CN112908011B - Energy consumption-based unmanned HD Map data distribution method - Google Patents

Energy consumption-based unmanned HD Map data distribution method Download PDF

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CN112908011B
CN112908011B CN202110124317.6A CN202110124317A CN112908011B CN 112908011 B CN112908011 B CN 112908011B CN 202110124317 A CN202110124317 A CN 202110124317A CN 112908011 B CN112908011 B CN 112908011B
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唐洁
谢锦粮
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South China University of Technology SCUT
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    • G—PHYSICS
    • G08—SIGNALLING
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    • G08G1/00—Traffic control systems for road vehicles
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    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
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    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
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    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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Abstract

The invention discloses an unmanned aerial vehicle based on energy consumptionThe method for distributing the data of the driving HD Map comprises the following steps: 1) the unmanned vehicle acquires edge base station information from a cloud server, wherein the edge base station information comprises an edge base station ID, an edge base station position distribution condition, an edge base station bandwidth and HD Map data information cached by the edge base station; 2) the method comprises the steps that an unmanned vehicle obtains self data information which comprises HD Map data storage capacity, pre-installed HD Map information and residual energy; 3) calculating the distance L between the transmission area and the target areaD(ii) a 4) Calculating the optimal transmission range distance Lopt(ii) a 5) And the unmanned vehicle determines the data transmission ratio of each target edge base station in the transmission area to the corresponding target edge base station, and then completes the data distribution work. The invention can ensure that the unmanned vehicle can finish transmitting the required HD Map data information in the minimum transmission time under the condition of limited energy consumption.

Description

Energy consumption-based unmanned HD Map data distribution method
Technical Field
The invention relates to the technical field of high-precision Map (HD Map) data distribution, in particular to an energy consumption-based unmanned HD Map data distribution method.
Background
The high-precision Map (HD Map) is the realization basis of the unmanned driving and plays an important role in the unmanned driving. Conventionally, street view image data and 3D laser point cloud data are acquired by a self-built professional collection motorcade, and a map with multi-level map data superposition is finally formed through a background automatic map building process and manual error correction and marking. However, self-built collection fleets are too expensive to cost, and currently, a Map crowdsourcing mode is generally adopted for producing the HD Map. The data acquisition is completed by utilizing the social unmanned vehicle in the driving process, optimization means such as data cleaning, aggregation and compression are performed through edge computing nodes, and the updating of the HD Map data is completed by utilizing the strong computing power of the cloud and the multi-source data.
The HD Map is used as a necessary support for automatic driving, and has the capability of updating dynamic road condition information in real time while maintaining the accuracy of the data of the bottom lane, and develops the personalized driving support capability based on different driving habits of a vehicle owner. Therefore, the HD Map needs to be divided into 2 levels: the bottom layer is a static HD Map layer and needs to be loaded in advance; the upper layer is a dynamic HD Map layer and is continuously updated in the driving process. The static HD Map layer comprises a road network structure, lane lines, curvatures, gradients, roadside objects and the like, the dynamic HD Map layer comprises lane speed limits, lane closures, road potholes, traffic accidents, various driving behavior suggestions and the like, and if the unmanned automobile wants to drive safely, at least all static HD Map data and part of dynamic HD Map data such as the lane speed limits, the lane closures and the like are acquired. The bottom layer is a static HD Map layer and needs to be loaded in advance; the upper layer is a dynamic HD Map layer and is continuously updated in the driving process. Both unmanned vehicles and edge base stations that perform V2V (vehicle-to-vehicle) communication are not suitable for storing HD Map data in large quantities, and therefore a data distribution algorithm for an unmanned HD Map is required to acquire the required HD Map data by means of cooperation of a plurality of edge base stations.