CN109302696A - The polygonal colour sorting Community Clustering method of car networking self-organizing network - Google Patents

The polygonal colour sorting Community Clustering method of car networking self-organizing network Download PDF

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CN109302696A
CN109302696A CN201811001452.6A CN201811001452A CN109302696A CN 109302696 A CN109302696 A CN 109302696A CN 201811001452 A CN201811001452 A CN 201811001452A CN 109302696 A CN109302696 A CN 109302696A
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node
community
bch
com
value
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CN109302696B (en
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程久军
米浩东
黄震华
陈敏军
余润身
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Tongji University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • 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
    • H04W4/029—Location-based management or tracking services
    • 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
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
    • 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
    • H04W40/04—Communication route or path selection, e.g. power-based or shortest path routing based on wireless node resources

Abstract

The existing Community Clustering method for car networking mostly uses present speed and driving direction etc. to estimate vehicle future time instance position to judge to keep the duration connected between the following node, and in this, as one of cluster foundation to improve community's stability.But since vehicle future time instance position is influenced by multiple factors, the accuracy for estimating communication connection time is lower, and cause the community in car networking to present life cycle is short, and node community ownership changes rapid feature more.Meanwhile existing car networking community Routing Protocol is using the key node in community as the main node of forwarding, the problem of causing key node load too high.The present invention provides " the polygonal colour sorting Community Clustering method of car networking self-organizing network " in view of the above problems, and vehicle future time instance position is considered during Community Clustering, and role's distribution is refined in community.Community attributes and community's node role definition include community attributes, community node role.Community Clustering includes that community is formed with role allocating method, community's maintenance.

Description

The polygonal colour sorting Community Clustering method of car networking self-organizing network
Technical field
The present invention relates to car networking fields.
Background technique
It is different from traditional Community Clustering, vehicle node movement speed is fast in car networking, and topological relation changes between node Rapidly.Traditional Community Clustering approach application will appear that community's life cycle is short in car networking, the low deficiency of stability.
In the Community Clustering method for car networking design, there is researcher to propose to comprehensively consider node in Community Clustering The topological relation of vehicle following a period of time is estimated in the final position of current location, present speed and each node, in this, as poly- Class is according to the time-to-live to extend community.For the scene for establishing large-scale community, the head node in the community Liang Ge enters connection Behind region, delay a period of time until carry out community's merging after the connected state that community's head node keeps relative stability, with this again It reduces the frequent merging of community and splits, promote community's stability.There is document that vehicle moving direction is added to cluster according in, Comprehensive neighbor node number and the distrust factor, collectively as the foundation of Community Clustering.Method discussed above is only simply selected Several most apparent vehicle location influence factors have been taken, and have given up a large amount of possible traffic informations for influencing Shape Of Things To Come position. Cause when doing Community Clustering using these influence factors, the stability of community promotes insufficient, community's still presentation after cluster Life cycle is short out, and node-home changes fast feature.
Summary of the invention
Research method of the present invention mostly uses present speed and traveling side based on the existing Community Clustering method for car networking To etc. estimate vehicle future time instance position and judge the duration for keeping connection between the following node, and in this, as cluster according to one of To improve community's stability, but since vehicle future time instance position is influenced by multiple factors, the accurate of communication connection time is estimated Spend lower, cause community in car networking to present life cycle is short, and node community ownership changes rapid feature more.Based on vehicle (inventors such as Cheng Jiujun " are based on depth filed on August 16th, 2017 to position prediction model in car networking complex network The position prediction model construction method of the vehicle driving influence factor of habit " (applicant: Tongji University, number of patent application 2017107029220, publication number 107609633A, publication date on 01 19th, 2018), comprehensively consider body attribute, road letter Breath and environment etc. influence the factor of vehicle driving, and in conjunction with depth learning technology, digging vehicle travels influence factor and vehicle The relationship of position proposes the prediction model of vehicle location), consideration vehicle future time instance position during Community Clustering, and Role's distribution is refined in community, to promote community's stability, balanced key node load reduces data transmission distortion.
The present invention provides following technical scheme:
A kind of polygonal colour sorting Community Clustering method of car networking self-organizing network, which is characterized in that including two parts,
One, community attributes and community's node role definition
Step 1. community attributes；
Step 2. community node role.
Two, Community Clustering and role allocating method
Step 1. community is formed；
The maintenance of step 2. community.
A kind of polygonal colour sorting Community Clustering method under car networking self-organization network scene, which is characterized in that including two Part,
One, community attributes and community's node role definition
It is step 1.1, describedCommunity attributes are defined as follows:
VANET is abstracted into the structure of weighted-graph.Vehicle node is wireless between vehicle as the point in non-directed graph It is connected to side between points.Weighted-graph is denoted as G=(VG,EG).Wherein VG={ ve1,ve2,…vekRepresent top Point set, vekIndicate vertex k.EG={ e1,e2,…ejRepresentative edge collection, ejIndicate side j.Community indicates with vertex set and side collection, Community is then abstracted as the form of the subgraph of G, is denoted as
If two cars are each other in the transmission range of other side, then it is assumed that there are one between the node that this two cars is abstracted Side.
(1) it defines the direct connectivity factor TRF of 1 vehicle (Trasmission Factor): indicating between two vehicle nodes The degree of reliability of connection meets formula (2).
Wherein, TR (Transmission Range) indicates the maximum transmitted range of vehicle communication.distt(vei,vej) table Show the distance between t moment vehicle i and vehicle j.When the distance between vehicle is greater than maximum transmitted range, TRF 0 shows There is no connections for two vehicle nodes.Be reflected on topological diagram is that there is no sides between two nodes.When between vehicle away from When from being less than or equal to maximum transmitted range, the distance between TRF and vehicle are negatively correlated.Distance is closer, and TRF is bigger, and two The degree of reliability connected between vehicle node is higher, and connection is closer, and the weight of reflection to topological diagram top is bigger.
(2) 2 neighbor nodes are defined: if vehicle A and vehicle B meet TRF (veA,veN) > 0 then claims A and B neighbours each other Node.It is reflected in topological diagram, is veAWith veBBetween there are a lines.
Here definition node neighbours connect centrality to indicate number and vehicle and the neighbours of vehicle current neighbor nodes The tightness degree contacted between node.
(3) 3 neighbours are defined and connects centrad (NCC): indicating the sum of node and the direct connectivity factor of neighbor node.It will veiNode is denoted as C in the NCC value of t momenti,t, then have:
Wherein NSiIndicate the neighbor node collection of i-node.NCC is bigger, and it is reliable to indicate that the node is connect with its surroundings nodes Degree is higher, contacts closer.
(4) 4 expected neighbours are defined and connect centrad (ENCC): indicating following a period of time node since current time The weighted average of NCC value.By t moment node veiENCC value be denoted asThen have:
Wherein DTS is indicated time interval set { dt | dt=0, Δ t, 2 Δ t, 3 Δ t ... }, WS indicate weight set w | W=w1,w2..., wkRepresent the corresponding weight of t+ (i-1) time Δt NCC value.ENCC value is bigger, shows that vehicle is indicated in DTS Following a period of time in it is higher with the connection reliability of surroundings nodes, connection is closer.
