CN110177342B - Internet of vehicles adjacent node discovery method based on channel perception and mobile self-adaption - Google Patents

Internet of vehicles adjacent node discovery method based on channel perception and mobile self-adaption Download PDF

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CN110177342B
CN110177342B CN201910439821.8A CN201910439821A CN110177342B CN 110177342 B CN110177342 B CN 110177342B CN 201910439821 A CN201910439821 A CN 201910439821A CN 110177342 B CN110177342 B CN 110177342B
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朱丽娜
付晓
王云鹏
衣建甲
李长乐
陈睿
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Xidian 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
    • H04W4/06—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
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/026—Route selection considering the moving speed of individual devices
    • 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
    • H04W40/12—Communication route or path selection, e.g. power-based or shortest path routing based on transmission quality or channel quality
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/20—Communication route or path selection, e.g. power-based or shortest path routing based on geographic position or location
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
    • H04W40/246—Connectivity information discovery

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Abstract

The invention provides a method for discovering adjacent nodes of an internet of vehicles based on channel perception and mobile self-adaptation, which is used for solving the technical problems of low accuracy and high system overhead of high adjacent node discovery when a channel is busy in the prior art and comprises the following steps: broadcasting messages: 1) initializing the Internet of vehicles; 2) the node sends self state information including time, ID, position and speed to the surrounding nodes, and calculates the time interval tau of sending packets; 3) the node senses the channel and the state information of surrounding nodes in the tau; 4) the node updates the tau according to the information sensed in the tau; 5) execution 2) until the node leaves the network; receiving a message: the node senses the state information of the channel and the surrounding nodes in the tau, and if the state information is sensed, the state information is stored, and the surrounding nodes are the neighboring nodes of the node; and (4) terminating: when the node leaves the network, broadcasting and receiving messages stops. The invention considers the mobility of the nodes in the Internet of vehicles and the randomness of the channels, and the discovery precision of the adjacent nodes is high and the system overhead is small.

Description

Internet of vehicles adjacent node discovery method based on channel perception and mobile self-adaption
Technical Field
The invention belongs to the technical field of mobile wireless communication, relates to a method for discovering adjacent nodes of a vehicle networking, in particular to a method for discovering adjacent nodes of the vehicle networking based on channel perception and mobile self-adaption, and can be used for efficiently transmitting data between the adjacent nodes in the vehicle networking.
Background
The internet of vehicles (IOV) is a vast interactive network composed of information such as intelligent vehicle location, speed, and route. The system can realize information sharing through interconnection and intercommunication of vehicles, vehicles and people and vehicles and roads, collect vehicle and road environment information, process, calculate, share and safely release the information acquired by multiple sources on an information network platform, effectively guide and supervise the vehicles according to different functional requirements, and provide multimedia and mobile internet application services.
The discovery of the adjacent nodes is one of key steps for realizing message transmission in the Internet of vehicles, the discovery of the adjacent nodes refers to a process of discovering all the adjacent nodes in a communication range of equipment, the discovery information is broadcast to provide the information of the adjacent nodes, and finally, each node obtains a discovery result of the node. In the internet of vehicles, a neighbor node discovery method is adopted, and an intelligent vehicle broadcasts a message at intervals, wherein the message contains useful information of the vehicle, such as position, speed, time and the like. By receiving the adjacent node information, the intelligent vehicle can learn the adjacent node information and realize the perception of the surrounding driving environment in a mutual cooperation manner. The method for discovering the neighbor nodes comprises the steps of generally evaluating the advantages and disadvantages of a neighbor node discovery method by using neighbor node discovery precision and system overhead, setting broadcast grouping time intervals are key factors influencing the performance of the neighbor node discovery method, the time intervals are unreasonable in setting, discovery messages are not sent timely or are sent too frequently, the precision of the neighbor node discovery method is low, and excessive system overhead is generated.
The conventional neighbor node discovery method sets the broadcast packet time interval to be constant, that is, sends the state information of the node to the surrounding nodes at regular time intervals. The method is simple and easy to implement, but has the defects that the speed and the relative position of the vehicle in the Internet of vehicles are continuously changed, and the fixed broadcast packet time interval cannot adapt to the characteristic of high mobility of the vehicle in the Internet of vehicles. Meanwhile, the setting of the broadcast packet time interval is also very difficult, and the broadcast packet time interval is too short, namely the discovery message is sent more frequently, so that the system overhead is greatly increased; however, the broadcast packet time interval is too long, which may occur in the case that the neighboring node passes through but is not found in the time interval, and the accuracy of the discovery of the neighboring node is greatly reduced.
