CN106304237A - Terminal vehicle communication method based on wireless protocols - Google Patents

Terminal vehicle communication method based on wireless protocols Download PDF

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Publication number
CN106304237A
CN106304237A CN201610630896.0A CN201610630896A CN106304237A CN 106304237 A CN106304237 A CN 106304237A CN 201610630896 A CN201610630896 A CN 201610630896A CN 106304237 A CN106304237 A CN 106304237A
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node
message
vehicle
received
compact district
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CN106304237B (en
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谢欣霖
陈波
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Chengdu Zhida Science And Technology Co Ltd
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Chengdu Zhida Science And Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/20—Communication route or path selection, e.g. power-based or shortest path routing based on geographic position or location
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/12—Shortest path evaluation
    • H04L45/122—Shortest path evaluation by minimising distances, e.g. by selecting a route with minimum of number of hops
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/22—Communication route or path selection, e.g. power-based or shortest path routing using selective relaying for reaching a BTS [Base Transceiver Station] or an access point
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
    • H04W40/248—Connectivity information update

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention provides a kind of terminal vehicle communication method based on wireless protocols, the method includes: arrange vehicle-mounted node of cruising, along predefined route running, the most constantly send message, the message that trackside node broadcasts is received, vehicle node, through cruising meshed network coverage, receives corresponding message.The present invention proposes a kind of terminal vehicle communication method based on wireless protocols, it is adaptable to the condition of the topological structure frequent changes of In-vehicle networking, improves the handling capacity of network, reduces network congestion.

Description

Terminal vehicle communication method based on wireless protocols
Technical field
The present invention relates to In-vehicle networking, particularly to a kind of terminal vehicle communication method based on wireless protocols.
Background technology
In order to allow the efficiency of transportation be promoted, slow down the depletion rate of resource, vehicle research and development link can not be kept away Use intelligent transportation system with exempting from, and between vehicle, network has become the hot subject optimizing Modern Traffic the most.People are available to be joined Standby Wireless Telecom Equipment on vehicle, completes the direct or indirect communication between vehicle node, and meanwhile, vehicle node can also On the radio communication channel that it is corresponding, realize wireless telecommunications with roadside fixed communication apparatus, reach network between vehicle with this In intelligent transportation system, various transmission information are completed transmission, processes and the purpose of interaction.From improving service convenience From the point of view of aspect, the various information searches that other vehicles can be broadcast out by driver, thus near finding very easily Some service points.Use electronic charging system without parking simultaneously, vehicle can be greatly shortened and paying the waiting time.It is arranged on After the public effect of information that the equipment of road both sides is self-contained with vehicle, relevant departments can make full use of these information pair Traffic carries out the scheduling of intelligence.
But vehicle itself is in high-speed mobile, and owing to it is limited relatively big by urban road, the topology side of network Face is also fast changing, and the time carrying out communication between each node is shorter, and existing inter-vehicular communication method can not be fine Ground adapts in real time the dynamic characteristic of the topological structure frequent changes of In-vehicle networking, therefore improves the network characteristic such as handling capacity of network Aspect has not given play to the performance of more high-quality.Network blockage is often resulted in when vehicle-mounted node is too much.
Summary of the invention
For solving the problem existing for above-mentioned prior art, the present invention proposes a kind of terminal vehicle based on wireless protocols Communication means, including:
Setting is cruised vehicle-mounted node, along predefined route running, the most constantly sends message, and trackside node is wide Broadcasting received message, vehicle node, through cruising meshed network coverage, receives corresponding message.
Preferably, the message in network has unique message id, after destination node R receives message, if it is decided that The most do not received this message, then message No. id had been stored in broadcast table；If destination node R looks in its broadcast table Look for reception information identical No. id, represents that this message had been received by, is defined as redundancy message, directly abandons, otherwise target joint Data are handled as follows by some R；
The positional information obtained according to GPS, vehicle node judges whether self is positioned at vehicle node compact district；If target Node R is positioned at vehicle node compact district or R belongs to trackside node, then R is postponing WD1After, forward the message received；If connect But the position receiving node R is not positioned at vehicle node compact district in vehicle node compact district source node S, then R abandons message；If Source node S is not vehicle node compact district node, then R is by the direction D of oneselfRDirection D with final jump source node SSContinue ratio Relatively, if their moving direction is identical, then postponing WD2After, send message, if it is decided that they in opposite direction, then put Abandon forwarding；
Wherein WD1=(1-Pd)×Tp
WD2=(1-Pd)×2Tp
TpRepresent the minimum duration between a hop broadcasting；
Pd=ds-r/dmaxFor the probability relevant to distance, ds-rFor the last source node forwarded and destination node away from From, dmaxFor the maximum in the range of coverage.
