CN113543063A

CN113543063A - Information processing method and device

Info

Publication number: CN113543063A
Application number: CN202010320926.4A
Authority: CN
Inventors: 付思雨; 姜淼; 耿璐
Original assignee: Hitachi Ltd
Current assignee: Hitachi Ltd
Priority date: 2020-04-21
Filing date: 2020-04-21
Publication date: 2021-10-22

Abstract

The invention discloses an information processing method and device, relates to the technical field of communication, and aims to improve the accuracy of distance adjustment among vehicles in a vehicle formation. The method comprises the following steps: receiving vehicle state information sent by a second terminal in a first CAM period, wherein the second terminal is located in member vehicles of the vehicle formation system; acquiring data packet loss information in a first CAM period; determining first adjustment information of a CAM period according to the vehicle state information and the data packet loss information; and sending the first adjustment information to the second terminal. The embodiment of the invention can improve the accuracy of adjusting the distance between the vehicles in the vehicle formation.

Description

Information processing method and device

Technical Field

The present invention relates to the field of communications technologies, and in particular, to an information processing method and apparatus.

Background

Vehicle formation, that is, a plurality of vehicles form a stable queue to run at a certain inter-vehicle distance, and by reducing the distance between the vehicles, the technology can improve the road capacity, and simultaneously, each vehicle benefits from the front vehicle to reduce the air resistance, thereby reducing the fuel consumption.

Current research on vehicle formation technology has focused on studying how to ensure fleet stability, i.e., ensure that the spacing error (the difference between the actual inter-vehicle spacing and the target spacing) between vehicles in a fleet approaches zero. The smaller the target pitch, the more stringent the conditions for maintaining stability.

There are two main technologies for vehicle-to-vehicle Communication, one of which is a DSRC (Dedicated Short Range Communication) technology; one is C-V2X (Cellular-Vehicle-to-evolution, Vehicle association based Cellular mobile communication system) technology. C-V2X also has the advantages of greater coverage, higher transmission reliability, and lower latency compared to DSRC.

The C-V2X provides a PC5 communication interface for direct communication (suitable for communication between head cars and member cars in a vehicle formation) between UEs (User Equipment), and the interface includes two resource allocation methods:

mode 3, centralized resource allocation, wherein UE requests transmission resources from eNodeB (base station), and then the eNodeB allocates the resources by adopting a semi-continuous and dynamic scheduling method;

mode4, distributed resource allocation, without involving cellular infrastructure, the UE autonomously performs resource selection.

In actual vehicular direct communication, distributed resource allocation is generally more advantageous than centralized resource allocation from the viewpoint of delay and overhead. Furthermore, if the speed of the vehicle connected to the base station is large, frequent handovers may be required. For these reasons, in V2V (vehicle-to-vehicle) communication of vehicle formation, the PC5 Mode4 technology that is independent of the base station is adopted.

Since Mode4 is based on sensing and semi-persistent only, and once a packet collision occurs, the relevant vehicle will not be aware of the resource collision due to the half-duplex effect, so until the resource reselection is entered, the semi-persistent nature will result in continuous collision, and the transmitting end will not be aware. Furthermore, although persistent packet collisions may be avoided by resource reselection, they may also result in additional collisions with a certain probability. These conflicts greatly reduce the performance of the vehicle formation and therefore require optimization.

The prior art proposes a congestion control method, i.e. adjusting the network congestion condition (i.e. the collision condition) according to the CBR (Channel Busy Rate) and the Channel occupancy. However, in implementing the present invention, the inventors have found that the accuracy of adjusting the spacing between vehicles in a formation of vehicles in the conventional manner is not high.

Disclosure of Invention

The embodiment of the invention provides an information processing method and device, which are used for improving the accuracy of adjusting the distance between vehicles in a vehicle formation.

In a first aspect, an embodiment of the present invention provides an information processing method, which is applied to a first terminal, where the first terminal is located in a head car of a vehicle formation system; the method comprises the following steps:

receiving vehicle state information sent by a second terminal in a first CAM (Cooperative Awareness Message) period, wherein the second terminal is located in member vehicles of the vehicle formation system;

acquiring data packet loss information in a first CAM period;

determining first adjustment information of a CAM period according to the vehicle state information and the data packet loss information;

and sending the first adjustment information to the second terminal.

Wherein the vehicle state information includes a distance between the member vehicle and a preceding vehicle of the member vehicle; the data packet loss information comprises a data packet loss rate;

the determining first adjustment information of the CAM period according to the vehicle state information and the packet loss information includes:

respectively calculating a distance error between each distance and a target distance according to the distance sent by at least one second terminal;

calculating an average value of the distance errors according to the distance errors;

if the average distance error value is larger than or equal to the average distance error value in the previous CAM period, comparing the data packet loss rate in the first CAM period with the data packet loss rate in the previous CAM period;

if the average interval error value is smaller than the average interval error value in the previous CAM period, or if the data packet loss rate in the first CAM period is smaller than the data packet loss rate in the previous CAM period, reducing the CAM period;

and if the data packet loss rate in the first CAM period is greater than or equal to the data packet loss rate in the previous CAM period, increasing the CAM period.

