CN105307232B - Routing optimization method based on connection probability for vehicle-mounted self-organizing network - Google Patents
Routing optimization method based on connection probability for vehicle-mounted self-organizing network Download PDFInfo
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- H04W40/20—Communication route or path selection, e.g. power-based or shortest path routing based on geographic position or location
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Abstract
The invention discloses a routing optimization method based on connection probability for a vehicle-mounted self-organizing network, which comprises the steps of firstly calculating the connection probability on each lane in a corresponding network by a gateway where a source node is located, then selecting a path with the highest connection probability through mutual communication among the gateways, recording the id number of the gateway in the selected path, adding the id number to the head of a data packet to be transmitted, and waiting for the data packet to be actually transmitted. After the path selection is finished, the actual data packet forwarding process is started, the next hop selection mechanism based on the priority is provided, and compared with the original greedy algorithm, the mechanism reduces the backspacing probability and greatly improves the routing effectiveness.
Description
Technical Field
The invention relates to a routing optimization method based on connection probability for a vehicle-mounted self-organizing network, belonging to the technical field of communication.
Background
Since the network topology is frequently changed due to factors such as high-speed movement of vehicles and uncertainty of the number of vehicles, the location-based routing protocol is more suitable for the vehicle-mounted ad hoc network. A location routing protocol (geographic routing protocol) is a typical in-vehicle network protocol. It routes by introducing geographical location information of the nodes. Usually, each node obtains its own geographical location information by using GPS or other positioning devices, each node in the network only needs to know the geographical location information of the neighboring nodes within its communication radius, and route establishment can be completed only by a plurality of single-hop topology information. Therefore, the data transmission from the source node to the destination node can be realized only by knowing the geographical position of the destination node and the geographical position of the next hop node at each data forwarding without other topological information.
The main principle of a next hop selection mechanism algorithm of the existing position routing protocol is that when a forwarding node and a destination node are in the same signal area, but the forwarding node does not have a neighbor node in the signal area, the GRP does not select any neighbor node, and a data packet is returned to an upstream node for reselection. Clearly this mechanism is disadvantageous. And when the neighboring neighbor of the destination node has the neighbor of the current node and the neighbor can reach the destination node in one hop, selecting the neighbor of the neighboring of the destination node as the next hop, otherwise, returning data to the previous hop node without considering any neighbor. And when the forwarding node and the destination node are not in the same signal area and the signal area of the destination node is provided with a neighbor node of the forwarding node, randomly selecting one neighbor node to forward the next hop. This is clearly disadvantageous and an improved method is also proposed. The method comprises the steps of firstly calculating the distances from all adjacent nodes in the adjacent region of a target node to the target node, and then sorting and selecting the adjacent node closest to the target node as a next hop node. Therefore, the node selects a more suitable next hop node, the forwarding hop count and the time delay are reduced, and the delivery rate is improved.
However, the information of the routing table cannot accurately reflect the position information of the neighbor node due to the high-speed movement of the node, and the update period of the neighbor table cannot be set too short due to the limitation of wireless resources. As shown in fig. 1, the communication distance of a sending node in a straight road is 200m, a period of sending a beacon frame by a node in a routing protocol is 1s, that is, position information maintained by a neighbor table in the sending node is 1s updated once, the update time of the last beacon frame is T, when the sending node sends data at time T, T' -T <1s, T-T is 0.5s, the speed of the neighbor node is 20m/s, if the coordinate position in the neighbor table is 195m from the sending node, the distance from the sending node to the node is 205m, the sending node is not in the communication range of the sending node, then the node following GRP will rollback the data packet to an upstream node according to the record of a rollback table, the upstream node will reselect a next hop, and if the node fails, rollback to the previous node to reselect the next hop, and the process is circulated until the data packet is returned to the source node, and the data packet transmission fails. Therefore, relying on only greedy algorithms on the next-hop selection mechanism does not guarantee reliable transmission of packets. The present invention can solve the above problems well.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art and provides a routing optimization method based on the connection probability for a vehicle-mounted self-organizing network. After the path selection is finished, the actual data packet forwarding process is started, the next hop selection mechanism based on the priority is provided, and compared with the original greedy algorithm, the mechanism reduces the backspacing probability and greatly improves the routing effectiveness.
