Wireless Services and Intelligent Vehicle Transportation Systems

Chungen Hung Telecommunication Systems Management

Murray State University Murray, USA

chungenhung@gmail.com

Abdulrahman Yarali Telecommunication Systems Management

Murray State University Murray, USA

Abdul.yarali@murraystate.edu

Abstract-This paper examines the upcoming world of Wireless Services and Intelligent Vehicle Transportation System (IVTS). Recent advances in powerful and miniature computing, and transceiver technology, is enabling more technology to be placed inside a vehicle. The wireless sensors and transceivers onboard individual cars can communicate with other cars, or with the road. The information collected by individual vehicle, as well as those distributed by a central transportation control communication system can help to reduce accidents and time wasted in traffic congestion. This paper describes what exactly an intelligent vehicle highway system is. Furthermore, the pieces of technology needed to make this intelligent vehicle transportation system will be examined. The benefits of deploying this system, such as reduced traffic congestion, increased driving efficiency, and accident avoidance are discussed. Finally, the cost to deploy such project is analyzed and compared to the potential savings gained from reduced accidents, and fewer peoples time wasted in traffic gridlock. The paper concludes with issues and challenges that need to be resolved in order to have a fully functional IVTS.

Keywords- Intelligent Vehicle, Intelligent Vehicle Highway System, Intelligent Traffic Control, Intelligent Transportation System

I. INTRODUCTION With rapid advances in computing and communication

electronics, an Intelligent Vehicle Transportation System (IVTS) is feasible in this 21st century. IVTS has become a center of transportation control and increases safety, security and efficiency of transport systems and decreases environmental impacts. A broad range of applications in IVTS require high speed data communication systems, therefore advanced high-speed data rate wireless technologies such as 3G and 4G are important requirements. 4th generation cellular network plays a vital role in unleashing the full potential of IVTS. These cellular networks provide a significantly wider coverage area than an IVTS tailored IEEE 802.11p 5.8GHz network. The following presents two scenarios where the 3G/4G network will be utilized.

The 3G/4G cellular network allows the intelligent devices on the vehicle to have an always-on connection. Road condition, vehicle heading, vehicle speed, and other relevant data, can be uploaded in real time to the Traffic Control Center via the cellular network. In the reverse direction, the high

download speed of 3G/4G networks can allow the vehicle to download up-to-date predicted traffic models, so the on-board GPS device can provide the best route possible, by avoiding congested roadways.

With an always-on connection, users can pay for value added services while on the vehicle. For example, to price tolls dynamically, the system need to know the number of vehicle that is currently on the toll road, as well as the number of vehicle that will be on it, in order to decide the direction of movement for future toll price. By using the cellular network, a driver can pay the toll before him/her approach the toll road. The toll collection system will then have a better idea of how many vehicles to expect, and then make the price adjustments accordingly. In exchange for this vital information, the toll can be discounted for those that are willing to pay in advance.

More and more traffic related applications will be developed to take advantage of the 3G/4G network, the same way that 3G has brought many new apps to the mobile phone. Vehicles can be equipped with a multitude of sensors to monitor its environment, and the collected data can be used to send alerts to the driver or serve as input to the onboard electronic system. Sensors installed on the roads can detect traffic flow, congestion, among others, and use that information to control the traffic lights, and also send the data to a control room. When the vehicle system and the roadway system are combined, then several other applications will become possible. Communication is vital to the IVTS, which allows the roads and the vehicles to share information. When the road detects a slow traffic flow, it can send that information to other vehicles to take another faster route. With the vehicle and the road sensors working together, existing roads can accommodate higher traffic volume and at the same time lower congestion. The implementation of the entire system will be very costly, and will take years to complete. However, the amount of savings derived from this complete system is tremendous. Time will be saved as road congestion improves, gasoline burned will be reduced as cars spend less time idling or constant acceleration/deceleration, cost derived from accidents will be reduced significantly, and the list of savings goes on.

