CN100561540C - Traffic information processing method based on vehicle mounted wireless sensor network - Google Patents

Traffic information processing method based on vehicle mounted wireless sensor network Download PDF

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CN100561540C
CN100561540C CN 200810018193 CN200810018193A CN100561540C CN 100561540 C CN100561540 C CN 100561540C CN 200810018193 CN200810018193 CN 200810018193 CN 200810018193 A CN200810018193 A CN 200810018193A CN 100561540 C CN100561540 C CN 100561540C
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information
vehicle
mobile node
network
traffic
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CN101286266A (en
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殷勤业
王文杰
娟 石
泉 米
胡蓓蓓
玮 韩
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西安交通大学
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Abstract

本发明公开了一种基于车载无线传感器网络的交通路况信息处理方法,其特征在于,首先,建立一个无线通信网络构架,其包括一个信息中心、有限个车载移动节点组成的车载无线传感器网络子系统和一个基于广播网络的信息发布子系统;信息中心固定于城区内某一交通枢纽位置,为该无线通信网络的中心;其次,各车载移动节点根据信息中心的命令通过车载无线传感器网络子系统进行实时路况信息采集与数据融合;接着将各路段采集与数据融合的实时路况信息通过车载无线传感器网络子系统上报给信息中心;最后信息中心通过信息发布子系统将处理后的交通路况信息及网络控制信令对各车载移动节点进行发布;用于供驾驶员择路。 The present invention discloses a road traffic information processing method vehicle based wireless sensor network, wherein the first, establish a wireless communications network architecture, comprising a vehicle wireless sensor network subsystem information center, a finite number of nodes of the mobile vehicle and a broadcasting network-based information distribution subsystem; secondly, by the mobile node of each vehicle onboard wireless sensor network subsystem based on the command information center; traffic information center hub fixed to a position within the city, the center for the wireless communication network real-time traffic information collection and data fusion; then each link acquisition and data fusion information to a real-time traffic information center through the vehicle wireless sensor network subsystem; traffic information and network control center after the last message published by the information processing subsystem signaling for each vehicle mobile node to publish; for a driver to pick our way.

Description

一种基于车载无线传感器网络的交通路况信息处理方法 Traffic information processing method vehicle based wireless sensor network

技术领域 FIELD

本发明涉及一种基于无线通信网络的信息处理系统,特别是一种基于移动车辆组成的无线传感器网络的城市交通路况信息处理方法。 The present invention relates to an information processing system based on a wireless communication network, urban traffic information processing method for wireless sensor networks moving vehicle based on a particular composition.

背景技术 Background technique

随着经济的高速发展和城市化进程的加快,交通矛盾日益突出,交通拥堵问题严重影响了人们的正常生活。 With the acceleration of urbanization and the rapid development of the economy, have become increasingly prominent traffic, traffic congestion problems seriously affect people's normal life. 交通路况信息是一种实时的道路交通信息,它反映了特定区域内的道路交通状况以及近期变化趋势。 Traffic information is a real-time traffic information, which reflects the road traffic conditions in a particular region and recent trends. 交通路况信息不仅可为交通管理部门输导交通提供依据,而且也为驾驶人员和普通出行者合理择路线提供帮助。 Traffic information can not only provide the basis for conducting the traffic management department of traffic, but also for drivers and ordinary travelers choose a reasonable route to help. 因此,交通路况信息的采集、处理、上报和发布能够有助于解决目前日益严重的交通拥堵问题。 Therefore, traffic information collection, processing, reporting and publishing can help solve the growing problem of traffic congestion.

现有的交通路况信息系统大多采用人工或半人工方式。 Existing traffic information system they use a manual or semi-manual mode. 信息采集由一定 Information collected by the certain

区域内的雷达测速系统、具有GPS定位和无线通信能力的交警巡逻车,以及针对特定交通事件而随机发起的人工事件上报机制构成的协同检测平台完成。 Radar systems in the region, traffic police patrol car with a GPS positioning and wireless communication capabilities, as well as for specific traffic incident and launched artificial random event reporting mechanism composed of collaborative testing platform is completed. 信息传输和发布主要通过公网的电话、短信或专网的无线电台来实现。 Information transmission and distribution radio telephone, SMS or special network mainly through the public network to achieve. 此种方式网络设备成本很高,服务用户数量有限,信息采集范围有限,时效性差。 The high cost of network equipment in this manner, a limited number of service users, the limited range of information collection, poor timeliness. 因此, 一种基于无线传感器网络信息技术就应运而生了,其可适应城市发展对道路交通监测提出的日益复杂的要求。 Therefore, based on wireless sensor network information technology came into being, it can adapt to the increasingly complex demands of urban development on road traffic monitoring proposed.

车载无线传感器网络由许多分布式的车载传感器节点组成。 Wireless sensor network consists of a number of vehicle-mounted sensor nodes distributed. 这些车载传感器节点具有无线通信、信息收集和处理以及协同合作等功能。 The vehicle sensor nodes with wireless communication, information gathering and processing, and collaboration functions. 借助现有的车辆定位技术和车辆行驶状态信息,通过在车载传感器节点与数据收集中心之间快速建立临时数据链路的方式,可以达到传送实时路况信息的目的。 By means of conventional techniques vehicle location information and vehicle running state, to establish a temporary manner by quick data link between the onboard sensor nodes and a data collection center, you can achieve the purpose of transmitting real-time traffic information. 这种全新的信息获取和传输模式,使车载无线传感器网络非常适用于交通路况信息的收集和处理。 This new information acquisition and transmission mode, the on-board wireless sensor network is ideal for the collection and processing of traffic information.

5现有的利用车载无线传感网络技术进行城市交通路况信息处理的方法, 多侧重于在各移动节点间进行多台车辆行驶中数据信息的直接传输,并未充分利用单个车载节点的信息处理能力,而将全部数据通过网络传输至网络的信息中心。 5 conventional direct transmission urban transport vehicle using traffic information processing method for wireless sensor network technology, focusing on multiple vehicles traveling multiple data information among the mobile node, not fully use the individual vehicle information processing node capacity, and all data transmitted over the network to the network of the information center. 这种信息传输没有对网络信息进行甄别和去冗余处理,导致了在网络中无法剔除错误数据,且网络数据传输量巨大,网络信息中心处理压力较高的问题。 This information is not transmitted information on the network to identify and deal with redundancy, resulting in data errors can not be excluded in the network, and the huge amount of data transmission network, Network Information Center handle the higher pressure problems. 另一方面,现有的车载无线传感网络的数据传输方法,多需要路边固定传感器节点的支持。 On the other hand, the conventional data transmission method of the vehicle-mounted wireless sensor networks, fixed roadside need to support multiple sensor nodes. 大量的路边固定节点使得网络的架设困难,而维护全城市的路边固定传感器节点也大大提高了网络的运营成本。 A large number of roadside fixed nodes makes difficult to set up the network, while maintaining a fixed sensor nodes roadside whole city has greatly increased the operating costs of the network. 在交通信息发布方面,现有的车载无线传感器网络或没有涉及交通信息发布功能或釆用数据采集上报网络进行下行的全城交通信息的数据发送,这导致了网络服务对象不确定,工作方式复杂,信息发布方式单一,交通路况信息上报的时 In terms of traffic information, the existing vehicle wireless sensor networks with or without involving traffic information function to send data or preclude the use of data collection reporting network downstream of the city traffic information, which leads to network clients uncertain, complex work , information dissemination single way, when the traffic information reported

效性和下行发布的用户覆盖率难以保证。 Effectiveness and downstream users publish coverage is not guaranteed. 己有的专利(公开号:CN1959758A 和CN101051418A)都存在此类问题。 Has some patent (publication number: CN1959758A and CN101051418A) there are such problems.

