CN113784315A - Inter-cell vehicle scheduling method and scheduling system - Google Patents
Inter-cell vehicle scheduling method and scheduling system Download PDFInfo
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- CN113784315A CN113784315A CN202111061449.5A CN202111061449A CN113784315A CN 113784315 A CN113784315 A CN 113784315A CN 202111061449 A CN202111061449 A CN 202111061449A CN 113784315 A CN113784315 A CN 113784315A
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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Abstract
The invention provides a method and a system for scheduling vehicles among cells, which relate to the technical field of automatic driving, wherein the scheduling method comprises the following steps: the core network plans a driving route for the vehicle according to a path planning request submitted by the vehicle-mounted terminal, and respectively sends basic information of the vehicle and route information corresponding to each cell to MEC servers of all cells through which the driving route passes through by corresponding base stations; and the MEC server of each cell establishes dispatching connection with the vehicle in sequence through corresponding base stations according to the cell sequence passed by the driving route and dispatches the vehicle until the vehicle reaches the destination based on the current position of the vehicle, the basic information and the route information corresponding to each cell. According to the technical scheme provided by the invention, the MEC servers of all the cells are used for sequentially scheduling the vehicles according to the sequence, so that the technical problems of low processing efficiency, low response speed and the like in the prior art that the core network unified management and control technology is adopted for automatic driving are solved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an inter-cell vehicle scheduling method and an inter-cell vehicle scheduling system.
Background
With the advancement of the 5G (5th Generation Mobile Communication Technology, fifth Generation Mobile Communication Technology) standard and the development of car networking Technology, centralized dispatch management and control of the driving behavior of autonomous vehicles based on cellular networks is possible. In a traditional vehicle networking dispatching mode, a dispatching mode of an automatic driving vehicle mainly comprises the steps that a vehicle terminal is communicated with a base station in a cell, the base station serves as a wireless access point, interactive information of the vehicle terminal is forwarded to a central server for processing, and command information is returned to the vehicle terminal for execution after data processing. The typical car networking design idea can ensure stable scheduling and safety, but the multi-hop signaling transmission can cause larger time delay and influence scheduling efficiency.
In a future intelligent traffic scene, a large number of automatic driving vehicles exist in a road, and in a complex and changeable road scene, the automatic driving vehicles can be guaranteed to stably run only by continuous scheduling of a server. When an autonomous vehicle crosses a cell, the dispatcher of the vehicle needs to change from the original base station to a new base station. If the traditional technology of unified management and control of the core network is adopted, the processing efficiency of the vehicle request is reduced and the response speed is slowed down in the peak period, the requirements of intelligent traffic of the internet of vehicles on low time delay and high reliability can not be met, and the continuity of vehicle scheduling and information interaction can not be guaranteed. Therefore, on the premise of ensuring low time delay and high reliability of the service end to the automatic driving vehicle scheduling, a better inter-cell scheduling and switching scheme needs to be provided for the automatic driving vehicle.
Disclosure of Invention
The invention is completed in order to at least partially solve the technical problems of reduced processing efficiency, slow response speed and the like of vehicle requests when a vehicle crosses a cell in the prior art due to the adoption of a core network unified management and control technology in the field of automatic driving.
According to an aspect of the present invention, there is provided an inter-cell vehicle scheduling method, the scheduling method including:
the core network plans a driving route for the vehicle according to a path planning request submitted by the vehicle-mounted terminal, and respectively sends basic information of the vehicle and route information corresponding to each cell to mobile edge calculation MEC servers of all cells through which the driving route passes through by corresponding base stations; and the number of the first and second groups,
and the MEC server of each cell establishes dispatching connection with the vehicle in sequence through corresponding base stations according to the cell sequence passed by the driving route and dispatches the vehicle until the vehicle reaches the destination based on the current position of the vehicle, the basic information and the route information corresponding to each cell.
According to another aspect of the present invention, there is provided an inter-cell vehicle dispatching system, comprising: a core network and a plurality of mobile edge computing MEC servers, each MEC server connected to the core network through a corresponding base station; the core network is set to plan a driving route for a vehicle according to a path planning request submitted by a vehicle-mounted terminal, and respectively sends basic information of the vehicle and route information corresponding to each cell to MEC servers of all cells through which the driving route passes through corresponding base stations; and the MEC server of each cell is set to sequentially establish scheduling connection with the vehicle through corresponding base stations according to the cell sequence passed by the driving route and based on the current position and the basic information of the vehicle and the route information corresponding to each cell, and then scheduling is carried out until the vehicle reaches the destination.
