CN109819418A - A kind of platooning's reliable information transfer method towards mobile ad hoc network - Google Patents
A kind of platooning's reliable information transfer method towards mobile ad hoc network Download PDFInfo
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- CN109819418A CN109819418A CN201910084662.4A CN201910084662A CN109819418A CN 109819418 A CN109819418 A CN 109819418A CN 201910084662 A CN201910084662 A CN 201910084662A CN 109819418 A CN109819418 A CN 109819418A
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Abstract
Platooning's reliable information transfer method towards mobile ad hoc network that the invention discloses a kind of, this programme focuses on solving the problem of loss of data in mobile ad hoc network data transmission procedure, devise the inter-vehicle communication agreement for meeting fleet's traveling, meet the data check criterion and data transmit-receive process of workshop data reliable transmission, and meet the data feedback mechanism of fleet management, the verification and the reliable transmission of feedback and fleet management's data of bicycle general data in fleet may be implemented.The high stability and reliability of fleet communications can be realized on the basis of communications cost is not significantly increased through the invention, improves fleet operations' safety and efficiency.
Description
Technical field
The present invention relates to car networking field of communication technology more particularly to a kind of platooning towards mobile ad hoc network are reliable
Information transferring method.
Background technique
Car networking is to improve a kind of effective means of road safety and traffic efficiency.Communication skill currently used for car networking
Art scheme mainly has DSRC (dedicated short-range communication) and two kinds of LTE-V.Wherein DSRC is a kind of ratio towards mobile ad-hoc network
More mature technical solution, but due to Doppler effect and path attenuation, there are different degrees of data packetlosses, to vehicle
Networking causes certain adverse effect.LTE-V is towards intelligent transportation and car networking application, still among construction.Join towards vehicle
The vehicle group of net is to solve traffic congestion, improves the important measures of road capacity and traffic safety, but certainly based on movement
The unreliable problem of tissue network (such as DSRC) inter-vehicle communication directly affects the operational safety of vehicle group.
Summary of the invention
For above-mentioned the technical problems existing in the prior art, the object of the present invention is to provide one kind towards mobile ad hoc network
Platooning's reliable information transfer method.
To achieve the purpose of the present invention, the present invention provides a kind of, and platooning's authentic communication towards mobile ad hoc network passes
Transmission method is communicated using following communication protocol between vehicle, and the communication protocol includes:
(1) agreement include information header and imformosome, information header contain the mark of data packet, sender device number and
The type of message of transmission, information encoding, at the time of send, the length information of cipher mode, imformosome, imformosome includes information
Target id, information source ID, routing label, forwarding device number and check bit；
(2) information header is without encryption, and imformosome can be encrypted according to preset cipher mode, cipher mode
It is specified in cipher mode data bit in information header；
(3) command type includes the types such as form a team, join the team and leave one's post, dismiss, forbidding joining the team, forbidding leaving one's post；
(4) information encoding corresponds to command type, additive increments；
(5) sending instant corresponds to the UTC time of message generation；
(6) Target id is the direction target of this information, and information source ID is the primary source of this message, and forwarding ID is directed toward
This bag data can be forwarded by the device number sent next time, forwarding device after receiving this bag data；
(7) check bit saves the result after imformosome data check.
Wherein, in platooning's operational process, each vehicle is all used as the node of a data transmission and reception, vehicle
Between data transmission follow following verification criterion: after confirm formation sequence, each Following Car all can be with previous vehicle composition one
A verification group, and so on, last Following Car and its front truck form verification group, in each verification group, front truck vehicle upon receipt
Check information after, the information encoding of feedback reception information completes verification.
Wherein, including being adapted to the above data transmit-receive process for verifying criterion: data receiver, parsing and transmission are in difference
Processing thread, data receiver thread is responsible for the reception, decryption and verification of data, will be arranged by the data storage of verification to receiving
Table；The data that data parsing thread extracts reception list are parsed, and the data of parsing is utilized to update other vehicle shapes in fleet
State, and refresh the feedback result that other vehicles send data to this vehicle；The comparison of data transmission line journey sends sequence and sends feedback,
Decide whether to repeat to send data packet, or extracts latest data packet from transmission list and send.