发明内容 SUMMARY

本发明的目的是提供一种利用车载无线传感器网络技术,建立一个公共交通路况信息资源共享平台,实现收集、融合、上报和发布城市道路交通实时路况信息的方法,能够克服已有方案中的不足,具有无任何固定传感器节点、网络负担轻,维护费用低,发布方式简单等实用性和先进性方面的优势。 The purpose of the invention is to provide a use of in-vehicle wireless sensor network technology, the establishment of a public traffic information resource sharing platform, the collection, integration, reporting and methods of urban road traffic information in real-time release, can overcome the shortcomings of the existing scheme with no fixed sensor nodes, network load light, low maintenance costs, simple publishing and other practical aspects and advantages of the advanced nature. 为达到以上目的,本发明是采取如下技术方案予以实现的-一种基于车载无线传感器网络的交通路况信息处理方法,其特征在于, 首先,建立一个无线通信网络构架,其包括一个信息中心、有限个车载移动节点组成的车载无线传感器网络子系统和一个基于广播网络(比如无线寻呼BP网络)的信息发布子系统;信息中心固定于城区内某一位置,为该无线通信网络的中心;其次,各车载移动节点根据信息中心的命令通过车载无线传感器网络子系统进行实时路况信息采集与数据融合;接着将各路段采集与数据融合的实时路况信息通过车载无线传感器网络子系统上报给信息中心;最后信息中心通过信息发布子系统将处理后的交通路况信息及网络控制信令对各车载移动节点进行发布;用于供驾驶员择路;所述实时路况信息的采集与数据融合、上报以及发布具体 To achieve the above object, the present invention adopt the following technical solutions to be achieved - an information processing method vehicle traffic conditions based wireless sensor network, wherein the first, establish a wireless communications network architecture, comprising an information center, limited a vehicular mobile wireless sensor nodes of the network subsystem and vehicle information based on a broadcast network (such as a wireless paging network BP) of the distribution subsystem; dashboard is fixed to a position within the city, the center for the wireless communication network; secondly each vehicle mobile node according to the information center by the command vehicle radio network subsystem sensor real-time traffic information collection and data fusion; then the real-time traffic information of each link by the acquisition and data fusion sub-board wireless sensor network reports to the information center; Finally, the information center through information distribution subsystem, and the traffic information to network control signaling processing for each vehicle after the mobile node released; Optional passage for supplying the driver; the data acquisition and real-time traffic information fusion, and published reports specific 包括下述步骤: Comprising the steps of:

步骤1,信息中心将城市路网按具体路段进行划分并标记;根据调研数据,确定各路段起始点的经纬度信息,制作"GPS经纬度信息一_路段标号" 映射表;制定"道路拥堵等级一一平均行驶速度"映射表,并通过信息发布子系统下载到各车载移动节点中; Step 1, the information center will be the urban road network according to the specific sections divided and labeled; according to survey data, to determine the latitude and longitude information of each section of the starting point, making "GPS latitude and longitude information _ a section of the label" mapping table; the development of "road congestion level eleven the average travel speed "mapping table, and download the information published by each subsystem to the car mobile node;

步骤2,各车载移动节点的GPS接收器按照固定周期获得本车当前的经纬度、速度与时间信息,根据所下载的"GPS经纬度_—路段标号"映射表, 通过计算即可获得自身当前所处路段标号信息; Step 2, GPS receivers for each vehicle to obtain the mobile node's current latitude and longitude of the vehicle, speed and time information according to a fixed cycle, in accordance with the downloaded "GPS latitude and longitude _- link label" mapping table can be obtained by calculation itself is currently located section label information;

步骤3,信息处理中心通过信息发布子系统向全网广播"收集路况"命令,行驶在路网中的车载移动节点收到命令后对其进行解析,当收到的命令为全网广播"收集路况"命令或是本路段的"上报GPS信息"命令时,对该命令进行响应,否则不予响应; Step 3, issued by the information processing center information command subsystem "Traffic collection" to the entire network broadcasts, in traveling the road network in the car mobile node after receiving the command to parse the command is received when the whole network broadcast "collection traffic "section of this command or the" GPS information to report "command, the command response, or no response;

步骤4,各车载移动节点进行该路段内融合车载移动节点选取:选取确定了融合车载移动节点后,该融合车载移动节点向该路段双向行驶的所有其它车载移动节点广播"上报GPS信息"命令并等待接收数据; Step 4, the mobile node each vehicle within the road-vehicle fusion mobile node selection: Select the determined vehicle mobile node after the fusion, the fusion bidirectional link to the vehicle with the mobile node to all other nodes broadcast mobile vehicle "GPS information report" command and waiting to receive data;

步骤5,处于同一路段并且收到"上报GPS信息"命令或全网广播"收集路况"命令的各车载移动节点将自身获得的GPS当前信息通过其无线通信模块一跳发送至融合车载移动节点; Step 5, and in the same segment receive the "GPS information report" command or the entire network broadcast "traffic collector" Each vehicle GPS mobile node will itself command current information obtained through the wireless communication module which transmits to the fusion-hop vehicular mobile node;

步骤6,融合车载移动节点收集其它车载移动节点上报的GPS信息进行记录,获得各上报车载移动节点的平均行驶速度、行驶方向,继而根据从信息中心下载的"道路拥堵等级一一平均行驶速度"映射表,得到表征双向车道路况的路段标号值、当前时间值以及道路拥堵等级值的基本路况数据包, 通过车载无线传感器网络子系统, 一方面就近向相邻或相近路段内的其它车载移动节点做广播发布,另一方面以基于地理位置信息的多跳上传方式上报给信息中心; Step 6, the integration of on-board mobile node collects other vehicle mobile node reports GPS information is recorded, each reporting to get onboard a mobile node average speed, direction of travel, then "A One average speed road congestion level" according downloaded from the Information Center mapping table, to give two lane road reference value characterizing the traffic, the basic traffic data packet and a current time value of the congestion level value of the road vehicle through the wireless sensor network subsystem, on the one hand near the vehicle to other adjacent or close to the mobile node link do broadcast distribution, on the other hand in order to upload multi-hop location-based information reported to the information Center;

步骤7:信息中心接收到各路段融合车载移动节点上报的该路段当前路况信息后,首先对其进行时效性验证,接着进行可信度验证;对于同时符合时效性和可信度要求的信息,将其直接加入全网当前路况信息更新数据包, 通过信息发布子系统发布至网内各车载移动节点,完成一次全网路况信息发布,然后转入步骤3-6进行下一次路况信息更新;对于不符合可信度要求的信息则通过信息发布子系统指定其所属路段重新予以上报并继续进行可信度验证; 、 Step 7: After receiving the information center link of each link fusion vehicular mobile node reports the current traffic information, timeliness first be verified, followed by verification reliability; at the same time compliance information for timeliness and reliability requirements, was added directly to the whole network to update the current traffic information packet, the information distribution subsystem released through vehicle movement to each node within the network, the completion of a full status information distribution network, and then transferred to a traffic information update performed at step 3-6; for information does not meet the requirements of credibility through information dissemination subsystem-specific sections to which it belongs again and continue to be reported to the credibility of verification;,

步骤8:各车载移动节点接收到来自信息中心的全网实时路况信息广播或接收到来自相邻或相近路段内融合车载移动节点就近发布的局部路段实时路况信息广播后,有选择地将感兴趣的路段信息显示在本地节点的LCD显示屏上供驾驶员择路。 Step 8: After the mobile node receives each of the vehicle throughout the network real-time traffic information broadcast from the information received from the center or close to the road-vehicle mobile node nearest fusion published real-time traffic information broadcast local roads adjacent or selectively interest the link information display screen for reference LCD driver picked his way in the local node.

所述步骤4中,各车载移动节点对该路段内融合车载移动节点的选取方法是,当满足如下两个条件的普通车载移动节点,可将自身确定为负责当前路况信息收集的融合车载移动节点: Selecting the method described in step 4, each vehicle car mobile convergence nodes within the mobile node's link, the mobile node when the ordinary vehicle satisfies the following two conditions can be responsible for this fusion itself determined vehicle traffic information collected by the mobile node :

l)根据自身获得的GPS经纬度信息与存储的"GPS经纬度一一路段标号" 映射表,计算出自身当前位于以道路中部为圆心,固定长度为半径的区域内; 2)没有收到其它车载移动节点发送的"上报GPS信息"的命令。 l) stored in the GPS latitude and longitude information obtained by itself "GPS latitude and longitude eleven sections numeral" mapping table, calculate its current located within a circle in the middle of the road, a fixed length of radius area; other moving vehicle 2) did not receive command "report the GPS information" sent by the nodes.

所述步骤6中,基于地理位置信息的多跳上传方式是指,其相关车载移动节点对接收到的基本路况数据包根据车载无线传感器网络采用的路由算法,转发该数据包;于是该上报数据包经由多跳上传方式到达信息中心。 In step 6, based on multi-hop uploading location information refers to the basic vehicle traffic packet associated mobile node which received vehicle according to the wireless sensor network routing algorithm used, forwards the packet; thus the reporting data uploads via multi-hop packet arrival information center.

