CN103873485B - Cluster MAC protocol implementation method based on the link persistent period in vehicular ad hoc network - Google Patents
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Abstract
The invention discloses the cluster MAC protocol implementation method based on the link persistent period in a kind of vehicular ad hoc network, belong to vehicular ad hoc network technical field, specifically include a kind of clustering method based on the link persistent period, determine the priority of node by the average link link time of vehicle node and node degree of communication, what priority was maximum becomes leader cluster node, the node that priority is only second to cluster head becomes standby cluster head, and backup cluster head is conducive to improving the stability of cluster in the renewal of cluster and maintenance process and reduces expense.Cluster head broadcasts Clustering control message to neighbor node, invites neighbor node to add the sub-clustering with present node as cluster head.After cluster, carry out multi-zone supervision, network is divided into multiple clusters, each cluster interior nodes is communicated with leader cluster node using CSMA/TDMA mixed mechanism, reduce the collision of data, and leader cluster node is communicated hence it is evident that being improve the reliability of data transfer using CSMA/CA mechanism with neighbours' cluster head, data transfer delay can be effectively reduced.
Description
Technical Field
The invention belongs to the technical field of vehicle-mounted self-organized networks, and relates to a link duration-based cluster MAC protocol implementation method in a vehicle-mounted self-organized network, in particular to a link duration-based clustering method in the vehicle-mounted self-organized network, a cluster updating method in the vehicle-mounted self-organized network and a link duration-based cluster MAC protocol in the vehicle-mounted self-organized network.
Background
With the development of vehicle ad hoc networks (VANET) toward high transmission rate, high reliability and high availability, information transmission mechanisms between vehicles are receiving general attention and research. However, the network topology changes frequently due to the fast moving speed of the vehicle node, so that the traditional MAC protocol faces an unprecedented challenge.
The clustered network structure has good grade difference and a division mechanism, and an effective message transmission mechanism can be generated by using a clustering algorithm to transmit messages. The main purpose of clustering is to select a proper cluster head, so that the cluster head can maintain related routing information and network topology information, the stability of the cluster can be improved, the influence caused by topology change is reduced, the network load is reduced, the management of the whole network is facilitated, and the cluster is suitable for large-scale networks.
The most important advantages of the MAC protocol based on competition are that the MAC protocol can adapt to the change of the network well, the working mode is very flexible, and the nodes do not need to be synchronized accurately. The biggest disadvantage of the method is that information loss caused by conflict under the mechanism cannot be completely solved by the protocol. In the MAC protocol based on the allocation mechanism, data transmission among nodes is staggered in a mode of dividing one channel into a plurality of sub-channels and allocating nodes to the sub-channels, so that collision is avoided.
Disclosure of Invention
In view of the above, the present invention provides a method for implementing a link duration based cluster MAC protocol in a vehicle-mounted ad hoc network, and specifically includes a link duration based clustering method in a vehicle-mounted ad hoc network, a cluster updating method in a vehicle-mounted ad hoc network, and a link duration based cluster MAC protocol in a vehicle-mounted ad hoc network.
In order to achieve the purpose, the invention provides the following technical scheme:
a clustering method based on link duration in a vehicle-mounted self-organizing network comprises the following steps: the method comprises the following steps: the node acquires the position, speed, acceleration and node type information of the vehicle node through a GPS and a periodic basic control message; step two: determining the average link duration between the node and the neighbor node according to the acquired node position and speed information; step three: determining the connectivity of the node according to the historical neighbor set and the current neighbor set of the node; step four: selecting the node with the maximum priority as a cluster head according to the average link duration and the connectivity among the nodes; step five: selecting a node next to the cluster head to become a standby cluster head according to the priority of the node; step six: the cluster head broadcasts a clustering control message to the cluster nodes to declare that the cluster head is formed, and the cluster nodes determine that the cluster nodes are the cluster nodes according to the positions of the cluster nodes and the received state messages and reply to the cluster heads.
