CN105763451A - Ant colony algorithm-based QoS fault-tolerant route selection method in Internet of Vehicles - Google Patents
Ant colony algorithm-based QoS fault-tolerant route selection method in Internet of Vehicles Download PDFInfo
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Abstract
The invention discloses an ant colony algorithm-based QoS fault-tolerant route selection method in the Internet of Vehicles, and relates to the technical field of Internet of Vehicles. The method has a forward search function. Two ant-like agents are introduced to the algorithm, which respectively are a forwarding ant and a reverse ant which are used for assessing parameters that meet the QoS constraint condition, and the method uses indexes of bandwidth, hop number and delay to calculate a plurality of disjoint paths between a source node and a destination node, so as to meet the given QoS constraint. The optimal path is found through deposition of pheromones in a link, and at the same time, after a fault occurs at a node, a fault-tolerant alternative path can be found. Since the network stability and QoS constraint are considered in a route selection process, a QoS objective is completely fulfilled. After simulation experiments, the algorithm is discovered through comparison to have better performance than other routing algorithms in aspects of data packet transmission rate, throughput capacity, routing overhead and the like.
Description
Technical field
The present invention relates to car networking technology field, be specifically related in the networking of a kind of car based on the QoS Fault-tolerant routing method of ant group algorithm.
Background technology
Along with the fast development of society, vehicle has become as requisite instrument in people's life, adds up according to Traffic Administration Bureau of the Ministry of Public Security, and by the end of the year in 2014, China's vehicle guaranteeding organic quantity reached 2.64 hundred million, wherein 1.54 hundred million, automobile, and vehicle driver breaks through 300,000,000 people.Along with the sustained and rapid development of economic society, automobile pollution still presents a rapidly rising trend.The universal one side of automobile brings immense pressure to transportation, environmental conservation, causes that the network car constituted between automobile networking becomes to become more and more important on the other hand.Car networking will become the focus that the third-largest the Internet carrier being only second to after the Internet and mobile Internet, associated academic research and application have become current.
Car networking is based on car Intranet, car border net and vehicle-mounted mobile the Internet, communication protocol and Data Exchange Standard according to agreement, utilize the access technology such as radio frequency identification devices, GPS, realize intelligent coordinated between people, car, road and environment, carrying out radio communication and data interaction, it is the application on traffic route of traditional mobile ad-hoc network.With other self-organizing networks the difference is that, vehicle communication network (VehicularCommunicationNetwork, VCN) has the dynamic of height, it is distributed in urban road system.
First, the movement of vehicle node is subject to the impact of trend of road, road markings, traffic lights and traffic state, use Dedicated Short Range Communications technology (DedicatedShort-RangeCommunication, DSRC) come and other vehicle node (VehicletoVehicle, V2V) or roadside communications facility (VehicletoRoadside, V2R) communicate；Secondly, the vehicle node in VCN builds network in the way of self-organizing, and network size has retractility and the autgmentability of height；3rd, different from the node in wireless sensor network and mobile terminal network, vehicle node has powerful calculating and storage resource, and without using restriction.Therefore, the route technology research based on short haul connection mode is scholar and the focus of industry concern, how to ensure that data are transferred to terminal vehicle accurately, efficiently and safely from source vehicle, is the basis that in VCN, other every application realize.
In traditional mobile ad-hoc network, source-routed protocol is simplest a kind of Routing Protocol, and it was made up of route discovery and two stages of route maintenance.Once source node sends request, neighbor node will carry out route discovery, according to certain one loop-free available path of rules selection.Distance vector Routing Protocol AODV adds target sequence field in the routing table, but owing to network topology structure is continually changing, the down hop in route table items may be inconsistent with practical situation.AODV-BR and AODV-ABR uses route stand-by and self-adaptable backup routing respectively when link failure, but the Dynamic Recognition of meeting route stand-by causes extra expense.Supporting the routing algorithm such as AQOR of QoS guarantee, it considers bandwidth and end-to-end time delay when Route Selection, uses flooding strategy to find required path.Based in game theoretic routing algorithm, packet forwards and only carries out between the winning node considering different QoS parameter, and agent node needs constantly and the competition of other nodes is to obtain forwarding power, is easily subject to equally attack and threaten.ACAR method for routing is based on known urban road network, by obtaining car flow information in real time, broadcast explores the methods such as bag, setting up the fixing multi-hop between start node and terminal node and forward route, the path that the method produces is fixed, it is impossible to for the car networking of topology often change.
