CN102480421A - Vehicle network data transmission method and system thereof - Google Patents
Vehicle network data transmission method and system thereof Download PDFInfo
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Abstract
The invention provides a vehicle network data transmission method and a system thereof. The data transmission method comprises the following steps: forwarding a vehicle, selecting one original message as a main message from a plurality of original messages which are stored and received from other vehicles and need to be forwarded and selecting other several original messages as sub-messages; coding the main message and the sub-messages according to a coding rule so as to form coding messages; broadcasting the coding messages and sending to a neighborhood vehicle; receiving the coding messages and decoding the coding messages by the neighborhood vehicle, acquiring the updated original messages, and coding the original messages and forwarding to the other neighborhood vehicle so that the original messages can be transmitted to the each vehicle in a traffic network. Compared to the prior art, in the vehicle network data transmission method and the system of the invention, a transmission mode of directed network coding aiming at the message information is used so as to increase data transmission efficiency and a utilization rate of network bandwidth.
Description
Technical field
The present invention relates to a kind of vehicle perception airmanship, vehicle network data transmission method and system thereof in particularly a kind of driving perception navigation system that is applied to constitute the line style network.
Background technology
Popularizing of developing of automobile industry and private car brought serious day by day traffic problems, and traffic accident sharply increases.The embarrassed important task of traditional centralized intelligent transportation system; At first; Traffic data unification, the localization of tradition centralized intelligence traffic system; Present transport information is mainly collected the macroscopic information of road traffic condition through the acquisition means of the video on the road, microwave, and the accurately state and the situation of each car inside of perception; In addition, the centralized intelligence traffic system, vehicle need take a large amount of transmission bandwidths with communicating by letter of Surveillance center's (central server), and the response time of transfer of data is also very slow, influences transmission of Information efficient; Have, the vehicle individuality lacks the perceptional function to the road surrounding environment again, lacks the approach of message transmission between vehicle, and the information that single unit vehicle obtains can't be carried out with the information of other vehicles on every side alternately.
In view of this, (Vehicular Ad Hoc Network's vehicle-mounted self-organizing network VANET) promptly arises at the historic moment, and ad hoc network configuration promptly is the most frequently used a kind of of vehicle-mounted self-organizing network.Ad hoc network technology is the network of a kind of multi-hop, self-organizing, includes a plurality of nodes, and each node is a main frame, is again router, carries out with wireless mode through Radio Link between each node.For example in signal cover, two nodes can directly communicate; And outside signal cover, two nodes can be realized intercoming mutually by means of the forwarding of other nodes of centre.
In the ad hoc network that constitutes by the vehicle in the road traffic; Each vehicle wherein all is regarded as the mobile node of ad hoc network, said vehicle configuration have suitable transmission, receiving equipment and other well known to a person skilled in the art to be used to analyze, the equipment of processing and output message.
Adopt this ad hoc network; Make the vehicle that adds said network to realize: through exchanging corresponding information; During near traffic intersection, warn the existence of other this emergency services vehicle of vehicle in emergency services vehicle, thereby make the crossing keep unimpeded so that emergency services vehicle can be passed through fast; Vehicle can exchange relevant their information of speed separately; For example the vehicle that goes at a slow speed of front need be noted dodging in case knock into the back through sending the vehicle speed that possibly go faster that the slow information of the corresponding speed of a motor vehicle warns the back, and perhaps the vehicle of back fast running need notice that the vehicle of dodging for the back fast running can overtake other vehicles safely through sending the slower vehicle that possibly go that the very fast information of the corresponding speed of a motor vehicle warns the front; Perhaps; The vehicle of front can be sent to the vehicle that goes in the back with car accident or the congested information of road take place; Make the countermeasure that changes its course, turns back or reset traffic route after making back vehicle learn said information; For example when traffic congestion or traffic accident take place in a certain highway section, just can be at the vehicle in incident location through the vehicle-mounted pick-up head with the sight of incident mode through real-time video, rearward other vehicles send; The vehicle at rear just can be made emergent processing after obtaining exception message, avoid the incident highway section; Under the situation that can not change its course, also can bear with and obtain up-to-date condition of road surface through real-time video.
But; Do not have in the ad hoc network of central server existing; During the quantity that connects between the quantity of participation node and node is in and continues to change, add the lasting variation of external environment condition, make in some cases; Amount of information that each node will exchange each other too big (for example said transport information is audio-frequency information and/or video information) may take place; Need take a large amount of bandwidth, thereby cause " congested " of communication media, can't be with for example sending to all mobile nodes reliably about traffic accident, the congested equiprobable important transport information of road.
And in the transmission of existing vehicle network data, use broadcasting, multicast, mode such as point-to-point to carry out transfer of data usually, above-mentioned data transfer mode generally has following shortcoming: 1) network bandwidth utilance is generally lower; 2) when data source quantity increases, efficiency of transmission can sharply reduce; 3) information between the data source is separate, data source lose or damaged situation under, can not the restore data source.
Summary of the invention
The object of the present invention is to provide a kind of vehicle network data transmission method, to solve the lower problem of bandwidth availability ratio level transport efficient that vehicle node is more in the prior art, volume of transmitted data big and cause based on local directed networks coding.
