CN111462315B - Vehicle-to-vehicle three-dimensional channel modeling method for urban combined lane scene - Google Patents

Vehicle-to-vehicle three-dimensional channel modeling method for urban combined lane scene Download PDF

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CN111462315B
CN111462315B CN202010260885.4A CN202010260885A CN111462315B CN 111462315 B CN111462315 B CN 111462315B CN 202010260885 A CN202010260885 A CN 202010260885A CN 111462315 B CN111462315 B CN 111462315B
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antenna
scatterer
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confocal
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CN111462315A (en
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马楠
谷路路
刘宝玲
张建华
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Beijing University of Posts and Telecommunications
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Abstract

The embodiment of the invention provides a vehicle-to-vehicle three-dimensional channel modeling method and device for an urban combined lane scene, which realize a vehicle-to-vehicle three-dimensional random channel model for accurately describing the urban combined lane scene, and the method comprises the following steps: constructing a semi-circular model which is positioned on the plane of the top of the vehicle and is formed by separating sound insulation walls by taking an antenna of a vehicle at a transmitting end as the center of a circle; determining a multi-confocal ellipse positioned on the top plane of the vehicle by taking an antenna of a vehicle at a transmitting end and an antenna of a vehicle at a receiving end as focuses, rotating the multi-confocal ellipse by 180 degrees along a straight line where a major axis is positioned, and then taking a part above the top plane to obtain a multi-confocal semi-ellipsoid model; determining channel gain of distinguishable paths according to the semicircular ring model and the multi-confocal semi-ellipsoid model; wherein the resolvable paths only comprise double hop reflection paths; and determining the channel impact response from the antenna of the vehicle at the transmitting end to the antenna of the vehicle at the receiving end according to the channel gain capable of resolving the path.

Description

Vehicle-to-vehicle three-dimensional channel modeling method for urban combined lane scene
Technical Field
The invention relates to the technical field of communication, in particular to a vehicle-to-vehicle three-dimensional channel modeling method and device for an urban combined lane scene.
Background
Merging lanes with sound-proof walls are common road scenes in cities, and merging areas are generally provided with sound-proof barriers to reduce noise pollution. Due to the existence of barriers such as sound insulation walls, the vehicles have blind areas when passing through such intersections, road congestion and Vehicle collision may occur, and the merging control [1] technique may reduce the probability of the above-mentioned accidents, and needs to broadcast the position of the Vehicle on the merging lane to the other side, so it is necessary to study the channel state of Vehicle-to-Vehicle (V2V) communication in such a scene.
The current document analyzes the channel state only from the viewpoint of the measurement data showing that the presence of the sound-insulating wall significantly affects the communication between the vehicles on the merging lanes to deteriorate [2] [3] in the merging-lane scene.
In order to better study the channel state of such a scenario, a channel model of such a scenario needs to be established. Channel modeling methods fall into two categories: deterministic channel modeling and stochastic channel modeling [4 ]. Among them, the random channel modeling method is widely adopted with its low complexity and high flexibility.
At present, only scholars measure channels in such a scenario, the measurement considers the Single Input and Single Output (SISO) condition, and a multi-antenna random geometric channel model for such a channel is not established.
Reference:
[1]H.Okuda,K.Harada,T.Suzuki,S.Saigo and S.Inoue,"Design of automated merging control by minimizing decision entropy of drivers on main lane,"2017 IEEE Intelligent Vehicles Symposium(IV),Los Angeles,CA,pp.640-646,2017.
[2]C.Li etal.，″V2V Radio Channel Performance Based on Measurements in Ramp Scenarios at 5.9 GHz，″in IEEEAccess，vol.6，pp.7503-7514，2018.
[3]C.Li，J.Yu，K.Yang，W.Chen，F.Li and Y.Shui，″Impact of soundproof walls on V2V communication in urban viaduct scenarios at 5.9GHz band，″2017 IEEE 28th Annual International Symposium on Personal，Indoor，and Mobile Radio Communications(PIMRC)，Montreal，pp.1-5，2017.
[4]C.Wang，J.Bian，J.Sun，W.Zhang and M.Zhang，″A survey of 5Gchannel measurements and models，″IEEE Communications Surveys&Tutorials，vol.20，no.4，pp.3142-3168，Fourthquarter 2018.
disclosure of Invention
To this end, the present invention provides a vehicle-to-vehicle three-dimensional channel modeling method, apparatus, for an urban merge lane scenario, in an attempt to solve or at least alleviate at least one of the problems presented above.
According to an aspect of an embodiment of the present invention, there is provided a vehicle-to-vehicle three-dimensional channel modeling method for an urban merged lane scene, including:
constructing a semi-circular model which is positioned on the plane of the top of the vehicle and is formed by separating sound insulation walls by taking the antenna of the vehicle at the transmitting end as the circle center and the distance between the antenna of the vehicle at the transmitting end and the moving vehicle positioned on the side surface of the vehicle at the transmitting end, which is not adjacent to the sound insulation walls, as the radius;
taking an antenna of a vehicle at a transmitting end and an antenna of a vehicle at a receiving end as focuses, calculating the length of a long axis of an ellipse corresponding to each cluster according to relative time delay among the clusters, determining a multi-confocal ellipse positioned on the top plane of the vehicle, rotating the multi-confocal ellipse by 180 degrees along a straight line where the long axis is positioned, and then taking a part above the top plane to obtain a multi-confocal semi-ellipsoid model; each cluster comprises a fixed scatterer positioned on the same multi-confocal semi-ellipsoid surface;
determining channel gain of distinguishable paths according to the semicircular ring model and the multi-confocal semi-ellipsoid model; wherein the resolvable paths only comprise double-hop reflection paths;
and determining the channel impact response from the antenna of the vehicle at the transmitting end to the antenna of the vehicle at the receiving end according to the channel gain capable of resolving the path.