The technical scheme provided by the invention can have the following beneficial effects:
according to the inter-cell vehicle scheduling method and the inter-cell vehicle scheduling system, the vehicle scheduling authority is placed into the MEC servers of all the cells from the core network, and the MEC servers of all the cells sequentially schedule the vehicles according to the cell sequence through which the driving route planned for the vehicles in advance passes, so that low time delay and high reliability of automatic driving vehicle scheduling by a service end can be guaranteed, and the automatic driving vehicles can be guaranteed to always run normally and the information interaction capacity in the vehicle scheduling process is not weakened due to cell change.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a schematic flow chart of an inter-cell vehicle scheduling method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an inter-cell vehicle dispatching system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
The inventor finds that the traditional core network unified management and control technology mainly has the following defects:
1) the existing automatic driving scheme adopts a core network to realize unified scheduling, and does not fully utilize the characteristics of cells in a scene of the Internet of vehicles;
2) each request of the automatic driving vehicle is uploaded to a remote cloud server through a base station for processing, and the automatic driving vehicle has the advantages of multiple data transmission hops and large time delay and is not suitable for full-automatic driving scheduling under intelligent traffic assumption;
3) the centralized management scheduling mode is difficult to meet the strong requirements of complex and changeable road scene characteristics and automatic driving on low time delay.
In recent years, the design of Mobile Edge Computing (MEC) architecture marks the reality of deploying servers with Computing and small-scale storage capabilities on the base station side. The built telecommunication service environment with high efficiency and low time delay can effectively reduce the bandwidth consumption of a transmission network, share the load pressure of a network center and provide high-quality and uninterrupted network service for terminal users; meanwhile, the servers with the task processing capability and the data analysis capability are deployed at the base station side, the switching of scheduling between the base station and the base station is converted into the transfer of data between the servers, and regional vehicle scheduling can be effectively achieved. With these excellent performances, deployment of MEC servers in cooperation with scheduling of autonomous vehicles at each cell base station in a city can be considered. However, there is no scheme for effectively reducing latency for scheduling and transferring between MEC server cells in the prior art.
Aiming at the problem of replacement of a dispatcher of a vehicle in a cross-cell region and ensuring the continuity of efficient and low-delay dispatching, the invention provides a scheme for dispatching an automatic driving vehicle among cells based on MEC. The following will be described in detail by way of examples.
Fig. 1 is a schematic flow chart of a method for scheduling vehicles between cells according to an embodiment of the present invention. As shown in fig. 1, the method includes the following steps S101 and S102.
S101, a core network plans a driving route for a vehicle according to a path planning request submitted by a vehicle-mounted terminal, and sends basic information of the vehicle and route information corresponding to each cell to MEC servers of all cells through which the driving route passes through corresponding base stations.
In this step, the automatic driving vehicle needs to input a destination on the vehicle-mounted terminal before entering the road for driving, that is, a path planning request for reaching the destination is submitted to the core network. The core network plans an optimal driving route for the vehicle according to the current road condition based on the path planning request, and then sends the basic information of the vehicle and the corresponding route information to the MEC server of the cell through which the driving route passes. The data sent by the core network to each MEC server is often original signaling data, and each MEC server can clean and process the original signaling data sent by the core network after receiving the original signaling data, and then store the original signaling data in respective databases.
And S102, the MEC server of each cell establishes scheduling connection with the vehicle in sequence through corresponding base stations according to the sequence of the cells through which the driving route passes and schedules the vehicle until the vehicle reaches the destination based on the current position of the vehicle, the basic information and the route information corresponding to each cell.
In the embodiment, the core network transfers the vehicle scheduling authority to the MEC servers of each cell, and the MEC servers of each cell sequentially schedule the vehicles according to the sequence of the cells through which the driving routes planned for the vehicles in advance pass, so that low time delay and high reliability of the service end for scheduling the automatic driving vehicles can be ensured, and the automatic driving vehicles can always run normally and the information interaction capacity in the vehicle scheduling process is not weakened due to cell change.
In one embodiment, the basic information raw data of the vehicle may include the following key fields: CAR _ ID (license plate number), CAR _ hold _ PHONE (CAR owner PHONE), CAR _ IDEN _ CODE (vehicle identification CODE), DEST _ LA (destination latitude), and DEST _ LONG (destination longitude); the route information raw data corresponding to the cell may include the following key fields: CAR _ ID (license plate number), CUR _ CELL _ ID (starting CELL number), NEXT _ CELL _ ID (route front CELL number), DEST _ CELL _ ID (destination CELL number), and INCELL _ PATH (intra-CELL route information), where NEXT _ CELL _ ID is the number of the front CELL closest to the own CELL in the CELLs through which the travel route passes.