Wherein, the data transmit-receive process, further includes:
(1) data are sent, data receiver is connected with reception list as tie with data resolving using transmission list, into
The synchronization of row cross-thread；
(2) for DRP data reception process independently of data resolving, data receiver only carries out data check, and verification will after passing through
Data are placed in reception list, otherwise give up；
(3) data resolving extracts data from list is received, and parses the update of laggard driving team's state, while by other vehicles
Feedback check information sequence number give data transmission procedure；
(4) data transmission procedure generates data packet according to fixed time interval, and data packet is stored in transmission list,
Simultaneously according to data packet feedback, determine to send the data packet before new data packet still repeats to send, to guarantee data
Do not block, maximum repetition transmission times threshold value is set.
Wherein, the data transmission in fleet between the non-conterminous vehicle in position, it then follows following data feedback mechanism: data hair
Sending node is sender, and it is to send target that specified data, which receives target, and each checking procedure is known as behavior；When data are sent,
Behavior is established；When verifying completion, behavior is destroyed；The constituent element of behavior includes that data send target, data type, data volume
Number, sending time basic content.
Wherein, when carrying out data transmission between single-point and single-point, sender establishes a behavior, predetermined time behind
It is inquired in section, if the behavior always exists, i.e., is not destroyed because of feedback, then continue to describe to send according to the behavior to correspond to
Inquiry data, the termination when exceeding time requirement or receiving feedback.
Wherein, the data transmission of single point-to-multipoint is added to behavior list after single behavior foundation, feeds back when receiving
Or when time-out, the behavior is removed in lists；
The data that multiple spot is equal to single-point to single-point to the processing mode of single-point are transmitted, and establish behavior in each sender,
When condition meets, behavior is removed.
Compared with prior art, beneficial effects of the present invention are that this programme focuses on solving mobile ad hoc network data and is transmitted across
In journey the problem of loss of data, the inter-vehicle communication agreement for meeting fleet's traveling is devised, the number of workshop data reliable transmission is met
According to verification criterion and data transmit-receive process, and meet the data feedback mechanism of fleet management, bicycle one in fleet may be implemented
As data verification with feedback and fleet management's data reliable transmission.It through the invention can be in the base for not increasing communications cost
The high stability and reliability that fleet communications are realized on plinth, improve fleet operations' safety and efficiency.
Detailed description of the invention
Fig. 1 show the application verification group structural schematic diagram；
Fig. 2 show the schematic diagram of the application data transmit-receive process；
Fig. 3 show the schematic diagram that the application behavior is established with destroyed；
Fig. 4 show the schematic diagram of the data feedback mechanism of the application Behavior-based control.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that described herein
Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
It should be noted that " connection " described herein and the word for expressing " connection ", as " being connected ",
" connected " etc. had both included that a certain component is directly connected to another component, and had also included that a certain component passes through other component and another portion
Part is connected.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also be intended to include plural form, additionally, it should be understood that, when in the present specification using belong to "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, component or module, component and/or their combination.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units not
Those of be necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for these processes, side
The intrinsic other step or units of method, product or equipment.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a component shown in the figure or module or feature and other
The spatial relation of component or module or feature.It should be understood that spatially relative term be intended to comprising in addition to component or
Different direction in use or operation except orientation of person's module described in figure.For example, if component in attached drawing
Perhaps module is squeezed, be described as " above other component or module or construction " or " in other component or module or
On construction " component or module after will be positioned as " below other component or module or construction " or " at other
Under component or module or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The component or module can also be positioned with other different modes (to be rotated by 90 ° or in other
Orientation), and respective explanations are made to the opposite description in space used herein above.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.
It the characteristics of for platooning's operation, needs to construct mobile ad-hoc network between vehicle, realizes vehicle-state letter
Breath is shared.What fleet will realize vehicle simultaneously goes out team, fleet managements' behavior such as join the team, and form a team, dismiss, and needs reliable transmission
The management information of fleet.
