CN113163363A - Automatic driving-oriented vehicle-connected multi-agent wireless dynamic networking and operation method thereof - Google Patents
Automatic driving-oriented vehicle-connected multi-agent wireless dynamic networking and operation method thereof Download PDFInfo
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- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
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Abstract
The invention provides an automatic driving-oriented wireless dynamic networking of a plurality of vehicle-connected intelligent agents and an operation method thereof. According to the invention, the intelligent vehicle is networked through the ZigBee wireless module, and the position information and the speed information of the adjacent nodes of the vehicle-connected multi-agent are transmitted to the ZigBee terminal node through the ZigBee routing node or the ZigBee coordinator node, so that the information interaction of the position and the speed of the intelligent vehicle is realized, and the purpose of controlling the consistency of the multi-agent is achieved. Aiming at the characteristics of uncertainty of a vehicle-connected multi-agent system, instability of a network transmission environment and mobility of network nodes, a super-node-based vehicle-connected multi-agent dynamic network topology structure design method is provided, and comprises design of an intelligent vehicle in-vehicle wireless networking module, design of an out-vehicle wireless networking module and design of a vehicle-connected multi-agent network topology. The invention can effectively reduce the problem of complex wiring caused by wired connection and can also effectively reduce the influence of uncertain environment factors on wireless networking communication among the vehicle-connected multi-agent.
Description
Technical Field
The invention relates to the technical field of wireless networks, in particular to an automatic-driving-oriented vehicle-connected multi-agent wireless dynamic networking and an operation method thereof.
Background
In recent years, the development of intelligent transportation is greatly promoted by the advancement of science and technology, and the technology of internet automatically driven vehicles (CAV) comes along, and the CAV technology can be decomposed into the technology of vehicle interconnection and the technology of automatic driving. The vehicle interconnection technology mainly includes two types of communication links, i.e., vehicle-to-vehicle (V2V) communication and vehicle-to-roadside base station (V2I) communication. V2V communication allows vehicle users to communicate over short and medium distances, provides low cost deployment, and supports short messaging with low latency. V2I communication enables vehicles to connect to the internet, propagate information through roadside base stations, and provide infotainment services. The automatic driving technology can detect the running information of the vehicle, such as the speed, position, acceleration and the like of the vehicle, by using the vehicle-mounted sensor, and improve the safety and traffic efficiency of the whole network through processing the information. The automatic driving technology is an important component of an intelligent traffic system, and the automatic driving application needs to implement information processing and control decision on the basis of collecting a large amount of traffic data. Due to the time-space attribute of the traffic information, namely that the information is only effective in a certain time period or a certain region, the limited information perception range of the independent vehicle seriously restricts the effectiveness of the automatic driving application data acquisition.
The autonomous driving system is a typical multi-agent system, and a feasible solution is provided for the problem through the cooperative decision of the vehicle-connected multi-agent system. With the rise of multi-agent technology, some researches have focused attention on the combination of distributed multi-agent technology and the field of automatic driving, and the networking of automobiles comprises interconnection and intercommunication of vehicle-mounted internal networks and interconnection and intercommunication of vehicle external networks. Interconnection and intercommunication of the current vehicle-mounted internal network also mainly rely on wired network connection to build a whole vehicle network, so that information sharing and vehicle motion control of vehicle-mounted sensors, controllers, electric control units and the like are realized; the interconnection and intercommunication of the external network of the vehicle mainly realizes the sharing of information such as position, speed and the like in a wireless communication mode. The vehicles with the networked vehicles can directly exchange wireless information with each other through the V2V communication network, can obtain information such as position, speed, vehicle condition and the like without being forwarded by a base station, and can give warning to the two parties in advance when danger possibly occurs, so that traffic accidents are avoided as much as possible.
