CN106251660A - Traffic safety message fusion method in a kind of car networking - Google Patents

Traffic safety message fusion method in a kind of car networking Download PDF

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Publication number
CN106251660A
CN106251660A CN201610550507.3A CN201610550507A CN106251660A CN 106251660 A CN106251660 A CN 106251660A CN 201610550507 A CN201610550507 A CN 201610550507A CN 106251660 A CN106251660 A CN 106251660A
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China
Prior art keywords
message
time
vehicle
traffic safety
parameter
Prior art date
Application number
CN201610550507.3A
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Chinese (zh)
Inventor
邱恭安
周永筝
邹丽
刘敏
张士兵
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南通大学
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Priority to CN201610550507.3A priority Critical patent/CN106251660A/en
Publication of CN106251660A publication Critical patent/CN106251660A/en

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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967Systems involving transmission of highway information, e.g. weather, speed limits
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04HBROADCAST COMMUNICATION
    • H04H20/00Arrangements for broadcast or for distribution combined with broadcast
    • H04H20/53Arrangements specially adapted for specific applications, e.g. for traffic information or for mobile receivers
    • H04H20/55Arrangements specially adapted for specific applications, e.g. for traffic information or for mobile receivers for traffic information
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04HBROADCAST COMMUNICATION
    • H04H20/00Arrangements for broadcast or for distribution combined with broadcast
    • H04H20/53Arrangements specially adapted for specific applications, e.g. for traffic information or for mobile receivers
    • H04H20/61Arrangements specially adapted for specific applications, e.g. for traffic information or for mobile receivers for local area broadcast, e.g. instore broadcast
    • H04H20/62Arrangements specially adapted for specific applications, e.g. for traffic information or for mobile receivers for local area broadcast, e.g. instore broadcast for transportation systems, e.g. in vehicles
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00Network-specific arrangements or communication protocols supporting networked applications
    • H04L67/12Network-specific arrangements or communication protocols supporting networked applications adapted for proprietary or special purpose networking environments, e.g. medical networks, sensor networks, networks in a car or remote metering networks
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W40/00Communication routing or communication path finding
    • H04W40/02Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/22Communication route or path selection, e.g. power-based or shortest path routing using selective relaying for reaching a BTS [Base Transceiver Station] or an access point
    • Y02D70/39

Abstract

The invention discloses traffic safety message fusion method in a kind of car networking, it is characterized in that, comprise the steps of S1, board units OBU obtains traffic behavior or traffic events in real time, and generates traffic safety message and broadcast the traffic safety message generated;The vehicle that the described traffic safety message of S2, via node reception carries out reporting and travelling other in the same direction is broadcasted.Traffic safety message fusion method in a kind of car networking that the present invention provides, can realize the fusion treatment of redundant safety message rapidly, improve the reliability of converged message, improves message propagation performance by reducing message propagation amount, it is achieved traffic events early warning.Application Cauchy's equation realizes the quick judgement of security message temporal correlation;The weights using security message parameter Pasteur's average carry out assignment to the confidence level of message parameter state, improve its accuracy;Application Dempster composition rule carries out fusion calculation to security message parameter and confidence level thereof, improves the reliability that message merges.

Description

Traffic safety message fusion method in a kind of car networking

Technical field

The invention belongs to technical field of intelligent traffic, particularly relate to the fusion side of traffic safety message in the networking of a kind of car Method.

Background technology

Based on special short range wireless communication protocol (Dedicated Short Range Communications, DSRC) The platform that it is message collection in intelligent transportation system that car is networked, carries and transmits, it is possible to comprehensive transmission traffic safety message and friendship Logical application message.Wherein, traffic safety message is only effective in specific time domain and specific region, it is desirable to quickly and reliably propagate To realize traffic behavior broadcast or vehicle accident early warning, improve traffic driving safety and traffic transportation efficiency.