Further, the determining the average link time between the node and the neighboring node according to the obtained node position and speed information specifically includes:
the node i acquires the current position S through the GPSiVelocity viAcceleration aiInformation;
the node i acquires the current position S of the neighbor node j through the periodic basic control messagejVelocity vjAcceleration ajInformation;
the node i calculates the position relation which can be communicated with the node j according to the following formula:
wherein, t1Indicating the time required for both vehicles to start from the initial link to have the same speed,
the node i calculates the link time with the neighbor node j according to the following formula:
the node i calculates the average link time with the neighboring nodes according to the following formula:
wherein: n is the number of neighbor nodes in undetermined state, tiIs the link duration, t, between the current node and node i (i =1,2, …, N)maxIs the maximum link duration between nodes.
Further, the determining the connectivity of the node according to the historical neighbor set and the current neighbor set of the node specifically includes:
the nodes record t by periodically exchanging state information0Time neighbor node set N0(i) And the current time t1Neighbor node set N1(i) Predicting the change frequency of the neighbor nodes;
the node i calculates the connectivity with the adjacent node according to the following formula:
wherein: | N0(i)∪N1(i) L is node at t0Time t and1the number of all neighbor nodes, | N, at any moment0(i)∩N1(i) L is node at t0Time t and1the number of neighbor nodes owned at the same time.
Further, the selecting a node with the highest average link duration as a cluster head includes:
determining the priority of the nodes according to the average link duration of the nodes, wherein the larger the link duration is, the smaller the connectivity of the nodes is, the larger the priority is, the node with the highest link duration is used as a cluster head, and the node with the priority next to the cluster head is used as a standby cluster head; the cluster head broadcasts a clustering control message to the nodes in the cluster to declare that the cluster head is formed, and the nodes in the cluster determine whether the cluster head is the nodes in the cluster or the standby cluster head according to the state of the cluster head and reply to the cluster head; if no other neighbor nodes exist around the node, the node forms an independent cluster and sets the cluster head of the node.
The invention also provides an updating method of the cluster in the vehicle-mounted self-organizing network, which specifically comprises the following steps:
updating the cluster head node CH, the cluster member node CM and the spare cluster head BKCH according to the change of the position of the cluster head node CH and the change of the priority;
the cluster head node periodically detects, if the average link duration of the cluster member CM is longer than the cluster head node, the cluster head node becomes a cluster head, and broadcasts a clustering control message, and the original cluster head node becomes a member node; if the average link duration of the cluster head node CH is still the maximum, the cluster head node only needs to maintain the state of the cluster head node, and updates the information of the speed, the position and the like of the cluster members; if the cluster head node does not receive the periodic broadcast state information of a certain member node, the cluster head deletes the member node from the member table;
if more than 10% of the cluster members leave the range of the cluster head but do not leave the range of the spare cluster head, converting the spare cluster head into the cluster head; if the cluster head enters 1/3 of the transmission range of the neighbor cluster head, the standby cluster head is set as the cluster head, if the standby cluster head is still in 1/3 of the transmission range of the neighbor cluster head, the last information is sent, and the standby cluster head is announced to be merged into the neighbor cluster, other cluster members are either added into the neighbor cluster, or the standby cluster head returns to an undetermined state.
The invention also provides a cluster MAC protocol based on the link duration in the vehicle-mounted self-organizing network, which comprises the following steps: after the cluster is established, entering a stable stage of the cluster, and starting to receive and transmit service data in the stable stage of the cluster; in a hierarchical network, a cluster head node must keep time synchronization with a common node in a cluster of the cluster head node, so that data is uploaded orderly; in the cluster MAC protocol, a cluster node communicates with a cluster head node by adopting a CSMA/TDMA hybrid mechanism; a cluster head node in the cluster MAC protocol communicates with a neighbor cluster head by adopting a CSMA/CA mechanism; the problem of reserved time slot distribution conflict generated when two clusters meet is solved in a cluster MAC protocol according to an inter-cluster fusion mechanism.