The technical scheme adopted by the invention for solving the technical problems is as follows: a routing optimization method based on connection probability for a vehicle-mounted self-organizing network comprises the following steps:
step 1: assuming that gateways are arranged at intersections of roads, each gateway maintains and periodically updates the density, driving speed, etc. of vehicle nodes on different lanes on a corresponding road section, and then divides the lanes into sections in units of half of communication distance, and if there is one vehicle on each section, the paths are connected. And the auxiliary communication probability among three different lanes is calculated by using a permutation and combination mathematical method.
Step 2: according to the three-lane assistance communication probability given in the step 1, the gateways communicate with each other in a wired manner, a path with the highest communication probability is finally selected between the source node and the destination node, the path is specifically to the lane, then the routing message is returned to the data packet of the source node, and the gateway number and the lane number of the selected path are stored in the head of the data packet for actual forwarding.
And step 3: in the actual forwarding process, i.e. in the mechanism of selection of the next hop of the data packet, the source node forwards the data packet based on the priorities of the neighbor nodes in the neighbor table.
And 4, step 4: regarding the algorithm of the priority, the invention considers the position, the speed and the direction of the neighbor node relative to the sending node, and carries out different algorithm analysis aiming at two road conditions of a straight lane and a crossroad, and finally obtains the priority of each neighbor node.
And 5: and the sending node selects the neighbor node with high priority as the next hop node.
Has the advantages that:
1. the routing mechanism of the routing protocol of the invention must consider the connectivity between vehicles, and the communication assisting probability of the invention is more reliable because the lanes can be communicated with each other.
2. The invention improves a position routing protocol GRP aiming at the actual situation of a vehicle-mounted self-organizing network, considers the connection probability between vehicles on the basis of a path selection strategy, researches a bidirectional three-lane highway which accords with the actual situation in a scene, and writes an auxiliary connection probability expression of each lane based on the scene. Simulation shows that the higher the communication range of the vehicle and the vehicle density of the lane, the higher the assisting communication probability, which provides a powerful basis for improving the lane assisting communication probability, i.e. the reliability of communication.
3. The gateway selects the lane with the highest communication probability in the three lanes as the routing path, and the lane selection mechanism based on the auxiliary communication probability refines the routing mechanism, reduces the link interruption probability caused by high-speed movement of vehicles, and ensures the reliability of communication.
4. The invention improves the next skip sending strategy of the geographical position routing protocol, does not rely on greedy algorithm during selection, but distributes priority to the neighbor node of the sending node according to the position and speed information of the vehicle, selects the neighbor node with high priority to forward, and considers the direction factor in the distribution of the priority because the running behavior of the vehicle near the crossroad has uncertainty.
Drawings
FIG. 1 is a schematic diagram of a three-lane bidirectional road model.
FIG. 2 is a schematic diagram of a road model according to the present invention.
FIG. 3 is a probability map of the distance between adjacent vehicles of the present invention.
Fig. 4(a) is a schematic diagram of the time Timestamp1, and fig. 4(b) is a schematic diagram of the time Timestamp 2.
