CN113260084B - Millimeter wave-based vehicle networking V2X communication link establishment method - Google Patents

Millimeter wave-based vehicle networking V2X communication link establishment method Download PDF

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CN113260084B
CN113260084B CN202110542122.3A CN202110542122A CN113260084B CN 113260084 B CN113260084 B CN 113260084B CN 202110542122 A CN202110542122 A CN 202110542122A CN 113260084 B CN113260084 B CN 113260084B
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vehicle
antenna
millimeter wave
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target vehicle
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CN113260084A (en
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余帅
相天麒
辜寂
王一鑫
阮慧源
于渤洋
敖敏
张欣
高月红
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Beijing University of Posts and Telecommunications
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/24—Cell structures
    • H04W16/28—Cell structures using beam steering
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • 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]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/14—Direct-mode setup

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Abstract

The invention discloses a method for establishing a communication link of a vehicle networking V2X based on millimeter waves, belonging to the field of vehicle networking communication in a vehicle network, and specifically comprising the following steps: firstly, broadcasting and sending vehicle information by a target vehicle in a sub-6G frequency band, and receiving and storing by a transmitting vehicle; when the two vehicles carry out communication interaction, the central processing unit identifies a target vehicle by using a deep learning algorithm; meanwhile, whether shielding exists between the two vehicle antennas is judged; when the communication beam is not blocked, the transmitting vehicle selects the optimal communication beam from the beams in all directions according to the relative angle of the two vehicle antennas; when shielding exists, the transmitting vehicle identifies all convex reflecting surfaces in the surrounding environment and selects an optimal beam for each reflecting surface to form a candidate beam set; then, scanning the beams in the candidate beam set to select the optimal communication beam; finally, the transmitting vehicle transmits data to the target vehicle using the optimal communication beam; the invention realizes the high-precision alignment of the beams in V2X communication based on the millimeter wave frequency band.

Description

Millimeter wave-based vehicle networking V2X communication link establishment method
Technical Field
The invention relates to the field of Vehicle networking (V2X) communication in a Vehicle network, in particular to a method for establishing a communication link of a Vehicle networking V2X based on millimeter waves.
Background
Currently, related research of the Internet of vehicles industry is still in a test stage, and the available wireless access technologies mainly comprise two types of IEEE802.11p and 3GPP C-V2X[1]And all the devices are deployed in a sub-6G frequency band. However, the above two technologies cannot meet the strict requirements of future vehicle networking on ultra-large throughput, ultra-low latency and ultra-high reliability.
In order to meet the communication requirements of the internet of vehicles, the IEEE and the 3GPP respectively propose 802.11bd and NR V2X standards, which can not only use the sub-6G frequency band, but also be deployed in the millimeter wave frequency band. As the sub-6G frequency band is mostly allocated with good purposes, and a large amount of unallocated bandwidth still exists in the millimeter wave frequency band, the millimeter wave-based vehicle networking V2X communication technology has great research value and application prospect.
However, millimeter wave V2X communication has its special requirements with respect to conventional communication. Due to the very high working frequency, millimeter wave communication has the characteristics of high propagation loss and line-of-sight communication, and large-scale MIMO and beamforming technologies are required to compensate propagation loss[2]. The beamforming technology has the characteristic of directional transmission (directional Communication), and can concentrate signals in one or more directions for propagation, so that a higher signal-to-noise ratio can be obtained at a receiver.
The existing related art has the following defects in millimeter wave-based vehicle networking V2X communication:
in adaptive beam width control of millimeter wave V2X communication, there are the following problems:
(1) the method can not be applied to scenes shielded by other objects when the vehicle carries out millimeter wave communication. Once occluded, most of the signal is lost and no usable communication link can be established.
(2) Vehicle positioning based on traditional GPS mode and beam alignment method based on position[3]. In a vehicle environment moving at a high speed, network delay and GPS positioning accuracy cause errors in the positioning of the spatial position of the vehicle by the system, only coarse-accuracy beam alignment can be performed, and the real-time transmission and sharing of the position information requires a direct or indirect communication channel between vehicles, so that the real-time transmission and sharing of the position information are difficult to realize between vehicles without connection establishment.
