CN112243213B

CN112243213B - Vehicle clustering method, device and equipment in Internet of vehicles and storable medium

Info

Publication number: CN112243213B
Application number: CN202011058759.7A
Authority: CN
Inventors: 刘凯; 路阳; 曹先彬; 张涛; 罗喜伶; 王珺珺; 许乙付
Original assignee: Beihang University
Current assignee: Beihang University
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2021-10-26
Anticipated expiration: 2040-09-30
Also published as: CN112243213A

Abstract

The embodiment of the invention provides a vehicle clustering method, a device, equipment and a storage medium in an internet of vehicles, and the specific implementation scheme is as follows: the method comprises the following steps: acquiring the average mobility of a target vehicle and HELLO data packets sent by neighbor vehicles within a preset range; determining the state of the target vehicle to enter the cluster according to the average mobility and the HELLO data packet; and if the state to be entered into the cluster group is determined to be the state of a cluster member and the corresponding cluster group is applied for joining, controlling the target vehicle to enter the independent cluster head state when the communication quality of the target vehicle in the corresponding cluster group is monitored to be smaller than a preset communication quality threshold value. The vehicle clustering method in the vehicle networking can improve the communication performance of the vehicle nodes at the tail end of the cluster group in the vehicle networking cluster, further reduce the time delay of the vehicle nodes at the tail end, and simultaneously control the target vehicle to enter an independent cluster head state when the communication quality of the target vehicle is poor, thereby reducing the sending amount of control information and lightening the channel burden.

Description

Vehicle clustering method, device and equipment in Internet of vehicles and storable medium

Technical Field

The embodiment of the invention relates to the technical field of Internet of vehicles, in particular to a vehicle clustering method, device and equipment in the Internet of vehicles and a storage medium.

Background

The internet of vehicles is an application of wireless local area communication networks in traffic network environments. Essentially, the Internet of vehicles originates from the Internet of things and has three characteristics of the Internet of things, namely object sensing, information transmission and intelligent processing. The three characteristics are substituted into the internet of vehicles, the perception object is that the vehicle acquires information of the vehicle and the information around the vehicle through a sensor carried by the vehicle, the information transmission is that information data transmission is carried out through protocol and wireless communication, and the intelligent processing is that the vehicle has an information processing function. Specifically, the internet of vehicles not only connects vehicles to vehicles, but also connects vehicles to pedestrians, vehicles to roads, vehicles to infrastructure (signal lights, etc.), vehicles to networks, and vehicles to clouds.

With the continuous development of wireless communication technology and embedded systems, the clustering algorithm is the focus of research on the current internet of vehicles. The clustering algorithm works by associating mobile nodes (typically vehicles) into clusters according to some set of rules and selecting a node called Cluster Head (CH) to mediate the clusters and other parts of the network. A member that does not become a CH in the cluster becomes a general Cluster Member (CM). Clustering is a strategy that can generate a hierarchical network topology instead of physical techniques.

Passive clustering in the current clustering algorithm is a widely used mode. Vehicles in the passive cluster carry out neighborhood discovery through Hello message receiving and sending, and the vehicles realize orderly establishment, maintenance and combination of cluster groups by defining different communication states and switching among the states. However, the communication performance of the cluster end vehicle nodes in the passive clustering is often poor, thereby causing the end vehicle nodes to have large time delay.

Disclosure of Invention

The invention provides a vehicle clustering method, a device, equipment and a storage medium in an internet of vehicles, which are used for solving the problem that the communication performance of end vehicles of clusters in the existing passive clustering is poor, so that the time delay of the end vehicles is great.

A first aspect of embodiments of the present invention provides a method applied to an electronic device mounted on a target vehicle, the method including:

acquiring the average mobility of a target vehicle and HELLO data packets sent by neighbor vehicles within a preset range;

determining a state of the target vehicle to enter a cluster according to the average mobility of the target vehicle and the HELLO data packet;

if the state to be entered into the cluster group is determined to be a cluster member state and the corresponding cluster group is applied to be added, monitoring the communication quality of the target vehicle in the corresponding cluster group;

if the communication quality of the target vehicle in the corresponding cluster group is monitored to be smaller than a preset communication quality threshold value, the target vehicle is disconnected from the corresponding cluster group, and the target vehicle is controlled to enter an independent cluster head state.

Further, the method as described above, further comprising:

and if the state to be entered into the cluster is determined to be the cluster member state and the application is not passed through the joining of the corresponding cluster, controlling the target vehicle to enter the independent cluster head state.

Further, the method as described above, further comprising:

if the target vehicle is controlled to enter the independent cluster head state, the method further comprises the following steps:

judging whether the time of the target vehicle entering the independent cluster head state reaches the preset time or not;

and if the preset time is determined to be reached, executing the step of acquiring the average mobility of the target vehicle and the HELLO data packet sent by the neighbor vehicle in the preset range.

Further, the method as described above, the HELLO data packet includes neighbor vehicle identification information, neighbor vehicle average mobility, and the number of neighbor vehicles;

determining a state of the target vehicle to enter a cluster according to the average mobility of the target vehicle and the HELLO data packet, including:

inputting the average mobility of the target vehicle, the neighbor vehicle identification information, the average mobility of the neighbor vehicles and the number of the neighbor vehicles into a preset cluster head judgment formula, and judging whether the state of the target vehicle to enter the cluster accords with the cluster head state or not through the preset cluster head judgment formula;

if the cluster head state is met, determining that the state of the target vehicle to enter the cluster is the cluster head state;

if the cluster head state is not met, judging whether cluster head state vehicles or cluster member state vehicles exist in the neighbor vehicles according to the neighbor vehicle identification information and the number of the neighbor vehicles;

if it is determined that cluster head state vehicles or cluster member state vehicles exist in the neighbor vehicles, determining that the state of the target vehicle to enter the cluster group is a cluster member state;

and if it is determined that the cluster head state vehicle and the cluster member state vehicle do not exist in the neighbor vehicles, determining that the state of the target vehicle to enter the cluster group is an independent cluster head state.

Further, the method as described above, before determining that the target vehicle is to enter the cluster state according to the average mobility of the target vehicle and the HELLO packet, further comprising:

if a HELLO data packet sent by a neighbor vehicle within a preset range is received, starting a state determination timer;

correspondingly, if it is determined that the cluster head state vehicle and the cluster member state vehicle do not exist in the neighbor vehicle, determining that the state of the target vehicle to enter the cluster group is an independent cluster head state includes:

and if it is determined that the cluster head state vehicle and the cluster member state vehicle do not exist in the neighbor vehicles and the time of the state determination timer is equal to the preset time, determining that the state of the target vehicle to enter the cluster group is an independent cluster head state.