The present invention provides a kind of vehicle network data transmission method on the one hand, and it is to be applied to constitute in the driving perception navigation system of line style network, and said driving perception navigation system comprises having a plurality of vehicles that form the self-organizing network ability; Said vehicle network data transmission method comprises: as the forwarding vehicle of via node; Choose one of them original message as primary message being received from a plurality of original messages that other vehicles send and need to transmit of its storage, some original messages of choosing other are as sub-message; The original message of said storage can be grouped into forward direction transmit queue and back to transmit queue according to routing direction; Include transport information in the said original message; According to coding rule, the said primary message of choosing and the said sub-message back of encoding is formed coding message; Said coding message is broadcasted the neighborhood vehicle that is sent to said relatively forwarding vehicle; Said neighborhood vehicle receives said coding message and it is decoded; Obtain the original message that wherein upgrades; And more said original message is encoded and be forwarded to other neighborhood vehicles, thereby the original message that will comprise transport information is sent to each vehicle in the said driving perception navigation system.
Alternatively, said neighborhood vehicle receives said coding message and it is decoded, and obtains wherein the original message that upgrades, and comprising: receive said coding message and it is decoded, obtain primary message and sub-message in original coding message; Judge whether decoded said primary message and said sub-message were stored; And obtain comprising under the situation about not being stored before said primary message and said any original message of sub-message in judgement; The one or more said original message that was not stored is stored, be forwarded to other neighborhood vehicles again after the encoding process for follow-up carrying out.
Alternatively, said transport information comprises: one or more in environment sensing information, vehicle location information and the traffic information.
Alternatively, choosing one of them original message comprises as primary message: that original message of from said forward direction transmit queue and said back two first original messages to transmit queue, selecting wherein early to arrive current vehicle is as primary message.
Alternatively, some original messages of choosing other as the principle of sub-message by: the neighborhood vehicle that the sub-message of encoding with primary message must have been received by primary message stored.
Alternatively, some original messages of choosing other comprise as sub-message: if primary message is selected from the forward direction transmit queue, so sub-message will be selected to transmit queue from the back; If primary message is selected to transmit queue from the back, so sub-message will be selected from the forward direction transmit queue.
Alternatively, according to coding rule, form coding message and comprise: the employing XOR is a coding rule; Said primary message and said sub-message are carried out forming coding message behind the XOR.
The present invention provides a kind of vehicle network data transmission system on the other hand in addition, and it is to be applied to constitute in the driving perception navigation system of line style network, and said driving perception navigation system comprises having a plurality of vehicles that form the self-organizing network ability; Said vehicle network data transmission system comprises: the information transmit-receive unit is used for sending the coding message of this vehicle or transmitting the coding message of other vehicles with broadcast mode, and receives by other vehicles and pass the coding message of coming; Comprise at least one original message in the said coding message with transport information; Receive buffer area, be used to store by what said information transmit-receive unit received and send and the original message of needs forwarding from other vehicles; Said reception buffer area can according to wherein the storage original message routing direction and with original message be grouped into the forward direction transmit queue with the back to transmit queue; Select the unit, be used for choosing one of them original message as primary message at a plurality of original messages of being stored, some original messages of choosing other are as sub-message; Coding unit is used for according to coding rule, the said primary message of choosing and the said sub-message back of encoding is formed coding message, for through said information transmit-receive unit said coding message broadcasting being sent to the neighborhood vehicle; And decoding unit is used for according to coding rule, will be decoded by the coding message that said information transmit-receive unit receives, and obtains the original message that wherein upgrades, and is stored in the said reception buffer area.
Alternatively, said vehicle network data transmission system also comprises the virtual cache district, is used for storing the beacon information of the original message that the reception buffer area of said neighborhood vehicle obtained.
Alternatively, said transport information comprises: one or more in environment sensing information, vehicle location information and the traffic information.
Alternatively, the said unit of selecting is chosen one of them original message and is comprised as primary message in a plurality of original messages of being stored: from said forward direction transmit queue and said back two first original messages to transmit queue, select wherein early to arrive that original message as the vehicle of via node as primary message.
Alternatively; Said other the some original messages of unit selection of selecting as the principle of sub-message are: the sub-message of encoding with primary message must exist in the reception buffer area of realizing the neighborhood vehicle that primary message receives, and said reception buffer area has been stored the original message that this vehicle obtains from the neighborhood vehicle.
Alternatively, said other the some original messages of unit selection of selecting comprise as sub-message: if primary message is selected from the forward direction transmit queue, so sub-message will be selected to transmit queue from the back; If primary message is selected to transmit queue from the back, so sub-message will be selected from the forward direction transmit queue.
Alternatively, said coding rule is an XOR.
Compared to prior art, the vehicle network data transmission method based on local directed networks coding of the present invention has following advantage:
In sum, vehicle network data transmission method of the present invention and system have following advantage:
1, the present invention is through choosing primary message and sub-message in original message; According to coding rule, with primary message and sub-message encode the back form coding message after broadcasting be sent to the neighborhood vehicle; Relay broadcasting through vehicle node in the network is sent, and can original message be sent to each vehicle in the vehicle network, is implemented in sharing of transport information in the transportation network.Compared to prior art, the present invention has realized in a coding message broadcasting process of transmitting, can transmitting the information of a plurality of original messages, improves the efficient and the utilization of network bandwidth thereof of transfer of data.