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II. COMMUNICATION Communication is at the heart of the IVTS. Intelligent

vehicles and roads can function on their own, or they can be connected to each other to harness the power of an interconnected system. There are several communication types, such as Vehicle to Vehicle (V2V), Vehicle to Infrastructure (V2I) and vise versa, and infrastructure to infrastructure (I2I).

A. Vehicle to Vehicle Communication Vehicle to Vehicle communication means the transfer of

information from one vehicle to the next within a small range, typically less than 1000 meters. The connection is typically ad hoc, and can utilize IEEE 802.11p standard. It is a dedicated short-range communication (DSRC) allowing one or two way communications. The IEEE 802.11p standard specifies a bit rate of 3-27 Mb/s operating in the 5.86-5.92GHz band [1]. The Federal Communications Commission (FCC) in the United States has allocated 75MHz of bandwidth in the 5.9GHz band specifically for DSRC for use in IVTS. The European Telecommunications Standards Institute allocated 30MHz in the 5.9GHz band for IVTS. The 5.9GHz band is selected due to its propagation characteristics. The high frequency allows high bit rate for up to 1000m and is not affected by weather conditions.

B. Vehicle to Infrastructure Communication Vehicle to Infrastructure (V2I) Communication refers to the

transfer of data between the vehicle and the intelligent boxes placed on strategic points on the road. It can use IEEE 802.11p DSRC or IEEE 802.11b/g/n when the vehicle approaches intelligent road side boxes. If the vehicle is moving very slow, such as in urban traffic, it can establish a connection with the roadside intelligent box, transmit the data, and then disconnect. However, if the vehicle is moving relatively fast, such as on highways, there will not be enough time to establish a connection first. In this situation, the data can be exchanged via constant broadcasting to all devices in range. The idea very much resembles the way FM radio operates. Alternatively, the cellular network can be used, which provides a significantly longer range. Data rate will initially suffer if the cellular network is selected, but as 3G and 4G networks are implemented, the data rate can be increased dramatically. To ensure smooth operation, the vehicle needs to be equipped with various cellular bands and standards, such as General Packet Radio Service (GPRS), Global System for Mobile Communications (GSM), Universal Mobile Telecommunications System (UMTS), among others. This is necessary to guarantee seamless communication between the vehicle and the infrastructure (the road) no matter where the vehicle travels to, whether it is urban, rural, or even another country.

C. Infrastructure to Infrastructure Communication Infrastructure to Infrastructure (I2I) Communication refers

to the transmission of data to and from the traffic boxes placed

on the road side. A traffic box can then communicate with another traffic box further down the road, or to one outside the city. Several networking techniques can make this I2I become a reality. Since traffic boxes are fixed by the road side, it is then possible to connect wires from the nationwide telephone network which runs by just about every street. Traditional Cable providers, electric companies, and the newer fiber optics network all have their cables run by the roadside. Thus the national roadways can be connected without further investment in large scale network infrastructure, as the network is already in place. For very rural areas, the traffic boxes can be attached to a transceiver that can send/receive via the cellular network. For areas without any wired or wireless coverage, the satellite can be used. However, if the place really lacks wired/wireless coverage, it probably also dont need an intelligent traffic box, as there will hardly be any traffic.

D. Open Standard Communication System Trying to connect the vehicles and roads will prove to be a huge undertaking. It is highly recommended that organizations such as the Department of Transportation (DOT), the automotive companies, the International Organization for Standardization (ISO), and others to be involved to create an open standard for the communication system. This ensures that any private or public institution can invest and market products that will be compatible with each other. Proprietary systems will be a disaster for this nationwide and even international IVTS. The electronic toll collection system (ETC) have witness such a disaster. According to Sussman, the inability of public-sector organizations to cooperate in developing technologies continues to be a major barrier to compatible ETC systems [2]. The trouble faced by the smaller Electronic Toll Collection (ETC) system demonstrates the importance of adopting an open standard system for IVTS.

