CN100561540C - A kind of method for processing traffic road condition information based on vehicle mounted wireless sensor network - Google Patents
A kind of method for processing traffic road condition information based on vehicle mounted wireless sensor network Download PDFInfo
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Abstract
The invention discloses a kind of method for processing traffic road condition information based on vehicle mounted wireless sensor network, it is characterized in that, at first, set up a cordless communication network framework, it comprises an information center, limited vehicle mounted wireless sensor network subsystem and information issue subsystem based on radio network that vehicle-mounted mobile node is formed; Position, a certain transport hub in the city is fixed in information center, is the center of this cordless communication network; Secondly, each vehicle-mounted mobile node carries out real-time road condition information collection and data fusion according to the order of information center by the vehicle mounted wireless sensor network subsystem; Then the real-time road condition information with each highway section collection and data fusion reports information center by the vehicle mounted wireless sensor network subsystem; Traffic information and network control signaling after last information center will handle by information issue subsystem are issued each vehicle-mounted mobile node; Be used for selecting the road for the driver.
Description
Technical field
The present invention relates to a kind of information handling system, particularly a kind of urban transportation traffic information disposal route of the wireless sensor network of forming based on moving vehicle based on cordless communication network.
Background technology
Along with rapid development of economy and quickening of urbanization process, traffic conflict becomes increasingly conspicuous, and traffic jam issue has had a strong impact on people's normal life.Traffic information is a kind of real-time Traffic Information, and it has reflected road traffic condition and the Recent Changes trend in the specific region.Traffic information not only can be vehicle supervision department's transporting traffic foundation is provided, and rationally selects route for human pilot and common traveler and offer help.Therefore, the collection of traffic information, handle, report and issue and to help to solve serious day by day traffic jam issue at present.
The most employing manually or half manual type of existing traffic information system.Information acquisition by the radar velocity measurement system in certain zone, have traffic police's cruiser of GPS location and wireless communication ability, and the collaborative detection platform that the artificial reporting events mechanism of initiating at random at the special traffic incident constitutes is finished.Information transmission and the issue mainly wireless station of phone, note or the private network by public network realize.This kind mode network equipment cost is very high, and number of service subscribers is limited, and information acquisition is limited in scope, poor in timeliness.Therefore, a kind ofly just arisen at the historic moment based on the wireless sensor network information technology, it can adapt to the urban development complicated day by day requirement that monitoring proposes to road traffic.
Vehicle mounted wireless sensor network is made up of many distributed onboard sensor nodes.These onboard sensor nodes have radio communication, information gathering and functions such as processing and cooperative cooperating.By existing vehicle positioning technology and vehicle running state information,, can reach the purpose that transmits real-time road condition information by between onboard sensor node and DCC, setting up the mode of ephemeral data link fast.This brand-new information is obtained and transmission mode, makes vehicle mounted wireless sensor network be highly suitable for the collection and the processing of traffic information.
The existing onboard wireless sensor-based network technology that utilizes carries out the method that the urban transportation traffic information is handled, lay particular emphasis on more between each mobile node, carry out many vehicles travel in the direct transmission of data message, and underuse the information processing capability of single vehicle-mounted node, and total data is transmitted through the network to the information center of network.This information transmission is not screened the network information and is gone redundant the processing, caused can't rejecting misdata in network, and the network data transmission amount is huge network information center (NIC) processing pressure problem of higher.On the other hand, the data transmission method of existing onboard wireless sensing network needs the support of roadside fixation of sensor node more.A large amount of roadside stationary nodes makes the difficulty of setting up of network, and safeguards that the roadside fixation of sensor node in whole city city has also improved the operation cost of network greatly.Aspect the transport information issue, existing vehicle mounted wireless sensor network or the data that do not relate to the transport information issuing function or adopt the data acquisition report network to carry out descending whole city transport information send, this has caused the network service object uncertain, the working method complexity, the information published method is single, and the user coverage rate of the ageing and descending issue that traffic information reports is difficult to guarantee.All there is this type of problem in existing patent (publication number: CN1959758A and CN101051418A).
Summary of the invention
The purpose of this invention is to provide a kind of vehicle mounted wireless sensor network technology of utilizing, set up a public transport traffic information resource sharing platform, realize collecting, merge, report and issuing the method for urban highway traffic real-time road condition information, can overcome the deficiency in the existing program, have no any fixation of sensor node, network burden is light, the advantage of practicality such as maintenance cost is low, and published method is simple and advanced aspect.