In view of The above-mentioned drawbacks, b.karp and h.t.kung proposed a method of randomizing The broadcast packet time interval in "Mobile com00: The 6th Annual Conference on Mobile Computing and Networking" paper "GPSR: Greedy Perimeter Stateless Routing for Wireless Networks" published in 2000, i.e. The time at which each node broadcasts a packet is not certain, but is a randomly selected time within an interval. The method has the advantages that the collision probability of the broadcast packet of each node is effectively reduced, the problem that the size of the broadcast packet time interval is difficult to set is solved, the mobility of each node is not considered, and the broadcast packet time interval cannot be adjusted according to the mobility.
In consideration of high-speed mobility of nodes in the internet of vehicles, relevant scholars do a lot of valuable work on a neighbor node discovery method in sequence, and each node in the internet of vehicles can adaptively adjust broadcast packet time intervals according to changes of speeds of the node and surrounding nodes. For example, chinese patent entitled "method for improving accuracy of Ad Hoc network neighboring node list" with an authorization publication number of CN 102065513B discloses a method for discovering neighboring nodes of nodes in an Ad Hoc network. The method comprises the following concrete implementation steps: initializing all nodes, recording a current neighbor node list, and then sending HELLO information for the first time; before the nth transmission, each node records and compares the adjacent node lists, calculates the ratio of the number of new and old adjacent nodes, adjusts the HELLO message transmission interval, and transmits the HELLO message according to the adjusted interval; each node receiving the HELLO message updates an adjacent node list according to the source of the HELLO message, and sets timeout time and a countdown timer; if a node still does not receive the HELLO message of a neighbor node in the neighbor node list when the time reaches 0, deleting the neighbor node information. In the method, each node obtains the discovery result of the adjacent node according to the content of the adjacent node list, and the broadcast packet time interval is adjusted according to the ratio of the number of the new adjacent node to the number of the old adjacent node, namely, the mobility of the surrounding nodes is considered when the time interval is calculated, so that the accuracy of the discovery of the adjacent node is improved to a certain extent compared with the traditional method, but the method has the defects that: the method only considers the mobility of the nodes in the Internet of vehicles, but does not consider the randomness of the channels in the Internet of vehicles environment, so that the broadcasting packet time interval cannot adapt to the current channel state in the discovery process of the adjacent nodes, and if the channels are busy, the conditions of channel overload, packet loss and the like can occur, so that the nodes cannot discover the adjacent nodes in time, the discovery precision of the adjacent nodes is reduced, and the system overhead is increased.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a method for discovering adjacent nodes of the Internet of vehicles based on channel perception and mobile self-adaptation, and is used for solving the technical problems of low accuracy and high system overhead of discovering adjacent nodes when channels are busy in the prior art.