Accordingly, the basic information of the vehicle includes at least: vehicle identification code and destination latitude and longitude; the route information corresponding to the cell at least comprises: the number of the starting cell, the number of the cell in front of the route, the number of the destination cell and the intra-cell route information of the cell.
In this embodiment, the MEC server of each cell may sequentially establish a scheduling connection with the vehicle based on the current position of the vehicle, the basic information, and the corresponding route information, and implement efficient and low-latency inter-cell vehicle scheduling.
In a specific embodiment, after step S101 and before step S102, the following steps S103 and S104 are further included.
S103, comparing the number of the cell with the number of the initial cell in the route information corresponding to the cell by the MEC server of each cell to determine the initial cell;
and S104, the MEC server of the initial cell starts to schedule the vehicle to enter the road for running.
In this embodiment, after receiving the basic information and the corresponding route information issued by the core network, the MEC server of each CELL may determine whether the MEC server is a starting CELL by identifying the CUR _ CELL _ ID field (starting CELL number) in the corresponding route information and comparing the starting CELL number with the CELL number, so as to quickly and accurately find the starting CELL in all CELLs through which the driving route passes. After the starting cell is determined, the MEC server of the starting cell starts to schedule the vehicles to enter the road for running, and then each MEC server sequentially schedules the vehicles according to the running positions of the vehicles.
In a specific embodiment, after step S103 and before step S104, the following steps S105 and S106 are further included.
S105, the MEC server of the initial cell broadcasts a connection message through the base station;
and S106, after receiving the confirmation message fed back by the vehicle based on the connection message, establishing scheduling connection with the vehicle.
In this embodiment, before the MEC server in the starting cell schedules the vehicle to enter the road for driving, the MEC server needs to establish a scheduling connection with the vehicle. Specifically, the base station of the starting cell broadcasts a connection message, which carries at least one type of basic information of the vehicle, and after the vehicle receives a confirmation message fed back based on the connection message, the MEC server of the starting cell establishes a scheduling connection with the vehicle.
In a specific embodiment, the scheduling method further includes the following steps S107 to S109.
S107, judging whether the vehicle runs to the boundary of the current cell or not by the MEC server of each cell based on the current position of the vehicle in the process of scheduling the vehicle through the corresponding base station, and if so, executing a step S108; if not, step S109 is executed.
In this step, the determination of how to determine whether the vehicle has traveled to the boundary of the current cell, i.e., the determination of the boundary range of the current cell, can be set and adjusted by those skilled in the art according to actual requirements.
And S108, the MEC server of the current cell determines a front cell according to the serial number of the front cell of the route in the route information corresponding to the current cell, and the packaged scheduling information data of the vehicle is sent to the MEC server of the front cell through the corresponding base station, so that after receiving the scheduling information data, the MEC server of the front cell establishes scheduling connection with the vehicle through the corresponding base station and updates the scheduling information data in the process of scheduling the vehicle.
The scheduling information data of the vehicle is generated in real time in the process that the base station schedules the vehicle to run, and comprises real-time running state information (vehicle speed, energy consumption, real-time road conditions and the like) and scheduling behavior information (vehicle behavior information such as whether lane change, parking, acceleration and the like are needed at present) of the vehicle monitored by the base station. In order to guarantee the continuity of the scheduling behavior between the cells, the MEC server of the current cell needs to pack the scheduling information data of the vehicle and then send the data to the MEC server of the front cell for receiving, analyzing and warehousing.
The method for establishing the dispatching connection between the MEC server of the front cell and the vehicle specifically comprises the following steps: and the MEC server of the front cell broadcasts a connection message through the base station, wherein the connection message carries at least one type of basic information of the vehicle, and after a confirmation message fed back by the vehicle based on the connection message, the MEC server establishes scheduling connection with the vehicle so as to form a new scheduling relation.
And S109, the MEC server of the current cell continuously schedules the vehicle through the corresponding base station according to the intra-cell route information in the route information corresponding to the cell.
In this embodiment, when the vehicle travels to the boundary of the current cell, that is, the boundary between the current cell and the front cell, a cell scheduling change process is triggered, and the current cell is changed into the front cell. After the process is triggered, the MEC server of the current cell needs to package the scheduling information data of the vehicle and then send the data to the MEC server of the front cell, so as to ensure the continuity of the scheduling behavior among the cells.
