CN107911296A - Geographic position routing method based on backbone link guarantee time delay and vehicle-mounted terminal - Google Patents

Geographic position routing method based on backbone link guarantee time delay and vehicle-mounted terminal Download PDF

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CN107911296A
CN107911296A CN201710985675.XA CN201710985675A CN107911296A CN 107911296 A CN107911296 A CN 107911296A CN 201710985675 A CN201710985675 A CN 201710985675A CN 107911296 A CN107911296 A CN 107911296A
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msub
time delay
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node
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CN107911296B (en
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陈晨
刘雷
吕宁
惠晓哲
裴庆祺
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Shaanxi Bilian Wuji Technology Co ltd
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Xidian University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/12—Shortest path evaluation
    • H04L45/121—Shortest path evaluation by minimising delays
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/12—Discovery or management of network topologies
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/20—Communication route or path selection, e.g. power-based or shortest path routing based on geographic position or location

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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Data Exchanges In Wide-Area Networks (AREA)

Abstract

The invention belongs to the technical field of vehicle-mounted self-organizing networks, and discloses a geographic position routing method and a vehicle-mounted terminal for guaranteeing time delay based on backbone links, wherein the optimal routing transmission information is selected by utilizing the advantages of real-time traffic information and historical traffic information; based on the information collected by the current traffic condition, each road section can be distributed with a weight; establishing a time delay matrix of the network topology by using the weight; a minimum delay route is determined based on the matrix. The invention fully utilizes the advantages of historical traffic information and real-time traffic information, and selects the transmission delay as an index for finding the optimal route; in a sparse environment, a statistical analysis of transmission delay is given by using historical traffic information; under the connected scene, an accurate time delay result is given by using the real-time traffic information. The invention establishes the backbone link for transmitting data on each road, can reduce the number of sending nodes, reduce the competition time of an MAC layer and improve the efficiency of data transmission.

Description

Geographic routing method, the car-mounted terminal of time delay are ensured based on backbone links
Technical field
The invention belongs to vehicular ad hoc network technical field, more particularly to a kind of ensure time delay based on backbone links Geographic routing method, car-mounted terminal.
Background technology
In recent years, vehicular ad hoc network has attracted more and more concerns；In order to support different applications, Vehicular ad hoc network mainly provides three kinds of communication patterns：Car is to car, car to facility, and mixed structure.Vehicular ad hoc net Quick mobile, the topological dynamic change of the node of network, complicated channel circumstance propose challenge to effective Routing Protocol. In order to cope with challenges, the further investigation to Routing Protocol under vehicle environment；It is divided into two classes：Routing Protocol and base based on topology Routing Protocol in geographical location.In order to design one effectively the Routing Protocol based on geographical location asked, it is necessary to solve two Topic：1) if an optimal route is selected between a source node and a destination node；2) how to select to close in selected route Suitable next-hop transmission data.In order to handle first problem, one effective Route Selection index of design is extremely important.One A little Routing Protocols design route index to reduce the expense of communication using the traffic information of history.Such as along with The path transmission information of minimum transfer time delay, path transmission information of the selection with largest connected degree.But these agreements generally can Run into local optimum and data congestion.Do not have when carrying in the communication radius of node of data under available neighbor node conduct During one jump relaying data, local optimum will occur；When different nodes uses identical link transmission data, so that it may Data congestion can occur.In addition, the data of historical traffic information statistics are probably inaccurate, such as, daily difference The vehicle movement distribution of period all changes over time, this will cause the route of suboptimum to determine.And for others Agreement then calculates route index using the traffic information gathered in real time.Although they can reflect the environment of channel, in link Under the scene of disconnection, under especially sparse environment, it is relatively difficult to calculate these indexs.By effectively solving the above two A key issue, can be to avoid local optimum and data congestion, in addition, the shifting for the consideration node that the transmission of data can integrate The factors such as dynamic, channel environment, so as to ensure the Successful transmissions of information.
In conclusion problem existing in the prior art is：Routing Protocol presence is likely to encounter part under vehicle environment at present Optimization and data congestion；Historical traffic information statistical framework is inaccurate, causes the route of suboptimum to determine；Under sparse environment, very Hardly possible calculates route index.So how according to specific condition of road surface and channel circumstance, make full use of history and real-time Traffic information, design route index, selects optimal path transmission, is the having very much challenge of the task.