In practical application, when the multi-agent vehicle-connected system transmits information through a wireless network, due to the existence of noise, interference and physical shielding and the characteristic that sensing nodes in the network have self energy limitation, the service life of the wireless sensor network is influenced, the problems cause that the agent cannot transmit certain important state information timely and accurately, the effectiveness of data information interaction of the multi-agent system is severely limited, and the multi-agent system cannot achieve consistency within effective time. Therefore, by designing an effective wireless routing protocol and a wireless network topology structure, the energy consumption of the sensing node is reduced, the data transmission quantity of the network is reduced, the data transmission efficiency is improved, the life cycle of the network is prolonged, and the vehicle-associated multi-agent can accurately and timely know the state information of the adjacent agent and can further process the state information to obtain information for decision control.
Disclosure of Invention
Aiming at solving the problems of complex wiring and poor expansibility in the existing automobile, complex wireless network environment under the condition of mobile networking of the multi-agent in the automobile and communication problems of time delay, packet loss and the like when information is transmitted among the agents, the invention provides a super-node-based wireless network topology structure design of the multi-agent in the automobile and an operation method thereof aiming at the difference of the transmission rate and the safety in the automobile. The networking is firstly carried out on part of vehicle-mounted line networks, then networking communication is carried out on the networking with other intelligent agents carrying ZigBee wireless modules on the basis of a vehicle-mounted ZigBee wireless communication platform, so that accurate position information and speed information of adjacent intelligent agents are obtained, and consistency control of the vehicle-connected multi-intelligent agents is completed through information interaction.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides a wireless dynamic network deployment of many intelligent agents of car antithetical couplet towards automatic driving, at first carries out wireless upgrade to the inside wired network of car, accomplishes the wireless network deployment communication of on-vehicle inside part module to combine APU human-computer interaction center, utilize zigBee route module, accomplish the wireless network deployment between many intelligent agents of car antithetical couplet, specific wireless network deployment is as follows:
the wireless networking of the car-borne multi-agent network is achieved by firstly wirelessly transforming a wired network of a vehicle-borne internal part, completing wireless networking communication of a vehicle-borne internal part module, combining an APU (auxiliary Power Unit) human-computer interaction center and utilizing a ZigBee routing module.
The in-vehicle wireless networking platform is mainly used for wirelessly upgrading a part of wired networks according to different connection modes in a vehicle and correspondingly establishing three functional modules of a vehicle environment monitoring system, a vehicle information management system and a multimedia information transmission system; the vehicle-connected multi-agent wireless networking is that on the basis of a plurality of intelligent vehicles of a wireless networking platform in a loading vehicle, a ZigBee router is loaded on each intelligent vehicle to perform the vehicle-external wireless networking function, the ZigBee routers acquire speed and position information of the vehicles through wireless communication to interact, and the whole vehicle-connected wireless networking communication platform is completed by combining a vehicle-mounted APU (auxiliary Power Unit) human-computer interaction platform, so that the consistency control of the vehicle multi-agent is achieved, and certain specific formation tasks are further completed.
Preferably, the wireless communication platform in the vehicle mainly comprises: the platform is characterized in that a wired network of a vehicle-mounted internal part is wirelessly transformed, wherein the transformation of a vehicle-mounted A-class low-speed wired network is performed by using ZigBee wireless communication, and the transformation of a vehicle-mounted D-class wired network is performed by using Wi-Fi and Bluetooth wireless communication, so that a man-machine interaction center, a safety anti-theft alarm system, a vehicle information management system and a multimedia information transmission system in a vehicle are formed. The man-machine interaction center mainly comprises an android board and is responsible for task scheduling of various networks in the vehicle and realization of communication protocols; the vehicle information management system consists of a multi-hop ZigBee wireless module, an OBD module, an air quality detection module and an instrument panel display module and is responsible for self diagnosis of the vehicle and monitoring of the environment in the vehicle; the multimedia transmission system is composed of a WiFi module, an audio and video module, a voice navigation module, a driving recorder and the like, and is mainly responsible for vehicle navigation, transmission of audio and video streams recorded during driving and management of entertainment information.
