CN111586111B - Networking method for communication fault states of cluster unmanned vehicles - Google Patents
Networking method for communication fault states of cluster unmanned vehicles Download PDFInfo
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- CN111586111B CN111586111B CN202010325547.4A CN202010325547A CN111586111B CN 111586111 B CN111586111 B CN 111586111B CN 202010325547 A CN202010325547 A CN 202010325547A CN 111586111 B CN111586111 B CN 111586111B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
- H04L41/0659—Management of faults, events, alarms or notifications using network fault recovery by isolating or reconfiguring faulty entities
- H04L41/0661—Management of faults, events, alarms or notifications using network fault recovery by isolating or reconfiguring faulty entities by reconfiguring faulty entities
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
- H04L41/0663—Performing the actions predefined by failover planning, e.g. switching to standby network elements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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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 provides a networking method of a cluster type unmanned vehicle communication fault state, which comprises the steps that double network cards are arranged during starting and are respectively established with a server and are kept in constant connection, a main network card and the server undertake service interaction, when a certain vehicle has a communication fault, the main network card can firstly carry service with the server by switching to a standby network card, and at the moment, the main network card decides to reconnect or restart the network card according to the current network state; when the communication faults occur in both the two network cards, the vehicle is connected with the server through the auxiliary network. The invention is a method for keeping reliable connection between the vehicle and the command and dispatch center, which can effectively improve the stability of networking, greatly shorten the time for switching the network and ensure the requirements of high reliability and low time delay of the system.
Description
Technical Field
The invention relates to the field of unmanned vehicle and vehicle networking in a closed scene, in particular to a networking method for communication fault states of cluster type unmanned vehicles.
Background
According to the definition of the technical innovation strategy alliance of the car networking industry, the car networking is a large system network which is based on an in-car network, an inter-car network and a vehicle-mounted mobile internet and performs wireless communication and information exchange between cars, roads, pedestrians, the internet and the like according to an agreed communication protocol and a data interaction standard, is an integrated network capable of realizing intelligent traffic management, intelligent dynamic information service and intelligent control of vehicles, and is a typical application of the technology of the internet of things in the field of traffic systems. In unmanned vehicles in mining areas, the vehicle networking technology is the basis for realizing information interaction between vehicles, between vehicle and road test equipment and between vehicles and an internet cloud platform, and the real-time state of the vehicles and the application and issuing of services all depend on network communication. When the network is disconnected, the platform end cannot acquire the real-time state of the vehicle, and meanwhile, the control command cannot be issued, so that the vehicle processing is in a complete out-of-control state. Thereby causing the system to be paralyzed and even causing serious traffic accidents, and causing great loss of personnel and property. Therefore, a significant problem for unmanned vehicles is reconnection after a network disconnection.
Disclosure of Invention
Based on the defects existing in the traditional disconnected network reconnection method, the invention provides a networking method for the communication fault state of cluster unmanned vehicles, which comprises the following specific steps:
the first step is as follows: setting a main network card and a standby network card and establishing connection with a command and dispatch center server at the same time, wherein the standby network card is always connected with the server while the main network card and the server carry out system service interaction;
the second step: when the communication fault between the main network card and the server is detected, the standby network card immediately replaces the main network card to perform service interaction with the server;
the third step: detecting the connection state of the main network card, and if the connection between the main network card and the server is disconnected but the local connection is normal, controlling the main network card to be immediately reconnected with the server according to a preset reconnection interval and reconnection times;
the fourth step: if the reconnection between the main network card and the server fails, replacing the server network address to which the main network card needs to be connected, and trying to reconnect by using the standby server network address;
the fifth step: the main network card sequentially selects network addresses from the standby server network address set to connect until the reconnection is successful or the network addresses in the standby server network address set are traversed and finished;
and a sixth step: if the main network card finishes traversing the network address in the standby server network address set, re-acquiring the available server network address set allocated to the vehicle, and re-trying to reconnect until success;
the seventh step: if the local connection of the main network card is detected to be abnormal, restarting the main network card according to a preset restart interval and restart times;
eighth step: after the main network card is restarted, immediately monitoring the message of the network state change of the main network card, and controlling the main network card to immediately reconnect with the server according to a preset reconnection interval and reconnection times when monitoring the message of the network state change of the main network card;
the ninth step: after the main network card is successfully connected, the standby network card is immediately replaced to carry out service interaction with the server, and the standby network card and the server are always kept in a connected state;
the tenth step: when the main network card carries service interaction, if the standby network card is detected to be in a state of network disconnection, the standby network card is reconnected with the server of the command scheduling center by adopting the same method as the main network card in the third step to the eighth step;
the eleventh step: and if the main network card and the standby network card and the server are detected to have communication faults, switching to an auxiliary networking mode to further ensure normal interaction of services.
The reconnection or restarting method in the third step and the seventh step specifically comprises the following steps: presetting reconnection or restarting times as N max The initial reconnection or restarting time interval T is based on the formula T N+1 ＝T N (N +1) reconnecting or restarting, wherein: t is N+1 Time interval of N +1 reconnection or restart, T N Time interval for N reconnection or restarting, N-number of reconnection, T 1 When N is equal to N max And directly controlling the main network card to restart.
Wherein the auxiliary networking mode selects C-V2X or DSRC or WIFI technology.
The invention has the advantages that:
1. the invention provides a method for maintaining reliable connection between a vehicle and a command and dispatch center. When a communication fault occurs in a certain vehicle, the vehicle can carry the service by switching to the standby network card. At this time, the main network card decides to reconnect or restart the network card according to the current network state. When the communication faults occur in both the two network cards, the vehicle is connected with the server through the auxiliary network.