As can be seen, each CELL MEC server through which the core network plans the driving route for the vehicle passes forms an inter-CELL dependency relationship similar to a linked list through a pre-stored NEXT _ CELL _ ID field (front CELL number) to ensure continuity of CELL change.
In one embodiment, before the step S108 of sending the scheduling information data of the vehicle to the MEC server of the forward cell, the following steps S108a and S108b are further included.
S108a, the MEC server of the current cell sends a scheduling change notification to the MEC server of the forward cell through the corresponding base station.
And S108b, the MEC server of the current cell receives a confirmation message fed back by the MEC server of the front cell based on the scheduling change notification, and then sends scheduling information data of the vehicle to the MEC server of the front cell.
In this embodiment, before sending the scheduling information data of the vehicle to the MEC server of the front cell, the MEC server of the current cell sends a scheduling change notification to the MEC server of the front cell to notify the front cell of the preparation for receiving the scheduling task of the vehicle, and the MEC server of the front cell feeds back an acknowledgement message after receiving the scheduling change notification to notify the current cell that the scheduling preparation is made, and then the MEC server of the current cell sends the vehicle scheduling information data to the MEC server of the front cell after receiving the acknowledgement message fed back by the MEC server of the front cell.
In one embodiment, after the MEC server of the front cell establishes the dispatch connection with the vehicle in step S108, the following steps S108c and S108d are further included.
S108c, after the MEC server of the front cell is successfully connected with the vehicle, feeding back a connection success message to the MEC server of the current cell through the corresponding base station;
s108d, after receiving the connection success message, the MEC server of the current cell disconnects the scheduling connection with the vehicle, and clears the scheduling information data about the vehicle in the database.
In this embodiment, after the MEC server in the front cell is successfully connected to the vehicle, the front cell feeds back a connection success message to the current cell, and the current cell disconnects the scheduling connection with the vehicle after receiving the message, so as to ensure stability and safety of scheduling between cells, and then clears the scheduling information data about the vehicle in the database, so as to save space. After that, the schedule of the front cell starts to be effective, and the schedule information data of the vehicle is updated in the process of scheduling the vehicle.
In one embodiment, during the period that the MEC server of the current cell and the MEC server of the front cell are simultaneously connected with the vehicle, the MEC server of the front cell schedules the vehicle with a lower priority than the MEC server of the current cell.
In this embodiment, in order to avoid behavior conflicts when vehicles are scheduled simultaneously in two adjacent cells, during the period when the MEC servers of the two cells are connected to the vehicles simultaneously, the scheduling priority of the front cell is weaker than that of the current cell until the MEC server of the current cell is disconnected from the scheduling connection with the vehicles, so that continuity of replacement of a scheduler is ensured by adopting a scheduling priority mode, that is, base stations of the adjacent cells are scheduled simultaneously, and scheduling conflicts are not caused.
In a specific embodiment, the scheduling method further includes the following steps S110 to S112.
S110, after the MEC server of each cell is successfully connected with the vehicle, comparing the number of the cell with the number of the destination cell in the route information corresponding to the cell, determining whether the current cell is the destination cell, and if so, executing a step S111; if not, go to step S112;
s111, scheduling the vehicle through a corresponding base station according to the intra-cell route information in the route information corresponding to the cell until the vehicle reaches a destination;
and S112, determining a front cell according to the number of the front cell of the route in the route information corresponding to the cell, and sending a change preparation message to an MEC server of the front cell through a corresponding base station so that the MEC server of the front cell opens storage and calculation service resources for the vehicle in advance.
In step S112, the change preparation message sent to the MEC server of the forward CELL may carry the NEXT _ CELL _ ID field (route forward CELL number), and the MEC server of the forward CELL compares the received NEXT _ CELL _ ID field with the local CELL number, and if the received NEXT _ CELL _ ID field and the local CELL number are consistent, it is determined that the MEC server of the forward CELL is the NEXT CELL through which the vehicle will pass, and at this time, the storage and calculation service resources are opened for the vehicle.
In this embodiment, the change preparation message sent by the MEC server in the current cell to the MEC server in the forward cell is a signal for starting a scheduling process, so as to notify the MEC server in the forward cell to make a change scheduling preparation, open storage and calculation service resources for the vehicle in advance, and then wait for the scheduling change notification sent by the MEC server in the current cell.
It can be seen that, after the current cell is successfully connected to the vehicle, if the current cell is not the destination cell, a change preparation message may be sent to the MEC server of the forward cell first to enable the MEC server of the forward cell to open storage and calculation service resources for the vehicle in advance, then when the vehicle travels to the boundary between the current cell and the forward cell, a scheduling change notification may be sent to the MEC server of the forward cell to notify the forward cell to receive the scheduling task of the vehicle, and after receiving the feedback confirmation message, the packaged vehicle scheduling information data may be sent to the MEC server of the forward cell, and the MEC server of the forward cell may establish a scheduling connection with the vehicle and schedule the vehicle, thereby forming a new scheduling relationship.