In the technique for connection setup of the millimeter wave-based V2X communication system, there are the following problems:
the traditional beam scanning mode is adopted to find the vehicle and carry out directional communication, the system resource cost is high, and the method is not suitable for the vehicle environment moving at high speed.
In the technology for directional discovery in the millimeter wave V2X communication system, there are the following problems:
(1) the vehicle is found by adopting the traditional beam scanning mode, and the system resource cost is high.
(2) The prior art is not suitable for use in a high speed moving vehicle environment. When the relative position of the vehicle is constantly changing, the millimeter wave communication link cannot be established quickly using this technique.
To implement V2X mm wave communication using beamforming, the vehicle must align the beam before establishing the communication link. How to quickly and accurately perform beam alignment is a big problem of millimeter wave application to communication of the vehicle networking V2X.
Reference documents:
[1]Tommaso Zugno,Matteo Drago,Marco Giordani,etc.Toward Standardization of Millimeter-WaveVehicle-to-Vehicle Networks:Open Challenges and Performance Evaluation.IEEE Communications Magazine.2020,58(9):79-85,DOI:10.1109/MCOM.001.2000041.
[2]Li Lianming,Wang Dongming,Niu Xiaokang,etc.mmWave communications for 5G:implementation challenges and advances.SCIENCE CHINA-INFORMATION SCIENCES,2018,61(2),DOI:10.1007/s11432-017-9262-8.
[3]Roy Maiberger,Doron Ezri,Michael Erlihson.Location Based Beamforming.2010IEEE26-th Convention of Electrical and Electronics Engineers in Israel,2010.
disclosure of Invention
The invention provides a method for establishing a communication link of a vehicle networking V2X based on millimeter waves, which aims to solve the problem of beam alignment when millimeter waves are applied to the communication of the vehicle networking V2X and realize accurate positioning of relative positions in the vehicle networking.
The method for establishing the communication link of the Internet of vehicles V2X comprises the following steps:
step one, the target vehicle sends vehicle information in a sub-6G frequency band in a broadcasting mode, the transmitting vehicle receives the vehicle information of the target vehicle in the sub-6G frequency band, and the vehicle information is stored in a memory.
The vehicle information comprises a vehicle identifier and antenna positions, and the antenna positions are positioned at the vehicle head, the middle part and the vehicle tail;
the transmitting vehicle is provided with a central processing unit and a millimeter wave communication module;
step two, the launching vehicle judges whether communication interaction with the target vehicle is needed, if so, the vehicle information of the target vehicle is taken out from the memory and transmitted to the central processing unit, and the step three is carried out; otherwise, the real-time monitoring of the broadcast information is continued.
Thirdly, the central processing unit identifies the target vehicle, the head and the tail of the vehicle according to the vehicle identifier of the target vehicle by using a deep learning algorithm; meanwhile, judging whether other objects are shielded between the two vehicle antennas according to the positions of the antennas; if yes, entering the step five; otherwise, entering the step four;
selecting the optimal communication beam from the beams in all directions by the transmitting vehicle, and aligning the optimal communication beam to the antenna of the target vehicle by adopting a direct-view range alignment mode; and entering the step seven.
The specific process is as follows:
firstly, according to the antenna position, determining the position P of the antenna of the target vehicle in a physical image coordinate system:
(1) and if the antenna is positioned at the head of the vehicle, P is the central point of the detection frame of the head of the vehicle.
(2) If the antenna is located in the middle of the vehicle, P is the center point of the vehicle detection frame.
(3) If the antenna is located at the tail of the vehicle, P is the central point of the tail detection frame.
Then, according to the antenna position P of the target vehicle, calculating the relative angle theta of the antenna of the target vehicle relative to the antenna of the transmitting vehicle on the horizontal plane;
the calculation formula is theta-arctan (f/x); (x, y) represents the coordinates of position P, f is the focal length of the camera;
finally, the central processing unit transmits the relative angle theta to the millimeter wave communication module, and the millimeter wave communication module selects a beam with the angle closest to the angle theta from the beams in all directions to serve as an optimal communication beam;
the formula for selecting a beam is:
maxθi{cos(θ-θi)}
θiis the direction angle of the ith beam.