(5) 5 community neighbours are defined and connects centrad (CNCC): indicating node at current time to specified community's interior nodes The sum of direct connectivity factor.By t moment veiNode is to community COMkCNCC value be denoted asThen have
WhereinIndicate veiNode is in community COMkIn neighbor node collection.CNCC indicates vehicle node and certain society Area's totality is directly connected to quality.CNCC value is bigger, indicate the node currently with community COMkThe overall quality that is directly connected to is got over Height contacts closer.
(6) 6 expected community neighbours are defined and connect centrad (ENC): indicating a period of time of node after current time To the weighted average of the CNCC value of specified community.By t moment veiNode is to community COMkENC value be denoted asHave
Wherein, ENC value is bigger, then it represents that the node is in following a period of time and community COMkOverall is directly connected to quality It is higher, it contacts closer.It can be by the weight of adjusting each time point CNCC, to lay particular emphasis on the CNCC for considering a certain moment Value, expands the influence power of moment CNCC value.
(7) 7 node remaining load abilities (AWL) are defined: indicating that node is remaining for forwarding data at current time Cushion space.By veiNode is denoted as AWL in the AWL value of t momenti,t.In t moment to veiNode, which is sent, is greater than AWLi,tData Packet will lead to the data-bag lost.
Described in step 1.2Community's node role definition
In order to distinguish in community position of the different nodes in community, characterizes status of the node in community and it joins in vehicle Percentage contribution of the network in.Car networking Community Clustering model can give different role definitions to the node in community.Usually For, at least there is a cephalomere (CH) and several member nodes (CM) in a community.Head node in community manages community Every terms of information, such as community's node set, the position of each node and routing table etc. in community.During community develops, Head node can often determine whether non-community's node can be added this community.Since the direct degree of communication of head node is high, It is connected to high-quality, while having every important information in community, in car networking community Routing Protocol, head node is often worked as Make important forward node.
The present invention is to balance the load of head node and gateway node, and definition head node waits for node and gateway node waits for section Point, by the node role in community be divided into head node, gateway node, head node wait for node, gateway node wait for node with Five class of rank and file's node.The node role for not being included into community is defined as free node.
(1) 8 head nodes (CH) is defined: for the highest node of ENC value in community.Have
Then node veiIt is considered in following a period of timeIt is interior best in quality of connection in community.The node is selected as COMkCH node.If the highest node of ENC value has multiple, select to number minimum node as CH node.
(2) 9 head nodes are defined and waits for node (BCH): for the relatively high node of the adjacent centrad in community expected in community. Assuming that for community COMkFor, CH node is veh, then the BCH node of the community needs to meet:
The number of h expression CH node.Here δ is the controlling elements of BCH node selection quantity.At the beginning of community is formed, CH The load of node and BCH node transmission data is lower, and δ can be set to a biggish value, reduces the quantity of BCH node, makes Quality of connection of the BCH node that must be chosen in community is closer to CH node, to keep the forwarding characteristic of BCH node closer In CH node.With the exacerbation of data packet forwarding task in community, CH node and the BCH node chosen all have reached very high When data payload, δ can be suitably reduced, chooses more BCH nodes, assists data forwarding.
(3) 10 community COM are definedkTo community COMlGateway node collection (GWS): be defined as set GWSk,l, meet:
That is community COMkTo community COMlAll nodes of gateway node collection belong to community COMk, and with community COMl In some or all of node be connected directly.
(4) 11 community COM are definedkTo community COMlGateway node GWk,l: it is defined as set GWSk,lIn to community COMl The maximum node of ENC value.I.e. if vei∈GWSk,l, then it needs to meet:
If GWSk,lIn community COMlThe node of ENC maximum value have multiple, then choose and number minimum node as society Area COMkTo community COMlGateway node (GW).
(5) 12 community COM are definedkTo community COMlGateway node wait for node collection BGWSk,l: it is defined as GWSk,lIn remove Remove gateway node GWk,lExcept other all nodes, i.e.,
BGWSk,l={ vei|vei≠GWk,l,vei∈GWSk,l} (11)
BGWSk,lIn node definition be community COMkTo community COMlGateway node wait for node BGWk,l。
Rank and file's node (CM) refers to other institutes except CH node in community, BCH node, GW node and BGW node There is community's node.CM node meets following two characteristics:
● CM node and the single-hop neighbor node for being community's CH node.I.e. for community COMk, CH node is CHk, then CM NodeWith CHkBetween must have a line ej,
● for node CMi, affiliated community is COMk, then meet formula (12).
The node definition for being not belonging to any community is free node (SN).
Two,Community Clustering and role allocating method
Car networking Community Clustering is by the node division in car networking to the process in different communities.The present invention gathers community The process of class is divided into community and is formed and community's two stages of maintenance.
In car networking self-organizing network initial phase, each vehicle node is initialized as SN node.Later either Formation stages or community's maintenance phase in community, node always periodically control (HB) data to neighbor node broadcast heartbeat Packet.HB data packet carries the status information of node, including node current location, and node passes through pre- based on vehicle location prediction model The position of following 1s, 2s, 3s for measuring, the affiliated community of node, node ENCC value, node ENC value and node AWL value etc..Institute There is one neighbor information table NeighborTable of node maintenance, the ENCC and ENC etc. to calculate and compare neighbor node refer to Mark data.The individual item of content of information table is as shown in table 1.In table BEAT_LENGTH indicate that the adjacent data packet of HB twice sends when Between be spaced.The HB data packet missing of long period is then considered the neighbor node and veiNode connection disconnects, by its information from neighbour It occupies in information table and removes.
Step 2.1 community is formed
Community is formed by election community CH node.After the ENCC value of node updates itself, just by itself ENCC value and the ENCC value of neighbor node compare, to find the maximum node of ENCC value.The maximum node of ENCC value is i.e. suitable Conjunction is selected as CH node.When the maximum node of ENCC value has multiple, the smallest node of ID value is chosen as CH node.CH node After selected, new communities ID is labeled as CH node ID, neighbor node learns a Ge Xin society by the HB data packet of CH node broadcasts The foundation in area.If neighbor node is SN node, it is directly added into the community, and community's request (JC) data packet is added Form notifies CH node.If neighbor node belongs to other nodes, need to judge whether to be suitble to that new communities, judgment basis is added It will be described in detail in community's maintenance phase.CH node updates community member's table according to the JC data packet received.If JC data Bao represents request and this community is added, then JC data packet sending node is added in community member's table.It is added in JC data packet request His community, the then node that will send the data packet remove community member's table.After several wheel iteration, community gradually tends to phase To stable state.The process of community's formation is just completed at this time.
The maintenance of step 2.2 community
In community's maintenance phase, needs to handle node and be dynamically joined to or leave community, the merging of community splits, disappears The case where dying.Meanwhile role's distribution of BCH, GW and BGW node also carries out in community's maintenance phase.
(a) node community ownership updates, and community withers away, and merges and splits
In this stage, need to handle the problem of node community ownership changes.Node is in the HB number for receiving neighbor node broadcast When according to packet, according to the speed of the node and neighbor node, current location and prediction gained future 1s, the position at 2s and 3s moment It sets to estimate the node and neighbor node and keep the duration of connection, and updates information of neighbor nodes table.
