CN105792278B - A kind of VANET control channel joint jamming control method towards safety index - Google Patents
A kind of VANET control channel joint jamming control method towards safety index Download PDFInfo
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- CN105792278B CN105792278B CN201610304467.4A CN201610304467A CN105792278B CN 105792278 B CN105792278 B CN 105792278B CN 201610304467 A CN201610304467 A CN 201610304467A CN 105792278 B CN105792278 B CN 105792278B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W28/00—Network traffic management; Network resource management
- H04W28/02—Traffic management, e.g. flow control or congestion control
- H04W28/0289—Congestion control
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- H—ELECTRICITY
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- H04L47/12—Avoiding congestion; Recovering from congestion
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
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Abstract
A kind of VANET channel congestion combination control method towards safety index, comprising the following steps: S1, establish double Beacon transmission patterns；S2, traffic safety model is established, calculates tight confines and fence coverage；S3, transmission power is determined according to electromagnetic wave certainty propagation model；S4, the Markov model calculating transmission rate according to VANET control channel；S5, final transmission parameter is determined according to conversion algorithm.The present invention is by microcosmic vehicle mobility model in conjunction with traffic model.Microcosmic vehicle research of mobility models is influencing each other between single unit vehicle driving behavior and vehicle and vehicle.It can combine to mobility model and traffic model that must lower channel loading to greatest extent under the premise of guaranteeing vehicle safety from the angle of vehicle safety, achieve the purpose that channel congestion controls.
Description
Technical field
The present invention relates to car networking communication and field of traffic.VANET control channel joint especially towards safety index
Jamming control method.
Background technique
The World Health Organization (World Health Organization, WHO) point out in the end of the year 2014, the whole world in 2014
Traffic safety accident, have resulted in that nearly 1,300,000 people is dead, and nearly 50,000,000 people is injured, while road safety accident becomes
China causes casualties the first place of reason.In recent years, automobile wireless self-organizing network (Vehicular Ad-hoc
NETwork, VANET) become the hot spot of car networking area research, most important of them is exactly relevant to vehicle safety to answer
With.VANET can assign the ability communicated between vehicle, allow the vehicle to find and evade potential threat in time.
In 1999, Federal Communications Commission distributed wireless frequency spectrum (the 5.850-5.925GHz frequency of dedicated 75MHz
Band) dedicated short-range communication (Dedicated Short Range Communication, DSRC) is given, this is also referred to as
IEEE802.11p/WAVE standard.According to the regulation of Federal Communications Commission, these frequency ranges are divided into seven channels, each
The bandwidth of channel occupancy 10MHz including a control channel and stays a service channel.Wherein the function of control channel is to use
It include such as position, speed information and emergency event security message in the periodic safety message (PSM) of broadcasting van
(EDSM), it such as brings to a halt, security cooperation provides communication infrastructure between vehicle.Communication in VANET between vehicle and vehicle is base
In DSRC standard development.
For now, VANET distance puts on the schedule of business and government and implements to want there are also very long road on a large scale
It walks, one of maximum challenge faced is how to solve the problems, such as the channel congestion under high concentration environment, this will lead to communication
Delay, tracking accuracy decline even safety accident.Wherein cause traffic congestion most important the reason is that being broadcast periodically peace
It totally disappeared breath (PSM), this will occupy a large amount of bandwidth in the case where high vehicle density.
In recent years, many researchs all begin to focus on the congestion problems in VANET, and wherein the solution of mainstream is to pass through control
The performance of range (range) Lai Tigao network that the rate (rate) that system optimization generates message either broadcasts the message, also has logical
Optimization other parameters are crossed to reach this purpose, such as competition window, but effect is limited.It is existing about channel congestion control
The research of system, which is substantially all, concentrates on the communications field, and does not consider the particularity of traffic environment, as high speed, topology are changeable
Property and demand for security etc..Chinese car networking conference in 2015 propose " design of car networking related protocol should return essence,
Return to using coming up with safety " viewpoint.
Summary of the invention
The object of the present invention is to provide it is a kind of can effectively link road congestion problem and guarantee vehicle safety towards safety
The VANET control channel of index combines jamming control method.
