CN107347030B - Message management device based on V2X communication - Google Patents

Message management device based on V2X communication Download PDF

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CN107347030B
CN107347030B CN201710514187.0A CN201710514187A CN107347030B CN 107347030 B CN107347030 B CN 107347030B CN 201710514187 A CN201710514187 A CN 201710514187A CN 107347030 B CN107347030 B CN 107347030B
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message
middleware
information
application program
communication
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CN107347030A (en
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李永福
宋宇
赵杭
陈文博
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Chongqing University of Post and Telecommunications
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Chongqing University of Post and Telecommunications
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L51/00—User-to-user messaging in packet-switching networks, transmitted according to store-and-forward or real-time protocols, e.g. e-mail
    • H04L51/07—User-to-user messaging in packet-switching networks, transmitted according to store-and-forward or real-time protocols, e.g. e-mail characterised by the inclusion of specific contents
    • H04L51/18—Commands or executable codes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L51/00—User-to-user messaging in packet-switching networks, transmitted according to store-and-forward or real-time protocols, e.g. e-mail
    • H04L51/06—Message adaptation to terminal or network requirements
    • H04L51/066—Format adaptation, e.g. format conversion or compression
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L51/00—User-to-user messaging in packet-switching networks, transmitted according to store-and-forward or real-time protocols, e.g. e-mail
    • H04L51/21—Monitoring or handling of messages
    • H04L51/212—Monitoring or handling of messages using filtering or selective blocking
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/02—Network architectures or network communication protocols for network security for separating internal from external traffic, e.g. firewalls
    • H04L63/0227—Filtering policies
    • H04L63/0245—Filtering by information in the payload
    • 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
    • H04W28/06—Optimizing the usage of the radio link, e.g. header compression, information sizing, discarding information
    • H04W28/065—Optimizing the usage of the radio link, e.g. header compression, information sizing, discarding information using assembly or disassembly of packets
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/12—Messaging; Mailboxes; Announcements

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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Computer Hardware Design (AREA)
  • Computer Security & Cryptography (AREA)
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  • Mobile Radio Communication Systems (AREA)
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Abstract

The invention relates to a message management device and method based on V2X communication, and belongs to the technical field of communication. The device comprises a message interface, an environment sensor, a V2X communication module, message middleware and an application program; the information interface is used for receiving environment information acquired by the environment sensor, the V2X communication module is used for receiving and sending the V2X information, and data classification, storage and processing are carried out through the information middleware; and the message middleware establishes a message forwarding rule according to the message to be received by the application program and forwards the message. The method comprises the following steps: receiving environment information and V2X information; managing the received information; establishing a message forwarding rule and forwarding according to the rule; the application program acquires and sends the message through the provided API; establishing a message sending rule and sending according to the rule; the message is sent through the V2X communication module. The invention can enable the networked automobile to carry out efficient data transmission on data in a complex topology information flow environment based on V2X communication.

Description

Message management device based on V2X communication
Technical Field
The invention belongs to the technical field of communication, and relates to a message management device and method based on V2X communication.
Background
At present, the increasingly serious problems of traffic accidents, traffic jams, environmental pollution, energy consumption and the like become problems to be solved urgently. In the course of increasingly severe traffic problems, the development of electronic information technology has increased new possibilities for transportation. The vehicle-road cooperation technology is a large-scale comprehensive technology for realizing intelligent traffic, can enable road traffic to thoroughly change the original appearance of the road traffic, and improves the traffic capacity, the transportation efficiency and the safety degree of the road traffic through the mutual communication between vehicles and the road.
With the rapid development of V2X (vehicloEventuring) communication technology, the application of V2X is extended from simple vehicle warning to complex vehicle queue management, the communication topology structure thereof also becomes a complex communication structure, and for a V2X communication node, the message management of a V2X communication device enables the communication node to receive multi-source messages in the environment in real time in the complex communication topology structure and transmit the messages received by the communication node to the application program in order, so as to improve the reliability and applicability of the V2X communication device in the complex topology information flow environment.