In car is networked, traffic safety message has the message source position determined and message generates the time, by vehicle-mounted logical Letter unit OBU (On-Board Unit) generates and broadcasts this message.In high density car is networked, a large amount of vehicles are to same traffic The repeated broadcast of security message makes the size of message needing to propagate sharply increase, but, for transmitting traffic safety message It is limited that DSRC controls channel width, and will bring serious access interference when a large amount of message accesses same wireless channel, then dislikes Change traffic safety transmission of news time delay and message efficiency of transmission performance, therefore, merge same traffic safety message, remove message Between redundancy performance reduce the amount of spreading news, improve the end-to-end propagation of message performance, can conscientiously play the effect of traffic prewarning.

At present, in traffic safety message fusion treatment, rapidity and reliability index cannot concurrently reach actual traffic The requirement of application, it main reason is that the traffic safety message that the quick mobility of vehicle makes different vehicle broadcast identical has Variant, cause describing, between the message of same event, there is uncertainty.This uncertainty reduces and identifies redundancy message Accuracy rate, and then reduce the reliability that message merges.For improving the message prediction that the accuracy of converged message is carried out, increase Message fusion treatment time delay, causes the end-to-end propagation delay time of message big, so that security message lost efficacy or the traffic shape of time lag State is broadcasted.

Summary of the invention

In order to solve the problems referred to above, the present invention provides traffic safety message fusion method in a kind of car networking, utilizes car to join Temporal correlation between traffic safety message in net, applies Cauchy's equation decision message redundancy rapidly, applies evidence theory Process the uncertainty of converged message, and use putting of Pasteur's average (Bajraktarevic Mean) distribution different vehicle message Reliability weights are to avoid the subjectivity of weights estimation, it is achieved security message fusion method rapidly and reliably.

For achieving the above object, according to an aspect of the present invention, it is provided that in the networking of a kind of car, traffic safety message melts Conjunction method, it is characterised in that comprise the steps of

S1, board units OBU obtain traffic behavior or traffic events in real time, and generate traffic safety message and to generation Traffic safety message is broadcasted;

S2, via node receive described traffic safety message to carry out reporting and carrying out other vehicles travelled in the same direction extensively Broadcast.

In some embodiments, the calculation of the described traffic safety information that described via node receives is as follows:

SS20, set in certain section message source vehicle and generate traffic safety message as M, its board units OBU radio communication model The K travelled in the same direction in enclosing follows the security message that vehicle receives and is expressed as S={S1, S2..., SK};

SS21, the security message of all K vehicle receiver control channel by time division multiplex medium access technology through DSRC Being broadcast to described via node, different vehicle is uploaded and is disturbed parameter to be respectively N in the wireless channel of security message1, N2..., NK, It is M '=S+N, wherein, S={S that described via node receives the security message that each vehicle uploads1, S2..., SK, N={N1, N2..., NK, K is natural number;

SS22, choose in described traffic safety message security message location parameter (x, y) and time parameter t retouch respectively Stating the locus of security message and generate temporal characteristics, wherein, x is vehicle longitude parameter, and y is vehicle latitude parameter;If car The security message location parameter value that i uploads is (xi, yi), time parameter values is ti, then the security message K vehicle uploaded Time And Space Parameters collection be expressed as θ={ θ1, θ2, θ3, wherein, θ1={ x1, x2..., xK, θ2={ y1, y2..., yK, θ3= {t1, t2..., tK, i=1,2 ..., K;

SS23, when the traffic safety message received meets Cauchy's equation condition shown in formula (1), judgement related news between There is redundancy;

f(θij)=f (θi)+f(θj) (1)

Wherein, θiAnd θjFor the message Time And Space Parameters collection of vehicle i and vehicle j, j ≠ i, j=1,2 ..., K.

SS24, when described via node receives redundant safety message, use evidence theory Dempster composition rule The Time And Space Parameters of message is carried out fusion calculation.

In some embodiments, the calculation of described fusion calculation is:

SS240, a certain message Time And Space Parameters setting vehicle i and basic probability assignment thereof are respectively { θli, mli, l=1,2, 3, and have mli(φ)=0 HeBasic probability assignment is the estimation to this Time And Space Parameters value credibility, the most described peace Full message fusion method uses the weights of Pasteur's average to realize basic probability assignment to avoid the subjectivity of Reliability estimation, such as formula (2) shown in.