Optionally, the method further comprises:
and determining the existing double-hop reflection path according to the size relationship between the height of the intersection point of the plane of the sound insulation wall and the transmission path vector from the movable scatterer to the fixed scatterer from the horizontal plane and the height of the sound insulation wall.
Optionally, the channel gain of the resolvable path is a complex channel gain, and the complex channel gain of the ith resolvable path is expressed as
Figure BDA0002439247580000031
M, N represents the total number of scatterers on the semicircular model and the multiple confocal semiellipsoid model, m and n represent scatterer indexes, f c Representing the centre frequency, tau, of the signal l，mn，qp (t) represents the time delay due to the path of the transmission, phi l，mn，D，qp (t) represents a phase shift, phi, caused by Doppler shift l，mn Is moving scatteringThe additional phase shift caused by the interaction of the volume m and the stationary scatterer n is uniformly distributed in 0, 2 pi).
Optionally, the delay due to the path of transmission
Figure BDA0002439247580000032
Wherein, d l，mnqp (t) represents the total length of the transmission path of the double-hop reflection path, and c is the speed of light.
Optionally, a total length of the dual-hop reflection path transmission path
d l，mn，qp (t)＝||ε l，pm (t)||+||ε l，mn (t)||+||ε l，nq (t)||；
Wherein epsilon l，pm (t) represents the transmission path vector, ε, from the antenna unit p of the transmitting end vehicle to the moving scatterer m l，mn (t) represents the transmission path vector, ε, of the moving scatterer m to the fixed scatterer n l，nq (t) represents a transmission path vector from the fixed scatterer n to the antenna unit q of the receiving-end vehicle.
Optionally, determining the existing double-hop reflection path according to the relationship between the height of the intersection point of the plane where the sound insulation wall is located and the transmission path vector from the movable scatterer to the fixed scatterer from the horizontal plane and the height of the sound insulation wall, includes:
for any double-jump reflection path, when determining z l，sn And when the reflection diameter is not less than H-H, determining that the double-jump reflection diameter exists:
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0002439247580000041
taking the plane of the roof as an XOY plane, taking the middle point of a connecting line of an antenna of a transmitting end vehicle and an antenna of a receiving end vehicle as the origin of a coordinate system, covering the connecting line of the antenna of the transmitting end vehicle and the antenna of the receiving end vehicle by an x axis, wherein a z axis is positioned in the upward direction vertical to the XOY plane, and z is positioned in the upward direction vertical to the XOY plane l，sn Is the plane of the sound-insulating wall and the vector epsilon l，mn Height of intersection from horizontal plane, R x Is the length of the projection of the vector R on the x-axis, R representing the pointing of the antenna of the transmitting vehicle on the semicircular ringVector of scatterer, z l，n And x l，n Are respectively vector ε l，mn The length of the projection on the z-axis and x-axis, H is the height of the soundproof wall, and H is the height of the roof antenna.
Optionally, the phase shift φ caused by the Doppler shift l，mn，D，qp (t)＝φ l，DT (t)+φ l，Dm (t)+φ l，DR (t)；
Wherein phi l，DT (t)，φ l，Dm (t) and phi l，DR (t) respectively represents the Doppler phase shift introduced by the antenna motion of the transmitting end vehicle, the mth moving scatterer and the receiving end vehicle.
According to yet another aspect of the present invention, there is provided a vehicle-to-vehicle three-dimensional channel modeling apparatus for an urban merge lane scenario, comprising:
the first model construction unit is used for constructing a semi-circular model which is positioned on the top plane of the vehicle and is formed by separating a sound insulation wall by taking the antenna of the vehicle at the transmitting end as the center of a circle and taking the distance between the antenna of the transmitting end and the moving vehicle positioned on the side surface of the vehicle at the transmitting end, which is not adjacent to the sound insulation wall, as the radius:
the second model construction unit is used for taking an antenna of a vehicle at a transmitting end and an antenna of a vehicle at a receiving end as focuses, calculating the length of the long axis of the ellipse corresponding to each cluster according to the relative time delay between the clusters, determining a multi-confocal ellipse positioned on the top plane of the vehicle, rotating the multi-confocal ellipse by 180 degrees along the straight line where the long axis is positioned, and then taking the part above the top plane of the vehicle to obtain a multi-confocal semi-ellipsoid model; each cluster comprises a fixed scatterer positioned on the same multi-confocal semi-ellipsoid surface;
the distinguishable path gain calculation unit is used for determining channel gain of distinguishable paths according to the semicircular ring model and the multi-confocal semi-ellipsoid model; wherein the distinguishable paths only include double-hop reflection paths:
and the channel impact response calculation unit is used for determining the channel impact response from the antenna of the transmitting end vehicle to the antenna of the receiving end vehicle according to the channel gain capable of distinguishing the paths.