2, owing to be a plurality of original messages to be combined broadcasting through certain coding rule send in the present invention; Therefore; When the wherein part original message of a certain vehicle node goes out under the situation of active or damage; Can utilize the relative position information between vehicle, the original message of storing in other vehicles through neighborhood, the original message of having lost or having damaged in recovery or this vehicle of reconstruct.
Description of drawings
Fig. 1 shows vehicle network data transmission method of the present invention and system applied driving perception navigation system topology diagram in one embodiment;
Fig. 2 shows the level frame diagram of the perception navigation system vehicle network data transmission system that is applied to drive a vehicle;
Fig. 3 shows the schematic flow sheet of vehicle network data transmission method of the present invention;
Fig. 4 shows vehicle network data transmission system of the present invention structural representation in one embodiment;
Fig. 5 is presented at the topology diagram that constitutes the driving perception navigation system of vehicle-mounted self-organizing network in the specific embodiment
Fig. 6 is presented at a vehicle distances table of in the vehicle C as via node, storing among Fig. 5.
Embodiment
Inventor of the present invention finds: in the existing In-vehicle networking transfer of data; Broadcasting, multicast, mode such as point-to-point are carried out transfer of data; Information between the data source is separate; Not only cause efficiency of transmission low, influence utilization of network bandwidth, also can make data more be prone to lose and be difficult to and recover or reconstruct.
Therefore; Inventor of the present invention provides a kind of vehicle network data transmission method and system; It mainly is in a plurality of original messages of storage, to choose primary message and sub-message, utilizes certain coding rule, and said primary message and sub-message are carried out the coding message that network code is formed for broadcasting transmission; So be implemented in a coding message and broadcast the information that to transmit a plurality of original messages in the process of transmitting, improve the efficient and the utilization of network bandwidth thereof of transfer of data; And, utilize relevance and the information of adjacent vehicle thereof between the original message, original message lose or damaged situation under can recover or reconstruct data.
Below will come vehicle network data transmission method of the present invention and system are elaborated through specific embodiment.
See also Fig. 1, it has shown vehicle network data transmission method of the present invention and system applied driving perception navigation system topology diagram in one embodiment.As shown in Figure 1; Said driving perception navigation system comprises having a plurality of vehicles that form the self-organizing network ability, said a plurality of vehicles according to real road situation and application scenario thereof be constructed as the vehicle-mounted self-organizing network that is line style (Vehicular Ad Hoc Network, VANET); Said a plurality of direction of traffic is consistent and spacing is certain; Each vehicle wherein is as network node, and each vehicle is a main frame, is again router; (be between the vehicle, below all run after fame with " vehicle node " describe) carried out message transmission with wireless mode between each network node.
In this execution mode, have as each vehicle configuration of network node: transducer, be used to obtain environment sensing information, said environment sensing information comprises temperature information and/or humidity information; The GPS positioner is used to obtain vehicle location information, and said vehicle location information comprises vehicle GPS information (longitude and latitude) and/or speed information; Image capture unit is used to obtain the information of vehicle front and/or road in the rear situation, and said information comprises audio-frequency information and/or video information; The information transmit-receive unit, be used to receive and dispatch corresponding to this vehicle or relaying be transmitted to the information of other vehicles.
Through being built into each vehicle transfer of data each other in the vehicle-mounted self-organizing network; Make that be arranged in this driving perception navigation system all can obtain relevant real time information as each vehicle of network node; Through integrating, analyze and handle these real time information; Respond, carry out dynamic navigation, just can a large amount of important traffic-information service is provided or help the user to make a strategic decision for the user.
Other sees also the 2nd figure, and it has shown the level frame diagram of the perception navigation system vehicle network data transmission system that is applied to drive a vehicle.As shown in Figure 2, said blockchain road feel knows that navigation comprises: data acquisition display layer 10, and vehicle-state management level 12, data buffering layer 14, network code decoding layer 16, data are sent layer 18, and wherein each layer all service of following one deck is basic.
Data acquisition display layer 10 has defined collection, demonstration, the Code And Decode interface of data.
Said data comprise static data and dynamic data.Said static data comprises geography information and environment sensing information, and said geography information comprises road information and/or cartographic information; Said environment sensing information comprises temperature information and/or humidity information.Said dynamic data comprises vehicle location information and traffic information, and said vehicle location information comprises vehicle GPS information and/or speed information, and said traffic information comprises audio-frequency information and/or video information.
For above-mentioned each data, can carry out dynamic coding according to network conditions.Especially,, can utilize the H264 agreement to encode, even guarantee that vehicle node as reciever under the situation that obtains the partial video message, still can effectively decode whole video message for video information.
Vehicle-state management level 12; Defined the storage format of information of vehicles; Comprise information such as travel direction, travel speed, relative position distance; And defined data transformation interface, and comprising of the conversion of GPS positioner to local vehicle data, neighborhood vehicle data message arrives the conversion of locally buffered record etc.Vehicle node is through this interface, and can construct with this car is the local topology at center, in order to carry out the transmission of data.Utilize vehicle-state management level 12, can confirm this car position and other vehicles the position or with the relative position of other vehicles and this car, for carrying out transfer of data.