Disclosure of Invention
In view of the above, the present invention provides a message management apparatus and method based on V2X communication. The device can be installed on a vehicle or roadside device and communicated with a sensor carried on the vehicle or the roadside device through a physical interface, so that the vehicle or the roadside device can realize V2X communication. The vehicle or the road side equipment can receive multi-source messages in real time under the complex topology information flow environment, carry out category management on the received messages according to the message attributes and transmit the messages to the application program in the application layer in order, so that the reliability and the applicability of the device in the complex topology information flow environment are improved.
In order to achieve the purpose, the invention provides the following technical scheme:
a message management device based on V2X communication comprises a message interface, an environment sensor, a vehicle/vehicle communication module, message middleware and an application program;
the message interface is used for receiving environment information collected by the environment sensor, and the V2X communication module is used for receiving and sending V2X information, and performing data classification, storage and processing on the environment information and the V2X information through the message middleware; the message middleware establishes a message forwarding rule according to the message to be received by the application program and forwards the message; the application program is positioned on an application layer, and the message middleware provides a data interface for the application layer so that the application layer can acquire the messages which are finished with classified arrangement in real time;
the message interface comprises a serial port and a network port and is used for connecting the vehicle-mounted sensor and the road sensor;
the environment information comprises vehicle-mounted sensor information and road sensor information;
the V2X information is various types of information broadcast by the environment;
the V2X communication module comprises a Dedicated Short Range Communications (DSRC) communication module and a long Term Evolution V (L ong Term Evolution-Vehicle, L ET-V) communication module, and is used for communicating with other vehicles to the Vehicle (V2V) and communicating with roadside equipment to the Infrastructure (V2I);
the Application program is a V2X Application program and is used for vehicle-road cooperative Application, and data of an Application message queue in the message middleware is read through an Application Programming Interface (API) Interface, so that required information is acquired in real time; and the application program also transmits the message through an API (application programming interface), encapsulates the message into a data packet according to the specification requirement of the interface, and transmits the data packet to a message transmitting queue established by the message middleware by utilizing the API provided by the message middleware.
Further, the vehicle-mounted sensor information includes a position, a speed, and a direction angle of the vehicle.
Further, the road sensor information includes a road traffic flow and an average vehicle speed.
Further, the data classification, storage and processing comprise receiving of physical layer data and management of the physical layer data;
the establishing of the message forwarding rule and the forwarding of the message comprise the establishment of an application layer forwarding rule, the forwarding of an application layer message and the sending of an application layer data mechanism.
A message management method based on V2X communication, the method comprising the steps of:
s1: receiving environment information and V2X information;
s2: managing the received information;
s3: establishing a message forwarding rule and forwarding according to the rule;
s4: the application program obtains the message through the provided API interface;
s5: the application program sends the message through the provided API interface;
s6: establishing a message sending rule and sending according to the rule;
s7: the message is sent through the V2X communication module.
Further, the step S1 specifically includes the following steps:
s101: classifying and packaging the received environment information into different messages; filtering out non-standard information from the received V2X information;
s102: the message is uploaded to the middleware.
Further, the step S2 specifically includes the following steps:
s201: message middleware receives message m with type jjWherein j is 1,2, …, M is the total number of message types accepted by the message middleware, i.e. the message middleware can process M messages at most simultaneously;
s202: the message middleware identifies the type of the received message as j according to the received message;
s203: judging whether a message queue receives j-type messages or not; if yes, go to step S205; if not, go to step S204;
s204: message middleware creates a j-type acceptance message queue
Figure BDA0001336264540000031
S205: message m to be receivedjLogging message queue
Figure BDA0001336264540000032
Forming a set of received message queues
Figure BDA0001336264540000033
Further, the step S3 specifically includes the following steps:
s301: ith application program AiRegistering the message according to the program requirement;
s302: the message middleware reads a configuration file in an application program;
s303: the message middleware acquires the message types required by each application program;
s304: the message middleware is the ith application program AiCreates a message queue, thereby creating the ith application aiMessage queue set of
Figure BDA0001336264540000034
Where i is 1,2, …, N is the total number of applications, i.e. the device is capable of running N applications at most simultaneously;
s305: aggregating the queues of all applications into a total message queue set
Figure BDA0001336264540000035
S306: from the set of created total message queues KAGenerating a message routing table;
s307: queuing the messages obtained in the step S205
Figure BDA0001336264540000036
Traversing and reading;
s308: comparing the read message type with a message routing table;
s309: judging whether the received message is matched with the message type in the routing table; if the two are matched, the next step is carried out, and if the two are not matched, the step S307 is carried out;
s310: storing the read message to a queue set KAThe matched message queue;
s311: storing the received messages according to categories to carry out a message queue set KAIn the matched message queue;
s312: ith application program AiReading a set of message queues according to a provided message middleware API
Figure BDA0001336264540000037
Message queue in
Figure BDA0001336264540000038
And (4) data.