And fifthly, the emission vehicle identifies all convex reflecting surfaces in the surrounding environment, and selects an optimal beam for each reflecting surface to form a candidate beam set.
The specific process is as follows:
firstly, the central processing unit adopts a deep learning algorithm to identify all convex reflecting surfaces in the surrounding environment, and detects the position of each convex reflecting surface in a physical image coordinate system to form a position set { P }1,P2,...,Pn}；
The convex reflecting surface comprises a convex mirror at the corner of the roadside, a vehicle profile and other convex metal surfaces.
Then, the relative angle of each convex reflecting surface relative to the transmitting vehicle antenna is calculated to form an angle set { alpha1,α2,...,αn}; the central processing unit transmits the relative angle set to the millimeter wave communication module;
finally, for each relative angle αiThe millimeter wave communication module selects an angle and the current alpha from the beams in all directionsiClosest beamAs the best beam, and storing the ID of the best beam in the memory;
the best beams for all relative angles form a candidate set of beams ID1,ID2,...,IDn}。
Sixthly, the transmitting vehicle uses the beams in the candidate beam set to carry out beam scanning, and the best communication beam is selected and aligned to the antenna of the target vehicle;
the method specifically comprises the following steps:
firstly, the millimeter wave communication module sequentially uses the beams in the candidate beam set to send detection messages, after a target vehicle receives detection signals, Channel State Information (CSI) corresponding to each beam ID is fed back to a transmitting vehicle in a sub-6G frequency band, and a beam which enables the signal-to-noise ratio of the received signals to be the maximum is selected from all the CSI to be used as the final optimal communication beam.
And step seven, the millimeter wave communication module of the transmitting vehicle transmits data to the target vehicle in the millimeter wave frequency band by using the optimal communication beam.
The invention has the advantages that:
the invention uses the sub-6G frequency band wireless access technology to assist the millimeter wave V2X communication, uses the computer vision to determine the relative angle between the vehicle and the vehicle, and between the vehicle and the reflecting surface, uses the convex reflecting surface reflection alignment method to enlarge the coverage of the millimeter wave communication, solves the object shielding problem, realizes the high-precision alignment of the wave beam in the V2X communication based on the millimeter wave frequency band, makes up the technical blank, and makes the application of the millimeter wave to the vehicle networking possible.
Drawings
FIG. 1 is a flowchart of a method for establishing a communication link of the Internet of vehicles V2X based on millimeter waves according to the present invention;
FIG. 2 is a diagram illustrating a method for determining a position P of an antenna of a target vehicle in a physical image coordinate system by using a deep learning algorithm according to the present invention;
FIG. 3 is a schematic diagram of calculating a relative angle θ of two antennas on a horizontal plane by using a linear model of camera imaging according to the present invention;
FIG. 4 is a schematic view of the beams in all directions of the vehicle according to the present invention;
FIG. 5 is a schematic diagram illustrating selection of an optimal communication beam without occlusion according to the present invention;
FIG. 6 is a schematic view of a convex reflecting surface for obtaining the surrounding environment under other vehicle shielding conditions according to the present invention;
FIG. 7 is a schematic view of a convex reflective surface for obtaining the surrounding environment under the shielding of a building according to the present invention;
fig. 8 is a schematic diagram of a V2X communication system module on which the method of the present invention is based;
fig. 9 is an antenna position information coding scheme according to the present invention.
Detailed Description
The invention will be described in further detail below with reference to the drawings and examples of embodiment.
The invention provides a method for establishing a communication link of a vehicle networking V2X based on millimeter waves, which comprises the following steps: the transmitting vehicle and the target vehicle are communicated in a sub-6G frequency band to exchange vehicle information; the transmitting vehicle adopts computer vision to identify the target vehicle according to the vehicle identifier of the target vehicle and judges whether other objects are shielded with the target vehicle; under the condition of no shielding, the transmitting vehicle firstly calculates the angle of the target vehicle antenna relative to the transmitting vehicle antenna, and then selects the optimal communication beam according to the relative angle; under the condition of shielding, the transmitting vehicle adopts computer vision to identify convex reflecting surfaces in the surrounding environment, and constructs candidate beam sets aiming at the convex reflecting surfaces; the transmitting vehicle uses the beams in the candidate beam set for scanning, and selects the optimal communication beam according to the feedback information; the transmitting vehicle transmits data to the target vehicle using the best communication beam for both cases.