Network code decoding layer 16; Defined digital coding forwarding rule as the via node of head-end site; The selection mode that comprises primary message, the selection mode of sub-message, the coded system of original message; To the decision procedure of neighborhood vehicle data buffering, to the restructing algorithm of neighborhood vehicle data buffering etc.The purpose of network code decoding layer 16, the mode that just is to use coding is sent effective original message as much as possible in data broadcasting.
Data are sent layer 18, have defined the transmission timing of coding message, recipient's message affirmation mechanism, the retransmission mechanism of transmit leg etc.Data are sent layer 18 and guaranteed that data can correctly be sent in vehicle-mounted self-organizing networks.
Please consult Fig. 3 again, it has shown the schematic flow sheet of vehicle network data transmission method.As shown in Figure 3, said data transmission method comprises the steps:
Step S10 as the forwarding vehicle of via node, chooses one of them original message as primary message being received from a plurality of original messages that other vehicles send and need to transmit of its storage, and some original messages of choosing other are as sub-message.
In this execution mode; The applied driving perception of the present invention navigation system comprises having a plurality of vehicles that form the self-organizing network ability; Said a plurality of vehicle is set up into vehicle-mounted self-organizing network; Wherein, can one or more transport information of obtaining be handled the generation original message as each vehicle of network node.Said original message can comprise header, data and the check digit corresponding with said transport information; Said header has comprised ID number and the said type of data (for example being text, audio frequency, video etc.) of transmission as the information source vehicle of source node; Preferably, said message self also can have can supply to discern one ID number.For ease of the next code decoding processing, here, the length of all original messages all is consistent, for the short original message of those data, can guarantee that the length of message is consistent through the mode of fill data position 0.
Said forwarding automobile storage as via node contains the one or more original messages (original message can be a corresponding vehicle of original message with the corresponding relation of vehicle, also can be the corresponding vehicles of a plurality of original messages) that sent by other vehicles in the network.The original message of said storage can be grouped into forward direction transmit queue and back to transmit queue according to routing direction; What comprise in the said forward direction transmit queue is the needs that send over from the front vehicle original message pointers transmitted of vehicle forwards; Preserve in transmit queue said back is the needs that send over from the front vehicles original message pointers transmitted of vehicle rearward; Said forward direction, the original message pointer of back in transmit queue, sensing be the original message of storage.(in the following description, we directly describe with forward direction, the original message of back in transmit queue).
In a unit interval, can to transmit queue, select a comparatively crucial original message from above-mentioned forward direction transmit queue or back as the forwarding vehicle of via node, as primary message; Again from forward direction transmit queue or back one or more original messages of to transmit queue, choosing other, as sub-message; The primary message of choosing and the sub-message back of encoding is formed coding message, send again.
Preferably, at first, choose primary message.Because this automobile storage contains a plurality of original messages that other vehicles send; These original messages all need be forwarded follow-up; Therefore; Can E-Packet to treating in this vehicle and set certain transfer sequence rule, said transfer sequence rule can be according to one or more the considering in the factors such as time order and function order, message size, type of message and message source place.In the present embodiment, mainly be that (first in first out FIFO) is carried out the forwarding of original message with the time order and function order.Particularly, said primary message is from forward direction transmit queue and back two first original messages to transmit queue, to select wherein early to arrive that original message as the vehicle of via node.Suppose current vehicle the place ahead have i automobile-used set m1, m2 ..., mM} representes, the rear have j automobile-used set n1, n2 ..., nN} representes.That
arranged in the forward direction transmit queue is individual original message is with set
expression, the back in transmit queue, have ω original message with gather q1, q2 ..., q ω the expression.At first; The original message of selecting early to arrive to the stem of transmit queue from forward direction transmit queue and back is as primary message; Time (p) expression original message p gets into the time of transmit queue; If time (p1)＜time (q1) explains that p1 than the Zao transmit queue that gets into of q1, then selects p1 as primary message; Otherwise, if time (p1)＞time (q1) explains that q1 than the Zao transmit queue that gets into of p1, then selects q1 as primary message.
Then, carry out choosing of sub-message.And the selection principle of said sub-message by: the neighborhood vehicle that the said sub-message of encoding with said primary message must have been received by primary message stored.For this reason, in this vehicle, store the information (be original message ID number) of the original message that has obtained in the relative neighborhood vehicle.In addition, said sub-message is relevant with the relative line style position of said neighborhood vehicle.Specifically, if primary message is selected from the forward direction transmit queue, so sub-message will be selected to transmit queue from the back; If primary message is selected to transmit queue from the back, so sub-message will be selected from the forward direction transmit queue.Suppose that primary message selects from the forward direction transmit queue; What preserved in transmit queue the back is that front vehicles sends over original message; Select the message of back in formation as sub-message; Can guarantee that this (a bit) sub-message is stored in the front vehicles in big probability ground, thereby can let primary message correctly decode in the vehicle forwardly.
Step S12 according to coding rule, forms coding message with the said primary message of choosing and the said sub-message back of encoding.