The invention also provides a wireless dynamic networking of the vehicle-associated multi-agent, which comprises the following steps: the method comprises an in-vehicle wireless networking method, wireless networking among vehicle-connected multi-agent, and design of multi-agent network topology.
Preferably, the wireless networking comprises three functional modules in the in-vehicle wireless networking platform:
the vehicle environment detection system adopts a centralized star network topology based on ZigBee and performs networking in a single-hop centralized mode; electrically connecting the vehicle door, the vehicle lamp, the safety belt and the loudspeaker which have low requirements on instantaneity and safety;
the vehicle information management system adopts a distributed tree network topology based on ZigBee and utilizes a multi-hop distributed ad hoc network; the system consists of a multi-hop ZigBee wireless module, an OBD module, an air quality detection module and an instrument panel display module, and is used for being responsible for self diagnosis of vehicles and monitoring of the environment in the vehicles, collecting the code speed, oil consumption and electric quantity of the vehicles in real time, and transmitting the state information of the vehicles to a ZigBee coordinator 2;
the multimedia information transmission system adopts a mixed networking based on WiFi and Bluetooth to connect audio and video, driving records, voice and navigation nodes with the adapter; the ZigBee coordinator 2 is interconnected with ZigBee routers of the three functional modules, and the received data are packaged and transmitted to an APU (auxiliary Power Unit) human-computer interaction center through RS232 for data analysis and storage;
the APU human-computer interaction center is used as a core control unit of a platform and is responsible for task scheduling of various networks among the vehicle-connected multi-agent and realization of communication protocols, and a vehicle environment monitoring system, a vehicle information management network, a multimedia network and an external wireless networking system are connected with the vehicle-connected multi-agent through RS232 serial ports.
Preferably, the vehicle-connected multi-agent wireless networking system in the wireless networking is used for being responsible for wireless networking among intelligent vehicles and interaction of vehicle state information, on the basis that the intelligent vehicles with the wireless communication platform are carried in the vehicles, the intelligent vehicles are provided with ZigBee routers based on ZigBee modules in wireless networking, networking with the ZigBee coordinator 1 is carried out, the vehicle state information including positions and speeds acquired by the wireless modules in the intelligent vehicles is collected, each intelligent vehicle provided with the ZigBee routers transmits the information to the ZigBee coordinator 1 in a wireless communication mode, the coordinator transmits the information to an APU human-computer interaction platform through RS232 for data processing, and finally, the vehicle information management system transmits the information required by the intelligent vehicles for achieving consistency control to each intelligent vehicle terminal through the ZigBee coordinator to control the motion of the vehicles, a given formation task is completed.
The invention relates to an operation method for wireless dynamic networking of auto-driving vehicle-associated multi-agent, which is used for operating the wireless dynamic networking of the auto-driving vehicle-associated multi-agent, and comprises the following operation steps:
step 1: when the whole in-vehicle wireless communication platform is powered on and initialized with parameters or set, the in-vehicle wireless network and the man-machine interaction center enter a working state;
step 2: starting the intelligent vehicle, enabling the wireless sensor node or the vehicle-mounted terminal equipment to enter a working state, and carrying out topology collection on a route;
and step 3: through a ZigBee wireless ad hoc network mechanism, when an intelligent vehicle node with authentication information is found to request to join the network, authentication is carried out;
and 4, step 4: the topology of the multi-agent of the vehicle-linked multi-agent is simplified as follows:
judging the number of network nodes, establishing a graph signal model, and if the number of the nodes is greater than a specified number threshold K, performing super-node sampling to obtain a simplified topological graph; otherwise, carrying out information interaction between the intelligent vehicles to obtain adjacent node information;
and 5: after the vehicle information management platform finishes information interaction, topology control is carried out, and the state information of the super nodes is transmitted to the first-order neighbor nodes in the local set through the ZigBee wireless module, so that consistency control of multiple vehicle intelligent agents is finished.