The method for establishing the communication link of the internet of vehicles V2X, as shown in fig. 1, includes the following steps:
step one, the target vehicle sends vehicle information in a sub-6G frequency band in a broadcasting mode, the transmitting vehicle receives the vehicle information of the target vehicle in the sub-6G frequency band, and the vehicle information is stored in a memory.
The technology employed for transmitting and receiving the vehicle information is DSRC, LTE, or 5G NR.
The vehicle information comprises a vehicle identifier and antenna positions, and the antenna positions are positioned at the vehicle head, the middle part and the vehicle tail; meanwhile, the positions of the vehicle-mounted camera and the vehicle antenna are approximately superposed; the transmitting vehicle is provided with a central processing unit and a millimeter wave communication module.
Step two, the launching vehicle judges whether communication interaction with the target vehicle is needed, if so, the vehicle information of the target vehicle is taken out from the memory and transmitted to the central processing unit, and the step three is carried out; otherwise, the real-time monitoring of the broadcast information is continued.
Thirdly, the central processing unit identifies the target vehicle, the head and the tail of the vehicle according to the vehicle identifier of the target vehicle by using a deep learning algorithm; meanwhile, judging whether other objects are shielded between the two vehicle antennas according to the positions of the antennas; if yes, entering the step five; otherwise, entering the step four;
the specific process is as follows:
firstly, recognizing surrounding vehicles by using a faster rcnn and yolo algorithm, determining a vehicle detection frame, and recognizing vehicle identifiers of the surrounding vehicles by using OCR software;
then, comparing the identified vehicle identifier with the vehicle identifier in the vehicle information acquired from the memory to determine a target vehicle;
finally, respectively identifying the head and the tail of the target vehicle according to the vehicle identifiers of the target vehicle at the head and the tail of the target vehicle, and determining a head detection frame and a tail detection frame, such as a vehicle posture identification method and a detection method and a device for vehicle states in a parking lot;
in the above process, it is assumed that there is a blockage between the transmitting vehicle antenna and the target vehicle antenna if:
1) the transmitting vehicle cannot identify the target vehicle from the surrounding vehicles.
2) The vehicle information obtained from the memory indicates that the antenna of the target vehicle is located at the head, but the transmitting vehicle cannot recognize the head of the target vehicle.
3) The vehicle information retrieved from the memory indicates that the antenna of the target vehicle is located at the rear of the vehicle, and the transmitting vehicle cannot recognize the rear of the target vehicle.
Selecting the optimal communication beam from the beams in all directions by the transmitting vehicle, and aligning the optimal communication beam to the antenna of the target vehicle by adopting a direct-view range alignment mode; and entering the step seven.
The specific process is as follows:
firstly, according to the antenna position information, determining the position P of the antenna of the target vehicle in a physical image coordinate system: as shown in fig. 2;
(1) and if the antenna is positioned at the head of the vehicle, P is the central point of the detection frame of the head of the vehicle.
(2) If the antenna is located in the middle of the vehicle, P is the center point of the vehicle detection frame.
(3) If the antenna is located at the tail of the vehicle, P is the central point of the tail detection frame.
And the positions of the target detection frame and each end point are obtained by the third step.
Then, according to the antenna position P of the target vehicle, calculating the relative angle theta of the antenna of the target vehicle relative to the antenna of the transmitting vehicle on the horizontal plane; the linear model of the camera imaging is shown in fig. 3:
where R denotes the antenna of the target vehicle in the real world, P (x, y) denotes the position of the target vehicle antenna in the physical image coordinate system of the imaging plane, and f is the focal length of the camera (O to O)1)
According to the triangle-like principle, θ is the relative angle of the target vehicle antenna relative to the transmitting vehicle antenna on the horizontal plane according to P (x, y) and the focal length f, and is represented by the formula:
θ＝arctan(f/x)
the relative angle is calculated.