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art, provides an energy-consumption-based unmanned HD Map data distribution method, takes the energy consumption problem of unmanned vehicles of the HD Map data distribution method into consideration, makes up the shortcomings of the traditional data distribution mode, and meanwhile, stores HD Map data in advance at an edge base station to reduce the uploading and downloading time of cloud data. The unmanned vehicle can acquire the task of transmitting data by the unmanned vehicle before entering the transmission area, so that the data throughput and the data transmission interference of the edge base station are reduced, and the HD Map data acquisition time of the unmanned vehicle is greatly reduced. The degree of line congestion can be obtained in advance according to the traffic flow and the tasks distributed by the unmanned vehicles, the unmanned vehicles are guided to go out at different time or different peak according to the conditions, and the purpose of relieving traffic congestion is achieved.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: an energy consumption-based unmanned HD Map data distribution method comprises the following steps:
1) the unmanned vehicle acquires edge base station information from a cloud server, wherein the edge base station information comprises an edge base station ID, an edge base station position distribution condition, an edge base station bandwidth and HD Map data information cached by the edge base station;
2) the method comprises the steps that an unmanned vehicle obtains self data information which comprises HD Map data storage capacity, pre-installed HD Map information and residual energy;
3) calculating the distance L of the transmission area and the distance L of the target area by combining the acquired edge base station information and the data information of the unmanned vehicleD；
4) Calculating the optimal transmission range distance Lopt；
5) And the unmanned vehicle determines the data transmission ratio of each target edge base station in the transmission area to the corresponding target edge base station, and then completes the data distribution work.
In step 1), the edge base station ID refers to a character string ID consisting of the ID of the road and the number of the edge base station near the road; the distribution situation of the edge base station positions refers to the actual positions of the edge base stations on two sides of the current road, and is represented by the relative positions of the edge base stations and the starting point of the nearest road; the edge base station bandwidth refers to the data transmission rate of the edge base station, including the uplink and downlink rate; the HD Map data information buffered by the edge base station refers to the HD Map data amount buffered by the edge base station.
In step 2), the HD Map data storage capacity refers to the maximum HD Map data amount which can be cached by the unmanned vehicle; the pre-installed HD Map information refers to the data volume of the HD Map of the target area stored in the vehicle; the residual energy refers to the residual energy capable of supporting the driving of the unmanned vehicle.
In step 3), the transmission area distance refers to the length of an area where V2I data transmission is actually performed, and V2I refers to communication between the vehicle and the edge base station; the target area is an area corresponding to target HD Map data which the unmanned vehicle intends to acquire, namely the unmanned vehicle needs to acquire the HD Map data of the target area in the transmission area; calculating the distance L of the transmission area and the distance L of the target area by combining the acquired edge base station information and the data information of the unmanned vehicleDThe method comprises the following steps:
3.1) integrating the information of the edge base station and the data information of the unmanned vehicle, and processing to obtain the range of the distance L of the transmission area:
Lmin≤L≤Lmax
in the formula (I), the compound is shown in the specification,
Figure BDA0002923124830000031
Lminis the minimum value of the transmission area distance, LmaxMaximum value of distance of transmission area, MCIndicates the amount of stored target area HD Map data in the vehicle, and v indicates noneThe speed of the unmanned vehicle, M represents the HD Map data storage capacity of the unmanned vehicle, and beta is the ratio of the target area distance to the transmission area distance, namely beta is LD/L；
E ═ cv, and represents the HD Map data consumed per second at the current vehicle speed, where c represents the amount of HD Map data consumed per unit distance by the unmanned vehicle;
g ═ B α, which represents the average bandwidth of the entire transmission region, where B represents the average bandwidth of the edge base stations in the transmission region and α represents the coverage of the edge base stations in the transmission region;
