This article has been accepted for publication in a future issue of this journal, but has not been

fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2016.2603219, IEEE Access

Internet of Vehicles: Motivation, Layered Architecture,

Network Model,Challenges, and Future Aspects
Omprakash Kaiwartya, Member IEEE, Abdul Hanan Abdullah, Member IEEE, Yue Cao, Member IEEE, Ayman
Altameem, Mukesh Prasad, Member IEEE, Chin-Teng Lin, Fellow IEEE, Xiulei Liu
Abstract—Internet of Things (IoT) is smartly changing various
existing research areas into new themes including smart-health,
Smart Transportation
smart-home, smart-industry and smart-transport. Relying on the
basis of ‘Smart-Transport’, Internet of Vehicles (IoV) is evolving
as a new theme of research and development from Vehicular
Adhoc Networks (VANETs). This paper presents a
comprehensive framework of IoV with emphasis on layered Anywhere
architecture, protocol stack, network model, challenges and
future aspects. Specifically, following the background on
evolution of VANETs and motivation on IoV, an overview of IoV
is presented as a heterogeneous vehicular networks. The IoV
includes five types of vehicular communications; namely,
Vehicle-to-Vehicle, Vehicle-to-Roadside, Vehicle-to-
Smart Industry IoT Smart Home
Infrastructure of cellular networks, Vehicle-to-Personal devices
and Vehicle-to-Sensors. A five layered architecture of IoV is
proposed considering functionalities and representations of each
layer. A protocol stack for the layered architecture is structured
considering management, operational and security planes. A
network model of IoV is proposed based on the three network Smart Health
elements including cloud, connection and client. The benefits of
Fig. 1. The smart impact of IoT on different research and development areas
the design and development of IoV are highlighted by performing
a qualitative comparison between IoV and VANETs. Finally, the
challenges ahead for realizing IoV are discussed and future
In IoT, intelligent interfaces are utilized for seamlessly
aspects of IoV are envisioned. integration of heterogeneous networks. Interoperability among
heterogeneous devices is one of the major goals of IoT [2].
Index Terms–Vehicular adhoc networks, Internet of vehicles, IoT is revolutionizing many new research and development
Cloud computing, heterogeneous networks. areas. IoT is integrating smartness into the existing areas; e.g.,
smart-health, smart-home, smart-energy, smart industry and
I. INTRODUCTION smart transport (see Fig. 1) [3]. Internet of Vehicle (IoV) is
one of the revolutions mobilized by IoT. IoV is evolving from
T HE concept of a universal network framework including
all the existing heterogeneous networks is being strongly
Vehicular Adhoc Networks (VANETs) to achieve the vision
of ‘from smartphone to smartcar’ [4]. The sole aim of
experienced and shaped due to the highly growing number of
conventional VANETs was to enhance traffic safety and
things; e.g., vehicles on road, smartphones on the hands of
efficiency using real time communication among advanced
people, laptops and tablets in offices, TVs and music systems
wireless access technology enabled vehicles with or without
in homes and other sensor enabled devise in our daily life.
the help of Road Side Units (RSUs).
This global network of things is nothing but a future Internet
In spite of having huge potential to address safety and
which is being shaped as Internet of Things (IoT) among
efficiency issues of traffic with lower operational cost,
researchers and practitioners in academia and industries [1].
VANETs has not been able to attract commercial interest [5].
The authors would like to extend their sincere appreciation to the Deanship of
Scientific Research at King Saud University for funding this research. The The commercialization problem of VANETs includes the
research is also supported by Ministry of Higher Education Malaysia in issues related to pure adhoc network architecture [6],
collaboration with Research Management Center at Universiti Teknologi unreliable Internet service [7], incompatibility with personal
Malaysia (vote:4F708).
O. Kaiwartya, A.H. Abdullah, are with the Faculty of Computing, Universiti
devises [8], unavailability of cloud computing [9], lower
Teknologi Malaysia (UTM), Johor Bahru, Malaysia. Email: accuracy of the services, and cooperative operational
omprakash@utm.my; hanan@utm.my. dependency of the network. Moreover, inspite of the
Y. Cao (Corresponding Author) is the institute for Communication
Systems (ICS), Home of 5G Innovation Center (5GIC), University of Surrey,
continuous modernization of vehicles and road infrastructure
Guildford, UK, GU2 7XH Email: Y.Cao@surrey.ac.uk. considering safety as a prime goal, the growing traffic
A. Altameem is with the College of Applied Studies and Community casualties throughout the world is a serious cause of concerns.
Services, King Saud University, Saudi Arabia. Email: aaltameem@ksu.edu.sa The reliable vehicular communications would play a
M. Prasad and C.T. Lin are with the Dept. of Computer Science and Dept.
of Electrical Engineering, National Chiao Tung University, Hsinchu, Taiwan. significant role in reducing traffic casualties [10]. A huge
E-mail:mukeshnctu.cs99g@nctu.edu.tw; ctlin@mail.nctu.edu.tw growth in number of on-road vehicles has been predicted by
Xiulei Liu is with the Computer School, Beijing Information Science and renowned organizations [11]. The growth would open a
Technology University, China. Email: xiuleiliu@hotmail.com

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significantly challenging but profitable market for ‘connected vehicles enables vehicular communication for enhancing
vehicles’ [12]. safety, comfort and affordability. In sparse vehicular network
In this context, this paper presents a comprehensive environment, pre-established infrastructure or pre-specified
framework of IoV with emphasis on layered architecture, regular vehicles of a particular route such as buses are used as
network model, challenges and future aspects. The framework Road Side Units (RSUs) for providing communication among
has significant potential to provide reliable vehicular on-road vehicles [14].
communications. The IoV could effectively reduce traffic The communication architecture of VANETs can be
casualties and attract commercial interest in vehicular divided into three categories including Wireless Access in
communications. The key contributions of this paper are as Vehicular Environments (WAVE) based Wi-Fi, adhoc and
follows. hybrid (see Fig. 2). In WAVE based Wi-Fi-driven
 A five layered architecture of IoV is proposed considering architecture, RSUs alongside roads are used as wireless access
functionalities and representations of the layers. A protocol points which provide communication coverage to the vehicles
stack for the layered architecture is structured considering inside its coverage area. In adhoc architecture, group of on-
management, operational and security planes. road vehicles form adhoc networks using WAVE. These
 A network model is proposed by identifying three network networks perform operations independently without any
elements of IoV including cloud, connection and client. The infrastructure support. In hybrid architecture, cellular and
role of cloud computing, heterogeneous network connection adhoc architectures both using WAVE perform their
and potential client applications in IoV are explored. operations in collaborations [15].
 The benefits of realizing IoV are highlighted by performing
a qualitative comparison between IoV and VANETs.
 The challenges and issues ahead in the design and
Gas Station

development of IoV are discussed. The future aspects of IoV

are envisioned.
The rest of the paper is organized into following sections. Gas Station

Section 2 provides background, motivation and overview of Gas Station

IoV. Section 3 proposes a five layered architecture and

protocol stack of IoV. Section 4 proposes a network model of
IoV based on the three network elements; namely, cloud, (b)
(a)
connection and client. Section 5 highlights the benefits of IoV Gas Station

over VANETs. Section 6 discusses the challenges and issues

ahead in the design and development of IoV. The future
aspects of IoV are envisioned in section 7. Section 8 concludes
the framework of IoV. Gas Station