Wherein, giFor receiving the security message Time And Space Parameters θ of vehicle iliPasteur's average weights, described Pasteur's average Weights are by the arithmetic equal value of corresponding Time And Space ParametersAnd geometric meanJointly it is calculated, as shown in formula (3).

SS241, when in security message Time And Space Parameters collection θ, the value of a certain parameter is all higher than 0, the arithmetic equal value of Pasteur's average WeightsWith geometric mean weightsEqual, the security message Time And Space Parameters θ of vehicle i can be tried to achieve according to formula (4)liPasteur equal Value weights;

SS242, a certain Time And Space Parameters θ of vehicle i can be obtained according to formula (2)liBasic probability assignment mli, use certificate According to the theoretical Dempster composition rule Time And Space Parameters θ to redundancy message M 'liCarry out fusion calculation, as shown in formula (5).

In some embodiments, described traffic safety message M ' Time And Space Parameters θliCan this message after fusion calculation Time And Space Parameters and confidence level collection thereof are { θli, m 'li, select the Time And Space Parameters value security message as output of confidence level maximum Parameter, when obtaining the Time And Space Parameters collection θ of security message M ', described via node generates new security message packet and carries out wide Broadcast, and realize the propagation of backward message.

The fusion method of traffic safety message in a kind of car networking that the present invention provides, Advantageous Effects is:

(1) in a kind of car networking that the present invention provides, the fusion method of traffic safety message, utilizes the linear of Cauchy's equation Additivity carries out traffic safety message correlation judgement, it is possible to increase message correlation judgement speed.

(2) in a kind of car networking that the present invention provides, the fusion method of traffic safety message, uses the weights of Pasteur's average Realize the basic probability assignment of security message Time And Space Parameters, it is to avoid the impact of subjective selection basic probability assignment, improve space-time The accuracy of parameter estimation.

(3) in a kind of car networking that the present invention provides, the fusion method of traffic safety message, uses evidence theory to process peace The uncertainty of full message parameter, it is ensured that the reliability of converged message.

Accompanying drawing explanation

Fig. 1 is two track security message propagation models in car networking, and Model Selection RSU realizes message as via node and melts Close.

Fig. 2 is security message Fusion Model based on Dempster composition rule.

Detailed description of the invention

Embodiment is described in further detail explanation to technical scheme in detail below.

Some there is board units (On-Board Unit, OBU) as it is shown in figure 1, travel in the same direction on certain track, section two Vehicle, select roadside unit (Road Side Unit, RSU) as message fusion center.In communication range, vehicle-mounted OBU Possessing broadcast and receive message capability, all vehicles realize two-way communication by between OBU and RSU.This is implemented in car is networked The detailed process of bright method is as follows:

After traffic events occurs, message source vehicle OBU obtains the location parameter of traffic events by vehicle positioning system, The time parameter of recording traffic event, generates traffic safety message and broadcasts.In fusion cycle, fusion center is first to respectively The security message that vehicle is uploaded carries out dependency judgement.Subsequently, the security message state set θ of structure temporal and spatial correlations, calculate Pasteur The weights of average also carry out assignment to the elementary probability of message state parameter value.Finally, the Dempster of evidence theory is applied Fusion rule calculates the parameter value in security message state set and confidence level thereof.The state parameter collection selecting confidence level maximum builds New security message exports and carries out message broadcast as merging decision-making, updates the endogenous message of communication zone and backward relay multi-hop Propagate, it is achieved traffic safety forewarning function.

In described fusion method, traffic safety message content is made up of location parameter and time parameter, according to SAE J2737 (Society of Automotive Engineers, SAE) standard generates basic security message (Basic Safety Message, BSM) broadcast.If the traffic event locations parameter value of vehicle receiver is that (x, y), traffic events time parameter is T, then in the range of fusion center efficient communication, the message parameter collection of same traffic events state is stated such as table 1 by all K vehicles Shown in.

The security message state set of the same event of table 1

When the K ' that fusion center is properly received individual traffic safety message meets formula (6), judgement associated safety message is same The state parameter collection of one traffic events, wherein K '=1,2 ..., K;I '=1,2 ..., K ';J '=1,2 ..., K ';j′≠ I ', ε1, ε2It is respectively the fault-tolerant error of location parameter and the fault-tolerant error of time parameter.

