CN109862537A - Access method in car networking community - Google Patents
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Abstract
Since vehicle node fast moves and changes with car networking network topology high dynamic in car networking, phenomena such as data aggregation is with delay easily occurs for car networking, thus largely to car networking network-in-dialing and the next huge challenge in stabilized zone.However, a good car networking routing policy not only needs to keep the high-speed communication of network, but also needs to keep network stabilization, i.e., guarantee network is access.Therefore it analyzes and understands that sensible inside car networking community is a urgent problem.The present invention is in view of the above problems, in order to be connected to inside probe vehicles connected community and keep stable, provide access method in car networking community, this method is theoretical using learning automaton, and by the information exchange and competition being deployed between community's node, corresponding excitation function and penalty is arranged, adaptively adjust the forwarding probability of different routings, reach Nash Equilibrium state, to realize the data transmission optimized in network on the whole, promotes the access purpose of car networking network.
Description
The present invention is in " car networking community dynamic evolution method " filed in the inventors such as Cheng Jiujun on March 1st, 2019 (application
People: Tongji University, number of patent application 201910155584 is 2)) the further research and development of earlier application patent document, it should be
First patent document can be considered as a part of description of the invention.
Technical field
The present invention relates to car networking fields, and in particular to access method in car networking community.
Background technique
Access is that network implementations interconnects one of most important characteristic, main connectivity and stabilization including in network
Property.Whether connectivity mainly solves point-to-point routing in network reachable；The emphasis of stability be then optimize network structure and
Routing policy is avoided because of the brings network efficiency problem such as congestion information and transmission delay.Below from the access side of car networking
Two emphasis of connectivity and stability are illustrated respectively in method.
(1) connectivity
The connection Journal of Sex Research of car networking is divided into qualitative analysis and quantisation metric analysis.Qualitative analysis is often referred to vehicle on road
The influence of distribution situation or car networking inherent characteristic to connectivity, and quantisation metric is then by comparing average data delay or to lose
The specific superiority and inferiority of the index studies difference such as packet rate connection strategy.Distribution of the vehicle on road is considered as Poisson distribution by Jin et al.,
The influence of traffic density and communication range to connectivity is studied in conjunction with the characteristic of road vehicle constraint.Further in vehicle in document
On the basis of node meets Poisson distribution, modeled using two-dimensional random graph model, qualitative and quantitative analysis traffic density
With the correlation degree of minimum wireless transmission distance, and accordingly in car networking key node position deployment guidance is provided.In addition,
The MCEGR method mentioned in chapter 1 be between in car networking community community connectivity compromise, but the problem is that
MCEGR is a double bounce method for routing, and community's scale is not very big, restricted application.
(2) stability
Stability is one of the key index for guaranteeing the fast-changing self-organizing network continual communication of this topological structure of car networking,
It is the access important component of car networking.In relation to the access scheme to be developed based on community, the stability of community is concern
Emphasis.Morales et al. proposes a kind of adaptive Community Clustering algorithm of In-vehicle networking, which moves according to vehicle node
The position of subsequent time vehicle node is predicted in track, present speed and position, road conditions etc., and combines current network topology
Carry out community's division with the network topology after prediction, it is contemplated that the trend of network change in future, improve community it is lasting when
Between and stability.
In conclusion these methods in terms of connectivity and stability the problem is that, when network size is larger and topological knot
When structure high dynamic changes, due to lacking adaptive routing, probably due to part connection is lost and cannot quickly be restored, lead to net
Network connectivity is insufficient, it is also possible to because data aggregation leads to network congestion, part of nodes be caused to be more than the traffic load upper limit and nothing
Method works normally, and causes network stabilization bad.In view of the above problems, the present invention is (inventors such as Cheng Jiujun are in March, 2019
" car networking community dynamic evolution method " (applicant: Tongji University, number of patent application 2019101555842) grinds filed in 1 day
On the basis of studying carefully car networking dynamics community mechanism of Evolution and can obtaining in real time car networking community structure, propose a kind of automatic based on study
Access method (Community Accessibility Scheme for Vehicle in the car networking community of machine
Networking based on Learning Automata,CAVN-LA).Learning automaton theory is applied to by CAVN-LA
In car networking community, information exchange and competition between the learning automaton by being deployed in community's node, adaptive adjustment are not gone the same way
By forwarding probability, thus achieve the purpose that on the whole optimize network communication, promoted car networking network it is access.