Gas Station

II. BACKGROUND, MOTIVATION AND OVERVIEW

In this section, conventional VANETs is introduced. The (c)
motivation for the design and development of IoV is Fig. 2. The communication architectures of VANETs: (a) WAVE base Wi-Fi;
presented. An overview of IoV is provided as a heterogeneous (b) Adhoc; (c) Hybrid
vehicular networks.
While conceptualizing VANETs two major objectives were
A. Conventional VANETs identified. Firstly, to improve traffic safety and secondly, to
Due to the significant research and technology enhance traffic efficiency in terms of reducing time, cost and
advancements in wireless communication, the traditional pollutant emission. Due to the commercialization related
Intelligent Transport System (ITS) has evolved towards issues in VANETs, most of the countries of the world are
vehicular communication. The concept of Vehicle-to-Vehicle lacking of the real implementation of VANETs. Some of the
(V2V) and Vehicle-to-Roadside unit (V2R) communication developed countries including US and Japan are using basic
came into existence in research and developments as another implementation of VANETs. This leads to the design and
communication network known as Vehicular Adhoc Networks development of more reliable and market oriented architecture
(VANETs) [13]. It enables communication among on-road for vehicular communication [10].
vehicles with and without the help of any pre-established
infrastructure alongside roads or moving on roads. A number B. Motivations
of state-of-the-art equipment related to new generation The motivation for the design and development of IoV is
Wireless Access Technology (WAT) are incorporated with divided into three folds. Firstly, the commercialization related
vehicles. The equipment include display screen, sensor, issues of VANETs are pointed out. Secondly, the volume of
antenna, camera, radar, Global Positioning System (GPS) growing traffic casualties is examined. Thirdly, the huge
receiver, multiple Application Units (AU), Central Processing market opportunity ahead for IoV is assessed.
Unit (CPU), etc. The incorporation as on-board units of

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1) The Commercialization Issues in VANETs there is an emergent need to reduce traffic casualties on road
In spite of having huge potential in VANETs to address using more reliable vehicular communication based safety
safety and efficiency issues of traffic with lower operational applications.
cost, it has not been able to attract commercial interest of 3) Market Opportunities
industries in the last two decades [5]. Some of the reasons of The IoV offers huge market opportunity not only for
lesser commercial interest in VANETs are pointed out below. automobile industry, but also for a range of other industries
 The framework of VANETs could not guarantee the global including IT equipment manufacture, software industry and
and sustainable services by ITS applications. This is due to Internet service providers. The number of on-road vehicles has
the pure adhoc network architecture. Once a vehicle been predicted to increase significantly in the world [18]. Due
becomes disconnected from an adhoc network, it loses the to the higher motorization rate, congestion would result in
services from the network inspite of the vehicle being on- longer on-road travelling time in coming years. Even if 5
road. This is due to the inability to collaborate with other minutes of the time wasted in travelling globally is monetized
alternative reachable networks [6]. then it is expected to generate Euro 25 billion revenue per year
 In the current framework of VANETs, Internet connectivity by 2030 [19]. Automobile industry is expected to increase the
could not be guaranteed. Therefore, commercial applications profit margin of Euro 54 billion in 2012 to Euro 79 billion by
are not available to drivers and passengers. This is due to the 2020 [11]. The effective utilization of travelling time is also
dependency of commercial applications on reliable Internet one of the key objectives of IoV. Another key driver for the
connectivity [7]. design and development of IoV is the recent advancements
 Inspite of the considerable growth of personal devices in our and higher market penetration rate of IoT [20]. In the growth
daily life, the devices are not able to communicate with of IoT, automobile industry is one of the fastest growing
VANETs. This is due to the incompatible network industries [21]. The connected car sale would reach up to 81
architecture [8]. million annually and 80% sale of the new cars would have
 Intelligent decisions based on the big data mining driven some form of connected drive technology by 2025 (see Fig. 3)
computations are not possible in current VANETs [12]. The potential economic value produced by IoV is
architecture. This is due to the computing and storage estimated to be in the range $210-740 billion per year by 2025
constraints and unavailability of cloud computing services at [22].
vehicles [9].
 Accuracy of the services in ITS applications is significantly
lower, considering the risk involved in relying on the
services for better driving experiences. This is due to the
computation based on local knowledge of traffic
environments in VANETs.
 Operations of the vehicular network are highly depended on
the cooperation of network users. The dependency
diminishes the reliability of the services of VANETs [15].
2) The Growing Traffic Casualties
The three major issues related to on-road traffic include
safety, efficiency and pollution. These are leading causes of Fig. 3. The prediction of car sales with some form of connectivity till 2025
concern on the design and development of IoV. IoV would C. Overview of IoV
provide more reliable framework for vehicular
Although IoV is a new concept and would emerge as an
communications, as compared to VANETs for smart ITS
established research and development area in near future yet,
applications. Reliable vehicular communications would
the usage of concept has already been started as initial stage in
effectively reduce traffic casualties [10]. The growing traffic
many countries. In US, security chip is being installed in each
causalities throughout the world have been reported in various
online devices including vehicles to define identity for every
surveys [16, 17]. Major facts of some of the reports are
entities in Internet [23]. In Delhi, all registered autos,
pointed out below.
electronic vehicles, government buses and metro rails are
According to a report of the World Health Organization
equipped with GPS and Wireless Fidelity (Wi-Fi) [24].
(WHO), the total number of worldwide road traffic deaths due
European Commission has taken number of initiatives for
to the various traffic accidents on road is 1.25 million per year
development of next generation Cooperative Intelligent
[16]. The average number of deaths per day is nearly 32876.
Transportation Systems (C-ITS) [25]. Various reports suggest
Considering only young people (15≤age≤29), road traffic
that there is a positive thinking about the ‘Connected
injuries has caused the highest number of deaths in 2012
Vehicles’ in counties including US, UK and Australia [26].
among the top ten reasons of causalities. According to another
Google is working with leading automobile and IT companies
report, road crashes are resulting in huge economic cost; i.e.,
for developing Android system for ‘connected drive’ under the
3% of the world’s GDP globally [17]. The huge growth of
consortium Open Automobile Alliance (OAA) [27]. Apple has
vehicles on-road is resulting as one of the major causes of air
developed a system ‘CarPlay’ which enables driver to use all
pollution specifically in capital cities. The reports suggest that

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the services of iPhone through the display of car with voice communication platform for abundant mobile Internet and
support feature [28]. All the aforementioned efforts are the multimedia related applications. An example of the framework
steps towards the design and development of IoV. is presented in Fig. 5 with heterogeneous network
coordination and related services. The realization of
heterogeneous vehicular network architecture is a challenging
task [29]. IoV is explored in detail in following sections
V2I focusing on layered architecture, network model, benefits,
Gas Station
challenges, and future aspects.
V2P

V2R
III. LAYERED ARCHITECTURE AND PROTOCOL STACK
V2V
V2S
The layered architecture design of a universal network
which includes heterogeneous networks is a quite challenging
task. It requires to identify and effectively group similar
functionalities and representative elements of heterogeneous
Fig. 4. The five types of vehicular communications of IoV networks as a layer. Optimizing the number of layers and
enhancing the differentiability among layers are the significant
priorities of the layered architecture design. Along with the
layering of functionalities and representative elements, various
4G/LET Range
network characteristics of the heterogeneous architecture are
considered. The network characteristics include
WAVE
Range interoperability, scalability, reliability, modularity. The
architecture of IoV should be able to interconnect vehicles to
Wi-Fi heterogeneous networks and devices. Therefore, an open and
WAVE Range
flexible layered architecture in terms of technology adaptation
Hospital

Range

WAVE
is more suitable for the architecture. Some of the key
Mall
Range
WIP &JAM
objectives of the architecture design of IoV include strong
SP EE D
LIM IT

30 integration with Internet, Service Oriented Architecture (SOA)