Further, in a synchronous period, the cluster head node broadcasts a cluster head control message to the cluster nodes, the message distributes specific time of communication with the cluster head for each cluster node, the cluster nodes arrange own activities according to the control message issued by the cluster head, the communication module is started when own communication is needed, and the communication module is closed to enter a dormant state when own communication is not needed.
Further, the cluster head broadcasts a TDMA communication time slot table to member nodes in the cluster, and after receiving the broadcast, cluster members compete for a channel in the time slot belonging to the cluster head and send monitored data to the cluster head; the cluster head is responsible for receiving data sent by the cluster nodes, fusing the received cluster information and communicating with the adjacent cluster head;
the cluster head generates a time frame which consists of a plurality of time slots and a broadcast time slot; in each time frame, the members in the cluster are respectively divided into a time slot, and the member nodes can preferentially occupy the channel to send data to the cluster head only in the time slots of the member nodes; the cluster head issues the allocation of the next round of time slot and a new clock synchronization signal in the broadcast time slot, the member nodes in the cluster are all in an interception state, the communication with the cluster head is completed, and the time slot and the clock are updated.
Further, after the cluster head receives the information sent by the nodes in the cluster, the communication between the cluster head and the neighbor cluster head is realized by adopting a CSMA/CA mechanism; before sending data, a cluster head sends a request frame to a next-hop neighbor cluster head, the neighbor cluster head sends a CTS (clear to send) to respond after receiving an RTS (request to send) and sends the data to the neighbor cluster head, and when the neighbor cluster head receives a data packet, the cluster head sends an ACK (acknowledgement) frame to a source cluster head to confirm that the data packet is correctly received; and other neighbor cluster heads wait after listening to the RTS or the CTS until competing for the channel after the data packet is sent.
Further, the nodes are divided into three different roles according to different positions of the nodes in the cluster: a cluster head front node, a cluster head node and a cluster head rear node; the nodes at different positions adopt different rules when selecting own reserved time slots, if the node selects the reserved time slot n as the basic time slot of the node, the node before the cluster head requires n%2=0, and the node after the cluster head requires n%2= 1; after two clusters meet, if two nodes meeting first find that the time slots in the two clusters are allocated with conflicts, the corresponding time slots are set to be idle in FI of the nodes, the conflicting nodes are informed to apply for new time slots to solve the time slot allocation conflicts, and the fusion of the clusters is realized.
The invention has the beneficial effects that: the invention provides a cluster MAC protocol implementation method based on link duration in a vehicle-mounted self-organized network, which is beneficial to improving the stability of clusters in the vehicle-mounted self-organized network and reducing the network overhead; the reliability of data transmission is obviously improved, and the data transmission delay can be effectively reduced.
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In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
FIG. 1 is a flow chart illustrating the formation of an ad hoc network from an undefined state to a cluster head according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating a format of a node periodically sending and receiving basic control messages according to an embodiment of the present invention;
FIG. 3 is a state transition diagram during cluster update and maintenance in an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating synchronization between cluster head nodes and common nodes in a cluster according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an inter-cluster fusion mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating an allocation principle of a cluster head broadcasting a TDMA communication time slot table to member nodes in a cluster according to an embodiment of the present invention;
FIG. 7 is a diagram illustrating the MAC protocol channel allocation utilization in an embodiment of the present invention;
fig. 8 is a flowchart of the MAC protocol algorithm in the embodiment of the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Fig. 1 is a flowchart illustrating an ad hoc network formed from an undefined state to a cluster head according to an embodiment of the present invention, where as shown in the figure, a specific process of selecting a cluster head by a node may include:
step A1, acquiring the position, speed, acceleration and other information of the node and the neighbor.
Specifically, the node acquires information such as its own position and the like through a GPS positioning system, and notifies information such as its own position, speed, acceleration and the like to the neighbor through a periodic basic control message.
The node calculates the average link duration of the node through the received information of the neighbor nodes.
