CN111093172B - GPSR (gigabit passive distributed system) internet of vehicles routing data forwarding method - Google Patents
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- CN111093172B CN111093172B CN201911185856.XA CN201911185856A CN111093172B CN 111093172 B CN111093172 B CN 111093172B CN 201911185856 A CN201911185856 A CN 201911185856A CN 111093172 B CN111093172 B CN 111093172B
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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]
- 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]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/20—Communication route or path selection, e.g. power-based or shortest path routing based on geographic position or location
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- 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
- H04W40/22—Communication route or path selection, e.g. power-based or shortest path routing using selective relaying for reaching a BTS [Base Transceiver Station] or an access point
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- 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
- H04W40/248—Connectivity information update
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention relates to a GPSR internet of vehicles route data forwarding method, firstly obtaining node position information according to GPS information and hello packets of vehicles, calculating the weight value of the current node, and judging neighbor information; then according to the position and angle relation between the neighbor node and the destination node, calculating the weight value of each neighbor node, and selecting the neighbor node with the highest weight value as the next hop node for data forwarding; and finally, checking whether the next-hop node is out of bounds, if the next-hop node is out of bounds, adopting greedy predictive forwarding, and if the next-hop node is out of bounds, adopting a peripheral forwarding mode. Compared with the prior art, the method and the device optimize the selection of the next hop node by judging the neighbor node, calculating the weight value of the neighbor node and judging the out-of-limit of the communication range, and can judge whether the neighbor node is in the communication transmission range in a short time, thereby ensuring the reliability of data forwarding, effectively controlling the routing overhead and improving the data forwarding efficiency.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted communication, in particular to a GPSR vehicle networking route data forwarding method.
Background
The internet of vehicles is a wireless network that is built up between mobile vehicles. The vehicle-mounted equipment on the vehicle effectively utilizes all vehicle dynamic information in the information network platform through a wireless communication technology, and provides different functional services in the running process of the vehicle.
GPSR (greedy perimeter stateless routing, greedy surrounding stateless routing) is a relatively typical geographic location-based routing protocol suitable for Internet of vehicles, the protocol obtains information of neighbor vehicle nodes through positioning equipment such as GPS (Global positioning System), and the protocol does not need a large amount of routing information to maintain neighbor information and routing table information, so that the routing protocol is widely applied to Internet of vehicles at present.
The forwarding strategy of the GPSR routing protocol is a routing algorithm combining greedy forwarding and peripheral forwarding, and a basic greedy forwarding mode is firstly applied, namely, a sending node forwards according to greedy rules through geographic position information of neighbor nodes. And when the sending node cannot forward according to the greedy forwarding rule, the peripheral forwarding mode is entered for route recovery. And continuing to use the greedy forwarding mode until the new node is found to conform to the greedy forwarding rule.
However, the greedy forwarding mechanism of the GPSR routing protocol has the following drawbacks: the greedy forwarding mode in GPSR is a sending node that can omit selecting the next hop of a packet according to the greedy policy according to the locally optimal policy. Specifically, if a transmitting node knows the location information of surrounding neighboring nodes, then the locally optimal strategy is to select the neighboring node that is geographically closest to the destination node as the next-hop node. By continually repeating the local optimization strategy until the destination node is sent. The selected node may be at the edge of the communication range, and due to the rapid movement of the vehicle, in the greedy forwarding mode, the selected next-hop node is likely to move out of the communication range before the data packet arrives, which may cause the loss or retransmission of the data packet, further increase the control overhead, and cause the degradation of the network communication performance and the degradation of the data forwarding efficiency.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a GPSR Internet of vehicles routing data forwarding method.
The aim of the invention can be achieved by the following technical scheme: a GPSR Internet of vehicles routing data forwarding method comprises the following steps:
s1, based on a preset sending period, a current node sends hello packets to surrounding nodes, and meanwhile the current node receives hello packets from the surrounding nodes;
s2, after the current node receives the surrounding node hello packet, calculating a weight value W of the current node according to GPS information of the current node c ；
S3, updating the routing table information of the current node according to the received surrounding node hello packet to judge whether neighbor nodes exist around the current node, if so, executing the step S4, otherwise, executing the step S6;
s4, judging whether the neighbor node is in the communication transmission range, if so, executing a step S5, otherwise, returning to the step S3;
s5, calculating the weight value W of the neighbor node n And judge W n ＜W c If yes, the neighbor node is used as a next hop node for data forwarding, and meanwhile, the neighbor node is used as a new current node, and then the step S1 is returned, otherwise, the step S1 is directly returned;
s6, judging whether the next hop node is empty, if so, directly switching to a peripheral forwarding mode, otherwise, executing the step S7;
and S7, forwarding the data to the next-hop node, judging whether the next-hop node is a destination node or not, if so, ending the data forwarding, and otherwise, returning to the step S1.