Summary of the invention
Goal of the invention:
Research method of the present invention is to fast move to change with car networking network topology high dynamic for vehicle node in car networking, with
And data aggregation and bring access problem phenomena such as delay easily occur for car networking, using learning automaton theory, pass through portion
The information exchange and competition between community's node are affixed one's name to, corresponding excitation function and penalty are set, adaptive adjustment is not gone the same way
By forwarding probability, reach Nash Equilibrium state, thus realize on the whole optimize network in data transmission, promoted car networking
The access purpose of network.
It is existing in terms of car networking community connectivity and stability the problem is that, when network size is larger and topological structure
When high dynamic changes, due to lacking adaptive routing, probably due to part connection is lost and cannot quickly be restored, lead to network
Connectivity is insufficient, it is also possible to because data aggregation leads to network congestion, cause part of nodes can not more than the traffic load upper limit
It works normally, causes network stabilization bad.Last conclusion is then: car networking only makes as a kind of dynamic self-organization network
It is difficult to its community structure of real-time detection with static community discovery method, needs to establish the different routing forwarding probability adaptively adjusted
And reach Nash Equilibrium state, purpose access inside car networking community could be promoted.
For this purpose, the present invention specifically gives following technical scheme realization: access method in car networking community specifically includes following step
It is rapid:
The definition of step 1. relevant nature
Access method in step 2. car networking community
The initialization of step 2.1 informational table of nodes and update
The screening of step 2.2 community head node
The message of step 2.3 ordinary node to head node forwards
The message of step 2.4 head node to ordinary node forwards
Access routing algorithm in step 2.5 community
Beneficial effect
Present invention aims at disclosing under a kind of consideration car networking high dynamic complex situations, one kind is provided and is able to ascend car networking society
Area's connection and stable access method.
On the basis of car networking community dynamic evolution method, (this part invention is see (inventors such as Cheng Jiujun were in 2019
" car networking community dynamic evolution method " (applicant: Tongji University, number of patent application filed in March 1
2019101555842) a kind of access method in car networking community), is given.Learning automaton theory is applied to by this method
Car networking community, information exchange and competition, adaptively adjust different routings between the learning automaton by being deployed in community's node
Forwarding probability, thus achieve the purpose that on the whole optimize network communication, promoted car networking network it is access.
Subordinate list explanation
1 nodal information literary name section of table
2 node v of tableiForwarding behavior probability vector table
3 head node v of tablechrCommunity in forward behavior probability vector table
Detailed description of the invention
The community Fig. 1 head node and gateway node screening process figure (1 flow chart of algorithm)
The community Fig. 2 interior nodes LA forwards behavior probability adjustment flow chart (2 flow chart of algorithm)
Access method for routing flow chart (3 flow chart of algorithm) in the community Fig. 3
Fig. 4 LA runs figure in community on each node
Fig. 5 is the method for the present invention flow chart
Specific embodiment
Specific implementation process of the invention is as shown in figure 5, include following 6 aspects:
1. relevant nature defines
2. informational table of nodes initialization and update
3. community's head node screens
4. the message of ordinary node to head node forwards
5. the message of head node to ordinary node forwards
6. access routing algorithm in community
①
Relevant nature definition
For the node in car networking community, the access scheme that the present invention uses will assign different roles for it, be respectively
Community's head node, community's gateway node and community's ordinary node, are defined as follows:
Define 1 community's cephalomere point set (CHSet): community CiHead node (CH) be the community in the biggish node of community's centripetal force
Set, if in community CiMeeting mathematic(al) representation there are node u is (1):
Wherein, η be head node selective factor B, general η take (0.75,1] in one value, community CiIn meet the section of above-mentioned condition
Point u is added into CiCHSet in.Node in CHSet is existing community CiThe interior preferable node of communication quality, in community
The node of CHSet is generally selected as relay node.
It defines 2 community's ordinary nodes (CM): all can be described as community's ordinary node in addition to head node in a community.
Generally, due to car networking is the network of high dynamic variation, the role of each node can with itself movement with
Topology and signal intelligence variation and change, ordinary node, head node role may according to the demand of network-in-dialing and
It exchanges.