3.2) under the condition that the position of the edge base station is known, the edge base station is continuously searched forwards, and the energy of the vehicle is consumed simultaneously in the forward process until G is larger than E and W is met>An edge base station of 0 occurs, where W is the vehicle remaining energy; each time an edge base station is found, alpha, G, W, L is updatedminAnd Lmax(ii) a Whenever a satisfied edge base station is found, the edge base station location is checked, and there are three cases:
a. if the edge base station position is at LmaxOr L of the previous roundDOtherwise, prompting that the unmanned vehicle needs to decelerate to finish data transmission;
b. if the edge base station position is at LminIf the position of the edge base station is within the range, continuing to search forwards until a next edge base station meeting the condition that G is larger than E is found, and rechecking the position of the edge base station from a;
c. if the edge base station position is at LminAnd LmaxDefining the range from the starting point to the position of the edge base station as L;
3.3) when L is determined, the range of beta is further narrowed, and
Figure BDA0002923124830000041
by the formula LDDetermining L as L ═ betaD。
In step 4), the optimal transmission range refers to a certain range starting within the distance L of the transmission area, that is, the optimal transmission range is included in the transmission range, and the unmanned vehicle only has any edge within the optimal transmission rangeThe base station starts to transmit the HD Map, so that the HD Map can ensure that the HD Map completes a data transmission task in a transmission area in time; calculating the optimal transmission range distance LoptThe method comprises the following steps:
4.1) continuously searching the edge base stations from back to front in the L range obtained in the step 3) under the condition of knowing the positions of the edge base stations, searching one edge base station each time, calculating the bandwidth according to the maximum bandwidth, and then calculating the transmission time of the unmanned vehicle in the edge base station and the data quantity M which can be obtained according to the bandwidth coverage range, the distance from the lane and the content of the cache target datai；
4.2) continuously searching edge base stations from back to front, and accumulating M of each edge base stationiUntil the total data amount is not less than the required data amount MLI.e. sigma Mi≥MLRemember that the edge Base station just meeting the condition is Basemax；
4.3) repeating the steps 4.1) and 4.2), but calculating the bandwidth of the step 4.1) according to the lowest bandwidth, and recording the edge Base station just meeting the conditions of the step 4.2) as Basemin；
4.4)BasemaxAnd BaseminThe range between them is the optimum transmission range, and the distance is Lopt。
In the step 5), the unmanned vehicle determines the target edge base stations and the transmission proportion of each transmission area to finish the data distribution work; the method for calculating the ratio of each target edge base station to transmission comprises the following steps:
5.1) determining the maximum residence time T of the unmanned vehicle at each edge base station of the transmission areaiAnd i represents the ith edge base station;
5.2) determining the data transmission power R of the unmanned vehicle at each edge base station of the transmission areai；
5.3) solving the following optimization equation to obtain t of each edge base station of the transmission areaiValue, tiRepresenting the actual transmission time of the unmanned vehicle at each edge base station:
min∑ti
wherein the constraint conditions are as follows:
∑tiRithe data volume of the HD Map is more than or equal to M, wherein M is the data volume of the HD Map required by the unmanned vehicle;
0≤ti≤Ti；
∑Ei≤Wiin the formula, EiEnergy consumed at edge station i for unmanned vehicles, WiThe remaining energy for the unmanned vehicle to travel to the edge base station i;
according to the solved t of each edge base stationiSequence and RiAnd the sequence also finds out how much data quantity each edge base station should transmit, namely, the target transmission task is obtained.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention considers the energy consumption problem of the unmanned vehicle of the HD Map data distribution method for the first time, and makes up the defects of the traditional data distribution method.
2. The HD Map data is stored in the edge base station in advance, so that the uploading and downloading time of the cloud data is reduced, and the unmanned data transmission time is greatly reduced.
3. According to the invention, the transmission area is set, the unmanned vehicle can acquire the task of transmitting data by the unmanned vehicle before entering the transmission area, the data throughput and the data transmission interference of the edge base station are reduced, and the HD Map data acquisition time of the unmanned vehicle is greatly reduced.
4. The invention can obtain the degree of line congestion in advance according to the traffic flow and the tasks distributed by the unmanned vehicles, guide the unmanned vehicles to go out at different time or different peak according to the conditions and achieve the purpose of relieving traffic jam.