Wi-Fi
Gas Station
Range and plug-and-play based interface. Due to the fact that the
Wi-Fi investigations in IoV is on early stage, mostly in industries and
Range
WAVE
Range research projects [27, 28, 30], from the best of our knowledge,
this is the first effort towards the layered architectural design
Wi-Fi
Range of IoV.
Smart Car V2V (WAVE-802.11p)
V2R (WAVE802.11p)
V2I (Wi-Fi 802.11b\g) A. Layered Architecture
V2I (4G/LTE)
V2P (CarPlay/OAA/NCF)
V2S (Ethernet/Wi-Fi/MOST)
A five layered architecture is designed including perception,
coordination, Artificial Intelligence (AI), application and
business layers. The representations and functionalities of
Fig. 5. The realization of IoV with heterogeneous vehicular networks
each layer are described below in detail and a summarized
A global network of WAT enabled vehicles involving view is shown in Fig. 6.
Internet and other heterogeneous networks is proposed as Representation Functionalities
Layers Business model and investment designs
Internet of Vehicles (IoV). The heterogeneous network Graphs, Flowchart,
Business Resource usage and application pricing
architecture of IoV includes five types of vehicular Table, Diagram Budget preparation, data aggregation
communications. The types include Vehicle-to-Vehicle Smart applications Smart, intelligent services to end users
(V2V), Vehicle-to-Roadside unit (V2R), Vehicle-to- Application for vehicles and Service discovery and integration
Infrastructure (V2I) of mobile networks, Vehicle-to-Personal vehicular dynamics Application usage data and statistics

devices (V2P) and Vehicle-to-Sensors (V2S) (see Fig. 4). Cloud computing, Storing, processing, analysis of data
Artificial big data analysis, Analysis based decision making
Each vehicular communication of IoV is enabled using a Intelligence expert systems Service management based on profit
different WAT. The WAT include IEEE WAVE for V2V and Heterogeneous Unified structure transformation
V2R, Wi-Fi and 4G/LTE for V2I, CarPaly/NCF for V2P and Coordination Networks: WAVE, Interoperability provisions
WiFi, LTE Secure transportation of information
MOST/Wi-Fi for V2S. The communication architecture not
Sensor and actuator Data gathering: vehicle, traffic, devices
only includes vehicles and RSUs, but also other Perception of vehicles, RSU, Digitization and transmission
communication devices. The inclusion of a range of devices personal devices Energy optimization at lower layers
makes the architecture more complex but market oriented as Fig. 6. The five layered architecture of IoV
compared to VANETs. The heterogeneous vehicular network
framework of IoV has significant potential to guide and 1) Perception Layer
supervise vehicles. It has the ability to provide reliable The first layer of the architecture is represented by the
different types of sensors and actuators attached to vehicles,

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RSUs, smartphones and other personal devices which are communication. Therefore, these smart applications of the
considered in the framework. The primary responsibility of the layer are the driving force for the efforts being made in
layer is to gather information regarding vehicle, traffic research and developments in IoV.
environment and devices. The vast of information includes 5) Business Layer
speed, direction, acceleration, position, engine condition and The fifth layer of the architecture is represented by the
travel documents related to vehicle, on-road vehicle density operational management module of IoV. The major
and weather conditions related to traffic environment, and responsibility of the layer is to foresight strategies for the
multimedia and infotainment records related to people. The development of business models based on the application
layer is also responsible for the electromagnetic usage data and statistical analysis of the data. Different types
transformation and secure transmission of perceived data to of analysis tools including graphs, flowchart, comparison
the coordination layer. The major issues of the layer are the tables, use case diagram, etc., are the major part of the layer.
collection and differentiation of captured information in The other responsibilities of the layer include decision making
efficient manner in terms of cost and energy. related to economic investment and usage of resources, pricing
2) Co-ordination Layer of usage of applications, overall budget preparation for
The second layer of the architecture is represented by a operation and management and aggregate data management.
virtual universal network coordination module for
B. Protocol Stack
heterogeneous networks involving WAVE, Wi-Fi, 4G/LTE
and satellite networks, through which the perceived A protocol stack is designed by efficiently organizing the
information from the lower layer is securely transferred to the appropriate existing protocols at dedicated one of the five
artificial intelligence layer for processing. Due to the lack of layers (see Fig. 7). The protocol stack aims to accomplish the
standards, interoperability and cooperation among different functional requirements of each layer identified in the
types of networks is one of the main concerns in IoV for architecture. Various protocols are utilized suggested in the
providing reliable network connectivity handled by this layer. projects related to VANETs including WAVE [31], C2C [32],
The prime responsibility of this layer is to process the CALM [33] and the projects related to IoT including projects
different structure of information received from heterogeneous including IoT-A [34], IoT6 [35], HyDRA [36]. The protocol
networks and reassemble into unified structure which can be stack has three planes including security, operation and
identified and processed in each candidate networks. management. The appropriate protocols are identified for
3) Artificial Intelligence Layer different layers and planes of the architecture of IoV by quite
The third layer of the architecture is represented by the efficiently managing the most of the functional requirements
virtual cloud infrastructure. It is the brain of IoV and using existing protocols.
responsible for storing, processing and analysing the
information received from lower layer and decision making
based on the critical analysis. It works as information WAVE
Layer Manager INS SEL SER ADV
management centre where computing and analysis techniques 1609.5
WAVE
Security
including Vehicular Cloud Computing (VCC) and Big Data Channel
Coordinator
1609.2

Analysis (BDA) and Expert System are major operational CALM Resource Handler- 1609.1
Application
components. Due to the number of services offered in cloud Manager
SSE SBO
C2C

environment, service management is also one of the major S-IC

concern in IoV where exclusive and dedicated services are the VCC & BDA CALM
requirement of smart applications which are also handled by C2C
STaaS, INaaS, NaaS, CaaS, ENaaS, GaaS,
PICaaS, COMaaS S-MIB
this layer. Information
CALM-SL WAVE-1609.6
Connector
4) Application Layer HSM

The forth layer of the architecture is represented by smart

TCP
applications, ranging from traffic safety and efficiency to UDP
C2Cnet WSMP FAST
multimedia based infotainment and web based utility IP .
applications. The layer is responsible to provide smart services Network
Manager
LLC
to end users which are based on intelligent and critical G-HoM
MAC-802.11p,
802.11, 1609.4
analysis of processed information by the AI layer. Application
layer was also envisioned in VANETs architecture where
safety and efficiency applications were main focus and smart Interface PHY-802.11p, 802.11a/b/g, WiMax,
Manager Ethernet, 4G/LTE, GSM
applications for commercial purpose were not intended. Management Plane Operation Plane Security Plane
Efficient discovery of services provided by AI layer for
Fig. 7. The protocol stack for the five layered architecture of IoV
combining as smart applications for end users is one of the
major responsibilities of this layer. It also provides end user 1) Security Plane
application usage data to the business layer. Due to the In this plane, security protocols including IEEE 1609.2,
realization of number of smart applications, the framework of Security Information Connector (S-IC), Security Management
IoV is being evolved as global network for reliable vehicular Information Base (S-MIB) and Hardware Security Module

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(HSM) could be utilized which have been developed under 3) Management Plane
WAVE, C2C and CALM projects; respectively. Security In this plane, three protocol groups belonging to the
protocols for IoV is still an open research challenge due to the management operations in WAVE, CALM and C2C could be
unavailability of clear definitions of layer wise security considered. Layer manager IEEE 1609.5 and channel
protocols which is being explored in some recent projects of coordinator protocols are developed in WAVE. CALM has
IoT [37]. suggested three protocols for management purpose; namely,
2) Operation Plane application, network and interface managers. Information
In perception layer, a number of wireless access protocols connector protocol has been suggested in C2C for the same
could be considered in physical layer including 802.11p [38] purpose.
of WAVE, 802.11a/b/g of Wireless Local Area Network
(WLAN) [39], Worldwide Interoperability for Microwave IV. NETWORK MODEL
(WiMax) [40], Ethernet, 4G/Long Term Evolution (LTE) [41], In this section, a network model of IoV is proposed by
Global System for Mobile communication (GSM) and satellite identifying major network elements. The building blocks of
communications [42]. The coordination layer is divided into IoV in terms of network elements more effectively express the
three sub-layers including lower, middle and upper. The meaning and functionalities of IoV as a comprehensive
different MAC protocols could be utilized at lower sub-layer heterogeneous network. The three major network elements of
including IEEE 802.11p, 802.11 (a/b/g/n) and 1609.4 along IoV are identified which include cloud, connection and client
with a Global Handoff Manager (GHM). The design of GHM (see Fig. 8). A logical view of the proposed network model of
is an open research challenge in IoV considering the range of IoV is shown in Fig. 9 with internal components of each
technologies considered at perception layer. A Logical Link element.
Control (LLC) protocol could be considered at middle sub-
layer. At upper sub-layers, three protocols including C2C
network protocol (C2C-net), Short Message Protocol (WSMP) IoV
and Fast Application and Communication Enabler (FAST)
could be considered for carrying out the operations of network Cloud Connection Clients
and transport layers apart from traditional IP and UDP/TCP Fig. 8. The three network elements of IoV
combinations. These protocols are suggested in C2C, WAVE
and CALM projects as network layer protocols. The WSMP
and FAST do not utilize IP whereas C2C-net uses IP6 for Smart Servers