上述多跳路由算法包括下述步骤: The multi-hop routing algorithm comprises the steps of:

(a) 读取该数据包的信息产生时间time,如果信息产生时间time和该节点从GPS得到的当前时间相比超出步骤3所述信息中心发布本次路况收集命令与发布下次路况收集命令之间的时间间隔,则认为该数据包己失去时效性,直接丢弃;否则执行步骤(b); (A) reading information of the data packet generation time period, if the time and the generation time information is compared with the node from the current GPS time obtained in the step 3 exceeds the current traffic information center to collect released commands released next traffic collection command the time interval between, the packet is considered lost timeliness hexyl, directly discarded; if not, step (B);

(b) 以id为关键字在该节点的"己发送数据包队列"中查找,如果没有该路段信息,则将该数据包插入"待发送数据包队列";如果有该路段信息, 则将已有信息中的时间记为tl,跳数记为jumpl,该数据包的时间记为t2, 跳数记为jump2; (B) in the keyword search id is "already transmitted packet queue" of the node, if not the road information, the packet insertion "queue of packets to be sent"; if the road information, the time is referred to as existing information tl, referred to as the number of hops jumpl, the time of the data packet referred to as t2, referred to as the number of hops jump2;

若tK t2,则说明该数据包具有时效性,于是将该数据包插入"待发送数据包队列",执行步骤(c);若tl〉t2,则说明该数据包已失去时效性,直接丢弃;若tH2,则比较jumpl和jump2,当jumpl〈 j咖p2,则说明某个有可能比该节点距离信息中心更近的节点已经转发此数据包,于是令jumpl=jump2;当jumpl〉=jump2,则直接丢弃; If tK t2, it indicates that the packet is time-sensitive, then the packet is inserted "packet queue to be sent," step (C); if tl> t2, it indicates that the packet has been lost timeliness, discards ; if tH2, and the comparator jumpl jump2, when jumpl <j coffee p2, it indicates a likely distance closer than the node dashboard node has to forward the packet, then make jumpl = jump2; when jumpl> = jump2 directly discarding;

(c)读取该数据包"节点和信息中心的距离d"信息,同时利用GPS信号接收器得到自己当前的位置,计算得出该节点和信息中心的距离d一local。 (C) reads the data packet "and the node information center distance d 'information, and using the GPS receiver and get their current location, the calculated distance d to the node information center and a local. 如果cLlocal〈d,则说明该节点距离信息中心比数据包的上一跳节点距离信息中心近,也即该车载移动节点处于优势位置,于是该节点对数据包进行以下操作:(l)更改距离单元d为d一local; (2將跳数单元jUmp++;然后转发将该数据包,发送成功后,将该数据包插入已发送队列,替换掉原有的关于该路段的路况数据包。 If cLlocal <d, then the node from the center than the previous hop node information from the information center near data packet, i.e. the in-vehicle mobile node in a dominant position, whereupon the node the data packet of the following: (l) Change from units, d, is a local; (2 hops the unit jUmp ++; then forwards the data packet, following a successful transmission, the data packet transmission queue has been inserted, replace the original packet traffic on the road segment.

所述步骤8中,其它车载移动节点对来自相邻或相近路段内融合车载移动节点就近发布的局部路段实时路况广播信息后进行判断,当此数据包所代表的路段与自己所处路段为相邻或相近路段,则通过车载无线传感器网络子系统以广播转发方式参与该数据包的就近发布;否则不参与该数据包的就近发布,直接丢弃该数据包。 In the step 8, the mobile node after the other in-vehicle links the local real-time traffic information broadcasts neighbor or adjacent the road-vehicle mobile node nearest fusion released from the determination, when the data link packet which represent sections with their relative o- or similar sections, the vehicle wireless sensor network subsystem by a broadcaster to participate nearest release of the data packet; otherwise the release does not participate in the nearest packet, discards the packet.

本发明方法在路段融合车载移动节点和信息中心上分别进行了对路段车辆行驶信息的融合和对全网各路段路况信息的融合,通过数据融合能够剔除有误信息,降低网络数据冗余,减轻网络数据传输负担,从而提高了车载无线传感器网络的网络性能。 The method of the present invention on the vehicle in the link fusion mobile node and information center respectively of a link of vehicle travel information fusion and integration of the whole network traffic information of each link, the data fusion can eliminate error information, to reduce network data redundancy, reduce the burden of data transfer network, thereby improving network performance board wireless sensor network.

本发明方法中所提供的无线通信网络构架设计,其车载无线传感器网络不包含任何固定传感器节点,采用车载移动节点组成移动网络,以自组织多跳方式进行数据传输,整个数据上报过程无需路边固定传感器节点的支持。 The wireless communication network architecture design method of the present invention provided that vehicle wireless sensor network sensor does not include any fixed nodes, mobile nodes using onboard mobile network, self-organizing multi-hop data transmission, the entire data reporting process without roadside fixed support sensor nodes. 此种网络结构使得网络的构建不依赖于市区环境建设,避免了因施工建设而引起的授权问题,同时降低了网络的运营维护成本,也避免了由于路边固定节点的损坏给信息传输造成的延迟和差错,具有较强的容错性和鲁棒性。 Such a network structure makes building a network is not dependent on the urban environment, to avoid licensing issues due to construction of the building and caused the network while reducing operating and maintenance costs, but also to avoid damage due to roadside fixed nodes to cause transmission of information delays and errors, has strong fault tolerance and robustness.

在本发明方案中,采用两种方式完成交通路况信息的发布。 In the embodiment of the invention, two ways to complete the release of the traffic information. 局部路段的实时交通路况信息通过车载无线传感器网络在相邻或相近路段内进行就近广播发布,能够使各车载移动节点快速获取邻近路段的路况信息,而邻近路段的实时路况信息对驾驶员而言是最为重要且最先使用的信息。 Real-time traffic information broadcast local roads will be released in the nearest adjacent or close roads by car wireless sensor networks, enabling quick access to each car mobile node adjacent road traffic information, and real-time traffic information of the neighboring sections for the driver It is the most important and the first use of the information. 全城实时交通路况信息通过无线电专网(广播网络,比如无线寻呼网络)进行全网广播发布。 City-wide real-time traffic information via radio network broadcast publishing private network (broadcast network, such as wireless paging network). 信息采集、上行传输网络与下行发布网络的独立运行能够简化各自网络的运行方式,提高系统稳定性,使信息采集、上行传输的时效性以及下行发布的节点和用户覆盖率都得以保证。 Information collection, transmission network uplink and the downlink distribution network run independently of each embodiment can simplify network operation and improve system stability, acquired information, timeliness of the uplink transmission and the downlink users and the publishing node coverage can be guaranteed.

本发明所提出的交通路况信息处理方法是以路段划分为基础的。 Traffic information processing method proposed by the present invention is divided into sections based. 交通路况信息采集、融合首先在各路段内独立进行,然后在各路段之间协作传递, 最后由信息中心统一处理和发布。 Traffic information collection, fusion first independently within each section, and then passed collaboration between the various sections, and finally unified treatment and published by the Information Center. 路段划分的规则和方法对融合节点选取、 移动多跳路由乃至整个网络工作的实效性和鲁棒性都有着直接影响。 Road division rules and methods for the integration node selection, mobile multi-hop routing as well as the effectiveness and robustness of the entire network work has a direct impact. 在本发明中,以十字路口为起始点,将城区的道路划分为若干个路段,这种自然的划分方式使融合车载移动节点选取算法简单可行,并减轻了信息中心的负担, 方便了信息的广播发布。 In the present invention, the intersection as a starting point, the road is divided into a number of sections of the city, this natural fusion division manner onboard a mobile node selection algorithm is simple and feasible, and reducing the burden of the information center, the information to facilitate broadcast distribution.

附图说明 BRIEF DESCRIPTION

以下结合附图及实施例本发明作进一步的详细描述。 Conjunction with the drawings and embodiments of the present invention will be further described in detail. 图1为本发明车载移动节点的功能结构框图。 Figure 1 is a block diagram showing a functional configuration of the vehicle-mounted mobile node of the present invention.

图2为本发明信息中心的功能结构框图。 Dashboard functional block diagram of FIG. 2 of the present invention.

图3为本发明整体网络构架示意图。 Figure 3 is a schematic view of the invention overall network architecture.

图4为本发明网络结构一个具体实例的示意图。 4 of the present invention, the network structure of a particular example of the schematic of FIG.