Further, the steps S5 and S6 specifically include the following steps:
s501: the application program packages the data sent according to the requirement into a message m according to a standard formatj；
S502: storing the transmitted message into the transmission message queue q through the message transmission interface provided by the message middlewaresPerforming the following steps;
s601: send message queue q of message middlewaresWill receive all application program's sending messages;
s602: the message middleware will continuously read the send message queue qsAnd passed into the V2X communication interface.
The invention has the beneficial effects that: under a complex topology information flow environment, the method can be transplanted to a vehicle-mounted device or roadside equipment based on V2X communication, various messages received by the equipment are classified and managed in the complex traffic communication environment, various application programs running in the vehicle-mounted device or the roadside equipment can stably acquire required data in real time, meanwhile, a physical layer and an application layer of the vehicle-mounted device or the roadside equipment are isolated, an application layer developer does not need to learn a bottom layer communication mechanism, application development based on V2X can be developed only by knowing a message receiving and sending mechanism, and development efficiency of the whole application program is improved.
Drawings
In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
FIG. 1 is a functional flow diagram of the present invention;
FIG. 2 is a flow chart of information collection and message reception of the present invention;
FIG. 3 is a flow chart of received message management according to the present invention;
FIG. 4 is a flow chart of message routing management of the present invention;
FIG. 5 is a flow chart of message sending of the present invention;
FIG. 6 is a schematic structural view of the present invention;
FIG. 7 is a diagram of the information flow environment handled by the middleware of the present invention.
Description of reference numerals: 1-roadside equipment; 2-roadside device V2X communication module; 3-cloud server data interface; 4-a camera; 5-a plurality of sensors; 6-a vehicle-mounted device; 7-a GPS antenna; 8-various vehicle sensors; 9-vehicle device V2X communication module; 10-vehicle-mounted device control terminal; 11-human-computer interaction interface; s1-crossroad emergency early warning; s2-longitudinal spacing emergency warning; s3-vehicle queue management; s4-emergency warning of lateral spacing; s5-blind area early warning.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the process is divided into two flows, S1-S4 are message receiving flows, S5-S7 are message sending flows, and the receiving flow includes the steps of:
step S1: the device receives sensor data and communication messages, and the message middleware based on the message management method provided by the invention receives data uploaded by the sensor and communication messages received by the V2X communication module from the sensor interface.
In step S1, the device is to be installed on a vehicle or a roadside device, and if the device is installed on the vehicle, the device can receive the accurate motion state information (position, speed, acceleration, direction angle, etc. of the vehicle), the power information (throttle opening, fuel consumption, etc.) and the like of the vehicle itself uploaded by a sensor from a vehicle body sensor (e.g. GPS, encoder, etc.) of the vehicle itself through a physical interface (e.g. a serial port, a network port, etc.); if the device is installed on the road side equipment, the device can receive road surface information (such as road traffic flow and average speed) uploaded by a road sensor (such as a camera, a millimeter wave radar and the like) configured by the road side equipment through a physical interface (such as a serial port, a network port and the like). The message management method provided by the invention takes the message as a processing object, so that the received sensor data is converted into the message for processing. In addition, since the V2X communication is broadcast and connectionless, the device will receive various messages of various applications in the V2X communication.