In order to achieve the above object, the technical solution adopted by the present invention includes each node broadcasting message step, receiving message step and terminating step:
(1) broadcasting the message by each node:
(1a) initializing the Internet of vehicles:
constructing a vehicle networking which takes n vehicles as nodes and carries out communication among the nodes through wireless channels, n>1, n nodes are represented as A1,A2,…,Ai,…,An，AiRepresents the ith node and sets the initial time as TiniEach node AiID of (1) is NiInitial position is Pi 0Initial moving speed is Vi 0Initial broadcast message radius of Ri 0Each node AiThe initial channel state information is sensed through the wireless transceiver, and the adjacent lane speed limit V at the initial moment is sensed through the preset maplim 0；
(1b) Initial time TiniEach node AiTo surrounding nodesBroadcasting the current time TiniNode IDNiInitial position Pi 0And an initial moving speed Vi 0；
(1c) Let each node AiThe jth broadcast packet time interval of
Figure GDA0002984387430000031
Set at an initial time TiniJ is 0, and calculates the initial time TiniEach node AiSelf jth broadcast packet time interval τi 0：
Figure GDA0002984387430000032
Wherein, is Δ Vi 0For each node AiInitial moving speed Vi 0Speed limit V of lane adjacent to initial timelim 0Relative moving speed therebetween, Δ Vi 0＝|Vlim 0-Vi 0|，E[X]Indicating the expectation of X;
(1d) each node AiAt taui jSensing the channel state information and the time, ID, position and moving speed information broadcast by the surrounding nodes in the time interval, and then in taui jEnd time T ofi jBroadcasting to surrounding nodes including time Ti jNode IDNiPosition Pi jAnd a moving speed Vi jIs determined at tau at the same timei jWhether the state information broadcasted by the surrounding nodes is received in the time interval, if so, calculating the relative moving speed
Figure GDA0002984387430000033
Otherwise, the relative movement speed Δ V is calculatedi j＝|Vlim j-Vi jL wherein
Figure GDA0002984387430000034
Is at τi jIn time interval AiAverage value, V, of the acquired peripheral node velocitieslim jIs Ti jLimiting the speed of the adjacent lanes at any moment;
(1e) each node AiAt Ti jTime of day calculation adapts to its next broadcast packet time interval of channel state and relative movement speed at that time
Figure GDA0002984387430000035
Each node AiAt Ti jObtaining broadcast message radius R at a time that varies with its perceived channel statei j+1Then through Δ Vi j、Ri jAnd Ri j+1Computing adaptation to Ti jTime of day channel state and relative moving speed of its own j +1 th broadcast packet time interval taui j+1：
Figure GDA0002984387430000041
(1f) Each node AiLet j equal j +1 and execute step (1d) until aiOwn broadcast and message receiving device is turned off, i.e. AiUntil leaving the network, obtain AiOwn j +2 broadcast packet time intervals
Figure GDA0002984387430000042
(2) The step of receiving the message by each node:
(2a) each node AiAt taui 0The method comprises the steps of internally sensing channel state information and time, ID, position and moving speed information broadcasted by surrounding nodes, continuously judging whether the information is sensed, and if so, the surrounding nodes are AiAnd stores the channel state information, and the time, ID, position, moving speed information of the surrounding nodes broadcast, whether or notThen, node AiNo neighbor node is found;
(2b) each node AiAt Ti 0Broadcasting self-state information at a moment, simultaneously setting j to be 1, and calculating taui j；
(2c) Each node AiAt taui jThe inner sensing channel state information, and the time, ID, position and moving speed information broadcasted by the surrounding nodes, and is set at taui jContinuously judging whether the information is sensed, if so, the surrounding nodes are AiAnd storing the channel state information, and the time, ID, position and moving speed information broadcast by the surrounding nodes, otherwise, the node AiNo neighbor node is found;
(2d) each node AiAt Ti jBroadcasting self-state information at a moment, simultaneously enabling j to be j +1, and calculating taui jAnd performing step (2c) until AiUntil leaving the network, obtain AiOwn j +1 broadcast packet time interval
Figure GDA0002984387430000043
The results of the findings in (A) and (B)
Figure GDA0002984387430000044
The findings in the time interval together constitute j +2 time intervals
Figure GDA0002984387430000045
The results of the findings in (1);
(3) each node AiThe terminating step of (2):
node AiOwn broadcast and message receiving device is turned off, i.e. node AiLeave the network, node AiBroadcast and receive messages are stopped.
Compared with the prior art, the invention has the following advantages:
according to the method, the broadcast message time interval of each node needs to be recalculated by using the sensed channel state and the speed information of surrounding nodes before broadcasting, namely, the broadcast packet time interval which is suitable for the change of the channel state and the node speed is calculated, the randomness of the channel in the Internet of vehicles and the mobility characteristics of vehicles are comprehensively considered, the phenomenon that when the channel is busy, the packet is lost due to untimely information receiving or channel overload caused by unreasonable time interval setting is effectively avoided, the accuracy of finding the adjacent nodes is improved, meanwhile, invalid information sending is avoided, and the system overhead is effectively reduced.