After updated information of neighbor nodes table, node then judges if it find that new CH node occurs in neighbor node Whether the CH node is more suitable for doing CH node than current affiliated community CH node.Assuming that node veiReceive vehThe HB data of transmission It wraps, wherein vehFor CH node emerging in neighbor node.Herein for MDMAC method, (classic algorithm is commonly used to compare Experiment) in testClusterHeadChange algorithm (classic algorithm is commonly used to do comparative experiments) improve.Node vehIt need to expire It is enough lower five standards, is just considered and is more suitable for being veiHead node:
6)vehNode is the CH node of its locating community；
7) ENCC value meets
8)vehAnd veiExpection Connection Time long enough；
9)veiWith vehBetween velocity angle it is sufficiently small；
10) assume veiLocating community is COMm, vehLocating community is COMn, then ENC value needs to meet
Meeting these standards ensure that vehNode has better direct degree of communication, in turn ensures veiNode and vehNode There is closer connection in place community.It ensure that ve simultaneouslyhWith veiBetween have the connection of one section of long period, can be to avoid vei Continually join and depart community.
If vehIt is more suitable for CH node, then veiVe is added in selectionhPlace community.veiIt is done according to self-role as follows Operation:
3) work as veiWhen non-CH node, veiBy broadcasting JC data packet, ve is notifiedhThe community is added.And notify former community CH Node veiFormer community is left, the ownership variation of node community is completed；
4) work as veiWhen for CH node, veiBy broadcasting JC data packet, ve is notifiedhThe community is added.And notify in community it His node, former community wither away.Other nodes become SN node in community.Further according to the HB data of other CH nodes received Packet, selection are added other communities, complete the merging of community.Or self election is new communities CH node, and surroundings nodes is attracted to add Enter, completes the fractionation of community.
So far, node according to rules given above, can complete the dynamic change of node community ownership, and community disappears It dies, split and merges.
(b) BCH, GW and BGW node role distribution
Community's maintenance phase also needs to solve the problem of that BCH GW and BGW node role distributes.CH and BCH node Safeguard identical community member's list.CH and BCH node according to the information of the GW and BGW node updates in its neighbor node, Respectively one table of gateway information of maintenance.CH node maintenance community member's list understands the community stature of each node in community.And society Area's ordinary node does not have community member's list, has no way of learning status of each node in community.It therefore, is selection and CH node Node with similar community stature is specified as BCH node, BCH node by CH node.And since other nodes in community can To learn the community of oneself adjoining, and the ENC value with adjacent community can be calculated.Therefore GW, BGW node by node each in community self Election, and result is advertised to CH node and adjacent BCH node.
BCH node selects the size according to ENC value, more suitable to do BCH node closer to the node of CH node ENC value.
The selection of GW and BGW node is chosen according to the ENC value to adjacent community.Assuming that COMiHave in community 5 nodes with COMjNode in community is directly connected to.This 5 nodes are expressed as < ve1,ve2,ve3,ve4,ve5>.It is to community COMj's ENC value is as shown in table 2.
To COMjThe maximum ve of community ENC3Node is chosen as community COMiTo community COMjGW node, remaining 4 node It is chosen as community COMiTo community COMjBGW node.Because only that can safeguard the gateway node of community at CH and BCH node Table, so GW and BGW node are only distinguished at CH and BCH node.In self election process of gateway node, node is thought It oneself is BGW node.
CH node and BCH node need to safeguard community member's list, including CH node listing (only one interior CH of table Node), BCH list, GW/BGW list and CM list.CH node listing, BCH list, GW/BGW list are referred to as crucial section Point members list.During BCH and GW/BGW is elected, CH node, which is updated with corresponding BCH node according to election results, to be closed Key node member's list.After community is added in CM node, CH node will be updated CM list with corresponding BCH node.When in community Member node leave community after, CH node member corresponding to the removal of BCH node, and according to remove member role, make phase The new role answered is chosen.Member node, which leaves community, can be divided into the following two kinds situation:
1) other communities, proactive notification CH node and corresponding BCH node is added in the member node.At this point, CH node with BCH node removes the member node for leaving community from respective list.
2) member node and CH node disconnect.CH node through not receiving member node broadcast after a period of time HB data packet completes the update of community member's table.
Other than receiving the HB of neighbor node or the list item of other notification datas Bao Shigeng new node self maintained, community Interior each node can also be updated periodically its node state, to find the case where neighbor node disconnects.CH node simultaneously Need to choose or update BCH and GW/BGW list.The time interval that two minor nodes actively update is BEAT_LENGTH.It is in Community COMkNode veiIt is as follows in the more new content of t moment:
5) ENC value of the node to existing community
6) the expected remaining Connection Time of neighbor node is subtracted 1.If the value is reduced to 0, then it is assumed that neighbor node and current Node does not reconnect.
If 7) veiFor community's CH node, then the knot for perhaps updating BCH node and choosing or update is chosen simultaneously Fruit notifies all nodes in community.
8) the ENC value of more new node and other communities.If the value changes, CH node and BCH node are notified, more New communities' GW nodal information.
Wherein, step 2) is the processing step to guarantee information of neighbor nodes validity.Since node may be when any Quarter disconnects with neighbor node, and node can only obtain neighbor node letter by the HB data packet of neighbor node periodic broadcast Breath.Therefore, when receiving HB data packet, node estimates the Connection Time ECT with the neighbor node.Every minor node actively updates When state, i.e., ECT is subtracted 1.When ECT is reduced to 0, illustrate that a period of time does not receive the HB data packet from the neighbor node.This Shi Ze thinks that present node is not reconnected with the neighbor node.
Subordinate list explanation
Table 1 has infrastructure car networking emulation experiment parameter
2 node ENC value example of table
The setting of 3 experiment parameter of table
Detailed description of the invention
Fig. 1 car networking self-organized network topology figure
Fig. 2 car networking self-organizing network community gateway node collection example
The node role transforming of the community Fig. 3
Fig. 4 τi,tIt is worth curve
Fig. 5 TAPASCologne data set road topology
The community Fig. 6 number percent with community's life span distribution
Fig. 7 number of nodes is with node community change number distribution
Fig. 8 number of nodes percentage with node data packet transfer amount distribution
Fig. 9 is the method for the present invention flow chart
Specific embodiment
Shown in specific implementation process Fig. 9 of the invention, including following 5 aspects:
1. community attributes define
2. community's node role definition
3. Community Clustering and role allocating method
4. testing
5. community's stability result is analyzed
①
Community attributes definition
VANET is abstracted into the structure of weighted-graph by the present invention.Vehicle node is as the point in non-directed graph, between vehicle Be wirelessly connected as side between points.Weighted-graph is denoted as G=(VG,EG).Wherein VG={ ve1,ve2... } and it represents Vertex set, vekIndicate vertex k.EG={ e1,e2... representative edge collection, ejIndicate side j.VANET topology is as shown in Figure 1.Community is then It is abstracted as the form of the subgraph of G, is denoted as
If two cars are each other in the transmission range of other side, then it is assumed that there are one between the node that this two cars is abstracted Side.The weight w on sideeFor the direct connectivity factor of vehicle (see definition 1).The weight w of nodeveCentrad is connected for expected neighbours (see definition 4).