In the step S1, in an experimental environment, the device provided by the present invention is installed in each vehicle and vehicle condition information can be collected through a sensor; the devices provided by the invention are arranged along two sides of a road and can acquire road surface information, vehicles can carry out V2V communication with other vehicles through respective vehicle-mounted devices to exchange vehicle condition information mutually, and the vehicle-mounted device of each vehicle carries out V2I communication with roadside equipment to send respective vehicle condition information to a roadside system; the vehicle-mounted device of each vehicle is provided with various V2X application programs through road side equipment, various V2X applications can be realized through V2X communication, interaction of V2X communication data is transmitted and received in a message mode, and the message format needs to meet the standard protocol of V2X communication.
Step S2: the device processes the received data and messages, and stores the multi-source messages (sensor messages, V2X communication messages) acquired from the step S1 into message middleware according to message types for data management.
In the step S2, the message management method based on V2X communication proposed by the present invention is implemented as a message management middleware, where the message management middleware is to operate between a physical layer and an application layer in the device proposed by the present invention (an on-board device or a roadside device), the message management middleware is capable of receiving data and messages uploaded from a plurality of underlying data sources, where the data and messages include vehicle sensor sensing data or road sensing data, and V2X communication messages in each scene, and the message middleware packages the received data into corresponding type messages according to V2X standard message rules (such as J275 message protocol), and stores the type messages together with the received V2X communication messages in the form of a queue data structure according to different message types.
Step S3: establishing message forwarding rules and forwarding according to the rules, the V2X application program receives required information from the received message queue, and the V2X application program can also transmit the message to be sent into the sent message queue.
In step S3, the V2X application performs message configuration according to the file configuration rule in its message middleware, that is, specifies the message type required by the application, and after obtaining the message required by the V2X application from the message middleware, the message middleware creates a message routing table for each V2X application, which is used to describe the message forwarding rule for forwarding the received message. The message middleware reads various managed messages in the step S2 in real time and forwards the messages according to message forwarding rules provided by the requirements of the V2X application program;
step S4: the application program obtains the message through the provided API interface, the message middleware provides a series of message interface APIs for the application program, the V2X application program can read the forwarded message through the API interface provided by the message middleware, namely, the V2X application program can obtain the received message through the message middleware in real time.
The message sending process comprises the following steps:
step S5: the application program sends the message through the provided API interface, the message middleware provides a series of message interface APIs for the application program, and the V2X application program packages the sent data into the corresponding message, so that the message can be sent by using the API interface provided by the message middleware.
Step S6: and establishing a message sending rule and sending the message according to the rule, wherein the message middleware establishes a message sending rule, and the rule is mainly that an application program uniformly stores the sent data into a message queue for management.
Step S7: the device sends the message through the V2X communication module, and the V2X communication module sends the message in the message queue provided by the direct call message middleware.
The V2X device receives the data as shown in fig. 2, and performs the following steps:
s101, as shown in fig. 2, the message management method and apparatus based on V2X communication may be respectively installed in a vehicle and a roadside device according to different application functions, and may acquire vehicle motion state information (such as speed, position, direction angle, etc.) from a vehicle body sensor (such as GPS, encoder, etc.) through a physical interface (such as a serial port, a network port, etc.); roadside equipment is arranged on two sides of a road, and physical interfaces (such as serial ports, network ports and the like) can be used for receiving road surface sensors (such as cameras and millimeter wave radars) configured on the roadside equipment to acquire traffic state information (such as road traffic flow and average speed) of the road;
s102, the device receives various sensing data uploaded by sensors (including a vehicle body sensor on a vehicle and a road sensor on road side equipment) through physical interfaces (such as serial ports, network ports and the like);
s103, because the message middleware provided by the invention manages the data in a message mode, the data received by the sensor is packaged into a corresponding message (namely, a sensor message) according to the content attribute of the data;
s104, the device can receive V2X communication messages through V2X communication, wherein V2X communication can comprise DSRC and L ET-V, and the communication modes are message broadcasting, namely V2X equipment can receive all broadcasted V2X messages around, therefore, V2X equipment can acquire all propagated V2X communication messages around;
s105, filtering processing is carried out through simple message verification, and V2X communication messages which are not the device are filtered;
s106, uploading the received V2X message and the sensor message packaged by the sensor data to a message middleware in real time for processing;
after receiving the message middleware, the V2X device performs unified management by using the message middleware, and the steps are as shown in S2:
s201, using m to the message with V2X communication type j acquired in the step S1jIndicating that j is 1,2, …, M, the message middleware reads the message M acquired in step S1j；
S202, the message middleware carries out communication message m to the received V2XjPerforming category analysis to obtain the sameThe message type is j;
s203, the message middleware inquires a received message queue set QrIf the message type includes the received message queue with j, execute step S205, if there is the received message queue, execute step S204 if there is no received message queue of the message;
s204, the message middleware creates a received message queue for receiving j types
Figure BDA0001336264540000061
Is capable of receiving and storing a V2X communication message of message category j;
s205, the message middleware stores the received message with the message category of j into the received message queue
Figure BDA0001336264540000071
Performing the following steps;
s206, all the received messages can be stored into a received message queue set according to the classification thereof by receiving the multi-class messages through the message middleware in the steps
Figure BDA0001336264540000072
In (1).