For the routing issue in VCN, there is different method for routing, be broadly divided into clean culture, multicast, regionality multicast and broadcast etc..Although these methods can transmit data between vehicle node, but all without considering QoS constraint, and it is easily subject to the invasion of assailant at Route establishment and data transfer phase.
Summary of the invention
For drawbacks described above or deficiency, it is an object of the invention to provide the QoS Fault-tolerant routing method based on ant group algorithm in the networking of a kind of car, the method can calculate heat source power, selects an optimal path that weights are the highest to be used for transmitting data from all of available path.
For reaching object above, the technical scheme is that
Based on the QoS Fault-tolerant routing method of ant group algorithm in the networking of a kind of car, comprise the following steps:
1) source node generates the mulitpath being used for finding destination node and all addresss of node in traverse path；Then, source node detection neighbor node, obtain the pheromone value table of adjacent node, described pheromone value table includes the path quality between source node and adjacent node；
2) source node broadcasts FANT message to all neighbor node path qualities higher than the neighbor node of marginal value, and described FANT message includes source address, destination address, serial number, jumping figure, bandwidth, time started and path field；
3) after intermediate node receives FANT message, the path field in detection FANT message: if this intermediate node addresses exists, then abandon FANT information；If it does not exist, then the address of this intermediate node is added in FANT message, carry out FANT information updating, and be broadcast to stable neighbor node by NHR value；
4) step 3 is repeated), until FANT message arrives destination node；
5) destination node receives all FANT message, according to parameter in FANT message, carries out qos parameter calculating, it is thus achieved that the heat source in each path power, and generates BANT message unicast to source node according to meeting user and specify the heat source power of QoS critical values mandate；Described BANT message includes destination address, source address, time started, the path field of reception and heat source power；
6) source node receives BANT message and the BANT message according to the intermediate node received, and selects the node having the highest pheromone value to be used for carrying out data transmission.
Described step 5) in, when destination node receives all FANT message, it is necessary to waiting time Tk, described TkBeing the integer coefficient of all end-to-end time delay De, BANT message passes through Pop operations by message unicast to source node.
Described step 5) in, the pheromone value through node, in source node process, is updated by BANT message unicast, particularly as follows:
When BANT arrives intermediate node m from node n, the pheromone value in node m is updated by following formula:
TM, n=(1+TM, n)P(i)d
Wherein, P(i)dBeing the priority valve of the i-th paths to destination node D, it meets QoS demand.
Described step 5) also include step 5.1 afterwards):
In destination node clean culture BANT message process, after intermediate node receives BANT message, periodic broadcast hello message updates routing table, so that this intermediate node knows the neighbours of oneself；If establishing relation between node s and node t, then between them, the initial information element value on link is just stored as 0.1, is expressed as Tst=0.1, for each intermediate node receiving FANT, the pheromone value in link presents positive growth trend, is expressed as Tst=Δ Tst+Tst, Tst=0.05；If data are not transmission in limited interval, then the pheromone value in link just decays according to coefficient μ, is shown below:
If the loss of link between two nodes, then the pheromone value on link becomes 0；After BANT message arrives intermediate node, if intermediary locations changes, then BANT is then deleted.
If the loss of link between two nodes, then the pheromone value on link becomes 0；After BANT message arrives intermediate node, if intermediary locations changes, then BANT is then deleted.