III. APPLICATION When the vehicle and the infrastructure communication system is in place, it will enable a vast number of applications to solve traffic problems or enhance the driving experience. The discussion of real world applications will be divided into sections depending on the communication system required, such as V2V, V2I, I2I, or a combination of the systems.

A. Application Utilizing Vehicle to Vehicle Communication Without the communication link to the infrastructure, the

vehicle to vehicle communication system can operate on its own and still bring forth a myriad of useful applications. The following is a short list of scenarios where V2V can be utilized: 1. When a vehicle detects a sudden stop of the vehicle in

front, it can relay that data to vehicles in the back, giving the drivers in the following vehicles more time to react to the sudden stop. This can significantly decrease the

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number of chain crashes on highways. 2. A vehicle detects slippery or icy road condition when it

crosses a bridge. That vehicle can relay the information wirelessly to vehicles following, so the driver will be prepared to slow down, thus decreasing the chance of uncontrollable sliding.

3. When vehicles are equipped with GPS, the exact position of the vehicle can be detected, and that positional data can be shared with other vehicles in the proximity. When the driver attempts to change lanes, the vehicles central processor could check the positions of adjacent vehicles and provide a warning if a blind spot accident looks imminent. The warning could be audible or, with a more complex system, the vehicle could commandeer the brakes or steering wheel [3].

4. Driving at night on curvy mountain roads is a major cause of accidents, due to the fact that the driver cannot see when another vehicle approaches the curve. The current solution is to illuminate the curves at all times. This however, is a waste of energy. The Japanese intelligent-roadway lighting technology called GuideLight Systems increases car-to-car visibility in hazardous areas while conserving energy. Acoustic sensors mounted on the road detect cars entering a curve. Fluorescent or LED-based lamps switch on 10m or more ahead of the vehicle, effectively warning oncoming cars and pedestrians of the potential hazard and giving them more time to respond [4]. Yet another method is by utilizing V2V communication system. The vehicle constantly sends out its positional data retrieved from the on-board GPS device. The positional data allows both vehicles to become aware of each others presence when they approach the dangerous curve, which can effectively mitigate head-on collisions at dangerous curves.

5. The electronic control system (ECS) detects unacceptable tire pressure level, engine temperature, or other mishaps that requires immediate action. The ECS alerts the driver that it must pull over to the road side as soon as possible. The V2V communication module can send that alert to the following vehicles, allowing drivers to anticipate the pull over of the vehicle in front of them. In another similar situation, if a trucks ECS detects potential brake failure, the V2V system can alert those vehicles in front so they can get out of harms way.

B. Application Utilizing Vehicle to Infrastructure Communication Going towards V2I is significantly harder than V2V, as V2I

requires the roads to be equipped with sensors and transceivers. As it is an ambitious project to implement such intelligent system on all roads, it makes sense to start with the major roads in major cities. The following is a brief list of application that can be realized with V2I:

1. Presently, when an emergency vehicle approaches an intersection, the infrared (IR) transmitter emits a signal

to the traffic light, causing it to change to green. This is a good start, but the infrared transmitter can only change the traffic light of the upcoming intersection. If the vehicle can talk with the road, then it will be another story. The vehicles route to the destination site can be transmitted to all the upcoming intersection points, so the traffic lights can all be changed just before the emergency vehicle approaches. This will minimize the congestion and wait time for the emergency vehicle, and at the same time reducing traffic disruptions. The emergency signal can also be transmitted to individual vehicles, so all cars can leave an open lane for the emergency vehicle.