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FIG. 1 is a flow chart of an implementation of the present invention;
FIG. 2 is a schematic diagram of a vehicle networking scenario of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
Referring to fig. 1, the method for discovering the neighboring nodes in the internet of vehicles based on channel awareness and mobile adaptation comprises the following steps:
step 1, each node broadcasts a message:
step 1a, initializing the Internet of vehicles:
the car networking adopted by the embodiment has the scene shown in fig. 2, and the traffic scene that the vehicles run on a bidirectional four-lane highway is shown. Setting n vehicles as nodes in the Internet of vehicles, and realizing the method for discovering the adjacent nodes only by at least two nodes in the Internet of vehicles, namely requiring n>1, n nodes are represented as A1,A2,…,Ai,…,An，AiDenotes the ith node, and n is 5 in this embodiment. All vehicles can communicate with adjacent vehicles through the same wireless channel by one hop within the radius of the broadcast message. The circle represents the broadcast packet range of a vehicle within which other vehicles within the range can receive the packet broadcast by the vehicle, Ri jRepresents node AiBroadcast packet radius of Ri jAt different times, i.e., j does not take different values at the same time, the value varies with the channel state.
Setting an initial time as TiniID of each node is NiInitial position is Pi 0Initial moving speed is Vi 0Initial broadcast message radius of Ri 0Denoted by node AiAs a center, radius Ri 0The nodes in range can receive node AiInformation broadcasted, each node AiThe initial channel state information is sensed through the wireless transceiver, and the adjacent lane speed limit V at the initial moment is sensed through the preset maplim 0。
Step 1b, each node AiAt an initial time TiniBroadcasting the current time T to surrounding nodesiniNode IDNiInitial position Pi 0And an initial moving speed Vi 0Wherein T isiniIndicating when the broadcast message was sent.
Step 1c, setting each node AiThe jth broadcast packet time interval of
Figure GDA0002984387430000061
Set at an initial time TiniJ is 0, and calculates the initial time TiniEach node AiSelf jth broadcast packet time interval τi 0：
1c1) Calculating the relative moving speed DeltaVi 0Denotes each node AiInitial moving speed Vi 0Speed limit V of lane adjacent to initial timelim 0The absolute value of the difference is calculated as follows:
ΔVi 0＝|Vlim 0-Vi 0|
1c2) by Δ Vi 0And Ri 0Calculating τi 0The calculation formula is as follows:
Figure GDA0002984387430000062
wherein E [ X ] indicates the expectation for X.
Step 1d, each node AiAt taui jSensing the time, ID, position, moving speed information and channel state information of the surrounding nodes in the time interval, and then at taui jEnd time T ofi jBroadcasting to surrounding nodes including time Ti jNode IDNiPosition Pi jAnd a moving speed Vi jSelf status message.
Step 1e, each node AiAt Ti jTime instant calculation of the own j +1 th broadcast packet time interval adapted to the channel state and relative moving speed at that time
Figure GDA0002984387430000063
1e1) Calculating the relative moving speed DeltaVi j：
Is judged at taui jEach node a in a time intervaliWhether the state information broadcasted by the surrounding nodes is received or not, if yes, the calculation is carried out at taui jIn time interval AiAverage value of the acquired peripheral node speeds and each node AiAt Ti jRelative speed of movement between speeds at times
Figure GDA0002984387430000064
Otherwise, calculating Ti jTime adjacent lane speed limit and node AiRelative moving speed Δ V between the speeds ofi j＝|Vlim j-Vi jL wherein
Figure GDA0002984387430000071
I.e. at τi jIn time interval AiAverage value, V, of the acquired peripheral node velocitieslim jIs Ti jAnd (5) limiting the speed of the adjacent lane at the moment.
The relative moving speed reflects the mobility of the node, the speed of the node can be changed continuously in the internet of vehicles, and when the node A is in the state ofiAnd surrounding nodesWhen the relative movement speed becomes high, the surrounding nodes leave the node A quicklyiAt this time, the broadcast packet time interval needs to be reduced, and the broadcast message frequency needs to be increased, so that the surrounding nodes which move fast can be found in time. When node AiWhen the relative moving speed with the surrounding nodes becomes small, the nodes will exist in A for a long timeiIn the surrounding, it would be meaningless to broadcast packets frequently at this time, requiring an increase in the broadcast packet time interval, a reduction in the broadcast message frequency, avoidance of inefficiently broadcasting packets, and a reduction in system overhead.
1e2) Each node AiAt Ti jObtaining broadcast message radius R at a time that varies with its perceived channel statei j+1。
The broadcast packet radius is a valid variable characterizing the channel state, which varies with changes in the channel state. Thus, the broadcast packet radii at different times are obtained for calculating the broadcast packet time interval, which can be adapted to changing channel conditions.