(1) it defines the direct connectivity factor TRF of 1 vehicle (Trasmission Factor): indicating between two vehicle nodes The degree of reliability of connection meets formula (2).
Wherein, TR (Transmission Range) indicates the maximum transmitted range of vehicle communication.distt(vei,vej) table Show the distance between t moment vehicle i and vehicle j.When the distance between vehicle is greater than maximum transmitted range, TRF 0 shows There is no connections for two vehicle nodes.Be reflected on topological diagram is that there is no sides between two nodes.When between vehicle away from When from being less than or equal to maximum transmitted range, the distance between TRF and vehicle are negatively correlated.Distance is closer, and TRF is bigger, and two The degree of reliability connected between vehicle node is higher, and connection is closer, and the weight of reflection to topological diagram top is bigger.
(2) 2 neighbor nodes are defined: if vehicle A and vehicle B meet TRF (veA,veB) > 0 then claims A and B neighbours each other Node.It is reflected in topological diagram, is veAWith veBBetween there are a lines.
In car networking, some vehicle neighbor nodes are more, and the node that can communicate directly is more.Some vehicle neighbor nodes It is few, it can be few with the node of direct communication.Here definition node neighbours connect centrality to indicate of vehicle current neighbor nodes The tightness degree contacted between several and vehicle and neighbor node.
(3) 3 neighbours are defined and connects centrad (NCC): indicating the sum of node and the direct connectivity factor of neighbor node.It will veiNode is denoted as C in the NCC value of t momenti,t, then have:
Wherein NSiIndicate the neighbor node collection of i-node.NCC is bigger, and it is reliable to indicate that the node is connect with its surroundings nodes Degree is higher, contacts closer.
(4) 4 expected neighbours are defined and connect centrad (ENCC): indicating following a period of time node since current time The weighted average of NCC value.By t moment node veiENCC value be denoted asThen have:
Wherein DTS is indicated time interval set { dt | dt=0, Δ t, 2 Δ t, 3 Δ t ... }, WS indicate weight set w | W=w1,w2..., wiRepresent the corresponding weight of t+ (i-1) time Δt NCC value.ENCC value is bigger, shows that vehicle is indicated in DTS Following a period of time in it is higher with the connection reliability of surroundings nodes, connection is closer.
(5) 5 community neighbours are defined and connects centrad (CNCC): indicating node at current time to specified community's interior nodes The sum of direct connectivity factor.By t moment veiNode is to community COMkCNCC value be denoted asThen have
WhereinIndicate veiNode is in community COMkIn neighbor node collection.CNCC indicates vehicle node and certain society Area's totality is directly connected to quality.CNCC value is bigger, indicate the node currently with community COMkThe overall quality that is directly connected to is got over Height contacts closer.
(6) 6 expected community neighbours are defined and connect centrad (ENC): indicating a period of time of node after current time To the weighted average of the CNCC value of specified community.By t moment veiNode is to community COMkENC value be denoted asHave
Wherein the meaning of WS and DTS is as defined 4.ENC value is bigger, then it represents that the node is in following a period of time and community COMkThe overall quality that is directly connected to is higher, contacts closer.It can come side by the weight of adjusting each time point CNCC The CNCC value for considering a certain moment is overweighted, the influence power of moment CNCC value is expanded.
(7) 7 node remaining load abilities (AWL) are defined: indicating that node is remaining for forwarding data at current time Cushion space.By veiNode is denoted as AWL in the AWL value of t momenti,t.In t moment to veiNode, which is sent, is greater than AWLi,tData Packet will lead to the data-bag lost.
②
Community's node role definition
In order to distinguish in community position of the different nodes in community, characterizes status of the node in community and it joins in vehicle Percentage contribution of the network in.Car networking Community Clustering model can give different role definitions to the node in community.Usually For, at least there is a cephalomere (CH) and several member nodes (CM) in a community.Head node in community manages community Every terms of information, such as community's node set, the position of each node and routing table etc. in community.During community develops, Head node can often determine whether non-community's node can be added this community.Since the direct degree of communication of head node is high, It is connected to high-quality, while having every important information in community, in car networking community Routing Protocol, head node is often worked as Make important forward node.
Other than head node and member node, existing community and other are intercommunal to be contacted in order to study, part society Area's clustering method joined the concept of gateway node (GW).Gateway node belongs to a community, while the node with other communities It is connected directly.The number of gateway node and gateway node and the quality of connection of other communities can characterize the community in usual community The tightness degree contacted with other communities.In the Routing Protocol based on Community Clustering, gateway node is often by as between community The relay node of communication is responsible for data packet being transmitted to other communities.
In the Routing Protocol based on Community Clustering, exactly because the special status of head node and gateway node, leads to it The high load of data forwarding.The present invention is to balance the load of head node and gateway node, defines head node and waits for node and gateway Node waits for node, and the node role in community is divided into head node, gateway node, head node and waits for node, gateway node Wait for node and five class of rank and file's node.The node role for not being included into community is defined as free node.
(1) 8 head nodes (CH) is defined: for the highest node of ENC value in community.Have
Then node veiIt is considered in following a period of timeIt is interior best in quality of connection in community.The node is selected as COMkCH node.If the highest node of ENC value has multiple, select to number minimum node as CH node.
(2) 9 head nodes are defined and waits for node (BCH): for the relatively high node of the adjacent centrad in community expected in community. Assuming that for community COMkFor, CH node is veh, then the BCH node of the community needs to meet:
Here δ is the controlling elements of BCH node selection quantity.At the beginning of community is formed, CH node and BCH node-node transmission number According to load it is lower, δ can be set to a biggish value, the quantity of BCH node be reduced, so that the BCH node chosen is in society Quality of connection in area is closer to CH node, to make the forwarding characteristic of BCH node closer to CH node.With in community Data packet forwards the exacerbation of task can be appropriate when CH node and the BCH node chosen all have reached very high data payload δ is reduced, more BCH nodes are chosen, assists data forwarding.
(3) 10 community COM are definedkTo community COMlGateway node collection (GWS): be defined as set GWSk,l, meet:
That is community COMkTo community COMlAll nodes of gateway node collection belong to community COMk, and with community COMl In some or all of node be connected directly, as shown in Figure 2.
(4) 11 community COM are definedkTo community COMlGateway node GWk,l: it is defined as set GWSk,lIn to community COMl The maximum node of ENC value.I.e. if vei∈GWSk,l, then it needs to meet:
If GWSk,lIn community COMlThe node of ENC maximum value have multiple, then choose and number minimum node as society Area COMkTo community COMlGateway node (GW).
(5) 12 community COM are definedkTo community COMlGateway node wait for node collection BGWSk,l: it is defined as GWSk,lIn remove Remove gateway node GWk,lExcept other all nodes, i.e.,
BGWSk,l={ vei|vei≠GWk,l,vei∈GWSk,l} (11)
BGWSk,lIn node definition be community COMkTo community COMlGateway node wait for node BGWk,l。
Rank and file's node (CM) refers to other institutes except CH node in community, BCH node, GW node and BGW node There is community's node.CM node meets following two characteristics:
● CM node and the single-hop neighbor node for being community's CH node.I.e. for community COMk, CH node is CHk, then CM NodeWith CHkBetween must have a line
● for node CMi, affiliated community is COMk, then meet formula (12).