5. The method has wide use space in the distribution of the unmanned HD Map data, and has simple and understandable algorithm and high feasibility.
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FIG. 1 is a logic flow diagram of the present invention.
Fig. 2 is a relationship structure diagram of the cloud server used in the present invention.
Fig. 3 is a schematic diagram of the transmission area, the target area and the optimal transmission range defined by the present invention.
Detailed Description
The present invention will be further described with reference to the following specific examples.
As shown in fig. 1 and fig. 2, the method for distributing the driverless HD Map data based on energy consumption according to the embodiment uses auxiliary devices such as driverless vehicles, edge base stations, and cloud servers, and includes the following steps:
1) the unmanned vehicle acquires edge base station information from a cloud server, wherein the edge base station information comprises an edge base station ID, edge base station position distribution conditions, edge base station bandwidth and HD Map data information cached by the edge base stations, and the edge base station ID is a character string ID consisting of eight-digit ID of a nearest road and four-digit number of edge base stations near the road; the distribution situation of the edge base station positions refers to the actual positions of the edge base stations on two sides of the current road, and is represented by the relative positions of the edge base stations and the starting point of the nearest road; the edge base station bandwidth refers to the data transmission rate of the edge base station, including the uplink and downlink rate; the HD Map data information cached by the edge base station refers to the HD Map data amount cached by the edge base station; each edge base station can maintain an edge base station information table, the cloud server can update the information tables of all edge base stations in the whole area in real time, and the unmanned vehicle can directly access the edge base station information table of the cloud server to obtain the data.
Table 1 shows the data of the partial edge base station with the acquired road ID of 10001000:
table 1 edge base station data
Edge base station ID Position (m, m) Bandwidth (GB/s) HD Map data (GB)
100010002001 (100,50) 1.15 55
100010002002 (355,30) 1.23 69
100010002003 (605,35) 1.02 48
100010002004 (930,20) 1.39 34
100010002005 (1200,10) 1.16 90
100010002006 (1700,25) 0.96 62
2) Acquiring self data information of the unmanned vehicle, wherein the self data information comprises HD Map data storage capacity, pre-installed HD Map information and residual energy, and the HD Map data storage capacity refers to the maximum cacheable HD Map data amount of the unmanned vehicle; the pre-installed HD Map information refers to the data volume of the HD Map of the target area stored in the vehicle; the residual energy refers to the residual energy capable of supporting the driving of the unmanned vehicle. Each vehicle maintains a self unmanned vehicle information table, and the unmanned vehicles can obtain the data by directly accessing the unmanned vehicle information table.
The self information of the unmanned vehicle is shown in table 2:
TABLE 2 self-information of unmanned vehicles
HD Map stored data volume (GB) 22
Also needs data volume (GB) 60
Storage capacity (GB) 100
Vehicle speed (m/s) 20
Residual energy (kWh) 100
3) Calculating the distance L between the transmission area and the target areaDWherein, the transmission region distance refers to the length of the region actually carrying out V2I data transmission, V2I refers to the communication between the vehicle and the edge base station, the target region refers to the region corresponding to the target HD Map data which the unmanned vehicle intends to obtain,that is, the unmanned vehicle needs to acquire the HD Map data of the target area within the transmission area. Fig. 3 is a schematic diagram of a transmission area and a target area. Calculating the distance L of the transmission area and the distance L of the target area by combining the acquired edge base station information and the data information of the unmanned vehicleDThe method comprises the following steps:
3.1) integrating the information of the edge base station and the data information of the unmanned vehicle, and processing to obtain the range of the distance L of the transmission area:
Lmin≤L≤Lmax
in the formula (I), the compound is shown in the specification,
Figure BDA0002923124830000081
MCdenotes the amount of target area HD Map data stored in the vehicle, v denotes the speed of the unmanned vehicle, M denotes the data storage capacity of the unmanned vehicle HD Map, and β is the ratio of the target area distance to the transfer area distance, that is, β ═ LD/L。
And E ═ cv, and represents the HD Map data consumed per second at the current vehicle speed, where c represents the amount of HD Map data consumed per unit distance by the unmanned vehicle.