Preferably, in the step 3, the authentication process is as follows:
step 3.1: if the verification is passed, adding 1 to the number of the network nodes of the vehicle-connected multi-agent network; if not, not allowing to join the network;
step 3.2: and after the number of the network nodes is changed, updating the topological structure table and updating the number of the neighbor nodes.
Preferably, in the step 4, the topology simplification concrete flow of the multi-agent vehicle-connected system is as follows:
step 4.1: when the number of the network nodes is larger than K, establishing a graph signal model for the multi-agent system, wherein the graph signal model is an initial graph;
step 4.2: using single sampling to find the node with the maximum graph degree as a super node, selecting i super nodes, and dividing the node, the first-order neighbor nodes of the node and the edges between the nodes into a local set;
step 4.3: removing the local set and the edges connecting the points in the local set and the points outside the local set from the graph to obtain a graph of the rest part;
step 4.4: judging whether the number of the local sets is equal to i or not, and if not, sequentially repeating the steps 4.2 and 4.3; if yes, performing step 4.5;
step 4.5: and connecting the super nodes at the edges to obtain a simplified topological graph, averaging super node signals by using the simplified graph, and performing one-time cooperation among the super nodes to obtain an average value.
Preferably, in said step 5, formation control of the consistency of the vehicle multi-agent is completed.
Compared with the prior art, the method has the following obvious prominent substantive features and remarkable advantages:
1. the invention realizes the vehicle-mounted internal wireless network control system, can break through the restriction of wire harnesses, shorten the integration time of vehicle functions and enhance the expansibility and maintainability of a vehicle-mounted internal network module;
2. meanwhile, on the basis of the vehicle-mounted wireless communication platform, networking communication is carried out between the intelligent vehicle carrying the ZigBee wireless module and other intelligent vehicles, the topological structure is optimized on the basis of the number of the nodes, the efficiency of real-time data transmission and command execution of various networks can be improved, and more accurate position information and speed information can be obtained among the intelligent agents under the vehicle-connected environment, so that the consistency control of the vehicle-connected multiple intelligent agents is effectively finished.
Drawings
FIG. 1 is a general architecture of the vehicle-associated multi-agent wireless communication platform of the present invention.
Fig. 2 is a communication platform for integrating the wireless network inside and outside the vehicle.
Fig. 3 is a vehicle-associated multi-system wireless hybrid adaptive networking diagram of the present invention.
FIG. 4 is a car-borne multi-agent interaction topology of the present invention.
FIG. 5 is a car-linked multi-agent topological node diagram of the present invention.
FIG. 6 is a flow chart of the vehicular multi-agent routing of the present invention.
FIG. 7 is a flow chart of the topology control of the in-vehicle multi-agent of the present invention.
FIG. 8 is a simplified flow diagram of the vehicle-associated multi-agent supernode sampling topology of the present invention.
Detailed Description
The invention will now be described in further detail with respect to preferred embodiments thereof, with reference to the accompanying drawings:
example one
Referring to fig. 1 to 5, an automatic-driving-oriented wireless dynamic networking of multi-agent in vehicle-connected system is characterized in that a wired network in a vehicle is upgraded wirelessly, and the multi-agent in vehicle-connected system is networked wirelessly on the basis of a wireless communication platform carried in the vehicle, wherein the specific wireless networking is as follows:
the vehicle-mounted wireless networking is characterized in that firstly, a wired network of a vehicle-mounted internal part is wirelessly transformed, wireless networking communication of modules of the vehicle-mounted internal part is completed, and three functional modules, namely a vehicle environment monitoring system, a vehicle information management system and a multimedia information transmission system, are correspondingly formulated;
the vehicle-connected multi-agent wireless networking is characterized in that on the basis of a plurality of intelligent vehicles loaded with a wireless communication platform in a vehicle, wireless networking based on ZigBee modules is adopted, the intelligent vehicles are provided with ZigBee routers and are networked with a ZigBee coordinator 1, vehicle state information including positions and speeds collected by the wireless modules in the intelligent vehicles is collected, each intelligent vehicle provided with the ZigBee routers transmits the information to the ZigBee coordinator 1 in a wireless communication mode, the coordinator transmits the information to a man-machine interaction platform through RS APU 232 for data processing, and finally, a vehicle information management system transmits information required by consistency control of the intelligent vehicles to each intelligent vehicle terminal through the ZigBee coordinator, the motion control of the vehicles is carried out, and a given formation task is completed.