Wherein, in the case of decreasing the CAM period, the first adjustment value of the CAM period is a first value, wherein the first value is less than 0;

in the case of increasing the CAM period, the first adjustment value of the CAM period is a second value, wherein the second value is greater than 0.

Wherein the absolute value of the first value is 100 if the first CAM period is greater than 100, otherwise the absolute value of the first value is 50/30;

the second value is 100 if the first CAM period is greater than or equal to 100, otherwise the second value is 50/30.

Wherein after the sending the first adjustment information to the second terminal, the method further comprises:

receiving second adjustment information of the CAM period sent by the second terminal;

and determining third adjustment information of the CAM period according to the first adjustment information and the second adjustment information.

Wherein the first adjustment information comprises a first adjustment value, and the second adjustment information comprises an adjustment value of a CAM period of the second terminal;

the determining third adjustment information of the CAM period according to the first adjustment information and the second adjustment information includes:

calculating a CAM period adjustment average value according to the adjustment value of the CAM period sent by at least one second terminal;

calculating an average of the first adjustment value and the CAM period adjustment average;

calculating a first difference of the average value and the first adjustment value, and a second difference of the average value and 0;

determining an adjustment value for the CAM cycle to be the first adjustment value if the absolute value of the first difference is less than or equal to the absolute value of the second difference; otherwise, the CAM period is determined to be unchanged.

In a second aspect, an embodiment of the present invention provides an information processing method, which is applied to a second terminal, where the second terminal is located in a member vehicle of a vehicle formation system; the method comprises the following steps:

receiving first adjustment information of a CAM period sent by a first terminal;

determining the distance error and the data packet loss information of the member vehicle in the first CAM period; wherein the spacing error is a spacing error between the member vehicle and a leading vehicle of the member vehicle;

determining the adjustment reference information of the CAM period according to the interval error and the data packet loss information;

and determining fourth adjustment information of the CAM period according to the first adjustment information and the adjustment reference information.

Wherein, the data packet loss information comprises a data packet loss rate;

the determining, according to the gap error and the packet loss information, the adjustment reference information of the CAM period includes:

if the distance error is larger than the distance error in the previous CAM period, comparing the data packet loss rate in the first CAM period with the data packet loss rate in the previous CAM period;

if the distance error is smaller than or equal to the distance error in the previous CAM period, or if the data packet loss rate in the first CAM period is smaller than the data packet loss rate in the previous CAM period, reducing the CAM period;

Wherein, in the case of decreasing the CAM period, the second adjustment value of the CAM period is a third value, wherein the third value is less than 0;

in the case of increasing the CAM period, the second adjustment value for the CAM period is a fourth value, wherein the fourth value is greater than 0.

Wherein the absolute value of the third value is 100 if the first CAM period is greater than 100, otherwise the absolute value of the third value is 50/30;

the fourth value is 100 if the first CAM period is greater than or equal to 100, and 50/30 if not.

Wherein the first adjustment information includes a first adjustment value, and the adjustment reference information includes the second adjustment value;

the determining fourth adjustment information of the CAM period according to the first adjustment information and the adjustment reference information includes:

calculating an average of the first adjustment value and the second adjustment value;

calculating a third difference between the average and the second adjustment value, and a fourth difference between the average and 0;

determining the adjustment value of the CAM cycle to be the second adjustment value if the absolute value of the third difference is less than or equal to the absolute value of the fourth difference; otherwise, the CAM period is determined to be unchanged.

Wherein the method further comprises:

and sending the fourth adjustment information to the first terminal, wherein the second adjustment information comprises the second adjustment value.

In a third aspect, an embodiment of the present invention provides an information processing apparatus, which is applied to a first terminal, where the first terminal is located in a head car of a vehicle formation system; the device comprises:

the system comprises a first receiving module, a second receiving module and a first processing module, wherein the first receiving module is used for receiving vehicle state information sent by a second terminal in a first CAM period, and the second terminal is located in member vehicles of the vehicle formation system;

a first obtaining module, configured to obtain packet loss information in a first CAM period;

the first determining module is used for determining first adjusting information of the CAM period according to the vehicle state information and the data packet loss information;

and the first sending module is used for sending the first adjusting information to the second terminal.

the first determining module includes:

the first calculation submodule is used for calculating an average value of the distance errors according to the distance errors;

the first comparison submodule is used for comparing the data packet loss rate in the first CAM period with the data packet loss rate in the previous CAM period if the interval error average value is larger than or equal to the interval error average value in the previous CAM period;

a first determining submodule, configured to decrease the CAM period if the average value of the interval errors is smaller than the average value of the interval errors in the previous CAM period, or if a data packet loss rate in the first CAM period is smaller than a data packet loss rate in the previous CAM period;

and the second determining submodule is used for increasing the CAM period if the data packet loss rate in the first CAM period is greater than or equal to the data packet loss rate in the previous CAM period.

Wherein the apparatus further comprises:

a second receiving module, configured to receive second adjustment information of the CAM period sent by the second terminal;

and the second determining module is used for determining third adjustment information of the CAM period according to the first adjustment information and the second adjustment information.

the second determining module includes:

the first calculating submodule is used for calculating a CAM period adjusting average value according to the adjusting value of the CAM period sent by at least one second terminal;

the second calculation submodule is used for calculating the average value of the first adjustment value and the CAM period adjustment average value;

a third calculation submodule for calculating a first difference between the average value and the first adjustment value, and a second difference between the average value and 0;

a first determining submodule configured to determine an adjustment value of the CAM cycle as the first adjustment value if the absolute value of the first difference is smaller than or equal to the absolute value of the second difference; otherwise, the CAM period is determined to be unchanged.