The V2X device is installed with various V2X applications, and the messages that the V2X application needs to receive are customized according to the characteristics of its own application, so that a forwarding rule for receiving the V2X message needs to be formulated for the V2X application program to receive in time, and the processing flow is as shown in step S3:
s301, the message middleware provides an interface for the application program to provide the V2X application program with message demand configuration, and the application program registers the required message in a registration configuration file according to the message demand of the application program;
s302, the message middleware reads the message registration configuration file and acquires the message information registered by each V2X application program in the application layer;
s303, the message middleware acquires message type information required to be received by each application program according to the read registration configuration file;
s304, the message middleware is the ith application program AiCreates a message queue for each type of message used for the ith program AiCreating a set of application message queues
Figure BDA0001336264540000073
Wherein i is 1,2, …, N;
s305, summarizing the message queue sets required to be received by each application program, thereby forming an application program total message queue set
Figure BDA0001336264540000074
S306, according to the created application program total message queue set KAGenerating a message routing table, and establishing a message forwarding rule, wherein the message routing table stores the queue ID and the type of the received message queue created by each application program in the application layer;
s307, the message middleware reads the message queue set K obtained in the step S205AThe message queues in (1) are read in a traversing way for all the message queues in (1);
s308, the message middleware compares the read type of the received message with the type in a received message queue created by the application program in the message routing table;
s309, judging whether the received message matches the message type in the routing table, if there can be one or more message queues receiving message types matching with the received message type, executing step S310, if not, discarding and executing step S307;
s310, a set Q of message queues to be receivedrThe read message stores data into a queue set K according to a message routing forwarding tableAIn the message queue of the so match;
s311, according to the steps, the messages received by the device can be stored into a message queue set K according to the classificationAMessage queue aggregation of individual applications in (1)
Figure BDA0001336264540000081
Receive message queue in
Figure BDA0001336264540000082
Lining;
s312, V2X application AiReading a set of message queues according to a provided message middleware API
Figure BDA0001336264540000083
Corresponding message queue of
Figure BDA0001336264540000084
The message is read.
The above is a specific flow chart of message reception, and fig. 5 is a flow chart of message transmission, and the steps are as follows:
s501: the application program packages data to be sent into messages according to a V2X standard format (such as a j2375 message standard), and packages the data to be sent (such as the self state of a vehicle, early warning information and the like) into corresponding messages (such as vehicle state messages, early warning messages and the like);
s502: storing the transmitted message into the transmission message queue q through the message transmission interface provided by the message middlewaresPerforming the following steps;
s601: message sending of the device is compared with message receiving, and the management of the message sending by the message middleware is mainly realized by a specific sending message queue qsReceiving various messages sent by all application programs;
s602: the message middleware will send the q in the message queue with fast readssAnd the messages are transmitted into a V2X communication sending interface;
s7: after receiving the message, the V2X communication module sends the message by using the V2X communication sending interface;
corresponding to the message management method based on V2X communication described above, the present invention provides an apparatus of a message management method based on V2X communication, which will be described in detail with reference to the following specific embodiments and accompanying drawings.