According to yet another aspect of the present invention, there is provided a readable storage medium having executable instructions thereon that, when executed, cause a computer to perform the operations included in the vehicle-to-vehicle three-dimensional channel modeling method for a city merge lane scenario described above.
According to yet another aspect of the invention, there is provided a computing device comprising: one or more processors; a memory; and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors to perform operations included in the vehicle-to-vehicle three-dimensional channel modeling method for an urban merge lane scenario described above.
The embodiment of the invention provides a vehicle-to-vehicle three-dimensional random channel model for accurately describing urban combined lane scenes, and provides conditions for existence of double-jump reflection path components under the model, thereby further improving the accuracy of the model.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the principles of the invention.
FIG. 1 is a block diagram of a computing device according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for modeling a three-dimensional channel from a vehicle to a vehicle in an urban merge lane scenario, according to an embodiment of the invention:
FIG. 3 is a schematic view of a city merge lane scenario according to an embodiment of the invention;
FIG. 4 is a city merge lane scene geometry model according to an embodiment of the invention;
FIG. 5 is a model of occlusion of a sound barrier wall for a double jump reflex path according to an embodiment of the present invention;
fig. 6 is a block diagram of a structure of a city merge lane scene vehicle-to-vehicle three-dimensional channel modeling apparatus according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Fig. 1 is a block diagram of an example computing device 100 arranged to implement a city merge lane scenario vehicle-to-vehicle three-dimensional channel modeling method in accordance with the present invention. In a basic configuration 102, computing device 100 typically includes system memory 106 and one or more processors 104. A memory bus 108 may be used for communication between the processor 104 and the system memory 106.
Depending on the desired configuration, the processor 104 may be any type of processing, including but not limited to: a microprocessor (μ P), a microcontroller (μ C), a digital information processor (DSP), or any combination thereof. The processor 104 may include one or more levels of cache, such as a level one cache 110 and a level two cache 112, a processor core 114, and registers 116. The example processor core 114 may include an Arithmetic Logic Unit (ALU), a Floating Point Unit (FPU), a digital signal processing core (DSP core), or any combination thereof. The example memory controller 118 may be used with the processor 104, or in some implementations the memory controller 118 may be an internal part of the processor 104.
Depending on the desired configuration, system memory 106 may be any type of memory, including but not limited to: volatile memory (such as RAM), non-volatile memory (such as ROM, flash memory, etc.), or any combination thereof. System memory 106 may include an operating system 120, one or more programs 122, and program data 124. In some implementations, the program 122 can be configured to execute instructions on an operating system by one or more processors 104 using the program data 124.
Computing device 100 may also include an interface bus 140 that facilitates communication from various interface devices (e.g., output devices 142, peripheral interfaces 144, and communication devices 146) to the basic configuration 102 via the bus/interface controller 130. The example output device 142 includes a graphics processing unit 148 and an audio processing unit 150. They may be configured to facilitate communication with various external devices, such as a display terminal or speakers, via one or more a/V ports 152. Example peripheral interfaces 144 may include a serial interface controller 154 and a parallel interface controller 156, which may be configured to facilitate communication with external devices such as input devices (e.g., keyboard, mouse, pen, voice input device, touch input device) or other peripherals (e.g., printer, scanner, etc.) via one or more I/O ports 158. An example communication device 146 may include a network controller 160, which may be arranged to facilitate communications with one or more other computing devices 162 over a network communication link via one or more communication ports 164.
The network communication link may be one example of a communication medium. Communication media may typically be embodied by computer readable instructions, data structures, program modules, and may include any information delivery media, such as carrier waves or other transport mechanisms, in a modulated data signal. A "modulated data signal" may be a signal that has one or more of its data set or its changes made in such a manner as to encode information in the signal. By way of non-limiting example, communication media may include wired media such as a wired network or private-wired network, and various wireless media such as acoustic, Radio Frequency (RF), microwave, Infrared (IR), or other wireless media. The term computer readable media as used herein may include both storage media and communication media.
Specifically, the computing device 100 may be implemented as a personal computer including a desktop computer and a notebook computer configuration, may also be implemented as a vertical or a cabinet type server device, and may also be implemented as a virtualized computing device, such as a virtualized node of a cloud computing center.
Among other things, one or more programs 122 of computing device 100 include instructions for performing a vehicle-to-vehicle three-dimensional channel modeling method for city merge lane scenarios in accordance with an embodiment of the present invention.
Referring to fig. 2, a vehicle-to-vehicle three-dimensional channel modeling method for an urban merged lane scene provided by the embodiment of the invention includes:
s210, constructing a semi-circular model which is positioned on the top plane of the vehicle and is formed by separating sound insulation walls by taking the antenna of the vehicle at the transmitting end as the center of a circle and the distance between the antenna of the vehicle at the transmitting end and the moving vehicle positioned on the side surface of the vehicle at the transmitting end, which is not adjacent to the sound insulation walls, as the radius;
s220, taking an antenna of a vehicle at a transmitting end and an antenna of a vehicle at a receiving end as focuses, calculating the length of a long axis of an ellipse corresponding to each cluster according to relative time delay among the clusters, determining a multi-confocal ellipse positioned on the top plane of the vehicle, rotating the multi-confocal ellipse by 180 degrees along a straight line where the long axis is positioned, and then taking a part above the top plane of the vehicle to obtain a multi-confocal semi-ellipsoid model; each cluster comprises fixed scatterers positioned on the same multi-confocal semi-ellipsoid surface;
s230, determining channel gain of a distinguishable path according to the semicircular ring model and the multi-confocal semi-ellipsoid model; wherein the resolvable paths only comprise double hop reflection paths;
s240, determining channel impact response from the antenna of the vehicle at the transmitting end to the antenna of the vehicle at the receiving end according to the channel gain of the distinguishable path.