The content of the invention
In view of the problems of the existing technology, the present invention provides a kind of geographical position that time delay is ensured based on backbone links Put method for routing, car-mounted terminal.
The present invention is achieved in that a kind of geographic routing method that time delay is ensured based on backbone links, the base The geographic routing method for ensureing time delay in backbone links goes to select using the advantages of Real-time Traffic Information and historical traffic information Select optimal route transmission information；The information being collected into based on current traffic condition, each section can be assigned to a time delay Weights；A weight matrix corresponding with network topology can be established using the weights in all sections；According to matrix, utilize Shortest path first a, in that case it can be decided that route with minimal time delay.
Further, it is described to ensure that the geographic routing method of time delay includes based on backbone links：According to the position of node Select crossing backbone node IBN and section backbone node RBN.
Further, crossing backbone node IBN selection is in crossing region residence time longer node；Define tcross The average time in crossing region is passed through as node：
Wherein d represents that node needs mobile distance before crossing region is left, and v represents speed.
Further, the section backbone node RBN SoptimalSelected by following standard：
Constraints：
tij＞ Tth；
Wherein d (i, j) represents the vehicle headway between transmission node i and its neighbor node j.tijRepresent the company of link Logical time, TthExpression needs one required delay threshold of data of Successful transmissions.
Further, it is IBN that the evaluation mechanism in the section selects a node in crossing i；By this IBN with to road Mouth j sends a unicast data CPP；What CPP data included will be known as：Timestamp, packetdelay, lifetime, options；Timestamp represents the generation time of CPP, and packetdelay is represented along a complete section Successful transmissions one A data required time, lifetime represent the Lifetime for the link being made of on section all nodes, options For storing extra routing iinformation；CPP is transmitted along backbone links；Crossing j is reached, corresponding IBN is produced corresponding at crossing Weight information；Distribute weight information at this crossing, and information is passed back original IBN；When CPP is produced, a meter Number device T is set；Before T is expired, if receiving the information sent from the IBN of crossing j in the IBN of crossing i, then this Section is connection, and otherwise, section is disconnected.
Further comprise：
1) section connects, and the hop count in section is h, defines Tj, j ∈ { 1,2 ..., h }, as it is each jump it is required when Prolong, end-to-end is that propagation delay time is calculated by equation below：
2) section does not connect, and IBN gives one, the section weights with i and j crossings：
Further, the optimal route selection includes：There is M path between a source node and a destination node；Per paths Pi(i=1,2 ... M) there is kiA section composition；Define q (rij) each section rij(j=1,2 ..., ki) time delay；Path Pi's Weights are calculated by the following formula：
Optimal path is calculated by the following formula：
Poptimal(S, D)=argmini∈MQ(Pi)。
Another object of the present invention is to provide a kind of geographical location road for ensureing time delay based on backbone links described in By the car-mounted terminal of method.
The present invention makes full use of the advantages of historical traffic information and Real-time Traffic Information, selects propagation delay time as discovery The index of optimal route；Under sparse environment, the statistical analysis of a propagation delay time is given using historical traffic information； Under the scene of connection, an accurate time delay result is given using Real-time Traffic Information.The present invention is established in every road Backbone links transmission data, it is possible to reduce the number of sending node, reduce the competition time of MAC layer, and improves transmission number According to efficiency.The present invention proposes the evaluation mechanism of a section weights, and each section is assigned to a suitable weights, according to Weights, can establish the time delay matrix of a network topology, according to time delay matrix, can select optimal road among the nodes By.
Brief description of the drawings
Fig. 1 is the geographic routing method flow diagram provided in an embodiment of the present invention that time delay is ensured based on backbone links.
Fig. 2 is that there are the schematic diagram of a scenario of commitment defini interval between node provided in an embodiment of the present invention.
Fig. 3 is the example schematic diagram of situation 1 provided in an embodiment of the present invention.
Fig. 4 is a schematic diagram of a scenario of situation 2 provided in an embodiment of the present invention.