具体实施方式 Detailed ways

参见图1,车载移动节点安装在普通车辆上,由车辆行驶状态釆集模块(GPS接收器)、车辆导航模块(由LCD显示模块和语音播报模块组成)、无线通信模块(射频收发模块)、广播信息处理模块(BP接收模块)、存储器和处理器组成,具备定位、导航、通信和数据处理的功能,其电源取自车辆供电系统。 Referring to Figure 1, the vehicle-mounted mobile node mounted on a common vehicle, the vehicle running state preclude the collection module (GPS receivers), vehicle navigation module (displayed by the LCD module and the voice broadcast module), a wireless communication module (RF transceiver module), broadcast information processing module (BP receiving module), a memory, and processors, comprising functional positioning, navigation, communications and data processing, which is taken from the vehicle power supply system. 该节点除了具有接收并播报实时路况信息即导航功能外,还具有实时路况信息的收集与上报转发的功能,是本发明方法所提出的路况信息收集系统的基础功能单元。 In addition to having the node receive and broadcast real-time traffic information, that navigation function, but also has to report real-time traffic information collection and forwarding function, a functional unit is the basis of the traffic information collecting system according to the present invention, the method proposed. 其中,车辆行驶状态采集模块利用免费GPS服务提供的高精度经纬度信息(圆概率误差〈15m,增加差分GPS信号发射信息中心后精度进一步提高到1〜5m)得到当前所处的地理位置信息;利用免费GPS服务提供的高精度的速度信息,得到当前自身行驶速度矢量信息;利用免费的GPS授时信息得到当前时间信息。 Wherein, the vehicle running state acquisition module using high precision GPS latitude and longitude information service provided free (CEP <15m, increasing the differential GPS signal transmission to further improve the accuracy of the information center 1~5m) current geographical location information obtained; using high-precision GPS speed information service provided free to give their current travel speed vector information; free use of GPS timing information to get the current time information. 车载无线通信模块用来与附近行驶的其它车载移动节点进行通信,或者当信息中心位于其无线覆盖范围之内时与信息中心直接通信。 Board wireless communication module to another vehicle traveling in the vicinity of the mobile node communicates when the information center is located or direct communications within its wireless coverage area when the information center. 广播信息处理模块不具有发射功能,用于接收信息中心发布的全城实时路况信息以及网络控制信令。 The processing module does not have a broadcast information transmitting function for real-time traffic information and the city network control signaling received information center released. 车辆导航模块为用户提供了两种指示实时路况信息的方式。 Vehicle navigation module provides users two ways of indicating the real-time traffic information. 第一种方式是通过LCD显示模块,将广播信息处理模块收到的实时路况信息显示在LCD屏幕上。 The first way is through the LCD display module, the real-time traffic information processing module receives the broadcast information is displayed on the LCD screen. 除了LCD显示模块,节点还具有语音播报模块,该模块可用于负责将实时路况信息通过语音播报方式告知用户。 In addition to LCD display module, the node further includes a voice broadcast module, which is responsible for the real-time traffic can be indicated to the user by way of voice broadcast.

根据是否参与路况信息的收集,本发明还可采用省略图1中车辆行驶状态采集模块、无线通信模块的简化车载移动节点,此类节点只具有导航功能, 并不参与路况信息的收集与转发,成本较为低廉。 The traffic information collected is involved, may be employed in the present invention are omitted in FIG. 1 with the vehicle state acquisition module, a simplified vehicle wireless communication module of the mobile node, such a node having only the navigation function, is not involved in the collection and forwarding of traffic information, relatively inexpensive.

参见图2,信息(处理)中心(基站)是本发明车载无线传感器网络内唯一的固定装置。 Referring to Figure 2, the information (processing) the center (base station) are only fixed within the vehicle-mounted apparatus according to the present invention, wireless sensor network. 信息中心由控制台、定位模块(GPS接收器)、无线通信模块(射频收发模块)、广播信息发布模块、存储器和处理器组成。 Information from the center console, the positioning module (GPS receiver), a wireless communication module (RF transceiver module), the broadcast information distribution module, memory, and processors. 信息中心具有自身定位,网络控制,信息收集、存储、处理和发布功能。 Information Center has positioned itself, network control, information collection, storage, processing and publishing capabilities. 信息中心固定安装在城区内的某一交通枢纽位置,负责收集经车载移动节点多跳路由而来的各路段路况信息,并根据这些路况信息进一步合成出全城实时交通路况信息,然后将全城实时交通路况信息通过信息发布子系统(广播网络),以广播方式发布到城区各个车载移动节点,供驾驶员或其他出行者择路。 Information Center fixedly mounted within a city transport hub position, responsible for collecting the vehicle mobile node multi-hop routing information from the various sections of the road, and further synthesized city real-time traffic information based on the traffic information, and then the whole city real-time traffic information dissemination through the information subsystem (broadcast network) to broadcast published to each mobile node Town car, for the driver or other road travelers choose. 另外,信息中心还负责通过信息发布子系统向城区各个车载移动节点发布控制信令, 以保证车载传感器网络正常工作。 The information distribution subsystem also responsible for release control signaling to ensure that the vehicle onboard sensor network to each mobile node information by city work. 信息中心具有较强的数据存储和处理能力, 能够根据已有路况信息记录以及合适的交通流量模型对当前路况做出估计, 对各路段实时采集上报的基本路况信息进行比较甄别,从而判别上报信息的可信度,以及是否需要局部更为详细的路况信息重新上报。 The information center having a strong data storage and processing capabilities, can be made based on the existing estimate of the current road traffic information recording and appropriate traffic model, real-time acquisition of various sections basic traffic information reported by screening compared to the reported information is determined credibility, and the need for more detailed local traffic information resubmitted. 参见图3,本发明基于车载无线传感器网络的交通路况信息处理方法其整体网络结构由一个信息中心、有限个车载移动节点、车载无线传感器网络子系统和信息发布子系统组成。 Referring to Figure 3, the present invention is the overall network architecture of an information center, a limited number of vehicle-mounted mobile node, the wireless sensor network subsystem and vehicle information distribution subsystem traffic information processing method vehicle wireless sensor networks. 其中,车载无线传感器网络子系统主要负责从各移动节点到信息中心的交通路况信息收集、融合和上报,同时负责局部路段实时路况信息在相邻或相近路段内的就近发布。 Among them, car wireless sensor network subsystem is mainly responsible for traffic information collected from each mobile node to the information center, integration and reporting, while responsible for real-time traffic information in local roads adjacent or similar publication in the nearby road. 信息发布子系统主要负责从信息中心到各移动节点的全城实时交通路况信息和系统控制信令信息的下行发布。 Information dissemination subsystem is mainly responsible for the information from the city center to the real-time traffic information and control systems each mobile node downstream signaling release information.

图4为图3网络系统的一个具体实例,车载无线传感器网络子系统不包含任何固定节点,由车载移动节点组成,具有原始数据采集,传输,数据融合和信息上报等功能。 FIG 4 is a network system 3 of FIG. Specific examples vehicle wireless sensor network subsystem does not include any fixed node, the mobile nodes by the vehicle, with the original data acquisition, transmission, and data fusion information reporting functions. ,通过该车载无线传感器网络,信息中心可获得城区各路段实时路况信息。 By the vehicle wireless sensor network, each link information obtained city center traffic information in real time. 根据网内车载移动节点作用不同,可将车载移动节点分 The role of the mobile node within the network different vehicle, the vehicle-mounted mobile node may be divided

为两类:普通车载移动节点和融合车载移动节点。 Into two categories: ordinary car car mobile convergence and mobile node node. 每个路段有一个融合车载' Each section has a blend of on-board '

移动节点和若干普通车载移动节点。 Mobile node and several ordinary car mobile node. 同一路段内不同车载移动节点分类方法 Classification of different vehicle mobile nodes within the same section

将在具体实施步骤4中详细说明。 In specific embodiments will be described in detail step. 普通车载移动节点采集所在车辆的基本行驶数据,如位置、速度、当前时间等,并将这些基本行驶数据发送至该路段的融合车载移动节点。 Ordinary car with the mobile node acquired basic data of the vehicle is located, such as position, speed, current time, and sends the data to the fusion vehicle substantially with the section of the mobile node. 融合车载移动节点对路段上各车辆的基本行驶数据进行数据融合,得到该路段的基本路况信息。 Fusion of the basic vehicle with the mobile node for each data link on the vehicle data fusion, to obtain the basic information of the traffic segment. 车载无线传感器网络釆用基于地理位置信息的多跳路由方法,将融合车载移动节点获得的路段基本路况信息多跳传输至信息中心。 Preclude the use of wireless sensor networks vehicle multi-hop routing method of location-based information, the road-vehicle fusion segment substantially the mobile node to obtain multi-hop transmission information to the information center.

路况信息的发布采用两种方式:通过车载无线传感器网络子系统在相邻 Release traffic information in two ways: through the vehicle in the adjacent wireless sensor network subsystem

或相近路段内就近发布局部路段实时交通路况信息;通过信息发布子系统以 Or the nearest local roads publishing real-time traffic information in similar sections; through information dissemination subsystem

全网广播形式发布全城实时交通路况信息。 The whole network broadcast release form of the city real-time traffic information. 具体如下- details as follows-

局部路段实时交通路况信息在相邻或相近路段内的就近发布通过车载无线传感器网络子系统完成。 Local roads real-time traffic information in the adjacent or similar section of the release is completed by the nearest vehicle wireless sensor network subsystem. 融合车载移动节点对所在路段的基本路况数据包进行广播发布,其它车载移动节点对接收到的基本路况数据包进行判断,如果此数据包所代表的路段与自己所处路段为相邻或相近路段,则以广播转发方式参与该数据包的就近发布,并同时将该数据包所含信息直接输出至本地 Integration of on-board mobile node to the packet where the basic road sections were broadcast distribution, basic road-vehicle mobile data packages to other nodes received judgment, if sections of the packet represented with their own sections which are adjacent or close roads , places participate broadcast forwarding the data packet nearest release, and also outputs the information contained in the data packet directly to the local

车载移动节点的LCD显示屏上,从而使驾驶员优先获知邻近路段的路况信息 Vehicle mobile node on the LCD screen, so that the driver informed of traffic priority information of the adjacent link

12(否则不参与该数据包的就近发布,并同时丢弃该数据包)。 12 (otherwise not involved in the release of the data packet nearby, and also discards the packet). 此种就近发布方式虽然在主要负责上行传输的车载无线传感器网络子系统内完成,但由于其广播发布和转发仅限于相邻或相近路段(相距小于等于两个路段),故不致上行网络负担显著增加,因而是一种有效的信息发布方式。 Although this embodiment near complete release is mainly responsible for the uplink transmission in the sub-vehicle wireless sensor network, but because of its limited and forwarding broadcast publishing or near adjacent sections (two sections separated by less), it will not significantly burden upstream network increase, which is an effective way of information dissemination.

