Budapest University of Technology and Economics, Faculty of Electrical Engineering and Informatics

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    V2X Communication Technologies of Autonomous Vehicles

    A tantárgy neve magyarul / Name of the subject in Hungarian: Autonóm járművek kommunikációs technológiái

    Last updated: 2018. november 7.

    Budapest University of Technology and Economics
    Faculty of Electrical Engineering and Informatics

    Electrical Engineering,

    Engineering Information Technology,

    Elective course
    Course ID Semester Assessment Credit Tantárgyfélév
    VIHIAV37   3/1/0/v 4  
    3. Course coordinator and department Dr. Bokor László,
    4. Instructors



    Tanszék, Int.:

    Dr. Bokor László

    assistant professor


    Dr. Simon Vilmos

    assistant professor


    Dr. Koller István

    assistant professor


    Varga Norbert

    assistant research fellow


    Contacts of lecturers are avilable on the home page of the department:

    6. Pre-requisites
    (Szakirany("VIMM-OKOSV", _) VAGY
    Szakirany("VIAMVMSC", _) VAGY
    Szakirany("VIAMIMSC", _) VAGY
    TárgyEredmény( "BMEVITMMA10" , "jegy" , _ ) >= 2 )

    A fenti forma a Neptun sajátja, ezen technikai okokból nem változtattunk.

    A kötelező előtanulmányi rend az adott szak honlapján és képzési programjában található.


    Bachelor level knowledge and skills in computer networks and/or telecommunications are assumed.

    Students already fulfilled following courses

    -          VIHIMA008 V2X Communication Technologies of Autonomous Vehicles

    -          VITMMA10 Intelligent Transportation Systems

    will not receive credits for this course.

    Students on Smart City secondary specialization in English language MSc programs either in Electrical Engineering or in Software Engineering may not enroll for this course.

    7. Objectives, learning outcomes and obtained knowledge

    Vehicle-to-Everything (V2X) communication technologies have gained significant attention both in R&D and global standardization as part of the automotive industry's answers to the problems of ever-growing traffic in our cities, increasing emission, rising number of accidents and the prognosticated spreading of autonomous and semi-autonomous vehicles on the ground and in the air as well. This prominent topic of automotive research and unmanned aerial vehicle (UAV) design anticipates novel lifesaving security solutions and increased efficiency of transportation leading to substantially reduced environmental impact and serious economic and social benefits. Standardized V2X communication techniques are available providing the essential infrastructure for near future cooperative and autonomous vehicular solutions enabling the exchange and share of relevant information between vehicles, bikes, trains, UAVs, passengers, roadside units, and any other possible actors, eventually establishing a domain of cooperative awareness in transportation. The goal of the course is to introduce these widely accepted standards of V2X services, protocols and architectures, showcase their application areas, highlight current trends and ongoing efforts of inter-vehicle communication technologies.


    Students who have successfully finished this module

    • are familiar with the theory and practice of special V2X communication requirements in autonomous vehicle systems
    • understand standardized cooperative vehicle communication technologies of intelligent transportation systems
    • are capable of designing and developing unmanned aerial vehicles (UAVs)
    • are capable of designing and implementing movement control algorithms of autonomous vehicles
    8. Synopsis

    -          Introduction to autonomous vehicles: Historical overview; Operation models; Capabilities and requirements of autonomous and semi-autonomous vehicles; Pros and cons, social impacts;


    -          Introduction to vehicular communication: Intra- and inter-vehicle communication; General access technologies; Information dissemination techniques; Security and privacy considerations;


    -          V2X today: Standardization Organizations and activities; Industry Alliances; V2X-based applications and services; Deployment status and examples, testbeds, use-cases;


    -          Standardized V2X architectures: V2X communication requirements of Cooperative Intelligent Transport Systems (C-ITS), Standardized C-ITS applications; Standardized C-ITS architectures and protocol stacks; Cross-layer optimization in C-ITS; Standardized applications; Future applications; V2X multimedia; V2X for autonomous cars;