The node definition for being not belonging to any community is free node (SN).The role transforming of node is as shown in Figure 3.At one In community, CH node can have both the identity of GW node or BGW node with BCH node.Arrow direction indicates community's section in figure Point role transforming, (B) CH indicate that CH or BCH node, (B) GW indicate GW or BGW node, and the expression of (B) CH (B) GW node has both (B) node of CH role and (B) GW role.
③
Community Clustering and role allocating method
Car networking Community Clustering is by the node division in car networking to the process in different communities.The foundation of partitioning site The difference due to difference of Community Clustering algorithm.The process of Community Clustering is divided into community and is formed and community's maintenance two by the present invention A stage.
In car networking self-organizing network initial phase, each vehicle node is initialized as SN node.Later either Formation stages or community's maintenance phase in community, node always periodically control (HB) data to neighbor node broadcast heartbeat Packet.HB data packet carries the status information of node, including node current location, and node passes through pre- based on vehicle location prediction model The position of following 1s, 2s, 3s for measuring, the affiliated community of node, node ENCC value, node ENC value and node AWL value etc..Institute There is one neighbor information table NeighborTable of node maintenance, the ENCC and ENC etc. to calculate and compare neighbor node refer to Mark data.The individual item of content of information table is as shown in table 1.In table BEAT_LENGTH indicate that the adjacent data packet of HB twice sends when Between be spaced.The HB data packet missing of long period is then considered the neighbor node and veiNode connection disconnects, by its information from neighbour It occupies in information table and removes.
(1) community is formed
Community is formed by election community CH node.After the ENCC value of node updates itself, just by itself ENCC value and the ENCC value of neighbor node compare, to find the maximum node of ENCC value.The maximum node of ENCC value is i.e. suitable Conjunction is selected as CH node.When the maximum node of ENCC value has multiple, the smallest node of ID value is chosen as CH node.CH node After selected, new communities ID is labeled as CH node ID, neighbor node learns a Ge Xin society by the HB data packet of CH node broadcasts The foundation in area.If neighbor node is SN node, it is directly added into the community, and community's request (JC) data packet is added Form notifies CH node.If neighbor node belongs to other nodes, need to judge whether to be suitble to that new communities, judgment basis is added It will be described in detail in community's maintenance phase.CH node updates community member's table according to the JC data packet received.If JC data Bao represents request and this community is added, then JC data packet sending node is added in community member's table.It is added in JC data packet request His community, the then node that will send the data packet remove community member's table.After several wheel iteration, community gradually tends to phase To stable state.The process of community's formation is just completed at this time.
(2) community safeguards
In community's maintenance phase, needs to handle node and be dynamically joined to or leave community, the merging of community splits, disappears The case where dying.Meanwhile role's distribution of BCH, GW and BGW node also carries out in community's maintenance phase.
(a) node community ownership updates, and community withers away, and merges and splits
In this stage, need to handle the problem of node community ownership changes.Node is in the HB number for receiving neighbor node broadcast When according to packet, according to the speed of the node and neighbor node, current location and prediction gained future 1s, the position at 2s and 3s moment It sets to estimate the node and neighbor node and keep the duration of connection, and updates information of neighbor nodes table.
After updated information of neighbor nodes table, node then judges if it find that new CH node occurs in neighbor node Whether the CH node is more suitable for doing CH node than current affiliated community CH node.Assuming that node veiReceive vehThe HB data of transmission It wraps, wherein vehFor CH node emerging in neighbor node.Herein in MDMAC method TestClusterHeadChange algorithm improves.Node vehFollowing five standards need to be met, be just considered and be more suitable for being vei Head node:
11)vehNode is the CH node of its locating community；
12) ENCC value meets
13)vehAnd veiExpection Connection Time long enough；
14)veiWith vehBetween velocity angle it is sufficiently small；
15) assume veiLocating community is COMm, vehLocating community is COMn, then ENC value needs to meet
Meeting these standards ensure that vehNode has better direct degree of communication, in turn ensures veiNode and vehNode There is closer connection in place community.It ensure that ve simultaneouslyhWith veiBetween have the connection of one section of long period, can be to avoid vei Continually join and depart community.
If vehIt is more suitable for CH node, then veiVe is added in selectionhPlace community.veiIt is done according to self-role as follows Operation:
5) work as veiWhen non-CH node, veiBy broadcasting JC data packet, ve is notifiedhThe community is added.And notify former community CH Node veiFormer community is left, the ownership variation of node community is completed；
6) work as veiWhen for CH node, veiBy broadcasting JC data packet, ve is notifiedhThe community is added.And notify in community it His node, former community wither away.Other nodes become SN node in community.Further according to the HB data of other CH nodes received Packet, selection are added other communities, complete the merging of community.Or self election is new communities CH node, and surroundings nodes is attracted to add Enter, completes the fractionation of community.
So far, node according to rules given above, can complete the dynamic change of node community ownership, and community disappears It dies, split and merges.
(b) BCH, GW and BGW node role distribution
Community's maintenance phase also needs to solve the problem of that BCH GW and BGW node role distributes.CH and BCH node Safeguard identical community member's list.CH and BCH node according to the information of the GW and BGW node updates in its neighbor node, Respectively one table of gateway information of maintenance.CH node maintenance community member's list understands the community stature of each node in community.And society Area's ordinary node does not have community member's list, has no way of learning status of each node in community.It therefore, is selection and CH node Node with similar community stature is specified as BCH node, BCH node by CH node.And since other nodes in community can To learn the community of oneself adjoining, and the ENC value with adjacent community can be calculated.Therefore GW, BGW node by node each in community self Election, and result is advertised to CH node and adjacent BCH node.
BCH node selects the size according to ENC value, more suitable to do BCH node closer to the node of CH node ENC value.
The selection of GW and BGW node is chosen according to the ENC value to adjacent community.Assuming that COMiHave in community 5 nodes with COMjNode in community is directly connected to.This 5 nodes are expressed as < ve1,ve2,ve3,ve4,ve5>.It is to community COMj's ENC value is as shown in table 2.
To COMjThe maximum ve of community ENC3Node is chosen as community COMiTo community COMjGW node, remaining 4 node It is chosen as community COMiTo community COMjBGW node.Because only that can safeguard the gateway node of community at CH and BCH node Table, so GW and BGW node are only distinguished at CH and BCH node.In self election process of gateway node, node is thought It oneself is BGW node.
CH node and BCH node need to safeguard community member's list, including CH node listing (only one interior CH of table Node), BCH list, GW/BGW list and CM list.CH node listing, BCH list, GW/BGW list are referred to as crucial section Point members list.During BCH and GW/BGW is elected, CH node, which is updated with corresponding BCH node according to election results, to be closed Key node member's list.After community is added in CM node, CH node will be updated CM list with corresponding BCH node.When in community Member node leave community after, CH node member corresponding to the removal of BCH node, and according to remove member role, make phase The new role answered is chosen.Member node, which leaves community, can be divided into the following two kinds situation:
1) other communities, proactive notification CH node and corresponding BCH node is added in the member node.At this point, CH node with BCH node removes the member node for leaving community from respective list.