全城实吋交通路况信息的全网发布通过信息发布子系统(覆盖全城的广播网络,比如无线寻呼网络)以全网广播发布形式完成。 Real-inch-wide network of city traffic information released to complete the whole network by broadcast distribution in the form of information dissemination subsystem (covering the whole city of broadcast networks, such as wireless paging network). 信息中心为该广播网络的网络中心,可无线覆盖全网各车载移动节点,将通过车载无线传感器网络获取的全城交通路况信息以广播方式发布至全网各车载移动节点。 Information center for the network broadcast center network, can cover the whole wireless network each vehicle mobile node, acquired through on-board wireless sensor network throughout the city traffic information released to the whole network nodes to each vehicle mobile broadcasting.

各车载移动节点及其周边其它车辆共同处于车辆传感器网络的监测之中。 Each mobile node and the peripheral vehicle other vehicles in common in the network monitors the vehicle sensor. 同一路段内的车载移动节点将所在车辆的位置、速度、行驶方向和当前时间等车辆行驶基本状态信息,通过短距离无线通信汇聚到该路段内临时选 Position vehicular mobile nodes within the same link where the vehicle, speed, traveling direction, and vehicle running time of the current basic status information, the link aggregation to the temporary routing through short distance wireless communication

择产生的融合车载移动节点之上。 Optional integration of on-board mobile node generated above. 各路段内融合车载移动节点首先根据周边车辆基本行驶状态信息判断所在路段的基本路况信息,然后将各路段基本路况信息经车载无线传感器网络的车载移动节点以多跳路由转发方式传送到信息中心。 Fusion basic traffic information first determines where the link according to the surrounding basic vehicle driving state information of the vehicle-mounted mobile nodes in each segment, and each segment basic traffic information via the vehicle-mounted mobile node board wireless sensor network in a multi-hop routing and forwarding mode is transmitted to the information center. 当车载移动节点接收到信息中心发布的全网实时路况信息后,通过导航系统,以视频或音频方式告知驾驶员当前交通状况,以便择路。 When the vehicle mobile node receives the entire network real-time traffic information center released by navigation systems to video or audio the way the driver informed of the current traffic conditions, in order to choose the road. 本发明的交通路况信息处理方法具体包括下述步骤: Traffic information processing method according to the present invention comprises the steps of:

步骤1,信息中心将城市路网按具体路段进行划分并标记(如将兴庆路标记为l号路段),利用GPS测量各路段起始点(两端)的经纬度信息,制作"GPS经炜度信息一一路段标号"映射表;根据调^F数据,制定"道路拥堵等级一一平均行驶速度"映射表。 Step 1, the information center will be divided according to the urban road network and link specific marker (e.g., the number Xingqing road sections labeled l), the starting point of each link using GPS measurements (both inclusive) latitude and longitude information, making "GPS degree by Wei information available on the section of the label "mapping table; ^ F according to data transfer, the development of" road congestion level eleven average speed "mapping table. 将两个映射表下载到各车载移动节点中。 The two mapping tables downloaded to the mobile node in each vehicle.

步骤2:各车载移动节点的GPS接收器按照固定周期(1秒间隔)获得本车当前的经讳度信息、速度信息与时间信息,根据所下载的"GPS经纬度一一路段标号"映射表,通过计算即可获得自身当前所处路段标号信息。 Step 2: GPS receivers each on-vehicle mobile node obtained by the present vehicle is currently taboo information, the speed information and time information in accordance with a fixed cycle (1 second interval), "GPS latitude and longitude eleven sections numeral" according to the downloaded mapping table, It can be obtained by calculating the segment label information itself is currently located. 由于GPS 信息的固定误差(圆概率误差〈15米),当该车载移动节点位于接近道路起始点(十字路口)时有可能会得出错误的路段标号结果。 Since the fixed error (CEP <15 m) of the GPS information, the vehicle is possible when the mobile node when located near the starting point of the road (intersection) will draw a wrong link reference results. 为了减少由GPS经纬度信息误差引起的这种错误结果,当该车载移动节点根据所获得的GPS经纬度信息确定自身接近该路段的起始点时,如根据GPS信息测得与起始点的距 To reduce such erroneous results by the GPS latitude and longitude information error, when the vehicle moves close to the start point of the node itself determines link based on latitude and longitude information obtained by GPS, as measured by the GPS information from the start point of the

13离<20米,抛弃该次所获得的路段标号信息,并将自身标记为无效路况信息车载移动节点,即如果此时基站发起路况信息收集,该车载移动节点将不予响应。 From 13 <20 m, discard the sub-sections of the obtained label information, and marks itself as invalid vehicle traffic information the mobile node, i.e., if the base station initiates the traffic information collected by this time, the vehicle-mounted mobile node will not respond.

步骤3:信息处理中心通过信息发布子系统向全网广播"收集路况"命令(图3),当命令标志为"0"时,基站收集全网的路况信息;命令标志为"1"时,基站收集指定路段的实时路况。 Step 3: Information processing center through the information distribution subsystem "Traffic collection" command broadcast to the entire network (FIG. 3), when the command flag is "0", the base station of the entire network to collect traffic information; command flag is "1", the base station designated to collect real-time traffic segment. 行驶在路网中的车载移动节点收到控制命令后对其进行解析,当收到的命令为全网收集命令或是本路段的收集命令时对该命令进行响应,否则不予响应。 Running in the network and the mobile node receives vehicle parse control command, when the command received is a command to collect the whole network or link collection command according to the command response, or no response.

命令帧的帧负载如表1所示。 Frame load command frame as shown in Table 1.

<table>table see original document page 14</column></row> <table>表1中帧负载的各项含义为:FLAG (10): FLAG为帧类型标识,这里FLAG =10,表示该帧为"收集交通路况信息命令帧"。 <Table> table see original document page 14 </ column> </ row> <table> table the meaning of the frame 1 is supported: FLAG (10): FLAG is a frame type identification, where FLAG = 10, indicating that the frame to "collect traffic information command frame." 路段(id):路段id表示信息中心要求对应路段对本"收集交通路况信息命令帧"进行响应。 Link (id): id link corresponding to link information indicating the requirements of the center, "traffic information collection command frame" in response. 路段id 默认值为全零,表示所有路段的路况信息均需上传;如果为某一特定非零值, 则表示仅需要该id号所代表路段的路况信息。 The default value is all zeros link id, traffic information showing all sections required to upload; if a particular non-zero value, indicates the id is only necessary that the traffic information represented by the road segment. 当前时间ta:信息中心发布"交通路况信息收集命令帧"的时刻,即信息中心要求数据的时刻。 Current time ta: Information Center released time "traffic information collection command frame", ie the information requirements of the data center at the moment. 预告下次发布时间tb:信息中心预告发布下一次"交通路况信息收集命令"的时刻。 Coming next release time tb: Information Center forecast released under a "traffic information collection command" of the moment. 车载移动节点接收到"收集交通路况信息"命令帧后,利用已知的信息中心位置信息并结合GPS模块的输出信息,组成"车载移动节点信息帧"。 Onboard the mobile node receives the output "collect traffic information" after the command frame, using known location information of the information center in conjunction with the GPS module, consisting of "car-mounted mobile node information frame." 帧负载格式如表2所示。 Frame Payload Format As shown in Table 2.

<table>table see original document page 14</column></row> <table> <Table> table see original document page 14 </ column> </ row> <table>

表2中帧负载的各项含义为:FLAG(OO): FLAG为帧类型标识,这里FLAG =00,表示该帧为"车载移动节点信息帧",该数据包的目的地是探测车辆所在路段内的簇头节点。 The meaning of the table 2 is supported in the frame: FLAG (OO): FLAG is a frame type identification, where FLAG = 00, indicating that the frame is a "car-mounted mobile node information frame", the destination of the packet is the link where the probe vehicle within the cluster head node. 路段id:车载移动节点所在路段的id。 Section id: id section of the car mobile node is located. 车速v:车载移动节点通过GPS获得的本车行驶速度。 Vehicle speed v: vehicle GPS mobile node obtained by the vehicle speed. 信息产生时间time:产生本"车载移动节点信息帧"的时刻。 Time information generating time: generating this "vehicle mobile node information frame" time. 节点和基站的距离d:车载移动节点在time时刻到基站的距离。 And a base station node distance d: vehicle time to time at the mobile node from the base station.

