CN113381882B - Control plane view construction method for software defined internet of vehicles - Google Patents
Control plane view construction method for software defined internet of vehicles Download PDFInfo
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- CN113381882B CN113381882B CN202110591822.1A CN202110591822A CN113381882B CN 113381882 B CN113381882 B CN 113381882B CN 202110591822 A CN202110591822 A CN 202110591822A CN 113381882 B CN113381882 B CN 113381882B
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- 238000010276 construction Methods 0.000 title claims abstract description 11
- 230000008447 perception Effects 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims abstract description 18
- 238000005457 optimization Methods 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 34
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 2
- 238000004891 communication Methods 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 description 7
- 230000006855 networking Effects 0.000 description 5
- 230000003044 adaptive effect Effects 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/14—Network analysis or design
- H04L41/145—Network analysis or design involving simulating, designing, planning or modelling of a network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/12—Discovery or management of network topologies
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The invention discloses a control plane view construction method for a software defined internet of vehicles, and belongs to the technical field of wireless communication. The method comprises the following steps that 1, vehicle nodes upload vehicle state information to a controller periodically; 2. the controller constructs a control plane view based on physical perception optimization and logical computation correction. The invention solves the problem that the inconsistency of the control plane view and the real view is not considered in the prior art.
Description
Technical Field
The invention belongs to the technical field of wireless communication, and particularly relates to a control plane view construction method for a software defined internet of vehicles.
Background
The software defined network is used as a new network architecture, and the core idea of the software defined network is to separate a control plane and a data plane, so as to realize flexible control and management of the network. Currently, more and more research is being conducted to use software-defined networking in the internet of vehicles, which becomes a better solution for the internet of vehicles.
In the software defined network, a controller usually forms a view containing global network information in a control plane according to information of an underlying device, and provides diverse services for users based on the view. In the known technology, in an adaptive routing method based on software-defined internet of vehicles (CN 109600712A), "ID, position and speed information of vehicle nodes can be acquired by a local controller" and based on this, an optimal routing strategy is selected for a specific traffic scenario. In the method and system for defining the routing of the internet of vehicles (CN 110049527A) based on software, "obtaining the node state information periodically sent by each node to generate a network weighted undirected graph" and planning the global optimal routing for the nodes based on the network weighted undirected graph.
The existing known technology applies a software defined network to a vehicle networking to provide services such as routing and the like for vehicles. In the software defined vehicle networking, a view about vehicle position information is obtained according to information such as vehicle positions in a control plane, but due to time delay and packet loss in wireless transmission and high mobility of vehicles, the positions of the vehicles in the view of the control plane and the positions of the vehicles in the real world often have differences. This difference is particularly significant for applications in the internet of vehicles, especially for time delay sensitive safety related applications. The problem of the control plane view not being consistent with the true view is not considered in the prior art. The invention aims to provide a control plane view construction method for a software-defined internet of vehicles so as to obtain a more accurate control plane view in the software-defined internet of vehicles.
Disclosure of Invention
The invention provides a control plane view construction method for a software-defined internet of vehicles, aiming at the problem that the control plane view and the real view of the software-defined internet of vehicles are different, so as to obtain a more accurate control plane view in the software-defined internet of vehicles.
In order to solve the technical problem, the invention provides a control plane view construction method for a software defined internet of vehicles, which comprises the following steps:
step 1, a vehicle node periodically uploads vehicle state information to a controller;
and 2, constructing a control plane view by the controller based on physical perception optimization and logic calculation correction.
The invention adopts software to define the vehicle networking architecture, the controller is used for intensively acquiring and managing the position information of the vehicle nodes and constructing the control plane view of the vehicle position information in the controller, and the construction strategy comprises physical perception optimization and logic calculation correction based on the physical perception, and effectively solves the problem that the control plane view which is not considered in the prior art is inconsistent with the real view by respectively dynamically allocating perception tasks, adjusting perception frequency, allocating perception resources and other physical means and establishing prediction and correction models aiming at different perception data.
Drawings
The drawings of the invention are illustrated as follows:
FIG. 1 is a schematic diagram of an application environment of the present invention;
FIG. 2 is a flow chart of the present invention method.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
the application environment of the method is shown in fig. 1, and vehicle nodes running on a road network are connected through a wireless communication technology, such as a special short-range communication technology, a vehicle networking communication technology based on a cellular network and the like. Meanwhile, the vehicle sends the motion state information of the vehicle to a controller with a road side unit through a wireless communication technology, the specific process can be sent to the road side unit through the wireless communication technology, and the road side unit is sent to the controller through a wired link. The control plane is located at the controller and accesses the network by connecting to the core network. The controller constructs a control plane view according to data such as position information sent by the vehicle.
The invention provides a method for constructing a control plane view of a software defined internet of vehicles, which comprises the following steps:
step 1, a vehicle node periodically uploads vehicle state information to a controller;
and 2, constructing a control plane view by the controller based on physical perception optimization and logic calculation correction.