FIG. 5 is a flow chart of the method of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 2, in the three-lane bidirectional road, assuming that the vehicle on each lane moves at a constant speed, the corresponding vehicle speeds on lanes 1,2 and 3 are V1, V2 and V3, respectively. The invention divides each road section into small sections with the length being half of the communication distance, and the gateway maintains the path length L in the corresponding network and the vehicle speed and the vehicle density of each lane. It is empirically worthwhile that the node positions in each small segment are subject to uniform distribution. Assume that the number of node arrivals on the three lanes all obey a poisson distribution, and the densities are K1, K2, and K3 (units per meter), respectively. The nodes on each segment of lane 1 are independently and identically distributed and are subject to a poisson distribution with the parameter (R/2) K1, i.e. the number N of nodes on the segments of the three lanesi(i ═ 1,2,3) independently and obey a poisson distribution with parameter (R/2) × Ki. So the number of nodes in each small segment of the three lanes is
The distance between the node 1 and the node 2 in fig. 2 is greater than the communication distance R, and vehicle-to-vehicle communication cannot be completed, but communication is possible with the assistance of the node 3 and the node 4. Considering the three lanes as a whole, it is obvious that since each small segment is R/2, as long as at least one node is ensured in each small segment, the connectivity of the network can be ensured (i.e. the transverse distance between vehicles is ignored).
In fig. 2, since there is no node in the lane 2, and only the communication assistance can be performed through the nodes in the lane 3 (i.e. the small segments in the lane 3 are independently and identically distributed), the communication probability between the node 1 and the node 2 is:
The general case is inferred (here only the case where lane 1 completes the communication with the assistance of lane 2 and lane 3 is considered): if two non-connected adjacent vehicles on the lane 1 are separated by two small segments (i.e. n is 2), the nodes on the lane 1 can be connected with the help of the lane 2 and the lane 3.
If n is 2, it is:
If n is 3, it is:
Reasoning that when n is equal to an arbitrary value k,
Let Xi be the distance between two adjacent cars on lane 1, the small segment number between the adjacent car is n equals Xi/(R/2), is:
Distance X between adjacent vehicles in lane 11Is subject to an exponential distribution with the parameter vehicle density K1, namely:
equation 7
Assuming that the vehicle density of lane 1 is 0.008 vehicles/meter, the distance between adjacent vehicles is as shown in fig. 3:
it can be seen from fig. 3 that the probability of the distance between adjacent vehicles being greater than 400m is approximately 1, taking 400m and 600 m. When the distance between two adjacent vehicles exceeds the communication distance, the two vehiclesIs not connected. X1Subject to an exponential distribution with parameter K1, the probability of the break in lane 1 is as follows:
Pd＝P(X1＞R)＝e-R*K1equation 8
Considering that a plurality of links on the lane 1 may be disconnected, the number of the disconnected links is Q, and Q nodes are Q, then Q ∈ 1, 2. Then the probability of q links being assisted to connect on lane 1 is as follows:
If the assistant communication between the lanes is not considered, the probability that the q links on the lane 1 are disconnected is
Equation 10
Then the connectivity probability for lane 1 is:
The probability of the communication between the lane 2 and the lane 3 between the two gateways can be calculated in the same way, and is respectively P2CAnd P3C. The gateway selects the lane with the highest connection probability to assist in forwarding data, namely Ps＝Max{P1CP2CP3C}. Because the path from the source node to the destination node is composed of n selected lanes, the connection probability of the whole routing path is
The gateways communicate with each other through a wired network, the gateway where the source node is located knows the connection probability on each lane, and then a path with the highest lane connection probability is selected for actual forwarding.
