CN107231670B - Alarm relay selection method based on neighbor vehicle information and alarm direction - Google Patents
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Abstract
The invention discloses an alarm relay selection algorithm based on neighbor vehicle information and an alarm direction, which comprises the following steps: s1, generating warning information by the vehicle running on the road; s2, the alarm source vehicle determines the coverage area of the neighbor vehicle from the geographical position and the power through the vehicle information in the neighbor list, and determines the alarm message relay vehicle according to the diffusion direction of the alarm, the channel use condition and the geographical segmentation method of greedy thought; s3, adding relay information into the message by the warning source vehicle to form a warning message, then competing for channel resources, and if the channel resources compete successfully, sending the warning message; otherwise, waiting for the next competition until the channel resource is competed to finish the sending of the alarm message. The invention combines the geographic position information of the vehicles in the Internet of vehicles, the channel use condition, the message sending success time and other information, comprehensively selects the relay vehicle, ensures that the alarm is rapidly diffused, and reduces the huge redundant alarm message brought by the traditional alarm broadcasting algorithm.
Description
Technical Field
The invention belongs to the technical field of wireless communication, and relates to an alarm relay selection algorithm based on neighbor vehicle information and an alarm direction.
Background
In the on-board network, there are two important types of transmission information for inter-vehicle communication supporting road security: the periodic broadcast message and the emergency safety message emergency information. The periodic broadcast message is also called beacon message, is generated in an application layer or a network layer, and is a periodic one-hop broadcast message, and the vehicle node periodically broadcasts the beacon message including the current position, speed and the like to the surrounding neighbor nodes, so that the surrounding neighbor nodes can know the surrounding environment conditions, and potential danger is avoided. When receiving the broadcast message, the neighbor node updates the information required by the neighbor node according to the condition of the neighbor node, and then discards the broadcast message.
The emergency safety information is a multi-hop broadcast message, and when an accident or traffic jam occurs, the node broadcasts the emergency safety information to other vehicles within a certain range. The broadcasting of such urgent messages is also based on the periodic broadcasting of beacon. When receiving the message, other nodes will update the information needed by the node, and then choose to discard or forward the broadcast message according to the current situation. If it has accepted the broadcast message before, then it is discarded; if the message is received for the first time, the message is forwarded according to a broadcasting mechanism or a routing protocol.
The main performance goals of emergency safety message propagation are fast, high reliability and high scalability. However, in a practical driving environment, the rapid dynamic changes of the vehicle topology and the unreliability of the links can make information transmission more challenging. In a vehicle-mounted network, transmission collision and channel attenuation caused by hidden terminals can cause the increase of the packet loss rate, but a channel recovery mechanism is not established for broadcasting in the IEEE 802.11p protocol, so that a large amount of data packet collision can be generated due to channel congestion in a compact network, and the success rate of broadcasting transmission is reduced. A fast and efficient broadcast algorithm is therefore critical for efficient dissemination of secure messages.
In the conventional broadcast algorithm, the most direct method is simple flooding (simple flooding): any node, upon receiving the new broadcast packet, forwards it to neighboring nodes within transmission range, while discarding the broadcast packet that has already been received. Simple flooding often introduces a large amount of redundant data forwarding, which not only causes network storm phenomena and congestion of the transmission channel, but also results in useless consumption of transmission energy by the mobile node.
An efficient broadcast strategy requires that all nodes in the network are covered with as few packet forwarding as possible to avoid the above drawbacks of simple flooding. Aiming at the aim, a series of algorithms are provided by various documents from different angles, and the algorithms are summarized into an optimized flooding strategy based on probability prediction, an optimized flooding strategy based on a region, an optimized flooding strategy based on adjacent node information and the like. An optimized flooding strategy based on adjacent node information utilizes connection topology of nodes in N hops (N-hops) around the nodes to construct a local optimal covering node set, and a packet forwarding virtual backbone network (connected hosting set, CDS) with local generation characteristics is expected to be formed.