In this execution mode, the coding rule of employing is an XOR, and therefore, the said primary message that will choose exactly and said sub-message carry out forming coding message behind the XOR.
Particularly, obtain said primary message and said sub-message according to step S12.The network code that obtains the candidate is following:
P wherein
kIt is set
The k sub-set, Q
kBe the set q1, q2 ..., q ω } the k sub-set, C
kIt is exactly coding message that all original messages in the set carry out obtaining behind the xor operation.Use following algorithm, from candidate code, select optimum coding:
The local directed networks coding of algorithm
With Pr (this probability depends on the relative position between virtual buffer and vehicle for n, the pi) probability that in the reception buffer memory of vehicle node n, exists of expression original message pi:
With Pr (this probability depends on the relative position between virtual buffer and vehicle for n, the pi) probability that in the reception buffer area of vehicle node n, exists of expression original message pi:
Case1: in vehicle n corresponding virtual buffering, have original message pi, then value is 1
Case2: in vehicle n corresponding virtual buffering, do not have original message pi; Vehicle n possibly not cushion original message pi really in this case; Also possibly be that vehicle n has cushioned original message pi; But the message of informing vehicular n buffer information packet loss when sending to this car has caused untimely that virtual buffer upgrades.To this, the information of the virtual buffer of other can basis consistent with vehicle n relative position vehicles (be all the front vehicles of transmit leg or be all the front vehicle of transmit leg) is come the exist probability of reconstruct original message pi at vehicle node n place.Setting constant λ is the numerical value between 0 to 1, in all neighborhood vehicles consistent with vehicle n relative position, has original message pi if having in the virtual buffer of t car, and then to cushion the probability of original message pi be 1-λ to vehicle node n
t
Case3: non-existent original message pi in vehicle n corresponding buffered; And in all neighborhood vehicles consistent (be all the front vehicles of transmit leg or be all the front vehicle of transmit leg) with its relative position; Also do not cushion original message pi, then the probability value is 0.
At first, for any code set Ck, must guarantee that the primary message in the set can be sent out all the vehicle decodings on the direction; Promptly when comprising the primary message p1 that sends forward among the Ck; The vehicle in the place ahead m1, m2 ... mM disappears and from Ck, decode message p1; And when comprising the primary message q1 that sends backward among the Ck, the vehicle at rear n1, n2 ... nN disappears and from Ck, decode message q1.With d_ (p_1) ^ ((C_k, n)) expression vehicle n can decode the probability of original message p1 from code set Ck:
For all vehicle node of primary message sending direction, the probability d that decodes primary message must be greater than threshold values G, and G is a constant between 0 and 1.
Then, in meeting the code set of above-mentioned precondition, need find out a best code set Cmax of coding effect.For each code set Ck definition weights Ω
k, expression neighborhood vehicle through obtain code set Ck the accumulated quantity of the original message that can decode:
The neighborhood vehicle comprises front vehicles set { m
1, m
2..., m
MAnd front vehicle set { n
1, n
2..., n
N, Ω
k(n) expression vehicle n is after receiving code set Ck, the quantity of the decodable and original message that do not obtained, definition as follows:
Wherein, the element number of Lk presentation code set Ck, ξ
P1, nWhether expression original message p1 exists in the buffering area of vehicle n, if exist then be 1, otherwise is 0.The probability of vehicle n place decoding is carried out quantitative adding up greater than threshold values G and the original message that do not obtained, just can obtain Ω
k(n) value.The effective message amount of decodable code of all neighborhood vehicles is added up, just can obtain the corresponding Ω of code set Ck
kValue.
C
max＝{C
k|max(Ω
k)} (5)
Select Ω
k(n) Ck of value maximum is as code set Cmax, and Cmax has guaranteed that the vehicle of primary message sending direction can correctly decode primary message, and the effective sub-message amount that the neighborhood vehicle can be decoded is also for maximum.Original message among the Cmax is carried out xor operation, needing just can obtain the coding message of transmission.
Especially; In the present invention; Also there is a special case; That is: the relevance of the original message of the negligible amounts of the original message stored of this vehicle or said storage and the original message in the neighborhood vehicle a little less than (original message in this vehicle is not the middle original message that the neighborhood vehicle has been stored), under this type situation, in this vehicle, do not have suitable original message can choose as sub-message.Therefore, in such special case, just removed choosing and primary message and sub-message being carried out the step of XOR coding of sub-message from, but the primary message of choosing directly has been sent to the neighborhood vehicle.
Step S14 broadcasts said coding message on the neighborhood vehicle that is sent to said relatively forwarding vehicle.In this execution mode, employing be that broadcast mode carries out transfer of data.Because the prior art that said broadcasting send mode has been well known to those skilled in the art is not so giving unnecessary details.
Step S16 after said neighborhood vehicle receives said coding message, carries out decode stored and/or is forwarded to other neighborhood vehicles coding message.In this city execution mode, after said neighborhood vehicle received said coding message, the original message that utilizes coding rule (being XOR) and stored was decoded to said coding message, decoded wherein primary message and sub-message; Judge whether decoded said primary message and said sub-message be stored in said neighborhood vehicle; If comprise that said primary message and all original messages of said sub-message all were stored, did not then deal with said primary message and said sub-message; If be not stored before comprising said primary message and said any original message of sub-message, the one or more original messages that then will not be stored (primary message and/or sub-message) are stored, and upgrade the original message of having stored.Follow-up, with the description of step S10 to S14,, be forwarded to the other field vehicle behind the original message process encoding process formation coding message with storage for another example according to coding strategy.