2) member node and CH node disconnect.CH node through not receiving member node broadcast after a period of time HB data packet completes the update of community member's table.
Other than receiving the HB of neighbor node or the list item of other notification datas Bao Shigeng new node self maintained, community Interior each node can also be updated periodically its node state, to find the case where neighbor node disconnects.CH node simultaneously Need to choose or update BCH and GW/BGW list.The time interval that two minor nodes actively update is BEAT_LENGTH.It is in Community COMkNode veiIt is as follows in the more new content of t moment:
9) ENC value of the node to existing community
10) the expected remaining Connection Time of neighbor node is subtracted 1.If the value is reduced to 0, then it is assumed that neighbor node and current Node does not reconnect.
If 11) veiFor community's CH node, then the knot for perhaps updating BCH node and choosing or update is chosen simultaneously Fruit notifies all nodes in community.
12) the ENC value of more new node and other communities.If the value changes, CH node and BCH node are notified, More new communities GW nodal information.
Wherein, step 2) is the processing step to guarantee information of neighbor nodes validity.Since node may be when any Quarter disconnects with neighbor node, and node can only obtain neighbor node letter by the HB data packet of neighbor node periodic broadcast Breath.Therefore, when receiving HB data packet, node estimates the Connection Time ECT with the neighbor node.Every minor node actively updates When state, i.e., ECT is subtracted 1.When ECT is reduced to 0, illustrate that a period of time does not receive the HB data packet from the neighbor node.This Shi Ze thinks that present node is not reconnected with the neighbor node.
Experiment
(1) experimental data set
Emulation experiment of the present invention uses Veins car networking simulation frame, data set TAPASCologne. TAPASColo Gne data set derives from the Institute of Transportation Systems at the German Aerospace Center (ITS-DLR), the road topology network comprising true Cologne, Germany city.SUMO traffic can be passed through The motion track of microcosmic vehicle node is in simulation software simcity road to describe 400 square kilometres of Cologne, Germany city region Interior traffic flow in 24 hours.Data set road topology structure is as shown in Figure 5.
Present invention experiment uses the track of vehicle data of 6:00~8:00 (am) period to provide vehicle for car networking emulation Joint movements foundation.In the period, be up to more than 8000 vehicle nodes travel on road simultaneously, can satisfy this hair It is bright to test the demand emulated to track of vehicle.
(2) experimental method
Respectively using MDMAC method and PMRC method of the invention to TAPASCologne data set 6:00~8:00 (am) vehicle of period carries out Community Clustering and dynamically updates its community's form.The VANET society formed under two methods of statistics The time-to-live in area and interior joint community of community change number.Comparison statistical result forms society to compare PMRC and MDMAC method The stability in area.After community is formed, the source node and destination node that data packet is sent, period are chosen according to identical random fashion Property send data packet, record the quantity of each node for data forwarding packet in community, the delivery ratio of data packet and average end-to-end Delay.Comparison statistical result is to compare performance of the community VANET obtained by two methods in the routing of car networking community.Wherein data Packet delivery fraction indicates that the data packet number for successfully arriving at destination node accounts for total ratio for sending data packet number.It is averagely end-to-end to prolong Indicate that data packet is sent to the average duration of destination node needs by source node late.
The selection rule of head-end site is as follows:
If 1) destination node is the immediate neighbor node that current data packet holds node, directly forwarding data packet is to mesh Node；
2) it is CM node that if current data packet, which holds node, node is from the beginning chosen in node pool and is forwarded as data packet Next-hop；
3) it is CH node or BCH node that if current data packet, which holds node, first determine whether destination node is this Community's node.If so, directly transmitting data packet to destination node.Otherwise, suitable community's forwarding is chosen in neighbours community Data packet chooses the next-hop that node is forwarded as data packet from gateway node pond；
4) it is GW node or BGW node that if current data packet, which holds node, according to next forwarding of packet marking Community information chooses the next-hop that next forwarding community node in neighbor node table is forwarded as data packet；
If 5) be unsatisfactory for above-mentioned 4 kinds of situations, node continues to hold data packet, waits expiring for above-mentioned four kinds of transmission situations Foot.
ρ takes 1, μ to take 20KB in formula (15).The setting of remaining experiment parameter is as shown in table 3.
The analysis of community's stability result
Fig. 6 indicates the PMRC method of the invention provided and the resulting different communities community's life span Duan Nei of MDMAC method Ratio.In figure from left to right, respectively indicate community's life span section (0,20s], (20s, 40s] ..., (480s, 500s] Community's ratio.It can be seen from the figure that since two node motion speed of vehicle is fast, with the growth of community's life span, community Proportion is reduced rapidly.In MDMAC Community Clustering, community's life span is less than account for all communities 66.76% of 20s. The resulting community's life span of PMRC clustering is less than account for all communities 51.77% of 20s.In MDMAC method, community A length of 42.91 seconds when the average survival time.It is 75.95 seconds a length of when community's the average survival time obtained by PMRC clustering.Therefore, the side PMRC Method cluster has longer life span compared with the resulting community of MDMAC clustering.
Node community change number refers to the number of the addition new communities of node experience.Fig. 7 indicate number of nodes with The distribution of node community change number.It can be seen from the figure that with the increase of node community change number, MDMAC and PMRC The corresponding number of nodes of statistical result obtained by method first quickly increases, after be gradually reduced.In MDMAC method, 7 communities are undergone The number of nodes of change is most.Undergo the number of nodes of 6 communities change most in PMRC method.PMRC method experience 8 times or less societies The number of nodes of area's change is all larger than MDMAC method.In the number of nodes of experience 8 times or more community's changes, MDMAC method is more than PMRC method.Community's change number of MDMAC method interior joint average time is 9.04 times, PMRC method node average time Community change number be 8.45 times.Therefore, community's change number of PMRC method interior joint experience is generally less than the side MDMAC Method.In conclusion the car networking community stability formed by PMRC method is better than MDMAC method.
Innovative point: based on vehicle location prediction model (" vehicle connection filed in the inventors such as Cheng Jiujun on August 16th, 2017 The position prediction model construction method of vehicle driving influence factor in net complex network based on deep learning " (applicant: Tongji University 0) university, number of patent application 201710702922, propose polygonal colour sorting community under a kind of car networking self-organization network scene Clustering method reduces data transmission distortion to improve community's stability.