The present invention solves technical solution used by prior art problem: a kind of VANET control letter towards safety index
Combine jamming control method in road, comprising the following steps:
S1, double Beacon transmission patterns are established: double Beacon transmission patterns, vehicle is established according to wagon flow demand for security characteristic
The Beacon message of transmission includes tracking Beacon information and discovery Beacon information, every TadaptTime is microcosmic according at that time
Traffic flows through topology and tracking Beacon information at that time is calculated and finds the transmission power and rate [P of Beacon informationcrct_t,
Pcrct_a, Rcrct_t, Rcrct_a], wherein Pcrct_tFor the transmission power for tracking Beacon information, Pcrct_aTo find Beacon information
Transmission power；Rcrct_tFor the rate for tracking Beacon information, Rcrct_aFor the rate for finding Beacon information；Adjustment is double
The parameter of Beacon transmission pattern makes it meet safety requirements model；
S2, traffic safety model is established, calculates tight confines and fence coverage: utilizes what is received from surrounding vehicles
Beacon message constructing adjacent vehicle state table, and parameter relevant to safe range: traffic safety is calculated using state table
Model is made of relationship between vehicle and demand for security model two parts, the tight confines RNG of traffic safety modelnearAnd warning
Range RNGwarnCalculation method it is as follows, wherein A be send vehicle:
RNGnear(A)=max { DSTclose(A),DSTrough(A)} (1)
RNGwarn(A)=s*(υa,Δυa) (2)
Wherein the calculation method of continuous item is as follows:
DSTclose(A)=max { PICK (FN (A), A, N0),PICK(BN(A),A,N0)} (3)
Wherein N0For the constant that is closely related, general value is 3；LenAIndicate the length of A vehicle；Indicate the speed of A vehicle；Ta
Indicate the reaction time；aaIndicate the maximum forward acceleration of vehicle；baIndicate maximum backward acceleration；υmaxIndicate current road segment
The maximum speed of permission, S0,aRepresent the practical following distance of vehicle and front vehicles under freestream conditions, S1,aRepresent traffic jam
The practical following distance of vehicle and front vehicles, V under stream mode0,aIndicate car speed under freestream conditions；Function PICK (S, A,
N it) indicates that basis is ranked up the vehicle in set S at a distance from A, and exports the distance with A distance N small vehicle, if collection
It closes number of vehicles in S and is less than N, output -1；FN (A) is the collection that the identical and neighboring trace vehicle positioned at the front side A in all directions forms
It closes；BN (A) is the set that the identical and neighboring trace vehicle positioned at the front side A in all directions forms；
S3, transmission power is determined according to electromagnetic wave certainty propagation model；The tracking Beacon information and discovery
The transmission power of Beacon information is acquired according to electromagnetic wave certainty propagation model:
Ptrack=PLLOS(RNGnear)+Pmin (7)
Paware=PLLOS(RNGwarn)+Pmin (8)
Wherein PminIt is the lowest power that can be identified, PLLOSIt is the energy loss during Electromagnetic Wave Propagation, with transmitting node
Distance has following relationship between receiving node:
Wherein, d is the linear distance between sender and recipient, hAAnd hBIt is the antenna height for sending hair with recipient respectively
Degree, λ is the wavelength of electromagnetic wave, and f is the frequency of electromagnetic wave；Formula (9) and (10) are substituted into formula (7) and (8) respectively, then may be used
Tracking Beacon is found out respectively and finds the transmission power of Beacon, wherein tight confines RNGnearWith fence coverage RNGwarnBy
Step S2 is obtained.