Referring to fig. 2, fig. 2 is a schematic diagram illustrating a format of a periodic basic control message for a vehicle to acquire neighbor node information according to an embodiment of the present invention. The node judges the state of the node according to the message Type, and the message Type comprises the following components: 0 is the state information of the neighbor node, 1 is the first information of the cluster head, 2 is the cluster head control message, and 3 is the last information of the cluster head.
Step A2, determining the average connection duration between the node and the neighboring node according to the acquired node position, speed and acceleration information.
Specifically, the node i acquires the current position S through the GPSiVelocity viAcceleration aiWaiting for information, the node i acquires the current position S of the neighbor node j through the periodic basic control messagejVelocity vjAcceleration ajAnd so on. The node can communicate with the neighbor node, and the position relationship needs to satisfy the following formula.
Wherein, t1Indicating the time required for both vehicles to start from the initial link to have the same speed,
the node calculates the average link time between the node and the neighboring node according to the following formula.
Wherein,
step A3, the node determines the connectivity of the node according to the neighbor node set obtained by the interaction state information.
Specifically, the nodes record t by periodically exchanging state information0Time neighbor node set N0(i) And the current time t1Neighbor node set N1(i) Predicting the change frequency of the neighbor nodes; and the node i calculates the connectivity with the adjacent node according to the following formula.
|N0(i)∪N1(i) L is node at t0Time t and1the number of all neighbor nodes, | N, at any moment0(i)∩N1(i) L is node at t0Time t and1the number of neighbor nodes, t, owned at the same time0And t1The smaller the interval of (a), the more accurate the calculation is, but the network overhead is increased, so that the interval is defined as a period of state information interaction;
and A4, selecting cluster heads according to the average connection duration and the node communication degree among the nodes.
All nodes broadcast state information, the nodes receive the average connection duration E [ link ] of the neighbor nodes, the average connection duration E [ link ] is compared with the E [ link ] of the nodes, the node with the largest E [ link ] becomes a cluster head, and if a plurality of maximum values E [ link ] exist, the node with the smaller connectivity MC value is selected as the cluster head.
The cluster head broadcasts a clustering control message to the neighbor nodes, declares itself to become a cluster head and invites the neighbor nodes to join the cluster. If the neighbor node does not receive the clustering control message within the range of the timer, the neighbor node forms a separate cluster. If the neighbor node receives the clustering control message and has E [ link ] next to the cluster head, the neighbor node sets itself as a spare cluster head.
Referring to fig. 3, fig. 3 is a state transition diagram of cluster update and maintenance in an embodiment of the present invention. Due to the fast movement of the nodes, which often results in the cluster member nodes leaving the communication range of the cluster head, timely update and maintenance of the cluster is necessary.
Step a 5-update and maintenance of cluster heads.
Specifically, the cluster head periodically detects the basic state information of the cluster members, if the E [ link ] value of a node in the cluster member nodes is larger than that of the cluster head node, the node with the largest E [ link ] is set as the cluster head, the original cluster head node becomes the member node, and otherwise, the cluster head node only updates the information of the speed, the acceleration, the position and the like of the cluster member node. If the cluster head does not receive the status information of a cluster member, the cluster head deletes the member from the cluster.
When the distance between the vehicle and the cluster head exceeds the transmission range, the vehicle leaves the cluster to find the next cluster to join, or becomes a separate cluster. In the cluster head range, the vehicle with the highest E [ link ] except the cluster head is set as a standby cluster head, and the standby cluster head does not form a new cluster and waits to be merged into other clusters or change the state of the standby cluster head into a main cluster.
After a period of time the cluster members remain within range of the cluster head, the cluster head maintains its state. Boundary cluster members leave the cluster due to acceleration and deceleration of the vehicle. If more than 10% of the cluster members leave the range of the cluster head but do not leave the range of the spare cluster head, the spare cluster head is converted into a cluster head.
If the cluster head enters 1/3 of the transmission range of the neighbor cluster head, the spare cluster head is set as the cluster head, if the spare cluster head is still in 1/3 of the transmission range of the neighbor cluster head, the last information is sent, and the information is announced to be merged into the neighbor cluster, other cluster members are either added into the neighbor cluster, or the state returns to the single state.