Optionally, in step S210, the antenna of the transmitting end vehicle refers to the first unit of the transmitting end vehicle antenna.
Optionally, in step S220, the antenna of the receiving-end vehicle refers to the first unit of the receiving-end vehicle antenna.
Optionally, the method further comprises:
and determining the existing double-hop reflection path according to the size relationship between the height of the intersection point of the plane where the sound insulation wall is located and the transmission path vector from the movable scatterer to the fixed scatterer from the ground and the height of the sound insulation wall.
Optionally, the channel gain of the resolvable path is a complex channel gain, and the complex channel gain of the ith resolvable path is expressed as
Figure BDA0002439247580000081
M, N represents the total number of scatterers on the semicircular model and the multiple confocal semiellipsoid model, m and n represent scatterer indexes, f c Representing the centre frequency, tau, of the signal l，mn，qp (t) represents the time delay due to the path of the transmission, phi l，mn，D，qp (t) represents a phase shift, φ, caused by Doppler shift l，mn Is an additional phase shift caused by the interaction of the moving scatterer m and the fixed scatterer n, which is uniformly distributed in 0, 2 pi).
Optionally, the delay due to the path of transmission
Figure BDA0002439247580000082
Wherein, d l，mnqp (t) represents the total length of the transmission path of the double-hop reflection path, and c represents the speed of light.
Optionally, a total length of the dual-hop reflection path transmission path
d l，mn，qp (t)＝||ε l，pm (t)||+||ε l，mn (t)||+||ε l，nq (t)||；
Wherein epsilon l，pm (t) represents the transmission path vector, ε, of the antenna unit p of the transmitting end vehicle to the moving scatterer m l，mn (t) represents the transmission path vector, ε, of the moving scatterer m to the stationary scatterer n l，nq (t) denotes a transmission path vector from the fixed scatterer n to the antenna unit q of the receiving-end vehicle.
Optionally, determining the existing double-hop reflection path according to a size relationship between a height of an intersection point of a plane where the sound insulation wall is located and a transmission path vector from the movable scatterer to the fixed scatterer from a horizontal plane and a height of the sound insulation wall, includes:
for any double jump reflection path, when determining z l，sn And when the reflection diameter is not less than H-H, determining that the double-jump reflection diameter exists:
wherein the content of the first and second substances,
Figure BDA0002439247580000091
the plane of the vehicle roof is taken as an XOY plane, the midpoint of a connecting line of an antenna of a transmitting end vehicle and an antenna of a receiving end vehicle is taken as the origin of a coordinate system, the x axis covers the connecting line of the antenna of the transmitting end vehicle and the antenna of the receiving end vehicle, the z axis is positioned in the upward direction vertical to the XOY plane, and z is l，sn Is the plane of the sound-insulating wall and the vector epsilon l，mn Height of intersection from horizontal plane, R x Is the length of the projection of the vector R on the x-axis, R representing the vector of the transmitting vehicle's antenna pointing at the scatterer on the semicircular ring, z l，n And x l，n Are respectively a vector ε l，mn The length of the projection on the z-axis and the x-axis, H is the height of the soundproof wall, and H is the height of the roof antenna.
Optionally, the Doppler shift induced phase shift φ l，mn，D，qp (t)＝φ l，DT (t)+φ l，Dm (t)+φ l，DR (t)；
Wherein phi is l，DT (t)，φ l，Dm (t) and phi l，DR (t) indicates the doppler phase shift introduced by the antenna motion of the transmitting end vehicle, the mth moving scatterer, and the receiving end vehicle, respectively.
The method provided by the embodiment of the invention is further explained by combining the attached drawings.
Fig. 3 shows a schematic of a merging lane with the transmitter (Tx) vehicle on the main road and the receiver (Rx) vehicle on the merging lane and with sound-deadening walls on both sides of the road. In addition, there are both static and moving scatterers around the transceiver. According to different scenes, each reflection can be composed of different components such as a direct path (LOS), a Single-bounce path (SB), a Double-bounce path (DB) and the like, and different representation modes are provided according to different LOS, SB and Double DB of the proposed geometric model, so that the channel models are different. Due to the shielding of the sound insulation wall, the link only has DB, and does not have LOS and SB.
In particular, consider that the transceiving ends are each configured as a Uniform linear array (Uniform)Linear Array, ULA) antenna in which Tx is configured with M T An antenna, Rx configuration M R The adjacent antenna elements of Tx and Rx are respectively spaced by delta T And delta R 。
The V2V Multiple-Input-Multiple-Output (MIMO) channel can be expressed as an M R ×M T Of (2) matrix
Figure BDA0002439247580000101
Where the complex Channel Impulse Response (CIR) of the transmitting unit p to the receiving antenna q can be expressed as:
Figure BDA0002439247580000102
wherein L is the number of distinguishable paths (tap), L is the total number of taps at time t, P l Is the gain of the first tap, h l，qp (t) represents complex time-varying tap gain, τ' l Representing the discrete propagation delay of the ith tap.