some operations. Basic Cloud Services

Cloud Platform
In Artificial Intelligence (AI) layer, CALM Service Layer Cloud

... ...
(CALM-SL) and WAVE-1609.6 service related protocols Cloud Infrastructure
could be considered at the lower sub-layer, Vehicular Cloud
Computing (VCC) and Big Data Analysis (BDA) related TP-NetIO
protocols could be utilized at upper sub-layer including the HoM AAB SerM NetDB OpDB
V2V
cloud services Storage as a Service (STaaS), Infrastructure as G-IN
V2I

G-IN
a Service (INaaS), Network as a Service (NaaS), Cooperation MobM AAB TraM
V2R MobM AAB TraM

as a Service (CaaS), Entertainment as a Service (ENaaS), WIP &JAM

G-IN 4G/LTE
Wi-Fi
(802.11a/b/g/n)
TraM
Gateway as a Service (GaaS), Picture as a Service (PICaaS) WAVE (802.11p)
MobM AAB
Gas Station Connection
and Computing as a Service (COMaaS). The protocols for AI
V2P V2S
layer are open research challenges in IoV due to the G-IN
WAVE (802.11p) G-IN
MobM AAB TraM
unavailability of suitable protocols for VCC and BDA. None MobM AAB TraM

of the projects related to VANETs have clear definitions of the

upper sub-layer but some projects on IoT are working towards (Ethernet/Wi-Fi/MOST)
(CarPlay/OAA/NCF)
these protocols [43, 44]. Application layer includes two sets of
applications; namely, Smart Safety and Efficiency (SSE) and Safety and Management Business Oriented

Smart Business Oriented (SBO). On the top of these Safety Navigation Insurance Car Sharing Client
Diagnostic Remote Telematics Infotainment Others
applications, one resource handler protocol 1609.1 defined in
WAVE could be utilized for managing resources among smart Fig. 9. The network model of IoV with the three network elements
applications. In business layer, four types of business models
including Insurance (INS), Sale (SAL), Service (SER) and The first element of IoV is the ‘cloud’ which represents the
Advertisement (ADV) are considered. The business models brain of IoV. A range of services related to intelligent
for this layer is an open research challenge in IoV [45]. The computing and processing are offered as primary cloud
success of IoV also highly depends on the effective and services. The services are offered on cloud platform provided
efficient development of these business models which are the by cloud infrastructure. The cloud based intelligent computing
most significant for the commercialization of IoV in the and processing services are accessed using a reliable
related industries. ‘connection’ which is the second element of IoV. A range of

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wireless access technologies can be utilized to establish a 2) Smart ITS Application Servers
connection. The different types of vehicular communications Smart application servers of IoV are divided into four
of IoV represent a different connection due to the usage of categories including traffic safety, traffic management, service
different wireless access technologies. The different types of subscription and entertainment [48]. Two processing engines;
connections are utilized by smart ‘client’ applications which is namely, internal and external engines are considered for smart
the third element of IoV. Each client application has service servers. The internal engine includes big data unit, processing
requirements which might be different from other clients. The unit for big data and analysis unit of processed big data. All
service requirements of a client are defined in terms of the operations of these three units are performed using the
characteristics of a wireless access technology. Therefore, a basic cloud services offered at cloud platform. The external
prioritized preference of wireless access technologies are used engine includes information dissemination unit responsible for
by client applications. These elements and their roles in IoV end-to-end delivery of services to client applications and
are described in detail in following sub-sections. information collection unit responsible for in-source data
gathering.
A. The Cloud
3) Information Consumer and Producer
The magnitude of traffic related information would enlarge The smart devices of IoV including vehicles, personal
drastically with the realization of IoV. This is due to the devices and RSUs are the end user of the intelligent
integration of different types of networks with vehicular information provided by smart servers. The devices are
network. A smart ITS of a city for dynamically collecting, responsible for data gathering from vehicular traffic
processing and disseminating real time traffic information environments. The development of business models for
would require information processing system of petabyte scale organizations related to insurance, automobile production and
[46]. For handling information of this magnitude, cloud repair, and other Internet based services is also one of the
computing framework is the best environment. A framework major usages of the data gathered by smart devices [49].
is proposed to highlight the role of cloud computing as an The aforementioned role of cloud computing makes the
element in IoV by utilizing the concept of cloud based ‘cloud’ one of the important elements in the design and
application servers (see Fig. 10). The framework has three development of IoV. The services offered by the four smart
major operation levels including basic cloud services, smart application servers including smart safety, Smart Traffic
application servers and information consumers and producers. Management, Smart Entertainment and Smart Subscription are
The operation levels are based on cloud where traffic the basis of smartness in IoV [50]. The primary responsibility
information is uploaded, processed, stored and disseminated of the cloud servers is to process and apply artificial
using cloud architecture. Basic cloud services are the core intelligence in real time big traffic data to make intelligent
operation framework for realizing cloud based smart ITS decisions for smart client applications [51]. It would require a
application servers in IoV. The three operation levels are Real Time Operating Systems (RTOS) for the activation of
introduced below in terms of major components and their IoV services. Google’s effort to develop Android-based RTOS
responsibilities. for IoV with the help of Open Automobile Alliance (OAA) is
Vehicles Personal Devices Roadside Infrastructure
Information one of the good candidates [52].
Consumers and
Producers
B. The Connection
The ‘connection’ is utilized to establish and maintain the
communication between the ‘cloud’ and vehicles for accessing
Information Dissemination Unit Information Collection Unit

External Engine of Smart Application Server

Smart Safety
Smart Traffic Smart Smart the cloud based smart services in IoV. Due to the
Management Subscription Entertainment
Application
Server
Application Application Application Smart ITS
Applications
consideration of different types of networks including
Server Server Server
Internal Engine of Smart Application Server VANETs, Wi-Fi, 3G/LTE, and satellite, inter connection
Big Data Analysis
Unit
Processing Unit Big Data Unit among these networks is significantly challenging [53]. There
are two major components of a connection; namely, Third
ENaaS PicaaS DaaS PLaaS SOaaS LOaaS Party Network Inter Operator (TPNIO) and Gateway of
Basic Cloud
CaaS STaaS GaaS COaaS NaaS INaaS Services Internetworking (GIN). TPNIO is responsible for management
of the connection whereas GIN represents the connection.
Fig. 10. The role of cloud computing as three operation levels Both of these components and a prioritized preference of
Wireless Access Technologies (WAT) for connection are
1) Basic Cloud Services described in detail in following.
The basic cloud services include the services offered to 1) Third Party Network Inter Operator (TPNIO)
smart traffic application servers including Co-operation as a The need of direct Service Level Agreement (SLA) between
Service (CaaS), Storage as a Service (STaaS), Gateway as a the operators of the networks is reduced in IoV due to the
Service (GaaS), Computing as a Service (COaaS), Network as consideration of TPNIO [54]. The direct SLA is a challenging
a Service (NaaS), Data as a Service (DaaS). Smart ITS constraint for any heterogeneous networks. TPNIO enables
application servers are considered to be developed and seamless roaming without compromising the quality and
deployed on a cloud platform which provides basic cloud security of the services of network operators. The five major
services to the applications for IoV [47].