The present invention compared to existing technology, has the advantage that
The present invention proposes a kind of terminal vehicle communication method based on wireless protocols, it is adaptable to the topology knot of In-vehicle networking The condition of structure frequent changes, improves the handling capacity of network, reduces network congestion.
Accompanying drawing explanation
Fig. 1 is the flow chart of terminal vehicle communication method based on wireless protocols according to embodiments of the present invention.
Detailed description of the invention
Hereafter provide retouching in detail one or more embodiment of the present invention together with the accompanying drawing of the diagram principle of the invention State.Describe the present invention in conjunction with such embodiment, but the invention is not restricted to any embodiment.The scope of the present invention is only by right Claim limits, and the present invention contains many replacements, amendment and equivalent.Illustrate in the following description many details with Thorough understanding of the present invention is just provided.These details are provided for exemplary purposes, and without in these details Some or all details can also realize the present invention according to claims.
An aspect of of the present present invention provides a kind of terminal vehicle communication method based on wireless protocols.Fig. 1 is according to this The terminal vehicle communication method flow chart based on wireless protocols of bright embodiment.
Vehicle-mounted node application layer management module gathers the data in wireless network, the source of analytical data and type, it is achieved Transmitting-receiving to upper strata message information manages, and coding rule arranges and intercepts.Routing management module is responsible for the selection of routing mechanism, road By asking and intercepting response and maintenance etc..Access Management is present between routing layer and MAC layer, is responsible at routing layer Obtain data simultaneously to the destination address that its distribution is random, then these address informations are delivered among MAC layer.It is wirelessly transferred mould Block is used for launching antenna and reception antenna management, according to the coding result of data, uses the mode of simulation to carry out it accordingly Process, by antenna, the data in queue are transmitted in corresponding transmission channel, be controlled by its transmission performance and manage Reason.
For application layer management module message distribution, the range of choice of embodiments of the invention expansion relays node, with Shi Caiyong location estimation, it is thus achieved that the low time delay of message broadcast, low-load characteristic.
Vehicle sends beacon message to adjacent node, when the difference estimated between position and physical location of vehicle is beyond setting Error threshold time, use simultaneously and periodically send and transmission mode that condition drives.By beacon message, the vehicle in network The positional information of adjacent node can be obtained, constantly update adjacency list.
Vehicle obtains own location information, the historical record moved in conjunction with vehicle and current location information by GPS, calculates Go out current travel speed s of vehicle and direction θ.
Extract vehicle node ID in beacon message, and judge to send the vehicle of this beacon whether adjacent at Current vehicle In table.If the adjacent node of Current vehicle, then update adjacency list；Otherwise, the vehicle sending beacon message is added adjacent In table.
Extract vehicle position information, vehicle directional information, vehicle speed information and the timestamp information in beacon message.Estimate The current time t of meter adjacent node2Position (Xp, Yp)。
Xp=X+s × (t2-t1)×cos(θ)
Yp=Y+s × (t2-t1)×sin(θ)
Wherein (X, Y) and t1Be carry out adjacent vehicle estimating before the positional information that carries of the last beacon received and Timestamp.And s and θ is vehicle estimate before car speed in the beacon that receives for the last time and directional information.
Current vehicle, according to the estimation position to adjacent vehicle, calculates present node and is adjacent internodal communication chain The effective time on road.
The estimation position that vehicle will abut against a little compares with self-position, and position relationship is classified as following four classes it One: front in the same direction, rear in the same direction, front is reverse, rear is reverse.
Current vehicle calculates and oneself is adjacent distance D between node:
D=((Xv-Xp)2+((Yv-Yp))2)1/2
Here (Xv, Yv) represent Current vehicle coordinate position, (XpAnd Yp) it is the estimated coordinates of adjacent node position Value.
Position estimation procedure stops, until Current vehicle receives new beacon message and restarts.
When the anomalous event of a certain vehicle generation high priority, abnormal vehicle generates unexpected message at once, selected forwarding Node is broadcasted.After other vehicle node receive unexpected message, it may be judged whether need unexpected message is broadcasted.If One of node in other vehicle node is selected for forward node, then need to forward message.