Therefore, it is necessary to analyze the geometric relationship and build a model h l，qp (t)。
As shown in FIG. 4, the geometric model takes the plane of the roof as XOY plane and the midpoint of the line connecting Tx and Rx as the origin of the coordinate system. Tx is located on the main road and Rx is located on the merge lane.
The model consists of two parts, one is a first unit with a transmitting antenna (Tx)
Figure BDA0002439247580000103
A semicircular ring as a circle center, which is positioned on the XOY plane. The moving scatterers around Tx, i.e. the moving vehicles on the left side of Tx, are considered to be distributed at the Tx end
Figure BDA0002439247580000104
As the center of circle, | R | | is a circle of radius. S m The m-th scatterer is shown,
Figure BDA0002439247580000105
denotes Tx p antenna element, R tableShowing device
Figure BDA0002439247580000106
And a vector pointing to the scatterers on the semicircular ring, | | R | | | represents a norm of R. However, due to the fact that the sound insulation wall shields the circular part, the circular part is cut off by the sound insulation wall, and the semicircular ring is adopted for modeling.
Second is multi-confocal semi-ellipsoid. T is a unit of x 、R x Stationary scatterers such as surrounding tall buildings and road signs are considered to be located on the spherical surface of the multi-confocal semi-ellipsoid. To be provided with
Figure BDA0002439247580000107
And a first unit of a receiving antenna (Rx)
Figure BDA0002439247580000108
An ellipse is made on the XOY plane for the focus, and the ellipse is then spatially rotated by 180 degrees to obtain a semi-ellipsoid. For simplicity, only one semi-major axis a is shown in FIG. 2 l Is formed by an ellipse of (a) l The calculation of (d) can be expressed as:
2a l ＝cτ′ l +2a 1
wherein c is the speed of light, a 1 Is the length of the semi-major axis of the ellipse corresponding to the first cluster, τ' l Relative time delay between the ith cluster and the first cluster. Wherein, L ═ L (1, 2., L) is the total tap number. S l，n Represents the nth scatterer on l tap,
Figure BDA0002439247580000111
denotes the Rx qth antenna element; the first cluster represents the closest (i.e., 2 a) to the elliptical bifocal communication distance (left focus-scatterer-right focus) 1 ) Geometrically as a collection of fixed scatterers located on the innermost semi-ellipsoidal surface.
Study of transmitter p (p ═ 1, 2.. M T ) Antenna unit to receiving end q (q 1, 2.. M) R ) The communication process of the antenna unit is carried out, and due to the shielding of the sound insulation wall, only DB, not LOS and SB exists in the link. Then its first taThe complex channel gain of p can be expressed as:
Figure BDA0002439247580000112
wherein M, N denotes the total number of scatterers on the semicircular ring and the l-th hemiellipsoid, respectively, m, n denote the scatterer index, f c Is the center frequency of the signal.
Consider the link of the ith tap through scatterers m and n, τ l，mn，qp (t) represents the time delay due to the path of the transmission, phi l，mn，D，qp (t) represents the phase shift, φ, caused by the Doppler shift of Tx, Rx and moving scatterers l，mn Is an additional phase shift caused by the combined action of the moving scatterer m and the fixed scatterer n, which is uniformly distributed in 0, 2 pi). Further:
(1) for time delay tau caused by transmission path l，mn，qp (t)：
Figure BDA0002439247580000113
d l，mnqp (t) represents the total length of the DB transmission path, and c is the speed of light.
ε l，pm (t) represents the transmission path vector, ε, from the Tx antenna element p to the scatterer m l，mn (t) represents the transmission path vector, ε, from scatterer m to scatterer n l，nq (t) represents the transmission path vector from scatterer n to antenna element q, then:
d l，mn，qp (t)＝||ε l，pm (t)||+||ε l，mn (t)||+||ε l，nq (t)||
where | l | · | |, represents a norm. Since only a short period of time is studied during which the vehicle will merge into the merge lane, epsilon l，pm (t)、ε l，mn (t) and ε l，nq (t) can be considered non-time-varying, so:
Figure BDA0002439247580000121
Figure BDA0002439247580000122
representing the vector of the left focus of the semi-ellipsoid pointing to the p antenna unit at the transmitting end, R represents the left focus of the semi-ellipsoid
Figure BDA0002439247580000123
Vector pointing to scatterer m on the semicircle:
Figure BDA0002439247580000124
Figure BDA0002439247580000125
wherein the content of the first and second substances,
Figure BDA0002439247580000126
and
Figure BDA0002439247580000127
are respectively as
Figure BDA0002439247580000128
The elevation and azimuth of the vehicle,
Figure BDA0002439247580000129
is the azimuth angle of R.
Wherein epsilon l，mn ＝f-R+ε l，n， f represents a vector with the origin of the coordinate system pointing to the right focus
Figure BDA00024392475800001210
Wherein f and f | | | are the vector and length from the coordinate system origin to the right focus respectively.