The embodiment realizes wireless network control among the vehicle-connected multi-intelligent agents, breaks through the restriction of wire harnesses and shortens the integration time of vehicle functions. The networking is firstly carried out on part of vehicle-mounted line networks, then networking communication is carried out on the networking with other intelligent agents carrying ZigBee wireless modules on the basis of a vehicle-mounted ZigBee wireless communication platform, so that accurate position information and speed information of adjacent intelligent agents are obtained, and consistency control of the vehicle-connected multi-intelligent agents is completed through information interaction.
Example two
In this embodiment, referring to fig. 1 to 8, a vehicle-connected multi-agent wireless communication platform is shown in fig. 1, and includes a human-computer interaction center, a vehicle environment monitoring system, a vehicle information management system, a multimedia information transmission system, and an external wireless networking system five-function module, where the human-computer interaction center is mainly composed of an android board and is responsible for task scheduling of various networks inside a vehicle and implementation of communication protocols; the vehicle information management system consists of a multi-hop ZigBee wireless module, an OBD module, an air quality detection module and an instrument panel display module and is responsible for self diagnosis of the vehicle and monitoring of the environment in the vehicle; the multimedia transmission system consists of a WiFi module, an audio and video module, a voice navigation module, a driving recorder and the like, and is responsible for vehicle navigation, transmission of audio and video streams recorded by driving and management of entertainment information; the wireless networking system outside the vehicle consists of ZigBee wireless modules and is used for being responsible for wireless networking among intelligent vehicles and interaction of vehicle state information. The APU human-computer interaction center is used as a core control unit of the platform, a vehicle environment monitoring system, a vehicle information management network, a multimedia network and an external vehicle wireless networking system are connected with the APU human-computer interaction center through RS232 serial ports, information processed by the APU human-computer interaction center in real time is synchronously uploaded to a cloud server, and a mobile terminal and cloud interconnection are used for remotely controlling the in-vehicle wireless communication platform.
The method for in-vehicle wireless multi-system hybrid networking is firstly carried out according to three parts of different connection modes of an automobile:
for a class a low speed network based on the LIN bus architecture: the vehicle environment detection system adopts a centralized star network topology based on ZigBee and performs networking in a single-hop centralized mode due to a low-speed network with a data transmission rate of 1-10 kbit/s. Electrically connecting vehicle doors, vehicle lamps, safety belts, loudspeakers and the like which have low requirements on instantaneity and safety; the vehicle information management system adopts a distributed tree network topology based on ZigBee and utilizes a multi-hop distributed ad hoc network. The ZigBee router 2 is connected with a vehicle-mounted OBD interface, and is also used as a coordinator to collect the code speed, the oil consumption, the electric quantity and the like of the vehicle in real time, so that the state information of other intelligent vehicles can be forwarded by the ZigBee router to complete the interaction of the state information of the intelligent body including the position and the speed; the ZigBee route 1 is also used as a coordinator to be wirelessly connected with terminal nodes of a formaldehyde sensor, a temperature and humidity sensor and a PM sensor, and is used for collecting and preprocessing air quality information in the vehicle. The ZigBee coordinator 1 is interconnected with the three routers, and the received data is packaged and transmitted to the android board through the RS232 for data analysis and storage.