Specification subordinate list
Table 1
Table 2
Node ve1 ve2 ve3 ve4 ve5
ENC 3.516 2.871 6.220 1.155 5.031
Table 3

Claims (4)

1. a kind of polygonal colour sorting Community Clustering method of car networking self-organizing network, which is characterized in that including two parts,
One, community attributes and community's node role definition
It is step 1.1, describedCommunity attributes are defined as follows:
VANET is abstracted into the structure of weighted-graph；Wireless connection of the vehicle node as the point in non-directed graph, between vehicle As side between points；Weighted-graph is denoted as G=(VG, EG)；Wherein VG={ ve1, ve2... vekVertex set is represented, vekIndicate vertex k；EG={ e1, e2... ejRepresentative edge collection, ejIndicate side j；Community indicates with vertex set and side collection, community It is then abstracted as the form of the subgraph of G, is denoted as
If two cars are each other in the transmission range of other side, then it is assumed that there are one between the node that this two cars is abstracted Side；
(1) it defines the direct connectivity factor TRF of 1 vehicle (Trasmission Factor): indicating to connect between two vehicle nodes The degree of reliability, meet formula (2)；
Wherein, TR (Transmission Range) indicates the maximum transmitted range of vehicle communication；distt(vei, vej) indicate t The distance between moment vehicle i and vehicle j；When the distance between vehicle is greater than maximum transmitted range, TRF 0 shows two There is no connections for vehicle node；Be reflected on topological diagram is that there is no sides between two nodes；When the distance between vehicle is small When maximum transmitted range, the distance between TRF and vehicle are negatively correlated；Distance is closer, and TRF is bigger, two vehicles The degree of reliability connected between node is higher, and connection is closer, and the weight of reflection to topological diagram top is bigger；
(2) 2 neighbor nodes are defined: if vehicle A and vehicle B meet TRF (veA, veB) > 0, then claiming A and B, neighbours save each other Point；It is reflected in topological diagram, is veAWith veBBetween there are a lines；
Here definition node neighbours connect centrality to indicate the number and vehicle and neighbor node of vehicle current neighbor nodes Between the tightness degree that contacts；
(3) 3 neighbours are defined and connects centrad (NCC): indicating the sum of node and the direct connectivity factor of neighbor node；By veiSection Point is denoted as C in the NCC value of t momentI, t, then have:
Wherein NSiIndicate the neighbor node collection of i-node；NCC is bigger, indicates the degree of reliability that the node is connect with its surroundings nodes It is higher, it contacts closer；
(4) 4 expected neighbours are defined and connect centrad (ENCC): indicating following a period of time node NCC since current time The weighted average of value；By t moment node veiENCC value be denoted asThen have:
Wherein DTS is indicated time interval set { dt | dt=0, Δ t, 2 Δ t, 3 Δ t ... }, WS indicate weight set w | w= w1, w2... }, WkRepresent the corresponding weight of t+ (i-1) time Δt NCC value；ENCC value is bigger, shows what vehicle was indicated in DTS It is higher with the connection reliability of surroundings nodes in following a period of time, it contacts closer；
(5) 5 community neighbours are defined and connects centrad (CNCC): indicating node at current time to the straight of specified community's interior nodes Connect the sum of connectivity factor；By t moment veiNode is to community COMkCNCC value be denoted asThen have
WhereinIndicate veiNode is in community COMkIn neighbor node collection；CNCC indicates that vehicle node and certain community are total Body is directly connected to quality；CNCC value is bigger, indicate the node currently with community COMkThe overall quality that is directly connected to is higher, connection It is closer；
(6) 6 expected community neighbours are defined and connect centrad (ENC): indicating a period of time of node after current time to finger Determine the weighted average of the CNCC value of community；By t moment veiNode is to community COMkENC value be denoted asHave
Wherein, ENC value is bigger, then it represents that the node is in following a period of time and community COMkThe overall quality that is directly connected to is higher, It contacts closer；
(7) 7 node remaining load abilities (AWL) are defined: indicating that node is remaining for forwarding the buffering of data at current time Space；By veiNode is denoted as AWL in the AWL value of t momentI, t；In t moment to veiNode, which is sent, is greater than AWLI, tData packet will Lead to the data-bag lost；
Described in step 1.2Community's node role definition
The load of head node and gateway node is balanced, definition head node waits for node and gateway node waits for node, will be in community Node role be divided into that head node, gateway node, head node wait for node, gateway node waits for node and rank and file's node Five classes；The node role for not being included into community is defined as free node；
(1) 8 head nodes (CH) is defined: for the highest node of ENC value in community；Have
Then node veiIt is considered in following a period of timeIt is interior best in quality of connection in community；The node is selected as COMk's CH node；If the highest node of ENC value has multiple, select to number minimum node as CH node；
(2) 9 head nodes are defined and waits for node (BCH): for the relatively high node of the adjacent centrad in community expected in community；It is false If for community COMkFor, CH node is veh, then the BCH node of the community needs to meet:
The number of h expression CH node；Here δ is the controlling elements of BCH node selection quantity；At the beginning of community is formed, CH node Lower with the load of BCH node transmission data, δ can be set to a biggish value, reduce the quantity of BCH node, so that choosing Quality of connection of the BCH node taken in community is closer to CH node, to make the forwarding characteristic of BCH node closer to CH Node；With the exacerbation of data packet forwarding task in community, CH node and the BCH node chosen all have reached very high data When load, δ can be suitably reduced, chooses more BCH nodes, assists data forwarding；
(3) 10 community COM are definedkTo community COMlGateway node collection (GWS): be defined as set GWSK, l, meet:
That is community COMkTo community COMlAll nodes of gateway node collection belong to community COMk, and with community COMlIn portion Divide or whole nodes are connected directly；
(4) 11 community COM are definedkTo community COMlGateway node GWK, l: it is defined as set GWSK, lIn to community COMl's The maximum node of ENC value；I.e. if vei∈GWSK, l, then it needs to meet:
If GWSK, lIn community COMlThe node of ENC maximum value have multiple, then choose and number minimum node as community COMkTo community COMlGateway node (GW)；
(5) 12 community COM are definedkTo community COMlGateway node wait for node collection BGWSK, l: it is defined as GWSK, lMiddle removing net Artis GWK, lExcept other all nodes, i.e.,
BGWSK, l={ vei|vei≠GWK, l, vei∈GWSK, l} (11)
BGWSK, lIn node definition be community COMkTo community COMlGateway node wait for node BGWK, l；
Rank and file's node (CM) refers to other all societies except CH node in community, BCH node, GW node and BGW node Area's node；CM node meets following two characteristics:
● CM node and the single-hop neighbor node for being community's CH node；I.e. for community COMk, CH node is CHk, then CM nodeWith CHkBetween must have a line
● for node CMi, affiliated community is COMk, then meet formula (12)；
The node definition for being not belonging to any community is free node (SN)；
Two,Community Clustering and role allocating method
Car networking Community Clustering is by the node division in car networking to the process in different communities；
In car networking self-organizing network initial phase, each vehicle node is initialized as SN node；Later either in society Area's formation stages or community's maintenance phase, node always periodically control (HB) data packet to neighbor node broadcast heartbeat； HB data packet carries the status information of node, including node current location, and node based on vehicle location prediction model by being predicted The position of obtained following 1s, 2s, 3s, the affiliated community of node, node ENCC value, node ENC value and node AWL value etc.；It is all One neighbor information table NeighborTable of node maintenance, to indexs numbers such as the ENCC and ENC that calculate and compare neighbor node According to；The individual item of content of information table is as shown in table 1；Between the time that BEAT_LENGTH indicates the adjacent data packet of HB twice transmission in table Every；The HB data packet missing of long period is then considered the neighbor node and veiNode connection disconnects, its information is believed from neighbours It is removed in breath table.