In a fourth aspect, an embodiment of the present invention provides an information processing apparatus applied to a second terminal, where the second terminal is located in a member vehicle of a vehicle formation system; the device comprises:

a first receiving module, configured to receive first adjustment information of a CAM period sent by a first terminal;

the system comprises a first determining module, a second determining module and a third determining module, wherein the first determining module is used for determining the distance error and the data packet loss information of member vehicles in a first CAM period; wherein the spacing error is a spacing error between the member vehicle and a leading vehicle of the member vehicle;

a second determining module, configured to determine adjustment reference information of the CAM period according to the gap error and the packet loss information;

and a third determining module, configured to determine fourth adjustment information of the CAM period according to the first adjustment information and the adjustment reference information.

Wherein, the data packet loss information comprises a data packet loss rate;

the second determining module includes:

the first comparison submodule is used for comparing the data packet loss rate in the first CAM period with the data packet loss rate in the previous CAM period if the interval error is larger than the interval error in the previous CAM period;

a first determining submodule, configured to decrease the CAM period if the distance error is smaller than or equal to the distance error in the previous CAM period, or if a data packet loss rate in the first CAM period is smaller than a data packet loss rate in the previous CAM period;

the third determining module includes:

a first calculation sub-module for calculating an average of the first adjustment value and the second adjustment value;

a second calculation submodule for calculating a third difference between the average value and the second adjustment value, and a fourth difference between the average value and 0;

a first determining submodule configured to determine an adjustment value of the CAM cycle as the second adjustment value if the absolute value of the third difference is smaller than or equal to the absolute value of the fourth difference; otherwise, the CAM period is determined to be unchanged.

Wherein the apparatus further comprises:

a first sending module, configured to send the fourth adjustment information to the first terminal, where the second adjustment information includes the second adjustment value.

In the embodiment of the invention, the adjustment information of the CAM period is determined according to the data packet loss information in the first CAM period and the vehicle state information of other member vehicles, and the adjustment information is sent to the member vehicles. Because the adjustment information is determined by considering not only the vehicle state information but also the loss condition of the data packet, the adjustment information determined by the scheme of the embodiment of the invention is more accurate, thereby improving the accuracy of the distance adjustment between the vehicles in the vehicle formation.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.

FIG. 1 is a schematic diagram of a vehicle formation system provided by an embodiment of the present invention;

FIG. 2 is a flow chart of an information processing method provided by an embodiment of the invention;

FIG. 3 is a schematic diagram of step 203 provided by an embodiment of the present invention;

FIG. 4 is a second flowchart of an information processing method according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of step 406 provided by an embodiment of the present invention;

FIG. 6 is a third flowchart of an information processing method according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of step 604 provided by an embodiment of the invention;

FIG. 8 is one of the structural diagrams of an information processing apparatus provided by the embodiment of the present invention;

FIG. 9 is a block diagram of a first determination module provided by an embodiment of the present invention;

FIG. 10 is a second block diagram of an information processing apparatus according to an embodiment of the present invention;

FIG. 11 is one of the block diagrams of a second determination module provided by embodiments of the present invention;

FIG. 12 is a third block diagram of an information processing apparatus according to an embodiment of the present invention;

FIG. 13 is a second block diagram of a second determination module provided in accordance with an embodiment of the present invention;

FIG. 14 is a block diagram of a third determination module provided by embodiments of the present invention;

FIG. 15 is a fourth block diagram of an information processing apparatus according to an embodiment of the present invention;

fig. 16 is one of the structural diagrams of an information processing apparatus provided by the embodiment of the present invention;

fig. 17 is a second block diagram of an information processing apparatus according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 is a schematic diagram of a vehicle formation system according to an embodiment of the present invention. The vehicles in the vehicle formation system are divided into a head vehicle and a member vehicle.

The member vehicle reports its vehicle status information to the lead vehicle at regular intervals. The vehicle state information is obtained through sensors arranged on the member vehicles and comprises the distance between the member vehicles and the front vehicle, the current running speed of the member vehicles and the like.

Due to the half-duplex property, the head car is set to be in a listening state all the time when the head car is not transmitting, and the information of the member car to be heard is stored in the information pool of the head car. The same type of new information for the same vehicle will overwrite the old information to ensure the freshness of the information (i.e., reduce the age of the information). In addition, the head vehicle also periodically processes the collected information by calculating the acceleration it should perform for each member vehicle based on the information and control algorithms, and then communicating the acceleration information to the member vehicles. Similarly, the member vehicle listens at all times when no information is transmitted, and controls the movement at the next moment when new acceleration information is heard.

Whether the member vehicles report the vehicle state information of the head vehicle or the control information of the head vehicle, the control information can be transmitted in the form of CAM, namely, the resources are autonomously selected to be transmitted in the form of periodic broadcast through the resource allocation Mode specified by the C-V2X Mode 4.

