environment

Modern vehicles are equipped with sensors,communication,and computation units that make them capable of providing monitoring services and analysis of real-time traffic information to improve road safety.The main aim of communication in vehicular networks is to achieve an autonomous driving environment that is accident-free alongside increasing road use quality.However,the demanding specifications such as high data rate,low latency,and high reliability in vehicular networks make 5G an emerging solution for addressing the current vehicular network challenges.In the 5G IoV environment,various technologies and models are deployed,making the environment open to attacks such as Sybil,Denial of Service(DoS)and jamming.This paper presents the security and privacy challenges in an IoV 5G environment.Different categories of vehicular network attacks and possible solutions are presented from the technical point of view.