If the same vehicle node that rearward exists of abnormal vehicle, abnormal vehicle selects farthest vehicle as immediate successor Node, selects secondary remote vehicle as the second descendant node.If there is vehicle on abnormal rear view of vehicle is reverse, select farthest Vehicle, as immediate successor node, selects secondary remote vehicle as the second descendant node.If deposited in the abnormal reverse front of vehicle At vehicle, select nearest vehicle as immediate successor node, select secondary near vehicle as the second descendant node.More than if Situation is all unsatisfactory for, then abnormal vehicle storage unexpected message, until new vehicle enters in its wireless messages coverage, then Again select to forward according to above-mentioned situation.
After forward node selected by abnormal vehicle, according to the position relationship of forward node with abnormal vehicle node, divide two kinds Situation distributes unexpected message from forward node R to other nodes.Current vehicle vehicle R in the same direction is chosen as forward node, is receiving After unexpected message, R detects the position of self, if the position of self is beyond the border of abnormal vehicle region, then broadcasts The unexpected message replicated is as confirmation.If the position of self is still located in abnormal border, vehicle region, then turn Send out node R by judging to select the descendant node of optimum.
If a () exists driving vehicle in the same direction at the travel direction rear of forward node, forward node R selects farthest vehicle As first-selected next node, choose time remote vehicle and select as the second of forward node.
If there is vehicle node in contrary travel direction in (b), the vehicle that the most current forwarder selection is farthest As immediate successor node, select secondary remote node as the second descendant node.
If c () is either way unsatisfactory for, a forward node unexpected message of broadcast, as confirmation, then uses storage Unexpected message is cached by forwarding mechanism, detects the current location of forward node simultaneously.If it find that forward node Zheng road Cross abnormal vehicle, then forward node terminates repeating process, and otherwise, forward node, when running into other vehicles, is chosen next and forwarded Node, forwards unexpected message.
When reverse vehicle R is chosen as forward node, after receiving unexpected message, the position of forward node detection self Putting, if beyond the border of abnormal vehicle region, forward node R only need to broadcast the unexpected message of repetition and confirm；No Then, forward node selects next node according to procedure below.
If a the reverse rear of () forward node R does not exist any vehicle node, then it selects the car that reverse front is farthest Node and time remote vehicle node select as first selection and second of follow-up relaying.
If b () is in the same vehicle node that forwards exists of R, then selectes farthest vehicle and time remote vehicle will be respectively as directly Connect descendant node and the second descendant node.
If c () is either way unsatisfactory for, the unexpected message of forward node broadcast replication, as confirmation, is then cut Changing to store and forward message mode, line position of going forward side by side detects.If relay vehicle is beyond the border of abnormal vehicle region, then terminate Forwarding, otherwise, forward node continues to select next node.When forward node or subsequent forwarding nodes receive unexpected message After, select different vehicles as next forward node.
On the basis of above-mentioned pass-through mode, the present invention utilizes the help of the vehicle-mounted node of cruising with projected route to enter one Step realizes data transmission, contributes to vehicle node and distributes data to one or more destination nodes.Cruise vehicle-mounted node along predetermined Justice route running, the most constantly sends message, the message that trackside node broadcasts is received, and vehicle node is through patrolling During trip coverage scope, receive corresponding message.Message in network has unique message id, when destination node R receives After message, if it is decided that the most do not received this message, then message No. id has been stored in broadcast table.If target saves Point R searches identical No. id of reception information in its broadcast table, represents that this message had been received by, is defined as redundancy message, directly Connecing and abandon, otherwise data are for further processing by destination node R.
The positional information obtained according to GPS, vehicle node judges whether self is positioned at vehicle node compact district.If target Node R is positioned at vehicle node compact district or R belongs to trackside node, then R is postponing WD1After, forward the message received.If connect But the position receiving node R is not positioned at vehicle node compact district in vehicle node compact district source node S, then R abandons message.If Source node S is not vehicle node compact district node, then R is by the direction D of oneselfRDirection D with final jump source node SSContinue ratio Relatively, if their moving direction is identical, postponing WD2After, send message.If it is determined that theirs is in opposite direction, then abandon Forward.
Wherein WD1=(1-Pd)×Tp
WD2=(1-Pd)×2Tp
TpRepresent the minimum duration between a hop broadcasting.
Pd=ds-r/dmaxFor the probability relevant to distance, ds-rFor the last source node forwarded and destination node away from From, dmaxFor the maximum in the range of coverage.