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components for TPNIO are proposed including Global operators and their SLAs to provide guaranteed quality of
Handoff Manager (GHM), Global Authentication, service.
Authorization and Billing (GAAB), Service Management 2) Gateway of Internetworking (GIN)
(SM), Network Database (NDB) and Operator Database Due to the heterogeneous network environments in IoV,
(ODB). A logical relationship among these components is different wireless access technologies are utilized to establish
shown in Fig. 11. The operational responsibilities of the connections. There are five types of vehicular networks in IoV
components of TPNIO are described below: including V2V, V2R, V2I, V2P, and V2S. The vehicular
networks are represented by different wireless access
GHM GAAB SM technologies (see Fig. 9). The V2V and V2R networks
On-going connections Authentication Service request represents vehicular communications through WAVE. The
V2I network represents vehicular communications through
Handoff connections Authorization Service maintaining Wi-Fi or 4G/LTE [56]. The V2P network represents vehicular
personal device communications using CarPlay of Apple or
Handoff Operator Billing Service monitoring Android system of OAA or Near Field Communication
(NFC). The V2S network represents in-vehicle sensor
communications through Ethernet, Wi-Fi or Media Oriented
NDB ODB
System Transport (MOST) [57]. These networks are utilized
Fig. 11. The logical relationship of the components of TPNIO by client applications to access the services of smart based
servers with the help of Gateway of Internetworking (GIN)
 Global Handoff Manager (GHM) (see Fig. 9). Each vehicular network has its GIN which
The global handoff manager is responsible for performing coordinates with the TPNIO to establish and maintain a
seamless transfer of on-going communications between any connection. The three major components of GIN are proposed
pair of operators of the networks in IoV. It is a global handoff including Mobility Management (MM), Local Authentication,
manager and can perform handoff operation between a pair Authorization and Billing (LAAB), and Traffic Management
operators of different types of networks in IoV. Development (TM). A logical relationship among these components is
of GHM is an open research challenge in IoV for which shown in Fig. 12. The operational responsibilities of these
efficient integration of handoff modules of heterogeneous components are described below:
networks could be consider as a general way to realize GHM
[55]. MM LAAB TM
 Global Authentication Authorization and Billing (GAAB) MIP Authentication Traffic Policy
The GAAB is responsible for verifying vehicle’s credentials
and granting permissions to access network services. The Seamless Roaming Authorization
In-coming and Out-
going Traffic Records
usage based pricing of network services is also handled by
GAAB. The operations of GAAB is quite complex and Billing
challenging considering the fact that vehicles might belong to
the operators of different types of networks. Therefore, the Fig. 12. The logical relationship of the components of GIN
idea of third party is considered as a TPNIO which helps
GAAB in the verification and pricing.  Mobility Management (MM)
 Service Management (SM) MM is responsible to provide the functionalities related to
SM is responsible for providing and monitoring quality of Mobile IP (MIP). The concepts of Foreign Agent Vehicle
service offered to vehicles. It uses service quality agreement (FAV) and Home Agent Vehicle (HAV) are utilized to
between operators of different networks. It helps to deliver implement MIP [58]. In IoV, a vehicle registered with a
guaranteed services to vehicles using service quality network operator is considered HAV for the operator and FAV
agreement. Maintaining service quality between different for the other operators of the network. The seamless Roaming
types of networks requires consistent observation. The concept module communicates with GHM to perform roaming
of service quality rating could be utilized for the quality operation. The concept of tunneling could be utilized for the
maintenance. conversion of IP versions to avoid the restrictions of using a
 Network Database (NDB) particular version of IPv4 or IPv6.
NDB is a databased of the registered networks with their  Local Authentication Authorization and Billing (LAAB)
technologies and protocols in IoV. The database is utilized to LAAB is responsible to provide authentication,
identify a network while establishing communications authorization and billing services to HAV which are local
between the operators of different types of networks. users of the networks. It also helps the Global AAB (GAAB)
 Operator Database (ODB) of TPNIO for providing the same services to FAV.
ODB is a database of the registered operators of the  Traffic Management (TM)
different types of networks in IoV. These operators have SLA TM is responsible to provide network traffic monitoring
with TPNIO due to which the need for direct SLA between services by implementing the policies of the network. The
operators is not required. The database is utilized to identify policies may differ from network to network. The monitoring

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helps the network operators to provide quality of services to  Real time traffic information
 Interest point in car
the client applications. The monitoring is based on the analysis  Locating parked car
 Locating parking space
of usage of traffic data as well as the live traffic data of  Speeding evidence
 Emergency call
connections.  Wrong-way driver  Navigation area extension
 Parking space booking  Remote locking/
warning
3) Prioritized Preference of Wireless Technologies  Lane change warning  Multi-modal transportation
 Service intimation 
unlocking
  Traffic sign recognition Stolen vehicle recovery
Due to the heterogeneous network environment in IoV, a Automatic breaking  Service spot 
 Overtaking warning  Localizing events Car surveillance
detection 
Automatic speed control  Parking space offers Driving behavior analysis
range of WAT would be available for client application to   Car usage checking 
 Electronic logging Fuel usage optimization
 Self repair
establish connections with smart cloud based servers. The Safety Navigation Diagnostic Remote Telematics
WAT are divided into three categories; namely, vehicular,
cellular mobile and small range static communications based Safety and
Management
on the communication network where WAT are utilized (see IoV
Fig. 13). These technologies have been developed for different Applications

types of communication networks. Therefore, their Business Oriented

characteristics; i.e., strengths and limitations, are different. A
prioritized preference of wireless technologies is derived in Insurance Car Sharing Infotainment Other

Table 1 based on the six parameters which effectively Wi-Fi in vehicle

 Group or family  Car pooling  Mobile toll payment
Music downloading
  Reminder forgotten
characterize these technologies. The six significant parameters insurance
 Usage-based insurance
Family or group car
booking
Online streaming
devices inside car
SMS using car s display
of WAT include data rate, communication range, mobility  Module-based  Group parking booking  Cloud service
Online radio
insurance  Car sharing using online  Driving behavior
Advertisements
support, communication delay, security support and  Season-based key
Calendar service
analysis
insurance  Car s age analysis
scalability. The prioritized preference of wireless technologies Address book
 Region-based
Facebook/WhatsApp
would be used to select appropriate WAT for a specific client insurance
Location sharing/Tracking family/
friends
application. The appropriate technology selection would be  Connected drive
helpful to maintaining QoS [59]. Fig. 14. The taxonomy of client applications of IoV

Wireless Technologies
for IoV Applications
1) Safety and Management Client
Traffic safety and management related ITS applications are
Vehicular Cellular Mobile Short Range Static
Communications Communications Communications broadly divided into four groups including safety, navigation,
diagnostic and remote telematics.
DSRC/
WAVE
CALM 4G/LTE WiMAX Satellite Wi-Fi Bluetooth ZigBee  Safety
Fig. 13. The classification of WAT for the applications of IoV The traffic safety related ITS applications are M2M
communication based applications. The performance and
Table 1. The prioritized preference of WAT quality of operations could be significantly enhanced by
Property Prioritized Preference based on the Property integrating cloud-based smart servers [60]. The servers utilize
High Low big traffic data to take intelligent decisions in IoV. These
Data Rate Wi-Fi(a/b/g/n)  4G/LTE  WiMAX 
DSRC/WAVE  CALM  Bluetooth  ZigBee applications enhance driver’s performance and quality of
Communication WiMAX  4G/LTE  DSRC/WAVE  CALM  driving. The applications incorporate automatic operations on
Range Wi-Fi(a/b/g/n)  ZigBee  Bluetooth wheels, and thus, reduce the efforts needed for qualitative
Mobility DSRC/WAVE  CALM  WiMAX  4G/LTE  driving. Some of the traffic safety applications are introduced
Support Wi-Fi (a/b/g/n)  ZigBee  Bluetooth
Communication DSRC/WAVE  CALM  4G/LTE  ZigBee  Wi- below:
Delay Fi (a/b/g/n)  Bluetooth  WiMAX Accident Prevention- It is a M2M communication system
Security 4G/LTE  WiMAX  Wi-Fi (a/b/g/n)  ZigBee  for vehicles. It prevents accidents using real time information
Support Bluetooth  CALM  DSRC/WAVE
Scalability WiMAX  4G/LTE  DSRC/WAVE  CALM 
exchange between vehicles. It enables various automatic
Wi-Fi (a/b/g/n) ZigBee  Bluetooth operations including speed control, lane change, stoppage,
steering control, etc. The system would be highly beneficial
C. Client for highway and dense urban traffic environments. In both the
The services of smart cloud based servers are utilized by the environments, automatic vehicle control has significant impact
‘client’ applications of vehicles with the help of a network on safety in case of critical situations.
connection. The client applications or clients in IoV can be Emergency Call- It is an emergency call system for
broadly divided into two categories; namely, safety and vehicles. It contacts the services such as police, fire and family
management oriented, and business oriented (see Fig. 14). or friends in case of emergency. It is both automatic and
Some of the potential clients and a prioritized preference of manual. The call provides all the information related to the
WAT for the clients are described in following sub-sections. present and past situations of the vehicle. The information
includes number of passengers, speed, direction, location,
lane, cause of emergency, etc. This can be considered as
black-box information of the vehicle.
 Navigation
The navigation related ITS applications are location based