For reaching above purpose, the present invention takes following technical scheme to be achieved:
A kind of method for processing traffic road condition information based on vehicle mounted wireless sensor network, it is characterized in that, at first, set up a cordless communication network framework, it comprises an information center, limited vehicle mounted wireless sensor network subsystem and information issue subsystem based on radio network (such as radio call BP network) that vehicle-mounted mobile node is formed; A certain position in the city is fixed in information center, is the center of this cordless communication network; Secondly, each vehicle-mounted mobile node carries out real-time road condition information collection and data fusion according to the order of information center by the vehicle mounted wireless sensor network subsystem; Then the real-time road condition information with each highway section collection and data fusion reports information center by the vehicle mounted wireless sensor network subsystem; Traffic information and network control signaling after last information center will handle by information issue subsystem are issued each vehicle-mounted mobile node; Be used for selecting the road for the driver; The collection of described real-time road condition information and data fusion, report and issue specifically and comprise the steps:
Step 1, information center divides city road network and mark by concrete highway section; According to the investigation data, determine the latitude and longitude information of each highway section starting point, make " GPS latitude and longitude information---highway section label " mapping table; Formulate " congestion in road grade---average overall travel speed " mapping table, and download in each vehicle-mounted mobile node by information issue subsystem;
Step 2, the gps receiver of each vehicle-mounted mobile node obtains the current longitude and latitude of this car, speed and temporal information according to the fixed cycle, according to " GPS longitude and latitude---highway section label " mapping table of being downloaded, can obtain self current highway section of living in label information by calculating;
Step 3, information processing centre orders to the whole network broadcasting " collection road conditions " by information issue subsystem, resolve it the vehicle-mounted mobile node in road network of the travelling back that receives orders, when the order of receiving is the whole network broadcasting " collection road conditions " order or " the reporting GPS information " in this highway section order, this order is responded, otherwise will not respond;
Step 4, each vehicle-mounted mobile node carries out in this highway section merging vehicle-mounted mobile node and chooses: choose determined to merge vehicle-mounted mobile node after, this merges vehicle-mounted mobile node to all other vehicle-mounted mobile nodes broadcasting " reporting GPS information " orders of this highway section two way and wait for and receive data;
Step 5 is in same highway section and receives that " reporting GPS information " orders or each vehicle-mounted mobile node of the whole network broadcasting " collection road conditions " order is sent to the vehicle-mounted mobile node of fusion with the GPS current information that self obtains by its wireless communication module one jumping;
Step 6, merging vehicle-mounted mobile node collects the GPS information that other vehicle-mounted mobile node reports and carries out record, obtain respectively to report the average overall travel speed of vehicle-mounted mobile node, travel direction, then according to " congestion in road grade---average overall travel speed " mapping table of downloading from information center, obtain characterizing the highway section index value of two-way lane road conditions, the basic road condition data bag of current time value and congestion in road grade point, by the vehicle mounted wireless sensor network subsystem, on the one hand proximad other the vehicle-mounted mobile node in the adjacent or close highway section is done broadcast distribution, reports information center to upload mode based on the multi-hop of geographical location information on the other hand;
Step 7: information center receives after each highway section merges the current traffic information in this highway section that vehicle-mounted mobile node reports, and at first it is carried out ageing checking, then carries out trust verification; For meeting information ageing and that confidence level requires simultaneously, it is directly added more new data packets of the current traffic information of the whole network, be distributed to each vehicle-mounted mobile node in the net by information issue subsystem, finish the whole network traffic information issue, change step 3-6 then over to and carry out traffic information renewal next time; For do not meet information that confidence level requires then specify it by information issue subsystem under the highway section reported and proceeded trust verification again;
Step 8: each vehicle-mounted mobile node receives from the broadcasting of the whole network real-time road condition information of information center or receives from after merging the local highway section real-time road condition information broadcasting that vehicle-mounted mobile node issues in the adjacent or close highway section nearby, selectively interested road section information is presented on the LCD display of local node and selects the road for the driver.
In the described step 4, each vehicle-mounted mobile node is when the common vehicle-mounted mobile node that satisfies following two conditions, self can be defined as being responsible for the vehicle-mounted mobile node of fusion that current traffic information is collected to the choosing method that merges vehicle-mounted mobile node in this highway section:
1) the GPS latitude and longitude information that obtains according to self and " GPS longitude and latitude---highway section label " mapping table of storage calculate and self are currently located to be the center of circle in the middle part of the road, and regular length is in the zone of radius;
2) do not receive the order of " reporting GPS information " that other vehicle-mounted mobile node sends.
In the described step 6, upload mode based on the multi-hop of geographical location information and be meant, its relevant vehicle-mounted mobile node according to the routing algorithm that vehicle mounted wireless sensor network adopts, is transmitted this packet to the basic road condition data bag that receives; So this reported data bag is uploaded mode via multi-hop and is arrived information center.