Fig. 5 is another schematic diagram of a scenario of situation 2 provided in an embodiment of the present invention.
Fig. 6 is ATD vs PGS schematic diagrames provided in an embodiment of the present invention.
Fig. 7 is PDR vs PGS schematic diagrames provided in an embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to this hair It is bright to be further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, not For limiting the present invention.
Vehicular ad hoc network is strengthening road safety, lifts the effect in terms of traffic efficiency, has attracted increasingly More concerns；Effective Routing Protocol is important under the vehicle environment of city.Quick mobile, the topological dynamic change of node Change, and complicated channel circumstance, make the selection variation of route very challenging.
Below in conjunction with the accompanying drawings and specific embodiment is further described the application principle of the present invention.
As shown in Figure 1, the geographic routing method bag provided in an embodiment of the present invention that time delay is ensured based on backbone links Include following steps：
S101：Based on current traffic condition, by the information being collected into, each section can be assigned to one suitably Weights；
S102：Using value information, the time delay matrix of a network topology is established；When determining a minimum according to matrix The route prolonged.
The application principle of the present invention is further described below in conjunction with the accompanying drawings.
First, hypothesis and system model
1st, assume
Each vehicle has a short-distance wireless communication equipment, such as, DSRC, and can know oneself using GPS Position, speed.By geographical map it will be seen that the crossing in city is distributed, and the average speed in each section, density.Profit With location-based service, source node can know the position of destination node.
2nd, system model
(1) vehicle mounted traffic model
The present invention considers the two-way road with two tracks.On road, vehicle moves in different directions.It is assumed that On the i of track, it is λ that vehicle, which obeys parameter,iBe uniformly distributed, i ∈ { 1,2 }；So, in the section that length is l, vehicle Number obeys Poisson distribution：
So the spacing probability-distribution function of vehicle can be obtained：
Corresponding probability density function can be represented as：
(2) channel competition model, the IEEE802.11pMAC agreements based on DCF.It is assumed that τ,pcp,pfpRespectively as transmission Probability, collision probability and bust this probability.E[Xp] represent one data of Successful transmissions average number of time slot, E [sp] represent The average time of each time slot.Keep out of the way number no more than in the case of maximum m, transmit a required time delay of data For：
E[Dp]=E [Xp]E[sp] (4)
Wherein PtrIt is the general of each at least one node-node transmission data of time slot σ Rate.PsIt is the probability that a data are successfully transmitted.pbIt is the probability of data collision.WiIt is keep out of the way stage window at i-th big It is small.
(3) Time Delay Model
1) number of commitment defini interval
When the vehicle headway between adjacent node is more than communication radius, the link between them is referred to as what is disconnected Link, also referred to as commitment defini interval.On the section that a length is l, the probability for having m commitment defini interval is：
So, average communication at intervals of：
The time delay of each commitment defini interval is connected, as illustrated in fig. 2, it is assumed that the connection between road vehicle A and B is broken Open, in other words, use LABDistance between the vehicle of expression is more than R, va, vbThe speed of vehicle A, B are represented respectively.This In the case of, A can receive data packet from B by carrying repeating process, wherein the vehicle travelled on another track Available for the communication gap between bridge joint A and B, passage time relay transmission recovers link connection.
As shown in figure 3, zw1Represent vehicle farthest in the left-hand side transmission range of B,Represent between them away from From.Equally, z is representede1Nearest vehicle, represents the distance between they in the left-hand side transmission range of B.CwRepresent on a left side On hand close to z in transmission rangew1Row's vehicle, and can be in communication with each other between vehicle by multi-hop transmission, wherein, lcRepresent the length of this row's vehicle, c1And cnFirst and last automobile in this row's vehicle are represented respectively.It can be divided For following two situations：
Situation 1：
If zw1With c1Distance between vehicleMore than R, as shown in figure 3, the data packet from B can only pass through zw1Carry To the transmission range for entering A, the possibility that this thing happens is：
In this case, before the range of receiving of A is entered, the distance of data packet movement isTherefore, finally the transmission data packet time to be spent is from B to A：
Wherein,WithRoad 1 and the average speed on road 2 are represented respectively.