Wherein epsilon l，n Represents a vector with the origin of the coordinate system pointing to the first tap scatterer n,
Figure BDA00024392475800001211
vector representing the right focus pointing to the ith tap scatterer n:
Figure BDA00024392475800001212
Figure BDA00024392475800001213
wherein the content of the first and second substances,
Figure BDA00024392475800001214
and
Figure BDA00024392475800001215
respectively represent
Figure BDA00024392475800001216
Elevation and azimuth of.
Wherein the content of the first and second substances,
Figure BDA00024392475800001217
and
Figure BDA00024392475800001218
respectively represent
Figure BDA00024392475800001219
And
Figure BDA00024392475800001220
angle to the x-axis.
Figure BDA00024392475800001221
Wherein the content of the first and second substances,
Figure BDA00024392475800001222
Figure BDA0002439247580000131
k l ＝a l and/f represents the inverse of the eccentricity of the l ellipses.
Figure BDA0002439247580000132
Wherein the content of the first and second substances,
Figure BDA0002439247580000133
Figure BDA0002439247580000134
vector representing the right focus of the semi-ellipsoid pointing to the receiving-end antenna unit q:
Figure BDA0002439247580000135
(2) for phase shift phi caused by Doppler shift l，mn，D，qp (t) having:
φ l，mn，D，qp (t)＝φ l，DT (t)+φ l，Dm (t)+φ l，DR (t)
φ l，DT (t)，φ l，Dm (t) and phi l，DR (t) is represented by Tx, S m And the doppler phase shift introduced by Rx motion.
Wherein the phase shift due to Tx movement
φ l，DT (t)＝2π<ε l，pm ，v T >t/(||ε l，pm ||λ)
And lambda is the wavelength of the light beam, c as the speed of light:
Figure BDA0002439247580000136
among them, due to the movement of scatterer m on the semicircular ring:
Figure BDA0002439247580000137
wherein:
Figure BDA0002439247580000138
Figure BDA0002439247580000139
wherein, due to Rx movement:
φ l，DR (t)＝-2π<ε l，nq ，v R >/(||ε l，nq ||×λ)
(-) represents the vector inner product.
The LOS and SB components of electromagnetic waves are hindered by the presence of the deadening walls. At the same time, part of the DB component is also blocked by the soundproof wall.
As shown in FIG. 5, let z l，sn Is the plane of the sound-proof wall and the vector epsilon l，mn The height of the intersection from the horizontal plane, S due to the obstruction of the sound-insulating wall l，n Can receive the slave S m Reflected ray, S l，n ' then cannot. As shown in FIG. 5, with S l，n For example, let R x Is the length of the projection of the vector R on the x-axis, z l，n And x l，n Are respectively a vector ε l，mn The length of the projection in the z-axis and x-axis, H is the height of the sound-insulating wall, H is the height of the roof antenna, and the distance between the two elements is determined by the law of similarity of triangles, z l，sn It can be calculated that:
Figure BDA0002439247580000141
i.e. when z is l，sn Less than H-H (deadening wall height-roof antenna height), this DB reflection path does not exist.
Referring to fig. 6, the urban merged lane scene vehicle-to-vehicle three-dimensional channel modeling apparatus provided in the embodiment of the present invention includes:
the first model constructing unit 310 is configured to construct a semicircular model which is located on a top plane of a vehicle and is formed by separating a sound insulation wall, with an antenna of a vehicle at a transmitting end as a center of a circle and a distance between the antenna of the vehicle at the transmitting end and a moving vehicle located on a side surface of the vehicle at the transmitting end, which is not adjacent to the sound insulation wall, as a radius:
a second model constructing unit 320, configured to calculate a length of a major axis of an ellipse corresponding to each cluster from a relative time delay between the clusters by using an antenna of a vehicle at a transmitting end and an antenna of a vehicle at a receiving end as a focus, determine a multi-confocal ellipse located on a top plane of the vehicle, rotate the multi-confocal ellipse by 180 degrees along a straight line where the major axis is located, and then take a part above the top plane of the vehicle to obtain a multi-confocal semi-ellipsoid model; each cluster comprises a fixed scatterer positioned on the same multi-confocal semi-ellipsoid surface;
a resolvable path gain calculating unit 330, configured to determine resolvable path channel gain according to the semicircular model and the multi-confocal semi-ellipsoid model; wherein the distinguishable paths only include double-hop reflection paths:
a channel impulse response calculating unit 340, configured to determine a channel impulse response from the antenna of the transmitting-end vehicle to the antenna of the receiving-end vehicle according to the channel gain capable of resolving the path.
For specific limitations of the apparatus shown in fig. 6, please refer to the above specific limitations of the method for modeling a three-dimensional channel from a vehicle to a vehicle in an urban merged lane scene, which are not repeated herein.
In conclusion, the embodiment of the invention provides a three-dimensional random channel model for accurately describing vehicles from urban combined lane scene to vehicles, and provides the relation between the DB component existence condition and the height of the sound insulation wall under the model, so that the accuracy of the model is further improved.