步骤4:在某路段内所有双向移动的车载移动节点对基站发布的路况信息收集命令进行响应:首先进行该路段内融合车载移动节点选取:当满足如下两个条件后将自身确定为负责当前路况信息收集的融合车载移动节点:1) 根据自身获得的GPS经纬度信息与存储的"GPS经讳度一一路段标号"映射表,计算出自身当前位于以道路中部为圆心,固定长度(射频收发模块平均 Step 4: All two-way mobile vehicle within the mobile node collects traffic information on a section of the base station in response to commands issued by: first fusion-vehicle mobile nodes chosen in the section: when the following two conditions are satisfied will itself responsible for determining the current traffic fusion vehicle mobile node information gathered: 1) the "taboo of eleven GPS link by reference numeral" mapping table stored GPS latitude and longitude information obtained by itself, to calculate the road itself is currently located in the middle of a circle, a fixed length (RF transceiver module average

双向可靠通信距离, 一般小于等于500米)为半径的区域内(以此来保证融合车载移动节点的覆盖范围以及所收集到的数据的有效性);2)没有收到其它节点发送的"上报GPS信息"的命令。 Reliable two-way communication distance, usually less than or equal to 500 meters) is the inner radius (vehicle in order to ensure the integration of the mobile node coverage and effectiveness of the collected data); 2) does not receive a "send to other nodes reported GPS information "command.

确定自身为融合车载移动节点后,该车载移动节点向该路段双向移动的所有其它普通车载移动节点广播"上报GPS信息"命令并等待接收数据。 To determine its own fusion-vehicle mobile node, the car and all other ordinary car radio mobile node to the mobile node moves two-way road, "reported GPS information" command and waits to receive data. 为了保证融合车载移动节点收集数据的时效性,与此同时融合车载移动节点将启动一个定时器,超出定时范围后上报的信息将被视为无效信息。 In order to ensure the integration of on-board mobile node timeliness of data collection, while the integration vehicle mobile node starts a timer, the timing information beyond the scope of the report will be considered invalid information.

步骤5:处于同一路段,并且收到"上报GPS信息"命令的车载移动节点将自身获得的GPS当前信息组成车载移动节点信息帧(表2),通过无线通信模块以一跳的方式发送至融合车载移动节点。 Step 5: in the same link, and receive the "GPS information report" command vehicle mobile node itself obtained GPS information of the current information frame composition of the vehicle-mounted mobile node (Table 2), sent to the fusion-hop manner via the wireless communication module car mobile node. 为了避免各车载移动节点间上报信息时可能会出现的相互冲突,采用CSMA类机制来避免该冲突的发生。 In order to avoid conflict may occur when inter-vehicle mobile node reporting information, using CSMA class mechanism to avoid this conflict.

步骤6:融合车载移动节点收集其它节点上报的车载移动节点信息帧, 获得周边各车载移动节点的速度信息,根据速度矢量判别其行驶方向,继而分别对双向车道上的车载移动节点的速度信息求平均,得到平均行驶速度。 Step 6: Fusion car mobile node collects vehicle mobile node information frame to other nodes reported, to obtain the speed information of each car of the mobile node outside, it is determined that the traveling direction of the velocity vector, then information respectively required speed vehicular mobile node on a two lane average, average travel speed. 融合车载移动节点根据自身存储的"道路拥堵等级一一平均行驶速度"映射表,即可得到表征双向车道路况的路段标号值、当前时间值以及道路拥堵等级值等基本路况信息。 Integration of on-board memory of the mobile node according to their own "road congestion level eleven average speed" mapping table, you can get two lane road grade values ​​characterizing road conditions, time value and the current value of the basic level of road congestion traffic information. "基本路况信息帧"的帧负载格式如表3所示: "Basic traffic information frame" frame payload format as shown in Table 3:

表3基本路况信息帧 Table 3 Basic traffic information frame

<table>table see original document page 15</column></row> <table> <Table> table see original document page 15 </ column> </ row> <table>

表3中帧负载的各项含义为:FLAG(O 1): FLAG为帧类型标识,这里FLAG =01,表示该帧为"基本路况信息帧",该数据包的目的地是信息中心。 The meaning of the table frame 3 is supported: FLAG (O 1): FLAG is a frame type identification, where FLAG = 01, indicating that the frame is a "basic traffic information frame", the destination of the packet is an information center. 路段id:本"基本路况信息帧"对应路段的id。 Link id: This "basic traffic information frame" corresponding to the segment id. 车速V:本路段的平均车辆行驶速度信息。 The vehicle speed V: average vehicle speed information of the present traveling road segment. 信息产生时间time:产生本"基本路况信息帧"的时刻。 Time information generating time: generating the present time "basic traffic information frame". 节点和基站的距离d:融合车载移动节点在time时刻到基站的距离。 And a base station node distance d: vehicle integration time to time at the mobile node from the base station.

融合车载移动节点将所在路段的基本路况数据包通过车载无线传感器网络子系统在相邻或相近路段内(相距小于等于两个路段)进行就近广播发布。 Fusion vehicle mobile node is located substantially road link data packet through the vehicle network subsystem in the wireless sensor adjacent or close links (two links apart or less) of the nearest broadcast distribution.

融合车载移动节点依靠其它相关车载移动节点,将所在路段的基本路况数据包通过车载无线传感器网络以基于地理位置信息的多跳上传方式上报给 Fusion vehicle mobile nodes rely on other nodes associated mobile vehicle, where the basic link traffic data packets through the vehicle multi-hop wireless sensor networks based uploading geographical location information reported to

信息中心,其路由算法包括下述步骤: Information Zhongxin, which Routing comprising:

(a) 其它相关车载移动节点读取接收到的该数据包的时间单元也即信息产生时间time,如果信息产生时间time和该节点从GPS得到的当前时间相比超出:"最大可容忍延迟限度",也即信息中心发布本次路况收集命令与发布下次路况收集命令之间的时间间隔(表l),则认为该数据包已失去时效性,直接丢弃;否则进入下一步。 (A) Other relevant vehicle mobile node reads the time unit of the received data packet information generation time TIME, i.e., if the time and generation time information obtained from the node of the current GPS time exceeds the comparison: "maximum tolerable delay bound "that information Center released this command to collect road traffic and released the next collection time interval between the command (table l), it is considered the timeliness of the data packet has been lost, discarded directly; otherwise the next step. (与前面的定时器对应) (Corresponding to the previous timer)

(b) 以id为关键字在该节点的"已发送数据包队列"中查找,如果队列里没有该路段信息,则将该数据包插入"待发送数据包队列";如果队列里有该路段信息,将已有信息中的时间记为tl,跳数记为jumpl,该数据包的时间记为t2,跳数记为jump2。 (B) in the keyword search in the id "transmitted data packet queue" of the node, if the queue is not the road information, the packet insertion "queue of packets to be sent"; if the queue has a link information, the time information has been recorded as tl, referred to as the number of hops jumpl, the time of the data packet referred to as T2, referred to as the number of hops jump2.

若tl< t2,则说明该数据包更具有时效性,于是将该数据包插入"待发送数据包队列",进入下一步; If tl <t2, it indicates that the packet is more time sensitive, then the packet is inserted "packet queue to be sent," the next step;

若tm2,则说明该数据包已失去时效性,直接丢弃; If TM2, it indicates that the packet has been lost timeliness, discards;

若tl=t2,则比较jumpl和j咖p2, 若jumpl〈 ju卿2,则说明某个有可能比该节点距离基站更近的节点已经转发此数据包,于是令ju卿l-jump2。 When tl = t2, the comparator jumpl coffee and j p2, if jumpl <ju State 2, then a possible closer than the node from the base station node has to forward the packet, then make ju State l-jump2. 若jumpl〉-jump2,则直接丢弃。 If jumpl> -jump2, then discarded.

(c) 读取该数据包"节点和基站的距离d"该信息单元,同时利用GPS 信号接收器得到自己当前的位置,计算得出该节点和基站的距离d一local。 (C) reads the data packet "and the base station node distance d" of the information element, while using the GPS receiver and get their current location, the calculated distance d of the base station node and a local. 如果d」ocal〈d,则说明该节点距离基站比数据包的上一跳节点距离基站近, 也即该车载移动节点处于优势位置,于是该节点对数据包进行以下操作:U)更改距离单元d为d—local; (2)将跳数单元jump++;然后转发将该数据包。 If d "ocal <d, then the node from the base station is closer than the distance hop node packet, i.e. the in-vehicle mobile node in a dominant position, whereupon the node the data packet following: U) to change the distance unit d is the d-local; (2) the number of units to jump jump ++; then forwards the packet.