Further, the hello packet includes a position vector and a speed vector of a node, a position vector of a next hop node and a destination node, and the GPS information includes a position vector and a speed vector of the node itself.
Further, the step S2 specifically includes the following steps:
s21, calculating a position vector from a current node to a destination node by combining a surrounding node hello packet and GPS information of the surrounding node hello packet;
s22, calculating to obtain the weight value of the current node according to the position vector from the current node to the destination node and the angle factors between the surrounding nodes and the destination node.
Further, the location vector from the current node to the destination node is specifically:
wherein, the liquid crystal display device comprises a liquid crystal display device,representing the position vector of the current node to the destination node, < >>Representing the location vector of the destination node,representing the current node position vector, ">A position vector representing the current node to the next hop node,/->Representing the position vector of the next hop node to the destination node.
Further, the weight value W of the current node c The method comprises the following steps:
wherein omega c Representing the angle factor between the surrounding nodes and the destination node,representing the velocity vector of the current node.
Further, the step S3 specifically includes the following steps:
s31, in a preset receiving period, if the current node receives a surrounding node hello packet, extracting surrounding node information from the received surrounding node hello packet, updating the surrounding node information into the routing table information of the current node, wherein the surrounding node is the neighbor node of the current node, and then executing step S4;
and S32, in a preset receiving period, if the current node does not receive the surrounding node hello packet, judging that no neighbor node exists around the current node, and then executing the step S6.
Further, the specific process of determining whether the neighboring node is within the communication transmission range in step S4 is as follows: and in a preset receiving period, comparing the route table information before and after updating, if the neighbor node in the route table information before updating exists in the route table information after updating, judging that the neighbor node is in the communication transmission range, and if the neighbor node in the route table information before updating does not exist in the route table information after updating, judging that the neighbor node is not in the communication transmission range.
Further, the weight W of the neighboring node in step S5 n The method comprises the following steps:
wherein M is n Representing a location factor between a neighboring node and a destination node, D dn Representing the position distance between the neighbor node and the destination node, D dc Representing the location distance between the current node to the destination node,representing the next hop node, ω, closest to the destination node n Refers to the angle factor between the neighbor node and the destination node, < >>Speed vector representing neighbor node, +.>Representing the location vector of the neighbor node to the destination node.
Further, the specific process of determining whether the next hop node is empty in step S6 is as follows: extracting a position vector of a next-hop node and a position vector of a destination node from a received surrounding node hello packet, combining the position vector of the current node, judging that the next-hop node is not empty if the next-hop node which is closer to the destination node than the current node exists, and judging that the next-hop node is empty if the next-hop node which is closer to the destination node than the current node does not exist, namely, the current node is closest to the destination node.
Further, in the step S7, it is determined whether the next-hop node is the destination node, specifically, whether the position vector of the next-hop node is the same as the position vector of the destination node is compared.
Compared with the prior art, the method and the device have the advantages that aiming at the defect that a greedy forwarding mechanism exists in a GPSR routing protocol, namely the problem that the greedy forwarding mechanism possibly moves out of a communication range when the next hop node is selected, neighbor node judgment, node weight value calculation and communication range out-of-limit judgment are added, whether the position of the neighbor node is in a transmission range can be judged in a short time, particularly, the node moving out of the communication transmission range at the next moment is removed through the position and angle relation between the neighbor node and a destination node, and the neighbor node with the highest weight is selected to forward data through calculating the weight value of the neighbor node, so that the reliability of data forwarding is ensured, routing cost can be effectively controlled, and the data forwarding efficiency is improved.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention;
fig. 2 is a schematic diagram of a specific application scenario in an embodiment.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples.
As shown in fig. 1, a GPSR internet of vehicles routing data forwarding method includes the following steps:
s1, based on a preset sending period, a current node sends hello packets to surrounding nodes, and meanwhile the current node receives hello packets from the surrounding nodes;
s2, after the current node receives the surrounding node hello packet, calculating a weight value W of the current node according to GPS information of the current node c ；
S3, updating the routing table information of the current node according to the received surrounding node hello packet to judge whether neighbor nodes exist around the current node, if so, executing the step S4, otherwise, executing the step S6;
s4, judging whether the neighbor node is in the communication transmission range, if so, executing a step S5, otherwise, returning to the step S3;
s5, calculating the weight value W of the neighbor node n And judge W n ＜W c If yes, the neighbor node is used as a next hop node for data forwarding, and meanwhile, the neighbor node is used as a new current node, and then the step S1 is returned, otherwise, the step S1 is directly returned;
s6, judging whether the next hop node is empty, if so, directly switching to a peripheral forwarding mode, otherwise, executing the step S7;
and S7, forwarding the data to the next-hop node, judging whether the next-hop node is a destination node or not, if so, ending the data forwarding, and otherwise, returning to the step S1.