It defines 3 node connected probabilities (Node Connectivity Probability, NCP) and refers to that car networking interior joint is connected to
Credibility.
If node u is adjacent with node v and in respective range for wireless communication, their direct connected probability (Direct Node
Connectivity Probability, DNCP) be mathematic(al) representation (2):
Wherein, dist (u, v) indicates that the distance between node u and v, TR indicate the maximum communication radius of node.When between node
Distance when being greater than node maximum communication radius, the connected probability between node is 0；Otherwise, the connected probability meeting between node
Increase with the reduction of distance between node.
It, i.e., can be by other node configuration node communication paths, if this path between node u and v if two node indirect communications
It is expressed as NodePathi={ e1,e2,…,en, wherein e1=u, en=v, n > 2, n indicate the quantity of node on the access, then
Node u and v are in NodePathiOn node connected probability (Path Node Connectivity Probability, PNCP)
It is:
That is direct the tired of node connected probability of u and v communication path multiplies.Since there may be a plurality of node access between u and v
Diameter, between definition node u and v indirect inode connected probability (Indirect Node Connectivity Probability,
INCP) be connected probability on all node communication paths maximum value:
INCP (u, v)=max (PNCP (NodePathi)) (4)
To sum up, the node connected probability between definition node of the present invention is the maximum value in DNCP and INCP:
NCP (u, v)=max (DNCP (u, v), INCP (u, v)) (5)
②
Informational table of nodes initialization and update
In the Web communication layer of car networking, there is an informational table of nodes on each node, the field which includes includes section
Point self ID, current time, speed, acceleration, position longitude and latitude, community's ownership, node role, affiliated community's head node ID
And ID of gateway node etc..It is specific as shown in table 1.
In table 1, node ID is the unique identification of the node in car networking, if for RSU be to be determined by the type of node itself,
Timestamp represents current time, and the nodes such as speed, acceleration and longitude and latitude essential information can be obtained by sensor.For section
Point community ownership, calculating process are as follows: initial time, each node need the node broadcasts into its radio signal propagation
Neighbor node probe messages (Neighbor node detection message, NNDM), the node for receiving NNDM needs to reply
Confirmation message may determine that node and neighbor node with the presence or absence of side, thus come apparent neighbor information and net by this process
Network topological structure.Hereafter, using car networking community dynamic evolution method, (this part invention see (inventors such as Cheng Jiujun in
" car networking community dynamic evolution method " (applicant: Tongji University, number of patent application filed on March 1st, 2019
2019101555842)), come determine node community belong to.It not only include the essential information of node itself, also in NNDM message
Node adjacency table (Node Adjacency List, NAL) including community where the node, NAL is a two-dimensional array.If
Community CiNode number is m, its NAL are as follows:
Wherein, neip,qCommunity C is indicated when=0iIn node vpWith vqBetween side is not present, it is on the contrary then indicate vpWith vqIt is direct
Connected probability.In community's merger process based on node similarity and the evolutionary process based on increment, exchanged between node
NAL, so that each node both knows about the node adjacency information of itself affiliated community.
After the community structure at current time determines, community's adjacency list of each community (Community Adjacency List,
CAL), i.e. the adjoining community information of community can be obtained the broadcast mode of node adjacency table and obtained by similar.
③
The screening of community's head node
After the community structure at current time determines, community's adjacency list of each community (Community Adjacency List,
CAL), i.e. the adjoining community information of community can be obtained the broadcast mode of node adjacency table and obtained by similar.Community's head node
Screening can refer to and define 1 content and realize that for specific steps as shown in algorithm 1, specific flow chart is as shown in Figure 1.
By the step in algorithm 1, the head node of community will be screened out, and the content of CHSet is stored in each
In the informational table of nodes of node, the foundation for subsequent access routing provides information support.