For a class D high speed network based on MOST bus architecture:
the multimedia information transmission system is mainly oriented to information and audio and video multimedia systems, the data transmission rate can reach 22.5Mbit/s at most, a mixed networking based on WiFi and Bluetooth is adopted, audio and video, driving records, voice, navigation nodes and the like are connected with adapters, a WiFi module and an APU (auxiliary Power Unit) man-machine interaction platform are located under the same local area network, each adapter is connected to the network by searching WiFi signals, collected audio and video coal streams are transmitted to an STM32 for preprocessing and uploaded to a cloud platform, and finally transmitted to the man-machine interaction platform through RS232 for data processing, so that the reading of vehicle related information and the control of corresponding functions by a mobile APU are realized.
The wireless dynamic networking method of the vehicle-associated multi-agent comprises the following steps:
the method comprises an in-vehicle wireless networking method, a wireless networking method among vehicle-connected multi-agent and the design of multi-agent network topology, and the dynamic networking steps based on a vehicle-mounted wireless communication platform are as follows:
step 1: when the whole in-vehicle wireless communication platform is powered on and initialized with parameters or set, the in-vehicle wireless network and the man-machine interaction center enter a working state;
step 2: starting the intelligent vehicle, enabling the wireless sensor node or the vehicle-mounted terminal equipment to enter a working state, and carrying out topology collection on a route;
and step 3: through a ZigBee wireless ad hoc network mechanism, when an intelligent vehicle node with authentication information is found to request to join the network, authentication is carried out; the authentication process comprises the following steps:
step 3.1: if the verification is passed, adding 1 to the number of the network nodes of the vehicle-connected multi-agent network; if not, not allowing to join the network;
step 3.2: after the number of the network nodes is changed, updating the topological structure table and updating the number of the neighbor nodes;
and 4, step 4: the topology of the multi-agent of the vehicle-linked multi-agent is simplified as follows:
judging the number of network nodes, establishing a graph signal model, and if the number of the nodes is greater than a specified number threshold K, performing super-node sampling to obtain a simplified topological graph; otherwise, carrying out information interaction between the intelligent vehicles to obtain adjacent node information; the topological simplification concrete process of the vehicle-associated multi-agent comprises the following steps:
step 4.1: when the number of the network nodes is larger than K, establishing a graph signal model for the multi-agent system, wherein the graph signal model is an initial graph;
step 4.2: using single sampling to find the node with the maximum graph degree as a super node, selecting i super nodes, and dividing the node, the first-order neighbor nodes of the node and the edges between the nodes into a local set;
step 4.3: removing the local set and the edges connecting the points in the local set and the points outside the local set from the graph to obtain a graph of the rest part;
step 4.4: judging whether the number of the local sets is equal to i or not, and if not, sequentially repeating the steps 4.2 and 4.3; if yes, performing step 4.5;
step 4.5: connecting the super nodes at the edges to obtain a simplified topological graph, averaging super node signals by using the simplified graph, and performing one-time cooperation among the super nodes to obtain an average value;
and 5: after the vehicle information management platform finishes information interaction, topology control is carried out, and the state information of the super nodes is transmitted to the first-order neighbor nodes in the local set through the ZigBee wireless module, so that consistency control of multiple vehicle intelligent agents is finished, and particularly formation control is carried out.
The embodiment realizes the vehicle-mounted internal wireless network control system, can break through the restriction of wire harnesses, shortens the integration time of vehicle functions, and enhances the expansibility and maintainability of a vehicle-mounted internal network module; meanwhile, on the basis of the vehicle-mounted wireless communication platform, networking communication is carried out between the intelligent vehicle carrying the ZigBee wireless module and other intelligent vehicles, the topological structure is optimized on the basis of the number of the nodes, the efficiency of real-time data transmission and command execution of various networks can be improved, more accurate position information and speed information can be obtained between the intelligent agents under the vehicle-connected environment, and accordingly consistency control of the vehicle-connected multiple intelligent agents is effectively achieved.