The connected dominating set is a connected sub-network formed by partial nodes in the network, and has the following properties: any node in the network either belongs to the set of connected dominance or at least one neighbor node is an element in the set of connected dominance. The number of forwarding times required by broadcasting can be effectively reduced by taking the connected dominating set as a packet forwarding node. The concept in the set theory is introduced, and the number of elements in a set is called the potential (cardinality). It is obvious that the smaller the potential of the connectivity dominance set, the fewer the number of packet forwarding times required for the corresponding network broadcast. The connected dominating set with the smallest potential is referred to as a Minimum Connected Dominating Set (MCDS) of the corresponding network. Distributively constructing the MCDS with local topology information proves to be an NP-C problem, so that only approximate solutions can be obtained. Since the optimal result cannot be obtained, an optimal approximation coefficient (i.e., a ratio between a result generated by an algorithm and an actual optimal solution) is generally used to evaluate the effect of each approximation algorithm.
Through research on the existing broadcast strategy of the safety alarm information, the performance evaluation indexes of the broadcast strategy mainly include redundant message number, time delay, reliability, complexity and the like. The number of the redundant messages and the time delay are in positive correlation, and the reduction of the number of the redundant messages can reduce the time delay of the alarm message. The number of redundant messages is effectively reduced, the diffusion is rapid and reliable, and the complexity is low, so that the method is a research target of a broadcast algorithm. There are two main representative studies:
(1) geographical location based Broadcast strategies (see literature: Benrhem W, Hafid A S, Sahu P.Multi-Hop Reliability for Broadcast-based VANET in City Environments [ C ]// IEEEICC. IEEE, 2016.): the algorithm divides the street into a plurality of cells to form a grid-shaped area, the vehicles estimate the wireless link state of the neighboring vehicles by using periodic CAMs (computer aided features) messages, and the reliability of safety warning information is improved by selecting a sufficient number of forwarding vehicles. However, the algorithm does not consider the scene with high vehicle density, and in the high-density scene, the algorithm cannot meet the problem of resource shortage caused by high vehicle density, so that the success rate and the reliability of sending the alarm information are reduced.
(2) Distance-based broadcast strategies (see literature: Rehman O, Ould-Khaoua M, Bourdousen H. adaptive relay nodes selection scheme for multi-hop broadcast in VANETs [ J ]. Computer Communications,2016,87(C): 76-90.): the document proposes a broadcast relay algorithm for selecting a next hop node to relay a broadcast message when adaptively estimating link quality and a distance between a source broadcast and a potential repeater, and the mechanism guarantees a message transmission failure caused by unstable link quality in broadcast diffusion. However, the mechanism does not consider the regional effectiveness and directionality of the alarm message in the internet of vehicles, and the broadcasting algorithm is not efficient.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an alarm relay selection algorithm based on neighbor vehicle information and alarm direction, which combines the geographic position information, power information, channel use condition, message sending success time and other information of vehicles in the Internet of vehicles and comprehensively selects the alarm relay vehicle, so that the alarm is quickly diffused, huge redundant alarm messages brought by the traditional alarm broadcast algorithm are reduced, and the utilization rate of limited resources is improved.
The purpose of the invention is realized by the following technical scheme: the warning relay selection algorithm based on the neighbor vehicle information and the warning direction comprises the following steps:
s1, receiving information of surrounding vehicles by vehicles running on the road, judging whether the conditions for generating the alarm are met according to the conditions for generating various alarms in the internet of vehicles, if so, generating alarm information, otherwise, not operating;
s2, the alarm source vehicle determines the coverage area of the neighbor vehicle from the geographical position and the power through the vehicle information in the neighbor list, and determines the alarm message relay vehicle according to the diffusion direction of the alarm, the channel use condition and the geographical segmentation method of greedy thought;
s3, adding relay information into the message by the warning source vehicle to form a warning message, then competing for channel resources, and if the channel resources compete successfully, sending the warning message; otherwise, waiting for the next competition until the channel resource is competed, and finishing the sending of the alarm message.
Further, the specific process of determining the warning message relay vehicle in step S2 includes the following substeps:
s21, inquiring the neighbor vehicle information of the warning source vehicle, and calculating the coverage area of the neighbor vehicle according to the signal power and the geographic position;
s22, calculating the time of alarm successful diffusion according to the using condition of the neighbor vehicle channel;
s23, selecting the best relay vehicle according to the diffusion direction and the effective region information of the alarm;
and S24, removing the neighbor vehicles which are repeatedly covered according to the greedy geographic segmentation method, then judging whether relay vehicles are available, if so, returning to S23, and if not, entering S3.