Through above-mentioned steps S16; 1), the original message that upgrades of received content the neighborhood vehicle can be realized:, obtain the transport information by the conduct vehicle corresponding with said original message, be beneficial to vehicle transport information in view of the above; Carry out the road conditions real-time analysis, provide in time and navigation accurately.2), the original message that can vehicle node be sent, carry out relay broadcasting through vehicle node in the network and send.
Follow-up, repeat above-mentioned steps S12 again to step S18, carry out relay broadcasting by vehicle node in the network and send, until each vehicle that said original message is sent in the vehicle network, be implemented in sharing of transport information in the transportation network.
Based on above-mentioned vehicle network data transmission method, the present invention also provides a kind of vehicle network data transmission system.
Fig. 4 is a vehicle network data transmission system of the present invention structural representation in one embodiment.As shown in Figure 4, said vehicle network data transmission system comprises: information transmit-receive unit 21, receive buffer area 22, virtual cache district 23, select unit 24, coding unit 25, decoding unit 26.
Information transmit-receive unit 21 is used for sending the coding message of this vehicle or transmitting the original message of other vehicles with broadcast mode, and receives by other vehicles and pass the coding message of coming.Comprise at least one original message in the said coding message with transport information.
Receive buffer area 22, be used to store by what said information transmit-receive unit received and send and the original message of needs forwarding from other vehicles; Original message in the said reception buffer area can according to wherein the storage original message routing direction and with original message be grouped into the forward direction transmit queue with the back to transmit queue.
Virtual cache district 23 is used for storing the beacon information of the original message that the reception buffer area of said neighborhood vehicle obtained.The information of original message wherein can be ID number of sign original message.
Select unit 24, be used for choosing one of them original message as primary message at a plurality of original messages of being stored, some original messages of choosing other are as sub-message.Wherein, the said unit of selecting is chosen one of them original message and is comprised as primary message in a plurality of original messages of being stored: from forward direction transmit queue and back two first original messages to transmit queue, select wherein early to arrive that original message as the vehicle of via node as primary message.Said other the some original messages of unit selection of selecting as the principle of sub-message are: the sub-message of encoding with primary message must exist in the reception buffer area of realizing the neighborhood vehicle that primary message receives, and said reception buffer area has been stored the original message that vehicle node obtains from the neighborhood vehicle.Therefore through inquiring about original message ID number that has obtained in the reception buffer area of the said neighborhood vehicle of storage in the virtual cache district 23 in this vehicle, just can know that which or which original message exists in the reception buffer area of neighborhood vehicle.Particularly, if primary message is selected from the forward direction transmit queue, so sub-message will be selected to transmit queue from the back; If primary message is selected to transmit queue from the back, so sub-message will be selected from the forward direction transmit queue.
Coding unit 25 according to coding rule, forms coding message with the said primary message of choosing and the said sub-message back of encoding, for through information transmit-receive unit 21 said coding message broadcasting being sent to the neighborhood vehicle.Especially, said coding rule is an XOR.
Decoding unit 26 is used for according to coding rule, will be decoded by the coding message that information transmit-receive unit 21 receives, and obtains the original message that wherein upgrades, and is stored in the said reception buffer area.The original message that wherein obtains renewal comprises: coding unit 25 is decoded the said coding message that information transmit-receive unit 21 receives, and obtains wherein primary message and sub-message; Judge whether said primary message and said sub-message have been received 22 of buffer areas and had stored, if comprise that said primary message and all original messages of said sub-message all were stored, did not then deal with said primary message and said sub-message; If be not stored before comprising said primary message and said any original message of sub-message, the one or more original messages that then will not be stored (primary message and/or sub-message) are stored, and upgrade the original message of having stored.Follow-up, according to coding strategy, utilize and to select unit 24 and choose primary message and sub-message, be forwarded to the other field vehicle again through information transmit-receive unit 21 after by coding unit 25 said primary message and sub-message being formed coding message through encoding process.
As stated, vehicle network data transmission method of the present invention and system mainly comprise: be according to certain principles of selected primary message and sub-message in a plurality of original messages; According to coding rule, primary message and the sub-message back of encoding is formed coding message; Coding message broadcasted be sent to the neighborhood vehicle; So send through the relay broadcasting of vehicle node in the network, last, can original message be sent to each vehicle in the vehicle network, be implemented in sharing of transport information in the transportation network.Compared to prior art, the present invention has realized in a coding message broadcasting process of transmitting, can transmitting the information of a plurality of original messages, improves the efficient and the utilization of network bandwidth thereof of transfer of data.
In addition; Owing to be a plurality of original messages to be combined broadcasting through certain coding rule send in the present invention; Therefore, when the wherein part original message of a certain vehicle node goes out under the situation of active or damage, can utilize the relative position information between vehicle; The original message of storing in other vehicles through neighborhood, the original message of having lost or having damaged in recovery or this vehicle of reconstruct.