The step numbers do not represent the order of the steps; the sequence of the above steps is only a specific example provided for illustrating the embodiment of the present invention, and the present invention does not limit the sequence of the above steps, and those skilled in the art can adjust the sequence as required in practical applications.
The inter-cell vehicle scheduling method described in this embodiment relates to two core processes, which are a process of accessing a vehicle to a system and a dispatcher change process during cell change.
The vehicle access system comprises the following processes:
1.1 the vehicle-mounted terminal submits a path planning request to a core network, and after the core network gives an optimal driving route according to the current road condition, basic information of the vehicle and corresponding route information are sent to an MEC server of a cell where the driving route passes;
1.2 the MEC server of each CELL receiving the data determines whether the MEC server is a starting CELL or not by identifying a CUR _ CELL _ ID field;
1.3, the base station of the initial cell broadcasts a connection message, a dispatching connection is established after the vehicle is confirmed, the vehicle is dispatched to enter a road to run, and meanwhile, a change preparation message (a signal for starting a dispatching process) can be sent to a front cell;
1.4 the MEC server of the front CELL judges whether the MEC server is the NEXT CELL through which the vehicle will pass by identifying the NEXT _ CELL _ ID field carried by the change preparation message, if so, the vehicle opens the storage and calculation service resources in advance, and waits for the current CELL to send a CELL change notice.
The change process of the dispatcher during cell change comprises the following steps:
2.1 when the vehicle runs to the boundary of the current cell, triggering a scheduling change process, namely a scheduler needs to change the current cell base station into a front cell base station; the MEC server of the current cell sends a scheduling change notice to the MEC server of the front cell to inform the front cell to receive the scheduling task of the vehicle, and the MEC server of the front cell returns a feedback message to the current cell after receiving the scheduling change notice to inform the current cell that the MEC server of the current cell is ready for scheduling;
2.2 the MEC server of the current cell packs the scheduling information data of the vehicle and sends the data to the MEC server of the front cell, and the MEC server of the front cell analyzes and stores the data in a warehouse;
2.3 after the MEC server of the front cell prepares for data reception, the MEC server broadcasts a connection message through a base station, and after the vehicle captures the broadcast message and feeds back a confirmation message, the MEC server establishes a scheduling connection with the vehicle, so as to form a new scheduling relation;
2.4 after the MEC server of the front cell is successfully connected with the vehicle, feeding back a connection success message to the MEC server of the current cell, disconnecting the dispatching connection with the vehicle after the MEC server of the current cell receives the connection success message, and emptying the dispatching information data about the vehicle in the database;
2.5 after the MEC server of the front CELL is successfully connected with the vehicle, inquiring a DEST _ CELL _ ID field (the number of a destination CELL), judging whether the CELL is the destination CELL, if so, scheduling the vehicle and updating scheduling information data by the MEC server of the front CELL; if not, sending a change preparation message to the NEXT CELL to be passed by the vehicle based on a NEXT _ CELL _ ID field (the number of the CELL in front of the route), and so on until the current CELL is judged to be the destination CELL, stopping CELL scheduling change, and scheduling the vehicle by the MEC server of the destination CELL until the vehicle reaches the destination.
The method for scheduling vehicles among cells provided by the embodiment of the invention is based on a mobile edge computing infrastructure, an MEC server with data computing and storing capacity is deployed at a base station side, a core network transfers vehicle scheduling authority to the MEC servers of all cells, the MEC servers of all cells schedule vehicles in sequence according to the cell sequence through which a driving route planned for the vehicles in advance passes, a change scheduling notification is sent to a front cell when the vehicles drive to the boundary of the current cell, scheduling information data of the vehicles are packaged and sent to the MEC server of the front cell after confirmation feedback is received, the MEC server of the front cell establishes scheduling connection with the vehicles and schedules the vehicles, and the MEC server of the current cell breaks the scheduling connection with the vehicles after receiving the connection success message, and emptying the scheduling information data about the vehicle in the database, thereby not only ensuring the continuity of the scheduling behavior among cells, but also ensuring the low time delay and high reliability of the service end for scheduling the automatic driving vehicle.
Fig. 2 is a schematic structural diagram of an inter-cell vehicle dispatching system according to an embodiment of the present invention. As shown in fig. 2, the scheduling system includes: a core network 21 and a plurality of MEC servers 22, each MEC server 22 being connected to the core network 21 through a respective base station 23.