To sum up, in the above embodiment, the ZigBee wireless module is used to network the intelligent vehicle, and the position information and the speed information of the adjacent nodes of the vehicle-associated multi-agent are transmitted to the ZigBee terminal node by the ZigBee routing node or the ZigBee coordinator node, so that the information interaction of the position and the speed of the intelligent vehicle is realized, and the purpose of consistency control of the multi-agent is achieved; aiming at the characteristics of uncertainty of a vehicle-connected multi-agent system, instability of a network transmission environment, mobility of network nodes and the like, a super-node-based vehicle-connected multi-agent dynamic network topology structure design method is provided, and comprises design of an intelligent vehicle in-vehicle wireless networking module, design of an out-vehicle wireless networking module and design of a vehicle-connected multi-agent network topology. The invention can effectively reduce the problem of complex wiring caused by wired connection and can also effectively reduce the influence of uncertain environment factors on wireless networking communication among the vehicle-connected multi-agent.
So far, the person skilled in the art will appreciate that the above examples have shown several embodiments of the present invention, which are described in more detail and in more detail, but are not to be construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. The utility model provides a wireless dynamic network deployment of many intelligent agents of car antithetical couplet towards autopilot, its characterized in that carries out wireless upgrade to the inside wired network of car to carry out wireless network deployment to many intelligent agents of car antithetical couplet on the basis that carries wireless communication platform in the car, specific wireless network deployment is as follows:
this car allies oneself with wireless network carries out wireless transformation to on-vehicle inside part wired network at first, accomplishes the wireless networking communication of on-vehicle inside part module, combines APU human-computer interaction center, utilizes zigBee route module, accomplishes the wireless networking between the many intelligent agents of car allies oneself with:
the in-vehicle wireless networking platform is mainly used for wirelessly upgrading a part of wired networks according to different connection modes in a vehicle and correspondingly establishing three functional modules of a vehicle environment monitoring system, a vehicle information management system and a multimedia information transmission system;
the vehicle-connected multi-agent wireless networking is that on the basis of a plurality of intelligent vehicles of a wireless networking platform in a loading vehicle, a ZigBee router is loaded on each intelligent vehicle to perform the vehicle-external wireless networking function, the ZigBee routers acquire speed and position information of the vehicles through wireless communication to interact, and the whole vehicle-connected wireless networking communication platform is completed by combining a vehicle-mounted APU (auxiliary Power Unit) human-computer interaction platform, so that the consistency control of the vehicle multi-agent is achieved, and certain specific formation tasks are further completed.
2. The in-vehicle multi-agent wireless dynamic networking of claim 1, wherein three functional modules in the in-vehicle wireless networking platform in the wireless networking are:
the vehicle environment detection system adopts a centralized star network topology based on ZigBee and performs networking in a single-hop centralized mode; electrically connecting the vehicle door, the vehicle lamp, the safety belt and the loudspeaker which have low requirements on instantaneity and safety;
the vehicle information management system adopts a distributed tree network topology based on ZigBee and utilizes a multi-hop distributed ad hoc network; the system consists of a multi-hop ZigBee wireless module, an OBD module, an air quality detection module and an instrument panel display module, and is used for being responsible for self diagnosis of vehicles and monitoring of the environment in the vehicles, collecting the code speed, oil consumption and electric quantity of the vehicles in real time, and transmitting the state information of the vehicles to a ZigBee coordinator 2;
the multimedia information transmission system adopts a mixed networking based on WiFi and Bluetooth to connect audio and video, driving records, voice and navigation nodes with the adapter; the ZigBee coordinator 2 is interconnected with ZigBee routers of the three functional modules, and the received data are packaged and transmitted to an APU (auxiliary Power Unit) human-computer interaction center through RS232 for data analysis and storage;
the APU human-computer interaction center is a Cortex-A8 core board, comprises a CPU with the model number of i.MX 6UL, is loaded with an Android platform, integrates a 2.4GHz/5GHz frequency band interface, is used as a core control unit of the platform and is responsible for the realization of task scheduling and communication protocols of various networks among the vehicle-connected multi-agents, and a vehicle environment monitoring system, a vehicle information management network, a multimedia network and an external wireless networking system are connected with the vehicle-connected multi-agents through RS232 serial ports.