Further, the method as described above, further comprising:

if the cluster head state is met, after the state that the target vehicle is to enter the cluster is determined to be the cluster head state, the method further comprises the following steps:

controlling the target vehicle to enter a cluster head state;

if it is determined that the cluster head state vehicle or the cluster member state vehicle exists in the neighbor vehicle, after it is determined that the state of the target vehicle to enter the cluster group is the cluster member state, the method further includes:

applying for joining a corresponding cluster group to a cluster head state vehicle in the cluster group corresponding to the neighbor vehicle in the cluster head state or the cluster member state according to the HELLO data packet;

and if receiving a notice of agreeing to join the cluster group, controlling the target vehicle to enter a cluster member state in the cluster group corresponding to the neighbor vehicle.

Further, the method as described above, further comprising:

if the target vehicle enters a cluster head state, monitoring whether a cluster group where the target vehicle is located disappears;

if monitoring that the cluster in which the target vehicle is located disappears, determining that the state of the target vehicle to enter the cluster is an independent cluster head state;

if the cluster group where the target vehicle is located is monitored not to be lost, whether cluster head vehicles of other cluster groups exist in the preset range is detected;

if the cluster head vehicles of other cluster groups are detected in the preset range, judging whether the target vehicle accords with the cluster head state;

if the cluster head state is determined to be met, establishing connection with cluster head vehicles of other cluster groups so as to fuse the current cluster group of the target vehicle and the other cluster groups into a new cluster group;

and if the cluster head state is determined not to be met, controlling the target vehicle to enter a cluster member state.

A second aspect of embodiments of the present invention provides an apparatus in an electronic device mounted on a target vehicle, including:

the acquisition module is used for acquiring the average mobility of the target vehicle and HELLO data packets sent by neighbor vehicles within a preset range;

a determining module, configured to determine, according to the average mobility of the target vehicle and the HELLO packet, a state of the target vehicle to enter a cluster;

the monitoring module is used for monitoring the communication quality of the target vehicle in the corresponding cluster group if the state to be entered into the cluster group is determined to be the state of a cluster member and the corresponding cluster group is applied to be added;

and the quality protection module is used for disconnecting the connection with the corresponding cluster group and controlling the target vehicle to enter an independent cluster head state if the communication quality of the target vehicle in the corresponding cluster group is monitored to be smaller than a preset communication quality threshold value.

Further, the apparatus as described above, further comprising:

and the state control module is used for controlling the target vehicle to enter an independent cluster head state if the state to be entered into the cluster is determined to be a cluster member state and the corresponding cluster is not applied to be added.

Further, the apparatus as described above, further comprising:

the circulation module is used for judging whether the time for the target vehicle to enter the independent cluster head state reaches preset time or not if the target vehicle is controlled to enter the independent cluster head state;

Further, the apparatus as described above, the HELLO data packet includes neighbor vehicle identification information, neighbor vehicle average mobility, and the number of neighbor vehicles;

the determining module is specifically configured to:

Further, the apparatus as described above, further comprising:

the timer starting module is used for starting a state determination timer if a HELLO data packet sent by a neighbor vehicle within a preset range is received;

correspondingly, if it is determined that the cluster head state vehicle and the cluster member state vehicle do not exist in the neighboring vehicle, the determining module is specifically configured to:

Further, the apparatus as described above, the apparatus further comprising:

the cluster head control module is used for controlling the target vehicle to enter a cluster head state;

the cluster member control module is used for applying for joining a corresponding cluster group to a cluster head state vehicle in the cluster group corresponding to a neighbor vehicle in a cluster head state or a cluster member state according to the HELLO data packet; and if receiving a notice of agreeing to join the cluster group, controlling the target vehicle to enter a cluster member state in the cluster group corresponding to the neighbor vehicle.

Further, the apparatus as described above, further comprising:

the cluster condition processing module is used for monitoring whether a cluster where the target vehicle is located disappears or not if the target vehicle enters a cluster head state; if monitoring that the cluster in which the target vehicle is located disappears, determining that the state of the target vehicle to enter the cluster is an independent cluster head state; if the cluster group where the target vehicle is located is monitored not to be lost, whether cluster head vehicles of other cluster groups exist in the preset range is detected; if the cluster head vehicles of other cluster groups are detected in the preset range, judging whether the target vehicle accords with the cluster head state; if the cluster head state is determined to be met, establishing connection with cluster head vehicles of other cluster groups so as to fuse the current cluster group of the target vehicle and the other cluster groups into a new cluster group; and if the cluster head state is determined not to be met, controlling the target vehicle to enter a cluster member state.

A third aspect of an embodiment of the present invention provides a vehicle clustering device in an internet of vehicles, including: a memory, a processor;

a memory; a memory for storing the processor-executable instructions;

wherein the processor is configured to execute the vehicle clustering method in the internet of vehicles of any one of the first aspect by the processor.

A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, the computer-readable storage medium is configured to implement the vehicle clustering method in the internet of vehicles according to any one of the first aspects.

The embodiment of the invention provides a vehicle clustering method, a device, equipment and a storage medium in an internet of vehicles, wherein the method is applied to electronic equipment, the electronic equipment is carried on a target vehicle, and the method comprises the following steps: acquiring the average mobility of a target vehicle and HELLO data packets sent by neighbor vehicles within a preset range; determining a state of the target vehicle to enter a cluster according to the average mobility of the target vehicle and the HELLO data packet; if the state to be entered into the cluster group is determined to be a cluster member state and the corresponding cluster group is applied to be added, monitoring the communication quality of the target vehicle in the corresponding cluster group; if the communication quality of the target vehicle in the corresponding cluster group is monitored to be smaller than a preset communication quality threshold value, the target vehicle is disconnected from the corresponding cluster group, and the target vehicle is controlled to enter an independent cluster head state. The vehicle clustering method in the vehicle networking of the embodiment of the invention determines the state of a target vehicle to enter a cluster group according to the average mobility of the target vehicle and a HELLO data packet sent by neighbor vehicles in a preset range by acquiring the average mobility of the target vehicle and the HELLO data packet, starts to monitor the communication quality of the target vehicle in a corresponding cluster group in real time if the determined state is a cluster member state, controls the target vehicle to enter an independent cluster head state by disconnecting the target vehicle from the corresponding cluster group when the communication quality is less than a preset communication quality threshold value, and forms a framework for independently establishing connection between the target vehicle and a base station in the independent cluster head state, thereby improving the communication performance of vehicle nodes at the tail end of the cluster group in the vehicle networking cluster, further reducing the time delay of the vehicle nodes at the tail end, and simultaneously controls the target vehicle to enter the independent cluster head state when the communication quality of the target vehicle is poor, therefore, the transmission amount of the control information can be reduced, and the load of the channel can be reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 is a scene diagram of a vehicle clustering method in a vehicle networking system, which can implement an embodiment of the present invention;