Above-mentioned multi-hop routing algorithm comprises the steps:
(a) read the information generation time time of this packet, exceed the described information center of step 3 and issue this road conditions and collect order and the next road conditions of issue and collect time interval between ordering if information generation time time and this node were compared from the current time that GPS obtains, then think and directly abandon the no longer effective property of this packet; Otherwise execution in step (b);
(b) be that key word is searched in " having sent data packet queue " of this node with id, if this road section information not then inserts " data packet queue to be sent " with this packet; If this road section information is arranged, then the time that will have in the information is designated as t1, and jumping figure is designated as jump1, and the time of this packet is designated as t2, and jumping figure is designated as jump2;
If t1＜t2, it is ageing to illustrate that then this packet has, so this packet is inserted " data packet queue to be sent ", execution in step (c); If t1＞t2 then illustrates the no longer effective property of this packet, directly abandon; If t1=t2, then relatively jump1 and jump2 as jump1＜jump2, illustrate that then certain might transmit this packet by the node nearer than this nodal distance information center, so make jump1=jump2; As jump1＞=jump2, then directly abandon;
(c) read this packet " node and information center apart from d " information, utilize the gps signal receiver to obtain own current position simultaneously, calculate this node and information center apart from d_local.If d_local＜d, illustrate that then this nodal distance information center is nearer than a last hop node range information center of packet, also i.e. this vehicle-mounted mobile node position of having the advantage, so this node carries out following operation to packet: (1) change range unit d is d_local; (2) with jumping figure unit jump++; Transmit then this packet, send successfully after, this packet is inserted transmit queue, replace original road condition data bag about this highway section.
In the described step 8, other vehicle-mounted mobile node is to judging after merging the local highway section real-time road broadcast message that vehicle-mounted mobile node issues in the adjacent or close highway section nearby, when the highway section of this packet representative is adjacent or close highway section with own highway section of living in, then participate in the issue nearby of this packet with the broadcasting pass-through mode by the vehicle mounted wireless sensor network subsystem; Otherwise do not participate in the issue nearby of this packet, directly abandon this packet.
The inventive method merges in the highway section has carried out respectively in vehicle-mounted mobile node and the information center to the fusion of highway section vehicle traveling information with to the fusion of each highway section traffic information of the whole network, can reject false information by data fusion, reduce the network data redundancy, alleviate the network data transmission burden, thereby improved the network performance of vehicle mounted wireless sensor network.
The cordless communication network frame design that is provided in the inventive method, its vehicle mounted wireless sensor network does not comprise any fixation of sensor node, adopt vehicle-mounted mobile node to form the mobile network, carry out data transmission in self-organization multi-hop mode, whole data report process to need not the support of roadside fixation of sensor node.This kind network structure makes the structure of network not rely on the urban environment construction, avoided the licensing issue that causes because of construction, reduced the operation maintenance cost of network simultaneously, also avoided because the damage of roadside stationary nodes to delay and mistake that information transmission causes, has stronger fault-tolerance and robustness.
In the present invention program, adopt dual mode to finish the issue of traffic information.The real-time traffic information in local highway section carries out broadcast distribution nearby by vehicle mounted wireless sensor network in adjacent or close highway section, can make each vehicle-mounted mobile node obtain the traffic information of approach way fast, and the real-time road condition information of approach way is an information the most important and that use at first for the driver.The whole city real-time traffic information carries out the whole network broadcast distribution by radio private network (radio network is such as radio paging network).The independent operating of information acquisition, uplink network and descending delivery network can be simplified the method for operation of each automatic network, improves system stability, and the node and the user coverage rate of the ageing and descending issue of information acquisition, uplink are all guaranteed.
Method for processing traffic road condition information proposed by the invention is divided into the basis with the highway section.Traffic information collection, fusion are at first independently carried out in each highway section, and cooperation is transmitted between each highway section then, handle and issue by information center is unified at last.Node is chosen to merging for rule that the highway section is divided and method, the actual effect and the robustness of mobile multi-hop route and even whole network work all have direct influence.In the present invention, be starting point with the crossroad, the road in city is divided into several highway sections, this natural dividing mode makes and merges vehicle-mounted mobile node and choose the algorithm simple possible, and has alleviated the burden of information center, has made things convenient for the broadcast distribution of information.
Description of drawings
The present invention is described in further detail below in conjunction with drawings and Examples.
Fig. 1 is the functional block diagram of the vehicle-mounted mobile node of the present invention.
Fig. 2 is the functional block diagram of information center of the present invention.
Fig. 3 is an overall network framework synoptic diagram of the present invention.
Fig. 4 is the synoptic diagram of an instantiation of network structure of the present invention.
Embodiment
Referring to Fig. 1, vehicle-mounted mobile node is installed on the common vehicle, form by vehicle running state acquisition module (gps receiver), automobile navigation module (forming), wireless communication module (radio-frequency (RF) receiving and transmission module), broadcast message processing module (BP receiver module), storer and processor by LCD display module and voice broadcast module, the function that possesses location, navigation, communication and data processing, its power supply is taken from the vehicle electric power system.To receive and report real-time road condition information be the navigation feature to this node except having, and also has the collection and the function that reports forwarding of real-time road condition information, is the basic function unit of the traffic information collection system that proposes of the inventive method.Wherein, and the high precision latitude and longitude information that the free GPS service of vehicle running state acquisition module utilization provides (circular proable error＜15m, precision is further brought up to 1～5m) and is obtained the present located geographical location information after the increase differential GPS signal emission information center; The high-accuracy speed information of utilizing free GPS service to provide obtains current self travel speed Vector Message; Utilize free GPS time service information to obtain current time information.The in-vehicle wireless communication module be used for and near other vehicle-mounted mobile node of travelling communicate, in the time of perhaps within information center is positioned at its wireless coverage and information center's direct communication.The broadcast message processing module does not have emission function, is used to receive the whole city real-time road condition information and the network control signaling of information center's issue.The automobile navigation module provides the mode of two kinds of indication real-time road condition informations for the user.First kind of mode is by the LCD display module, and the real-time road condition information displaying that the broadcast message processing module is received is on lcd screen.Except the LCD display module, node also has the voice broadcast module, and this module can be used for being responsible for real-time road condition information is informed the user by voice broadcasting modes.