发送成功后,将该数据包插入已发送队列,替换掉原有的关于该路段的路况数据包。 After successful transmission, the data packet transmission queue has been inserted, replace the original packet traffic on the road segment.

步骤7:信息中心接收到各路段基本路况信息后存储该信息,并对该信息的进行如下时效性验证和可信度验证: Step 7: The information center receives the information of each link stored in the basic traffic information, the following information and performs authentication and trustworthiness verification of timeliness:

1) 信息中心读取各路段基本路况信息数据包中的时间戳,并判断其是否符合数据发布时效性和数据融合时效性要求;当判定此次收集路况信息的数据包不符合上述两方面要求时,予以抛弃;当判定此次收集路况信息有效, 则进行可信程度甄别; 1) reads the information center basic traffic information of each link in the data packet time stamp, and determine whether they meet the timeliness requirements of data distribution and data fusion timeliness; collect traffic information when it is determined the packet does not meet these two requirements when, to be abandoned; when it is determined to collect the traffic information is valid, credible degree of screening;

2) 信息中心根据之前收集的数据和特定交通流量模型,能够对未来某一 2) The information center previously collected data traffic and a specific model, it is possible for a future

预定时间窗内的道路拥堵状况1:出预测,基于此预测结果,信息中心对各路 Road congestion within a predetermined time window of 1: a prediction, the prediction based on this result, the information center of the brightest

段基本路况信息进行可信程度甄别,若二者差异过大,则判定该路段该次信息异常。 Basic traffic segment information credibility screening, if the difference between them is too large, it is determined that the road information is abnormal times.

根据以上时效性验证和可信度验证,信息中心做出相应的判断和信息处 According to the above verification timeliness and reliability verification, the information center and information to make appropriate judgments at

理: Li:

1) 当判定该路段该次信息异常,信息中心保留该信息,并发送指定该路段重新上报的控制信令(表l),增加该异常路段的信息收集次数,信息中心据此继续进行甄别。 1) When it is determined that the road information is abnormal times, the information center to retain this information and transmits the control signaling link re-specify reported (Table L), the abnormal increase in the number section of the information collection, the information center screening continue accordingly.

2) 当判定该路段该次信息既符合时效性要求又符合可信度要求,信息中心对该实时路况信息数据包进行数据融合并组帧更新全网实时路况信息,生成全网当前路况信息更新数据包,通过无线寻呼网络向全网广播发送。 2) When it is determined that the sub-link information in line with the timeliness requirements and meet the reliability requirements, the real-time traffic information center for data fusion information packet framing and update the entire network real-time traffic information, to generate the current traffic information update the entire network packet broadcast to the entire network by sending a wireless paging network. "全网实时路况更新信息帧"帧负载格式如表4所示: "Real-time traffic updates the whole network frame" frame payload format as shown in Table 4:

表4全网实时路况更新信息帧 Table 4 whole network real-time traffic updates frame

FLAG (11) 发布时间 路段ID 拥堵等级 路段ID 拥堵等级 路段ID 拥堵等级 FLAG (11) Published congestion level road link ID ID ID congestion level road congestion levels

表4中帧负载的各项含义为:FLAG( 1 1) :FLAG为帧类型标识,这里FLAG =11,表示该帧为"全网实时路况信息更新信息帧",该数据包的目的地是各车载移动节点。 Table 4 in the meaning of the frame payload is: FLAG (1 1): FLAG is a frame type identification, where FLAG = 11, indicating that the frame is a "real-time traffic updates the whole network information frame", the destination of the packet is each car mobile node. 发布时间:信息中心对发布本"全网实时路况信息更新信 Published: Information Center of the release of this "network-wide real-time traffic updates letter

17息帧"的时刻。路段id:城区某路段的id。拥堵等级:路段id对应路段的交通拥堵状况。 17 time frame of interest "id sections: a section of urban congestion level id: id corresponding to the section of road traffic congestion.

步骤8,各车载移动节点接收到来自信息中心的全网实时路况信息广播或接收到来自相邻或相近路段内融合车载移动节点就近发布的局部路段实时路况信息广播后,可以有选择地将感兴趣的路段信息显示在LCD显示屏上供驾驶员择路。 After step 8, the mobile node receives each of the vehicle throughout the network real-time traffic information broadcast from the information received from the center or adjacent or close to real-time traffic information broadcast local roads within a road-vehicle mobile node nearest released fusion may selectively sense interested link information displayed on the LCD screen for reference by the driver picked his way.

特别的,当接收到来自相邻或相近路段内融合车载移动节点就近发布的局部路段实时路况广播信息时,车载移动节点首先读取该数据包的路段id 信息,然后判断该数据包来源路段与车载移动节点当前所处路段的距离,如果相距小于等于两个路段,即属于相邻或相近路段,则以广播转发方式参与该数据包的就近发布,并同时将该路段信息显示在LCD上。 Particularly when the reception from the neighbor or adjacent link local roads fusion real-time traffic information broadcasts the mobile node nearest vehicle released, vehicle mobile node id first reads the link information of the data packet, and then determines the source of the packet and the link road vehicle is currently located from the mobile node, if the distance is less than two equal sections, i.e. sections belonging to adjacent or close, nearby places participate broadcast forwarding the packet released, while the link information is displayed on the LCD. 否则不参与该数据包的就近发布,直接丢弃该数据包。 Otherwise, the packet is not involved in the nearest release, discards the packet.

Claims (3)