Described user specifies QoS critical values mandate to be weighed by the fluctuating margin of marginal value:
Use dg, bg, hgRepresenting time delay, bandwidth and jumping figure respectively, computing formula is as follows:
The priority computational methods of path k areWherein PkBe the route discovery stage find source node to destination node can path collection, Dt、DcRepresent max-thresholds and the currency of end-to-end time delay on every paths respectively；Bt、BcRepresent max-thresholds and the currency of end-to-end bandwidth on every paths；Ht、HcRepresent max-thresholds and the currency of end-to-end jumping figure on every paths respectively.
Described step 6) after also include step 7) priority in path selected by periodic test: if the path quality value of a certain node is lower than marginal value, just send message to its forerunner's node to be closed by node, then alternative path is selected to carry out data transmission, for alternative path, its effectiveness of same periodic test.
Compared with the prior art, the invention have the benefit that
The present invention proposes the multi-path routing algorithms of a kind of support QoS based on ant colony strategy in vehicle communication net, has sweep forward function.Algorithm introduces the agency of two similar Formica fuscas, it is forward Formica fusca and reverse Formica fusca respectively, for assessing the parameter meeting QoS constraints, the method uses the indexs such as bandwidth, jumping figure and time delay to calculate a plurality of nonintersecting paths between source node and destination node, to meet given QoS constraint.By precipitating pheromone in a link, find optimal path, fault-tolerant alternative path can be found after one malfunctions simultaneously.Owing to considering network stabilization and QoS constraint in routing procedure, therefore it fully complies with QoS target.The present invention is also by, after emulation experiment, having better performance than other routing algorithm by comparing this algorithm of discovery in packet transfer rate, handling capacity and routing cost etc..
Accompanying drawing explanation
Fig. 1 is the flowage structure schematic diagram of the present invention；
Fig. 2 is source node route discovery flow chart when receiving FANT information；
Fig. 3 is intermediate node route discovery flow chart when receiving FANT information；
Fig. 4 is destination node route discovery flow chart when receiving FANT information；
Fig. 5 is Route Selection and data transfer process figure；
Fig. 6 is the relation of malfunctioning node quantity and packet transfer rate；
Fig. 7 is the relation of malfunctioning node quantity and handling capacity；
Fig. 8 is the relation of malfunctioning node quantity and routing cost；
Fig. 9 is the relation of node motion speed and packet transfer rate；
Figure 10 is the relation of node motion speed and handling capacity；
Figure 11 is the relation of node motion speed and routing cost.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in detail.
Based on the intelligent algorithm such as ant group algorithm of colony, biology techniques is used to determine effective path as heuristic factor.The self-learning capability of these algorithms dynamic suitable in mobile network, but location-based ACO routing algorithm is only suitable for the occasion that network topology change is less.ACO routing mechanism based on greedy algorithm only selects one to the optimal path of destination node, has high data packet transmission rates and handling capacity, but does not account for packet loss.FTRA introduces the concept of worker ant, is similar to control packet, and its task is to identify mistake route based on control information from existing effective routing.This agreement support actively or passively sends control packet.DAR is another Ant Routing algorithm, and its target is to minimize the computation complexity of route, adopts hop-by-hop optimal strategy to forward FANT, in order to be found to the optimal path of destination node, but the time of this algorithm cost is not best.Most ACO routing algorithm identifications also have employed all possible n paths, it reduce the performance of multi-path routing algorithms, route quantity increases to after to a certain degree, and routing table becomes to expand gradually because storing substantial amounts of real time information, and the network bandwidth and joint behavior also decline therewith.Therefore, it is proposed to a kind of Fault-tolerant Routing Algorithm considering QoS constraint in vehicle communication net.
Vehicle communication network has become the key technology of next generation wireless network, and it not only supports intelligent transportation system service, especially relevant to public safety application program, also supports substantial amounts of multimedia and market demand.Vehicle, as the part in the Internet, has the function of mobile node, mobile P or movable sensor.