Finally, the central processing unit transmits the relative angle theta to the millimeter wave communication module, and the millimeter wave communication module selects a beam with the angle closest to the angle theta from the beams in all directions to serve as an optimal communication beam;
the formula for selecting a beam is:
maxθi{cos(θ-θi)}
θiis the direction angle of the ith beam.
As shown in fig. 4 and 5, vehicles participating in V2X millimeter wave communication need to be configured with a set of beams covering all directions for millimeter wave communication in advance. The beam in each direction has a unique beam ID, where the angle θ representing the beam directioniThe value range of (2) is (0).
And fifthly, the emission vehicle identifies all convex reflecting surfaces in the surrounding environment, and selects an optimal beam for each reflecting surface to form a candidate beam set.
The specific process is as follows:
firstly, the central processing unit obtains image information of the surrounding environment through the camera, recognizes all convex reflecting surfaces in the surrounding environment by adopting a depth learning algorithm, as shown in fig. 6 and 7, detects the position of each convex reflecting surface in a physical image coordinate system, and forms a position set { P }1,P2,...,Pn}；
The convex reflecting surface comprises a convex mirror at the corner of the roadside, a vehicle profile and other convex metal surfaces.
Then, the transmitting vehicle detects the position P of the convex reflecting surface in the physical image coordinate system, and calculates the relative angle alpha of the convex reflecting surface relative to the transmitting vehicle antenna to form an angle set { alpha1,α2,...,αn}; the central processing unit transmits the relative angle set to the millimeter wave communication module;
finally, for each relative angle αiThe millimeter wave communication module selects an angle and the current alpha from the beams in all directionsiThe closest beam is used as the best beam, and the ID of the best beam is stored in a memory;
the best beams for all relative angles form a candidate set of beams ID1,ID2,...,IDn}。
Sixthly, the millimeter wave communication module of the transmitting vehicle performs beam scanning by using the beams in the candidate beam set, selects the optimal communication beam from the beams and aims at the antenna of the target vehicle;
the method specifically comprises the following steps:
firstly, the millimeter wave communication module sequentially uses the beam IDs in the candidate beam set to send detection messages, and after a target vehicle receives detection signals, Channel State Information (CSI) corresponding to each beam ID is fed back to a transmitting vehicle in a sub-6G frequency band, wherein the CSI comprises the signal-to-noise ratio of the received signals.
The beam that maximizes the received signal-to-noise ratio is selected from all CSI as the final best communication beam.
And step seven, the millimeter wave communication module of the transmitting vehicle transmits data to the target vehicle in the millimeter wave frequency band by using the optimal communication beam.
In the invention, the condition that the vehicle antennas are not blocked is the most common scene in V2X millimeter wave communication. In particular, in V2X millimeter wave communication, the vehicle antenna is not necessarily located in the middle of the vehicle, and may be located at the front or rear of the vehicle, and in order to accurately achieve beam alignment, the transmitting vehicle needs to know the specific location of the target vehicle antenna and calculate the relative angle of the target vehicle antenna with respect to the transmitting vehicle antenna. In the invention, the transmitting vehicle adopts computer vision to identify the target vehicle and determines the position of the target vehicle antenna in the physical image coordinate system according to the position information of the vehicle antenna. From the linear imaging model of the camera, the angle of the target vehicle antenna relative to the transmitting vehicle antenna can be calculated. After obtaining the relative angle, the transmitting vehicle needs to select one of the beams in all directions whose directional angle is closest to the relative angle as the best communication beam. Under the scene, the wave beam alignment is completed by the aid of computer vision, so that an omnidirectional wave beam scanning process before a communication link is established in the traditional millimeter wave communication can be omitted, and the time overhead of establishing the millimeter wave communication link is greatly reduced.