And G is B α, which represents an average bandwidth of the entire transmission region, where B represents an average bandwidth of the edge base stations in the transmission region, and α represents a coverage rate of the edge base stations in the transmission region.
3.2) under the condition that the position of the edge base station is known, the edge base station is continuously searched forwards, and the energy of the vehicle is consumed simultaneously in the forward process until G is larger than E and W is met>An edge base station of 0 occurs, where W is the vehicle remaining energy. Each time an edge base station is found, alpha, G, W, L is updatedminAnd Lmax. Whenever a satisfied edge base station is found, the edge base station location is checked, and there are three cases:
a. if the edge base station position is at LmaxOr L of the previous roundDAnd otherwise, prompting the unmanned vehicle to decelerate to complete data transmission.
b. If the edge base station position is at LminWithin, thenAnd continuing to search until finding the next edge base station meeting G & gtE, and rechecking the position of the edge base station from a.
c. If the edge base station position is at LminAnd LmaxAnd the range from the starting point to the edge base station position is defined as L.
3.3) when L is determined, the range of beta is further narrowed, and
Figure BDA0002923124830000091
by the formula LDDetermining L as L ═ betaD。
4) Calculating the optimal transmission range distance LoptThe optimal transmission range refers to a certain initial range within a transmission region distance L, namely the optimal transmission range is included in the transmission range, and the unmanned vehicle can only start to transmit the number HD Map at any edge base station within the optimal transmission range, so that the unmanned vehicle can be guaranteed to complete a data transmission task in the transmission region in time. A schematic diagram of the optimal transmission range is shown in fig. 3. Calculating the optimal transmission range distance LoptThe method comprises the following steps:
4.1) continuously searching the edge base stations from back to front in the L range obtained in the step 3.3) under the condition of knowing the positions of the edge base stations, searching one edge base station each time, calculating the bandwidth according to the maximum bandwidth, and then calculating the transmission time of the unmanned vehicle at the edge base station and the data quantity M which can be obtained according to the bandwidth coverage range, the distance from the lane and the content of the cache target datai。
4.2) continuously searching edge base stations from back to front, and accumulating M of each edge base stationiUntil the total data amount is not less than the required data amount MLI.e. sigma Mi≥MLRemember that the edge Base station just meeting the condition is Basemax。
4.3) repeating the steps 4.1) and 4.2), but calculating the bandwidth of the step 4.1) according to the lowest bandwidth, and recording the edge Base station just meeting the conditions of the step 4.2) as Basemin。
4.4)BasemaxAnd BaseminThe range between them is the optimum transmissionRange, distance is Lopt。
5) And the unmanned vehicle determines the target edge base stations and the transmission proportion of each transmission area according to the energy consumption condition to complete the data distribution work. The method for calculating the ratio of each target edge base station to transmission comprises the following steps:
5.1) determining the maximum residence time T of the unmanned vehicle at each edge base station of the transmission areaiAnd i denotes the ith edge base station.
5.2) determining the data transmission power R of the unmanned vehicle at each edge base station of the transmission areai。
5.3) solving the following optimization equation to obtain t of each edge base station of the transmission areaiValue, tiRepresenting the actual transmission time of the unmanned vehicle at each edge base station:
min∑ti
wherein the constraint conditions are as follows:
∑tiRithe data volume of the HD Map is more than or equal to M, wherein M is the data volume of the HD Map required by the unmanned vehicle;
0≤ti≤Ti；
∑Ei≤Wiin the formula, EiEnergy consumed at edge station i for unmanned vehicles, WiThe remaining energy for the unmanned vehicle to travel to the edge base station i.
According to the solved t of each edge base stationiSequence and RiAnd the sequence also finds out how much data quantity each edge base station should transmit, namely, the target transmission task is obtained.