2. Today, consumer GPS device can receive real time traffic data via FM radio channel or cellular network. The driver will be notified of upcoming traffic jams, and the GPS can change the route to avoid the traffic jam. This traffic avoidance can become smarter if GPS from the vehicle can talk to the infrastructure. Presently, traffic jam data reports after the traffic jam has already occurred. Say the GPS receives the slow traffic flow data, but it does not necessarily mean that the traffic will still be slow by the time the vehicle approaches that particular road section. The jam could have already cleared. In contrast, the road can be normal at the present time, but become jammed in 30 minutes. Our present GPS traffic alert can be improved by predicting future traffic conditions. With V2I, a vehicle can transmit its GPS route data to the infrastructure, where the data can be disseminated to the appropriate traffic control centers. The collected routes from individual vehicles can be used to predict future traffic pattern. For example, if there is a lot of vehicle approaching the same road section at approximately the same time, then the infrastructure can send out warning to vehicles regarding the sudden increase in traffic in the next hour for a particular road section. The driver or GPS can then pick another route to avoid the predicted traffic jam.

3. Suppose the traffic light has just begun switching from green to red, and a distracted driver is approaching the intersection. The vehicle detects it will not be able to stop in time, so it sends out an alert signal to the roadside box. The roadside box then broadcasts the warning signal to all the vehicles in that intersection. This warning system can avoid accidents. Yet another smarter way is to have the roadside box constantly broadcasting the traffic light change that is about to occur, so all the vehicle in the vicinity can be aware of it. Those vehicles operated by a distracted driver can automatically apply the brakes, so the vehicle will not run a red light. Both solutions will surely mitigate the number of accidents at intersections.

4. Chain crashes often occur when vehicles follow too closely at high speeds, and a driver suddenly slams on

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the brake. This is especially true when coupled with severe weather conditions. When the vehicle senses the slam of the brake, it can send that information to the roadside box. The roadside box can then distribute that information to vehicles following behind. This can also be accomplished with just the V2V alert system, but with V2I, the alert range can be increased greatly. Thus, it is more effective at avoiding multi-car crashes.

C. Application Utilizing Infrastructure to Infrastructure Communication The last step towards the IVTS is the I2I communication

system. With I2I, the entire transportation communications network will be complete. Any car can talk to any other car on any road, any car can talk to any road at any point, and any road can talk to any other road. The linking of all the roadside boxes opens a myriad of new applications, such as: 1. Suppose a vehicle detects a slippery spot on the road.

Now it can warn not just the car behind it, but also send that data to the roadside boxes, which can be relayed to a central control room. Since all the roads are now connected, the nearest road safety workers can be alerted of the slippery road and do something about it. The same warning data can be sent to all vehicles that have a GPS route heading to the slippery area.

2. A vehicle collision is sensed by the vehicle or the roadside box, and the data is submitted to the central control room. The workers at the control room can activate the camera to verify the severity of the accident. Other vehicles heading that route can be warned, and to take alternative routes. The accident data will be forwarded to the nearest emergency responders via the I2I connections. Since the control room can see the accident scene remotely, that information can also be communicated to the emergency responders, so they know what to expect at the scene and be more prepared.

3. All the traffic lights can now work together as one system thanks to I2I communication. The roadside boxes can communicate directly with each other, and determine the best way to control the traffic lights around the area to achieve the most efficient traffic flow. The ultimate goal is to predict traffic patterns, so vehicle idling time can be minimized. Real time traffic prediction requires massive computing power. With the infrastructure now linked to central control rooms, the computation can be performed on some supercomputer anywhere in the country, and the results sent back to the roadside boxes instructing it when to change lights.

IV. THE IVTS ADVANTAGEThe IVTS will no doubt revolutionize the way we travel.

With a nationwide IVTS, many of the traffic problems faced today can be resolved. Below are some advantages of using the IVTS: 1. Precious time can be saved if travel time prediction can be

reliably predicted. The supercomputers can generate a traffic flow prediction, and the information can be sold as

a service to time conscious drivers. There will be a market where people will be willing to pay for such information, because time is money. Travel time prediction can be used daily by anyone that commutes to work, which is just about everybody in this country. The commute to work might take thirty minutes today, but one hour on the next day. The commuter would then need to leave the house one hour early so as to arrive on time even if they are caught in traffic. If the traffic turns out to be smooth, the driver will arrive at the destination early, and thus time will be wasted waiting to start their work or appointment. A reliable prediction of travel time would be of great value to the driver. With this service, the driver will know how long it will take to go somewhere, and time can be better utilized. This is especially useful to trucking companies, as goods will be delivered on-time, which means stores don't need to carry excessive inventory or ran out of stock.