When parameter value is more than 0 in redundancy traffic safety message parameter, make the weights of the arithmetic equal value of Pasteur's averageIt is equal to The weights of geometric meanCalculate shown in the weights such as formula (7) of location parameter and time parameter Pasteur's average.

Weights based on security message parameter Pasteur's average calculate the basic probability assignment of each parameter in parameter set respectively, as Shown in formula (8).

Application Dempster composition rule fusion calculation security message parameter set, fusion process is as in figure 2 it is shown, obtain each ginseng Number and confidence level collection thereof are { θli, m 'li′, calculate as shown in formula (9).

When being calculated security message state parameter collection and the confidence level thereof of fusion, select the parameter conduct that confidence level is maximum Security message parameter exports, shown in its comparison procedure such as formula (10).

Wherein, a={x, y, t}, aoFor the output parameter of security message state, m ' (az) it is putting after state parameter merges Reliability, εoFor the state parameter confidence interval thresholding arranged, ε is the state parameter min confidence thresholding arranged, by adjusting Whole εoCan realize calculating convergence rate to adjust, adjust ε and can realize the adjustment of Parameter fusion precision.Relatively iterative process such as formula (11) shown in.

Finally, described traffic safety message fusion method acquisition security message state parameter integrates as θo={ xo, yo, to, melt Conjunction is centrally generated new security message and broadcasts, it is achieved safe condition updates and multi-hop is propagated.

The above is only the preferred embodiment for the present invention, it is noted that to those skilled in the art, is not taking off On the premise of the invention is conceived, it is also possible to make some similar deformation and improvement, these also should be regarded as the guarantor of invention Within the scope of protecting.

Claims (4)

1. the fusion method of traffic safety message in a car networking, it is characterised in that comprise the steps of
S1, board units OBU obtain traffic behavior or traffic events in real time, and generate traffic safety message and to the traffic generated Security message is broadcasted;
The vehicle that the described traffic safety message of S2, via node reception carries out reporting and travelling other in the same direction is broadcasted.
The fusion method of traffic safety message in a kind of car the most according to claim 1 networking, it is characterised in that in described The calculation of the described traffic safety information that the node that continues receives is as follows:
SS20, set in certain section message source vehicle and generate traffic safety message as M, in its board units OBU range for wireless communication The K travelled in the same direction follows the security message that vehicle receives and is expressed as S={S1, S2..., SK};
SS21, the security message of all K vehicle receiver control channels broadcast by time division multiplex medium access technology through DSRC To described via node, different vehicle is uploaded and is disturbed parameter to be respectively N in the wireless channel of security message1, N2... .NK, institute Stating via node and receiving the security message that each vehicle uploads is M '=S+N, wherein, S={S1, S2..., SK, N={N1, N2..., NK, K is natural number;
SS22, choose in described traffic safety message security message location parameter (x, y) and time parameter t be respectively described peace The locus of full message and generation temporal characteristics, wherein, x is vehicle longitude parameter, and y is vehicle latitude parameter;If on vehicle i The security message location parameter value passed is (xi, yi), time parameter values is ti, then the space-time of security message K vehicle uploaded Parameter set is expressed as θ={ θ1, θ2, θ3, wherein, θ1={ x1, x2..., xK, θ2={ y1, y2..., yK, θ3={ t1, t2..., tK, i=1,2 ..., K;
SS23, when the traffic safety message received meets Cauchy's equation condition shown in formula (1), judgement related news between have Redundancy;
f(θij)=f (θi)+f(θj) (1)
Wherein, θiAnd θjFor the message Time And Space Parameters collection of vehicle i and vehicle j, j ≠ i, j=1,2 ..., K.
SS24, when described via node receives redundant safety message, use evidence theory Dempster composition rule offset The Time And Space Parameters of breath carries out fusion calculation.
The fusion method of traffic safety message in a kind of car the most according to claim 2 networking, it is characterised in that described in melt The calculation that total is calculated is:
SS240, a certain message Time And Space Parameters setting vehicle i and basic probability assignment thereof are respectively { θli, mli, l=1,2,3, and HaveBasic probability assignment is the estimation to this Time And Space Parameters value credibility, and the most described security message melts Conjunction method uses the weights of Pasteur's average to realize basic probability assignment to avoid the subjectivity of Reliability estimation, as shown in formula (2).
Wherein, giFor receiving the security message Time And Space Parameters θ of vehicle iliPasteur's average weights, the weights of described Pasteur's average Arithmetic equal value by corresponding Time And Space ParametersAnd geometric meanJointly it is calculated, as shown in formula (3).
SS241, when in security message Time And Space Parameters collection θ, the value of a certain parameter is all higher than 0, the arithmetic equal value weights of Pasteur's averageWith geometric mean weightsEqual, the security message Time And Space Parameters θ of vehicle i can be tried to achieve according to formula (4)liPasteur's average power Value;
SS242, a certain Time And Space Parameters θ of vehicle i can be obtained according to formula (2)liBasic probability assignment mli, use evidence theory The Dempster composition rule Time And Space Parameters θ to redundancy message M 'liCarry out fusion calculation, as shown in formula (5).
The fusion method of traffic safety message in a kind of car the most according to claim 3 networking, it is characterised in that described friendship The Time And Space Parameters θ of logical security message M 'liCan the Time And Space Parameters of this message and confidence level collection thereof be { θ after fusion calculationli, m ′li, select the Time And Space Parameters value security message parameter as output of confidence level maximum, when the space-time obtaining security message M ' is joined During manifold θ, described via node generates new security message packet and broadcasts, and realizes the propagation of backward message.
CN201610550507.3A 2016-07-09 2016-07-09 Traffic safety message fusion method in a kind of car networking CN106251660A (en)