For example, the following transmission tasks are determined:
TABLE 3 transfer tasks
Edge base station ID Need to be transmittedHD Map task volume (GB)
100010002002 18
100010002004 12
100010002005 30
The unmanned vehicle will only transmit V2I data when passing through the coverage area of these 3 edge base stations, and the amount of transmitted HD Map data is shown in the table.
In conclusion, after the scheme is adopted, the unmanned vehicle and the edge calculation are combined, a new method is provided for the unmanned vehicle to transmit the HD Map data, the limitations of the unmanned vehicle on the residual energy consumption, the vehicle speed, the edge base station bandwidth and the like are considered, a cooperative V2I transmission mode is used, and the HD Map data transmission task suitable for the base station is distributed, so that the unmanned vehicle can be guaranteed to transmit the needed HD Map data information in the minimum transmission time under the condition of limited energy consumption, the data throughput of the edge base station can be effectively reduced, the data transmission time can be effectively shortened, the development of data distribution work in the unmanned industry is effectively promoted, the practical popularization value is realized, and the popularization value is worthy.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that the changes in the shape and principle of the present invention should be covered within the protection scope of the present invention.

Claims (5)

1. An energy consumption-based unmanned HD Map data distribution method is characterized by comprising the following steps:
1) the unmanned vehicle acquires edge base station information from a cloud server, wherein the edge base station information comprises an edge base station ID, an edge base station position distribution condition, an edge base station bandwidth and HD Map data information cached by the edge base station;
2) the method comprises the steps that an unmanned vehicle obtains self data information which comprises HD Map data storage capacity, pre-installed HD Map information and residual energy;
3) calculating the distance L of the transmission area and the distance L of the target area by combining the acquired edge base station information and the data information of the unmanned vehicleD；
4) Calculating the optimal transmission range distance LoptThe optimal transmission range refers to a certain initial range within a transmission region distance L, namely the optimal transmission range is included in the transmission range, and the unmanned vehicle can only start to transmit the HD Map at any edge base station within the optimal transmission range, so that the unmanned vehicle can be guaranteed to complete a data transmission task in the transmission region in time; calculating the optimal transmission range distance LoptThe method comprises the following steps:
4.1) continuously searching the edge base stations from back to front in the L range obtained in the step 3) under the condition of knowing the positions of the edge base stations, searching one edge base station each time, calculating the bandwidth according to the maximum bandwidth, and then calculating the transmission time of the unmanned vehicle in the edge base station and the data quantity M which can be obtained according to the bandwidth coverage range, the distance from the lane and the content of the cache target datai；
4.2) continuously searching edge base stations from back to front, and accumulating M of each edge base stationiUntil the total data amount is not less than the required data amount MLI.e. sigma Mi≥MLRemember that the edge Base station just meeting the condition is Basemax；
4.3) repeating the steps 4.1) and 4.2), but calculating the bandwidth of the step 4.1) according to the lowest bandwidth, and recording the edge Base station just meeting the conditions of the step 4.2) as Basemin；
4.4)BasemaxAnd BaseminThe range between them is the optimum transmission range, and the distance is Lopt；
5) Unmanned vehicle is in optimal transmission range LoptStarting to transmit HD Map by any edge base station in the transmission area, and determining each target edge base station in the transmission area and corresponding data transmissionAnd (4) proportion, and then completing data distribution work.
2. The energy consumption-based unmanned HD Map data distribution method according to claim 1, characterized in that: in step 1), the edge base station ID refers to a character string ID consisting of the ID of the road and the number of the edge base station near the road; the distribution situation of the edge base station positions refers to the actual positions of the edge base stations on two sides of the current road, and is represented by the relative positions of the edge base stations and the starting point of the nearest road; the edge base station bandwidth refers to the data transmission rate of the edge base station, including the uplink and downlink rate; the HD Map data information buffered by the edge base station refers to the HD Map data amount buffered by the edge base station.