In following description, will specify with an instance.
Fig. 5 has shown the topology diagram in the driving perception navigation system that constitutes vehicle-mounted self-organizing network.As shown in Figure 5, in said line style network, a plurality of vehicles roughly are line style position (direction is consistent and spacing is certain).Existing with the forwarding vehicle of the vehicle C among Fig. 5 as via node, also include three neighborhood vehicles that label is A, B, D (following describe with vehicle A, vehicle B, vehicle D respectively) at the broadcast domain of vehicle C.
Through the gps data that real-time reception is sended over by the broadcasting of other vehicles, vehicle C can judge self and the relative distance Dis of other vehicles that go in the same way, and the line style front and back position that just can obtain in the vehicle broadcast domain through relative distance Dis concerns.In data transmission procedure, intermediate node can be passed to the vehicle in the place ahead after through coding with the data that transmit from front vehicle, and the data that will transmit from front vehicles pass to the vehicle at rear after through coding, and promptly the direction of transfer of data has forward and two kinds backward., can set relative distance Dis for just representing target vehicle the place ahead in current vehicle here, relative distance Dis is the negative rear of target vehicle in current vehicle of then representing.As shown in Figure 5, the relative distance Dis A of the relative vehicle C with vehicle B of vehicle A and Dis B are for just, and the relative distance Dis C of the relative vehicle C of vehicle D is for negative.
Please consult Fig. 6 again, can safeguard a vehicle distances table, wherein comprised other vehicles and the front and back Dis distance of this car in the current vehicle broadcast domain as the vehicle C of via node.According to the front and back relative distance of vehicle, via node can be safeguarded two transmit queues, and forward direction transmit queue and back are to transmit queue.What preserve in the forward direction transmit queue (HF) is the needs that send over from front vehicle (Dis is for negative) the original message pointers transmitted of vehicle (Dis for just) forwards, comprises original message P1 and P4 in the for example said forward direction transmit queue.Preserve to transmit queue (HB) in the back is the needs that send over from front vehicles (Dis for just) the original message pointers transmitted of vehicle (Dis is for negative) rearward, in transmit queue (HB), comprises original message P2, P3, P5 and P6 after for example said.Said forward direction and the original message pointer of back in buffer queue, sensing be the original message (P1, P2, P3, P4, P5 and P6) that is kept among the reception buffering area B of vehicle C.In addition; The vehicle C of via node can safeguard a virtual buffering region (VB) separately for other vehicles in its broadcast domain (vehicle A, B, D), and what said virtual buffer was preserved is the beacon information (ID of original message number) that target vehicle receives the original message of having stored in the buffering area.Preserved original message P2, P3, P5 in the virtual buffering region of for example corresponding vehicle A (VB A) ID number; Preserved original message P2, P3, P6 in the virtual buffering region (VB B) of corresponding vehicle B ID number, ID number of having preserved original message P1, P4 in the virtual buffering region of corresponding vehicle D (VB D).
In a unit interval, the vehicle C of via node can choose a comparatively crucial original message as primary message to the head of transmit queue from said forward direction, back; Some original messages of choosing other to transmit queue form coding message with said primary message and send as sub-message after said sub-message is encoded from forward direction/back again.Said sub-message is relevant with the relative line style position of said neighborhood vehicle.Specifically, if primary message is selected from the forward direction transmit queue, so sub-message will be selected to transmit queue from the back; If primary message is selected to transmit queue from the back, so sub-message will be selected from the forward direction transmit queue.The coded system of message uses xor operation (XOR) to carry out, and primary message forms coding message after forming a coding with all sub-messages of choosing through xor operation,
In the present embodiment, choose original message P1 in the forward direction transmit queue (HF) as primary message, sub-message then is to choose to original message P2, P3, P5 and the P6 of transmit queue (HB) from the back, for example is original message P2 and P3; They are encoded, and the coding message behind the coding is exactly that this three's XOR value
coding message will be broadcasted transmission through network by vehicle C; After can decoding to said coding message, said vehicle in the neighborhood obtains required original message; Promptly; Obtain required original message P1 after the vehicle A decoding, obtain required original message P1 after the vehicle B decoding, obtain required original message P2 and P3 after the vehicle D decoding.In addition; Said vehicle in the neighborhood can be stored in the original message that obtains in the reception buffering area of self; Follow-up; According to original content of message in the self buffer and respective coding strategy, from said reception buffering area, choose a primary message and plurality of sub message and encode and broadcast forwarding again after the back forms coding message, make that other vehicles in the network also can receive required original message.
The foregoing description is just listed expressivity principle of the present invention and effect is described, but not is used to limit the present invention.Any personnel that are familiar with this technology all can make amendment to the foregoing description under spirit of the present invention and scope.Therefore, rights protection scope of the present invention should be listed like claims.