In the actual forwarding process, due to the fact that the nodes move rapidly, connectivity requirements cannot be met only by means of a greedy algorithm, and therefore the optimization algorithm is provided. Since there is no speed and direction information in the neighbor table, there is only time and location information. Therefore, the distance between each neighbor node and the sending node and the speed of the neighbor node must be calculated, and the information of the two fields is added to the neighbor table, as shown in table 1. These three field values may be calculated at the time of neighbor table update, as follows:
table 1 neighbor table after improvement
| Type (B) | Field(s) | Description of the invention |
| InetT_Address | Nbr_addr | IP address and type |
| double | Nbr_lat | Node longitude |
| double | Nbr_long | Node latitude |
| double | timestamp | Update time |
| double | timeout | Expiration time |
| double | position | Node location |
| double | velocity | Nodal velocity |
The source node acquires the longitude and latitude positions of the neighbor nodes from the neighbor table as follows: (nbri _ lat, nbri _ long), the position of the GPS can be obtained as follows: (self _ lat, self _ long), the distance of each neighbor node from itself can be calculated as:
In order to reduce the hop count, the data packet is forwarded to the node far away from the node, so that the node far away is assigned with higher priority, and the distance factor a of the priority is obtainediComprises the following steps:
ai＝R/Liequation 14
Since the network load is increased by the high-speed movement of the nodes, and the link failure is possibly caused, the nodes with low speed are selected as possible to carry out forwarding, namely, the nodes with low speed are given high forwarding priority. The source node may obtain the longitude and latitude (assuming uniform motion) of the neighbor nodes at the time of timestamp1 and timestamp2 from its neighbor table, which are (nbri _ lat1, nbri _ long1) and (nbri _ lat2, nbri _ long2), respectively, and obtain the velocity of the neighbor node i as follows:
Suppose VMaxIs the upper speed limit on the selected lane, prioritized speed factor biComprises the following steps:
bi＝VMax/Viequation 16
Therefore, the priority of the neighbor node on the straight road is allocated as:
S1＝ai*biequation 17
The present invention takes into account the uncertainty of the future travel direction of the vehicle at the intersection, so the selection of the next hop node for the intersection vehicle is different from the selection on the straight road. As shown in fig. 4(a), the scenario at Timestamp1 is shown, if node 3 is selected for forwarding according to the greedy algorithm, but at Timestamp2 the scenario becomes as shown in fig. 4(b), because nodes 1,2, and 3 respectively make a left turn, a right turn, and a straight line at a certain time in [ Timestamp1 and Timestamp2 ]. Thus, node 3 is not the best choice when actually forwarding data, and node 1 is the best choice. Therefore, in the next hop selection algorithm of the intersection, in addition to considering the distance and the speed, the included angle between the motion direction of the neighbor node and the source node to the destination node is also considered, and the neighbor node with a small included angle has a high priority.
Claims (2)
1. A routing optimization method based on connection probability for a vehicle-mounted self-organizing network is characterized by comprising the following steps:
step 1: assuming that gateways are configured at intersections of roads, each gateway maintains and periodically updates the density and the driving speed of vehicle nodes on different lanes on a corresponding road section, then the lanes are divided into road sections with half of communication distance as a unit, and if one vehicle exists on each road section, paths are communicated; the auxiliary communication probability among three different lanes is calculated by using a permutation and combination mathematical method;
step 2: according to the assistant communication probability of the three lanes given in the step 1, the gateways communicate in a wired mode, finally a path with the highest communication probability is selected between the source node and the destination node, the path is specifically to the lane, then the routing message is returned to the data packet of the source node, and the gateway number and the lane number of the selected path are stored in the head of the data packet for actual forwarding;
and step 3: in the actual forwarding process, namely in the mechanism of selecting the next hop of the data packet, the source node forwards the data packet based on the priority of the neighbor node in the neighbor table;
and 4, step 4: the sending node selects a neighbor node with high priority as a next hop node;
the distance between the node 1 and the node 2 is greater than the communication distance R, the communication between vehicles cannot be completed, but the communication can be realized through the assistance of the node 3 and the node 4, the three lanes are considered as a whole, obviously, because the distance of each small segment is R/2, the connectivity of the network can be ensured as long as at least one node is ensured in each small segment, and because no node is arranged in the lane 2, the communication can be assisted only through the node in the lane 3, the communication probability of the node 1 and the node 2 can be obtained as follows:
wherein P is the connectivity probability, R is the vehicle communication distance, K3Is the average density of vehicles on the lane 3, in units of vehicles/meter, N3The number of vehicles on the lane 3 with the length of R/2.
2. The method for optimizing the routing of the vehicular ad hoc network based on the connection probability according to claim 1, wherein the method comprises: the priority algorithm considers the position, speed and direction of the neighbor node relative to the sending node, and performs different algorithm analyses aiming at two road conditions of a straight lane and a crossroad, and finally obtains the priority of each neighbor node.
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