S4, the Markov model calculating transmission rate according to VANET control channel；The VANET control channel
Markov model meets following state transition equation:
Wherein, τ (p) indicates the probability for successfully obtaining channel resource, the i.e. probability that is successfully transmitted of single, WsRepresent contention window
The size of mouth, N are the interstitial content that communication range covers present node, the number of nodes being similar in present node communication range
Mesh, tight confines RNGnearWith fence coverage RNGwarnInterior number of vehicles substitutes into equation (11) and (12), obtained single at
Function sending probability respectively corresponds as ptrackAnd paware。
S5, final transmission parameter is determined according to conversion algorithm；The coordination system for establishing double Beacon sending modes, coordinates
The power and rate that the message that step obtains before is sent, obtain final transmission parameter:
Wherein, RepualIt is conversion rate, RawareIt is the transmission rate of Beacon message；The primary condition of conversion is discovery
The range of transmission of Beacon can cover the range of transmission of tracking Beacon, i.e. PtrackLess than Paware, while to consider different wagon flows
Environment bring converts border issue, proposes that send parameter conversion algorithm is corrected to parameter is sent accordingly, final to obtain
Transmission parameter [Pcrct_t, Pcrct_a, Rcrct_t, Rcrct_a]。
Safety requirements model in step S1 are as follows:
A. for being in tight confines RNGnearInterior vehicle, in τtrackA vehicle hair is at least successfully received in time
The probability for the Beacon message sent reaches pt_desire
B. for being in fence coverage RNGwarnExcept vehicle, in entry time τawareIt is inside at least successfully received primary
Fence coverage RNGwarnWithin the probability of Beacon message that sends of vehicle reach pa_desire。
Relationship includes correlation between the accumulation rate and speed, neighboring trace relationship, forward direction relationship, backward relationship, same neighboring trace vehicle forwards between the vehicle
Relationship, front vehicle relationship in the same direction and with rearward neighboring trace vehicle relationship.
The correlation between the accumulation rate and speed are as follows: symbol A ≡ B represents vehicle B and vehicle A is in the same direction, when A and B meetsWhen, i.e.,
To be in the same direction, whereinIt is the speed of A,It is the speed of B；
Neighboring trace relationship are as follows: lane where symbol A ≌ B represents vehicle B is adjacent with lane where vehicle A or in identical vehicle
Road, when A and B meets | LB-LA| when < 2, the two is neighboring trace relationship, wherein LAIt is the ID, L in lane where A vehicleBIt is vehicle where B vehicle
The ID in road；
Forward direction relationship are as follows: symbol B ← A represents B in the front of A, when A and B meetsWhen, vehicle B
It is preceding to relationship with A, whereinIt is the displacement of A,It is the displacement of B；
Backward relationship are as follows: symbol B → A represents B at the rear of A, when A and B meetsWhen, vehicle B
To relationship after being with A；
With neighboring trace vehicle relationship forwards are as follows: all directions are identical and are located at the set that the neighboring trace vehicle of the front side A forms
The relationship of FN (A) and A are as follows:
Front vehicle relationship in the same direction: all directions are identical and are located at set B (A) and A that the neighboring trace vehicle of the front side A forms
Relationship are as follows:
With rearward neighboring trace vehicle relationship are as follows: all directions are identical and are located at the set that the neighboring trace vehicle of the front side A forms
The relationship of BN (A) and A are as follows:
Step S4 specifically includes step:
S41, initialization: according to adjacent vehicle state table Tab, current time t is calculatedcAll vehicles and current vehicle in table
The distance of A is gatheredWherein
It is in triThe displacement and speed for the vehicle i that moment A is obtained from Beacon message,It is the displacement of A vehicle；
S42, set of computations DATwo subset VnearAnd Vwarn, wherein VnearMiddle vehicle distances DAi(i ∈ Tab) is less than
RNGnear, VwarnMiddle vehicle distances DAi(i ∈ Tab) is less than RNGwarn, set sizes are denoted as N respectivelynearAnd Nwarn；
S43, by NnearAnd NwarnSubstitute into state transition equation (11) and (12) in, sent at this time tracking Beacon with
It was found that the probability that Beacon successfully obtains transmission window is respectively ptrackAnd paware；
S44, the probability that window is sent according to the successful acquisition of safety index and two kinds of Beacon, calculate two kinds of Beacon and disappear
The transmission rate R of breathtrackAnd Raware。
The safety requirements model meets the following conditions:
Wherein, NawareFor positioned at the rear vehicle A and in RNGwarnNumber of vehicles in range, ttrackIndicate that vehicle exists
τtrackThe number of Beacon message, t are sent in timeawareFor in τawareThe number of discovery Beacon is sent in time:
The step S44) specifically include step:
S441, according to formula (13) and formula (15), obtain the lower limit of the transmission rate of tracking Beacon:
By safety index pt_desireAnd τtrackAnd tracking Beacon obtains the Probability p for sending windowtrackBring formula into
(17) transmission rate of the rate limit as tracking Beacon is obtained；
S442、VBwarnIt indicates to be located at the rear vehicle A and is in RNGwarnThe set of vehicle composition in range,Filter out set VBwarn；
S443, according to formula (14) and formula (16), obtain the lower limit of the transmission rate of discovery Beacon:
Wherein Naware=| VBwarn|, by safety index pa_desireAnd τawareAnd discovery Beacon is obtained and is sent window
Probability pawareIt brings formula (18) into and obtains transmission rate of the rate limit as discovery Beacon.