FIG. 2 is a schematic flow chart illustrating a method for clustering vehicles in a vehicle networking system according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart illustrating a method for clustering vehicles in a vehicle networking system according to another embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating cluster merging in a vehicle clustering method in the Internet of vehicles according to another embodiment of the present invention;

FIG. 5 is a schematic diagram of a cycle flow of a vehicle clustering method in the Internet of vehicles according to another embodiment of the present invention;

fig. 6 is a schematic structural diagram of a vehicle clustering device in the internet of vehicles according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

With the above figures, certain embodiments of the invention have been illustrated and described in more detail below. The drawings and the description are not intended to limit the scope of the inventive concept in any way, but rather to illustrate it by those skilled in the art with reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.

The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.

An application scenario of the vehicle clustering method in the internet of vehicles provided by the embodiment of the invention is described below. As shown in fig. 1, 1 is a cluster head state vehicle, 2 is an electronic device, 3 is a target vehicle, 4 is a cluster member state vehicle, and 5 is a base station. The network architecture of the application scene corresponding to the vehicle clustering method in the internet of vehicles provided by the embodiment of the invention comprises the following steps: the cluster head state vehicle comprises a cluster head state vehicle 1, an electronic device 2, a target vehicle 3, a cluster member state vehicle 4 and a base station 5, wherein the cluster head state vehicle 1, the target vehicle 3 and the cluster member state vehicle 4 are within a preset distance range. The electronic device 2 acquires the average mobility of the target vehicle 3 and HELLO packets transmitted by the cluster head state vehicle 1 and the cluster member state vehicle 4. The electronic device 2 determines the state of the target vehicle 3 to enter the cluster according to the average mobility of the target vehicle 3 and the HELLO data packet. The present application scenario exemplifies a state in which the target vehicle 3 is to enter the cluster group as a cluster member state. At this time, the electronic device 2 transmits a request for joining a cluster to the cluster head state vehicle 1, and after applying for joining a corresponding cluster, performs communication following the cluster head state vehicle 1. Meanwhile, the communication quality of the target vehicle 3 in the corresponding cluster is monitored in real time. If the communication quality of the target vehicle 3 in the corresponding cluster group is monitored to be smaller than the preset communication quality threshold value, the connection with the corresponding cluster group is disconnected, and the target vehicle 3 is controlled to enter an independent cluster head state. Therefore, the communication quality of the target vehicle serving as the cluster end vehicle node is monitored, and the independent cluster head state is combined, so that the communication performance of the cluster end vehicle node in the Internet of vehicles cluster is improved, and the time delay of the end vehicle node is further reduced.

The vehicle clustering method in the vehicle networking provided by the embodiment of the invention determines the state of the target vehicle to enter the cluster group according to the average mobility of the target vehicle and the HELLO data packet sent by the neighbor vehicle in the preset range by acquiring the average mobility of the target vehicle and the HELLO data packet, starts to monitor the communication quality of the target vehicle in the corresponding cluster group in real time if the determined state is the cluster member state, controls the target vehicle to enter the independent cluster head state by disconnecting the target vehicle from the corresponding cluster group when the communication quality is less than the preset communication quality threshold value, and forms a framework for independently establishing connection between the target vehicle and the base station in the independent cluster head state, thereby improving the communication performance of the end vehicle node of the cluster group in the vehicle networking cluster, further reducing the time delay of the end vehicle node, and simultaneously controls the target vehicle to enter the independent cluster head state when the communication quality of the target vehicle is poor, therefore, the transmission amount of the control information can be reduced, and the load of the channel can be reduced.

The embodiments of the present invention will be described with reference to the accompanying drawings.

Fig. 2 is a schematic flow chart of a vehicle clustering method in a vehicle networking according to an embodiment of the present invention, and as shown in fig. 2, in this embodiment, an execution subject of the embodiment of the present invention is a vehicle clustering device in a vehicle networking, where the vehicle clustering device in a vehicle networking may be integrated in an electronic device, and the electronic device may be integrated in a target vehicle. The vehicle clustering method in the internet of vehicles provided by the embodiment includes the following steps:

step S101, obtaining the average mobility of the target vehicle and HELLO data packets sent by the neighbor vehicles within a preset range.

First, in this embodiment, the preset range may be a circular range with a preset radius and a target vehicle as a center of a circle, and the preset radius may be 300 meters, and meanwhile, the preset range may also be set according to actual requirements, which is not limited in this embodiment.

In the present embodiment, the average migration rate indicates the average migration speed of the vehicle. HELLO packets (all called HELLO packets) are used for supply-demand relationships like virtual IP addresses. The HELLO data packet may include neighbor vehicle identification information, neighbor vehicle average mobility, and the number of neighbor vehicles. The neighbor vehicle identification information is information that mainly plays a role of identification. The average mobility of the neighboring vehicles refers to the average mobility that can be achieved when communication connection is established. The number of neighbor vehicles refers to the number of neighbor vehicles within a preset range of the corresponding neighbor vehicle that sent the HELLO data packet. For example, sending a HELLO packet to the neighboring vehicle a of the target vehicle, where the predetermined range includes a total of 4 neighboring vehicles including the target vehicle, the number of the neighboring vehicles sent by the neighboring vehicle a is 4.

And step S102, determining the state of the target vehicle to enter the cluster according to the average mobility of the target vehicle and the HELLO data packet.

In this embodiment, the states of the target vehicle to enter the cluster generally include three states, i.e., a cluster head state, a cluster member state, or an independent cluster head state. The cluster head state, similar to the role of a traditional cluster head, will manage the communication between the cluster members and the base stations at the roadside as a cluster head. And the cluster member state is used as a cluster member and connected with the cluster head state vehicle in a 1-hop or multi-hop mode, and the cluster head state vehicle is communicated with the roadside base station. The independent cluster head state is an independent vehicle node state, the vehicle can be directly connected with a roadside base station without a cluster to complete communication, and the communication quality is high. In the current clustering mode, the independent cluster head state is basically only used for the condition that a single vehicle runs on a road and no neighbor vehicles are arranged around the vehicle.