In fig. 2, a core network 21 is a superior data center of all MEC servers 22 under the jurisdiction thereof, and is used for managing and controlling the states of all MEC servers, ensuring normal operation of the MEC servers, sharing persistent data stored in all MEC servers, helping an automatic driving vehicle to pre-plan a path before entering a road, and notifying the MEC servers of all cells through which the planned path passes of cooperative scheduling data.
The base station 23 is an interface for transmitting and receiving signals between the vehicle-mounted terminal 24 and the MEC server 22, and between the MEC server 22 and the core network 21, so as to implement data transmission.
The vehicle-mounted terminal 24 is applied to an autonomous vehicle, and may be a terminal integrated on the vehicle or a non-integrated mobile terminal.
To implement vehicle connection and scheduling, the MEC server 22 specifically includes: an access module 221, a database 222, a scheduling module 223, and a data processing module 224.
The access module 221 serves as an interface for data and signaling conversion of the whole MEC server, is convenient to schedule, serves as a buffer area for data interaction between the server and the vehicle-mounted terminal, and completes functions of data information sharing, instruction issuing, information receiving, data preprocessing, background uploading and the like as required, so that the correct flow direction of data is ensured;
the database 222 is a distributed database, stores relevant information of the vehicle-mounted terminal and data of a cell, a road and the like, and supports fast reading and writing;
the dispatching module 223 is responsible for collecting the running state data of the dispatched automatic driving vehicle in real time and issuing a running dispatching data instruction in real time to ensure the normal running of the vehicle;
the data processing module 224 receives the data to be processed from the access module 221 and the scheduling module 223, and returns the data to the access module 221 or the scheduling module 223 after the operations of warehousing, querying, data extraction, processing, and the like.
The function of the scheduling system is described in detail below in conjunction with the specific structure of the scheduling system described above.
In the scheduling system, a core network 21 is configured to plan a driving route for a vehicle according to a path planning request submitted by a vehicle-mounted terminal 24, and send basic information of the vehicle and route information corresponding to respective cells to MEC servers 22 of all cells through which the driving route passes through corresponding base stations 23; the data sent by the core network 21 to each MEC server 22 is often original signaling data, and after receiving the original signaling data sent by the core network, the access module 221 of each MEC server 22 cleans and processes the original signaling data through the respective data processing module 224, and stores the original signaling data in the respective database 222.
The MEC server 22 of each cell is configured to establish a scheduling connection with the vehicle sequentially through the corresponding base station 23 according to the cell sequence through which the driving route passes and perform scheduling until the vehicle reaches the destination based on the current position of the vehicle, the basic information, and the route information corresponding to each cell.
In this embodiment, the core network 21 transfers the vehicle scheduling authority to the MEC server 22 of each cell, and the MEC server 22 of each cell schedules the vehicles in sequence according to the sequence of the cells through which the driving routes planned for the vehicles in advance pass, so that not only can low time delay and high reliability of the service end for scheduling the automatic driving vehicles be ensured, but also the automatic driving vehicles can be ensured to run normally all the time and the information interaction capability in the vehicle scheduling process is not weakened due to cell change.
In one embodiment, the basic information of the vehicle includes: vehicle identification code and destination latitude and longitude; the route information corresponding to the cell comprises: the number of the starting cell, the number of the cell in front of the route, the number of the destination cell and the intra-cell route information of the cell.
In a specific embodiment, before the MEC server of each cell establishes the scheduling connection with the vehicle, the data processing module 224 of the MEC server of each cell compares the number of the cell stored in the database 222 with the number of the starting cell in the route information corresponding to the cell, and determines the starting cell; the scheduling module 223 of the MEC server of the starting cell then starts scheduling the vehicle to travel into the road.
In one embodiment, after determining the starting cell and before the MEC server of the starting cell schedules the vehicle, the access module 221 of the MEC server of the starting cell broadcasts a connection message through the base station; and after the access module 221 receives the confirmation message fed back by the vehicle based on the connection message, the scheduling connection is established with the vehicle through the scheduling module 223.