Further, the method for calculating the coverage area of the neighboring vehicle in step S21 includes:
Si＝max(Ri+Dsi)
wherein i represents the ith neighbor vehicle of the alert source vehicle s; siRepresenting the coverage of the neighbor vehicle i; riRepresenting the diffusion distance of the neighbor vehicle i, in relation to the signal transmission power of the vehicle; dsiIndicating the distance of the alert source vehicle s from the neighbor vehicle i.
Further, in the step S22, a probability generating function Q of the steady-state probability of the message service time is adoptedi(z) coming tableThe alarm diffusion time is displayed, and the calculation method comprises the following steps:
z represents the message sending success probability; omega0Is the size of the contention window; n iss(p) is the sum of the channel time slot numbers required by the message transmission, wherein p represents the message; gi(z) is a transition probability generating function of the backoff counter, which is specifically shown as follows:
wherein p isb(i) The probability that the transmission channel of the vehicle i is busy is represented as follows:
wherein p is0Is the probability that a node within the network will attempt to send a message,
for the number of nodes attempting message transmission in the carrier listening area around the vehicle i,
n (i) is the number of vehicles in the i-carrier monitoring range of the vehicle.
Further, the specific implementation method of step S23 is as follows: selecting the neighbor vehicle with the maximum average distance transmitted by the node in unit time as the optimal relay vehicle; the specific calculation method comprises the following steps: after adding the direction information, the optimal relay vehicle selection formula is obtained as follows:
(Ri+Dsi)x,yrepresenting the diffusion distance, Q, of the vehicle i in the x-or y-directioni(z)|z＝1And the service time required when the message sending success probability is 1 is shown.
Further, the specific implementation method for judging whether there is any relay option according to the geographic segmentation method using greedy idea in step S24 is as follows: the neighbor vehicles repeatedly covered by the best relay vehicle selected at step S23 are excluded from the neighbor list of the warning source vehicle, and then it is checked whether there are any neighbor vehicles to select, if so, it returns to step S23, otherwise, step S3 is performed.
The invention has the beneficial effects that: the invention combines the information of the geographic position information, the power information, the channel use condition, the message sending success time and the like of the vehicles in the Internet of vehicles, comprehensively selects the relay vehicle for alarming, ensures that the alarm is quickly diffused, simultaneously reduces the huge redundant alarm message brought by the traditional alarm broadcasting algorithm, and improves the utilization rate of limited resources. By adding the directional information of the alarm, the alarm relay algorithm is not diffused blindly any more, the alarm diffusion is quicker and more accurate, and meanwhile, the vehicle in the non-alarm area cannot receive irrelevant alarm information, so that the alarm redundancy is reduced. In addition, relays are selected by adding a geographical segmentation method based on a greedy thought, after one relay is selected by an alarm source vehicle, other subsequent relay vehicles are selected according to rules of the geographical segmentation method so as to achieve alarm coverage rate of an alarm related area, and the condition that the vehicle in the alarm area does not receive the alarm is avoided to a certain extent.
Drawings
FIG. 1 is a flow chart of an alert relay selection algorithm based on neighbor vehicle information and alert direction in accordance with the present invention;
FIG. 2 is a flow chart of the present invention for selecting alert message relay vehicles;
FIG. 3 is a schematic diagram of a greedy idea based geographic segmentation method of the present invention;
fig. 4 is a schematic diagram of an alarm relay selection algorithm based on neighbor vehicle information and an alarm direction according to an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
The network scene applied by the invention is as follows: the vehicle model is a common car, the vehicles are randomly distributed on a straight road in a city, the vehicle speeds are randomly distributed, and the coverage area of the broadcast signal of each vehicle is randomly distributed; CAMs of the self information are periodically broadcasted and interacted among vehicles, and each vehicle knows the identity ID, the corresponding accurate position and the motion state of the neighbor vehicle around the vehicle. Based on the above thought, the invention provides an alarm relay selection algorithm based on neighbor vehicle information and alarm direction, the flow of which is shown in fig. 1, and the method comprises the following steps:
s1, receiving information of surrounding vehicles, such as vehicle types, vehicle states and vehicle collisions, by the vehicles running on the road, judging whether the conditions for generating the alarms are met or not according to the conditions for generating the alarms in the internet of vehicles, and generating alarm information if the conditions for generating the alarms are met, or not operating; various types of alarms in the vehicle network have relevant definitions, and determining whether to form corresponding alarms according to the definitions is a conventional technical means in the field and is not described in detail herein.