The infrastructure of VCN contains two-stage communication network, VANET belongs to the first order, vehicle-to-vehicle unicast communication and car, infrastructure multi-casting communication being made up of, trackside network is also classified into two parts, and the trackside being made up of roadside unit respectively accesses network and trackside backbone network.VCN can run different intelligent transportation application programs and Internet program, each application is different to the demand of QoS, such as safe early warning application should have minimum end-to-end time delay, because if the early warning information that receiving terminal receives postpones excessive, this message cannot try to forestall traffic accidents generation in time.Similar, bursts dropping ratio and handling capacity are also two main qos parameters in active safety application.
Fault-tolerant Routing Algorithm (FaultTolerantRoutingAlgorithmBased-onAntColonyPolicy, FTRA-BACP) based on ant group algorithm is divided into three phases: route discovery stage, Route Selection stage and route maintenance phase.Corresponding ACO algorithm has six steps, respectively: initialization, Path selection, pheromone precipitation, credibility calculate, evaporate and negative reinforcement.In the path discovery stage, if source node does not have ready-made path to use, the pheromone value in path will be utilized to carry out initialization operation.If pheromone value is 0 or close to 0, represent that this path is absent from or breaks down not being suitable for transmission data.If source node has path to use, then it selects, according to pheromone content and the time delay in path, the route that a bar state is good.Pheromone precipitation has two types.Formica fusca, except updating the pheromone content in path in source node routing table, also updates the pheromone in the node that it travels through.After each worker ant arrives destination node, just recall path, update the pheromone content of wherein each node.Path concentrates the node that the node on every paths and non-path are concentrated to be evaporated operation, this operation reduces the pheromone content after high credibility path failure, but existing because this path is still concentrated in path, the route through this path can be interrupted, it should is deleted by negative reinforcement effect.Containing a number of pheromone in normal route, interrupt causing path failure if as malice, worker ant cannot precipitate pheromone on the path, therefore selects alternative path to carry out data transmission.The main target of this routing mechanism is to find all available node-disjoint paths between source-destination node with minimum routing cost.Detailed process is:
Embodiment 1
As it is shown in figure 1, the invention provides in the networking of a kind of car based on the QoS Fault-tolerant routing method of ant group algorithm, comprise the following steps:
1) source node generates the mulitpath being used for finding destination node and all addresss of node in traverse path；Then, source node detection neighbor node, obtain the pheromone value table of adjacent node, described pheromone value table includes the path quality between source node and adjacent node；
2) as shown in Figure 2, source node broadcasts FANT (forwarding Formica fusca) message to all neighbor node path qualities higher than the neighbor node of marginal value, and described FANT message includes source address, destination address, serial number, jumping figure, bandwidth, time started and path field；As shown in table 1:
Table 1FANT message structure
| Source address | Destination address | Serial number | Jumping figure | Bandwidth | Time started | Path field |
3) after intermediate node receives FANT message, the path field in detection FANT message: if this intermediate node addresses exists, then abandon FANT information；If it does not exist, then the address of this intermediate node is added in FANT message, carry out FANT information updating, and be broadcast to stable neighbor node by NHR value；
As shown in Figure 3, if intermediate node receives FANT message, the availability of address in path field can be checked, if having there is explanation and there is loop in this address, abandon FANT message, otherwise node adds its address in FANT message, and is broadcast to stable neighbor node by down hop accessibility (NextHopReachability, NHR) value.In this process, FANT information is also recorded for total jumping figure of the propagation delay time of each of the links and effective bearing capacity, the processing delay of each node and access.