3. The energy consumption-based unmanned HD Map data distribution method according to claim 1, characterized in that: in step 2), the HD Map data storage capacity refers to the maximum HD Map data amount which can be cached by the unmanned vehicle; the pre-installed HD Map information refers to the data volume of the HD Map of the target area stored in the vehicle; the residual energy refers to the residual energy capable of supporting the driving of the unmanned vehicle.
4. The energy consumption-based unmanned HD Map data distribution method according to claim 1, characterized in that: in step 3), the transmission area distance refers to the length of an area where V2I data transmission is actually performed, and V2I refers to communication between the vehicle and the edge base station; the target area is an area corresponding to target HD Map data which the unmanned vehicle intends to acquire, namely the unmanned vehicle needs to acquire the HD Map data of the target area in the transmission area; calculating the distance L of the transmission area and the distance L of the target area by combining the acquired edge base station information and the data information of the unmanned vehicleDThe method comprises the following steps:
3.1) integrating the information of the edge base station and the data information of the unmanned vehicle, and processing to obtain the range of the distance L of the transmission area:
Lmin≤L≤Lmax
in the formula (I), the compound is shown in the specification,
Figure FDA0003419915950000021
Lminis the minimum value of the transmission area distance, LmaxMaximum value of distance of transmission area, MCDenotes the amount of target area HD Map data stored in the vehicle, v denotes the speed of the unmanned vehicle, M denotes the data storage capacity of the unmanned vehicle HD Map, and β is the ratio of the target area distance to the transfer area distance, that is, β ═ LD/L；
E ═ cv, and represents the HD Map data consumed per second at the current vehicle speed, where c represents the amount of HD Map data consumed per unit distance by the unmanned vehicle;
g ═ B α, which represents the average bandwidth of the entire transmission region, where B represents the average bandwidth of the edge base stations in the transmission region and α represents the coverage of the edge base stations in the transmission region;
3.2) under the condition that the position of the edge base station is known, the edge base station is continuously searched forwards, and the energy of the vehicle is consumed simultaneously in the forward process until G is larger than E and W is met>An edge base station of 0 occurs, where W is the vehicle remaining energy; each time an edge base station is found, alpha, G, W, L is updatedminAnd Lmax(ii) a Whenever a satisfied edge base station is found, the edge base station location is checked, and there are three cases:
a. if the edge base station position is at LmaxOr L of the previous roundDOtherwise, prompting that the unmanned vehicle needs to decelerate to finish data transmission;
b. if the edge base station position is at LminIf the position of the edge base station is within the range, continuing to search forwards until a next edge base station meeting the condition that G is larger than E is found, and rechecking the position of the edge base station from a;
c. if the edge base station position is at LminAnd LmaxDefining the range from the starting point to the position of the edge base station as L;
3.3) when L is determined, the range of beta is further narrowed, and
Figure FDA0003419915950000031
by the formula LDDetermining L as L ═ betaD。
5. The energy consumption-based unmanned HD Map data distribution method according to claim 1, characterized in that: in step 5), calculating the ratio of each target edge base station to transmission includes the following steps:
5.1) determining the maximum residence time T of the unmanned vehicle at each edge base station of the transmission areaiAnd i represents the ith edge base station;
5.2) determining the data transmission power R of the unmanned vehicle at each edge base station of the transmission areai；
5.3) solving the following optimization equation to obtain t of each edge base station of the transmission areaiValue, tiRepresenting the actual transmission time of the unmanned vehicle at each edge base station:
min∑ti
wherein the constraint conditions are as follows:
∑tiRithe data volume of the HD Map is more than or equal to M, wherein M is the data volume of the HD Map required by the unmanned vehicle;
0≤ti≤Ti；
∑Ei≤Wiin the formula, EiEnergy consumed at edge station i for unmanned vehicles, WiThe remaining energy for the unmanned vehicle to travel to the edge base station i;
according to the solved t of each edge base stationiSequence and RiAnd the sequence also finds out how much data quantity each edge base station should transmit, namely, the target transmission task is obtained.
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