The TadaptIt is 5 seconds.
The beneficial effects of the present invention are: the present invention is by microcosmic vehicle mobility model in conjunction with traffic model.Microcosmic vehicle
Research of mobility models is influencing each other between single unit vehicle driving behavior and vehicle and vehicle.From the angle of vehicle safety
It can combine to mobility model and traffic model that must lower channel loading to greatest extent under the premise of guaranteeing vehicle safety,
Achieve the purpose that channel congestion controls.
Detailed description of the invention
Fig. 1 is overview flow chart of the invention.
Fig. 2 is the schematic diagram of the double Beacon sending modes of the present invention.
Specific embodiment
Below in conjunction with the drawings and the specific embodiments, the present invention will be described:
A kind of VANET control channel joint jamming control method towards safety index, as shown in Figure 1, comprising steps of
1) double Beacon transmission patterns are established according to wagon flow demand for security characteristic, and set associated safety index:
As shown in Fig. 2, the Beacon message that vehicle is sent is divided into two kinds of Beacon of tracking Beacon and discovery, every Tadapt
Time needs to calculate corresponding transmission power and rate [P according to microscopic traffic flow topology at that timecrct_t, Pcrct_a, Rcrct_t,
Rcrct_a], TadaptGeneral value 5 seconds.In order to guarantee that the safety of vehicle, the parameter of double Beacon transmission patterns must satisfy safety
Demand model, wherein A is that Beacon sends vehicle:
A. for being in RNGnearVehicle in range, in τtrackAt least it is successfully received what an A was sent in time
The probability of Beacon message reaches pt_desire
B. for being in RNGwarnVehicle outside range, in entry time τawareInside at least it is successfully received a RNGwarn
The probability for the Beacon message that vehicle in range is sent reaches pa_desire
2) traffic safety model is established, using the message constructing adjacent vehicle state table received from surrounding vehicles, and benefit
Parameter relevant to safe range is calculated with state table:
Traffic safety model is made of relationship between vehicle and demand for security model two parts, establishes traffic safety model
Purpose is that two parameters closely related with safety, tight confines RNG are obtained by microcosmic traffic topologynearAnd fence coverage
RNGwarn。
Correlation between the accumulation rate and speed:
Symbol A ≡ B represents vehicle B and vehicle A is in the same direction, when A and B meetsWhen, it is believed that it is in the same direction.Wherein
It is the speed of A,It is the speed of B, implies assume that road is straight here.
Neighboring trace relationship:
Lane where symbol A ≌ B represents vehicle B is adjacent with lane where vehicle A or in identical lane, when A and B meets
|LB-LA| when < 2, it is believed that set up, wherein LAIt is the ID, L in lane where A vehicleBIt is the ID in lane where B vehicle.
Forward direction relationship:
Symbol B ← A represents B in the front of A, when A and B meetsWhen, it is believed that it sets up, whereinIt is
The displacement of A,It is the displacement of B
Backward relationship:
Symbol B → A represents B at the rear of A, when A and B meetsWhen, it is believed that it sets up.
With neighboring trace vehicle relationship forwards:
All directions are identical and are located at the relationship for set FN (A) and the A that the neighboring trace vehicle of the front side A forms to have
Front vehicle relationship in the same direction:
All directions are identical and are located at the relationship for set B (A) and the A that the neighboring trace vehicle of the front side A forms to have
With rearward neighboring trace vehicle relationship:
All directions are identical and are located at the relationship for set BN (A) and the A that the neighboring trace vehicle of the front side A forms to have
Screen function is defined as:
Function PICK (S, A, N) indicates that basis is ranked up the vehicle in set S at a distance from A, and exports and A distance
The distance of N small vehicle, if number of vehicles is less than N, output -1 in set S.