In one embodiment, during the scheduling of the vehicle by the scheduling module 223 of the MEC server of each cell, the data processing module 224 thereof determines whether the vehicle has driven to the boundary of the current cell based on the current position of the vehicle; if yes, the data processing module 224 of the MEC server of the current cell determines a front cell according to the number of the front cell of the route in the route information corresponding to the current cell, and packages the scheduling information data of the vehicle and sends the packaged scheduling information data of the vehicle to the MEC server of the front cell through the access module 221, so that the access module 221 of the MEC server of the front cell establishes scheduling connection with the vehicle through the scheduling module 223 after receiving the scheduling information data and updates the scheduling information data in the database 222 in the process of scheduling the vehicle through the scheduling module 223; if not, the scheduling module 223 of the MEC server of the current cell continues to schedule the vehicle according to the intra-cell route information in the route information corresponding to the cell.
In one embodiment, before transmitting the scheduling information data of the vehicle to the MEC server of the forward cell, the MEC server of the current cell transmits a scheduling change notification to the MEC server of the forward cell through the access module 221; the access module 221 of the MEC server of the current cell receives the confirmation message fed back by the MEC server of the front cell based on the scheduling change notification, and then transmits the scheduling information data of the vehicle stored in the database 222 to the MEC server of the front cell.
In a specific embodiment, after the MEC server in the front cell is successfully connected to the vehicle, a connection success message is fed back to the MEC server in the current cell through the access module 221; after the access module 221 of the MEC server of the current cell receives the connection success message, the scheduling module 223 thereof disconnects the scheduling connection with the vehicle and empties the scheduling information data about the vehicle in the database 222 thereof through the data processing module 224.
In one embodiment, during the period when the MEC server of the current cell and the MEC server of the front cell are simultaneously connected with the vehicle, the scheduling module 223 of the MEC server of the front cell schedules the vehicle with a lower priority than the scheduling module 223 of the MEC server of the current cell schedules the vehicle.
In a specific embodiment, after the scheduling module 223 of the MEC server of each cell is successfully connected to the vehicle, the data processing module 224 compares the number of the cell with the number of the destination cell in the route information corresponding to the cell, and determines whether the current cell is the destination cell; if yes, the scheduling module 223 schedules the vehicle through the corresponding base station according to the intra-cell route information in the route information corresponding to the cell stored in the database 222 until the vehicle reaches the destination; if not, the data processing module 224 determines the front cell according to the route front cell number in the route information corresponding to the local cell stored in the database 222, and sends a change preparation message to the MEC server of the front cell through the access module 221, so that the MEC server of the front cell opens storage and calculation service resources for the vehicle in advance.
The inter-cell vehicle scheduling system provided by the embodiment of the invention can enhance the calculation storage and data updating capability of the edge side of the base station based on a mobile edge calculation architecture (MEC server) and a high-concurrency and fast-reading and writing database; the core network disperses the service to the base station side close to the vehicle-mounted terminal, namely the edge of the service layer of the core network, and each path of each cell can be effectively embodied to each vehicle-mounted terminal, so that the service coverage is finer, and the processing capacity is more efficient; overall planning of a core network, and realizing access and scheduling of the automatic driving vehicle by the cooperative scheduling of a plurality of MEC servers; the inter-cell dispatcher changes the efficient data migration based on the MEC server, so that the MEC server can continuously carry out efficient low-delay dispatching on the automatic driving vehicle; the method comprises the following steps that a core network forms inter-CELL dependency relationships similar to a linked list through a pre-stored NEXT _ CELL _ ID field (front CELL number) for each CELL MEC server through which a driving route planned by a vehicle passes so as to ensure continuity of CELL change; the method of scheduling priority is adopted to ensure the continuity of the change of the scheduler, namely the adjacent cell base stations are scheduled simultaneously, and meanwhile, scheduling conflict cannot be caused. Therefore, the scheduling system not only guarantees the continuity of the scheduling behavior among cells, but also guarantees the low time delay and high reliability of the service end to the automatic driving vehicle scheduling.
In summary, the inter-cell vehicle scheduling method and the inter-cell vehicle scheduling system provided by the embodiments of the present invention can ensure normal operation of an autonomous vehicle by using a cell base station as a scheduler for the autonomous vehicle. When a vehicle enters another cell from one cell, in order to guarantee the continuity of scheduling and the high efficiency required under the edge calculation scene, the change of a dispatcher needs to be completed in a short time, so that the automatic driving vehicle can always run normally and the information interaction capability is not weakened due to the change of the cell. According to the invention, the calculation service is placed at the cell base station close to the vehicle, and the MEC server with data calculation and storage capacity is deployed at the base station side, so that the time delay of information transmission can be effectively reduced, the normal vehicle scheduling at the cell boundary can be ensured, and the high-efficiency operation of intelligent transportation can be realized.