Communication process between source node and destination node is divided into route requests by the routing management module of the present invention, receives Response and coding are intercepted.
When a node receives route request information, first create or update route table items.Then look at predetermined The route requests packet of identical source IP address and route requests ID message whether is received, if it has, ignore at present in justice interval The route requests packet received.When the route requests received is not left in the basket, first by the jumping figure increasing 1 in route requests, then Search the reverse path of source node in the routing table, use longest match principle, create new reverse route table items, or use Source node ID in route requests updates original route table items.When reverse path is created or updates, perform following operation:
(1) the destination node ID in route request information source node ID and corresponding reversely route is made comparisons, if front Person is bigger than the latter, and the former is replaced the latter.
(2) effective ID value of route entry is set as very.
(3) next of route entry is set to transmit the node of route requests to this node.
When a node receives route response, search the route entry of forerunner the most in the routing table, create and do not comprise The new list item of effective ID.Then the jumping figure in route response is increased 1 by node.By the destination node ID in route response and ID is had to compare.If present node is not the source node in route response, then after table of query and routing is to determine route response Continue.If the link of the route response that node sends is wrong or unidirectional, node makes the recipient of route response reply one Individual answer signal.
The node of any forwarding route response, all goes to the route of destination node by follow-up the joining sending route response In item predecessor table, in the same time, the higher value that life cycle is existing life span in amendment source node path.Route response It is the broadcast packet by route response, carries out intercepting judgement, if having, storing the path of current stream in route response and intercepting Nodal information.By the judgement of correlated judgment condition in message request in routing layer and key-course, it is made whether that next step is grasped Make.
The Rule of judgment that coding is intercepted is:
K in node queue message p to be sent1, p2..., pk, corresponding descendant node is v1, v2..., vk, pass through Coding obtains coding messageBroadcast this coding message p to above-mentioned set of node v1, v2..., vk.If At v1, v2..., vkIn, prepare to receive message piNode viHave been listening to except piOther all of message outer, and meet two One of individual condition:
Node viIt is message PjPredecessor node, j ≠ i, or
Node viListen to message Pj, j ≠ i；
Then node viMessage p will be cached within a certain period of timejTo obtain more coding.
In cataloged procedure, when wireless channel is effective, node then takes out head message from output queue, and checks head Can message encode with other the initial messages in queue.If able to encode, then these initial messages are carried out After computing, it is broadcast to each adjacent node.If cannot encode, node the most directly broadcast this initial message without waiting for can The initial message joined.If forward node does not receive the reception report that adjacent node is sent, then this node uses Routing Protocol Calculate the arrival rate of link between descendant node, and estimate that descendant node stores the possibility of certain initial message according to arrival rate Property, and decide whether accordingly to carry out network code.
If certain forward node once n message is carried out with coding, the follow-up receiving node of the n-th message listens to The probability of some other message i is Pi, then this receiving node can be correctly decoded probability PDParticipation can be intercepted equal to this node to compile The probability of other n-1 initial messages of code:
PD=P1×P2×…×Pn-1
Now judge the decodable probability P of descendant node collection of this n initial messageDWhether meet more than threshold value PG。 If meeting threshold value constraint, then node initiates route requests process, broadcast route request message in network, contains in this message Destination node ID, encodes ID, source node address and destination node address.When intermediate node receives route requests message, time, in Intermediate node first broadcast source node sends the route requests message of coming, and is then incremented by the coding ID in amendment packet, and message is wide Broadcast to the descendant node collection with coding, add the address list of set of node in the header.If received on one node not Same route requests, first determines whether the size of destination node ID, is used for updating route；If destination node ID is identical, then basis Coding ID judges the path with coding.After the route requests packet that destination node receives, directly by feedback road, former road By responding to source node, set up the route with coding from source node to destination node.
In In-vehicle networking, due to the network topology structure moment change cause the uncertain of communication link and often between Disconnected, there is two states: when node u, v are in and communicate with one another scope, link is connection and can transmit；If not at communication range Interior link is obstructed.
(1) in network, each node u initializes the most local colony collection Cu, frequently access collection Fu, when meeting of node u and v (u v) frequently accesses collect L with local population long Wu。
(2) when node u and v meets, node is exchanged with each other local information, including colony's collection, frequently access collection and local Colony frequently accesses collection.Whether decision node v belongs to CuIf belonging to and redirecting 7, if being not belonging to turn 3.