Step S103, if the state to be entered into the cluster is determined to be the cluster member state and the corresponding cluster is applied to be added, the communication quality of the target vehicle in the corresponding cluster is monitored.

In this embodiment, after determining that the state to be entered into the cluster is the cluster member state, a cluster joining request is sent to a cluster head state vehicle in the corresponding cluster. And after the vehicle in the cluster head state passes the application, adding the corresponding cluster.

In this embodiment, because the communication quality of the target vehicle at the end vehicle node is poor in the current clustering mode, the connection with the cluster group can be disconnected by adding quality monitoring when the quality is poor, so that the target vehicle enters an independent cluster head state, and the communication quality of the vehicle is improved.

And step S104, if the communication quality of the target vehicle in the corresponding cluster is monitored to be smaller than a preset communication quality threshold value, disconnecting the target vehicle from the corresponding cluster, and controlling the target vehicle to enter an independent cluster head state.

In this embodiment, the preset communication quality threshold may be set according to an actual situation, which is not limited in this embodiment. In this embodiment, after the target vehicle is controlled to enter the independent cluster head state, the target vehicle may be in communication connection with the roadside base station separately, so that the communication quality of the target vehicle is improved.

The embodiment of the invention provides a vehicle clustering method in an internet of vehicles, which is applied to electronic equipment, wherein the electronic equipment is carried on a target vehicle, and the method comprises the following steps: and acquiring the average mobility of the target vehicle and HELLO data packets sent by neighbor vehicles within a preset range. And determining the state of the target vehicle to enter the cluster according to the average mobility of the target vehicle and the HELLO data packet. And if the state to be entered into the cluster is determined to be the state of a cluster member and the corresponding cluster is applied to be added, monitoring the communication quality of the target vehicle in the corresponding cluster. If the communication quality of the target vehicle in the corresponding cluster group is monitored to be smaller than a preset communication quality threshold value, the target vehicle is disconnected from the corresponding cluster group, and the target vehicle is controlled to enter an independent cluster head state. The vehicle clustering method in the vehicle networking of the embodiment of the invention determines the state of a target vehicle to enter a cluster group according to the average mobility of the target vehicle and a HELLO data packet sent by neighbor vehicles in a preset range by acquiring the average mobility of the target vehicle and the HELLO data packet, starts to monitor the communication quality of the target vehicle in a corresponding cluster group in real time if the determined state is a cluster member state, controls the target vehicle to enter an independent cluster head state by disconnecting the target vehicle from the corresponding cluster group when the communication quality is less than a preset communication quality threshold value, and forms a framework for independently establishing connection between the target vehicle and a base station in the independent cluster head state, thereby improving the communication performance of vehicle nodes at the tail end of the cluster group in the vehicle networking cluster, further reducing the time delay of the vehicle nodes at the tail end, and simultaneously controls the target vehicle to enter the independent cluster head state when the communication quality of the target vehicle is poor, therefore, the transmission amount of the control information can be reduced, and the load of the channel can be reduced.

Fig. 3 is a schematic flow chart of a vehicle clustering method in a vehicle networking according to another embodiment of the present invention, and as shown in fig. 3, the vehicle clustering method in a vehicle networking according to this embodiment is further detailed in steps based on the vehicle clustering method in a vehicle networking according to the previous embodiment of the present invention. The vehicle clustering method in the internet of vehicles provided by the embodiment comprises the following steps.

Step S201, obtaining the average mobility of the target vehicle and HELLO data packets sent by the neighbor vehicles within the preset range.

In this embodiment, the implementation manner of step 201 is similar to that of step 101 in the previous embodiment of the present invention, and is not described in detail here.

Wherein step 202-206 is a further refinement of step 102.

In step S202, the HELLO data packet includes the identification information of the neighboring vehicles, the average mobility of the neighboring vehicles, and the number of the neighboring vehicles. Meanwhile, the average mobility of the target vehicle, the identification information of the neighbor vehicles, the average mobility of the neighbor vehicles and the number of the neighbor vehicles are input into a preset cluster head judgment formula, so that whether the state of the target vehicle to enter the cluster accords with the cluster head state or not is judged through the preset cluster head judgment formula.

In this embodiment, the preset cluster head determination formula is:

wherein N is_fRepresenting the degree of following, the degree of following being represented by the number of neighboring vehicles, AvgMobility representing the average mobility, the average mobility being represented by the vehicle speed, N_{f_x}Indicating the degree of following of the target vehicle, N_{f_neighbors}Indicating degree of following of a neighbour vehicle, AvgMobility_xRepresents the average mobility, AvgMobilty, of the target vehicle_neighborsRepresenting the average mobility of the neighboring vehicles.

In this embodiment, it is first necessary to determine whether or not the target vehicle is in the cluster head state, so that the vehicle in the cluster head state becomes a cluster head state vehicle when the communication quality of the target vehicle is good, and the number of vehicles in the cluster member state which remain even when the communication quality of the target vehicle itself is good is reduced.

Step S203, if the cluster head state is met, it is determined that the state of the target vehicle to enter the cluster is the cluster head state.

In this embodiment, when a target vehicle enters a cluster head state, the target vehicle forms a cluster with a corresponding neighboring vehicle, establishes a connection with a roadside base station, and transmits a signal to a cluster member vehicle in the cluster.

And step S204, if the cluster head state is not met, judging whether cluster head state vehicles or cluster member state vehicles exist in the neighbor vehicles according to the neighbor vehicle identification information and the number of the neighbor vehicles.

In this embodiment, if a cluster head state vehicle or a cluster member state vehicle exists in the neighboring vehicle, it represents that there is a generated cluster group in the area near the target vehicle. When the target vehicle does not conform to the cluster head state, whether a cluster head state vehicle or a cluster member state vehicle exists in the neighbor vehicles is judged, so that the target vehicle is controlled to directly join the formed cluster to be in the cluster member state, and the cluster building efficiency is improved.

Step S205, if it is determined that the cluster head state vehicle or the cluster member state vehicle exists in the neighbor vehicle, it is determined that the state of the target vehicle to enter the cluster is the cluster member state.

In this embodiment, when the target vehicle does not conform to the cluster head state, it is preferentially determined whether the target vehicle conforms to the condition of the cluster member state, and if there is a cluster head state vehicle or a cluster member state vehicle in the neighbor vehicle, the target vehicle is controlled to directly join the already-formed cluster to become the cluster member state, so that the cluster building efficiency can be improved.