2. The invention can effectively improve the stability of networking, greatly shorten the time of network switching and ensure the requirements of high reliability and low time delay of the system.
Drawings
FIG. 1 is a flow chart of a method for networking a cluster-based unmanned vehicle communication fault state of the present invention
Detailed Description
Referring to fig. 1, the networking method of the cluster type unmanned vehicle communication fault state of the invention is realized by the following steps,
the first step is as follows: setting a main network card and a standby network card and establishing connection with a command and dispatch center server at the same time, wherein the standby network card is always connected with the server while the main network card and the server perform system service interaction;
the second step: when the communication fault between the main network card and the server is detected, the standby network card immediately replaces the main network card to perform service interaction with the server;
the third step: detecting the connection state of the main network card, and if the connection between the main network card and the server is disconnected but the local connection is normal, controlling the main network card to be immediately reconnected with the server according to a preset reconnection interval and reconnection times;
the fourth step: if the reconnection between the main network card and the server fails, replacing the server network address to which the main network card needs to be connected, and trying to reconnect by using the standby server network address;
the fifth step: the main network card sequentially selects network addresses from the standby server network address set to connect until reconnection is successful or traversal of the network addresses in the standby server network address set is completed;
and a sixth step: if the main network card completes traversal of the network address in the standby server network address set, re-acquiring the available server network address set allocated to the vehicle, and re-trying reconnection until success;
the seventh step: if the local connection of the main network card is detected to be abnormal, restarting the main network card according to a preset restart interval and restart times;
the eighth step: after the main network card is restarted, immediately monitoring the message of the network state change of the main network card, and controlling the main network card to immediately reconnect with the server according to a preset reconnection interval and reconnection times when monitoring the message of the network state change of the main network card;
the ninth step: after the main network card is successfully connected, the standby network card is immediately replaced to carry out service interaction with the server, and the standby network card and the server are always kept in a connected state;
the tenth step: when the main network card carries service interaction, if the standby network card is detected to be in a state of network disconnection, the standby network card is reconnected with the server of the command scheduling center by adopting the same method as the main network card in the third step to the eighth step;
the eleventh step: and if the main network card and the standby network card and the server are detected to have communication faults, switching to an auxiliary networking mode to further ensure normal interaction of services.
The reconnection or restarting method in the third step and the seventh step specifically comprises the following steps: presetting reconnection or restarting times as N max The initial reconnection or restarting time interval T is based on the formula T N+1 ＝T N (N +1) reconnecting or restarting, wherein: t is N+1 Time interval of N +1 reconnection or restart, T N Time interval of N reconnection or restarting, N number of reconnection, T 1 When N is equal to N max And directly controlling the main network card to restart.
The auxiliary networking mode selects C-V2X or DSRC or WIFI technology.
The invention realizes continuous and reliable interaction with the command and dispatch center through continuous and uninterrupted network connection and communication by the method.
Claims (2)
1. A networking method for cluster-type unmanned vehicle communication fault states is characterized by comprising the following steps:
the first step is as follows: setting a main network card and a standby network card and establishing connection with a command and dispatch center server at the same time, wherein the standby network card is always connected with the server while the main network card and the server perform system service interaction;
the second step: when the communication fault between the main network card and the server is detected, the standby network card immediately replaces the main network card to perform service interaction with the server;
the third step: detecting the connection state of the main network card, and if the connection between the main network card and the server is disconnected but the local connection is normal, controlling the main network card to be immediately reconnected with the server according to a preset reconnection interval and reconnection times;
the fourth step: if the reconnection between the main network card and the server fails, replacing the server network address to which the main network card needs to be connected, and trying to reconnect by using the standby server network address;
the fifth step: the main network card sequentially selects network addresses from the standby server network address set to connect until reconnection is successful or traversal of the network addresses in the standby server network address set is completed;
and a sixth step: if the main network card finishes traversing the network address in the standby server network address set, re-acquiring the available server network address set allocated to the vehicle, and re-trying to reconnect until success;
the seventh step: if the local connection of the main network card is detected to be abnormal, restarting the main network card according to a preset restart interval and restart times;
eighth step: after the main network card is restarted, immediately monitoring the message of the network state change of the main network card, and controlling the main network card to immediately reconnect with the server according to a preset reconnection interval and reconnection times when monitoring the message of the network state change of the main network card;
the ninth step: after the main network card is successfully connected, the standby network card is immediately replaced to carry out service interaction with the server, and the standby network card and the server are always kept in a connected state;
the tenth step: when the main network card carries service interaction, if the standby network card is detected to be in a state of disconnection of a connection network, the standby network card is reconnected with the server of the command and dispatch center by adopting the same method as the main network card in the third step to the eighth step;
the eleventh step: if the main network card and the standby network card and the server are detected to have communication faults, switching to an auxiliary networking mode to further ensure normal interaction of services;
the reconnection or restarting methods in the third step and the seventh step specifically include: presetting reconnection or restart times as N max The initial reconnection or restarting time interval T is based on the formula T N+1 ＝T N (N +1) reconnecting or restarting, wherein: t is a unit of N+1 Time interval of N +1 reconnection or restart, T N Time interval for N reconnection or restart, N-number of reconnection, T 1 When N is equal to N max And directly controlling the main network card to restart.
2. The networking method of clustered unmanned vehicle communication fault conditions of claim 1, wherein the auxiliary networking means selects C-V2X or DSRC or WIFI technology.
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