According to the collection that whether participates in traffic information, the present invention also can adopt the vehicle-mounted mobile node of simplification that omits vehicle running state acquisition module, wireless communication module among Fig. 1, this category node only has navigation feature, does not participate in the collection and the forwarding of traffic information, and cost is comparatively cheap.
Referring to Fig. 2, information (processing) center (base station) is unique stationary installation in the vehicle mounted wireless sensor network of the present invention.Information center is made up of control desk, locating module (gps receiver), wireless communication module (radio-frequency (RF) receiving and transmission module), broadcast message release module, storer and processor.Information center has self poisoning, network control, information gathering, storage, processing and issuing function.Information center is fixedly mounted on the position, a certain transport hub in the city, be responsible for to collect through vehicle-mounted mobile node multi-hop route and each the highway section traffic information that comes, and further synthesize the whole city real-time traffic information according to these traffic informations, then the whole city real-time traffic information is issued subsystem (radio network) by information, be published to each vehicle-mounted mobile node of city with broadcast mode, select the road for driver or other travelers.In addition, information center also is responsible for by information issue subsystem to each vehicle-mounted mobile node issue control signaling of city, to guarantee the vehicle mounted sensor network operate as normal.Information center has stronger data storage and processing power, can make estimation to current road conditions according to existing traffic information record and suitable magnitude of traffic flow model, the basic traffic information that reports is gathered in each highway section in real time compared examination, thereby differentiate the confidence level of reporting information, and whether need local more detailed traffic information to report again.
Referring to Fig. 3, its overall network structure of method for processing traffic road condition information that the present invention is based on vehicle mounted wireless sensor network is made up of an information center, limited vehicle-mounted mobile node, vehicle mounted wireless sensor network subsystem and information issue subsystem.Wherein, the traffic information that the vehicle mounted wireless sensor network subsystem mainly is responsible for from each mobile node to information center is collected, merges and is reported, and is responsible for the nearby issue of local highway section real-time road condition information in adjacent or close highway section simultaneously.Information issue subsystem mainly is responsible for the whole city real-time traffic information from information center to each mobile node and the descending issue of system's control signaling information.
Fig. 4 is an instantiation of Fig. 3 network system, and the vehicle mounted wireless sensor network subsystem does not comprise any stationary nodes, is made up of vehicle-mounted mobile node, has raw data acquisition, transmission, and data fusion and information such as report at function., by this vehicle mounted wireless sensor network, information center can obtain each highway section real-time road condition information of city.According to vehicle-mounted mobile node effect difference in the net, vehicle-mounted mobile node can be divided into two classes: common vehicle-mounted mobile node and the vehicle-mounted mobile node of fusion.Each highway section has one to merge vehicle-mounted mobile node and some common vehicle-mounted mobile nodes.Different vehicle-mounted mobile node sorting techniques will describe in detail in concrete implementation step 4 in the same highway section.Common vehicle-mounted mobile node is gathered the basic running data of place vehicle, as position, speed, current time etc., and the vehicle-mounted mobile node of fusion that these basic running datas are sent to this highway section.Merge vehicle-mounted mobile node the basic running data of each vehicle on the highway section is carried out data fusion, obtain the basic traffic information in this highway section.Vehicle mounted wireless sensor network adopts the multi-hop routing method based on geographical location information, and the basic traffic information multi-hop in highway section that merges vehicle-mounted mobile node acquisition is transferred to information center.
Dual mode is adopted in the issue of traffic information: issue local highway section real-time traffic information nearby by the vehicle mounted wireless sensor network subsystem in adjacent or close highway section; Issue the whole city real-time traffic information by information issue subsystem with the whole network forms of broadcasting.Specific as follows:
The nearby issue of local highway section real-time traffic information in adjacent or close highway section finished by the vehicle mounted wireless sensor network subsystem.Merge vehicle-mounted mobile node the basic road condition data bag in highway section, place is carried out broadcast distribution, other vehicle-mounted mobile node is judged the basic road condition data bag that receives, if the highway section of this packet representative is adjacent or close highway section with own highway section of living in, then participate in the issue nearby of this packet with the broadcasting pass-through mode, and simultaneously the contained information of this packet is directly exported on the LCD display of local vehicle-mounted mobile node, thereby make the driver preferentially know the traffic information of approach way (otherwise do not participate in the issue nearby of this packet, and abandon this packet simultaneously).Though this kind published method nearby finished in the vehicle mounted wireless sensor network subsystem of main responsible uplink, but because its broadcast distribution and forwarding only limit to adjacent or close highway section (at a distance of smaller or equal to two highway sections), so unlikely uplink network burden significantly increases, thereby is a kind of effective information published method.