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10

services [61]. The performance of these application are mostly traditional physical entity based operations into digital entity
dependent on the accuracy of location information. The based operation. The applications enhance the ease of usage of
information is obtained from the GPS receiver attached to the and monitoring of vehicles. Some of the examples in this
vehicles. These applications help in managing traffic, and category include remote locking/un-locking, car surveillance,
thus, enhances traffic efficiency. The smooth flow of traffic etc.
and minimum carbon emission in environments are some of 2) Business Oriented Client
the key objectives of location based navigation applications. The business oriented ITS applications of IoV can be
Some of these applications are introduced below: broadly divided into four categories including insurance, car
Real Time Traffic Information- It is a traffic information sharing, infotainment and other applications.
system. It provides live traffic information using video sensor  Insurance
of vehicles and heterogeneous communication networks. This The insurance based ITS applications are different models
could effectively replace the current image analysis and radio for providing insurance. The models are based on some
broadcasting based non-real-time traffic information systems. statistical analysis of information including usage of vehicles,
The system relies on effective online streaming of traffic driving behavior, place of usage and time duration of usage
information using heterogeneous vehicular networks. [64]. These applications would reduce insurance cost, and
Parking Helper- It is a parking system for vehicles. It helps thus, optimize vehicle ownership cost. One of the insurance
in finding the nearest available parking space by based applications is introduced below:
communicating with the parked vehicles. The system relied on Insurance on Driving Statistics- It is an insurance system
accurate positioning of vehicles inside any parking for vehicles. It automatically calculates insurance fee by
infrastructure. It utilizes GPS receiver and cooperative utilizing the driving statistics information. The information
positioning techniques. The system would reduce the wastage includes daily/monthly/yearly driving duration or how much
of fuel and time in searching parking space, particularly in you drive and daily/monthly/yearly violations of traffic rules
dense urban traffic environment. or how you drive. The system is completely relied on the
Multi-modal Transportation- It is a transportation system cloud based vehicle usage statistics. It could significantly
for people. It optimizes the resources including time, money, optimize cost of insurance.
comfort, fuel, entertainment, etc., according to the choice of  Car Sharing
users. It provides route planning service including multiple The car sharing ITS applications are based on the concept
means of transportation and optimizing user’s preference. The of improving the utilization of resources while using cars, and
system would be one of the most innovative applications of thus, reducing the cost incurred in transportation. This can be
IoV for the current urban scenarios. This is due to the different achieved by travelling by car in groups. One of the car sharing
modes of intra and inter-city transportations availability. applications is introduced below.
 Diagnostic Car Pooling- It is a car sharing application based on cloud
Vehicle diagnostic related applications works as personal platform. It allocates car service seekers to car owner. The
health consultant for vehicles [62]. Apart from real time allocation is based on the optimization of matching criteria of
monitoring overall condition of vehicles, cloud-based data passengers. The criteria include local address, work place,
management of vehicle’s condition is one of the key timing, gender, age, and employment position. In the
operations of these applications. The cloud-based diagnostic application, the registration of car owners and car service
data is used for online prediction and maintenance advisory to seekers are verified by the service provider.
vehicles. Diagnostic applications would reduce maintenance  Infotainment
cost. The applications timely intimate the need of repair and Evolving from the concepts of connected home, office and
rightly intimate the service spots. One of the diagnostic clients mobility, now the time is for connected drive. It is the core
is described below: concept of the infotainment ITS applications of IoV [66].
Self-Repair- It is a cloud-based step-by-step repair These applications rely on reliable Internet connectivity. The
guidance system. It helps the owner of vehicle in fixing application would enhance productivity and travel experience
hardware/software issues of the vehicle. The system is relied by being on-line while driving. One of the infotainment
on a cloud based database. The database evolves automatically applications is introduced below:
with the advancements in the technology. The clear guidance Connected Driving- It is a device synchronization system
is available for all kinds of vehicles through audio and video for vehicles. It connects vehicle’s display unit to office or
technologies. The system would significantly reduce the home computer, smartphone and other online devices. The
amount of money spent in repairing. It could reduce the system is based on remote login in different types of online
overall vehicle ownership cast. devices with security credentials. The system would improve
 Remote Telematics productivity in driving duration while avoiding on-road
Remotely accessing some of non-driving operations of fatalities. This is due to the utilization of automatic support
vehicles could be made possible by using highly secure remote applications for drivers in IoV.
telematics applications [63]. The applications are based on  Others
accurate remote tracking, authentication and authorization There are some other applications which do not fall into the
methods. These applications are actually the conversion of aforementioned categories. The applications are very useful in