(3) statistics node v frequently accesses collection FvCommon node number num is collected with u colony, if common node number Num > K-1, K are predetermined threshold value, and node v adds u colony collection, and v frequently accesses collection FvAdd u local population and frequently access collection Lu。 If < K-1 turns 6 to num.
(4) the i-th node v that taking-up node v colony concentratesi, statistics node i frequently accesses collection FviC is collected with u colonyuAltogether With node InumIf, Inum>=K-1, by node viAdd u colony collection, viFrequently access collection FviAdd u local population frequently to visit Ask collection Lu.If Inum< K-1 then turns 5.
(5) judge that i, whether more than the size of node v colony collection, if it is turns 7；If not then turning 4.
(6) calculate the accumulative duration W that meets of node u and v (u, v), it may be judged whether W (u, v) > T, T are predetermined threshold value, if Node v then adds u colony collection, and v frequently accesses collection FvAdd u local population and frequently access collection Lu.If not then turning 7.
(7) colony updates and terminates.
After setting up colony, the transmission mode in colony and between colony is respectively adopted different data forwarding strategies real Existing.
When message entrained in node u runs into node v:
(1) if the destination node D of message, the u of entrained message and met node v, three nodes belong to the same group, make Weigh whether data forward with local liveness；If the local liveness of u than v is big, it is forwarded message, otherwise message is turned Issue v.
(2) if destination node D and node u and v is not in same community, overall situation liveness is used to weigh whether message forwards. If the current u node overall situation liveness of entrained message is more than running into node v, does not forwards, otherwise forward the message to v.
(3) if destination node D and node u is not at the same group, but belong to the same group with node v, then u forwards the packet To v.
(4) if the u node of destination node and entrained message is the same group, and the node v run into is in different groups, then U does not E-Packets.
E-Packeting according to the most several situations, until running into destination node, message being submitted.
In sum, the present invention proposes a kind of terminal vehicle communication method based on wireless protocols, it is adaptable to vehicle-mounted net The condition of the topological structure frequent changes of network, improves the handling capacity of network, reduces network congestion.
Obviously, it should be appreciated by those skilled in the art, each module of the above-mentioned present invention or each step can be with general Calculating system realize, they can concentrate in single calculating system, or be distributed in multiple calculating system and formed Network on, alternatively, they can realize with the executable program code of calculating system, it is thus possible to by they store Performed by calculating system within the storage system.So, the present invention is not restricted to the combination of any specific hardware and software.
It should be appreciated that the above-mentioned detailed description of the invention of the present invention is used only for exemplary illustration or explains the present invention's Principle, and be not construed as limiting the invention.Therefore, that is done in the case of without departing from the spirit and scope of the present invention is any Amendment, equivalent, improvement etc., should be included within the scope of the present invention.Additionally, claims purport of the present invention Whole within containing the equivalents falling into scope and border or this scope and border change and repair Change example.

Claims (2)

1. a terminal vehicle communication method based on wireless protocols, it is characterised in that including:
Setting is cruised vehicle-mounted node, along predefined route running, the most constantly sends message, trackside node broadcasts institute The message received, vehicle node, through cruising meshed network coverage, receives corresponding message.
Method the most according to claim 1, it is characterised in that farther include:
Message in network has unique message id, after destination node R receives message, if it is decided that the most do not received Cross this message, then message No. id is stored in broadcast table；If destination node R searches reception information in its broadcast table Identical No. id, represents that this message had been received by, is defined as redundancy message, directly abandons, otherwise data are carried out by destination node R Following process；
The positional information obtained according to GPS, vehicle node judges whether self is positioned at vehicle node compact district；If destination node R is positioned at vehicle node compact district or R belongs to trackside node, then R is postponing WD1After, forward the message received；If receiving joint But the position of some R is not positioned at vehicle node compact district in vehicle node compact district source node S, then R abandons message；If source is saved Point S is not vehicle node compact district node, then R is by the direction D of oneselfRDirection D with final jump source node SSContinue to compare, If their moving direction is identical, then postponing WD2After, send message, if it is decided that they in opposite direction, then abandon turning Send out；
Wherein WD1=(1-Pd)×Tp
WD2=(1-Pd)×2Tp
TpRepresent the minimum duration between a hop broadcasting；
Pd=ds-r/dmaxFor the probability relevant to distance, ds-rFor the last source node forwarded and the distance of destination node, dmaxFor the maximum in the range of coverage.
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Denomination of invention: Wireless protocol-based terminal vehicle communication method

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