Experimental evaluation of CAM and DENM messaging services in vehicular communications

•Reference implementation of CAM/DENM, describing packet fields and generation algorithms.•Integration of CAM/DENM in an IPv6-based vehicular communication architecture following ISO/ETSI guidelines.•Reference implementation of two applications using CAM and DENM.•Experimental evaluation under IEEE 802.11p (ETSI G5) at a semi-urban environment.•Analysis of packet delivery, signal strength, connection time/range, according to driving speed and message generation algorithm. The Cooperative Awareness Basic Service and Decentralized Environmental Notification Basic Service have been standardized by the European Telecommunications Standards Institute (ETSI) to support vehicular safety and traffic efficiency applications needing continuous status information about surrounding vehicles and asynchronous notification of events, respectively. These standard specifications detail not only the packet formats for both the Cooperative Awareness Message (CAM) and Decentralized Environmental Notification Message (DENM), but also the general message dissemination rules. These basic services, also known as facilities, have been developed as part of a set of standards in which both ISO and ETSI describe the Reference Communication Architecture for future Intelligent Transportation Systems (ITS). By using a communications stack that instantiates this reference architecture, this paper puts in practice the usage of both facilities in a real vehicular scenario. This research work details implementation decisions and evaluates the performance of CAM and DENM facilities through a experimental testbed deployed in a semi-urban environment that uses IEEE 802.11p (ETSI G5-compliant), which is a WiFi-like communication technology conceived for vehicular communications. On the one hand, this validation considers the development of two ITS applications using CAM and DENM functionalities for tracking vehicles and disseminating traffic incidences. In this case, CAM and DENM have demonstrated to be able to offer all the necessary functionality for the study case. On the other hand, both facilities have been also validated in a extensive testing campaign in order to analyze the influence in CAM and DENM performance of aspects such as vehicle speed, signal quality or message dissemination rules. In these tests, the line of sight, equipment installation point and hardware capabilities, have been found as key variables in the network performance, while the vehicle speed has implied a slight im