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11

terms of commercialization of traffic services. These durable connectivity. Wi-Fi  Bluetooth and
ZigBee
applications are based on different business concept and
technologies. One of the applications in this category is
introduced below: V. BENEFITS OF INTERNET OF VEHICLES
Cloud Service- The cloud system either forms autonomous In this section, benefits of IoV is examined into two aspects.
cloud of group of vehicles or connects the vehicles to Firstly, IoV is compared with traditional vehicular
traditional cloud. In either case, the resources of connected communication; i.e., VANETs. Secondly, IoV is evaluated in
vehicles are available for usage as cloud service as well as the the context of two new paradigm in vehicular communication;
vehicles can utilize smart cloud services. The system would namely, Cyber-Physical System (CPS) and Named Data
eliminate computational and storage limitations at vehicles. It Networking (NDN).
could open new business models in connected drive. A. IoV over VANETs
3) Prioritized Preference for Clients
The aforementioned client applications have different A comparative investigation between IoV and VANETs is
service requirements in terms network parameters. The service carried out to highlight the fruitful impact of the realization of
requirements depends on the type of applications or the key IoV on vehicular communication, its services, and business
objectives of the applications. A prioritized preference WAT orientation of the communication (see Table 3). Specifically,
for each type of client is obtained in Table 2 by utilizing the fifteen parameters are considered for the comparative
prioritized preference of Table 1. The prioritized preference assessment including Commercialization (CM), Objectives
would be used by clients to select appropriate WAT while (OB), Network Architecture (NA), Internet Service (IS),
establishing connection. Communication Types (CT), Device Compatibility (DC),
Processing Capability (PC), Data Size (DS), Decision Making
Table 2. The prioritized preference of WAT for clients (DM), Cloud Computing (CC), Autonomous Cloud (AC),
Application Service Requirement Prioritized Preference Ref. Application Service (AS), Scalability (SC), Connectivity (CO)
High Low
Safety Life critical applications DSRC/WAVE  [60]
and Network Awareness (NAW). The following remarks can
require lower CALM  4G/LTE  be made from this comparative assessment.
communication delay ZigBee  Wi-Fi  The vehicular communications of IoV would be highly
and delivery guarantee. Bluetooth  WiMAX
commercialized. This is due to the smart commercial and
Navigation Traffic efficiency DSRC/WAVE and [61]
oriented navigation WiMAX  CALM and infotainment applications in addition to the smart safety,
applications require 4G/LTE  WiMAX management and efficiency applications.
better mobility support, and DSRC/WAVE
 The network architecture of IoV would integrate vehicular
security and privacy 4G/LTE and CALM 
scalability Wi-Fi  ZigBee  communication with other communication networks. This is
Bluetooth due to the heterogeneous network architecture.
Diagnostic Ownership cost WiMAX and Wi-Fi  [62]  IoV would provide reliable Internet service in vehicles. This
optimizer diagnostic 4G/LTE 
applications require DSRC/WAVE and is due to the inclusion of V2I communication.
better communication WiMAX  CALM and  Most of the existing computing and communication devices
range and data rate to DSRC/WAVE  in our daily would be compatible with vehicular networks of
continuous monitor CALM and Wi-Fi 
vehicles Bluetooth and ZigBee IoV.
Remote Authentication and 4G/LTE and WiMAX [63]  The processing and decision making capability of vehicles,
Telematics authorization based  Wi-Fi and size of vehicular networks, volume of network data would
remote telematics DSRC/WAVE 
applications require ZigBee and CALM  enlarge drastically in IoV.
better security and Bluetooth and Wi-Fi 
Table 3. The qualitative comparison between IoV and VANETs
communication range DSRC/WAVE and
for reliable remote Bluetooth Parameter IoV VANETs
accessing. CM Huge opportunity for Not able to attract commercial
Insurance Cost optimizer WiMAX and 4G/LTE [64] commercial applications due to interest due to the non-supportive
insurance applications  DSRC/WAVE and the business oriented architecture for commercial
require scalability and Wi-Fi  CALM and architecture and reliable applications and unavailability of
security to monitor of ZigBee  Wi-Fi and Internet connectivity. Internet [67].
vehicular statistics. Bluetooth  ZigBee OB Traffic safety, efficiency and Traffic safety and efficiency [68].
and CALM  Bluetooth commercial infotainment.
and DSRC/WAVE NA Collaborative internetworking Singleton network architecture
Car Sharing Resource utilization DSRC/WAVE and [65] among heterogeneous which is not able to collaborate
oriented car sharing WiMAX  CALM and networks. with other existing networks [69].
applications require 4G/LTE  WiMAX IS Reliable Internet service would Internet service is not available
mobility support and and CALM  4G/LTE be available. due to the non-collaborative
scalability for durable and Wi-Fi  ZigBee network architecture [70].
connectivity to all users. and Bluetooth CT Five types of communications Two types of communications
Infotainment Online streaming based Wi-Fi and [66] including V2V, V2R, V2I, V2P including V2V and V2R [71].
infotainment DSRC/WAVE  and V2S.
applications require 4G/LTE and CALM  DC Most of the personal devices Communication compatibility
better data rate and DSRC/WAVE and are compatible with the between personal devices and the
mobility support for 4G/LTE  CALM and network and able to network is still a challenging

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12

communicate with vehicles issue due to the singleton network nature of vehicular network environments. VNDN could
including smart phones, laptop, architecture [72].
tablets.
significantly reduce network load and optimize network
PC The best processing capacity Limited processing capability due performance [91]. Due to the inclusion of different types of
available due to the on-demand to the stand alone system devices with vehicular communication in IoV, the idea of
cloud based service. availability [73]. address-less communication of VNDN is a prospective
DS Big data due to the Limited data due to the
collaboration of different types consideration of only neighboring concepts for IoV. In IoV, VNDN could be extended to support
of networks. vehicles statistics in the operation address-less communication not only in vehicle-to-vehicle
and decision making [74]. communication but also in vehicle-to-devise communication
DM Decisions related to Decision are based on simple and
applications and protocols are logical computation on local data
with the devices attached to address-based networks. The
based on AI based data mining because the usage of AI is still a extended VNDN would effectively support the idea of global
and big data computation. challenging task due to the heterogeneous networking of IoV. The extended VNDN is
resource limitations [75]. depicted in Fig. 16 with Interest/Data based communications
CC All the operation is based on Cloud based operation is possible
cloud computing and big data but currently not supported due to among vehicles as well as devices.
analysis which make IoV more the unavailability of reliable IoV
intelligent. Internet connectivity [76].
V2S
AC Cloud formation, management Cloud formation is possible but V2V V2R
and services are efficient and management and services are not Cyber World
reliable. guaranteed [77]. V2I V2P
AS The services of ITS No ITS applications guarantee
applications will be efficient about the service availability due
Hospital
and reliable due the client- the network disconnection issue Physical World
server architecture using [78].
Internet connectivity. Gas Station
WIP &JAM
SC Due to the capability of Due to the inability of
collaborative integration among collaborative operation, the
different types of networks network architecture is not
(VANETs, Wi-Fi, 4G/LTE) the scalable [79]. Gas Station

network architecture is scalable

CO Vehicles are all time connected Vehicles get connected and
to the network through the best disconnected from the network
available network. depending on the availability of
the network [80].
NAW Due the availability of cloud Network awareness is reduced to
based computation and storage the neighbor awareness due to the Fig. 15. The cyber and physical world of VCPS
services, global network unavailability of information and
awareness is utilized for storage and processing constraints
enhancing the performance of of a vehicle [81].
the network. Data
Traffic
B. IoV in the Context of CPS and NDN information Data
VNDN of section B Song X
Vehicular Cyber Physical System (VCPS) is new paradigm
Interest Among vehicles
in vehicular communication [82, 83]. It has emerged due to Traffic
the growing importance of cloud based intelligent computation information
in big traffic data and efficient dissemination of information of section B
using next generation Internet [84, 85]. There are five major
modules of VCPS including sensing, data management, next
generation Internet, services and applications [86, 87]. The Road Section A
proposed architecture and network model of IoV precisely
support VCPS as next generation Internet. Intelligent
computation in big traffic data using cloud computing for non- Road Section C
safety services and fog computing for safety services is the
Interest
core of VCPS, and the same is supported in the layered Song X
architecture of IoV as artificial intelligence layer [88, 89]. The
cyber world and physical world in VCPS is depicted in Fig.
VNDN
15. Among vehicles as well as
Vehicular Named Data Networking (VNDN) is another devices
novel networking concept in vehicular communication.
VNDN enables address-less communication among vehicles
[90]. It has significant potential to mitigate unique address Fig. 16. VNDN among vehicles as well as devices in IoV
management for vehicles in vehicular communication. VNDN
is based on the concept of addressing an ‘interest’ rather than a VI. CHALLENGES AND ISSUES
vehicle. Its Interest/Data based communication is highly The complete realization of IoV could bring fundamental
suitable for vehicular communication due to the distributed