Step S206, if it is determined that the cluster head state vehicle and the cluster member state vehicle do not exist in the neighbor vehicle, it is determined that the state of the target vehicle to enter the cluster is the independent cluster head state.

In this embodiment, when the target vehicle does not conform to the cluster head state, and the neighbor vehicle does not have a cluster head state vehicle or a cluster member state vehicle, then, controlling the target vehicle to enter the independent cluster head state can improve the communication quality of the target vehicle.

Step S207, if the state to enter the cluster is determined to be the cluster member state and the corresponding cluster is applied to be added, the communication quality of the target vehicle in the corresponding cluster is monitored.

In this embodiment, the implementation manner of step 207 is similar to that of step 103 in the previous embodiment of the present invention, and is not described in detail here.

And step S208, if the communication quality of the target vehicle in the corresponding cluster is monitored to be smaller than a preset communication quality threshold value, disconnecting the target vehicle from the corresponding cluster, and controlling the target vehicle to enter an independent cluster head state.

In this embodiment, the implementation manner of step 208 is similar to that of step 104 in the previous embodiment of the present invention, and is not described in detail here.

Step S209, determine whether the time for the target vehicle to enter the independent cluster head state reaches a preset time.

In this embodiment, when the target vehicle enters the independent cluster head state, a preset time may be set, for example, a time of 10 seconds is set, so that while the communication quality of the target vehicle is maintained, the state may not be switched within the preset time, and after the preset time, whether a condition of becoming the cluster head state or the cluster member state exists is determined, and then the target vehicle is controlled to become the corresponding cluster head state or the cluster member state.

Step S210, if the preset time is determined to be reached, the steps of obtaining the average mobility of the target vehicle and HELLO data packets sent by the neighbor vehicles in the preset range are executed.

In this embodiment, when the time when the target enters the independent cluster head state reaches the preset time, the step of obtaining the average mobility of the target vehicle and the HELLO data packet sent by the neighbor vehicle within the preset range may be executed again, and a new cycle is performed.

Optionally, in this embodiment, the method further includes:

and if the state to be entered into the cluster is determined to be the cluster member state and the application does not pass the joining of the corresponding cluster, controlling the target vehicle to enter the independent cluster head state.

In this embodiment, when the state of the target vehicle to enter the cluster is a cluster member state, but the cluster does not pass the joining application of the target vehicle, at this time, in order to avoid the problem that the target vehicle cannot enter the cluster due to being in a state of waiting to enter the cluster, and thus cannot form good communication connection, the communication quality of the target vehicle may be improved by controlling the target vehicle to enter an independent cluster head state.

Optionally, in this embodiment, before determining, according to the average mobility of the target vehicle and the HELLO data packet, that the target vehicle is to enter the cluster, the method further includes:

and if the HELLO data packet sent by the neighbor vehicle within the preset range is received, starting a state determination timer.

Correspondingly, if it is determined that the cluster head state vehicle and the cluster member state vehicle do not exist in the neighboring vehicle, it is determined that the state of the target vehicle to enter the cluster group is an independent cluster head state, including:

and if it is determined that the cluster head state vehicle and the cluster member state vehicle do not exist in the neighbor vehicle and the time of the state determination timer is equal to the preset time, determining that the state of the target vehicle to enter the cluster group is an independent cluster head state.

In this embodiment, a state determination timer is preset, and when receiving a HELLO packet sent by a neighboring vehicle within a preset range, the state determination timer is started, and when determining that there is no cluster head state vehicle or cluster member state vehicle in the neighboring vehicle, if the time of the state determination timer is equal to the preset time, it is determined that a state of a target vehicle to enter a cluster group is an independent cluster head state, and the target vehicle is controlled to enter the independent cluster head state.

In this embodiment, the state determination timer is mainly configured to reduce a problem that the target vehicle is stopped in the determination process due to an error in the state process of determining the target vehicle to enter the cluster, so as to improve the communication quality of the target vehicle.

Optionally, in this embodiment, the method further includes:

and controlling the target vehicle to enter a cluster head state.

Meanwhile, if it is determined that a cluster head state vehicle or a cluster member state vehicle exists in the neighboring vehicle, after it is determined that the state of the target vehicle to enter the cluster group is the cluster member state, the method further includes:

and applying for joining the corresponding cluster group to a cluster head state vehicle in the cluster group corresponding to the neighbor vehicle in the cluster head state or the cluster member state according to the HELLO data packet.

And if the notice of agreeing to join the cluster group is received, controlling the target vehicle to enter the cluster member state in the cluster group corresponding to the neighbor vehicle.

In this embodiment, when the target vehicle needs to join the corresponding cluster group, the target vehicle needs to apply for joining the corresponding cluster group to the cluster head state vehicle in the cluster group.

Optionally, in this embodiment, the method further includes:

and if the target vehicle enters the cluster head state, monitoring whether the cluster in which the target vehicle is located disappears.

And if the cluster in which the target vehicle is located is monitored to be lost, determining that the state of the target vehicle to enter the cluster is an independent cluster head state.

Meanwhile, if it is monitored that the cluster group where the target vehicle is located does not die, whether cluster head vehicles of other cluster groups exist in a preset range or not is detected.

And if the cluster head vehicles of other cluster groups are detected in the preset range, judging whether the target vehicle accords with the cluster head state.

And if the cluster head state is determined to be met, establishing connection with cluster head vehicles of other cluster groups so as to fuse the current cluster group of the target vehicle and the other cluster groups into a new cluster group.

In this embodiment, since the driving state of the vehicles in the cluster is random in a normal situation, the vehicles may go straight at the current time or turn at the next time, and the cluster time may change. When a cluster disappears at a certain moment, namely all cluster member state vehicles of the cluster are separated from the cluster range, and only cluster head state vehicles are left. At this time, in order to improve the communication quality of the target vehicle, it may be determined that the state of the target vehicle to enter the cluster is an independent cluster head state. When no cluster disappears, if cluster head vehicles of other clusters are detected within a preset range, in order to reduce signal interference between clusters, at this time, a cluster merging process may be performed to form a new cluster. And if the target vehicle still accords with the cluster head state, the cluster head state vehicle of the new cluster is the target vehicle, otherwise, the cluster head state vehicle of the new cluster is the cluster head state vehicle of other clusters, and the target vehicle is connected with the cluster head state vehicles of other clusters.