④
The message of ordinary node to head node forwards
Communicated between community's interior nodes biggish for car networking, if destination node in the direct communications range of source node, root
Communication is directly established according to the information in adjacency list.If destination node is not in the direct communications range of source node, in order to realize society
The overall order of intra-area communication is with access, it is specified that ordinary node must first select the forwarding of a certain head node into CHSet to disappear
Breath.In above-mentioned selection course, each ordinary node in community has one group of forwarding behavior probability vector table.Such as node vi
Forwarding behavior probability vector table it is as shown in table 2:
In table 2, every a line indicates ordinary node viForwarding behavior probability vector.Forward probability P FrIt is meant that for one
A forwarding event, i.e. viNeed the v to same communitypWhen sending information, select head node for vchsAnd next-hop node is vnextq's
Probability.
⑤
The message of head node to ordinary node forwards
After ordinary node forwards the message on head node, head node needs a plurality of routing to ordinary node safeguarded from it
It is middle to select optimal one.It is similar with the selection course in " message of ordinary node to head node forwards ", on community's head node
Also there is one group of forwarding behavior vector table.Such as head node vchrCommunity in forwarding behavior probability vector table it is as shown in table 3.
Similarly, in table 3, every a line indicates head node vchsForwarding behavior probability vector.PFrIndicate vchsTo same community
Node vpWhen sending information, next-hop node vnextqProbability.
The network under high dynamic change condition in order to guarantee car networking network topology is access, and forwarding behavior above-mentioned is general
Forwarding probability P F in rate vector can be with the progress of communication and dynamic changes, and the process of change will commonly be tied by being deployed in community
The feedback mechanism of learning automaton (LA) determines on point or community's head node.
⑥
Access routing algorithm in community
In order to quantify environment to the feedback of LA, the present invention is by NCP, residue energy of node ratio (Rest Energy Rate, RER)
And the main indicator that data delay (Delay) is inputted as LA.Here, the definition of RER and Delay such as formula (7) and (8) institute
Show.
Node R ER indicates that node can continue the traffic load of carrying and the ratio of maximum communication load:
Wherein, EA indicates the load of node maximum communication, and EU indicates the traffic load that node has occupied.
Time delay on this node caused by Delay on node is indicated because of data processing:
Wherein, TreceiveIndicate node viReceive timestamp when data packet, TACKIndicate node viForward data packet when
Between stab.
Relative distance of the NCP mainly between node is related, and RER is that node can continue to forward the guarantee of data, and Delay is then node
Between communication delay historical information description.In summary three aspect factor defines a new scale chance and forwards evaluation factors
(Opportunity to Forward Evaluation,OFE)
OFE=f (NCP, RER, Delay) (9)
That is OFE is the function of NCP, RER and Delay.
For ordinary node viTo community head node vchrAnd next-hop is vnextqForwarding behavior, have:
η、It is the adjustment factor of NCP, RER and Delay respectively with ψ.
For community head node vchsTo destination node vpAnd next-hop node is vnextqForwarding behavior, have:
Similarly, η ',It is also the adjustment factor of NCP, RER and Delay respectively with ψ '.
It is deployed in the forwarding behavior vector that LA is forwarded in the community on car networking community node u (ordinary node or community's head node)
Number is set as r, and LA forwarding probability is initialized as:
That is each forwarding behavior probability on t=0 moment LA is identical.In following instant, LA cannot be immediately obtained current time
NCP, RER and Delay value, and these data of previous moment are obtainable.Therefore, i-th of forwarding row is selected in t moment
For OFEiEvaluation factors OFE is forwarded with the mean chance on the LAavgCompare, if OFEi≥OFEavg, then LA makes this behavior
Excitation movement:
If OFEi≤OFEavg, then LA makes punishment movement to this behavior:
Wherein, λ is excitation parameters, and λ ' is punishment parameter.
In conclusion interior nodes LA forwarding behavior probability in community adjusts specific steps as shown in algorithm 2, specific flow chart such as Fig. 2
It is shown.
On the basis of interior nodes LA forwards behavior probability adjustment algorithm 2 in community, access method for routing in community will be obtained, in detail
For thin step as shown in algorithm 3, specific flow chart is as shown in Figure 3.It is directly logical if destination node is in the communication range of source node
Letter, otherwise, message transmission will be undergone from source node to community's head node again to two stages of destination node.In addition, in order to anti-
The case where endless loop or information drop-out are only fallen into message transmission is, it is specified that the maximum hop count value of forwarding of above-mentioned two stage is
HOPmaxIf jumping figure value K is more than HOPmax, source node or head node will forward again.