The system shown in fig. 1 may have the following two kinds of conflicts. The first collision scenario is referred to as Half-duplex error (Half-duplex error) because C-V2X uses Half-duplex transmission and reception cannot be performed simultaneously if status information is broadcast on member vehicles

When the head car is just broadcasting information

I.e. they choose different sub-channels of the same TTI (transmission time interval) to transmit data, such collisions occur. The second Collision scenario is called Collision, i.e. two packets (b:)

And

) Occupy the same resource and cause a conflict.

In the above system, the network congestion level is closely related to the period of the CAM. By increasing the period of the CAM, the number of packets in the communication network can be reduced, thereby reducing collisions. However, increasing the CAM period in the first place again leads to an increase in the information age. This approach is clearly undesirable for the transmission of time-dependent (time-varying) information. Therefore, in the embodiment of the invention, a dynamic congestion adjustment mechanism is adopted, aiming at dynamically adjusting the CAM periods of different vehicles in a targeted manner according to the real-time formation performance and the network congestion condition, so that the distance adjustment among the vehicles in the vehicle formation system is more accurate.

The following describes specific implementation procedures of the embodiments of the present invention in detail with reference to different embodiments.

Referring to fig. 2, fig. 2 is a flowchart of an information processing method according to an embodiment of the present invention, which is applied to a first terminal, where the first terminal is located in a head car of a vehicle formation system. As shown in fig. 2, the method comprises the following steps:

step 201, in a first CAM period, receiving vehicle state information sent by a second terminal, wherein the second terminal is located in a member vehicle of the vehicle formation system.

The first CAM cycle may refer to a current CAM cycle when the embodiment of the present invention is performed. The terminal in the embodiment of the invention can be a vehicle-mounted terminal, a mobile phone and other mobile terminals. The vehicle state information includes a distance between the member vehicle and a preceding vehicle of the member vehicle, and may further include a traveling speed of the member vehicle, and the like.

The second terminal can send the vehicle state information to the first terminal through the CAM, and correspondingly, the first terminal receives the vehicle state information sent by the second terminal.

Step 202, data packet loss information in the first CAM period is obtained.

In the embodiment of the present invention, the packet loss information mainly refers to a packet loss rate. In practical application, the first terminal may determine the packet loss rate according to information such as signal reception quality.

Step 203, determining first adjustment information of the CAM period according to the vehicle state information and the data packet loss information.

In the embodiment of the invention, the first terminal calculates the acceleration degree to be executed by the member vehicle, and also obtains the average value according to the distance error and the data packet loss rate and outputs the addition/subtraction value of the CAM period. Then, the addition/subtraction value and the acceleration value that should be performed by the member vehicle are packaged into CAM information to be broadcast. The first adjustment information may include an adjustment mode, an adjusted value, and the like.

Specifically, as shown in fig. 3, the steps may include:

step 2031, the first terminal calculates a distance error between each distance and the target distance according to the distance sent by at least one second terminal.

Wherein the target pitch may be a preset value. The distance error may be, for example, a difference between the distance transmitted by the second terminal and the target distance.

Step 2032, calculating an average value of the distance errors according to the distance errors.

Step 2033, compare the average pitch error value with the average pitch error value in the previous CAM period.

If the mean pitch error value is greater than or equal to the mean pitch error value in the previous CAM cycle, indicating a performance degradation, then step 2034 is performed. If the pitch error average is less than the pitch error average in the previous CAM cycle, then step 2035 is performed.

Step 2034, comparing the data packet loss rate in the first CAM period with the data packet loss rate in the previous CAM period.

If the data packet loss rate in the first CAM period is smaller than the data packet loss rate in the previous CAM period, it indicates that the performance degradation is caused by an old information, step 2035 is performed, otherwise, it indicates that the performance degradation is caused by an excessive network congestion, step 2036 is performed.

Step 2035, decrease the CAM cycle.

Step 2036, increase CAM cycle.

In embodiments of the present invention, if the CAM cycle needs to be reduced, a value less than 0 may be output. In various implementations, the initial value of the CAM period may be set to a larger value, so that if the current performance is better than the previous performance, an attempt may be made to shorten the CAM period appropriately for further performance improvement. If the CAM cycle needs to be increased, a value greater than 0 may be output.

Specifically, in the case of decreasing the CAM period, the first adjustment value of the CAM period is a first value, wherein the first value is less than 0. That is, in this case, the first adjustment value transmitted from the first terminal to the second terminal is a value smaller than 0. In the case of increasing the CAM period, the first adjustment value of the CAM period is a second value, wherein the second value is greater than 0. That is, in this case, the first adjustment value transmitted from the first terminal to the second terminal is a value greater than 0.

According to the regulations, the CAM cycle should take values in the set {20,50,100,200,300,400,500,600,700,800,900,1000 }.

In the embodiment of the present invention, if the first CAM period is greater than 100, the absolute value of the first value takes the value of 100; otherwise the absolute value of the first value is 50/30. That is, if the first CAM cycle is greater than 100, the first value is-100; otherwise the first value is-50/30. The second value is 100 if the first CAM period is greater than or equal to 100, otherwise the second value is 50/30.

Step 204, sending the first adjustment information to the second terminal.

In the embodiment of the present invention, the first terminal may send the first adjustment information to the second terminal through the CAM. The first adjustment information may include the first value or the second value.