In the embodiment of the invention, the cluster MAC process of the CSMA/TDMA hybrid mechanism comprises the following steps:
step B1-cluster head and intra-cluster node maintain synchronization in time.
Specifically, referring to fig. 4, fig. 4 is a schematic diagram illustrating synchronization between a cluster head node and a common node in a self cluster in keeping time according to an embodiment of the present invention. In a synchronous period, a cluster head node broadcasts a cluster head control message to cluster nodes, specific time of communication with the cluster head is distributed to each cluster node in the message, the cluster nodes arrange own activities according to the control message issued by the cluster head, a communication module is started when own communication is needed, and the communication module is closed to enter a dormant state when own communication is not needed.
Step B2, the cluster head node adopts inter-cluster fusion mechanism to allocate time slot for the cluster member.
Specifically, referring to fig. 5, fig. 5 is a schematic diagram of an inter-cluster fusion mechanism in an embodiment of the present invention. The specific process of the cluster fusion mechanism is as follows.
i: the inter-cluster fusion mechanism divides nodes into three different roles according to different positions of the nodes: a cluster head front node, a cluster head node, and a cluster head rear node.
ii: the nodes at different positions adopt different rules when selecting the reserved time slot of the nodes, if the nodes select the reserved time slot n as the basic time slot of the nodes, the nodes before the cluster head require n%2=0, and the nodes after the cluster head require n%2= 1.
iii: and each time the FI frame is received, the node updates the own time slot allocation list, and if two nodes use the same time slot, the time slot is set to be idle.
iv: the conflicting node will re-apply for the slot.
After two clusters meet, if two nodes meeting first find that the time slots in the two clusters are allocated with conflicts, the corresponding time slots are set to be idle in FI of the nodes meeting first, and the conflicting nodes are informed to apply for new time slots to solve the time slot allocation conflicts, so that the fusion of the clusters is realized.
Step B3-the cluster head broadcasts the slot table to the cluster members according to the assigned slots.
The cluster head generates a time frame which consists of a plurality of time slots and a broadcast time slot. Referring to fig. 6, fig. 6 is a schematic diagram illustrating an allocation principle of a cluster head broadcasting a TDMA communication time slot table to member nodes in a cluster according to an embodiment of the present invention. In each time frame, the members in the cluster are respectively divided into a time slot, and the member nodes can preferentially occupy the channel to send data to the cluster head only in the time slots of the member nodes. The cluster head issues the allocation of the next round of time slot and a new clock synchronization signal in the broadcast time slot, the member nodes in the cluster are all in an interception state, the communication with the cluster head is completed, and the time slot and the clock are updated.
Step B4-the cluster head and the intra-cluster nodes communicate according to the cluster MAC protocol.
Specifically, in the CSMA/TDMA time period, each cluster node preferentially communicates with the cluster head node in the allocated time slot, and competes with other cluster nodes for accessing the channel in the non-allocated time slot. And (3) in the CSMA period, the cluster head node competes for the channel, the channel successfully competes and then communicates with the neighbor cluster head, and at the moment, the cluster node enters a dormant state.
Referring to fig. 7, fig. 7 is a diagram illustrating MAC protocol channel allocation utilization according to an embodiment of the present invention. The channel takes 100ms as a period, and each period is divided into two parts: CSMA period and TDMA period. Each time period is 50 ms. Each slot is divided into 10 slots, each slot being 5 ms.
And adopting CSMA competition access channel between CSMA time periods CH for data transmission. In CSMA/TDMA time slot, CH allocates time slot to each CM in advance, CM competes for accessing channel, CM in assigned time slot allocated by CH accesses channel preferentially, and waiting time is SIFS. The CM may also contend for access to the channel if not within its allocated time slot, but with a DIFS latency. Therefore, when the CM is idle in the allocated time slot, other CM can access the channel, and the utilization rate of the channel is improved.