Counting function is defined as:
Function COUNT (S, A, D) indicates all numbers for being not more than D with vehicle A distance in set S, it is assumed that set N
(A) it indicates the set that all vehicles of the vehicle A distance no more than D form, then has
COUNT (S, A, D)=| N (A) |
Close distance:
In close distance DSTcloseVehicle in range is all closely related with the safety of this vehicle, the value of close distance with work as
Preceding wagon flow micro is related.From the point of view of microcosmic mobile behavior, for speeding on as it is envisaged that fore-aft vehicle
State；For lane-change behavior, need to consider that front and back and target lane are gone forward rear vehicle；For passing behavior, generally to examine
Consider the state of vehicle in front and back two cars and adjacent lane.Therefore, it is recognized herein that, the safety and front and back neighboring trace of vehicle are most
Close N0(general value is 3) vehicle has close relation, can derive the calculation of the close distance of vehicle A:
DSTclose(A)=max { PICK (FN (A), A, N0),PICK(BN(A),A,N0)} (1)
Desired intimate distance:
Desired intimate distance DSTroughIt is the close distance by being estimated according to pipeline following-speed model, the factor of consideration
It is fairly simple, only consider the driving condition for coming itself, calculation is as follows, wherein LenARefer to the vehicle commander of corresponding vehicle.
When traffic density is smaller, the number of vehicle A surrounding vehicles is possibly even less than, and calculated result at this moment will be small
In zero.
Comprehensively consider factors above, provide the computation model of vehicle A:
RNGnear(A)=max { DSTclose(A),DSTrough(A)} (3)
We are by modeling intelligent driving model to fence coverage.In intelligent driving model, rear car is with before
There are expected safe distance between guide-car, the driving behavior of rear car according to present speed and desired speed, current inter-vehicular away from
It is expected that the relativeness between safe following distance determines the behavior of subsequent time vehicle.
RNGwarn(A)=s*(υa,Δυa) (4)
The calculation method of fence coverage is as follows, whereinIndicate the speed of A vehicle；TaIndicate the reaction time；aaIndicate vehicle most
Big forward acceleration；baIndicate maximum backward acceleration；υmaxIndicate the maximum speed that current road segment allows, S0,aIt represents certainly
By the practical following distance of vehicle under stream mode and front vehicles, S1,aRepresent vehicle and front vehicles under traffic jam stream mode
Practical following distance, V0,aIndicate car speed under freestream conditions.
3) according to electromagnetic wave certainty propagation model and safe range, the power that outbound message is sent is calculated:
Power is not less than P when the recipient of message requires Electromagnetic Wave Propagation to the positionmin(general value -100dbm), disappears
Breath is possible to be identified.If sending power takes the minimum value for being able to satisfy safe range, there is following relationship:
Ptrack=PLLOS(RNGnear)+Pmin (7)
Paware=PLLOS(RNGwarn)+Pmin (8)
Wherein PLLOSIt is the energy loss during Electromagnetic Wave Propagation, distance has as follows between transmitting node and receiving node
Relationship:
Wherein, d is the linear distance between sender and recipient, hAAnd hBIt is the antenna height for sending hair with recipient respectively
Degree, λ is the wavelength of electromagnetic wave, and f is the frequency of electromagnetic wave.
Formula (9) and (10) are substituted into formula (7) and (8) respectively, then can find out tracking Beacon and discovery respectively
The transmission power of Beacon, wherein tight confines RNGnearWith fence coverage RNGwarnIt is obtained by step (2).
4) according to the Markov model of VANET control channel and the state of surrounding vehicles, determine when message is sent at
Function obtains the probability for sending window, and according to safety index and successfully obtains the speed for sending the probability calculation outbound message transmission of window
Rate:
The Markov model of VANET control channel meets following state transition equation:
Wherein τ (p) indicates the probability for successfully obtaining channel resource, the i.e. probability that is successfully transmitted of single, p be transferred to down with
Shape probability of state, WsThe size of competition window is represented, N is the interstitial content that communication range covers present node, is similar to current
Interstitial content in node communication range.