Specifically, the method provided by the invention firstly obtains the vehicle position information according to the GPS equipment and hello data packet carried by the vehicle, judges the information of the neighbor node, and improves the reliability of the neighbor node information; then according to the position and angle relation between the neighbor node and the destination node, calculating the weight value of each neighbor node, and selecting the neighbor node with the highest weight value as the next hop node for data forwarding; and finally checking whether the node is out of bounds, if the node is not out of bounds, adopting greedy predictive forwarding, and if the node is out of bounds, adopting a peripheral forwarding mode.
Considering that an actual urban road is a vertically intersecting road, there are generally two position situations for vehicle travel: parallel and orthogonal, and therefore, the parallel and vertical positions need to be considered in calculating the weight value of the current node, wherein,
(1) Position vector of current node to destination node:
parallel position case:
vertical position condition:
(2) Position distance of current node to destination node:
(3) Weight of current node:
wherein, the liquid crystal display device comprises a liquid crystal display device,representing the position vector of the current node to the destination node, < >>Representing the location vector of the destination node,representing the current node position vector, ">A position vector representing the current node to the next hop node,/->A position vector representing the next hop node to the destination node,W c representing the weight value, ω, of the current node c Represents an angle factor between the surrounding node and the destination node, < >>A velocity vector representing the current node, cos (V c ,d (c,d) ) Is the cosine value of the two vectors.
In practical application, each node periodically transmits hello packets to surrounding nodes, wherein the hello packets comprise information such as the position, the speed, the acceleration, the running direction and the like of a vehicle, each node simultaneously receives hello packet information transmitted by other surrounding nodes, and periodically updates and maintains routing table information comprising relevant information of neighbor nodes according to the received hello packet information. When a source node wants to communicate with a destination node, the source node sends a data packet to the destination node, and the forwarding process of the data packet by using the method provided by the invention is as follows:
p1, sending hello packets of the current node, determining the position and the speed of each node, and storing the positions and the speeds in a vector to calculate the weight value of the current node;
p2, judging whether neighbor nodes exist around the current node;
p3, if the neighbor node exists, judging whether the node is in the transmission range again, if so, turning to the step P4, otherwise turning to the step P2;
if no adjacent node exists, judging whether the next hop node is empty, and if the next hop node is empty, directly entering a peripheral forwarding mode; otherwise, the data packet is forwarded to the next hop node, and then the step P6 is performed;
p4, calculating the weight value W of the neighbor node n And compares the current node weight W c Weight W with neighbor node n Is of a size of (2);
p5, if W n ＜W c The neighbor node n is used as a relay node to continuously forward the data packet, the current node which is used as the next hop node continuously forwards the data packet, and then the step P2 is performed;
p6, judging whether the next hop node is a destination node or not;
p7, if the node is not the destination node, turning to the step P1;
if the node is the destination node, turning to the step P8;
and P8, outputting and ending.
Weight value W of neighbor node in process P5 n The method comprises the following steps:
wherein M is n Representing a location factor between a neighboring node and a destination node, D dn Representing the position distance between the neighbor node and the destination node, D dc Representing the location distance between the current node to the destination node,representing the next hop node, ω, closest to the destination node n Refers to the angle factor between the neighbor node and the destination node, < >>Speed vector representing neighbor node, +.>Representing the location vector of the neighbor node to the destination node.
As shown in fig. 2, the application scenario of the present embodiment is a practical application scenario in which a circle represents a vehicle, and a total of 5 vehicles travel on a road surface.
Assuming that the source node a wants to communicate with the destination node D, the source node a sends a packet to the destination node D, and the process of selecting the next hop when greedy forwarding the packet according to the method of the present invention is as follows:
the source node A calculates self weight according to the self speed and the distance vector between the source node A and the destination node D, determines the position and the speed of each adjacent node, and exists in the vector, the source node detects neighboring nodes B, C, E around, judges the positions of the current node A and the neighboring nodes B, C, E in the near term relative to the destination node D, and checks the out-of-bounds formula:
wherein T is max For maximum transmission range D p The distance between the current node and the neighbor node after a hello packet sending period is used, so that the fact that the point C moves out of the transmission range at the moment t2 is judged, the node B, E is in the transmission range, the weight of the neighbor node is calculated by combining the direction and the position factors, the node B weight is maximum at the moment t2 through verification, the node B is used as the next hop node for forwarding the data packet, in the embodiment, the node B is used as the destination node, and the node B directly forwards the data packet to the destination node.