    -          Standardized V2X facilities for C-ITS application support: CAM, DENM, IVI, PVD, LDM, MAP, SPAT, PSM, etc.; Similarities and differences between US and EU standards


    -          Standardized V2X transport and network layer solutions: geographic addressing and  routing, GeoNetworking protocol; Basic Transport Protocol; GN6ASL, IPv6 over 802.11OCB


    -          Standardized V2X access layer solutions: IEEE 802.11p; WAVE; ETSI ITS-G5/DSRC; C-V2X; 5G cellular V2X; Heterogeneous/hybrid vehicular networking solutions; IoT/V2X integration options;


    -          Standardized V2X security and privacy: Challenges, requirements, threats and theoretical solutions; Standard C-ITS Security reference model; Security header and certificate formats; Hardware Security Module; C-ITS Identity and Credential Management; Digital Signature in GeoNetworking; Service Specific Permissions; PKI architecture;


    -          UAV basics: Introduction to Unmanned Aerial Systems; System design considerations; UAV missions; UAS technology elements; UAV applications and use-cases;


    -          UAV design and development in practice: Ardupilot-based controlling schemes; Autopilot systems; Pixhawk; Controlling algorithm design considerations;


    -          UAV communication: R/C remote controlling technologies; Telemetry radios; Payload radios; UWB applications; Positioning on UAVs; Special antenna systems; Data management; ACARS; CPDLC; Radio navigation; NDB vs. VOR; ASR systems; TCAS; MAVLINK;


    -          Coordination of Multiple Autonomous Vehicles: Theory and practice; Platooning; Flocking; Communication and information dissemination aspects; Real-life examples and use-cases;


    Laboratory practices:


    Cooperative vehicle communication (2 laboratory sessions of 4 hours each)

    • Usage and configuration of V2X network / facility protocols and their security extensions in practice (device and scenario configuration, basic applications)
    • V2X application development, C-ITS applications in practice


    UAV design and implementation (2 laboratory sessions of 4 hours)

    • UAVs in the air: taking off, landing and control of fixed wing and rotary wing UAVs
    • Factory visit at BHE, advanced UAV technologies in practice
    9. Method of instruction

    Weekly 2h hours lecture + 1h laboratory exercise with practical studies.

    10. Assessment

    Homework based on a practical individual assignment. Written exam at the end, prerequisite is a satisfactory level for the homework.

    11. Recaps

    One measurement/laboratory session can be repeated. Missing homework can be submitted up to the end of the substitution period (first week after the lectures).

    12. Consultations

    One consultation session is offered before the homework submission deadline, and on demand before exams

    13. References, textbooks and resources

    Presentation material and guide for the measurement/laboratory sessions: (after log in, at the related Moodle course).


    Felhasználható irodalom:

    • Vehicular Communications and Networks: Architectures, Protocols, Operation and Deployment: Wai Chen, ISBN-13: 978-1782422112, 2015.
    • Vehicular Networking: Christoph Sommer, Falko Dressler, ISBN-13: 978-1107046719, 2015.
    • Intelligent Transportation Systems: Technologies and Applications: Samuel Morgan, ISBN-13: 978-1632403148, 2015.
    • Autonomous Driving: Technical, Legal and Social Aspects: Markus Maurer, J. Christian Gerdes, Barbara Lenz, Hermann Winner, ISBN-13: 978-3662488454, 2016.
    • Autonomous Vehicles: Intelligent Transport Systems and Smart Technologies: Nicu Bizon, Lucian Dascalescu, Naser Mahdavi Tabatabaei, ISBN-13: 978-1633213241, 2014.
    14. Required learning hours and assignment

    3+1h weekly contact hours x 14 weeks


    0.5h weekly preparation x 14 weeks




    Exam preparation




    15. Syllabus prepared by



    Tanszék, Int.:

    Dr. Bokor László

    assistant professor


    Dr. Simon Vilmos

    associate professor


    Dr. Koller István

    assistant professor