The whole network issue of whole city real-time traffic information is finished with the whole network broadcast distribution form by information issue subsystem (covering the radio network of whole city, such as radio paging network).Information center is the network center of this radio network, but each vehicle-mounted mobile node of wireless coverage the whole network will be distributed to each vehicle-mounted mobile node of the whole network with broadcast mode by the whole city traffic information that vehicle mounted wireless sensor network obtains.
Each vehicle-mounted mobile node and other vehicle of periphery thereof are co-located among the monitoring of vehicle sensors network.Vehicle-mounted mobile node in the same highway section is the vehicles such as position, speed, travel direction and current time of the place vehicle basic status information of travelling, and converges in this highway section on the interim vehicle-mounted mobile node of selecting to produce of fusion by short-distance wireless communication.Merging vehicle-mounted mobile node in each highway section at first judges and the basic traffic information in highway section, place then the basic traffic information in each highway section is sent to information center through the vehicle-mounted mobile node of vehicle mounted wireless sensor network in multi-hop routing forwarding mode according to the nearby vehicle status information of travelling substantially.Receive the whole network real-time road condition information of information center's issue when vehicle-mounted mobile node after,, inform driver's current traffic condition with video or audio frequency mode, so that select the road by navigational system.
Method for processing traffic road condition information of the present invention specifically comprises the steps:
Step 1, information center divides city road network and mark (as emerging celebrating road sign is designated as the highway section No. 1) by concrete highway section, utilizes GPS to measure the latitude and longitude information of each highway section starting point (two ends), makes " GPS latitude and longitude information---highway section label " mapping table; According to the investigation data, formulate " congestion in road grade---average overall travel speed " mapping table.Two mapping tables are downloaded in each vehicle-mounted mobile node.
Step 2: the gps receiver of each vehicle-mounted mobile node obtains the current latitude and longitude information of this car, velocity information and temporal information according to the fixed cycle (1 second at interval), according to " GPS longitude and latitude---highway section label " mapping table of being downloaded, can obtain self current highway section of living in label information by calculating.Because the fixed error of GPS information (circular proable error＜15 meter), when being positioned near road starting point (crossroad), this vehicle-mounted mobile node might get the highway section label result who makes mistake.In order to reduce this error result that causes by GPS latitude and longitude information error, when this vehicle-mounted mobile node is determined self near the starting point in this highway section according to the GPS latitude and longitude information that is obtained, as recording according to GPS information and distance＜20 of starting point meter, abandon the highway section label information that this time obtains, and will be self-marked as the vehicle-mounted mobile node of invalid traffic information, if promptly this moment, the traffic information collection was initiated in the base station, this vehicle-mounted mobile node will not respond.
Step 3: to the whole network broadcasting " collection road conditions " order (Fig. 3), when order was masked as " 0 ", the traffic information of the whole network was collected in the base station by information issue subsystem in information processing centre; When order was masked as " 1 ", the real-time road of specifying the highway section was collected in the base station.Travel and after vehicle-mounted mobile node in road network is received control command it is resolved, when the order of receiving is that the whole network responds this order when collecting the order or the collection order in this highway section, otherwise will not respond.
The frame load of command frame is as shown in table 1.
Table 1 is collected the traffic information command frame
| FLAG(10) | Highway section id | Current time ta | Predict next issuing time tb |
Every implication of frame load is in the table 1: FLAG (10): FLAG is the frame type sign, and FLAG=10 represents that this frame is " collecting the traffic information command frame " here.Highway section (id): highway section id represents that information center requires corresponding road section that this " is collected the traffic information command frame " and responds.Highway section id default value is complete zero, represents that the traffic information in all highway sections all need be uploaded; If be a certain specific nonzero value, then expression only needs the traffic information in this id representative highway section.Current time ta: in the moment of information center's issue " traffic information collection command frame ", promptly information center requires the moment of data.Predict next issuing time tb: information center's advance notice issue is the moment of " traffic information is collected order " next time.
After vehicle-mounted mobile node receives " collection traffic information " command frame, utilize known information center's positional information and, form " vehicle-mounted mobile node information frame " in conjunction with the output information of GPS module.The frame load format is as shown in table 2.
The vehicle-mounted mobile node information frame of table 2
| FLAG(00) | Highway section id | Speed of a motor vehicle v | Information generation time time | Node and base station apart from d |
Every implication of frame load is in the table 2: FLAG (00): FLAG is the frame type sign, and FLAG=00 represents that this frame is " vehicle-mounted mobile node information frame " here, and the destination of this packet is the leader cluster node in the highway section, detection vehicle place.Highway section id: the id in highway section, vehicle-mounted mobile node place.Speed of a motor vehicle v: this car that vehicle-mounted mobile node obtains by GPS speed of travelling.Information generation time time: the moment that produces this " vehicle-mounted mobile node information frame ".Node and base station apart from d: vehicle-mounted mobile node is carved into the distance of base station when time.