The broadcast packet time interval needs to be adapted to the channel conditions. When the channel is in an idle state, the influence of the setting of the broadcast packet time interval on the discovery result of the adjacent node is small, but when the channel is in a busy state, if the broadcast packet time interval is too small, the broadcast packet frequency is too large, and the node AiFrequently broadcasting messages to surrounding nodes through a channel, the channel can not bear a large amount of messages, so that the phenomenon of channel overload is generated, the broadcast packet delay is increased, even packets are lost, the surrounding nodes can not receive the node A in time or even can not receive the node AiThe broadcast message can not find the adjacent node in time, which results in the reduction of the accuracy of the adjacent node.
1e3) By Δ Vi j、Ri jAnd Ri j+1Calculate its own (j + 1) th broadcast packet time interval tau adapted to the channel state and relative moving speed at that timei j+1：
Figure GDA0002984387430000072
In the above calculation formula, Δ V, on the one handi jThe mobile self-adaption in the method is embodied, namely the time interval of sending the packet is correspondingly adjusted along with the speed of the surrounding nodes and the change of the self moving speed; in another aspect, Ri jAnd Ri j+1The channel perception in the method is embodied, and the broadcast message radius of each node is constantly changed due to the influence of the random change of the state of the channel in the Internet of vehicles, so that the broadcast grouping time interval is correspondingly adjusted along with the random change of the channel.
Step 1f, each node AiLet j equal j +1 and execute step 1d until aiOwn broadcast and message receiving device is turned off, i.e. AiUntil leaving the network, obtain AiOwn j +2 broadcast packet time intervals
Figure GDA0002984387430000081
Step 2, each node receives the message:
step 2a, each node AiAt taui 0The method comprises the steps of internally sensing channel state information and time, ID, position and moving speed information broadcasted by surrounding nodes, continuously judging whether the information is sensed, and if so, the surrounding nodes are AiAnd storing the channel state information, and the time, ID, position and moving speed information broadcast by the surrounding nodes, otherwise, the node AiNo neighbor node is found.
Step 2b, each node AiAt Ti 0Broadcasting self-state information at a moment, simultaneously setting j to be 1, and calculating taui j。
Step 2c, each node AiAt taui jThe inner sensing channel state information, and the time, ID, position and moving speed information broadcasted by the surrounding nodes, and is set at taui jContinuously judging whether the information is sensed, if so, the surrounding nodes are AiAnd stores channel state information, and surrounding nodesTime, ID, position, moving speed information of point broadcast, otherwise, node AiNo neighbor node is found.
Step 2d, each node AiAt Ti jBroadcasting self-state information at a moment, simultaneously enabling j to be j +1, and calculating taui jAnd step 2c is performed until AiUntil leaving the network, obtain AiOwn j +1 broadcast packet time interval
Figure GDA0002984387430000082
The results of the findings in (A) and (B)
Figure GDA0002984387430000083
The findings in the time interval together constitute j +2 time intervals
Figure GDA0002984387430000084
The results of the findings in (1).
Each node AiThe steps of broadcasting and receiving messages are alternated, the messages are received in a packet time interval, self-state messages are broadcasted when the time interval is over, and the next time interval is calculated. The time interval is varied to accommodate changing channel conditions and relative movement speeds of the nodes.
Step 3, each node terminates the work step:
when node AiBroadcasting and receiving message devices, i.e. node A, in case of power-off condition or autonomously shutting itself offiWhen the ability of broadcasting and receiving the message is not provided any more, the node A is considered to beiLeave the network, node AiBroadcast and receive messages are stopped.