According to the vehicle clustering method in the internet of vehicles provided by the embodiment of the invention, the average mobility of a target vehicle and a HELLO data packet sent by a neighbor vehicle in a preset range are obtained, at the moment, a state determination timer is started, then the state of the target vehicle to enter a cluster is determined according to the average mobility of the target vehicle and the HELLO data packet, and the states of the target vehicle to enter the cluster are three, namely a cluster head state, a cluster member state or an independent cluster head state. After the state of the target vehicle is determined, corresponding state processing is performed. If the state to be entered into the cluster is still not determined when the state determination timer reaches the expected timing time, the target vehicle is controlled to directly enter the independent cluster head state, and therefore better communication quality can be maintained when the target vehicle cannot be entered into the cluster under the accident condition. And if the state is determined to be the cluster member state, starting to monitor the communication quality of the target vehicle in the corresponding cluster group in real time, and when the communication quality is smaller than a preset communication quality threshold value, controlling the target vehicle to enter an independent cluster head state by disconnecting the connection with the corresponding cluster group, and forming a framework for independently establishing the connection between the target vehicle and the base station in the independent cluster head state, so that the communication performance of a cluster group tail end vehicle node in the internet of vehicles cluster is improved, and the time delay of the tail end vehicle node is further reduced. Meanwhile, the clustering stability in the Internet of vehicles can be stronger and the clustering device can adapt to more conditions by properly using the state of the independent cluster head.

Fig. 4 is a schematic diagram of cluster merging in a vehicle clustering method in the internet of vehicles according to another embodiment of the present invention, and fig. 5 is a schematic diagram of a loop flow of the vehicle clustering method in the internet of vehicles according to another embodiment of the present invention. As shown in fig. 4 and fig. 5, the method for clustering vehicles in the internet of vehicles provided by the present embodiment will explain the solution of the present embodiment in more detail.

Wherein SE represents decision selection state, CH represents cluster head state, CM represents cluster member state, ISO-CH represents independent cluster head state, CONDITION_BeCHRepresenting a cluster head judgment formula, CONNECTION_tryCHShows a neighbor vehicle cluster head judgment formula, CONNECTION_tryCMAnd the judgment formula of the members of the neighboring vehicle cluster is shown, and the RSU shows a base station on the roadside.

The vehicle clustering method in the Internet of vehicles of the embodiment relates to selection of cluster heads in a cluster group. Cluster heads are selected to solve the problem of how to form clusters. The target vehicle and the surrounding vehicles regularly transmit and receive HELLO data packets of the neighbor vehicles to sense the communication environment and the related information of the neighbor vehicles. Meanwhile, before a cluster is not formed, the parent node of each vehicle can be determined through a priority neighbor following strategy, and the formula for determining the parent node is as follows:

wherein, PRI_ijIndicating the priority of vehicle j to vehicle i, ETX_ijRepresents an expected transmission count, and LLT_ijRepresenting the expected link life, and alpha, beta and gamma are formula proportional parameters.

Therefore, through the priority neighbor following strategy, a universal multi-hop network topology can be constructed. Wherein the vehicle with the best performance in a multi-hop network topology will become the cluster head. If the vehicle with the best performance is determined, the vehicle can be selected through a preset cluster head judgment formula.

Second, cluster formation is dependent on changes in vehicle conditions. The target vehicle first enters an initial state and starts an initial state timer. Before the initial state timer expires, the target vehicle will continue to maintain the initial state and continue to transmit and receive HELLO packets, while it will determine whether the target vehicle has a neighbor vehicle. And after determining that the neighbor vehicle exists and the initial state timer expires, the target vehicle enters a judgment and selection state. The target vehicle entering the judgment selection state will start a preset SE judgment determination timer. If the target vehicle conforms to the cluster head judgment formula CONDITION _ BeCH, the vehicle directly enters the CH state and immediately broadcasts advertisements to the surrounding to announce that the target vehicle has become a cluster. If the target vehicle has a neighbor vehicle but the target vehicle does not conform to the cluster head determination formula CONDITION _ CH, the vehicle will evaluate whether it is appropriate for the cluster membership status. At this time, if cluster head vehicles of other cluster groups exist in the neighborhood of the target vehicle, the CONNECTION is determined according to the neighbor vehicle cluster head determination formula_tryCHAnd judging whether the cluster head vehicle meets the standard or not, and if so, directly establishing connection with the corresponding cluster head vehicle by the target vehicle. If in the target vehicleThe neighbor has no cluster head vehicle, but the father node accords with the neighbor vehicle cluster member judgment formula CONNECTION_tryCMThe target vehicle establishes a multi-hop connection with the cluster head vehicle of the corresponding cluster group through the father node. Wherein, the neighbor vehicle cluster head judgment formula CONNECTION_tryCHAnd neighbor vehicle cluster member judgment formula CONNECTION_tryCMAs follows:

wherein N is_CH _followersRepresenting the number of followers of CH, N_CM _followersNumber of followers, N, of followers representing CM_max _membersRepresenting the number of largest members, HOP_CMRepresenting HOP count, HOP, between CM and CH_maxRepresenting the maximum number of hops allowed.

And if the target vehicle has no neighbor vehicle, controlling the target vehicle to directly enter an ISO-CH state, and returning to the step of judging whether the target vehicle has a neighbor or not when the ISO timer is overtime.

When the target vehicle is in the ISO-CH state, it will still receive and transmit the HELLO packet. But the state change mechanism is no longer triggered. And no more join request packets are sent to join the cluster, while direct communication will be through the roadside base stations RSU. Furthermore, because only by the decision, no control information is transmitted and the delay is very small when the SE state changes to the ISO-CH state without a neighbor.

If the target vehicle does not have cluster head state vehicles or cluster member state vehicles in the neighborhood of the target vehicle and the SE timer is overtime, the target vehicle is controlled to enter an independent cluster head state.

If the target vehicle becomes a cluster head vehicle and a cluster is generated, whether the cluster group is lost or not is judged in real time, and if the cluster group is lost, the target vehicle is controlled to enter an independent cluster head state.

If the cluster group is not lost, judging whether cluster group combination occurs, and if the cluster group combination occurs, performing the next stage according to the flow of judging the cluster head state or the cluster member state.

And if the target vehicle becomes a cluster member state vehicle, judging whether the target vehicle meets the standard of the cluster head vehicle through a cluster head judgment formula in real time, so that the priority of the target vehicle entering the cluster head state is improved. And if the communication quality of the target vehicle as the cluster member state vehicle is poor, controlling the target vehicle to be disconnected from the cluster group, and entering an independent cluster head state.