On the basis of the above embodiment, in order to further improve the accuracy of the distance adjustment, the first terminal may further adjust the CAM period again according to the feedback information of the member vehicle, so as to determine a final CAM period.

Specifically, referring to fig. 4, fig. 4 is a flowchart of an information processing method according to an embodiment of the present invention, which is applied to a first terminal, where the first terminal is located in a head car of a vehicle formation system. As shown in fig. 4, the method comprises the following steps:

the steps 401 to 404 can be referred to the description of the

steps

201 and 204.

And 405, receiving second adjustment information of the CAM period sent by the second terminal.

The second adjustment information is the adjustment information determined by the member vehicle after adjusting its CAM cycle according to the received first adjustment information, and may include, for example, an adjustment value of the CAM cycle.

Step 406, determining third adjustment information of the CAM period according to the first adjustment information and the second adjustment information.

Since the acceleration information included in the CAM of the head car is related to the status information included in the CAM of the member vehicles, the CAM cycle adjustment of the head car is affected by the CAM cycle adjustments of all the member vehicles. Specifically, referring to fig. 5, this step may include:

step 4061, calculating a CAM period adjustment average value according to the adjustment value of the CAM period sent by at least one of the second terminals.

Specifically, assume that the CAM cycle adjustment value heard from the member vehicle is { S }_m1,S_m2,…,S_mnOn average S_m。

Step 4062, calculating an average of the first adjustment value and the CAM period adjustment average.

Assume that the first adjustment value is S_lRepresents, to S_mAnd S_lTaking an average value:

step 4063, a first difference between the average value and the first adjustment value is calculated, and a second difference between the average value and 0 is calculated.

Step 4064, the absolute value of the first difference is compared to the absolute value of the second difference.

Step 4065, if the absolute value of the first difference is greater than the absolute value of the second difference, determining that the CAM period is unchanged.

Step 4066, if the absolute value of the first difference is less than or equal to the absolute value of the second difference, determining the adjustment value of the CAM period to be the first adjustment value.

And finally, the first terminal adjusts the CAM period according to the determined adjusting value.

In the embodiment of the invention, the adjustment information of the CAM period is determined according to the data packet loss information in the first CAM period and the vehicle state information of other member vehicles, and the adjustment information is sent to the member vehicles. Because the adjustment information is determined by considering not only the vehicle state information but also the loss condition of the data packet, the adjustment information determined by the scheme of the embodiment of the invention is more accurate, thereby improving the accuracy of the distance adjustment between the vehicles in the vehicle formation. In addition, the first terminal further determines the adjustment value of the CAM period according to the feedback of each second terminal, so that the timeliness of CAM sending can be further ensured, and the accuracy of distance adjustment is improved.

Referring to fig. 6, fig. 6 is a flowchart of an information processing method according to an embodiment of the present invention, which is applied to a second terminal, where the second terminal is located in a member vehicle of a vehicle formation system. As shown in fig. 6, the method comprises the following steps:

step 601, receiving first adjustment information of a CAM period sent by a first terminal.

The first adjustment information may include a first adjustment value determined by the first terminal in the foregoing manner.

Step 602, determining a distance error and data packet loss information of the member vehicle in a first CAM period; wherein the spacing error is a spacing error between the member vehicle and a leading vehicle of the member vehicle.

In addition to performing the acceleration of the head-car assignment, the member vehicles also need to calculate the pitch error and packet loss information in the first CAM period. The distance error may be a difference between a certain time distance and a target distance, or may also be a difference between a current distance of the member vehicle and the target distance calculated at regular intervals in the first CAM period, and then an average value of the obtained differences is obtained as the distance error. The target pitch may be a preset value.

The data packet loss information includes a data packet loss rate. In practical applications, the packet loss rate is a statistical value.

Step 603, determining the adjustment reference information of the CAM period according to the interval error and the packet loss information.

In this step, the second terminal determines the adjustment reference information of the CAM period according to the gap error and the packet loss rate. Specifically, if the distance error is greater than the distance error in the previous CAM period, the data packet loss rate in the first CAM period is compared with the data packet loss rate in the previous CAM period.

And if the interval error is smaller than or equal to the interval error in the previous CAM period, or if the data packet loss rate in the first CAM period is smaller than the data packet loss rate in the previous CAM period, reducing the CAM period. And if the data packet loss rate in the first CAM period is greater than or equal to the data packet loss rate in the previous CAM period, increasing the CAM period.

In the case of decreasing the CAM period, the second adjusted value of the CAM period is a third value, wherein the third value is less than 0; in the case of increasing the CAM period, the second adjustment value for the CAM period is a fourth value, wherein the fourth value is greater than 0.

In the embodiment of the present invention, if the first CAM period is greater than 100, the absolute value of the third value takes the value of 100; otherwise the absolute value of the third value is 50/30. That is, if the first CAM cycle is greater than 100, the third value is-100; otherwise the third value is-50/30. The fourth value is 100 if the first CAM period is greater than or equal to 100, and 50/30 if not.

Step 604, determining fourth adjustment information of the CAM period according to the first adjustment information and the adjustment reference information.

Specifically, the second terminal combines the adjustment reference information determined by itself with the first adjustment information to determine fourth adjustment information of the CAM period.

Referring to fig. 7, the present step may include:

step 6041, calculate an average of the first adjustment value and the second adjustment value.