4) step 3 is repeated), until FANT message arrives destination node；
5) as shown in Figure 4, destination node receives all FANT message, according to parameter in FANT message, carry out qos parameter calculating, obtain the heat source power in each path, and specify the heat source power of QoS critical values mandate to generate BANT (reverse Formica fusca) message unicast to source node according to meeting user；Described BANT message includes destination address, source address, time started, the path field of reception and heat source power, as shown in table 1:
Table 1BANT message structure
| Destination address | Source address | Time started | The path field received | Heat source is weighed |
After FANT message arrives destination node, calculating heat source power first by qos parameter, these paths must are fulfilled for the QoS critical values mandate that user specifies.BANT message is generated based on heat source power.Containing substantial amounts of access node in the path field of FANT message, destination node D needs waiting time TkReceive whole FANT, TkIt it is the integer coefficient of all end-to-end time delay De.BANT passes through Pop operations by message unicast to source node.Described user specifies QoS critical values mandate to be weighed by the fluctuating margin of marginal value:
Use dg, bg, hgRepresenting time delay, bandwidth and jumping figure respectively, computing formula is as follows:
The priority computational methods of path k areWherein PkBe the route discovery stage find source node to destination node can path collection, Dt、DcRepresent max-thresholds and the currency of end-to-end time delay on every paths respectively；Bt、BcRepresent max-thresholds and the currency of end-to-end bandwidth on every paths；Ht、HcRepresent max-thresholds and the currency of end-to-end jumping figure on every paths respectively.
Described step 5) in, the pheromone value through node, in source node process, is updated by BANT message unicast, particularly as follows:
When BANT arrives intermediate node m from node n, the pheromone value in node m is updated by following formula:
TM, n=(1+TM, n)P(i)d
Wherein, P(i)dBeing the priority valve of the i-th paths to destination node D, it meets QoS demand.
5.1), in destination node clean culture BANT message process, after intermediate node receives BANT message, periodic broadcast hello message updates routing table, so that this intermediate node knows the neighbours of oneself；If establishing relation between node s and node t, then between them, the initial information element value on link is just stored as 0.1, is expressed as Tst=0.1, for each intermediate node receiving FANT, the pheromone value in link presents positive growth trend, is expressed as Tst=Δ Tst+Tst, Tst=0.05；If data are not transmission in limited interval, then the pheromone value in link just decays according to coefficient μ, is shown below:
If the loss of link between two nodes, then the pheromone value on link becomes 0；After BANT message arrives intermediate node, if intermediary locations changes, then BANT is then deleted.
6) source node receives BANT message and the BANT message according to the intermediate node received, and selects the node having the highest pheromone value to be used for carrying out data transmission, as shown in Figure 5.
Preferably, present invention also offers a kind of preferred version implementing monitoring, specifically include:
In described step 6) after also include step 7) priority in path selected by periodic test: if the path quality value of a certain node is lower than marginal value, just send message to its forerunner's node to be closed by node, then alternative path is selected to carry out data transmission, for alternative path, its effectiveness of same periodic test.
The present invention also includes route maintenance phase:
The route discovery stage gives the best available path for carrying out packet transmission.Due to the study attribute that ACO algorithm is intrinsic, in data transmission procedure, the available information element value of aggregated over paths is gradually increased, and As time goes on, more mobile node occurs on selected path, thus produce more multi-time Delay, less available bandwidth, and the consumption of node energy.In order to avoid this result occurs, the priority in path selected by periodic test.Along with in path, increasing node adds, heat source power and figure of merit size reduce automatically.It addition, the mobility of node can also cause link failure.If the figure of merit size of a certain node is lower than marginal value, just sends message to its forerunner's node and node is closed, then select alternative path to carry out data transmission, for alternative path, its effectiveness of same periodic test.Fault-tolerant QoS constraint-based routing algorithm flow process is as follows.
(1) if this node is source node, (2) are forwarded to；
(2) judge pheromone value and NHR value, if greater than marginal value, turn (3), otherwise turn (4)；
(3) broadcast FANT packet is to the neighbor node selected by this node, turns (5)；
(4) abandon FANT packet, turn (5)；
(5) judge whether that all neighbor nodes all receive FANT, if it is, turn (6), otherwise turn (12)；
(6) if neighbor node is destination node, turn (7)；
(7) T is waitedwTime, to receive all FANT, turns (8)；
(8) find and meet Dc< Dt, Bc< Bt, Hc< HtPath, calculate the p (i) of every paths, turn (9)；
(9) node of storage in FANT path field is popped, turn (10)；
(10) in the path meet QoS demand, generate BANT, turn (11)；
(11) this address of node being added path field clean culture BANT packet to source node, judge whether the node in inverse path is source node simultaneously, if turning (19), otherwise turning (20)；
(12) judge whether neighbor node is intermediate node, if it is, turn (13), otherwise turn (6)；
(13) local information of collector node, turns (14)；
(14) check that node address is whether in path field, if turning (15), otherwise turns (18)；
(15) judging that whether pheromone value and NHR value are more than marginal value, if turning (16), otherwise turning (17)；
(16) broadcast FANT to selected neighbor node and updates pheromone table, turns (12)；
(17) abandon FANT, turn (12)；
(18) abandon FANT to delete loop, turn (12)；
(19), after source node receives whole BANT, selection has the path of maximum information element value and deletes BANT.