Step 4: all two-way mobile vehicle-mounted mobile nodes are collected to order to the traffic information of base station issue and are responded in certain highway section: at first carry out merging in this highway section vehicle-mounted mobile node and choose: will self be defined as being responsible for the vehicle-mounted mobile node of fusion that current traffic information is collected after satisfying following two conditions: 1) according to the GPS latitude and longitude information that self obtains and " GPS longitude and latitude---highway section label " mapping table of storage, calculate that self to be currently located at road middle part be the center of circle, (guarantee to merge the coverage of vehicle-mounted mobile node and the validity of collected data) in the zone of regular length (radio-frequency (RF) receiving and transmission module average bidirectional reliable communication distance, be generally less than equal 500 meters) for radius with this; 2) do not receive the order of " reporting GPS information " that other node sends.
Determine that certainly as after merging vehicle-mounted mobile node this vehicle-mounted mobile node is to two-way all mobile other common vehicle-mounted mobile nodes broadcasting " reporting GPS information " orders in this highway section and wait for the reception data.In order to guarantee that merging vehicle-mounted mobile node collects the ageing of data, meanwhile merge vehicle-mounted mobile node and will start a timer, exceed the information that reports behind the timing range and will be regarded as invalid information.
Step 5: be in same highway section, and the vehicle-mounted mobile node of receiving " reporting GPS information " order is formed vehicle-mounted mobile node information frame (table 2) with the GPS current information that self obtains, and is sent in a mode of jumping by wireless communication module and merges vehicle-mounted mobile node.The mutual conflict that may occur during reporting information for fear of between each vehicle-mounted mobile node adopts CSMA class mechanism to avoid the generation of this conflict.
Step 6: merge vehicle-mounted mobile node and collect the vehicle-mounted mobile node information frame that other node reports, obtain the velocity information of each vehicle-mounted mobile node of periphery, differentiate its travel direction according to velocity, then respectively the velocity information of the vehicle-mounted mobile node on the two-way lane is asked on average, obtained average overall travel speed.Merge vehicle-mounted mobile node according to " congestion in road grade---average overall travel speed " mapping table of self storing, can obtain characterizing the basic traffic information such as highway section index value, current time value and congestion in road grade point of two-way lane road conditions.The frame load format of " basic traffic information frame " is as shown in table 3:
The basic traffic information frame of table 3
| FLAG(01) | Highway section id | Speed of a motor vehicle v | Information generation time time | Node and base station apart from d |
Every implication of frame load is in the table 3: FLAG (01): FLAG is the frame type sign, and FLAG=01 represents that this frame is " basic traffic information frame " here, and the destination of this packet is an information center.Highway section id: the id of this " basic traffic information frame " corresponding road section.Speed of a motor vehicle v: the average Vehicle Speed information in this highway section.Information generation time time: the moment that produces this " basic traffic information frame ".Node and base station apart from d: merge vehicle-mounted mobile node is carved into the base station when time distance.
Merge vehicle-mounted mobile node the basic road condition data bag in highway section, place is carried out broadcast distribution nearby by vehicle mounted wireless sensor network subsystem (at a distance of smaller or equal to two highway sections) in adjacent or close highway section.
Merge vehicle-mounted mobile node and rely on other relevant vehicle-mounted mobile node, the basic road condition data bag in highway section, place is reported information center by vehicle mounted wireless sensor network to upload mode based on the multi-hop of geographical location information, and its routing algorithm comprises the steps:
(a) other relevant vehicle-mounted mobile node time quantum of reading this packet that receives also is information generation time time, if comparing from the current time that GPS obtains with this node, information generation time time exceeds: " largest tolerable delay limit ", also be that information center issues the time interval (table 1) between this road conditions collection order and the next road conditions collection of the issue order, then think and directly abandon the no longer effective property of this packet; Otherwise enter next step.(corresponding) with the timer of front
(b) be that key word is searched in " having sent data packet queue " of this node with id, if this road section information not in the formation then inserts " data packet queue to be sent " with this packet; If this road section information is arranged in the formation, the time in the existing information is designated as t1, jumping figure is designated as jump1, and the time of this packet is designated as t2, and jumping figure is designated as jump2.
If t1＜t2, it is ageing to illustrate that then this packet has more, so this packet is inserted " data packet queue to be sent ", enters next step;
If t1＞t2 then illustrates the no longer effective property of this packet, directly abandon;
If t1=t2 then compares jump1 and jump2,
If jump1＜jump2, illustrate that then certain might be than the nearer node in this nodal distance base station
Through transmitting this packet, so make jump1=jump2.
If jump1＞=jump2 then directly abandons.
(c) read this message unit of this packet " node and base station apart from d ", utilize the gps signal receiver to obtain own current position simultaneously, calculate this node and base station apart from d_local.If d_local＜d illustrates that then this nodal distance base station is nearer apart from the base station than a last hop node of packet, also i.e. this vehicle-mounted mobile node position of having the advantage, so this node carries out following operation to packet: (1) change range unit d is d_local; (2) with jumping figure unit jump++; Transmit this packet then.After sending successfully, this packet is inserted transmit queue, replace original road condition data bag about this highway section.