Claims (1)

1. A method for discovering adjacent nodes in the Internet of vehicles based on channel perception and mobile self-adaptation is characterized in that the process comprises the steps of broadcasting messages by each node, receiving messages and terminating:
(1) broadcasting the message by each node:
(1a) initializing the Internet of vehicles:
constructing a vehicle networking which takes n vehicles as nodes and carries out communication among the nodes through wireless channels, wherein n is more than 1, and the n nodes are represented as A1,A2,…,Ai,…,An，AiRepresents the ith node and sets the initial time as TiniEach node AiID of (1) is NiInitial position is Pi 0Initial moving speed is Vi 0Initial broadcast message radius of Ri 0Each node AiThe initial channel state information is sensed through the wireless transceiver, and the adjacent lane speed limit V at the initial moment is sensed through the preset maplim 0；
(1b) Initial time TiniEach node AiBroadcasting the current time T to surrounding nodesiniNode IDNiInitial position Pi 0And an initial moving speed Vi 0；
(1c) Let each node AiThe jth broadcast packet time interval of
Figure FDA0002071702390000011
Set at an initial time TiniJ is 0, and calculates the initial time TiniEach node AiSelf jth broadcast packet time interval
Figure FDA0002071702390000012
Figure FDA0002071702390000013
Wherein, is Δ Vi 0For each node AiInitial moving speed Vi 0Speed limit V of lane adjacent to initial timelim 0Relative moving speed therebetween, Δ Vi 0＝|Vlim 0-Vi 0|，E[X]Indicating the expectation of X;
(1d) each nodeAiIn that
Figure FDA0002071702390000014
Sensing channel state information and time, ID, position and moving speed information broadcast by surrounding nodes in a time interval
Figure FDA0002071702390000015
End time T ofi jBroadcasting to surrounding nodes including time Ti jNode IDNiPosition Pi jAnd a moving speed Vi jIs determined at the same time as the self-status message of
Figure FDA0002071702390000016
Whether the state information broadcasted by the surrounding nodes is received in the time interval, if so, calculating the relative moving speed
Figure FDA0002071702390000017
Otherwise, the relative movement speed Δ V is calculatedi j＝|Vlim j-Vi jL wherein
Figure FDA0002071702390000018
Is at the same time
Figure FDA0002071702390000019
In time interval AiAverage value, V, of the acquired peripheral node velocitieslim jIs Ti jLimiting the speed of the adjacent lanes at any moment;
(1e) each node AiAt Ti jTime of day calculation adapts to its next broadcast packet time interval of channel state and relative movement speed at that time
Figure FDA0002071702390000021
Each node AiAt Ti jTime-of-day acquisition of broadcast message radius as a function of its perceived channel state
Figure FDA0002071702390000022
Then through Δ Vi j、Ri jAnd
Figure FDA0002071702390000023
computing adaptation to Ti jTime of day channel state and relative moving speed of its own j +1 th broadcast packet time interval taui j+1：
Figure FDA0002071702390000024
(1f) Each node AiLet j equal j +1 and execute step (1d) until aiOwn broadcast and message receiving device is turned off, i.e. AiUntil leaving the network, obtain AiOwn j +2 broadcast packet time intervals
Figure FDA0002071702390000025
(2) The step of receiving the message by each node:
(2a) each node AiIn that
Figure FDA0002071702390000026
The method comprises the steps of internally sensing channel state information and time, ID, position and moving speed information broadcasted by surrounding nodes, continuously judging whether the information is sensed, and if so, the surrounding nodes are AiAnd storing the channel state information, and the time, ID, position and moving speed information broadcast by the surrounding nodes, otherwise, the node AiNo neighbor node is found;
(2b) each node AiAt Ti 0Broadcasting self-state information at any moment, simultaneously setting j to be 1, and calculating
Figure FDA0002071702390000027
(2c) Each node AiIn that
Figure FDA0002071702390000028
The inner sensing channel state information, and the time, ID, position and moving speed information broadcasted by the surrounding nodes
Figure FDA0002071702390000029
Continuously judging whether the information is sensed, if so, the surrounding nodes are AiAnd storing the channel state information, and the time, ID, position and moving speed information broadcast by the surrounding nodes, otherwise, the node AiNo neighbor node is found;
(2d) each node AiAt Ti jBroadcasting self-state information at any moment, simultaneously enabling j to be j +1, and calculating
Figure FDA00020717023900000210
And performing step (2c) until AiUntil leaving the network, obtain AiOwn j +1 broadcast packet time interval
Figure FDA0002071702390000031
The results of the findings in (A) and (B)
Figure FDA0002071702390000032
The findings in the time interval together constitute j +2 time intervals
Figure FDA0002071702390000033
The results of the findings in (1);
(3) each node AiThe terminating step of (2):
node AiOwn broadcast and message receiving device is turned off, i.e. node AiLeave the network, node AiBroadcast and receive messages are stopped.
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