S2, the alarm source vehicle determines the coverage area of the neighbor vehicle from the geographical position and the power through the vehicle information in the neighbor list, and determines the alarm message relay vehicle according to the diffusion direction of the alarm, the channel use condition and the geographical segmentation method of greedy thought; the selection process of the warning message relay vehicle is shown in fig. 2, and the specific process comprises the following substeps:
s21, inquiring the neighbor vehicle information of the warning source vehicle, and calculating the coverage area of the neighbor vehicle according to the signal power and the geographic position; the method for calculating the coverage area of the neighbor vehicle comprises the following steps:
Si＝max(Ri+Dsi)
wherein i represents the ith neighbor vehicle of the alert source vehicle s; siRepresenting the coverage of the neighbor vehicle i; riRepresenting the diffusion distance of the neighbor vehicle i, in relation to the signal transmission power of the vehicle; dsiRepresents the distance of the warning source vehicle s from the neighbor vehicle i;
s22, calculating alarm success through neighbor vehicle channel use conditionThe time of diffusion; in the step, a probability generation function Q of the steady-state probability of the message service time is adoptedi(z) to represent alarm diffusion time, and the calculation method comprises the following steps:
z represents the message sending success probability; omega0Is the size of the contention window; n iss(p) is the sum of the channel time slot numbers required by the message transmission, wherein p represents the message; gi(z) is a transition probability generating function of the backoff counter, which is specifically shown as follows:
wherein p isb(i) The probability that the transmission channel of the vehicle i is busy is represented as follows:
wherein p is0Is the probability that a node within the network will attempt to send a message,
for the number of nodes attempting message transmission in the carrier listening area around the vehicle i,
n (i) is the number of vehicles in the carrier monitoring range of the vehicle i;
s23, selecting the best relay vehicle according to the diffusion direction and the effective region information of the alarm; the specific implementation method comprises the following steps: selecting the neighbor vehicle with the maximum average distance transmitted by the node in unit time as the optimal relay vehicle; the specific calculation method comprises the following steps: after adding the direction information, the optimal relay vehicle selection formula is obtained as follows:
(Ri+Dsi)x,yrepresenting the diffusion distance, Q, of the vehicle i in the x-or y-directioni(z)|z＝1Representing the service time required when the successful probability of message transmission is 1;
s24, removing the neighbor vehicles which are repeatedly covered according to a greedy geographic segmentation method, then judging whether relay vehicles are available, if yes, returning to S23, and if not, entering S3; as shown in fig. 3, the specific implementation method for selecting the remaining relay vehicles by the greedy geographic segmentation method is as follows: the neighbor vehicles repeatedly covered by the best relay vehicle selected at step S23 are excluded from the neighbor list of the warning source vehicle, and then it is checked whether there are any neighbor vehicles to select, if so, it returns to step S23, otherwise, step S3 is performed.
S3, adding relay information into the message by the warning source vehicle to form a warning message, then competing for channel resources, and if the channel resources compete successfully, sending the warning message; otherwise, waiting for the next competition until the channel resource is competed to finish the sending of the alarm message; the resource allocation mechanism here adopts the wave definition.
The scenario of the relay algorithm is shown in fig. 4, the vehicle V1 collides with the vehicle V2 to form an Alarm, the Alarm region is shown as Alarm Cover area, and the vehicle V1 selects the vehicles V3 and V4 as Alarm relay vehicles according to the relay selection algorithm. Vehicle V4 continues to select vehicle V5 as the new alert source vehicle as the alert relaying vehicle until the alert spreads to alert area Alarm Cover area.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.
Claims (5)
1. The method for selecting the warning relay based on the neighbor vehicle information and the warning direction is characterized by comprising the following steps of:
s1, receiving information of surrounding vehicles by vehicles running on the road, judging whether the conditions for generating the alarm are met according to the conditions for generating various alarms in the internet of vehicles, if so, generating alarm information, otherwise, not operating;
s2, the alarm source vehicle determines the coverage area of the neighbor vehicle from the geographical position and the power through the vehicle information in the neighbor list, and determines the alarm message relay vehicle according to the diffusion direction of the alarm, the channel use condition and the geographical segmentation method of greedy thought; the specific process for determining the warning message relay vehicle comprises the following substeps:
s21, inquiring the neighbor vehicle information of the warning source vehicle, and calculating the coverage area of the neighbor vehicle according to the signal power and the geographic position;
s22, calculating the time of alarm successful diffusion according to the using condition of the neighbor vehicle channel;
s23, selecting the best relay vehicle according to the diffusion direction and the effective region information of the alarm;
s24, removing the neighbor vehicles which are repeatedly covered according to a greedy geographic segmentation method, then judging whether relay vehicles are available, if yes, returning to S23, and if not, entering S3;
s3, adding relay information into the message by the warning source vehicle to form a warning message, then competing for channel resources, and if the channel resources compete successfully, sending the warning message; otherwise, waiting for the next competition until the channel resource is competed, and finishing the sending of the alarm message.