If vehicle zw1With c1The distance between be less than R, as shown in figure 4, data packet will be in CwThe help of this row's vehicle Lower to transmit ground faster, the possibility that this thing happens is：
IfConnection between vehicle A and B is interconnected.It is required after the known link with destruction Again repair time is compared, and the space relaying time delay (Millisecond) between A and B can be ignored.In addition, work asWhen, connection between A and B disconnects, and data packet needs to carry forwarding mechanism using bag, at this time into The displacement distance of data packet is before entering the range of receiving of ACalculated to simplify, lc1It can be configured to average valueTherefore, finally transmit what data packet to be spent from B to A Time is：
Situation 2：
Meanwhile TcfAverage value can be denoted as：
If the left-hand side transmission range of B does not have the presence of vehicle on road 2, as shown in figure 5, the company that A and B is disconnected Connecing can only be recovered by the vehicle in the right-hand side transmission range of B.Then, the data packet from vehicle B is needed by road 2 Ze1It is distributed to A.Such case occur possibility be：
In this case, finally from B to A, the delivery time of data packet is：
By above description, the recovery time again in repeating process is carried is：
Tcf=p1t1+p2t2+p3t3 (12)
Meanwhile TcfAverage value can be denoted as：
Connect multiple by being spaced required time delay, according to formula (6) and (14), the end-to-end time delay in section can be with Calculated by following formula：
T=E [Ngap]Tcf (15)。
2nd, Protocol Design
1. the establishment of backbone node, in order to perform some special functions, some crossings are have selected according to the position of node Backbone node (IBN) and section backbone node (RBN).
1) IBN selection gists
IBN is responsible for periodically collecting traffic information.Due to the quick movement of node, frequent in order to avoid IBNs becomes Change, select in crossing region residence time longer node as IBN.Define tcrossAs node putting down through crossing region The equal time.So：
Wherein d represents that node needs mobile distance before crossing region is left, and v represents its speed.
2) RBN selection gists
In order to lift the transmission range of a jump and ensure the Successful transmissions of data, next-hop node SoptimalBy with Lower standard selection：
Constraints：
tij＞ Tth；
Wherein d (i, j) represents the vehicle headway between node.tijRepresent the Lifetime of link, TthExpression is needed into Work(transmits a required delay threshold of data.
2. section evaluation mechanism (RWE)
RWE is intended to the weights in one section of assessment, in order to find optimal path.When in crossing i, a node quilt After selected as IBN, RWE will be triggered by this IBN in the form of sending a unicast data (CPP) to crossing j, mesh The degree of communication for being to assess this section.The form of CPP data is as shown in table 1.When timestamp represents the generation of CPP Between, packetdelay represents to represent along one data required time of a complete section Successful transmissions, lifetime The Lifetime for the link being made of on section all nodes, options are used for storing extra routing iinformation.CPP is along bone Dry link transmission.Once it reaches crossing j, at the crossing, corresponding IBN is just responsible for producing corresponding weight information.Can be at this Weight information is distributed at a crossing, and these information is passed back original IBN.When CPP is produced, a counter T is set It is fixed.Before T is expired, if the information sent from the IBN of crossing j can be received in the IBN of crossing i, then this section is Connection, otherwise, this section is disconnected.
The form of table 1CPP data
1) this section is connection
If this section is connection, can lead to along the one data required time of this section Successful transmissions Local real time information is crossed to calculate.
Assuming that the hop count in this section is h.Define Tj, j ∈ { 1,2 ..., h }, jump required time delay, it can as each To be calculated by formula (4).So, end-to-end is that propagation delay time can be calculated by equation below：
2) this section is disconnected.
When this section is not connect, in network may there are some disconnect link.At this time, it is necessary to Information is transmitted by forwarding mechanism is carried.Under this scene, historical information meter can be utilized by the Time Delay Model of proposition Calculate this section transmission required time delay of information.
IBN can give the suitable weights in one, section with i and j crossings：
4. optimal route selection
Assuming that there is M path between a source node and a destination node；Per paths Pi(i=1,2 ... M) there is kiA section Composition.Define q (rij) each section rij(j=1,2 ..., ki) time delay；So this path PiWeights can by with Lower formula calculates：
So optimal path can be calculated by the following formula：
Poptimal(S, D)=argmini∈MQ(Pi) (21)
The application effect of the present invention is explained in detail with reference to Performance Evaluation.