Under the condition that other objects are shielded between the vehicle antennas, the vehicle antennas cannot be directly aligned to beams, which is a great problem to be solved for realizing the V2X millimeter wave communication. The invention considers two sheltered scenes when the vehicle carries out millimeter wave communication: other vehicle shelters and building shelters. According to the reflection rule of electromagnetic waves, when the reflecting surface is a convex surface, the electromagnetic waves are reflected by the reflecting surface and then are dispersed to the space. The present invention, based on this characteristic, expands the millimeter wave communication coverage of the transmitting vehicle by using the convex reflecting surface. According to the fresnel law, when the reflecting surface is made of metal, the electromagnetic waves are totally reflected at the interface between air and metal. Thus, the convex reflective surfaces of the present invention include convex mirrors at the corners of a curb, vehicle contours, and other convex metal surfaces. After the emitting vehicle identifies the available surrounding reflecting surfaces, it selects an optimal beam for each reflecting surface and uses these beams to scan the corresponding reflecting surface in turn. And the target vehicle feeds back the beam ID and the CSI immediately after receiving the millimeter wave signal. And the transmitting vehicle selects an optimal communication beam according to the CSI for subsequent millimeter wave communication. In traditional millimeter wave communication, omnidirectional beam scanning is required in an occluded scene to find an available beam. Compared with the traditional method, the method provided by the invention can reduce the number of beams required during beam scanning to the maximum extent, and reduces the time overhead required for selecting the optimal communication beam and the delay for establishing a millimeter wave communication link while finishing beam alignment.
The method for establishing the millimeter wave-based vehicle networking V2X communication link is realized based on a V2X communication system module, and as shown in FIG. 8, the method comprises the following steps: the device comprises a sub-6G communication module, a millimeter wave communication module, a camera module, a central processing unit and a memory; the sub-6G communication module is used for finishing the interaction of vehicle information between the transmitting vehicle and the target vehicle. The camera module is used for acquiring image information of the surrounding environment and transmitting the image information to the central processing unit. The central processing unit adopts a deep learning algorithm to complete the identification of the target vehicle and the convex reflecting surface and judge whether the vehicle antennas are shielded or not. In practical deployment, in order to minimize the error, the camera module should be located as close as possible to the millimeter wave communication antenna, so that the error between the relative angle obtained by computer vision calculation and the actual relative angle is as small as possible. The memory stores received vehicle information broadcast by another vehicle, channel state information, candidate beam set beam ID, and ID of the optimal communication beam.
The invention transmits the vehicle information on the control channel of the sub-6G wireless access technology, and can utilize the side link control information (SCI) of the NR V2X to transmit the vehicle information, such as documents: 3GPP TS 38.212multiplexing and channel coding v16.3.0. In NR V2X, SCI is divided into two stages of transmission, and the reserved field of the first stage SCI can be used as a carrier for transmitting antenna position information, and a specific coding scheme, as shown in fig. 9, includes control information, a vehicle identifier and an antenna position; the specific design is shown in table 1:
TABLE 1
Figure BDA0003072202370000071
Figure BDA0003072202370000081
The invention provides a sub-6G technology and a method for establishing a high-precision beam alignment and communication link under the assistance of computer vision, which utilizes the reflection of a reflecting surface to finish the beam alignment in a scene that millimeter wave signals are shielded by other objects; the convex reflecting surface in the surrounding environment is actively detected by computer vision, the beam is reflected and dispersed by the convex reflecting surface, the millimeter wave communication coverage range is expanded, and the non-line-of-sight millimeter wave communication is realized. Finally, the present invention provides an example of transmitting vehicle information, and a coding scheme for vehicle antenna position.
The existing GPS positioning precision can only reach a lane level at most, the space relative position of a vehicle cannot be accurately positioned, and the relative angle of a vehicle antenna can be accurately obtained by adopting a computer vision technology; when other objects are shielded, the two parties of millimeter wave communication cannot establish a reliable communication link through direct distance alignment. The method for expanding the communication coverage by reflecting and diverging the wave beam by the convex reflecting surface can solve the problem.