Referring to fig. 8, fig. 8 is a flowchart of a link duration cluster-based MAC procedure provided by an embodiment of the present invention. The process of transmitting data by accessing the channel by the cluster head and the nodes in the cluster MAC is as follows:
forming clusters by a clustering algorithm, and selecting cluster heads;
the cluster head allocates corresponding time slots for the nodes in the cluster according to a synchronization mechanism and an inter-cluster fusion mechanism;
the node judges the time interval of the control frame arrangement according to the state of the node;
if the time interval is the communication time interval of the cluster head and the cluster members, the cluster members judge whether the cluster members are the time slots distributed by the cluster head, if so, the cluster members compete for the channel after waiting for SIFS, otherwise, the cluster members compete for the channel after waiting for DIFS;
if the communication time interval between the cluster heads is the communication time interval, a CSMA mechanism is adopted to communicate with the neighbor cluster heads.
Finally, it is noted that the above-mentioned preferred embodiments illustrate rather than limit the invention, and that, although the invention has been described in detail with reference to the above-mentioned preferred embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the invention as defined by the appended claims.
Claims (3)
1. A clustering method based on link duration in a vehicle-mounted self-organizing network is characterized in that: the method comprises the following steps: the node acquires the position, speed, acceleration and node type information of the vehicle node through a GPS and a periodic basic control message; determining the average link duration between the node and the neighbor node according to the acquired node position and speed information;
determining the connectivity of the node according to the historical neighbor set and the current neighbor set of the node;
selecting the node with the maximum priority as a cluster head according to the average link duration and the connectivity among the nodes;
selecting a node next to the cluster head to become a standby cluster head according to the priority of the node;
the cluster head broadcasts a clustering control message to the nodes in the cluster to declare that the cluster head is formed, and the nodes in the cluster determine that the cluster head is the nodes in the cluster according to the position and the received state message and reply to the cluster head;
the method for determining the average link time between the node and the neighbor node according to the acquired node position and speed information specifically comprises the following steps:
the node i acquires the current position S through the GPSiVelocity viAcceleration aiInformation;
the node i acquires the current position S of the neighbor node j through the periodic basic control messagejVelocity vjAcceleration ajInformation;
the node i calculates the position relation which can be communicated with the neighbor node j according to the following formula:
wherein, t1Indicating the time required for both vehicles to start from the initial link to have the same speed,
the node i calculates the link time with the neighbor node j according to the following formula:
the node i calculates the average link time with the neighboring nodes according to the following formula:
wherein: n is the number of neighbor nodes in undetermined state, TiIs the link duration between the current node and node i (i ═ 1,2, …, N), tmaxIs the maximum link duration between nodes.
2. The link duration based clustering method in the vehicular ad hoc network according to claim 1, wherein: the method for determining the connectivity of the node according to the historical neighbor set and the current neighbor set of the node specifically comprises the following steps:
node passing cycleInteractively exchanging state information, recording t0Time neighbor node set N0(i) And the current time t1Neighbor node set N1(i) Predicting the change frequency of the neighbor nodes;
the node i calculates the connectivity with the adjacent node according to the following formula:
wherein: n is a radical of0(i)∪N1(i) Is node at t0Time t and1number of all neighbor nodes at that moment, N0(i)∩N1(i) Is node at t0Time t and1at the same timeThe number of neighbor nodes owned by the time.
3. The link duration-based clustering method in the vehicular ad hoc network according to claim 2, wherein: the selecting the node with the highest average link duration as the cluster head includes:
determining the priority of the nodes according to the average link duration of the nodes, wherein the larger the link duration is, the smaller the connectivity of the nodes is, the larger the priority is, the node with the highest link duration is used as a cluster head, and the node with the priority next to the cluster head is used as a standby cluster head;
the cluster head broadcasts a clustering control message to the nodes in the cluster to declare that the cluster head is formed, and the nodes in the cluster determine whether the cluster head is the nodes in the cluster or the standby cluster head according to the state of the cluster head and reply to the cluster head;
if no other neighbor nodes exist around the node, the node forms an independent cluster and sets the cluster head of the node.
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