Step 7: information center receives this information of storage behind the basic traffic information in each highway section, and this information carried out following ageing checking and trust verification:
1) information center reads the timestamp in the basic traffic information packet in each highway section, and judges whether it meets the ageing and ageing requirement of data fusion of data issue; When judging that the packet of this time collecting traffic information does not meet the requirement of above-mentioned two aspects, abandoned; When judging that this time to collect traffic information effective, then carry out credibility and screen;
2) information center is according to data and the special traffic discharge model collected before, can make prediction to the congestion in road situation in the future a certain schedule time window, predict the outcome based on this, information center carries out credibility to the basic traffic information in each highway section and screens, if the two difference is excessive, judge that then this highway section this time information is unusual.
According to above ageing checking and trust verification, information center makes corresponding judgment and information processing:
1) when judging that this highway section this time information is unusual, information center keeps this information, and sends the control signaling (table 1) of specifying this highway section to report again, increases the information gathering number of times in this unusual highway section, and information center proceeds to screen in view of the above.
2) when judging that this this time of highway section information not only meets ageing requirement but also meet the confidence level requirement, this real-time road condition information packet is carried out data fusion in information center and framing upgrades the whole network real-time road condition information, generate more new data packets of the current traffic information of the whole network, by radio paging network to the whole network broadcast transmission." the whole network real-time road condition updating information frame " frame load format is as shown in table 4:
Table 4 the whole network real-time road condition updating information frame
| FLAG(11) | Issuing time | Road section ID | Jam level | Road section ID | Jam level | Road section ID | Jam level | …… |
Every implication of frame load is in the table 4: FLAG (11): FLAG is the frame type sign, and FLAG=11 represents that this frame is " the whole network real-time road condition information lastest imformation frame " here, and the destination of this packet is each vehicle-mounted mobile node.Issuing time: information center is to the moment of issue this " the whole network real-time road condition information lastest imformation frame ".Highway section id: the id in highway section, city.Jam level: the traffic congestion situation of highway section id corresponding road section.
Step 8, each vehicle-mounted mobile node receives from the whole network real-time road condition information broadcasting of information center or after receiving the local highway section real-time road condition information broadcasting of issuing from the vehicle-mounted mobile node of fusion in the adjacent or close highway section nearby, can selectively interested road section information be presented on the LCD display and select the road for the driver.
Especially, during the local highway section real-time road broadcast message that merges in receiving that vehicle-mounted mobile node issues nearby from adjacent or close highway section, vehicle-mounted mobile node at first reads the highway section id information of this packet, judge the distance in this packet highway section, source and the current highway section of living in of vehicle-mounted mobile node then, if apart smaller or equal to two highway sections, promptly belong to adjacent or close highway section, then participate in the issue nearby of this packet, and simultaneously this road section information is presented on the LCD with the broadcasting pass-through mode.Otherwise do not participate in the issue nearby of this packet, directly abandon this packet.
Claims (3)
1, a kind of method for processing traffic road condition information based on vehicle mounted wireless sensor network, it is characterized in that, at first, set up a cordless communication network framework, it comprises an information center, limited vehicle mounted wireless sensor network subsystem and information issue subsystem based on radio network that vehicle-mounted mobile node is formed; Position, a certain transport hub in the city is fixed in information center, is the center of this cordless communication network; Secondly, each vehicle-mounted mobile node carries out real-time road condition information collection and data fusion according to the order of information center by the vehicle mounted wireless sensor network subsystem; Then the real-time road condition information with each highway section collection and data fusion reports information center by the vehicle mounted wireless sensor network subsystem; Traffic information and network control signaling after last information center will handle by information issue subsystem are issued each vehicle-mounted mobile node; Be used for selecting the road for the driver; The collection of described real-time road condition information and data fusion, report and issue specifically and comprise the steps:
Step 1, information center divides city road network and mark by concrete highway section; According to the investigation data, determine the latitude and longitude information of each highway section starting point, make " GPS latitude and longitude information---highway section label " mapping table; Formulate " congestion in road grade---average overall travel speed " mapping table, and download in each vehicle-mounted mobile node by information issue subsystem;
Step 2, the gps receiver of each vehicle-mounted mobile node obtains the current longitude and latitude of this car, speed and temporal information according to the fixed cycle, according to " GPS longitude and latitude---highway section label " mapping table, can obtain self current highway section of living in label information by calculating from information center's wireless downloading;
Step 3, information processing centre orders to the whole network broadcasting " collection road conditions " by information issue subsystem, resolve it the vehicle-mounted mobile node in road network of the travelling back that receives orders, when the order of receiving is the whole network broadcasting " collection road conditions " order or " the reporting GPS information " in this highway section order, this order is responded, otherwise will not respond;
Step 4, each vehicle-mounted mobile node is carried out merging in this highway section vehicle-mounted mobile node choose definite vehicle-mounted mobile node that merges, this merges vehicle-mounted mobile node orders and waits for the reception data to all other vehicle-mounted mobile nodes broadcasting " reporting GPS information " of this highway section two way;