(20) if the node in inverse path is intermediate node, it is judged that whether it can use, if turning (21), (22) are otherwise turned；
(21) the routing iinformation element table of each BANT is updated；
(22) BANT is abandoned.
Simulation results:
OMNET simulation software verifies this algorithm, in order to show this algorithm superiority in packet transfer rate, handling capacity and routing cost etc., this algorithm and the most frequently used active routing algorithm AODV is compared.Experiment parameter is provided that the radio wave scope of individual node is 250m, mac-layer protocol uses IEEE802.11, traffic form is CBR, data package size is 60Bytes, simulating area is 500m*500m, and number of nodes is 100, and simulation time is 300s, node motion mode is random mobile, and node motion speed is 0-50m/s.
Fig. 6 gives the packet transfer rate of FTRA-BACP algorithm and AODV algorithm when malfunctioning node quantity increases, and can be seen that the packet transfer rate of FTRA-BACP algorithm is higher than AODV algorithm in figure, and this shows that FTRA-BACP algorithm has autgmentability preferably.Along with the further increase of malfunctioning node quantity, the build-in attribute of AODV algorithm tool active matrix driving route, the performance of two kinds of algorithms all declines to some extent, but FTRA-BACP algorithm has fault-tolerance, and its packet transfer rate remains above AODV.Compare the handling capacity size of two kinds of algorithms in the figure 7, fault-tolerant path in FTRA-BACP algorithm has fast convergence, and data route depends on this fault-tolerant path, therefore the handling capacity size of this algorithm is still above AODV algorithm, but the increase along with malfunctioning node quantity, the handling capacity of two kinds of algorithms all declines to some extent, finds one also to become to be increasingly difficult to from the complete trusted path of source node.Vehicle node in networking due to car has the dynamic of height, and the probability of link down also increases therewith, after link failure, it is necessary to route frequently, therefore creates substantial amounts of routing cost.In FTRA-BACP algorithm, the path discovery stage needs to use control packet such as FANT and BANT to periodically update path, also building alternative path after node failure so that packet is sent to destination node, therefore the routing cost of this algorithm is higher than AODV algorithm, as shown in Figure 8.Fig. 9 to Figure 11 shows along with the increase of vehicle node translational speed, the comparison in packet transfer rate, handling capacity and routing cost etc. of two kinds of algorithms, in general, increase along with vehicle node translational speed, packet transfer rate and handling capacity are on a declining curve, and routing cost is then gradually increased.
The present invention proposes the multi-path routing algorithms of a kind of support QoS based on ant colony strategy in vehicle communication net.The method uses the indexs such as bandwidth, jumping figure and time delay to calculate a plurality of nonintersecting paths between source node and destination node, to meet given QoS constraint.By precipitating pheromone in a link, find optimal path, fault-tolerant alternative path can be found after one malfunctions simultaneously.Owing to considering network stabilization and QoS constraint in routing procedure, therefore it fully complies with QoS target.Emulation experiment carries out in Omnet, has better performance than other routing algorithm by comparing this algorithm of discovery in packet transfer rate, handling capacity and routing cost etc..
To those skilled in the art; obviously will appreciate that above-mentioned Concrete facts example is the preferred version of the present invention; therefore some part in the present invention is likely to improvement, the variation made by those skilled in the art; that embodies is still principles of the invention; what realize is still the purpose of the present invention, belongs to the scope that the present invention protects.