Referring to fig. 6 and fig. 7, a schematic diagram of a device function module and a schematic diagram of a V2X environment of a message management method based on V2X communication according to the present invention are shown, respectively. Specifically, the device provided by the invention can be installed on a vehicle or a roadside device, and can be equipped with a V2X communication module and the same message middleware for V2X communication by reading sensor data on the vehicle or the roadside device through a physical interface, and specifically, the device is divided into an application layer, a transmission layer and a physical layer, wherein the physical layer comprises bottom layer devices of message management method devices based on V2X communication, and comprises a sensor, a V2X communication module and the like; the transmission layer is between the application layer and the physical layer and mainly used for transmitting and sorting data, and the message management method based on V2X communication provided by the invention is operated in the transmission layer in a mode of message middleware of V2X communication; the application layer mainly runs a V2X application program, and the cooperation of the vehicle road parts is finally realized by receiving data from the transmission layer.
FIG. 7 is a schematic diagram of a complex topology information flow environment processed by the middleware based on V2X communication according to the embodiment of the present invention; as shown in fig. 2, includes:
a sensor (such as a GPS module 7 and an encoder 8) which can collect the motion state of the vehicle and the like are arranged in each vehicle 6, a device 10 of the message management method based on V2X communication provided by the invention is arranged, a V2X communication module 9 capable of realizing V2X communication and a human-computer interaction interface 11 capable of providing a display interface for a V2X application program are arranged; the roadside equipment 1 is installed along two sides of a road, a camera 4 and various sensors 5 which can collect road surface information are installed in the roadside equipment, the device 3 of the message management method based on V2X communication is installed, and a V2X communication module 2 capable of realizing V2X communication is installed;
the device 10 of each vehicle performs V2I communication with the device 3 in the roadside device, the vehicle information and the road surface information mutually exchange information, the information comprises basic vehicle body state information, queue request information and the like uploaded by the vehicle, and the roadside device sends vehicle early warning information and road state information; each vehicle's device 10 may interact with each vehicle's device 10 via V2V communication, including vehicle's respective status information and corresponding control instructions.
Further, the V2V/V2I communication formed by the device 10 of each vehicle and the devices 10 of other vehicles and the roadside equipment 1 can realize the practical application based on the V2X communication, such as S1 scene, and the vehicles with collision at the intersection section are warned according to the vehicle motion information collected by the roadside devices in the lane; in the S2 scene, vehicle information interaction is carried out on front and rear vehicles in the same lane, so that longitudinal distance early warning is realized; in the S3 scenario, data interaction is carried out among vehicles in the road, and road side equipment agrees to manage the vehicles, so that the vehicles on the road are driven in a queue; in the S4 scene, vehicle information interaction is carried out on adjacent vehicles in different lanes, so that the early warning of the lateral distance is realized; in an S3 scene, the vehicle cooperates with road side equipment to realize blind area early warning;
further, according to the above description, an environment in which a V2X device message middleware in a complex topology information flow environment is located is multi-source data, and includes various sensor sensing data uploaded from a device bottom layer and various V2X messages received from a V2X communication module, and various different V2X application programs are also run in an upper layer application, and the cooperative operation of the programs and the requirements required for the bottom layer are not the same, so that a problem to be solved by the V2X device message middleware in the complex topology information flow environment is management of the multi-source data and development of a single interface for the upper layer application.
Finally, it is noted that the above-mentioned preferred embodiments illustrate rather than limit the invention, and that, although the invention has been described in detail with reference to the above-mentioned preferred embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the invention as defined by the appended claims.