For car networking community, the LA disposed on ordinary node be by adjusting forwarding behavior probability vector in forwarding probability,
To find that connected probability is larger, remaining load is more and the lesser head node of delay and towards under the path of the head node one
It jumps；The LA disposed on head node is to lead to target section by adjusting the forwarding probability in forwarding behavior probability vector to find
The suitable path of point.These LA can be exchanged with each other data and competition in a network.Shown in specific such as Fig. 4 (a) and (b).
In Fig. 4, (a) indicates what the CHSet of car networking community was made of vehicle node, and (b) indicates car networking community
CHSet not only has vehicle node, and there are also RSU to serve as head node.Due to the communication capacity of the more general vehicular communication equipment of RSU node
It is much bigger, it is screened through head node in algorithm 1, if containing RSU node in car networking community, RSU node serves as community's cephalomere
The probability of point or gateway node is very big, and experimentation through the invention demonstrates above content.
Innovative point
Innovative point: being based on car networking community dynamic evolution method, (" vehicle filed in the inventors such as Cheng Jiujun on March 1st, 2019
Connected community's dynamic evolution method " (applicant: Tongji University, number of patent application 2019101555842)), it is automatic using study
Corresponding excitation function and penalty is arranged by the information exchange and competition being deployed between community's node in machine technology, adaptive
The forwarding probability that different routings should be adjusted reaches Nash Equilibrium state, realizes that car networking community is connected to and stablizes.
In car networking vehicle node fast move with car networking network topology high dynamic change, car networking easily occurs data aggregation and
Phenomena such as delay, to largely give car networking network-in-dialing and stabilized zone next huge challenge.Therefore, it analyzes and understands
It is a urgent problem in the current sensible Journal of Sex Research of car networking network that car networking community, which is connected to and stablizes,.The present invention will learn
It practises automaton theory and is applied to car networking community, information exchange and competition between the learning automaton by being deployed in community's node,
The forwarding probability of different routings is adaptively adjusted, to achieve the purpose that optimize network communication on the whole, promotes car networking net
Network is access.
Specification subordinate list
Table 1
Table 2
Table 3
Claims (3)
1. access method, specifically comprises the following steps: in car networking community
The definition of step 1. relevant nature
Access method in step 2. car networking community
The initialization of step 2.1 informational table of nodes and update
The screening of step 2.2 community head node
The message of step 2.3 ordinary node to head node forwards
The message of step 2.4 head node to ordinary node forwards
Access routing algorithm in step 2.5 community.
2. access method in car networking community as described in claim 1, which is characterized in thatThe relevant nature definition, packet Include step:
Define 1 community's cephalomere point set (CHSet): community CiHead node (CH) be the community in the biggish node of community's centripetal force
Set, if in community CiMeeting mathematic(al) representation there are node u is (1):
Wherein, η be head node selective factor B, general η take (0.75,1] in one value, community CiIn meet the section of above-mentioned condition
Point u is added into CiCHSet in.Node in CHSet is existing community CiThe interior preferable node of communication quality, in community
The node of CHSet is generally selected as relay node.
It defines 2 community's ordinary nodes (CM): all can be described as community's ordinary node in addition to head node in a community.
Generally, due to car networking is the network of high dynamic variation, the role of each node can with itself movement with
Topology and signal intelligence variation and change, ordinary node, head node role may according to the demand of network-in-dialing and
It exchanges.
It defines 3 node connected probabilities (Node Connectivity Probability, NCP) and refers to that car networking interior joint is connected to
Credibility.
If node u is adjacent with node v and in respective range for wireless communication, their direct connected probability (Direct Node
Connectivity Probability, DNCP) be mathematic(al) representation (2):
Wherein, dist (u, v) indicates that the distance between node u and v, TR indicate the maximum communication radius of node.When between node
Distance when being greater than node maximum communication radius, the connected probability between node is 0；Otherwise, the connected probability meeting between node
Increase with the reduction of distance between node.
3. access method in car networking community as described in claim 1, which is characterized in that access in step 2.5 community
Routing algorithm:
Community interior nodes LA forwards behavior probability to adjust specific steps such as algorithm 2:
On the basis of interior nodes LA forwards behavior probability adjustment algorithm 2 in community, access method for routing in community will be obtained:
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