It will be understood by those of ordinary skill in the art that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An inter-cell vehicle scheduling method, comprising:
the core network plans a driving route for the vehicle according to a path planning request submitted by the vehicle-mounted terminal, and respectively sends basic information of the vehicle and route information corresponding to each cell to mobile edge calculation MEC servers of all cells through which the driving route passes through by corresponding base stations; and the number of the first and second groups,
and the MEC server of each cell establishes dispatching connection with the vehicle in sequence through corresponding base stations according to the cell sequence passed by the driving route and dispatches the vehicle until the vehicle reaches the destination based on the current position of the vehicle, the basic information and the route information corresponding to each cell.
2. The scheduling method of claim 1, wherein the basic information of the vehicle includes: vehicle identification code and destination latitude and longitude; the route information corresponding to the cell comprises: the number of the starting cell, the number of the cell in front of the route, the number of the destination cell and the intra-cell route information of the cell.
3. The scheduling method of claim 2, before the MEC server of each cell sequentially establishes the scheduling connection with the vehicle through the corresponding base station, further comprising:
the MEC server of each cell compares the number of the cell with the number of the initial cell in the route information corresponding to the cell to determine the initial cell; and the number of the first and second groups,
and the MEC server of the starting cell starts to schedule the vehicles to enter the road for driving.
4. The scheduling method of claim 3, wherein after determining the starting cell and before the MEC server of the starting cell schedules the vehicle, further comprising:
the MEC server of the initial cell broadcasts a connection message through a base station; and the number of the first and second groups,
and after receiving the confirmation message fed back by the vehicle based on the connection message, establishing scheduling connection with the vehicle.
5. The scheduling method of claim 2, further comprising:
the MEC server of each cell judges whether the vehicle runs to the boundary of the current cell or not based on the current position of the vehicle in the process of scheduling the vehicle through the corresponding base station;
if so, the MEC server of the current cell determines a front cell according to the serial number of the front cell of the route in the route information corresponding to the current cell, packs the scheduling information data of the vehicle and sends the data to the MEC server of the front cell through a corresponding base station, so that the MEC server of the front cell establishes scheduling connection with the vehicle through the corresponding base station after receiving the scheduling information data and updates the scheduling information data in the process of scheduling the vehicle;
and if not, the MEC server of the current cell continuously schedules the vehicle through the corresponding base station according to the intra-cell route information in the route information corresponding to the cell.
6. The scheduling method of claim 5, further comprising, before transmitting the scheduling information data of the vehicle to the MEC server of the forward cell:
the MEC server of the current cell sends a scheduling change notice to the MEC server of the front cell through a corresponding base station; and the number of the first and second groups,
and the MEC server of the current cell receives a confirmation message fed back by the MEC server of the front cell based on the scheduling change notification, and then sends the scheduling information data of the vehicle to the MEC server of the front cell.
7. The scheduling method of claim 5, further comprising:
after the MEC server of the front cell is successfully connected with the vehicle, feeding back a connection success message to the MEC server of the current cell through the corresponding base station; and the number of the first and second groups,
and after receiving the connection success message, the MEC server of the current cell disconnects the scheduling connection with the vehicle and empties the scheduling information data about the vehicle in the database of the MEC server.
8. The scheduling method of claim 7 wherein during the period that the MEC server of the current cell and the MEC server of the front cell are simultaneously connected with the vehicle, the MEC server of the front cell schedules the vehicle with a lower priority than the MEC server of the current cell.
9. The scheduling method of claim 2, further comprising:
after the MEC server of each cell is successfully connected with the vehicle, comparing the number of the cell with the number of the destination cell in the route information corresponding to the cell, and determining whether the current cell is the destination cell;
if so, scheduling the vehicle through a corresponding base station according to the route information in the cell in the route information corresponding to the cell until the vehicle reaches the destination;
if not, determining a front cell according to the route front cell number in the route information corresponding to the cell, and sending a change preparation message to an MEC server of the front cell through a corresponding base station so that the MEC server of the front cell opens storage and calculation service resources for the vehicle in advance.
10. An inter-cell vehicle dispatch system comprising a core network and a plurality of mobile edge computing MEC servers, each MEC server connected to the core network through a respective base station; the core network is set to plan a driving route for a vehicle according to a path planning request submitted by a vehicle-mounted terminal, and respectively sends basic information of the vehicle and route information corresponding to each cell to MEC servers of all cells through which the driving route passes through corresponding base stations; and the MEC server of each cell is set to sequentially establish scheduling connection with the vehicle through corresponding base stations according to the cell sequence passed by the driving route and based on the current position and the basic information of the vehicle and the route information corresponding to each cell, and then scheduling is carried out until the vehicle reaches the destination.
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