The flow chart of the method is shown in fig. 2, and the flow specifically realizes a control plane view construction method for the software-defined internet of vehicles. For clarity of the description of the flow chart, the following concepts will be described:
1. the vehicle node V is a vehicle node added into the Internet of vehicles, and a plurality of vehicles are required in the environment of the invention, but the flow of each vehicle node is the same, so that the vehicle node V is only used for referring to a certain unspecified node in the Internet of vehicles.
2. The control plane view construction strategy comprises physical perception optimization and logic calculation correction. Either way, time synchronization between the vehicle and the controller is required for the system.
3. There are many view information, and the flow chart of fig. 2 only selects location information for explanation. Meanwhile, the physical perception optimization mode is various, and the flow chart of fig. 2 is only described by selecting and adjusting the data transmission frequency of the vehicle node.
The flow shown in fig. 2 is as follows:
in step 101, a vehicle node V joins the internet of vehicles and confirms its own transmission period T and time synchronization period T sync . The transmission period is the control of the vehicle nodeThe device uploads the cycle of the vehicle state data packet, and the time synchronization cycle is the cycle of the vehicle sending the time synchronization data packet.
The vehicle node V does not refer to a specific node, but refers to any newly added vehicle node, and is defined as the specific node V in the process.
At step 102, the vehicle node V transmits a vehicle registration packet containing the vehicle ID and the transmission period T to the controller.
In step 103, when the system is started, the controller initializes a vehicle information table in which a vehicle ID and a transmission cycle T of the vehicle are stored and a history data table in which history packet information transmitted by the vehicle is stored. The initial value of the transmission period T in the vehicle information table is 0.
In step 104, the controller stores the vehicle ID and the transmission period T record in the vehicle information table after receiving the vehicle registration packet transmitted by the vehicle node V.
At step 105, the vehicle node V obtains a timestamp of the current time
At step 106, the vehicle node sends a message containing the vehicle ID and the timestamp
To the controller.
In step 107, after the controller receives the time synchronization data packet sent by the vehicle node, the controller obtains the timestamp of the received data packet
And sent to the vehicle node V.
In step 108, it is determined whether the vehicle node receives the timestamp of the received data packet fed back by the controller, if so, step 109 is executed, otherwise, step 113 is executed.
In step 109, the vehicle node V obtains the timestamp of the received data packet fed back by the controllerTime stamp of reception time
At step 110, the vehicle node V is obtained relative to
The controller time stamp of the time of day to time synchronize with the controller. Specifically, the transmission time delay of the time synchronization data packet sent by the vehicle node to the controller and sent back by the controller can be assumed to be consistent, and the time delay is calculated
To obtain a clock relative to the vehicle node
Controller timestamp of time of day.
At step 111, vehicle node V will timestamp
And time synchronization correction value
And storing the time synchronization information into a time synchronization information table.
In step 112, the vehicle node V acquires vehicle motion information m = { p, s, a } through the vehicle-mounted sensor, where p is the position of the vehicle, s is the speed of the vehicle, and a is the acceleration of the vehicle.
In step 113, if the vehicle node V does not receive the feedback timestamp of the controller, the vehicle node may obtain, from the time synchronization information table, the timestamp and the synchronization correction value that are successfully time-synchronized last time, and if there are no timestamp and synchronization correction value that are successfully synchronized in the time synchronization information table, the timestamp is 0.
At step 114, the vehicle node obtains a timestamp of the current time
In step 115, it is determined whether the synchronization is successful within one period of the time synchronization,
for the time stamp for which the time synchronization is successful,
is a time stamp of the current time of day,
if the difference between the current time and the last time is smaller than the time synchronization period, the time synchronization is successfully performed within one period, step 117 is performed, otherwise, step 116 is performed.
At step 116, will
Is set to 0.
At step 117, the controller timestamp currently relative to the vehicle node V clock is obtained using the time synchronization timestamp and the synchronization correction value, specifically,
is a time stamp of the current time of day,
for the time stamp for which the time synchronization is successful,
for the time difference of two moments, the time relative to the vehicle node clock is obtained by adding the time difference and the time synchronization correction value
Controller time of day timestamp. Will be provided with
Arranged relative to the vehicle node clock
Controller time of day timestamp.
At step 118, the vehicle node V transmits a message containing vehicle motion information m and a timestamp
To the controller.
At step 119, a timestamp of the current time is obtained
In step 120, it is determined whether the transmission period T has elapsed, and if the transmission period T has not been exceeded, step 119 is performed, otherwise, step 121 is performed.
In step 121, it is determined whether the time synchronization period T has elapsed sync If the time synchronization period T is not exceeded sync Step 112 is performed, otherwise, step 105 is performed.
At step 122, the controller obtains the timestamp of the receipt of the vehicle status information packet
In step 123, after receiving the vehicle status information data packet, the timestamp in the vehicle status information data packet is determined
If it is equal to zero, step 125 is executed, otherwise step 124 is executed.