By formula (11) and (12) it is found that the probability being successfully transmitted is by communication range when window size is fixed
Interstitial content determine.Tight confines RNGnearWith fence coverage RNGwarnInterior number of vehicles substitutes into equation (11) and (12),
Obtained single is successfully transmitted probability and respectively corresponds as ptrackAnd paware。
In addition, according to demand for security model it is found that the following conditions must be met by reaching safety index:
Wherein, NawareFor positioned at the rear vehicle A and in RNGwarnNumber of vehicles in range, ttrackIndicate that vehicle exists
τtrackThe number of Beacon message, t are sent in timeawareFor in τawareThe number of discovery Beacon is sent in time:
The step of calculating tracking Beacon and finding the transmission rate of Beacon is as follows:
41) it initializes: according to adjacent vehicle state table Tab, calculating current time tcAll vehicles and current vehicle A in table
Distance gatheredWhereinIt is
In triThe displacement and speed for the vehicle i that moment A is obtained from Beacon message,It is the displacement of A vehicle；
42) set of computations DATwo subset VnearAnd Vwarn, wherein VnearMiddle vehicle distances DAi(i ∈ Tab) is less than
RNGnear, VwarnMiddle vehicle distances DAi(i ∈ Tab) is less than RNGwarn, set sizes are denoted as N respectivelynearAnd Nwarn；
43) by NnearAnd NwarnIt substitutes into state transition equation (11) and (12), is sent tracking Beacon and hair at this time
It is respectively p that existing Beacon, which is successfully obtained and sent the probability of window,trackAnd paware；
44) probability that window is sent according to the successful acquisition of safety index and two kinds of Beacon, calculates two kinds of Beacon and disappears
The transmission rate R of breathtrackAnd Raware。
Step 44) calculates transmission rate according to demand for security index, and specific steps include:
441) according to formula (13) and formula (15), the lower limit of the transmission rate of tracking Beacon is obtained:
By safety index pt_desireAnd τtrackAnd tracking Beacon obtains the Probability p for sending windowtrackBring formula into
(17) transmission rate of the rate limit as tracking Beacon is obtained；
442)VBwarnIt indicates to be located at the rear vehicle A and is in RNGwarnThe set of vehicle composition in range,Filter out set VBwarn；
443) according to formula (14) and formula (16), the lower limit of the transmission rate of discovery Beacon is obtained:
Wherein Naware=| VBwarn|, by safety index pa_desireAnd τawareAnd discovery Beacon is obtained and is sent window
Probability pawareIt substitutes into formula (17) and obtains transmission rate of the rate limit as discovery Beacon.
5) coordination system of double Beacon sending modes is established, the power and speed that the message that step obtains before coordination is sent
Rate obtains final transmission parameter
Because it is found that Beacon is indiscriminate broadcast to surrounding vehicles, adjacent vehicle can also receive the hair of this vehicle transmission
Existing Beacon, i.e. discovery Beacon has actually shared the part of functions of tracking Beacon, therefore can will be seen that Beacon
The practical transmission rate for reducing tracking Beacon is converted in tracking Beacon, network burden is further decreased.
The primary condition of conversion is to find that the range of transmission of Beacon can cover the range of transmission of tracking Beacon, i.e. Ptrack
Less than Paware, while to consider different wagon flow environment bring conversion border issues, propose that sending parameter converts algorithm pair accordingly
It sends parameter to be corrected, to obtain final transmission parameter [Pcrct_t, Pcrct_a, Rcrct_t, Rcrct_a]。
As can be seen that when vehicle density is than sparse, when the intimate free flow of wagon flow, double Beacon send mechanism for degeneration and are
Only track the transmission mechanism of Beacon.The power and rate sent due to the dynamic of vehicle communication topology, Beacon message
It requires to dynamically adjust to adapt to new topological structure.In view of the microcosmic traffic environment around Adjacent vehicles is with bigger
Similitude so that the transmission parameter of Beacon message is also more similar, so we are about scheduled on a fixed cycle (herein
Preferentially to send tracking Beacon in 1s), discovery Beacon is sent in the latter stage in period, to guarantee that two kinds of Beacon disappear as far as possible
The independence of breath is to weaken the influence of concealed terminal.