Claims (14)
1. vehicle network data transmission method, it is to be applied to constitute in the driving perception navigation system of line style network, said driving perception navigation system comprises having a plurality of vehicles that form the self-organizing network ability; It is characterized in that said vehicle network data transmission method comprises:
As the forwarding vehicle of via node, choose one of them original message as primary message being received from a plurality of original messages that other vehicles send and need to transmit of its storage, some original messages of choosing other are as sub-message; The original message of said storage can be grouped into forward direction transmit queue and back to transmit queue according to routing direction; Include transport information in the said original message;
According to coding rule, the said primary message of choosing and the said sub-message back of encoding is formed coding message;
Said coding message is broadcasted the neighborhood vehicle that is sent to said relatively forwarding vehicle;
Said neighborhood vehicle receives said coding message and it is decoded; Obtain the original message that wherein upgrades; And more said original message is encoded and be forwarded to other neighborhood vehicles, thereby the original message that will comprise transport information is sent to each vehicle in the said driving perception navigation system.
2. vehicle network data transmission method according to claim 1 is characterized in that, said neighborhood vehicle receives said coding message and it is decoded, and obtains the original message that wherein upgrades, and comprising:
Receive said coding message and it is decoded, obtain primary message and sub-message in original coding message;
Judge whether decoded said primary message and said sub-message were stored; And obtain comprising under the situation about not being stored before said primary message and said any original message of sub-message in judgement; The one or more said original message that was not stored is stored, be forwarded to other neighborhood vehicles again after the encoding process for follow-up carrying out.
3. vehicle network data transmission method according to claim 1 is characterized in that, said transport information comprises: one or more in environment sensing information, vehicle location information and the traffic information.
4. vehicle network data transmission method according to claim 1; It is characterized in that, choose one of them original message and comprise as primary message: that original message of from said forward direction transmit queue and said back two first original messages to transmit queue, selecting wherein early to arrive current vehicle is as primary message.
5. vehicle network data transmission method according to claim 4 is characterized in that, some original messages of choosing other as the principle of sub-message by: the neighborhood vehicle that the sub-message of encoding with primary message must have been received by primary message stored.
6. vehicle network data transmission method according to claim 5; It is characterized in that; Some original messages of choosing other comprise as sub-message: if primary message is selected from the forward direction transmit queue, so sub-message will be selected to transmit queue from the back; If primary message is selected to transmit queue from the back, so sub-message will be selected from the forward direction transmit queue.
7. according to claim 1 or 6 described vehicle network data transmission methods, it is characterized in that according to coding rule, form coding message and comprise: the employing XOR is a coding rule; Said primary message and said sub-message are carried out forming coding message behind the XOR.
8. vehicle network data transmission system, it is to be applied to constitute in the driving perception navigation system of line style network, said driving perception navigation system comprises having a plurality of vehicles that form the self-organizing network ability; It is characterized in that said vehicle network data transmission system comprises:
The information transmit-receive unit is used for sending the coding message of this vehicle or transmitting the coding message of other vehicles with broadcast mode, and receives by other vehicles and pass the coding message of coming; Comprise at least one original message in the said coding message with transport information;
Receive buffer area, be used to store by what said information transmit-receive unit received and send and the original message of needs forwarding from other vehicles; Said reception buffer area can according to wherein the storage original message routing direction and with original message be grouped into the forward direction transmit queue with the back to transmit queue;
Select the unit, be used for choosing one of them original message as primary message at a plurality of original messages of being stored, some original messages of choosing other are as sub-message;
Coding unit is used for according to coding rule, the said primary message of choosing and the said sub-message back of encoding is formed coding message, for through said information transmit-receive unit said coding message broadcasting being sent to the neighborhood vehicle;
Decoding unit is used for according to coding rule, will be decoded by the coding message that said information transmit-receive unit receives, and obtains the original message that wherein upgrades, and is stored in the said reception buffer area.
9. vehicle network data transmission system according to claim 8 is characterized in that, also comprises the virtual cache district, is used for storing the beacon information of the original message that the reception buffer area of said neighborhood vehicle obtained.
10. vehicle network data transmission system according to claim 8 is characterized in that, said transport information comprises: one or more in environment sensing information, vehicle location information and the traffic information.
11. vehicle network data transmission system according to claim 9; It is characterized in that the said unit of selecting is chosen one of them original message and comprised as primary message in a plurality of original messages of being stored: from said forward direction transmit queue and said back two first original messages to transmit queue, select wherein early to arrive that original message as the vehicle of via node as primary message.
12. vehicle network data transmission system according to claim 11; It is characterized in that; Said other the some original messages of unit selection of selecting as the principle of sub-message are: the sub-message of encoding with primary message must exist in the reception buffer area of realizing the neighborhood vehicle that primary message receives, and said reception buffer area has been stored the original message that this vehicle obtains from the neighborhood vehicle.
13. vehicle network data transmission system according to claim 12; It is characterized in that; Said other the some original messages of unit selection of selecting comprise as sub-message: if primary message is selected from the forward direction transmit queue, so sub-message will be selected to transmit queue from the back; If primary message is selected to transmit queue from the back, so sub-message will be selected from the forward direction transmit queue.
14. according to Claim 8 or 13 described vehicle network data transmission systems, it is characterized in that said coding rule is an XOR.
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| CN110428059A (en) * | 2018-04-26 | 2019-11-08 | 优信数享（北京）信息技术有限公司 | A kind of processing method of vehicle maintenance data, apparatus and system |
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