To meet the above communicating requirement, design following communication protocol, include following key point: (1) agreement includes information header
And imformosome, information header contain the mark of data packet, the device number of sender, the type of message of transmission, information encoding, transmission
At the time of, cipher mode, imformosome the information such as length, imformosome includes target, the information source, routing label, forwarding of information
Device number and check bit.(2) information header is without encryption, and imformosome can be added according to preset cipher mode
Close, cipher mode is specified in cipher mode data bit in information header.(3) command type includes and forms a team, joins the team, leaving one's post, dismissing, prohibiting
It the types such as only joins the team, forbid leaving one's post.(4) information encoding corresponds to command type, additive increments.(5) sending instant corresponds to message
The UTC time of generation.(6) Target id is the direction target of this information, and information source ID is the primary source of this message, forwarding
ID is directed toward the device number sent next time, this bag data can be forwarded by forwarding device after receiving this bag data.(7) check bit
Result after saving imformosome data check.
1 inter-vehicle communication agreement of table
The demand that inter-vehicle communication data are sent, while realizing data encryption, meet the needs of data safety.Furthermore, it is possible to
The case where coping with communication equipment limited coverage area, realizes the forwarding of data.
In the process of running, each vehicle is all used as the node of a data transmission and reception for fleet, to realize data
Reliable transmission devises a set of verification criterion.After confirming formation sequence, each Following Car all can constitute one with previous vehicle
Verification group, and so on, last Following Car and its front truck form verification group.In each verification group, front truck vehicle upon receipt
After check information, the information encoding (being defined in data protocol information header) of feedback reception information completes verification.Verification group structure is such as
Shown in Fig. 1, number 0 indicates that guide car, 1-5 indicate Following Car.
In the case of car networking, online vehicles quantity is more, network load is big, is easy to produce data-bag lost or big delay etc.
Problem, the unstable factor for causing fleet to travel, therefore the processes such as data receiver, data parsing, data transmission are independent mutually,
Devise the data transmit-receive process for being adapted to the above verification scheme.As shown in Fig. 2, data receiver, parsing and transmission are in difference
Processing thread, data receiver thread is responsible for the reception, decryption and verification of data, will be arranged by the data storage of verification to receiving
Table；The data that data parsing thread extracts reception list are parsed, and the data of parsing is utilized to update other vehicle shapes in fleet
State, and refresh the feedback result that other vehicles send data to this vehicle.The comparison of data transmission line journey sends sequence and sends feedback,
Decide whether to repeat to send data packet, or extracts latest data packet from transmission list and send.
Key point has: (1) data transmission, data receiver and data resolving using transmission list and receive list as knob
Band connection carries out the synchronization of cross-thread.(2) DRP data reception process only carries out data independently of data resolving, data receiver
Verification verifies and data is placed in reception list after passing through, otherwise gives up.(3) data resolving extracts data from list is received,
It parses laggard driving team's state to update, while giving the check information sequence number of other vehicle feedbacks to data transmission procedure.(4)
Data transmission procedure generates data packet according to fixed time interval, and data packet is stored in transmission list.Simultaneously according to number
According to packet feedback, determine to send the data packet before new data packet still repeats to send, to guarantee that data are not blocked,
Setting is maximum to repeat transmission times threshold value.
For the needs of fleet management, there is only the transmission of point-to-point data between vehicle, and need single point-to-points
Point and multiple spot transmit the data of single-point, these data transfer rate amounts are small, but information keywords.Different from information as mentioned above
Verification is the interactive process between determining verification group, and many-one or the transmission of one-to-many data have uncertainty, in data knot
It can specify data transmission target in the imformosome of structure and devise a kind of data feedback machine of Behavior-based control for such situation
System.Data transmitting node is referred to as sender, and it is to send target that specified data, which receives target, and each checking procedure is known as behavior.
When data are sent, behavior is established；When verifying completion, behavior is destroyed, as Fig. 3 shows.The constituent element of behavior includes that data send mesh
The basic contents such as mark, data type, data number, sending time.
When carrying out data transmission between single-point and single-point, sender establishes a behavior, in a period of time behind into
Row inquiry, if the behavior always exists, i.e., is not destroyed because of feedback, then continues to describe to send corresponding inquiry number according to the behavior
According to the termination when exceeding time requirement or receiving feedback.
The data of single point-to-multipoint are transmitted, and after single behavior foundation, are added to behavior list, when receiving feedback or time-out
When, the behavior is removed in lists.
The data that multiple spot is equal to single-point to single-point to the processing mode of single-point are transmitted, and establish behavior in each sender,
When condition meets, behavior is removed.
Data feedback mechanism flow chart such as Fig. 4 of Behavior-based control shows.