The above content is combine specific optimal technical scheme further detailed description of the invention, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (6)
1. a kind of VANET control channel towards safety index combines jamming control method, which is characterized in that including following step
It is rapid:
S1, double Beacon transmission patterns are established: double Beacon transmission patterns is established according to wagon flow demand for security characteristic, vehicle is sent
Beacon message include tracking Beacon information and discovery Beacon information, every TadaptTime is according to microcosmic traffic at that time
Topology is flowed through tracking Beacon information at that time is calculated and finds the transmission power and rate [P of Beacon informationcrct_t,
Pcrct_a, Rcrct_t, Rcrct_a], wherein Pcrct_tFor the transmission power for tracking Beacon information, Pcrct_aTo find Beacon information
Transmission power；Rcrct_tFor the rate for tracking Beacon information, Rcrct_aFor the rate for finding Beacon information；Adjustment is double
The parameter of Beacon transmission pattern makes it meet safety requirements model；
S2, traffic safety model is established, calculates tight confines and fence coverage: is disappeared using the Beacon received from surrounding vehicles
Breath construction adjacent vehicle state table, and parameter relevant to safe range is calculated using state table: traffic safety model is by vehicle
Relationship and demand for security model two parts composition, the tight confines RNG of traffic safety model betweennearAnd fence coverage
RNGwarnCalculation method it is as follows, wherein A be send vehicle:
RNGnear(A)=max { DSTclose(A),DSTrough(A)} (1)
Wherein the calculation method of continuous item is as follows:
DSTclose(A)=max { PICK (FN (A), A, N0),PICK(BN(A),A,N0)} (3)
Wherein N0For the constant that is closely related, general value is 3；LenAIndicate the length of A vehicle；Indicate the speed of A vehicle；TaIndicate anti-
Between seasonable；aaIndicate the maximum forward acceleration of vehicle；baIndicate maximum backward acceleration；υmaxIndicate what current road segment allowed
Maximum speed, S0,aRepresent the practical following distance of vehicle and front vehicles under freestream conditions, S1,aRepresent traffic jam stream mode
The practical following distance of lower vehicle and front vehicles, V0,aIndicate car speed under freestream conditions；Function PICK (S, A, N) is indicated
The vehicle in set S is ranked up according at a distance from A, and exports the distance with A distance N small vehicle, if vehicle in set S
Number is less than N, output -1；FN (A) is the set that the identical and neighboring trace vehicle positioned at the front side A in all directions forms；BN(A)
It is the set that the identical and neighboring trace vehicle positioned at the front side A in all directions forms；
S3, transmission power: the tracking Beacon information and discovery Beacon letter is determined according to electromagnetic wave certainty propagation model
The transmission power of breath is acquired according to electromagnetic wave certainty propagation model:
Ptrack=PLLOS(RNGnear)+Pmin (7)
Paware=PLLOS(RNGwarn)+Pmin (8)
Wherein PminIt is the lowest power that can be identified, PLLOSIt is the energy loss during Electromagnetic Wave Propagation, and transmitting node and connects
Receiving euclidean distance between node pair has following relationship:
Wherein, d is the linear distance between sender and recipient, hAAnd hBIt is the antenna height for sending hair with recipient, λ respectively
It is the wavelength of electromagnetic wave, f is the frequency of electromagnetic wave；Formula (9) and (10) are substituted into formula (7) and (8) respectively, then can be distinguished
It finds out tracking Beacon and finds the transmission power of Beacon, wherein tight confines RNGnearWith fence coverage RNGwarnBy step
S2 is obtained；
S4, the Markov model calculating transmission rate according to VANET control channel: the Ma Er of the VANET control channel
Section's husband's model meets following state transition equation:
Wherein, τ (p) indicates the probability for successfully obtaining channel resource, the i.e. probability that is successfully transmitted of single, WsRepresent competition window
Size, interstitial content of the N for communication range covering present node, the interstitial content being similar in present node communication range, tightly
Close range RNGnearWith fence coverage RNGwarnInterior number of vehicles substitutes into equation (11) and (12), and obtained single is successfully sent out
Probability is sent to respectively correspond for ptrackAnd paware；
S5, final transmission parameter is determined according to conversion algorithm: the coordination system of double Beacon sending modes is established, before coordination
