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Vehicular fog computing (VFC) has been envisioned as a promising paradigm forenabling a variety of emerging intelligent transportation systems (ITS).However, due to inevitable as well as non-negligible issues in wirelesscommunication, including transmission latency and packet loss, it is stillchallenging in implementing safety-critical applications, such as real-timecollision warning in vehicular networks. In this paper, we present a vehicularfog computing architecture, aiming at supporting effective and real-timecollision warning by offloading computation and communication overheads todistributed fog nodes. With the system architecture, we further propose atrajectory calibration based collision warning (TCCW) algorithm along withtailored communication protocols. Specifically, an application-layervehicular-to-infrastructure (V2I) communication delay is fitted by the Stabledistribution with real-world field testing data. Then, a packet loss detectionmechanism is designed. Finally, TCCW calibrates real-time vehicle trajectoriesbased on received vehicle status including GPS coordinates, velocity,acceleration, heading direction, as well as the estimation of communicationdelay and the detection of packet loss. For performance evaluation, we buildthe simulation model and implement conventional solutions including cloud-basedwarning and fog-based warning without calibration for comparison. Real-vehicletrajectories are extracted as the input, and the simulation results demonstratethat the effectiveness of TCCW in terms of the highest precision and recall ina wide range of scenarios.

Vehicular Fog Computing Enabled Real-time Collision Warning via Trajectory Calibration