Claims (6)
1. based on the QoS Fault-tolerant routing method of ant group algorithm in a car networking, it is characterised in that comprise the following steps:
1) source node generates the mulitpath being used for finding destination node and all addresss of node in traverse path；Then, source node detection neighbor node, obtain the pheromone value table of adjacent node, described pheromone value table includes the path quality between source node and adjacent node；
2) source node broadcasts FANT message to all neighbor node path qualities higher than the neighbor node of marginal value, and described FANT message includes source address, destination address, serial number, jumping figure, bandwidth, time started and path field；
3) after intermediate node receives FANT message, the path field in detection FANT message: if this intermediate node addresses exists, then abandon FANT information；If it does not exist, then the address of this intermediate node is added in FANT message, carry out FANT information updating, and be broadcast to stable neighbor node by NHR value；
4) step 3 is repeated), until FANT message arrives destination node；
5) destination node receives all FANT message, according to parameter in FANT message, carries out qos parameter calculating, it is thus achieved that the heat source in each path power, and generates BANT message unicast to source node according to meeting user and specify the heat source power of QoS critical values mandate；Described BANT message includes destination address, source address, time started, the path field of reception and heat source power；
6) source node receives BANT message and the BANT message according to the intermediate node received, and selects the node having the highest pheromone value to be used for carrying out data transmission.
2. based on the QoS Fault-tolerant routing method of ant group algorithm in car according to claim 1 networking, it is characterised in that described step 5) in, when destination node receives all FANT message, it is necessary to waiting time Tk, described TkBeing the integer coefficient of all end-to-end time delay De, BANT message passes through Pop operations by message unicast to source node.
3. based on the QoS Fault-tolerant routing method of ant group algorithm in the car networking according to claims 1, it is characterised in that described step 5) in, the pheromone value through node, in source node process, is updated by BANT message unicast, particularly as follows:
When BANT arrives intermediate node m from node n, the pheromone value in node m is updated by following formula:
TM, n=(1+TM, n)P(i)d
Wherein, P(i)dBeing the priority valve of the i-th paths to destination node D, it meets QoS demand.
4. based on the QoS Fault-tolerant routing method of ant group algorithm in the car networking according to claims 1, it is characterised in that described step 5) also include step 5.1 afterwards):
In destination node clean culture BANT message process, after intermediate node receives BANT message, periodic broadcast hello message updates routing table, so that this intermediate node knows the neighbours of oneself；If establishing relation between node s and node t, then between them, the initial information element value on link is just stored as 0.1, is expressed as Tst=0.1, for each intermediate node receiving FANT, the pheromone value in link presents positive growth trend, is expressed as Tst=Δ Tst+Tst, Tst=0.05；If data are not transmission in limited interval, then the pheromone value in link just decays according to coefficient μ, is shown below:
If the loss of link between two nodes, then the pheromone value on link becomes 0；After BANT message arrives intermediate node, if intermediary locations changes, then BANT is then deleted.
5. based on the QoS Fault-tolerant routing method of ant group algorithm in car according to claim 1 networking, it is characterised in that described user specifies QoS critical values mandate to be weighed by the fluctuating margin of marginal value:
Use dg, bg, hgRepresenting time delay, bandwidth and jumping figure respectively, computing formula is as follows:
The priority computational methods of path k areWherein PkBe the route discovery stage find source node to destination node can path collection, Dt、DcRepresent max-thresholds and the currency of end-to-end time delay on every paths respectively；Bt、BcRepresent max-thresholds and the currency of end-to-end bandwidth on every paths；Ht、HcRepresent max-thresholds and the currency of end-to-end jumping figure on every paths respectively.
6. based on the QoS Fault-tolerant routing method of ant group algorithm in car according to claim 1 networking, it is characterized in that, described step 6) after also include step 7) priority in path selected by periodic test: if the path quality value of a certain node is lower than marginal value, just send message to its forerunner's node to be closed by node, then alternative path is selected to carry out data transmission, for alternative path, its effectiveness of same periodic test.
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