2. If buses are equipped with GPS systems, and bus stops are equipped with dynamic message boards, the arrival time of the next bus can be displayed on the board. The user can then use that information and decide whether they should just walk, bike, or take another bus with a shorter wait time. Chicagos bus system allows users to send text message to inquire the arrival time of the next bus. I used the service during my visit to Chicago. Instead of waiting for 26 minutes for the next bus, I decided to walk, which took me 20 minutes to reach the destination. The availability of real-time bus information via audio text or videotext in homes, workplaces and commercial enterprises should enable travelers to choose exactly when to leave for the bus stop in order to catch the next bus. This is particularly valuable on bus lines that have infrequent service and in locations with climates that make extended outdoor waits at bus stops burdensome [5].

3. Toll roads can be priced on the fly with congestion pricing system to ensure efficient use of the road. During peak hours, the toll road can ask for a higher price. Some wallet conscious drivers who need not drive during the peak hours will change the time of their commute to avoid the high tolls. By enabling drivers to choose whether to pay a premium to travel on a particular highway at a particular time, value pricing had the potential to reduce peak traffic levels on congested highways [6].This pricing model might look promising, but can face stiff opponents if implemented. Some people will think that having such a dynamic pricing system, only the wealthy will be allowed on the road, and thus discriminating the lower working class, as they cannot justify to pay a high price to travel during certain times of the day. Thus, pricing structure must be careful planned, so the majority of the population can still afford it.

4. A significant number of accidents can be avoided with a functional IVTS. According to estimates, some 40% of traffic fatalities occur at intersections and 20% at curves, primarily because opposing traffic is unaware of

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oncoming vehicles [7]. With IVTS, the vehicle can communicate their location to each other, and thus be aware of the presence of surrounding vehicles. This alone can potentially reduce traffic fatalities by 60%. The cost of accidents can be reduced significantly, and most importantly, lives will be saved.

5. Using the IVTS, a variable speed limit system can be implemented. Using weather data and road condition data supplied by individual vehicles, the system can dynamically determine and change the speed, and also display warning messages to alert the driver. Drivers tend to slow down and keep a longer distance when they are aware of the potential dangers. This will reduce the number of accidents resulting from poor weather and/or road conditions.

6. Emergency personnel will be able to respond to accidents quicker with the aid of IVTS. Data collected by the roadside sensors along with video footage captured by the CCD cameras can all be transmitted to a traffic control room. When the system detects unusual traffic pattern, it can be indicative of an accident. The system can then send an alert to the traffic controller, who can then utilize the footage captured by the CCD cameras to replay what happened. If there is indeed an accident, the traffic controller can remote control the CCD cameras to take a better look at the scene, and relay that information to the emergency responders. This information is very valuable to emergency responders, as they can already see the scene before they arrive, and began planning what needs to be done first. The traffic controller can change the road side variable message boards to inform drivers of the accident. In addition, intersection and lane signals can be modified on the fly to divert traffic away from the accident site. In San Antonio, TX, one such system is already in use. According to Vince Pearce of Allied Signal (Columbia, MD), "Five years ago it took an average of 20 minutes before the DOT knew about an incident and law enforcement could dispatch an officer to the scene. Now the DOT knows about it within 2 minutes and can act on it within 15 seconds" [7].

7. Collisions happen because drivers tend to over-estimate their following headway. By utilizing a forward collision warning system installed on the vehicle, drivers can be alerted when they are following too close. By exposing the driver to such system, the driver will become better at estimating headway distance, and thus avoiding chain collisions.