1、一种基于车载无线传感器网络的交通路况信息处理方法,其特征在于,首先,建立一个无线通信网络构架,其包括一个信息中心、有限个车载移动节点组成的车载无线传感器网络子系统和一个基于广播网络的信息发布子系统;信息中心固定于城区内某一交通枢纽位置,为该无线通信网络的中心;其次,各车载移动节点根据信息中心的命令通过车载无线传感器网络子系统进行实时路况信息采集与数据融合;接着将各路段采集与数据融合的实时路况信息通过车载无线传感器网络子系统上报给信息中心;最后信息中心通过信息发布子系统将处理后的交通路况信息及网络控制信令对各车载移动节点进行发布;用于供驾驶员择路;所述实时路况信息的采集与数据融合、上报以及发布具体包括下述步骤: 步骤1,信息中心将城市路网按具体路段进行划分并标 1. An information processing method vehicle traffic conditions based wireless sensor network, wherein the first, establish a wireless communications network architecture, comprising a vehicle wireless sensor network subsystem information center, a finite number of nodes of the mobile vehicle and a broadcast distribution subsystem based on the information network; traffic information center hub fixed to a position within the city, the center for the wireless communication network; secondly, each on-vehicle mobile node according to real-time traffic information center by the command vehicle radio network subsystem sensor acquisition and data fusion information; then the real-time traffic information of each link data collection and reporting to the information fusion center via the vehicle-mounted wireless sensor network subsystem; and traffic information to network control signaling after the last release the information center through information processing subsystem each node of the mobile vehicle released; Optional passage for supplying the driver; the data acquisition and real-time traffic information fusion, published reports and comprises the following steps: step 1, the information center urban road network divided by the specific segment and marked ;根据调研数据,确定各路段起始点的经纬度信息,制作“GPS经纬度信息——路段标号”映射表;制定“道路拥堵等级——平均行驶速度”映射表,并通过信息发布子系统下载到各车载移动节点中; 步骤2,各车载移动节点的GPS接收器按照固定周期获得本车当前的经纬度、速度与时间信息,根据从信息中心无线下载的“GPS经纬度——路段标号”映射表,通过计算即可获得自身当前所处路段标号信息; 步骤3,信息处理中心通过信息发布子系统向全网广播“收集路况”命令,行驶在路网中的车载移动节点收到命令后对其进行解析,当收到的命令为全网广播“收集路况”命令或是本路段的“上报GPS信息”命令时,对该命令进行响应,否则不予响应; 步骤4,对各车载移动节点进行该路段内融合车载移动节点选取确定融合车载移动节点,该融合车载移动 ; According to survey data, to determine the latitude and longitude information of each section of the starting point, making "GPS latitude and longitude information - section of the label" mapping table; the development of "road congestion level - the average speed" mapping table, and download the information published by each subsystem to vehicle mobile node; step 2, GPS receivers each on-vehicle mobile node obtains a current latitude and longitude, speed and time information of the vehicle according to a fixed cycle, according to the information from the wireless center download "GPS longitude and latitude - sections numeral" mapping table, by calculation itself is currently located to obtain the reference information segment; step 3, the information processing center issues a command subsystem "traffic collect" information through broadcast to the entire network, with the vehicle in a road network the mobile node after receiving the command to parse when the received command for the whole network broadcast "traffic collector" command or this section of the "GPS information report" command, in response to the command, or no response; step 4, for each of the road-vehicle mobile node select the mobile node determines fusion fusion vehicle onboard a mobile node, the mobile vehicle fusion 点向该路段双向行驶的所有其它车载移动节点广播“上报GPS信息”命令并等待接收数据; 步骤5,处于同一路段并且收到“上报GPS信息”命令或全网广播“收集路况”命令的各车载移动节点将自身获得的GPS当前信息通过其无线通信模块一跳发送至融合车载移动节点; 步骤6,融合车载移动节点收集其它车载移动节点上报的GPS信息进行记录,获得各上报车载移动节点的平均行驶速度、行驶方向,继而根据从信息中心下载的“道路拥堵等级——平均行驶速度”映射表,得到表征双向车道路况的路段标号值、当前时间值以及道路拥堵等级值的基本路况数据包,通过车载无线传感器网络子系统,一方面就近向相邻或相近路段内的其它车载移动节点做广播发布,另一方面以基于地理位置信息的多跳上传方式上报给信息中心; 步骤7:信息中心接收到各路段融合 To this point bidirectional link with all other mobile nodes broadcast vehicle "GPS information report" command and waits for receiving data; Step 5, and in the same segment you receive the "GPS information report" command or the entire network broadcast "traffic collector" command each vehicle GPS itself mobile node through which to obtain information on the current hop wireless communication module transmits to the mobile node integration vehicle; step 6, the mobile node collects other fusion vehicle onboard the mobile node records information reported by GPS, is obtained for each mobile node reporting vehicle the average traveling speed, traveling direction, and then in accordance with the information downloaded from the center "road congestion level - the average speed" mapping table, to give two lane road reference value characterizing the traffic, the basic traffic data packet and a current time value of road congestion level values , the wireless sensor network subsystem through the vehicle, on the one hand near the radio is released to other mobile nodes within the neighboring vehicle or similar sections, on the other hand a multi-hop uploading location-based information is reported to the information center; step 7: information fusion center receives each link 车载移动节点上报的该路段当前路况信息后,首先对其进行时效性验证,接着进行可信度验证;对于同时符合时效性和可信度要求的信息,将其直接加入全网当前路况信息更新数据包,通过信息发布子系统发布至网内各车载移动节点,完成一次全网路况信息发布,然后转入步骤3-6进行下一次路况信息更新;对于不符合可信度要求的信息则通过信息发布子系统指定其所属路段重新予以上报并继续进行可信度验证; 步骤8:各车载移动节点接收到来自信息中心的全网实时路况信息广播或接收到来自相邻或相近路段内融合车载移动节点就近发布的局部路段实时路况信息广播后,有选择地将感兴趣的路段信息显示在本地节点的LCD显示屏上供驾驶员择路; 步骤6中,所述基于地理位置信息的多跳上传方式是指,其相关车载移动节点对接收到的基本路况数据包根 The vehicle segment reported by the mobile node after the current traffic information, timeliness first be verified, followed by validation reliability; at the same time to meet the timeliness and reliability of information required, which is added directly to the current traffic information update the entire network packet, information distribution subsystem released through vehicle to each of the mobile node within the network, the completion of a full status information distribution network, and then transferred to a traffic information update performed at step 3-6; reliability information does not comply to the requirements through information dissemination subsystem-specific sections to which it belongs again and continue to be reported to the reliability verification; step 8: each car mobile node receives a broadcast network-wide real-time traffic information from the information center or received from within or close to the adjacent road-vehicle integration after the real-time traffic information broadcast local roads nearest the mobile node is released, there is selectively link information of interest displayed on the LCD display screen for reference by the driver of the local node routeing; in step 6, the location information based on multi-hop uploading means, traffic data packets substantially its associated root node received the mobile vehicle 据车载无线传感器网络采用的路由算法,转发该数据包;于是该上报数据包经由多跳上传方式到达信息中心; 所述多跳上传方式包括下述步骤: (a)读取该数据包的信息产生时间time,如果信息产生时间time和该节点从GPS得到的当前时间相比超出步骤3所述信息中心发布本次路况收集命令与发布下次路况收集命令之间的时间间隔,则认为该数据包已失去时效性,直接丢弃;否则执行步骤(b); (b)以id为关键字在该节点的“已发送数据包队列”中查找,如果没有该路段信息,则将该数据包插入“待发送数据包队列”;如果有该路段信息,则将已有信息中的时间记为t1,跳数记为jump1,该数据包的时间记为t2,跳数记为jump2; 若t1<t2,则说明该数据包具有时效性,于是将该数据包插入“待发送数据包队列”,执行步骤(c);若t1>t2,则说明该数据包已失去时效性 According to the vehicle wireless sensor network routing algorithm used, forwards the packet; whereupon the reporting packet via multi-hop arrival uploading information center; the multi-hop uploading comprising the steps of: (a) reading information of the data packet generating time period, if the time and the generation time information is compared with the node from the current GPS time obtained in the step 3 exceeds the current traffic information center to collect released commands released next command traffic between collection time interval, the data is considered package is still fresh, directly discarded; if not, step (b); (b) to find the id "transmitted data packet queue" as a keyword for that node, if the link information is not, then the packet is inserted "queue of packets to be sent"; if the road information, the time information has been recorded as jump1 referred to as t1, the number of hops, the data packet time denoted T2, referred to as the number of hops jump2; if t1 < T2, it indicates that the packet is time-sensitive, then the packet is inserted "packet queue to be sent," step (C); if t1> t2, it indicates that the packet has been lost timeliness ,直接丢弃;若t1=t2,则比较jump1和jump2,当jump1<jump2,则说明某个有可能比该节点距离信息中心更近的节点已经转发此数据包,于是令jump1=jump2;当jump1>=jump2,则直接丢弃; (c)读取该数据包“节点和信息中心的距离d”信息,同时利用GPS信号接收器得到自己当前的位置,计算得出该节点和信息中心的距离d_local。 , Directly discarded; if t1 = t2, the comparator jump1 and jump2, when jump1 <jump2, it indicates a likely distance closer than the node dashboard node has to forward the packet, then make jump1 = jump2; when jump1 > = jump2, then discards; (c) reads the data packet "and the node information center distance D 'information, and using the GPS receiver and get their current location, the calculated distance d_local dashboard node and . 如果d_local<d,则说明该节点距离信息中心比数据包的上一跳节点距离信息中心近,也即该车载移动节点处于优势位置,于是该节点对数据包进行以下操作:(1)更改距离单元d为d_local;(2)将跳数单元jump++;然后转发该数据包,发送成功后,将该数据包插入已发送队列,替换掉原有的关于该路段的路况数据包。 If d_local <d, then the node from the center than the previous hop node information from the information center near data packet, i.e. the in-vehicle mobile node in a dominant position, whereupon the node the data packet of the following: (1) changes from cell d is d_local; (2) the number of units to jump jump ++; then forwards the data packet following a successful transmission, the data packet transmission queue has been inserted, replace the original packet traffic on the road segment.
2、 如权利要求1所述的基于车载无线传感器网络的交通路况信息处理方法,其特征在于,所述步骤4中的对各车载移动节点进行该路段内融合车载移动节点的选取方法是,当满足如下两个条件的普通车载移动节点,可将自身确定为负责当前路况信息收集的融合车载移动节点:1) 根据自身获得的GPS经纬度信息与存储的"GPS经纬度一一路段标号" 映射表,计算出自身当前位于以道路中部为圆心,固定长度为半径的区域内;2) 没有收到其它车载移动节点发送的"上报GPS信息"的命令。 2, the information processing method as claimed in vehicle traffic conditions based wireless sensor network according to claim 1, wherein said step for each vehicle-mounted mobile node selection method the integration of the road vehicle is in the mobile node 4, when Common automotive mobile node following two conditions are satisfied, may itself be responsible for determining the mobile node is currently fusion vehicle traffic information collected: 1) the GPS latitude and longitude information obtained by itself and stored 'GPS latitude and longitude eleven sections numeral "mapping table, calculate its current located within a circle in the middle of the road, a fixed length of radius area; 2) does not receive a command transmitted from another vehicle-mounted mobile node "report GPS information".
3、 如权利要求1所述的基于车载无线传感器网络的交通路况信息处理方法,其特征在于,步骤8中,所述其它车载移动节点对来自相邻或相近路段内融合车载移动节点就近发布的局部路段实时路况广播信息进行判断,当此数据包所代表的路段与自己所处路段为相邻或相近路段,则通过车载无线传感器网络子系统以广播转发方式参与该数据包的就近发布;否则不参与该数据包的就近发布,直接丢弃该数据包。 3, the information processing method as claimed in road transport vehicle based wireless sensor network, wherein said 1, Step claim 8, said other mobile node from the neighboring vehicle or similar vehicle fusion mobile node nearest the release link real-time traffic information broadcast local roads to judge, when the road represented by the packet with its own link is located adjacent or close link, the subsystem broadcasts the data packet forwarding participate wireless sensor network by the vehicle nearest release; otherwise the packet does not participate in the nearest release, discards the packet.
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