Claims (4)

1. A method for establishing a communication link of a vehicle networking V2X based on millimeter waves is characterized by comprising the following specific steps: firstly, a target vehicle sends vehicle information in a sub-6G frequency band in a broadcasting mode, and a transmitting vehicle receives and stores the vehicle information in the same frequency band; when the transmitting vehicle needs to perform communication interaction with the target vehicle, vehicle information of the target vehicle is taken out and transmitted to the central processing unit, and the central processing unit identifies the target vehicle according to the vehicle identifier in the vehicle information by using a deep learning algorithm; meanwhile, judging whether other objects are shielded between the transmitting vehicle and the target vehicle antenna according to the antenna position in the vehicle information; when no shielding object exists, the transmitting vehicle selects the optimal communication beam from the beams in all directions according to the relative angle of the transmitting vehicle and the target vehicle antenna;
the identification process of the target vehicle and the head and the tail of the target vehicle is as follows:
firstly, recognizing surrounding vehicles by using a faster rcnn and yolo algorithm, determining a vehicle detection frame, and recognizing vehicle identifiers of the surrounding vehicles by using OCR software;
then, comparing the identified vehicle identifier with the vehicle identifier in the vehicle information acquired from the memory to determine a target vehicle;
finally, respectively identifying the head and the tail of the target vehicle according to the vehicle identifiers of the target vehicle at the head and the tail of the target vehicle, and determining a head detection frame and a tail detection frame;
when there is no obstruction, the process of calculating the optimal communication beam is as follows:
firstly, determining the position P of the antenna of the target vehicle in a physical image coordinate system according to the antenna position:
(1) if the antenna is positioned at the vehicle head, P is the central point of the vehicle head detection frame;
(2) if the antenna is positioned in the middle of the vehicle, P is the central point of the vehicle detection frame;
(3) if the antenna is positioned at the tail of the vehicle, P is the central point of the tail detection frame;
then, according to the antenna position P of the target vehicle, calculating the relative angle theta of the antenna of the target vehicle relative to the antenna of the transmitting vehicle on the horizontal plane;
the calculation formula is theta-arctan (f/x); (x, y) represents the coordinates of position P, f is the focal length of the camera, which is mounted on the launch vehicle and approximately coincides with the launch vehicle antenna position;
finally, the central processing unit transmits the relative angle theta to the millimeter wave communication module, and the millimeter wave communication module selects a beam with the angle closest to the angle theta from the beams in all directions to serve as an optimal communication beam;
the formula for selecting the best communication beam is:
Figure FDA0003519536810000011
θiis the direction angle of the ith beam;
when a shelter exists, the transmitting vehicle identifies all convex reflecting surfaces in the surrounding environment, and selects an optimal beam for each convex reflecting surface to form a candidate beam set; then, the transmitting vehicle uses the beams in the candidate beam set for scanning, and selects the optimal communication beam according to the signal-to-noise ratio fed back by the target vehicle; and finally, the transmitting vehicle uses the optimal communication beam to realize data transmission with the target vehicle in the millimeter wave frequency band.
2. The method for establishing the millimeter wave-based vehicle networking V2X communication link according to claim 1, wherein the vehicle information comprises a vehicle identifier and an antenna position, and the antenna is located at one of the head, the middle and the tail of the vehicle; and the transmitting vehicle is provided with a central processing unit and a millimeter wave communication module.
3. The method for establishing the communication link of the millimeter wave-based vehicle networking V2X, according to claim 1, wherein when there is a shelter, the process of calculating the optimal communication beam is as follows:
firstly, the central processing unit adopts a deep learning algorithm to identify all convex reflecting surfaces in the surrounding environment of the emitting vehicle, and detects the position of each convex reflecting surface in a physical image coordinate system to form a position set { P }1,P2,...,Pn}；
Then, the relative angle of each convex reflecting surface relative to the transmitting vehicle antenna is calculated to form a relative angle set { alpha1,α2,...,αnAnd transmitting the data to a millimeter wave communication module;
for each relative angle alphaiThe millimeter wave communication module selects an angle and the current alpha from the beams in all directionsiThe closest beam is used as the best beam, and the ID of the best beam is stored in a memory;
and finally, the millimeter wave communication module sequentially selects the beams corresponding to the ID of each optimal beam to send the detection message, the target vehicle receives and feeds back the channel state information corresponding to each beam, and the beam which enables the signal-to-noise ratio of the received signal to be the maximum is selected from all the channel state information to serve as the final optimal communication beam.
4. The method for establishing the millimeter wave based vehicle networking V2X communication link according to claim 3, wherein the convex reflecting surface comprises a convex mirror at a roadside corner, a vehicle profile and other convex metal surfaces.
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