8. Greenhouse emissions can be reduced with the aid of IVTS. Live traffic data and predicted traffic patterns can help individuals decide when is the best time to commute to avoid long waits in traffic. A best route can be calculated based on the current and future traffic patterns. Greenhouse emissions can be reduced because fewer vehicles will be idling. Fewer stop and go traffic will also help reduce engine inefficiencies, as it takes significantly less energy to maintain speed than to accelerate. The GPS system and live traffic data can reduce navigational errors,

and thus reducing unproductive miles driven. According to Shladover, gas savings in congested urban areas can be 10 30% [8]. This is significantly cheaper than building hybrid vehicles that has two drivetrains (electric and gas) to save the comparable amount of gas. Hybrid vehicles are good, but they are still too expensive for most users. When hybrids or electric vehicles become affordable, the IVTS together with the cleaner vehicles will lower greenhouse emissions even further.

V. ISSUES AND CHALLENGESThe implementation of IVTS can be a challenging project. In

this section, we look at cost and political issues as possible roadblocks for the implementation of IVTS.

A. Cost IVTS seems to be a very promising technology to implement

with numerous advantages discussed above, but the system also can cost a great deal of money to build. The infrastructures along with the costs are as follows: 1. Road side intelligent boxes. These boxes need to be

placed on intersections and alongside long stretch of roads. These roadside boxes are estimates to cost several thousands of dollars [9], depending on the complexity desired in each box.

2. Wired/Wireless networks. The road side boxes needs to be connected in order to be useful. For roads that already have network cable running alongside, the road side boxes can tap into those ready built networks. Of course, this requires agreements with the network carrier. For rural areas, the cellular network is probably the most cost effective way to connect, as most cellular carriers has coverage on most roadways even in the most remote areas. As for those places where nothing is available, one can consider using satellite to provide the communication. However, it would probably be too costly to implement. These areas are most likely too remote with little or no vehicles. The need for roadside boxes can be omitted for such places.

3. Intelligent boxes on Vehicles. Vehicles need to be equipped with radio transceivers and mobile computing devices. Car manufacturers around the world would need to agree on a standard set of applications and protocols to use on these devices, to allow interoperability no matter who made the vehicle. Standalone boxes must also be available at retail stores for users with older vehicles to buy and install it. These standalone boxes will provide less functionality, as it can only do so much without integrating with the vehicles Electronic Control System (ECS). The cost for these boxes is estimated to be about $50 to $100 a piece.

4. Data Centers. All the data collected by the vehicle and the infrastructure needs to be sent to the data centers to be processed. Software and hardware needs to be purchased to house and process the data into useful form. The cost of software and hardware is very hard to predict, as the computing industry advances very quickly. The cost will

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also depend on the sophistication of the computer models desired.

5. Traffic Control Centers. The data collected, and the processed information needs to go to the traffic control centers, where humans and machines can use that information to better control the roads. The IVTS units can be integrated into existing traffic control centers, or new buildings can be built just for IVTS. The cost for this is also very hard to predict at this time.

6. Workers. The IVTS system needs to be managed, maintained, and repaired 24/7. Workers will be needed to perform these functions. The cost of workers will depend on the type of job to be performed and the location.

The above items are a short list of the important infrastructures that will be required for IVTS to be fully functional.

B. Politics The implementation of a nationwide IVTS will no doubt

face stiff barriers stemming from political issues. Historically, the long-haul highways are under the supervision of the state, while smaller roads (the arteries) are managed by the local government. A traffic control center must be able to direct traffic on all roads to make IVTS effective. For example, when a highway becomes crowded, the traffic controllers must be able to direct traffic to less congested local roads. To allow this, the local and the state government need to work together and grant power to each other. The nation as a whole must also agree on a standard, so that all roads in all states will implement the same system to ensure interoperability.