It should be understood that the various techniques described herein may be implemented in connection with hardware or software or, alternatively, with a combination of both. Thus, the methods and apparatus of the present invention, or certain aspects or portions thereof, may take the form of program code (i.e., instructions) embodied in tangible media, such as floppy diskettes, CD-ROMs, hard drives, or any other machine-readable storage medium, wherein, when the program is loaded into and executed by a machine, such as a computer, the machine becomes an apparatus for practicing the invention.
In the case of program code execution on programmable computers, the computing device will generally include a processor, a storage medium readable by the processor (including volatile and non-volatile memory and/or storage elements), at least one input device, and at least one output device. Wherein the memory is configured to store program code; the processor is configured to perform the various methods of the present invention according to instructions in the program code stored in the memory.
By way of example, and not limitation, computer readable media may comprise computer storage media and communication media. Computer-readable media includes both computer storage media and communication media. Computer storage media store information such as computer readable instructions, data structures, program modules or other data. Communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media. Combinations of any of the above are also included within the scope of computer readable media.
It should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules or units or components of the devices in the examples disclosed herein may be arranged in a device as described in this embodiment, or alternatively may be located in one or more devices different from the device in this example. The modules in the foregoing examples may be combined into one module or may additionally be divided into multiple sub-modules.
Those skilled in the art will appreciate that the modules in the devices in an embodiment may be adaptively changed and arranged in one or more devices different from the embodiment. The modules or units or components in the embodiments may be combined into one module or unit or component, and furthermore, may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
Additionally, some of the embodiments are described herein as a method or combination of method elements that can be implemented by a processor of a computer system or by other means of performing the described functions. A processor with the necessary instructions for carrying out the method or the method elements thus forms a device for carrying out the method or the method elements. Further, the elements of the apparatus embodiments described herein are examples of the following apparatus: the apparatus is for performing functions performed by the elements for the purposes of this disclosure.
As used herein, unless otherwise specified the use of the ordinal adjectives "first", "second", "third", etc., to describe a common object, merely indicate that different instances of like objects are being referred to, and are not intended to imply that the objects so described must be in a given sequence, either temporally, spatially, in ranking, or in any other manner.
While the invention has been described with respect to a limited number of embodiments, those skilled in the art, having benefit of this description, will appreciate that other embodiments can be devised which do not depart from the scope of the invention as described herein. Furthermore, it should be noted that the language used in the specification has been principally selected for readability and instructional purposes, and may not have been selected to delineate or circumscribe the inventive subject matter. Accordingly, many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. The present invention has been disclosed in an illustrative rather than a restrictive sense, and the scope of the present invention is defined by the appended claims.

Claims (9)

1. A vehicle-to-vehicle three-dimensional channel modeling method for an urban merge lane scenario, comprising:
constructing a semi-circular model which is positioned on the plane of the top of the vehicle and is formed by separating sound insulation walls by taking an antenna of a vehicle at a transmitting end as the center of a circle and taking the distance between the antenna of the vehicle at the transmitting end and a moving vehicle positioned on the side surface of the vehicle at the transmitting end, which is not adjacent to the sound insulation walls, as the radius;
taking the antenna of the vehicle at the transmitting end and the antenna of the vehicle at the receiving end as focuses, calculating the length of the long axis of the ellipse corresponding to each cluster according to the relative time delay between the clusters, determining a multi-confocal ellipse positioned on the top plane of the vehicle, rotating the multi-confocal ellipse by 180 degrees along the straight line where the long axis is positioned, and then taking the part above the top plane of the vehicle to obtain a multi-confocal semi-ellipsoid model; each cluster comprises fixed scatterers positioned on the same multi-confocal semi-ellipsoid surface;
determining channel gain of distinguishable paths according to the semicircular ring model and the multi-confocal semi-ellipsoid model; wherein the resolvable paths only comprise double-hop reflection paths; the channel gain of the resolvable path is complex channel gain, and the complex channel gain of the l resolvable path is expressed as
Figure FDA0003714311680000011
M, N represents the total number of scatterers on the semicircular model and the multiple confocal semiellipsoid model, m and n represent scatterer indexes, f c Representing the centre frequency, τ, of the signal l，mn，qp (t) represents the time delay due to the transmission path, p is the p-th antenna unit of the antenna Tx of the transmitting end vehicle, q is the q-th antenna unit of the antenna Rx of the receiving end vehicle, phi l，mn，D，qp (t) represents a phase shift, phi, caused by Doppler shift l，mn Is an additional phase shift caused by the combined action of a movable scatterer m and a fixed scatterer n, and is uniformly distributed in [0, 2 pi ];
determining channel impact response from the antenna of the transmitting end vehicle to the antenna of the receiving end vehicle according to the channel gain of the distinguishable path; the complex Channel Impulse Response (CIR) from the transmitting unit p to the receiving antenna q may be represented as:
Figure FDA0003714311680000012
wherein L is the number of tap of the resolvable diameter, L is the total number of tap at the time t, P l Is the gain of the first tap, h l，qp (t) represents the complex time-varying tap gain, τ' l Representing the discrete propagation delay of the ith tap.
2. The method of claim 1, further comprising: and determining the existing double-hop reflection path according to the size relationship between the height of the intersection point of the plane of the sound insulation wall and the transmission path vector from the movable scatterer to the fixed scatterer from the horizontal plane and the height of the sound insulation wall.