In order to better illustrate the effect that the vehicle clustering method in the internet of vehicles according to the embodiment of the present invention can produce, the following will compare the differences between the vehicle clustering method in the internet of vehicles according to the embodiment of the present invention and the existing clustering method under different communication environment conditions.

Communication environment 1: some nodes can neither join a cluster nor become a cluster head.

When a vehicle cluster selects or replaces a cluster head, the new cluster head must exceed the performance of the original cluster head or exceed a threshold of the cluster head criteria to ensure cluster stability. However, the conventional clustering algorithm usually occurs in a situation that a part of vehicle nodes can not be added into a cluster nor become a cluster head. The most classical situation is that two vehicle nodes enter the communication range of each other, and each of the two vehicle nodes maintains its own independent node state. Then, the two vehicle nodes come into the communication range of the other side with each other, and detect the other side vehicle. Both vehicle nodes will be actively clustered, but at the moment, the two vehicle nodes cannot have more neighbors, and the communication performance between the two nodes is the same as the cluster head selection standard. Thus, neither of them has the condition for generating cluster heads, and a new cluster cannot be formed. The communication performance and the communication capability of the vehicle node are poor.

According to the vehicle clustering method in the Internet of vehicles, the health condition of the link of the vehicle node can be monitored by the timer through the SE judgment after the vehicle node enters the CM state. The vehicle node can actively disconnect under the condition that the SE judges and determines that the timer is overtime, and directly enters the ISO-CH to keep independent communication for a period of time, so that the communication performance and the effective communication capacity of the vehicle node are guaranteed.

Communication environment 2: it is not possible to join a cluster due to hop count limitations.

In the case where the maximum hop count limit is 2, assume that cluster a and cluster B have reached the maximum number of pieces limit. At this time, vehicles around cluster a and cluster B cannot join cluster a and cluster B, and thus they are trapped in a predicament. The vehicle node in such a situation is usually stuck in the selective state, and cannot normally communicate. Normal communication cannot be resumed until the vehicle finds a new cluster through movement or other vehicle nodes around join. Under the condition, the vehicle node meets the requirement that other new vehicle nodes can frequently send a joining cluster, so that a broadcast storm is generated, and the information collision rate and the packet loss rate are increased.

According to the vehicle clustering method in the Internet of vehicles, after the nodes enter the judgment selection state, the SE judgment determination timer is started. The vehicle node stays in the selected state for the timer at most, and then is forced to enter an ISO-CH state to establish communication with the roadside base station. Therefore, the problem that the vehicle node is stuck in the selected state under certain conditions is solved. Thereby ensuring that the vehicle nodes can normally communicate under these special conditions.

Communication environment 3: a situation where vehicle nodes frequently join and leave a cluster.

In a traditional clustering algorithm, after a vehicle node enters a judgment selection state, the vehicle node can preferentially join a cluster under the condition that the vehicle node cannot become a CH. Once the communication performance of the vehicle node is poor and the node link is unstable, the vehicle node can be disconnected into an ISO-CH state or request to join other clusters after leaving the communication range. The situation of repeatedly joining and exiting the cluster not only causes the vehicle node to be difficult to maintain a long-time effective communication state, but also sends excessive control information, thereby occupying a large communication channel and causing excessive additional burden.

The vehicle clustering method in the vehicle networking of the embodiment of the invention can enter an ISO-CH state under the condition that the vehicle nodes are disconnected. Meanwhile, an ISO timer is started after entering an ISO-CH state. And under the condition that the ISO timer is not overtime, the node does not issue the application of joining the cluster even if the node meets the condition of joining the cluster. Namely, during the ISO timer, the vehicle node is forced to keep the ISO-CH state, and other clusters cannot be added, and the cluster cannot be established by itself as a cluster head. Therefore, the communication performance of the vehicle is ensured, and meanwhile, excessive extra burden is not caused on the whole road network channel.

Cluster merging: when cluster head vehicles of two clusters enter the communication range of each other, as shown in fig. 4, in order to avoid cluster interference, two clusters, cluster a and cluster B, will be merged to generate a new cluster C. A poorly performing cluster head vehicle will give up the CH state and become a follower of another cluster head vehicle. For example, cluster head vehicles CH-1 and CH-2 in cluster A and cluster B, because cluster head vehicle CH-1 of cluster A is less capable than cluster head vehicle CH-2 of cluster B. At this time, the two clusters are merged, and the cluster head vehicle CH-1 of cluster a becomes the cluster member vehicle CM-1 of the new cluster C, and establishes connection with the cluster head vehicle CH-2 of cluster B. Meanwhile, the number of CM-3 hops of cluster members of the cluster group A is also changed, and one hop is increased by the number of hops.

Fig. 6 is a schematic structural diagram of a vehicle clustering device in an internet of vehicles according to an embodiment of the present invention, as shown in fig. 6, in this embodiment, the device is located in an electronic device, and the electronic device may be located in a vehicle, where the vehicle clustering device 300 in the internet of vehicles includes:

the obtaining module 301 is configured to obtain an average mobility of the target vehicle and HELLO data packets sent by neighboring vehicles within a preset range.

The determining module 302 is configured to determine a state of the target vehicle to enter the cluster according to the average mobility of the target vehicle and the HELLO data packet.

The monitoring module 303 is configured to monitor the communication quality of the target vehicle in the corresponding cluster group if it is determined that the state to be entered into the cluster group is a cluster member state and the corresponding cluster group is applied for joining.

And the quality protection module 304 is configured to disconnect the connection with the corresponding cluster group and control the target vehicle to enter an independent cluster head state if it is monitored that the communication quality of the target vehicle in the corresponding cluster group is smaller than a preset communication quality threshold.

The vehicle clustering device in the internet of vehicles provided by this embodiment can execute the technical solution of the method embodiment shown in fig. 2, and the implementation principle and technical effect thereof are similar to those of the method embodiment shown in fig. 2, and are not described in detail herein.

Meanwhile, another embodiment of the vehicle clustering device in the internet of vehicles provided by the invention further refines the vehicle clustering device 300 in the internet of vehicles on the basis of the vehicle clustering device in the internet of vehicles provided by the previous embodiment.

Optionally, in this embodiment, the method further includes:

and the state control module is used for controlling the target vehicle to enter an independent cluster head state if the state to be entered into the cluster is determined to be a cluster member state and the application is not passed through the joining of the corresponding cluster.