2. the polygonal colour sorting Community Clustering method of car networking self-organizing network as described in claim 1, which is characterized in that this The process of Community Clustering is divided into community and is formed and community's two stages of maintenance by invention:
Step 2.1 community is formed
Community is formed by election community CH node；After the ENCC value of node updates itself, just by the ENCC value of itself It is compared with the ENCC value of neighbor node, to find the maximum node of ENCC value；The maximum node of ENCC value is suitble to selected Make CH node；When the maximum node of ENCC value has multiple, the smallest node of ID value is chosen as CH node；CH node is selected Afterwards, new communities ID is labeled as CH node ID, neighbor node learns a new communities by the HB data packet of CH node broadcasts It establishes；If neighbor node is SN node, it is directly added into the community, and lead in the form of community's request (JC) data packet is added Know CH node；If neighbor node belongs to other nodes, need to judge whether to be suitble to that new communities are added, judgment basis will be in society Area's maintenance phase is described in detail；CH node updates community member's table according to the JC data packet received；If JC data packet represents This community is added in request, then JC data packet sending node is added in community member's table；Other communities are added in JC data packet request, The node for sending the data packet is then removed into community member's table；After several wheel iteration, community gradually tends to be relatively stable State；The process of community's formation is just completed at this time；
The maintenance of step 2.2 community
In community's maintenance phase, needs to handle node and be dynamically joined to or leave community, the merging of community, fractionation, extinction Situation；Meanwhile role's distribution of BCH, GW and BGW node also carries out in community's maintenance phase；
(a) node community ownership updates, and community withers away, and merges and splits
In this stage, need to handle the problem of node community ownership changes；Node is in the HB data packet for receiving neighbor node broadcast When, according to the speed of the node and neighbor node, current location and prediction gained future 1s, the position at 2s and 3s moment are come pre- Estimate the node and neighbor node keeps the duration of connection, and updates information of neighbor nodes table；
After updated information of neighbor nodes table, node then judges the CH if it find that new CH node occurs in neighbor node Whether node is more suitable for doing CH node than current affiliated community CH node；Assuming that node veiReceive vehThe HB data packet of transmission, Middle vehFor CH node emerging in neighbor node；
(b) BCH, GW and BGW node role distribution
Community's maintenance phase also needs to solve the problem of that BCH GW and BGW node role distributes；CH and BCH node maintenance phase Same community member's list；CH and BCH node are respectively tieed up according to the information of the GW and BGW node updates in its neighbor node Protect a table of gateway information；CH node maintenance community member's list understands the community stature of each node in community；And community is common Node does not have community member's list, has no way of learning status of each node in community；Therefore, there is phase with CH node to choose Like community stature node as BCH node, BCH node is specified by CH node；And due in community other nodes can learn The community of oneself adjoining, and the ENC value with adjacent community can be calculated；Therefore GW, BGW node self are elected by node each in community, And result is advertised to CH node and adjacent BCH node；
BCH node selects the size according to ENC value, more suitable to do BCH node closer to the node of CH node ENC value；
The selection of GW and BGW node is chosen according to the ENC value to adjacent community；Assuming that COMiThere are 5 nodes and COM in communityjSociety Node in area is directly connected to；This 5 nodes are expressed as < ve1, ve2, ve3, ve4, ve5>；It is to community COMjENC value such as table Shown in 2；
To COMjThe maximum ve of community ENC3Node is chosen as community COMiTo community COMjGW node, remaining 4 node is selected For community COMiTo community COMjBGW node；Because only that can safeguard the gateway node table of community, institute at CH and BCH node It is only distinguished at CH and BCH node with GW and BGW node；In self election process of gateway node, node thinks oneself It is BGW node；
CH node and BCH node need to safeguard community member's list, and including CH node listing, (only one CH is saved in table Point), BCH list, GW/BGW list and CM list；CH node listing, BCH list, GW/BGW list are referred to as key node Members list；During BCH and GW/BGW is elected, CH node updates with corresponding BCH node according to election results crucial Node member's list；After community is added in CM node, CH node will be updated CM list with corresponding BCH node；When in community After member node leaves community, CH node member corresponding to the removal of BCH node, and according to the role for removing member, it makes corresponding New role choose；Member node, which leaves community, can be divided into the following two kinds situation:
1) other communities, proactive notification CH node and corresponding BCH node is added in the member node；At this point, CH node and BCH are saved Point removes the member node for leaving community from respective list；
2) member node and CH node disconnect；CH node through not receiving the HB number of member node broadcast after a period of time According to packet, the update of community member's table is completed；
It is every in community other than receiving the HB of neighbor node or the list item of other notification datas Bao Shigeng new node self maintained A node can also be updated periodically its node state, to find the case where neighbor node disconnects；CH node needs simultaneously Choose or update BCH and GW/BGW list；The time interval that two minor nodes actively update is BEAT_LENGTH；In community COMkNode veiIt is as follows in the more new content of t moment:
1) ENC value of the node to existing community
2) the expected remaining Connection Time of neighbor node is subtracted 1；If the value is reduced to 0, then it is assumed that neighbor node and present node It does not reconnect；
If 3) veiFor community's CH node, then the result notice for perhaps updating BCH node and choosing or update is chosen simultaneously All nodes in community；
4) the ENC value of more new node and other communities；If the value changes, CH node and BCH node are notified, update society Area's GW nodal information.
3. the polygonal colour sorting Community Clustering method of car networking self-organizing network as described in claim 1, which is characterized in that institute State node vehFollowing five standards need to be met, be just considered and be more suitable for being veiHead node:
1)vehNode is the CH node of its locating community；
2) ENCC value meets
3)vehAnd veiExpection Connection Time long enough；
4)veiWith vehBetween velocity angle it is sufficiently small；
5) assume veiLocating community is COMm, vehLocating community is COMn, then ENC value needs to meet
Meeting these standards ensure that vehNode has better direct degree of communication, in turn ensures veiNode and vehWhere node There is closer connection in community；It ensure that ve simultaneouslyhWith veiBetween have the connection of one section of long period, can be to avoid veiFrequently Ground joins and departs community；
If vehIt is more suitable for CH node, then veiVe is added in selectionhPlace community；veiIt is done as follows according to self-role:
1) work as veiWhen non-CH node, veiBy broadcasting JC data packet, ve is notifiedhThe community is added；And notify former community CH node veiFormer community is left, the ownership variation of node community is completed；
2) work as veiWhen for CH node, veiBy broadcasting JC data packet, ve is notifiedhThe community is added；And notify that other are saved in community Point, former community wither away；Other nodes become SN node in community；Further according to the HB data packet of other CH nodes received, choosing It selects and other communities is added, complete the merging of community；Or self election is new communities CH node, and surroundings nodes is attracted to be added, it is complete At the fractionation of community；
So far, node according to rules given above, can complete the dynamic change of node community ownership, and the extinction of community is torn open Divide and merges；
4. the polygonal colour sorting Community Clustering method of car networking self-organizing network as described in claim 1, which is characterized in that its In, step 2) is the processing step to guarantee information of neighbor nodes validity；Since node may be saved with neighbours at any time Point disconnects, and node can only obtain information of neighbor nodes by the HB data packet of neighbor node periodic broadcast；Therefore, exist When receiving HB data packet, node estimates the Connection Time ECT with the neighbor node；When every minor node active more new state, i.e., ECT is subtracted 1；When ECT is reduced to 0, illustrate that a period of time does not receive the HB data packet from the neighbor node；Then think to work as at this time Front nodal point is not reconnected with the neighbor node.
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