3. The method of claim 1, wherein the time delay due to the path of transmission
Figure FDA0003714311680000021
Wherein d is l，mnqp (t) represents the total length of the transmission path of the double-hop reflection path, and c represents the speed of light.
4. The method of claim 3, wherein the total length d of the dual-hop reflection path transmission path l，mn，qp (t)＝||ε l，pm (t)||+||ε l，mn (t)||+||ε l，nq (t)||；
Wherein epsilon l，pm (t) represents the transmission path vector, ε, of the antenna unit p of the transmitting end vehicle to the moving scatterer m l，mn (t) represents the transmission path vector, ε, of the moving scatterer m to the fixed scatterer n l，nq (t) represents a transmission path vector from the fixed scatterer n to the antenna unit q of the receiving-end vehicle.
5. The method of claim 4, wherein determining the existing double bounce reflection path based on a magnitude relationship between a height of an intersection of a plane in which the deadening wall lies and a transmission path vector from the moving scatterer to the stationary scatterer from a horizontal plane and a height of the deadening wall comprises:
for any double-jump reflection path, when determining z l，sn When the reflection diameter is not less than H-H, determining that the double-jump reflection diameter exists;
wherein, the first and the second end of the pipe are connected with each other,
Figure FDA0003714311680000022
the plane of the roof is taken as an XOY plane, the midpoint of a connecting line of an antenna of a transmitting end vehicle and an antenna of a receiving end vehicle is taken as the origin of a coordinate system, and the x axis covers the antenna of the transmitting end vehicle and the antenna of the receiving end vehicleLine of lines, z-axis being in an upward direction perpendicular to said XOY plane, z l，sn Is the plane of the sound-insulating wall and the vector epsilon l，mn Height of intersection from horizontal plane, R x Is the length of the projection of the vector R on the x-axis, R representing the vector of the transmitting vehicle's antenna pointing at the scatterer on the semicircular ring, z l，n And x l，n Are respectively vector ε l，mn The length of the projection on the z-axis and x-axis, H is the height of the soundproof wall, and H is the height of the roof antenna.
6. The method of claim 1, wherein the doppler shift induced phase shift Φ l，mn，D，qp (t)＝φ l，DT (t)+φ l，Dm (t)+φ l，DR (t)；
Wherein phi is l，DT (t)，φ l，Dm (t) and phi l，DR (t) indicates doppler phase shifts introduced by the antenna Tx of the transmitting end vehicle, the mth moving scatterer, and the antenna Rx motion of the receiving end vehicle, respectively.
7. A vehicle-to-vehicle three-dimensional channel modeling apparatus for city merged lane scenarios, comprising:
the first model construction unit is used for constructing a semi-circular model which is positioned on the top plane of the vehicle and is formed by separating sound insulation walls by taking the antenna of the vehicle at the transmitting end as the center of a circle and taking the distance between the antenna of the vehicle at the transmitting end and the moving vehicle positioned on the side surface of the vehicle at the transmitting end, which is not adjacent to the sound insulation walls, as the radius;
the second model constructing unit is used for calculating the length of the long axis of the ellipse corresponding to each cluster by taking the antenna of the vehicle at the transmitting end and the antenna of the vehicle at the receiving end as focuses and the relative time delay between the clusters, determining a multi-confocal ellipse positioned on the top plane of the vehicle, rotating the multi-confocal ellipse by 180 degrees along the straight line where the long axis is positioned, and then taking the part above the top plane of the vehicle to obtain a multi-confocal semi-ellipsoid model; each cluster comprises fixed scatterers positioned on the same multi-confocal semi-ellipsoid surface;
the distinguishable path gain calculation unit is used for determining channel gain of distinguishable paths according to the semicircular ring model and the multi-confocal semi-ellipsoid model; wherein the resolvable paths only comprise double hop reflection paths; the channel gain of the first resolvable path is expressed as complex channel gain, and the complex channel gain of the first resolvable path is expressed as complex channel gain
Figure FDA0003714311680000031
M, N represents the total number of scatterers on the semicircular model and the multiple confocal semiellipsoid model, m and n represent scatterer indexes, f c Representing the centre frequency, τ, of the signal l，mn，qp (t) represents the time delay caused by the transmission path, p is the p-th antenna unit of the antenna Tx of the sending end vehicle, q is the q-th antenna unit of the antenna Rx of the receiving end vehicle, phi l，mn，D，qp (t) represents a phase shift, phi, caused by Doppler shift l，mn Is an additional phase shift caused by the combined action of the movable scatterer m and the fixed scatterer n, and is uniformly distributed in [0, 2 pi ];
the channel impulse response calculation unit is used for determining the channel impulse response from the antenna of the transmitting end vehicle to the antenna of the receiving end vehicle according to the channel gain of the distinguishable path; the complex Channel Impulse Response (CIR) from the transmitting unit p to the receiving antenna q may be represented as:
Figure FDA0003714311680000041
wherein L is the number of tap of the resolvable diameter, L is the total number of tap at the time t, P l Is the gain of the first tap, h l，qp (t) represents complex time-varying tap gain, τ' l Representing the discrete propagation delay of the ith tap.
8. A readable storage medium having executable instructions thereon which, when executed, cause a computer to perform the steps comprising the method of any one of claims 1-6.
9. A computing device, comprising:
one or more processors;
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors to perform the steps comprising of the method of any of claims 1-6.
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