Optionally, in this embodiment, the method further includes:

and the circulating module is used for judging whether the time for the target vehicle to enter the independent cluster head state reaches the preset time or not if the target vehicle is controlled to enter the independent cluster head state.

Meanwhile, if the preset time is determined to be reached, the steps of obtaining the average mobility of the target vehicle and HELLO data packets sent by the neighbor vehicles in the preset range are executed.

Optionally, in this embodiment, the HELLO data packet includes neighbor vehicle identification information, neighbor vehicle average mobility, and the number of neighbor vehicles.

The determining module 302 is specifically configured to:

and inputting the average mobility of the target vehicle, the identification information of the neighbor vehicles, the average mobility of the neighbor vehicles and the number of the neighbor vehicles into a preset cluster head judgment formula so as to judge whether the state of the target vehicle to enter the cluster accords with the cluster head state or not through the preset cluster head judgment formula.

And if the cluster head state is met, determining that the state of the target vehicle to enter the cluster is the cluster head state.

Meanwhile, if the cluster head state is not met, whether cluster head state vehicles or cluster member state vehicles exist in the neighbor vehicles is judged according to the neighbor vehicle identification information and the number of the neighbor vehicles. And if the cluster head state vehicle or the cluster member state vehicle exists in the neighbor vehicle, determining that the state of the target vehicle to enter the cluster group is the cluster member state. And if determining that the cluster head state vehicle and the cluster member state vehicle do not exist in the neighbor vehicles, determining that the state of the target vehicle to enter the cluster is an independent cluster head state.

Optionally, in this embodiment, the method further includes:

and the timer starting module is used for starting the state determination timer if the HELLO data packet sent by the neighbor vehicle in the preset range is received.

Optionally, in this embodiment, the vehicle clustering device 300 in the internet of vehicles further includes: further comprising:

and the cluster head control module is used for controlling the target vehicle to enter a cluster head state.

And the cluster member control module is used for applying for joining the corresponding cluster group to the cluster head state vehicle in the cluster group corresponding to the neighbor vehicle in the cluster head state or the cluster member state according to the HELLO data packet. And if the notice of agreeing to join the cluster group is received, controlling the target vehicle to enter the cluster member state in the cluster group corresponding to the neighbor vehicle.

Optionally, in this embodiment, the method further includes:

and the cluster condition processing module is used for monitoring whether the cluster where the target vehicle is located disappears or not if the target vehicle enters the cluster head state. And if the cluster in which the target vehicle is located is monitored to be lost, determining that the state of the target vehicle to enter the cluster is an independent cluster head state. And if the cluster group where the target vehicle is located is monitored not to be died, detecting whether cluster head vehicles of other cluster groups exist in a preset range. And if the cluster head vehicles of other cluster groups are detected in the preset range, judging whether the target vehicle accords with the cluster head state. And if the cluster head state is determined to be met, establishing connection with cluster head vehicles of other cluster groups so as to fuse the current cluster group of the target vehicle and the other cluster groups into a new cluster group. And if the cluster head state is determined not to be met, controlling the target vehicle to enter a cluster member state.

The vehicle clustering device in the internet of vehicles provided by this embodiment can implement the technical solutions of the method embodiments shown in fig. 2 to 3, and the implementation principles and technical effects thereof are similar to those of the method embodiments shown in fig. 2 to 3, and are not described in detail herein.

The invention also provides an electronic device and a computer-readable storage medium according to the embodiments of the invention.

As shown in fig. 7, fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. Electronic devices are intended for various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 7, the electronic apparatus includes: a processor 401, a memory 402. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device.

The memory 402 is a non-transitory computer readable storage medium provided by the present invention. The memory stores instructions executable by the at least one processor, so that the at least one processor executes the vehicle clustering method in the internet of vehicles provided by the invention. The non-transitory computer readable storage medium of the present invention stores computer instructions for causing a computer to execute the vehicle clustering method in the internet of vehicles provided by the present invention.

The memory 402, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the vehicle clustering method in the internet of vehicles in the embodiment of the present invention (for example, the obtaining module 301, the determining module 302, the monitoring module 303, and the quality protection module 304 shown in fig. 6). The processor 401 executes various functional applications of the server and data processing by running non-transitory software programs, instructions and modules stored in the memory 402, so as to implement the vehicle clustering method in the internet of vehicles in the above method embodiment.

Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the embodiments of the invention following, in general, the principles of the embodiments of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the embodiments of the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of embodiments of the invention being indicated by the following claims.

It is to be understood that the embodiments of the present invention are not limited to the precise arrangements described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of embodiments of the invention is limited only by the appended claims.

Claims

1. A vehicle clustering method in a vehicle networking system is characterized in that the method is applied to an electronic device, the electronic device is mounted on a target vehicle, and the method comprises the following steps:

if the communication quality of the target vehicle in the corresponding cluster group is monitored to be smaller than a preset communication quality threshold value, the target vehicle is disconnected from the corresponding cluster group, and the target vehicle is controlled to enter an independent cluster head state;

the HELLO data packet comprises neighbor vehicle identification information, neighbor vehicle average mobility and the number of neighbor vehicles;

2. The method of claim 1, further comprising:

3. The method of claim 1 or 2, further comprising:

4. The method of claim 1, wherein prior to determining the target vehicle is to enter the state in the cluster based on the target vehicle's average mobility and the HELLO packet, further comprising:

5. The method according to claim 1, wherein if the cluster head state is satisfied, after determining that the state of the target vehicle to enter the cluster is the cluster head state, further comprising:

controlling the target vehicle to enter a cluster head state;

6. The method of claim 5, further comprising:

7. A vehicle clustering device in a vehicle networking is characterized in that the device is located in an electronic device, the electronic device is mounted on a target vehicle, and the device comprises:

the quality protection module is used for disconnecting the connection with the corresponding cluster group and controlling the target vehicle to enter an independent cluster head state if the communication quality of the target vehicle in the corresponding cluster group is monitored to be smaller than a preset communication quality threshold value;

the determining module is specifically configured to:

8. A vehicle clustering device in a vehicle networking, characterized by comprising: a memory, a processor;

a memory; a memory for storing the processor-executable instructions;

wherein the processor is configured to perform the vehicle clustering method in the internet of vehicles according to any one of claims 1 to 6 by the processor.

9. A computer-readable storage medium having computer-executable instructions stored therein, which when executed by a processor, are configured to implement the vehicle clustering method in the internet of vehicles according to any one of claims 1 to 6.