3. The in-vehicle multi-agent wireless dynamic networking of claim 1, characterized in that: the vehicle-connected multi-agent wireless networking system in the wireless networking is used for the wireless networking among intelligent vehicles and the interaction of vehicle state information, on the basis of the intelligent vehicle with the wireless communication platform in the vehicle, the intelligent vehicle is provided with a ZigBee router by adopting wireless networking based on a ZigBee module, networking with the ZigBee coordinator 1, collecting vehicle state information including position and speed collected by a wireless module in the intelligent vehicle, transmitting the information to the ZigBee coordinator 1 by each intelligent vehicle equipped with the ZigBee router in a wireless communication mode, transmitting the information to an APU (auxiliary Power Unit) human-computer interaction platform by the coordinator through RS232 for data processing, and finally, the vehicle information management system transmits information required by the intelligent vehicle to achieve consistency control to each intelligent vehicle terminal through the ZigBee coordinator, so that the motion of the vehicle is controlled, and a given formation task is completed.
4. An operation method for wireless dynamic networking of auto-driving oriented multi-agent in vehicle-connected, which is operated by the wireless dynamic networking of the auto-driving oriented multi-agent in vehicle-connected according to claim 1, and is characterized in that the operation steps are as follows:
the vehicle-associated multi-agent wireless networking based on the in-vehicle wireless communication platform comprises the following steps:
step 1: when the whole in-vehicle wireless communication platform is powered on and initialized with parameters or set, the in-vehicle wireless network and the man-machine interaction center enter a working state;
step 2: starting the intelligent vehicle, enabling the wireless sensor node or the vehicle-mounted terminal equipment to enter a working state, and carrying out topology collection on a route;
and step 3: through a ZigBee wireless ad hoc network mechanism, when an intelligent vehicle node with authentication information is found to request to join the network, authentication is carried out;
and 4, step 4: the topology of the multi-agent of the vehicle-linked multi-agent is simplified as follows:
judging the number of network nodes, establishing a graph signal model, and if the number of the nodes is greater than a specified number threshold K, performing super-node sampling to obtain a simplified topological graph; otherwise, carrying out information interaction between the intelligent vehicles to obtain adjacent node information;
and 5: after the vehicle information management platform finishes information interaction, topology control is carried out, and the state information of the super nodes is transmitted to the first-order neighbor nodes in the local set through the ZigBee wireless module, so that consistency control of multiple vehicle intelligent agents is finished.
5. The method of operating an autonomous-oriented multi-agent wireless dynamic networking according to claim 1, wherein: in step 3, the authentication process is as follows:
step 3.1: if the verification is passed, adding 1 to the number of the network nodes of the vehicle-connected multi-agent network; if not, not allowing to join the network;
step 3.2: and after the number of the network nodes is changed, updating the topological structure table and updating the number of the neighbor nodes.
6. The method of operating an autonomous-oriented multi-agent wireless dynamic networking according to claim 1, wherein: in the step 4, the topology simplification specific process of the multi-agent vehicle-connected system includes:
step 4.1: when the number of the network nodes is larger than K, establishing a graph signal model for the multi-agent system, wherein the graph signal model is an initial graph;
step 4.2: using single sampling to find the node with the maximum graph degree as a super node, selecting i super nodes, and dividing the node, the first-order neighbor nodes of the node and the edges between the nodes into a local set;
step 4.3: removing the local set and the edges connecting the points in the local set and the points outside the local set from the graph to obtain a graph of the rest part;
step 4.4: judging whether the number of the local sets is equal to i or not, and if not, sequentially repeating the steps 4.2 and 4.3; if yes, performing step 4.5;
step 4.5: and connecting the super nodes at the edges to obtain a simplified topological graph, averaging super node signals by using the simplified graph, and performing one-time cooperation among the super nodes to obtain an average value.
7. The method of operating an autonomous-oriented multi-agent wireless dynamic networking according to claim 1, wherein: in said step 5, formation control of the consistency of the vehicle multi-agent is completed.
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