The invention combines the characteristics of quick movement of the Internet of vehicles, and the like, improves the defect of selecting the next hop node in the greedy forwarding algorithm of the GPSR routing protocol, and the routing algorithm after improvement firstly deletes the node which is moved out of the communication range at the next moment by predicting the position of the nearest moment of the neighbor node when greedy forwarding is carried out, then selects the node with the highest weight value as the node for forwarding the data packet at the next hop by calculating the weight value of the deleted neighbor node.
Claims (5)
1. The GPSR Internet of vehicles routing data forwarding method is characterized by comprising the following steps:
s1, based on a preset sending period, a current node sends hello packets to surrounding nodes, and meanwhile the current node receives hello packets from the surrounding nodes;
s2, after the current node receives the surrounding node hello packet, calculating a weight value W of the current node according to GPS information of the current node c ；
S3, updating the routing table information of the current node according to the received surrounding node hello packet to judge whether neighbor nodes exist around the current node, if so, executing the step S4, otherwise, executing the step S6;
s4, judging whether the neighbor node is in the communication transmission range, if so, executing a step S5, otherwise, returning to the step S3;
s5, calculating the weight value W of the neighbor node n And judge W n ＜W c If yes, the neighbor node is used as a next hop node for data forwarding, and meanwhile, the neighbor node is used as a new current node, and then the step S1 is returned, otherwise, the step S1 is directly returned;
s6, judging whether the next hop node is empty, if so, directly switching to a peripheral forwarding mode, otherwise, executing the step S7;
s7, forwarding data to a next-hop node, judging whether the next-hop node is a target node or not, if so, ending data forwarding, otherwise, returning to the step S1;
the hello packet comprises a position vector and a speed vector of a node, a position vector of a next hop node and a position vector of a destination node, and the GPS information comprises the position vector and the speed vector of the node;
the step S2 specifically includes the following steps:
s21, calculating a position vector from a current node to a destination node by combining a surrounding node hello packet and GPS information of the surrounding node hello packet;
s22, calculating to obtain a weight value of the current node according to the position vector from the current node to the target node and the angle factors between the surrounding nodes and the target node;
the position vector from the current node to the destination node is specifically:
wherein, the liquid crystal display device comprises a liquid crystal display device,representing the position vector of the current node to the destination node, < >>Representing destination node position vector, ">Representing the current node position vector, ">A position vector representing the current node to the next hop node,/->A position vector representing a next hop node to a destination node;
the weight value W of the current node c The method comprises the following steps:
wherein omega c Representing the angle factor between the surrounding nodes and the destination node,a velocity vector representing the current node;
the weight W of the neighbor node in the step S5 n The method comprises the following steps:
wherein M is n Representing a location factor between a neighboring node and a destination node, D dn Representing the position distance between the neighbor node and the destination node, D dc Representing the position distance omega between the current node and the destination node n Refers to the angle factor between the neighbor node and the destination node,speed vector representing neighbor node, +.>Representing the location vector of the neighbor node to the destination node.
2. The GPSR internet of vehicles routing data forwarding method according to claim 1, wherein the step S3 specifically comprises the following steps:
s31, in a preset receiving period, if the current node receives a surrounding node hello packet, extracting surrounding node information from the received surrounding node hello packet, updating the surrounding node information into the routing table information of the current node, wherein the surrounding node is the neighbor node of the current node, and then executing step S4;
and S32, in a preset receiving period, if the current node does not receive the surrounding node hello packet, judging that no neighbor node exists around the current node, and then executing the step S6.
3. The GPSR internet of vehicles routing data forwarding method according to claim 2, wherein the specific process of determining whether the neighboring node is within the communication transmission range in step S4 is as follows: and in a preset receiving period, comparing the route table information before and after updating, if the neighbor node in the route table information before updating exists in the route table information after updating, judging that the neighbor node is in the communication transmission range, and if the neighbor node in the route table information before updating does not exist in the route table information after updating, judging that the neighbor node is not in the communication transmission range.
4. The method for forwarding the routing data of the GPSR internet of vehicles according to claim 1, wherein the specific process of determining whether the next hop node is empty in step S6 is as follows: extracting a position vector of a next-hop node and a position vector of a destination node from a received surrounding node hello packet, combining the position vector of the current node, judging that the next-hop node is not empty if the next-hop node which is closer to the destination node than the current node exists, and judging that the next-hop node is empty if the next-hop node which is closer to the destination node than the current node does not exist, namely, the current node is closest to the destination node.
5. The method of claim 1, wherein in step S7, it is determined whether the next-hop node is a destination node, and specifically, whether the position vector of the next-hop node is the same as the position vector of the destination node is compared.
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