In step 124, the controller obtains the transmission delay of the status information data packet by calculating the difference of the timestamps
In step 125, the controller estimates the transmission delay of the data packet according to the transmission delay model
Specifically, the transmission delay model is a mathematical model which is obtained by fitting a distribution model according to the transmission delay of a data packet sent by the vehicle in the past, and the transmission delay model is obtained based on the transmission delay model obtained in advance
In step 126, the controller sends the status information packet m, the receive timestamp
And transmission time
And storing the data into a historical data table.
In step 127, the controller calculates the vehicle transit time according to the vehicle motion state information packet m
Is measured by the displacement distance l.
In step 128, the controller updates the new position information of the vehicle according to the displacement distance of the vehicle, wherein x and y are position coordinates on two coordinate axes.
In step 129, the controller obtains the transmission period T of the vehicle by referring to the vehicle information table.
In step 130, it is determined whether the transmission period T is zero, if so, step 131 is performed, otherwise, step 132 is performed.
In step 131, the transmission period T of the vehicle node is estimated according to the history data table, and specifically, the transmission period T of the vehicle node may be estimated according to the packet period of the vehicle node in the history data table.
In step 132, the controller obtains a timestamp of the current time
At step 133, a decision is made
And
is greater than the transmission period T, if so, step 134 is performed, otherwise, step 132 is performed.
At step 134, it is determined whether a packet has been received, and if so, step 122 is performed, otherwise step 135 is performed.
In step 135, the controller obtains the latest status information packet m among the vehicle history packets, and the reception time stamp
And transmission time
In step 136, the controller obtains the transmission time of the status packet to the current time,
is the time difference from the receiving time to the current time. The controller then calculates the displacement of the vehicle from the updated transit time and updates the position of the vehicle based thereon.
In step 137, after the controller receives and corrects the position of the vehicle node in the period T, a more accurate control plane view is obtained, and the logic calculation correction process is ended.
In step 138, after the controller receives the position of the vehicle node for period T +1, it compares it with the predicted result for period T, if there is a certain deviation, then 139 is executed, otherwise the process ends.
In step 139, the controller performs physical perception optimization of the vehicle node according to the threshold value of the position deviation, adjusts the data transmission frequency of the vehicle node, and executes step 118.
Claims (3)
1. A control plane view construction method for a software defined Internet of vehicles is characterized by comprising the following steps:
step 1, a vehicle node periodically uploads vehicle state information to a controller;
and 2, cooperatively constructing a control plane view by a controller through a physical perception optimization method for adjusting the perception frequency of the perception node and allocating perception resources and a logical calculation correction method for correcting view data by using vehicle historical information.
2. The method as claimed in claim 1, wherein the step 1 of uploading the vehicle state to the controller periodically by the vehicle node comprises the following steps:
step 1, a vehicle node confirms a sending period and a time synchronization period;
step 2, sending the vehicle registration data packet to a controller;
step 3, the vehicle node and the controller carry out time synchronization, and if the time synchronization fails, the timestamp acquired in the step 5 is null;
step 4, the vehicle node acquires vehicle motion state information including vehicle position, speed, acceleration and driving direction through a vehicle-mounted sensor;
step 5, the vehicle node acquires a timestamp of the current moment after time synchronization;
step 6, the vehicle node sends a data packet containing vehicle motion state information and a time stamp to the controller;
step 7, repeating the steps 4, 5 and 6 after a sending period;
and 8, repeating the steps 3, 4, 5, 6 and 7 after the time synchronization period.
3. The method as claimed in claim 1, wherein in step 2, the step of constructing the control plane view based on the physical perception optimization and the logical calculation correction by the controller comprises:
step 1, a controller carries out initialization operation;
step 2, the controller receives a data packet sent by the vehicle node within a time period T;
step 3, if the timestamp in the data packet is not empty, acquiring the transmission delay of the data packet, otherwise, acquiring a transmission delay model obtained by fitting historical transmission delay data;
step 4, the controller corrects the influence caused by the transmission time delay in the wireless transmission, and the specific method is that the vehicle position is updated by calculating the displacement of the vehicle based on the vehicle state information in the data packet;
step 5, if the controller obtains the data packet sending period of the vehicle node, judging whether the vehicle node loses packets according to the sending period, otherwise, estimating the sending period through the historical data packet, and judging whether the vehicle node loses packets according to the estimated value of the sending period;
step 6, the controller carries out logic calculation correction on the influence caused by packet loss in wireless transmission, and the specific method is that for the vehicle which is judged to have packet loss in the time period T, the position of the vehicle is updated by taking the vehicle state information in the latest data packet in the vehicle historical data as the basis;
and 7, performing physical perception optimization on the influence caused by packet loss in wireless transmission by the controller, wherein the specific method is to judge whether data information sent by the vehicle in the period T +1 is compared with the period T predicted, and if the data information reaches an error threshold value, reducing the packet loss by physical means of adjusting vehicle perception frequency and allocating perception resources.
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| US11072356B2 (en) * | 2016-06-30 | 2021-07-27 | Transportation Ip Holdings, Llc | Vehicle control system |
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