Suppose that the first adjustment is S_mThe second adjustment value is S_l. To S_mAnd S_lTaking an average value:

step 6042, calculate a third difference between the average and the second adjustment value, and a fourth difference between the average and 0.

Step 6043, compare the absolute value of the third difference with the absolute value of the fourth difference.

Step 6044, if the absolute value of the third difference is less than or equal to the absolute value of the fourth difference, determine the adjustment value of the CAM period to be the second adjustment value.

Step 6045, if the absolute value of the third difference is greater than the absolute value of the fourth difference, determining that the CAM period is unchanged.

The second terminal adjusts the CAM period of the second terminal according to the adjustment value determined in the above mode, packs the final adjustment value and the sensed vehicle state information into CAM information, and broadcasts the CAM information to the head vehicle in the next period.

In one embodiment of the invention, a fleet of vehicles, e.g., 3 vehicles, 1 being the head vehicle and 2 being member vehicles, each member vehicle needs to maintain a target separation of 10m from the preceding vehicle. Let the CAM period of the current member vehicle 2 be 100ms, the CAM period of the member vehicle 3 be 200ms, and the CAM period of the head vehicle be 500 ms. The pitch error of the previous CAM cycle of the member vehicle is set as

The pitch error of the current CAM cycle is

The loss rate of the data packets received by the head in the first CAM cycle is

The loss rate of the received data packets in the current CAM period is

The loss rate of the member vehicle receiving the data packet in the previous CAM period is respectively

The loss rates of the data packets received in the current CAM period are respectively

The CAM period dynamic adjustment process is as follows:

(1) at the head-end, the average value of the pitch errors of the current CAM cycle is calculated:

mean value of error from previous CAM cycle

In comparison, performance is reduced (D)^cur>D^pre) Therefore, the packet loss rate is compared.

Due to the fact that

The performance degradation is caused by the information being too old and the output CAM period is reduced by β. And the CAM period of the current head car is 500ms, so that the value of beta is 100 ms.

(2) Adjusting value S of CAM period by head vehicle_l- β -100ms is broadcast to the member vehicles.

(3) At the member vehicle 2 side, the distance error of the current CAM period is compared

Pitch error from previous CAM cycle

Find performance is improved (D)^cur<D^pre) To seek further performance improvement, the output CAM period is reduced by β. The CAM period of the current member vehicle 2 is 100ms, so that the value of beta is 50ms, namely S_m＝-β＝-50ms。

(3) At the member vehicle 2 end, S_mIs-50 ms and S_lCalculating according to the CAM period adjustment mode of the member vehicle when the time is-100 ms

The value and S_mIs 25m, is 75m from 0, and is again 25m<75m(|S_l-S_m|＜|S_l+S_m|) the CAM period of the member vehicle 2 is adjusted from 100ms to 50 ms.

(4) The member vehicle 2 adjusts the CAM period adjustment value S_m1Broadcast to the head car-50 ms.

(5) At the member vehicle 3 end, the distance error of the current CAM period is compared

Pitch error from previous CAM cycle

Find performance to be reduced (D)^cur>D^pre) Therefore, the packet loss rate is compared. Due to the fact that

The performance degradation is caused by the information being too old and the output CAM period is reduced by β. The CAM period of the current head car is 200ms, so that the value of beta is 100ms, namely S_m＝-β＝-100ms。

(6) At member 3, add S_m100ms and S_lCalculating according to the CAM period adjustment mode of the member vehicle when the time is-100 ms

The value and S_mIs 0m, is 100m from 0m, and is 0m again<100m(|S_l-S_m|＜|S_l+S_m|) the CAM period of the member vehicle 3 is adjusted from 200ms to 100 ms.

(7) The member vehicle 3 adjusts the CAM period by the value S_m2Broadcast to the head car for-100 ms.

(8) At the head-end, the CAM cycle adjustment values of all the member vehicles received by the head-end are averaged

Average adjustment value S for member vehicle_mAdjustment value S calculated by head car_lTaking the average to obtain

The value and S_lIs 12.5m, is 87.5m away from 0, and is 12.5m away<87.5m(|S_l-S_m|＜|S_l+S_m|) so the CAM period for the first vehicle is adjusted from 500ms to 400 ms.

The embodiment of the invention also provides an information processing device which is applied to the first terminal. Wherein the first terminal is located in a head car of a vehicle formation system. Referring to fig. 8, fig. 8 is a block diagram of an information processing apparatus according to an embodiment of the present invention. Because the principle of solving the problem of the information processing device is similar to the information processing method in the embodiment of the invention, the implementation of the information processing device can refer to the implementation of the method, and repeated details are not repeated.

As shown in fig. 8, the information processing apparatus 800 includes: a first receiving module 801, configured to receive vehicle state information sent by a second terminal in a first CAM period, where the second terminal is located in a member vehicle of the vehicle formation system; a first obtaining module 802, configured to obtain packet loss information in a first CAM period; a first determining module 803, configured to determine first adjustment information of a CAM period according to the vehicle state information and the packet loss information; a first sending module 804, configured to send the first adjustment information to the second terminal.