In Linux platform, the test environment built using MATLAB and NS2, by with other agreements GPSR [X.Zhang,X.Cao,L.Yan,and D.K.Sung,"A Street-centric Opportunistic Routing Protocol Based on Link Correlation for Urban VANETs,"IEEE Transactions on Mobile Computing, vol.15, pp.1586-1599,2016, B.Karp and H.-T.Kung, " GPSR:Greedy perimeter stateless routing for wireless networks,"in Proceedings of the 6th annual international conference on Mobile computing and networking,2000, Pp.243-254], [M.Jerbi, S.-M.Senouci, T.Rasheed, and Y.Ghamri-Doudane, " Towards efficient geographic routing in urban vehicular networks,"IEEE Transactions On Vehicular Technology, vol.58, pp.5048-5059,2009], [N.Alsharif, S.C é spedes, and X.Shen,"iCAR:Intersection-based connectivity aware routing in vehicular ad hoc networks,"in Communications(ICC),2013IEEE International Conference on, 2013, pp.1736-1741] contrast, assessment propose the performance of agreement.
What Fig. 7 was represented is the situation that average delay (ATD) changes as data produce the change of speed (PGS).From figure In it can be found that propose agreement DGGR achieve minimum time delay.This is primarily due to the sum that DGGR takes full advantage of history With real-time traffic information.According to these information, each section is assigned to a suitable time delay weights；Using these weights, A time delay matrix can be established.Based on this matrix, a path with minimal time delay can be selected.
The situation that data delivery rate PDR changes with the change of data generation speed PGS is shown in Fig. 7.From figure In, it is found that the agreement DGGR proposed is demonstrated by best performance.This is because DGGR proposes a section evaluation mechanism.Work as road Duan Liantong is to utilize the weights in real time information assessment section；When section does not connect, the power in evaluation of historical information section is utilized Value.Based on these value informations, a time delay matrix can be established.According to this matrix, when one can be selected to have minimum The path prolonged.In addition, a next-hop selection mechanism is used to transmit information along selected optimal path.Using such Mechanism can reduce the Loss Rate of data.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.

Claims (8)

  1. A kind of 1. geographic routing method that time delay is ensured based on backbone links, it is characterised in that described to be based on backbone links Ensure that the geographic routing method of time delay goes to select optimal road using the advantages of Real-time Traffic Information and historical traffic information By transmission information；The information being collected into based on current traffic condition, each section are assigned to the weights of a time delay；Using all The weights in section establish weight matrix corresponding with network topology；According to matrix, using shortest path first, determine that there is minimum The route of time delay.
  2. 2. the geographic routing method of time delay is ensured based on backbone links as claimed in claim 1, it is characterised in that described The geographic routing method for ensureing time delay based on backbone links includes：Crossing backbone node IBN is selected according to the position of node With section backbone node RBN.
  3. 3. the geographic routing method of time delay is ensured based on backbone links as claimed in claim 2, it is characterised in that described Backbone node IBN selections in crossing are in crossing region residence time longer node；Define tcrossCrossing region is passed through as node Average time：
    <mrow> <msub> <mi>t</mi> <mrow> <mi>c</mi> <mi>r</mi> <mi>o</mi> <mi>s</mi> <mi>s</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mi>d</mi> <mi>v</mi> </mfrac> <mo>;</mo> </mrow>
    Wherein d represents that node needs mobile distance before crossing region is left, and v represents speed.