Step 5 is in same highway section and receives that " reporting GPS information " orders or each vehicle-mounted mobile node of the whole network broadcasting " collection road conditions " order is sent to the vehicle-mounted mobile node of fusion with the GPS current information that self obtains by its wireless communication module one jumping;
Step 6, merging vehicle-mounted mobile node collects the GPS information that other vehicle-mounted mobile node reports and carries out record, obtain respectively to report the average overall travel speed of vehicle-mounted mobile node, travel direction, then according to " congestion in road grade---average overall travel speed " mapping table of downloading from information center, obtain characterizing the highway section index value of two-way lane road conditions, the basic road condition data bag of current time value and congestion in road grade point, by the vehicle mounted wireless sensor network subsystem, on the one hand proximad other the vehicle-mounted mobile node in the adjacent or close highway section is done broadcast distribution, reports information center to upload mode based on the multi-hop of geographical location information on the other hand;
Step 7: information center receives after each highway section merges the current traffic information in this highway section that vehicle-mounted mobile node reports, and at first it is carried out ageing checking, then carries out trust verification; For meeting information ageing and that confidence level requires simultaneously, it is directly added more new data packets of the current traffic information of the whole network, be distributed to each vehicle-mounted mobile node in the net by information issue subsystem, finish the whole network traffic information issue, change step 3-6 then over to and carry out traffic information renewal next time; For do not meet information that confidence level requires then specify it by information issue subsystem under the highway section reported and proceeded trust verification again;
Step 8: each vehicle-mounted mobile node receives from the broadcasting of the whole network real-time road condition information of information center or receives from after merging the local highway section real-time road condition information broadcasting that vehicle-mounted mobile node issues in the adjacent or close highway section nearby, selectively interested road section information is presented on the LCD display of local node and selects the road for the driver;
In the step 6, described multi-hop based on geographical location information is uploaded mode and is meant, its relevant vehicle-mounted mobile node according to the routing algorithm that vehicle mounted wireless sensor network adopts, is transmitted this packet to the basic road condition data bag that receives; So this reported data bag is uploaded mode via multi-hop and is arrived information center;
Described multi-hop is uploaded mode and is comprised the steps:
(a) read the information generation time time of this packet, exceed the described information center of step 3 and issue this road conditions and collect order and the next road conditions of issue and collect time interval between ordering if information generation time time and this node were compared from the current time that GPS obtains, then think and directly abandon the no longer effective property of this packet; Otherwise execution in step (b);
(b) be that key word is searched in " having sent data packet queue " of this node with id, if this road section information not then inserts " data packet queue to be sent " with this packet; If this road section information is arranged, then the time that will have in the information is designated as t1, and jumping figure is designated as jump1, and the time of this packet is designated as t2, and jumping figure is designated as jump2;
If t1＜t2, it is ageing to illustrate that then this packet has, so this packet is inserted " data packet queue to be sent ", execution in step (c); If t1＞t2 then illustrates the no longer effective property of this packet, directly abandon; If t1=t2, then relatively jump1 and jump2 as jump1＜jump2, illustrate that then certain might transmit this packet by the node nearer than this nodal distance information center, so make jump1=jump2; As jump1＞=jump2, then directly abandon;
(c) read this packet " node and information center apart from d " information, utilize the gps signal receiver to obtain own current position simultaneously, calculate this node and information center apart from d_local.If d_local＜d, illustrate that then this nodal distance information center is nearer than a last hop node range information center of packet, also i.e. this vehicle-mounted mobile node position of having the advantage, so this node carries out following operation to packet: (1) change range unit d is d_local; (2) with jumping figure unit jump++; Transmit this packet then, send successfully after, this packet is inserted transmit queue, replace original road condition data bag about this highway section.
2, the method for processing traffic road condition information based on vehicle mounted wireless sensor network as claimed in claim 1, it is characterized in that, the choosing method that each vehicle-mounted mobile node is carried out in this highway section merging vehicle-mounted mobile node in the described step 4 is, when the common vehicle-mounted mobile node that satisfies following two conditions, self can be defined as being responsible for the vehicle-mounted mobile node of fusion that current traffic information is collected:
1) the GPS latitude and longitude information that obtains according to self and " GPS longitude and latitude---highway section label " mapping table of storage calculate and self are currently located to be the center of circle in the middle part of the road, and regular length is in the zone of radius;
2) do not receive the order of " reporting GPS information " that other vehicle-mounted mobile node sends.
3, the method for processing traffic road condition information based on vehicle mounted wireless sensor network as claimed in claim 1, it is characterized in that, in the step 8, described other vehicle-mounted mobile node is judged the local highway section real-time road broadcast message of issuing nearby from the vehicle-mounted mobile node of fusion in the adjacent or close highway section, when the highway section of this packet representative is adjacent or close highway section with own highway section of living in, then participate in the issue nearby of this packet with the broadcasting pass-through mode by the vehicle mounted wireless sensor network subsystem; Otherwise do not participate in the issue nearby of this packet, directly abandon this packet.
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