VI. SAVINGSWhile it costs several billion dollars to build IVTS, the amount

of savings to be realized by the society can even be greater. The following lists some potential savings that can be realized

with IVTS: 1. Time Savings. A lot of time can be saved. Travel will be a

lot more efficient, thus citizens can save the time sitting in traffic or waiting for the next bus. According to the annual traffic congestion report issued by the Texas Transportation Institute, traffic congestion costs the nation $67.6 billion each year, or $430 per person [10].

2. Accident Savings. Accidents are very expensive when one occurs. The costs come from property damages, hurt citizens, hospital fees, emergency responders salary, traffic congestion, and the litigations that follow the incident. AAA, a company that offers roadside assistance, stated that accidents cost $164.2 billion each year, which based on the methodology used in the report comes to an annual per person cost of $1,051 [10]. A spokeswomen from the National Highway Traffic Safety Administration said that the cost of accidents to society could be even greater than what the AAA study is predicting [10]. The reasoning is based on a study which concluded that the cost to society was $230.6 billion in 2000 and the likelihood is that it is even greater today" [10].

3. Life Savings. With sensors and remotely adjustable cameras, accidents can be detected earlier, and can allow

emergency responders to gain knowledge of the accident scene prior to arrival. This will allow the team more time to prepare and plan the rescue mission, leading to better execute of the planned mission.

4. Energy Savings. Vehicles use the most energy in stop and go traffic. The output from the IVTS system will provide a smoother traffic flow, which can save significant amount of gas wasted in idling or stop and go traffic.

5. The above are the major areas where IVTS can provide value to the society. The most significant savings can be realized from reduced accidents on the road.

VII. CONCLUSIONIn the 21st century, the technology and knowledge necessary to build the IVTS is already here. Mobile computing chips are small, efficient, and powerful enough to provide the computations needs for intelligent boxes to be placed on vehicles. Network communication, either wired or wireless, provides coverage for most areas where there are roads. The wireless transceivers are becoming smaller, and at the same time higher generation of wireless access technologies are providing ever increasing capacity. Sensors and CCD cameras are also mature technologies. The datacenters needed to house and process the immense traffic data is readily available. Just about the only thing that is lacking is the funding. Policy makers need to realize that the future savings from reduced accidents and unproductive time wasted at traffic jams significantly outweighs the cost of building the IVTS. The IVTS will no doubt revolutionize the way people travel, and at the same time bring the world one step closer to fully automated vehicles.

REFERENCES[1] Papadimitratos, P., de La Fortelle, A., Evenssen, K., Brignolo, R., &

Cosenza, S. (2009). Vehicular Communication Systems: Enabling Technologies, Applications, and Future Outlook on Intelligent Transportation. IEEE Communications Magazine, 47(11), 90.

[2] Sussman, J. (2004). ITS Then and Now. Civil Engineering (08857024), 74(3), 54.

[3] Murray, C. (2008). The Biggest Thing in Safety. (cover story). DesignNews, 63(8), 58.

[4] K.L. (1996). Intelligent highways soothe headaches of car travel. Laser Focus World, 32(6), 109.

[5] Shladover, S. (1993). Potential contributions of intelligent vehicle/highway systems (IVHS) to reducing transportation's greenhouse gas production. Transportation Research Part A: Policy & Practice, 27A(3), 211.

[6] Sussman, J. (2004). ITS Then and Now. Civil Engineering (08857024), 74(3), 55.

[7] K.L. (1996). Intelligent highways soothe headaches of car travel. LaserFocus World, 32(6), 109.

[8] Shladover, S. (1993). Potential contributions of intelligent vehicle/highway systems (IVHS) to reducing transportation's greenhouse gas production. Transportation Research Part A: Policy & Practice, 27A(3), 211.

[9] Murray, C. (2008). The Biggest Thing in Safety. (cover story). DesignNews, 63(8), 60.

[10] Clifford, M. (2008, March 5). U.S. car accident cost: $164.2 billion. CNN Money.Retrieved from : http://money.cnn.com/2008/03/05/news/economy/AAA_study/.

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