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13

changes in driving experience by integrating smartness into verification including directional antenna [101], beaconing
ITS applications. Apart from driving, other related areas based belief [102], and cooperative approach [103]. The
including urban traffic management, automobile production, following issues need to be addressed in these techniques.
repair and vehicle insurance, road infrastructure construction  The cost of infrastructure in directional antenna approach.
and repair, logistics and transportation would also positively The limitations of range based techniques in vehicular
transformed. The cost effectiveness in these areas would be a environment.
major contribution of IoV. This is due to the collaborative  The overload involved in the beaconing approach.
integration of available information for optimizing cost.  The untrustworthy neighbour in cooperative verification.
However, realizing IoV would be a significantly challenging
task. Various issues of vehicular communications are yet to D. Radio Propagation Model
be resolved for the realization of IoV. Some of challenges are Radio propagation in vehicular traffic environment is
described below considering their specific issues. considerably deteriorating. This is due to the modern road
infrastructure and speed of vehicles. The radio obstacles on
A. Localization Accuracy and alongside roads can be categorized in moving and static
Accurate localization of vehicles is significantly radio obstacles. The moving obstacles on road includes trucks,
challenging considering the accuracy requirement in vehicular buses and other larger size vehicles. The static obstacles
communication environments. The accuracy requirement is include buildings alongside road, flyovers, underpasses and
quite higher than the accuracy provided by existing GPS- tunnels [104]. Currently, wireless propagation models of
based localization [92]. In fulfilling the accuracy mobile communications are used in vehicular
requirements, following three issues are needed to address. communications, and thus, the impact of aforementioned
 GPS-based localization provides accuracy of 5 m whereas obstacles on the radio propagation in vehicular environments
the accuracy requirement in vehicular communication is not considered [105]. Moreover, the WAVE standard for
environments is 50 cm [93]. vehicular communication uses 5.9 GHz frequency which has
 GPS-based localization do not take speed of the objects into lesser penetration capability as compared to well-known Wi-Fi
consideration whereas speed is one of the important and mobile radio signal. Therefore, following concerns are
constraints in vehicular communication environments [94]. need to be addressed for developing accurate radio
 Deteriorated quality of GPS signal or even unavailability of propagation models for vehicular communications.
signal in dense urban environments [95].  Incorporation of the impact of moving and static obstacles in
radio propagation models for vehicular communications
B. Location Privacy
[106].
Due to the highly mobile adhoc network environment,
 Maintaining accurate line-of-sight in vehicular
vehicular communications are based on periodic beaconing
communications considering the lower penetration capability
information about the network. The periodic beaconing
of 5.9 GHz vehicular radio frequency.
information includes location, velocity, direction, acceleration,
and vehicle type [96]. The revealing of location information E. Operational Management
results into huge privacy concern. The vehicles have to utilize Due to the collaboration and coordination among different
location information for communication without exposing the types of networks, the volume of data in IoV would drastically
information itself. Therefore, the location privacy is a quite increase. Therefore, operational management in terms of
challenging task [97]. Although some techniques including security and credibility would be significantly challenging.
pseudonym [98], silent period [99] and mix zone [100] have Vehicles would be equipped with number of sensors, different
been suggested to address the privacy concern yet, the concern types of radio terminals, and transponders. As a result, a multi-
is unresolved. This is due to the below listed issues in the attribute network would emerge where the traditional network
privacy techniques. operators such as ISP, telecom operators, automobile
 Pseudonym switching is workable in case of higher vehicle companies and dealers would collaborate and work under third
density. The technique is easily detectable in lower vehicle party virtual network operator. Apart from the equipment
density environments. related complexities, computational complexities would be
 Silent period is applicable for non-real time ITS also challenging due to the consideration of cloud computing
applications. The technique is not suitable for real time in highly mobile network environment.
applications. Apart from the aforementioned challenges and issues, there
 Mix zone is useful on multi lane roads with larger zone area. are other issues related to disruption reduction [107],
The technique is not effective on one way roads. opportunistic framework [108], geographic routing [109], and
MAC standard [110]. The issues have been explored up to
C. Location Verification
some extend in the context of existing vehicular
Location verification of neighboring vehicle is another communication architecture. A thorough investigations are
challenging problem in vehicular communication. This is due needed in the context of the framework of IoV. These issues
to the absence of trusted authority in vehicular are not discussed here in detail due to the space limitation.
communication. Some of the techniques suggested for location

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14

intelligent route discovery would be possible for information

Issues in IoV and
standardization dissemination. The protocol performance has considerable
Technological Advancements
in Vehicular Communication

Inception of impact on overall performance of ITS applications.

IoV
Therefore, it would result in improved customer experience
Standardization
of VANETs and traffic management.
Research Area in  On-road Internet- The reliable Internet services in vehicles
VANETs
would add new devices in on-line cyberspace in large
Inception of
VANETs volume. This is due to the inclusion of all on-road vehicles.
This will open new research and development themes in
2000 2005
2010 2015 2020 2025
Early concepts of VANETs
Standard protocols including Effective and efficient protecting online privacy and generating trusted ID.
were developed based on
IEEE 802.11p and family of integration of existing
standards of different types
 Big Business Data- The cloud based integration of
the concepts of MANETs.
IEEE 1609 were developed.
In these days, VANETs Various projects in Europe, of networks as a standard heterogeneous networks with vehicular network would result
were considered as an Japan and Korea also for IoV will be explored.
application of MANETs developed similar standard for Integration of cloud as a huge data resource. The resource could be utilized in
[111] VANETs [113]. architecture, artificial productive manner with wide range of businesses including
intelligence and big data
Key research areas were Scalability and
automobile, Internet, insurance and market analysis.
analysis in IoV will be
evolved including MAC and commercialization issues of
routing protocol design, vehicular communication investigated [115]. Management of big business data would be significantly
mobility models, simulator through heterogeneous
design and development and networking will be explored as a challenging in IoV in terms of cloud based storage,
TCP design [112]. step of early concept processing and digital distribution.
developments of IoV [114].
Fig. 17. Evolution of vehicular communication from VANETs towards IoV  Smart Terminal- Machine-to-machine communication
based smart terminals would be on demand for both in-
VII. FUTURE ASPECTS vehicle and handset usage. The terminals would be capable
to provide most of the location based services by
The future aspects of IoV is bright with the assumption that
collaborating with IoV.
the aforementioned challenges and issues would be resolved.
A summarized view of the evolution of vehicular  Car Payment- Unique cyber space identity would enable
communication is depicted in Fig. 17 for making a clear car payment. The information of driver or owner of vehicle
picture of IoV ahead. IoV would bring novel features in every and would become an alternative of mobile payment. It
field of automobile right from the manufacturing up to the would be a significant step in terms of acquisition of
customer experience. Some of these features of future economic identity by vehicles. Car payment would enhance
vehicular communications are introduced below. efficiency of traffic management. This would be in terms of
hassle free toll collection, fuel refilling, parking collection,
 Online Vehicle- Each vehicle would be online right from
road tax collection, and even payment for service and
the completion of manufacturing up to the usage by
management.
customers. Most of the services related to vehicle would be
available online. The services include status of vehicles,
VIII. CONCLUSION
annual inspection report by authority, road tax payment
status, repair or service history, etc. The management cost of Internet of Vehicles (IoV) is evolving as a global
vehicle would be drastically reduced. This is due to the heterogeneous vehicular networks. The emerging concept of
online availability and timely intimation of service related ‘Connected Drive’ in smart transportation is the basis of IoV.
information. The two major objectives of IoV include automation of
 Global Internet ID- Each vehicle would have a uniquely various security and efficiency features in vehicles and
identifiable number in Internet which is a prerequisite for commercialization of vehicular networks. In this paper, a
online presence of vehicles. Inspite of deficiencies, GPS comprehensive framework of IoV is presented. In turn, this
based identification is started by various organizations of should provide a foundation to gain insight and overall
GOVTs for enhancing safety in public transport. The global understanding of IoV. The researchers and practitioners who
Internet ID would eliminate the need of GPS based vehicle are interested in future vehicular communications would be
identification approach. The issues related to the benefited. The benefits would be in terms of understanding the
accountability in accidents, falsification in registration and layered architecture, network model and challenges of IoV.
unauthorized modification would be addressed with more The smart applications for safety, efficiency and
credibility. Black box in vehicle kind of service would be commercialization, and the prioritized preference of WAT
made possible with the inclusion of global Internet ID. should help vehicular application and technology developers.
 RFID+GPS- The integration would greatly expand the The developers would be benefited in technology oriented
operational framework of current ITS. This is due to the application development and application based technology
opportunity of new domains for ITS applications as well as advancements. The identified challenges and issues in the
efficiency and service quality enhancement in existing design and development of IoV should get the investigative
application domains. RFID based secure identification of attention of researchers. Future aspects should help in clear
global ID and GPS based real time positioning would envisioning of IoV in terms of the benefits over VANETs.
redefine the performance of protocols. The real time and

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15

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