Optionally, the vehicle state information includes a distance between the member vehicle and a preceding vehicle of the member vehicle; the data packet loss information includes a data packet loss rate. As shown in fig. 9, the first determining module 803 includes:

a first calculation submodule 8031, configured to calculate an average value of the pitch errors according to the pitch errors; a first comparing sub-module 8032, configured to compare the data packet loss rate in the first CAM period with the data packet loss rate in the previous CAM period if the average value of the interval errors is greater than or equal to the average value of the interval errors in the previous CAM period; a first determining submodule 8033, configured to decrease the CAM period if the average value of the interval errors is smaller than the average value of the interval errors in the previous CAM period, or if the packet loss rate in the first CAM period is smaller than the packet loss rate in the previous CAM period; a second determining submodule 8034, configured to increase the CAM period if the data packet loss rate in the first CAM period is greater than or equal to the data packet loss rate in the previous CAM period.

Optionally, in the case of decreasing the CAM period, the first adjustment value of the CAM period is a first value, where the first value is less than 0; in the case of increasing the CAM period, the first adjustment value of the CAM period is a second value, wherein the second value is greater than 0.

The values of the first value and the second value may refer to the description of the foregoing embodiments.

Optionally, as shown in fig. 10, the apparatus may further include:

a second receiving module 805, configured to receive second adjustment information of the CAM period sent by the second terminal; a second determining module 806, configured to determine third adjustment information of the CAM period according to the first adjustment information and the second adjustment information.

Optionally, the first adjustment information includes a first adjustment value, and the second adjustment information includes an adjustment value of a CAM period of the second terminal. As shown in fig. 11, the second determining module 805 includes:

a first calculating submodule 8051, configured to calculate a CAM period adjustment average value according to the adjustment value of the CAM period sent by at least one of the second terminals; a second calculating submodule 8052, configured to calculate an average value of the first adjustment value and the CAM period adjustment average value; a third calculation submodule 8053 for calculating a first difference between the average value and the first adjustment value, and a second difference between the average value and 0; a first determining submodule 8054 for determining the adjustment value of the CAM period as the first adjustment value if the absolute value of the first difference is smaller than or equal to the absolute value of the second difference; otherwise, the CAM period is determined to be unchanged.

The apparatus provided in the embodiment of the present invention may implement the method embodiments, and the implementation principle and the technical effect are similar, which are not described herein again.

The embodiment of the invention also provides an information processing device which is applied to the second terminal. Wherein the second terminal is located in a member vehicle of a vehicle formation system. Referring to fig. 12, fig. 12 is a block diagram of an information processing apparatus according to an embodiment of the present invention. Because the principle of solving the problem of the information processing device is similar to the information processing method in the embodiment of the invention, the implementation of the information processing device can refer to the implementation of the method, and repeated details are not repeated.

As shown in fig. 12, the information processing apparatus 1200 includes:

a first receiving module 1201, configured to receive first adjustment information of a CAM period sent by a first terminal; a first determining module 1202, configured to determine a range error and packet loss information of a member vehicle in a first CAM period; wherein the spacing error is a spacing error between the member vehicle and a leading vehicle of the member vehicle; a second determining module 1203, configured to determine, according to the interval error and the packet loss information, adjustment reference information of the CAM period; a third determining module 1204, configured to determine fourth adjustment information of the CAM period according to the first adjustment information and the adjustment reference information.

Optionally, the packet loss information includes a packet loss rate. As shown in fig. 13, the second determining module 1203 includes:

a first comparing submodule 12031, configured to compare the data packet loss rate in the first CAM period with the data packet loss rate in the previous CAM period if the distance error is greater than the distance error in the previous CAM period; a first determining submodule 12032, configured to decrease the CAM period if the distance error is smaller than or equal to the distance error in the previous CAM period, or if a data packet loss rate in the first CAM period is smaller than a data packet loss rate in the previous CAM period; a second determining submodule 12033, configured to increase the CAM period if the data packet loss rate in the first CAM period is greater than or equal to the data packet loss rate in the previous CAM period.

Optionally, the first adjustment information includes a first adjustment value, and the adjustment reference information includes the second adjustment value. As shown in fig. 14, the third determining module 1204 includes:

a first calculation submodule 12041 configured to calculate an average value of the first adjustment value and the second adjustment value; a second calculation submodule 12042 configured to calculate a third difference between the average value and the second adjustment value, and a fourth difference between the average value and 0; a first determining submodule 12043, configured to determine the adjustment value of the CAM cycle to be the second adjustment value if the absolute value of the third difference is smaller than or equal to the absolute value of the fourth difference; otherwise, the CAM period is determined to be unchanged.

Optionally, as shown in fig. 15, the apparatus may further include:

a first sending module 1205, configured to send the fourth adjustment information to the first terminal, where the second adjustment information includes the second adjustment value.

The embodiment of the invention also provides information processing equipment. As shown in fig. 16, the terminal according to the embodiment of the present invention includes: the processor 1600, which is used to read the program in the memory 1620, executes the following processes:

receiving vehicle state information sent by a second terminal in a first cooperation perception message CAM period, wherein the second terminal is located in member vehicles of the vehicle formation system;

acquiring data packet loss information in a first CAM period;

and sending the first adjustment information to the second terminal.

A transceiver 1610 for receiving and transmitting data under the control of the processor 1600.