2. The method for selecting warning relay based on neighbor vehicle information and warning direction as claimed in claim 1, wherein the method for calculating the coverage of neighbor vehicles in step S21 is:
Si＝max(Ri+Dsi)
wherein i represents the ith neighbor vehicle of the alert source vehicle s; siRepresenting the coverage of the neighbor vehicle i; riIndicating diffusion distance of neighboring vehicle i, and vehicleSignal transmission power correlation of the vehicle; dsiIndicating the distance of the alert source vehicle s from the neighbor vehicle i.
3. The method for selecting an alarm relay based on neighbor vehicle information and alarm direction as claimed in claim 2, wherein said step S22 employs a probability generating function Q of message service time steady-state probabilityi(z) to represent alarm diffusion time, and the calculation method comprises the following steps:
z represents the message sending success probability; omega0Is the size of the contention window; n iss(p) is the sum of the channel time slot numbers required by the message transmission, wherein p represents the message; gi(z) is a transition probability generating function of the backoff counter, which is specifically shown as follows:
wherein p isb(i) The probability that the transmission channel of the vehicle i is busy is represented as follows:
wherein p is0Is the probability that a node within the network will attempt to send a message,
for the number of nodes attempting message transmission in the carrier listening area around the vehicle i,
n (i) is the number of vehicles in the i-carrier monitoring range of the vehicle.
4. The method for selecting an alert relay based on neighbor vehicle information and alert direction according to claim 3, wherein the step S23 is implemented by: selecting the neighbor vehicle with the maximum average distance transmitted by the node in unit time as the optimal relay vehicle; the specific calculation method comprises the following steps: after adding the direction information, the optimal relay vehicle selection formula is obtained as follows:
(Ri+Dsi)x,yrepresenting the diffusion distance, Q, of the vehicle i in the x-or y-directioni(z)|z＝1And the service time required when the message sending success probability is 1 is shown.
5. The method for selecting an alarm relay based on neighbor vehicle information and alarm direction as claimed in claim 4, wherein the specific implementation method for determining whether there is any relay selectable according to the greedy geographic segmentation method adopted in step S24 is as follows: the neighbor vehicles repeatedly covered by the best relay vehicle selected at step S23 are excluded from the neighbor list of the warning source vehicle, and then it is checked whether there are any neighbor vehicles to select, if so, it returns to step S23, otherwise, step S3 is performed.
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| CN108471605B (en) * | 2018-03-13 | 2019-11-05 | 电子科技大学 | Wireless channel access control method based on fleet |
| CN111132075B (en) * | 2019-12-30 | 2021-08-31 | 西北工业大学 | Air-ground integrated vehicle networking relay selection method based on state transition probability |
| CN115191121A (en) * | 2020-01-02 | 2022-10-14 | 昕诺飞控股有限公司 | Method and node device for alerting node devices in a network of operably interconnected node devices |
| CN113709896B (en) * | 2020-05-20 | 2023-11-07 | 上海大学 | Distributed resource allocation method for persistent scheduling based on collision avoidance |
| CN112469137B (en) * | 2020-10-15 | 2022-10-21 | 北京航空航天大学杭州创新研究院 | Collision-free multiple access method, device and system for Internet of vehicles safety application |
| CN113923742B (en) * | 2021-08-16 | 2023-09-12 | 南通大学 | Short-distance communication routing method between vehicle nodes of Internet of vehicles |
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| CN115410413A (en) * | 2022-07-12 | 2022-11-29 | 广州铁路职业技术学院（广州铁路机械学校） | Vehicle-mounted self-organizing network-based collision early warning method, vehicle-mounted terminal and vehicle |
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