The above is only a preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of platooning's reliable information transfer method towards mobile ad hoc network, which is characterized in that using such as between vehicle
Lower communication protocol is communicated, and the communication protocol includes:
(1) agreement includes information header and imformosome, and information header contains the mark of data packet, the device number of sender and transmission
Type of message, information encoding, send at the time of, cipher mode, imformosome length information, imformosome include information target
ID, information source ID, routing label, forwarding device number and check bit；
(2) information header is without encryption, and imformosome can be encrypted according to preset cipher mode, cipher mode regulation
The cipher mode data bit in information header；
(3) command type includes and forms a team, joins the team and leave one's post, dismisses, forbid joining the team, forbid type of leaving one's post；
(4) information encoding corresponds to command type, additive increments；
(5) sending instant corresponds to the UTC time of message generation；
(6) Target id is the direction target of this information, and information source ID is the primary source of this message, and forwarding ID is directed toward next
This bag data can be forwarded by the device number of secondary transmission, forwarding device after receiving this bag data；
(7) check bit saves the result after imformosome data check.
2. platooning's reliable information transfer method according to claim 1 towards mobile ad hoc network, which is characterized in that
In platooning's operational process, each vehicle is all used as the node of a data transmission and reception, and data are transmitted between vehicle
Follow following verification criterion: after confirming formation sequence, each Following Car all can constitute a verification group with previous vehicle, with this
To analogize, last Following Car and its front truck form verification group, and in each verification group, front truck is upon receipt after the check information of vehicle,
The information encoding of feedback reception information completes verification.
3. platooning's reliable information transfer method according to claim 1 towards mobile ad hoc network, which is characterized in that
Data transmit-receive process including being adapted to the above verification criterion: data receiver, parsing and transmission are in different processing threads, number
It is responsible for the reception, decryption and verification of data according to receiving thread, by the data storage by verification to reception list；Data parse line
The data that journey extracts reception list are parsed, and update other vehicle-states in fleet using the data of parsing, and refresh other
Vehicle sends the feedback result of data to this vehicle；The comparison of data transmission line journey sends sequence and sends feedback, decides whether to repeat
Data packet is sent, or extracts latest data packet from transmission list and sends.
4. platooning's reliable information transfer method according to claim 3 towards mobile ad hoc network, which is characterized in that
The data transmit-receive process, further includes:
(1) data are sent, data receiver is connected with reception list as tie with data resolving using transmission list, carry out line
Synchronization between journey；
(2) for DRP data reception process independently of data resolving, data receiver only carries out data check, verifies data after passing through
It is placed in reception list, is otherwise given up；
(3) data resolving extracts data from list is received, and parses laggard driving team's state and updates, while other vehicles are anti-
The check information sequence number of feedback gives data transmission procedure；
(4) data transmission procedure generates data packet according to fixed time interval, data packet is stored in transmission list, simultaneously
According to data packet feedback, determine to send the data packet before new data packet still repeats to send, to guarantee that data are not sent out
Maximum repetition transmission times threshold value is arranged in raw obstruction.
5. platooning's reliable information transfer method according to claim 1 towards mobile ad hoc network, which is characterized in that
Data transmission in fleet between the non-conterminous vehicle in position, it then follows following data feedback mechanism: data transmitting node is to send
Side, it is to send target that specified data, which receives target, and each checking procedure is known as behavior；When data are sent, behavior is established；Work as school
Behavior is destroyed when testing completion；The constituent element of behavior includes that data send target, data type, data number, sending time base
This content.
6. platooning's reliable information transfer method according to claim 5 towards mobile ad hoc network, which is characterized in that
When carrying out data transmission between single-point and single-point, sender establishes a behavior, is inquired in predetermined amount of time behind,
If the behavior always exists, i.e., do not destroyed because of feedback, then continues to describe to send corresponding inquiry data according to the behavior, when super
Time requirement or termination when receiving feedback out.
7. platooning's reliable information transfer method according to claim 5 towards mobile ad hoc network, which is characterized in that
The data of single point-to-multipoint are transmitted, and after single behavior foundation, are added to behavior list, when receiving feedback or time-out, are being arranged
The behavior is removed in table；
The data that multiple spot is equal to single-point to single-point to the processing mode of single-point are transmitted, and behavior are established in each sender, in item
When part meets, behavior is removed.
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Cited By (1)
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