  4. 4. the geographic routing method of time delay is ensured based on backbone links as claimed in claim 2, it is characterised in that described Section backbone node RBN SoptimalSelected by following standard：
    <mrow> <msub> <mi>S</mi> <mrow> <mi>o</mi> <mi>p</mi> <mi>t</mi> <mi>i</mi> <mi>m</mi> <mi>a</mi> <mi>l</mi> </mrow> </msub> <mo>=</mo> <mi>arg</mi> <mi> </mi> <msub> <mi>max</mi> <mrow> <mi>i</mi> <mo>&amp;Element;</mo> <msup> <msub> <mi>U</mi> <mi>i</mi> </msub> <mn>2</mn> </msup> </mrow> </msub> <mi>d</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>,</mo> <mi>j</mi> <mo>)</mo> </mrow> <mo>;</mo> </mrow>
    Constraints：
    tij＞ Tth；
    Wherein d (i, j) represents the vehicle headway between transmission node i and its neighbor node j；tijWhen representing the connection of link Between, TthExpression needs one required delay threshold of data of Successful transmissions.
  5. 5. the geographic routing method of time delay is ensured based on backbone links as claimed in claim 1, it is characterised in that described The evaluation mechanism in section is selected as IBN in crossing i, a node, by this IBN with to crossing j send a unicast number According to CPP；What CPP data included will be known as：Timestamp, packetdelay, lifetime, options, wherein, Timestamp represents the generation time of CPP, and packetdelay is represented along one data institute of a complete section Successful transmissions The time needed, lifetime represent the Lifetime for the link being made of on section all nodes, and options is used for storing volume Outer routing iinformation；CPP is transmitted along backbone links；Crossing j is reached, corresponding IBN produces corresponding weight information at crossing； Distribute weight information at this crossing, and information is passed back original IBN；When CPP is produced, a counter T is set； Before T is expired, if receiving the information sent from the IBN of crossing j in the IBN of crossing i, then this section is connection, Otherwise, section is disconnected.
  6. 6. the geographic routing method of time delay is ensured based on backbone links as claimed in claim 5, it is characterised in that into one Step includes：
    1) section connects, and the hop count in section is h, defines Tj, j ∈ { 1,2 ..., h }, jump required time delay, end is arrived as each End is that propagation delay time is calculated by equation below：
    <mrow> <msub> <mi>t</mi> <mrow> <mi>c</mi> <mi>o</mi> <mi>n</mi> </mrow> </msub> <mo>=</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>h</mi> </munderover> <mi>E</mi> <mrow> <mo>(</mo> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>)</mo> </mrow> <mo>;</mo> </mrow>
    2) section does not connect, and IBN gives one, the section weights with i and j crossings：
    <mrow> <mi>w</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>,</mo> <mi>j</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>t</mi> <mrow> <mi>c</mi> <mi>o</mi> <mi>n</mi> </mrow> </msub> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <mi>c</mi> <mi>o</mi> <mi>n</mi> <mi>n</mi> <mi>e</mi> <mi>c</mi> <mi>t</mi> <mi>e</mi> <mi>d</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>t</mi> <mrow> <mi>d</mi> <mi>i</mi> <mi>s</mi> </mrow> </msub> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <mi>o</mi> <mi>t</mi> <mi>h</mi> <mi>e</mi> <mi>r</mi> <mi>w</mi> <mi>i</mi> <mi>s</mi> <mi>e</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>.</mo> </mrow>
  7. 7. the geographic routing method of time delay is ensured based on backbone links as claimed in claim 1, it is characterised in that described Optimal route selection includes：There is M path between a source node and a destination node；Per paths Pi(i=1,2 ... M) there is kiIt is a Section forms；Define q (rij) each section rij(j=1,2 ..., ki) time delay；Path PiWeights pass through the following formula meter Calculate：
    <mrow> <mi>Q</mi> <mrow> <mo>(</mo> <msub> <mi>P</mi> <mi>i</mi> </msub> <mo>)</mo> </mrow> <mo>=</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>j</mi> <mo>=</mo> <mn>1</mn> </mrow> <msub> <mi>k</mi> <mi>i</mi> </msub> </munderover> <mi>q</mi> <mrow> <mo>(</mo> <msub> <mi>r</mi> <mrow> <mi>i</mi> <mi>j</mi> </mrow> </msub> <mo>)</mo> </mrow> <mo>;</mo> </mrow>
    Optimal path is calculated by the following formula：
    Poptimal(S, D)=argmini∈MQ(Pi)。
  8. 8. a kind of utilize the geographic routing method for ensureing time delay described in claim 1~7 any one based on backbone links Car-mounted terminal.
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