The power and rate that the message that step obtains is sent, obtain final transmission parameter:
Wherein, RequalIt is conversion rate, RawareIt is the transmission rate of Beacon message；The primary condition of conversion is discovery Beacon
Range of transmission can cover the range of transmission of tracking Beacon, i.e. PtrackLess than Paware, while to consider that different wagon flow environment are brought
Conversion border issue, propose that send parameter conversion algorithm is corrected to parameter is sent, accordingly to obtain final transmission ginseng
Number [Pcrct_t, Pcrct_a, Rcrct_t, Rcrct_a]。
2. a kind of VANET control channel towards safety index according to claim 1 combines jamming control method, special
Sign is, the safety requirements model in step S1 are as follows:
A. for being in tight confines RNGnearInterior vehicle, in τtrackAt least it is successfully received what a vehicle was sent in time
The probability of Beacon message reaches pt_desire
B. for being in fence coverage RNGwarnExcept vehicle, in entry time τawareInside at least it is successfully received primary warning
Range RNGwarnWithin the probability of Beacon message that sends of vehicle reach pa_desire。
3. a kind of VANET control channel towards safety index according to claim 1 combines jamming control method, special
Sign is that relationship includes correlation between the accumulation rate and speed, neighboring trace relationship, forward direction relationship, backward relationship, same neighboring trace vehicle forwards between the vehicle
Relationship, front vehicle relationship in the same direction and same rearward neighboring trace vehicle relationship.
4. a kind of VANET control channel towards safety index according to claim 3 combines jamming control method, special
Sign is, the correlation between the accumulation rate and speed are as follows: symbol A ≡ B represents vehicle B and vehicle A is in the same direction, when A and B meetsWhen, i.e.,
To be in the same direction, whereinIt is the speed of A,It is the speed of B；
Neighboring trace relationship are as follows: lane where symbol A ≌ B represents vehicle B is adjacent with lane where vehicle A or in identical lane, works as A
Meet with B | LB-LA| when < 2, the two is neighboring trace relationship, wherein LAIt is the ID, L in lane where A vehicleBIt is lane where B vehicle
ID；
Forward direction relationship are as follows: symbol B ← A represents B in the front of A, when A and B meetsWhen, vehicle B and A is
Forward direction relationship, whereinIt is the displacement of A,It is the displacement of B；
Backward relationship are as follows: symbol B → A represents B at the rear of A, when A and B meetsWhen, vehicle B and A is
Backward relationship；
With neighboring trace vehicle relationship forwards are as follows: all directions are identical and are located at the set FN (A) that the neighboring trace vehicle of the front side A forms
With the relationship of A are as follows:
Front vehicle relationship in the same direction: all directions are identical and are located at the pass of set B (A) and A that the neighboring trace vehicle of the front side A forms
System are as follows:
With rearward neighboring trace vehicle relationship are as follows: all directions are identical and are located at the set BN (A) that the neighboring trace vehicle of the front side A forms
With the relationship of A are as follows:
5. a kind of VANET control channel towards safety index according to claim 1 combines jamming control method, special
Sign is that step S4 specifically includes step:
S41, initialization: according to adjacent vehicle state table Tab, current time t is calculatedcIn table all vehicles and current vehicle A away from
From being gatheredWherein It is in tri
The displacement and speed for the vehicle i that moment A is obtained from Beacon message,It is the displacement of A vehicle；
S42, set of computations DATwo subset VnearAnd Vwarn, wherein VnearMiddle vehicle distances DAi(i ∈ Tab) is less than RNGnear,
VwarnMiddle vehicle distances DAi(i ∈ Tab) is less than RNGwarn, set sizes are denoted as N respectivelynearAnd Nwarn；
S43, by NnearAnd NwarnIt substitutes into state transition equation (11) and (12), is sent tracking Beacon and discovery at this time
It is respectively p that Beacon, which is successfully obtained and sent the probability of window,trackAnd paware；
S44, the probability that window is sent according to the successful acquisition of safety index and two kinds of Beacon, calculate two kinds of Beacon message
Transmission rate RtrackAnd Raware。
6. a kind of VANET control channel towards safety index according to claim 1 combines jamming control method, special
Sign is, the TadaptIt is 5 seconds.
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| CN102695287A (en) * | 2012-06-20 | 2012-09-26 | 电子科技大学 | VANET (vehicular ad-hoc network) media access control method |
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