Claims (1)

1. A message management device based on V2X communication, characterized in that: the system comprises a message interface, an environment sensor, a vehicle/vehicle-road communication based V2X communication module, message middleware and an application program;
the message interface is used for receiving environment information collected by the environment sensor, and the V2X communication module is used for receiving and sending V2X information, and performing data classification, storage and processing on the environment information and the V2X information through the message middleware; the message middleware establishes a message forwarding rule according to the message to be received by the application program and forwards the message; the application program is positioned on an application layer, and the message middleware provides a data interface for the application layer so that the application layer can acquire the messages which are finished with classified arrangement in real time;
the message interface comprises a serial port and a network port and is used for connecting the vehicle-mounted sensor and the road sensor;
the environment information comprises vehicle-mounted sensor information and road sensor information;
the V2X information is various types of information broadcast by the environment;
the V2X communication module comprises a dedicated short-range communication technology DSRC communication module and a long-term evolution V, namely L ET-V communication module, and is used for communicating with other vehicles, namely V2V, and communicating with roadside equipment, namely V2I, wherein the V2X communication module sends and receives in a message mode, and the message format meets the V2X communication standard protocol;
the application program is a V2X application program and is used for cooperative application of the vehicle and the road, and the data of the application message queue in the message middleware is read through a provided Application Programming Interface (API) interface, so that the required information is acquired in real time; the application program also sends messages through an API interface, packages the messages into data packets according to the specification requirements of the interface, and transmits the data packets to a message sending queue established by the message middleware by utilizing the API interface provided by the message middleware;
the vehicle-mounted sensor information comprises the position, the speed and the direction angle of the vehicle;
the road sensor information comprises road traffic flow and average vehicle speed;
the data classification, storage and processing comprise the receiving of physical layer data and the management of the physical layer data;
the establishing of the message forwarding rule and the forwarding of the message comprise the formulation of an application layer forwarding rule, the forwarding of an application layer message and the sending of an application layer data mechanism;
the message management method based on the device comprises the following steps:
s1: receiving environment information and V2X information;
s2: managing the received information;
s3: establishing a message forwarding rule and forwarding according to the rule;
s4: the application program obtains the message through the provided API interface;
s5: the application program sends the message through the provided API interface;
s6: establishing a message sending rule and sending according to the rule;
s7: sending a message through the V2X communication module;
the step S1 specifically includes the following steps:
s101: classifying and packaging the received environment information into different messages; filtering out non-standard information from the received V2X information;
s102: uploading the message to the middleware;
the step S2 specifically includes the following steps:
s201: message middleware receives message m with type jjWherein j is 1,2, …, M is the total number of message types accepted by the message middleware, i.e. the message middleware can process M messages at most simultaneously;
s202: the message middleware identifies the type of the received message as j according to the received message;
s203: judging whether a message queue receives j-type messages or not; if yes, go to step S205; if not, go to step S204;
s204: message middleware creates a j-type acceptance message queue
Figure FDA0002487697920000021
S205: message m to be receivedjLogging message queue
Figure FDA0002487697920000022
Forming a set of received message queues
Figure FDA0002487697920000023
The step S3 specifically includes the following steps:
s301: ith application program AiRegistering the message according to the program requirement;
s302: the message middleware reads a configuration file in an application program;
s303: the message middleware acquires the message types required by each application program;
s304: the message middleware is the ith application program AiCreates a message queue, thereby creating the ith application aiMessage queue set of
Figure FDA0002487697920000024
Where i is 1,2, …, N is the total number of applications, i.e. the device is capable of running N applications at most simultaneously;
s305: aggregating the queues of all applications into a total message queue set
Figure FDA0002487697920000025
S306: from the set of created total message queues KAGenerating a message routing table;
s307: queuing the messages obtained in the step S205
Figure FDA0002487697920000026
Traversing and reading;
s308: comparing the read message type with a message routing table;
s309: judging whether the received message is matched with the message type in the routing table; if the two are matched, the next step is carried out, and if the two are not matched, the step S307 is carried out;
s310: storing the read message to a queue set KAThe matched message queue;
s311: storing the received messages according to categories to carry out a message queue set KAIn the matched message queue;
s312: ith application program AiReading a set of message queues according to a provided message middleware API
Figure FDA0002487697920000027
Message queue in
Figure FDA0002487697920000031
Data;
the steps S5 and S6 specifically include the following steps:
s501: the application program packages the data sent according to the requirement into a message m according to a standard formatj；
S502: storing the transmitted message into the transmission message queue q through the message transmission interface provided by the message middlewaresPerforming the following steps;
s601: send message queue q of message middlewaresWill receive all application program's sending messages;
s602: the message middleware will continuously read the send message queue qsAnd passed into the V2X communication transmit interface.
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