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20100089909A (en) * 2009-02-05 2010-08-13 최광주 The on board equipment(obe) that serving of safety information using tts(text to speech) technology
CN102256322A (en) * 2011-06-20 2011-11-23 北京新岸线移动多媒体技术有限公司 Road-vehicle cooperation-based communication method and equipment
US20120146811A1 (en) * 2010-12-14 2012-06-14 Institute For Information Industry Driving assisting system, method and computer readable storage medium for storing thereof
CN102592323A (en) * 2012-01-12 2012-07-18 北京万集科技股份有限公司 OBU (On Board Unit) positioning method, positioning device and system based on DBF (Digital Beam Forming)
CN102625239A (en) * 2012-03-29 2012-08-01 杨涛 Traffic information transceiving interactive system based on dedicated short range communication (DSRC)
CN103051726A (en) * 2012-12-28 2013-04-17 杨涛 System and method for transmitting VANET (vehicle ad hoc network) safety information aggregate based on RSU (Remote Subscriber Unit)
CN103259834A (en) * 2012-11-19 2013-08-21 北京新岸线移动多媒体技术有限公司 Method and equipment for spreading traffic information

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20100089909A (en) * 2009-02-05 2010-08-13 최광주 The on board equipment(obe) that serving of safety information using tts(text to speech) technology
US20120146811A1 (en) * 2010-12-14 2012-06-14 Institute For Information Industry Driving assisting system, method and computer readable storage medium for storing thereof
CN102256322A (en) * 2011-06-20 2011-11-23 北京新岸线移动多媒体技术有限公司 Road-vehicle cooperation-based communication method and equipment
CN102592323A (en) * 2012-01-12 2012-07-18 北京万集科技股份有限公司 OBU (On Board Unit) positioning method, positioning device and system based on DBF (Digital Beam Forming)
CN102625239A (en) * 2012-03-29 2012-08-01 杨涛 Traffic information transceiving interactive system based on dedicated short range communication (DSRC)
CN103259834A (en) * 2012-11-19 2013-08-21 北京新岸线移动多媒体技术有限公司 Method and equipment for spreading traffic information
CN103051726A (en) * 2012-12-28 2013-04-17 杨涛 System and method for transmitting VANET (vehicle ad hoc network) safety information aggregate based on RSU (Remote Subscriber Unit)

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