In fig. 16, among other things, the bus architecture may include any number of interconnected buses and bridges, with one or more processors represented by the processor 1600 and various circuits of the memory represented by the memory 1620 linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The transceiver 1610 can be a number of elements including a transmitter and a receiver that provide a means for communicating with various other apparatus over a transmission medium. For different user devices, user interface 1630 may also be an interface capable of interfacing with a desired device, including but not limited to a keypad, display, speaker, microphone, joystick, etc.

The processor 1600 is responsible for managing the bus architecture and general processing, and the memory 1620 may store data used by the processor 1600 in performing operations.

The vehicle state information includes a distance between the member vehicle and a preceding vehicle of the member vehicle; the data packet loss information comprises a data packet loss rate; the processor 1600 is further configured to read the program and execute the following steps:

The processor 1600 is further configured to read the program and execute the following steps:

The first adjustment information comprises a first adjustment value, and the second adjustment information comprises an adjustment value of a CAM period of the second terminal; the processor 1600 is further configured to read the program and execute the following steps:

Wherein the device may be a terminal, the terminal being located in a head car of the vehicle formation system.

The terminal provided by the embodiment of the present invention can execute the above method embodiment, and the implementation principle and technical effect are similar, which are not described herein again.

The embodiment of the invention also provides information processing equipment. As shown in fig. 17, the terminal according to the embodiment of the present invention includes: a processor 1700 configured to read the program in the memory 1720 and execute the following processes:

A transceiver 1710 for receiving and transmitting data under the control of the processor 1700.

In fig. 17, among other things, the bus architecture may include any number of interconnected buses and bridges, with one or more processors represented by processor 1700 and various circuits of memory represented by memory 1720 being linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The transceiver 1710 may be a number of elements including a transmitter and a receiver, providing a means for communicating with various other apparatus over a transmission medium. The user interface 1730 may also be an interface capable of interfacing with a desired device for different user devices, including but not limited to a keypad, display, speaker, microphone, joystick, etc.

The processor 1700 is responsible for managing the bus architecture and general processing, and the memory 1720 may store data used by the processor 1700 in performing operations.

The data packet loss information comprises a data packet loss rate; the processor 1700 is further configured to read the program and execute the following steps:

The first adjustment information includes a first adjustment value, and the adjustment reference information includes the second adjustment value; the processor 1700 is further configured to read the program and execute the following steps:

The processor 1700 is further configured to read the program and execute the following steps:

Wherein the device may be a terminal, the terminal being located in a member vehicle of a vehicle formation system.

The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the information processing method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. With such an understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the methods according to the embodiments of the present invention.

While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. An information processing method is applied to a first terminal, wherein the first terminal is located in a head vehicle of a vehicle formation system; characterized in that the method comprises:

acquiring data packet loss information in a first CAM period;

and sending the first adjustment information to the second terminal.

2. The method of claim 1, wherein the vehicle status information includes a separation distance between the member vehicle and a leading one of the member vehicles; the data packet loss information comprises a data packet loss rate;

3. The method of claim 2,

in the case of decreasing the CAM period, the first adjusted value of the CAM period is a first value, wherein the first value is less than 0;

4. The method of claim 3,

if the first CAM period is greater than 100, then the absolute value of the first value is 100, otherwise the absolute value of the first value is 50/30;

5. The method according to any of claims 1-4, wherein after said sending said first adjustment information to said second terminal, said method further comprises:

6. The method of claim 5, wherein the first adjustment information comprises a first adjustment value, and wherein the second adjustment information comprises an adjustment value of a CAM period of the second terminal;

7. An information processing method is applied to a second terminal, wherein the second terminal is located in member vehicles of a vehicle formation system; characterized in that the method comprises:

8. The method of claim 7, wherein the packet loss information comprises a packet loss rate;

9. The method of claim 8,

in the case of decreasing the CAM period, the second adjusted value of the CAM period is a third value, wherein the third value is less than 0;

10. The method of claim 9,

if the first CAM period is greater than 100, then the absolute value of the third value is 100, otherwise the absolute value of the third value is 50/30;

11. The method according to claim 9, wherein the first adjustment information includes a first adjustment value, and the adjustment reference information includes the second adjustment value;

12. The method of claim 11, further comprising:

13. An information processing device is applied to a first terminal, wherein the first terminal is located in a head car of a vehicle formation system; characterized in that the device comprises:

14. The apparatus of claim 13, wherein the vehicle status information includes a separation distance between the member vehicle and a leading one of the member vehicles; the data packet loss information comprises a data packet loss rate;

the first determining module includes:

15. The apparatus of claim 13,

16. The apparatus of any one of claims 13-15, further comprising:

17. The apparatus of claim 16, wherein the first adjustment information comprises a first adjustment value, and wherein the second adjustment information comprises an adjustment value of a CAM period of the second terminal;

the second determining module includes:

18. An information processing device is applied to a second terminal, wherein the second terminal is located in member vehicles of a vehicle formation system; characterized in that the device comprises:

19. The apparatus of claim 18, wherein the packet loss information comprises a packet loss rate;

the second determining module includes:

20. The apparatus according to claim 19, wherein the first adjustment information comprises a first adjustment value, and the adjustment reference information comprises the second adjustment value;

the third determining module includes:

21. The apparatus of claim 20, further comprising: