CN114650500A - Data distribution method and device, electronic equipment and storage medium - Google Patents

Abstract

The present application relates to the technical field of wireless transmission, and provides a data distribution method, apparatus, electronic device and storage medium. The method includes: in the case that the current vehicle is the cluster head in the vehicle cluster to which it belongs, based on the service capability of the current vehicle and the service capability broadcast by each member vehicle in the vehicle cluster, determining from the vehicle cluster. The sender vehicle, the vehicle cluster is determined based on each vehicle adjacent to the current vehicle in the same driving direction; the vehicle identifier of the sender vehicle is broadcast to request the sender vehicle to distribute the cached data. The data distribution method, device, electronic device, and storage medium provided by the embodiments of the present application improve the stability of communication links between vehicles in a cluster, reduce network overhead, reduce vehicle request satisfaction time, and can effectively improve vehicle data distribution efficiency.

Description

Data distribution method, apparatus, electronic device and storage medium

technical field

The present application relates to the field of wireless transmission technologies, and in particular, to a data distribution method, apparatus, electronic device, and storage medium.

Background technique

The in-vehicle ad hoc network is formed by connecting vehicles through an ad hoc (point-to-point) network, and consists of a roadside unit (RSU) and an on-board unit (OBU). The OBU installed in the vehicle can be regarded as a mobile node, and the basic communication forms of the vehicle can be divided into vehicle-to-vehicle (Vehicle-to-Vehicle, V2V) and vehicle-to-infrastructure (Vehicle to Infrastructure, V2I).

Due to the high-speed mobility of vehicles, limited V2I bandwidth, and high demand for data services, RSU is likely to be unable to complete services within its coverage area, making the current vehicle-mounted ad hoc network, the vehicle request delay is long, the data distribution less efficient.

SUMMARY OF THE INVENTION

Embodiments of the present application provide a data distribution method, apparatus, electronic device, and storage medium to solve the technical problems of long vehicle request delay and low data distribution efficiency in the current vehicle-mounted ad hoc network.

In a first aspect, an embodiment of the present application provides a data distribution method, including:

In the case where the current vehicle is the cluster head in the vehicle cluster to which it belongs, the sender vehicle is determined from the vehicle cluster based on the service capability of the current vehicle and the service capability broadcast by each member vehicle in the vehicle cluster. The vehicle cluster is determined based on each vehicle adjacent to the current vehicle in the same driving direction;

The vehicle identification of the sender vehicle is broadcast to request the sender vehicle to distribute the cached data.

In one embodiment, the cluster head of the vehicle cluster is determined based on the following steps:

Detecting each vehicle of the vehicle cluster, and obtaining at least one of the traveling speed of each vehicle, the vehicle position and the number of vehicles covered by communication;

A cluster head of the vehicle cluster is determined based on at least one of the travel speed of each vehicle, the vehicle location, and the number of vehicles covered by communication.

In one embodiment, determining the cluster head of the vehicle cluster based on at least one of the traveling speed of each vehicle, the vehicle position and the number of vehicles covered by communication includes:

determining a speed weight for each vehicle based on the difference between the travel speed of each vehicle and the average speed of the vehicle cluster;

determining the position weight of each vehicle based on the distance between each vehicle and the center point of the vehicle cluster;

determining the coverage weight of each vehicle based on the number of vehicles covered by the communication of each vehicle;

determining the fusion weight of each vehicle based on the speed weight, position weight and coverage weight of each vehicle;

The vehicle with the largest fusion weight is determined as the cluster head of the vehicle cluster.

In one embodiment, the cluster heads of the vehicle clusters are updated based on the following steps:

receiving adjacent vehicle information broadcast by member vehicles in the vehicle cluster;

Based on the adjacent vehicle information, update the control information of the vehicle cluster and broadcast it, so that the member vehicles in the vehicle cluster calculate the fusion weight according to the control information;

Calculate the fusion weight of the current vehicle, and accept the fusion weight broadcast by member vehicles in the vehicle cluster;

Based on the fusion weight of the current vehicle and the fusion weight broadcast by member vehicles in the vehicle cluster, the cluster head of the vehicle cluster is updated, and the vehicle cluster control information carrying the updated cluster head identifier is broadcast.

In one embodiment, before the detecting each vehicle of the vehicle cluster and obtaining at least one of the running speed of each vehicle, the vehicle position and the number of vehicles covered by communication, the method further includes:

The interference elimination algorithm based on the atomic norm minimization theory is adopted to eliminate the interference of the vehicle-mounted radar used for sensing the driving information of adjacent vehicles and the communication transceiver used for sensing information sharing working in the same frequency band.

In a second aspect, an embodiment of the present application provides a method for distributing data, including: in the case that the current vehicle is a member vehicle in the vehicle cluster to which it belongs, broadcasting the service capability of the current vehicle, so that the cluster head in the vehicle cluster to which the vehicle belongs is broadcast. The sender vehicle can be determined from the vehicle cluster based on the service capability of the cluster head and the service capability broadcast by each member vehicle in the vehicle cluster, and the vehicle cluster is based on the same driving direction as the current vehicle. Determined by each adjacent vehicle;

receiving the vehicle identification of the sender vehicle broadcasted by the cluster head;

In the case that the vehicle identification of the sender vehicle is consistent with the vehicle identification of the current vehicle, the cached data is distributed.

In one embodiment, the method further includes: based on the distance between the current vehicle and the cluster head of the vehicle cluster to which it belongs, and/or the distance between the current vehicle and the cluster heads of other vehicle clusters, determining the current The vehicle cluster belonging status of the vehicle is updated.

In one embodiment, the service capability of the current vehicle is determined based on the following steps:

The service capability of the current vehicle is determined based on the cached data of the current vehicle and the request data of each vehicle adjacent to the current vehicle in the opposite driving direction.

In a third aspect, an embodiment of the present application provides a data distribution device, including:

The sender vehicle determination unit is configured to, when the current vehicle is the cluster head in the vehicle cluster to which it belongs, based on the service capability of the current vehicle and the service capability broadcast by each member vehicle in the vehicle cluster, from the vehicle The sender vehicle is determined in a cluster, and the vehicle cluster is determined based on each vehicle adjacent to the current vehicle in the same driving direction;

A vehicle identification broadcasting unit, configured to broadcast the vehicle identification of the sender's vehicle, so as to request the sender's vehicle to distribute the cached data.

In a fourth aspect, an embodiment of the present application provides a data distribution apparatus, including:

a service capability broadcasting unit, configured to broadcast the service capability of the current vehicle when the current vehicle is a member vehicle in the vehicle cluster to which it belongs, so that the cluster head in the vehicle cluster can be based on the service capability of the cluster head, and the service capability broadcast by each member vehicle in the vehicle cluster, determining the sender vehicle from the vehicle cluster, and the vehicle cluster is determined based on each vehicle adjacent to the current vehicle in the same driving direction;

a vehicle identification receiving unit, configured to receive the vehicle identification of the sender vehicle broadcasted by the cluster head;

A data distribution unit, configured to distribute the cached data when the vehicle identification of the sender vehicle is consistent with the vehicle identification of the current vehicle.

In a fifth aspect, an embodiment of the present application provides an electronic device, including a processor and a memory storing a computer program, where the processor implements the data distribution method described in the first aspect or the second aspect when the processor executes the program.

In a sixth aspect, an embodiment of the present application provides a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the data distribution method described in the first aspect or the second aspect .

In the data distribution method, device, electronic device, and storage medium provided by the embodiments of the present application, before data distribution, vehicles in the same driving direction are clustered and divided into vehicle clusters, which improves the stability of communication links between vehicles in a cluster The cluster head designates the sender vehicle according to the service capabilities of the vehicles in the vehicle cluster to request the sender vehicle to distribute the cached data, which reduces the vehicle request satisfaction time and effectively improves the data distribution efficiency of the vehicle. .

Description of drawings

In order to illustrate the technical solutions in the present application or the prior art more clearly, the following briefly introduces the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are the For some embodiments of the application, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is one of the schematic flowcharts of the data distribution method provided by the embodiment of the present application;

2 is a schematic diagram of an application scenario of the data distribution method provided by an embodiment of the present application;

3 is the second schematic flowchart of the data distribution method provided by the embodiment of the present application;

4 is a third schematic flowchart of a data distribution method provided by an embodiment of the present application;

5 is one of the schematic structural diagrams of the data distribution apparatus provided by the embodiment of the present application;

6 is a second schematic structural diagram of a data distribution apparatus provided by an embodiment of the present application;

FIG. 7 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the present application. examples, but not all examples. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

Although the vehicle ad hoc network is an extension of the mobile ad hoc network in the Internet of Vehicles scenario, due to the high-speed mobility of vehicle nodes, the traditional network hierarchy topology of MANET (Mobile Ad Hoc Network, wireless ad hoc network) is directly applied to VANET ( Vehicular ad-hoc network, in-vehicle random mobile network) environment is not compatible. In addition, data forwarding in VANET requires low-latency transmission and high reliability. However, the number of vehicle nodes is large and the number of routers is small. The flat network structure of the traditional self-organizing network will lead to poor network scalability. A clustering structure is established in the vehicular ad hoc network to manage the network topology, so as to reduce the change of the VANET topology.

FIG. 1 is one of the schematic flowcharts of a data distribution method provided by an embodiment of the present application. 1, an embodiment of the present application provides a data distribution method, which may include:

Step 110, in the case that the current vehicle is the cluster head in the vehicle cluster to which it belongs, based on the service capability of the current vehicle and the service capability broadcast by each member vehicle in the vehicle cluster, determine the sender vehicle from the vehicle cluster, and the vehicle cluster is based on the same Each vehicle adjacent to the current vehicle in the driving direction is determined.

Specifically, FIG. 2 is a schematic diagram of an application scenario of the data distribution method provided by the embodiment of the present application. As shown in FIG. 2 , the arrows in the figure represent the driving directions of vehicles; each rectangular dotted box represents a vehicle cluster, and each vehicle cluster has It includes cluster head and cluster member vehicles; the roadside includes two RSUs, and the circle indicates the coverage of the RSUs. It can be seen from the figure that the vehicles are outside the coverage of the RSUs.

This method can be applied to scenarios of two-way roads. RSUs and vehicles have already pre-cached content. The vehicle may not be able to download the required content within the coverage area of one RSU. The vehicle completes the download process by providing the required content through V2V communication. The executive body of the method may be the vehicle-mounted control unit of each vehicle node.

Before data distribution, vehicles in the same driving direction can be clustered and divided into vehicle clusters. Since vehicles with similar attributes (such as vehicle speed, position, etc.) become members of the same cluster, the number of vehicles in the cluster The stability of the communication link between them is relatively high, and the overhead of the network is reduced at the same time.

Here, the current vehicle is the cluster head in the vehicle cluster to which it belongs, and each vehicle adjacent to the current vehicle refers to each vehicle whose distance from the cluster head is within the communication range of the preset communication transceiver, for example, within the V2V communication range Inside. After the cluster head is determined, a vehicle cluster can be generated from the cluster head and each vehicle adjacent to the cluster head.

The service capability can reflect the number of vehicles to be answered that each vehicle can satisfy. The greater the number of vehicles that can be satisfied, the higher the service capability; the less the number of vehicles that can be satisfied, the lower the service capability. The request to be answered here may be, for example, multimedia entertainment information, traffic status information, and the like.

Each vehicle in the vehicle cluster broadcasts its own unfinished request, and each member of the cluster head and the vehicle cluster sends out the data item to be replied according to its own cached data item and the requesting vehicle, respectively calculates its own service capability, and then each member in the vehicle cluster Broadcast its own service capabilities.

The cluster head determines the sender vehicle from the vehicle cluster according to its own service capability and the service capability of receiving broadcasts from each member. The sender vehicle here is designated by the cluster head, and the vehicle with the highest service capability in the vehicle cluster can be designated as sender vehicle.

Step 120: Broadcast the vehicle identification of the sender's vehicle to request the sender's vehicle to distribute the cached data.

Specifically, after the sender's vehicle is determined, the cluster head broadcasts the sender's vehicle's vehicle identification, such as the vehicle's serial number in the vehicle cluster, license plate number, vehicle identification number, etc., and the sender's vehicle receives the data distribution instruction from the cluster head. Afterwards, the cached data is distributed, for example, the data items with the most unserved requests may be broadcast, so that the requesting vehicle receives the requested data items to be replied.

In the method provided by the embodiment of the present application, before data distribution is performed, the vehicles in the same driving direction are clustered and divided into vehicle clusters, which improves the stability of the communication link between the vehicles in the cluster and reduces the network overhead; the cluster head According to the service capabilities of the vehicles in the vehicle cluster, the sender vehicle is designated to request the sender vehicle to distribute the cached data, which reduces the vehicle request satisfaction time and effectively improves the data distribution efficiency of the vehicle.

Based on the above embodiment, the cluster head of the vehicle cluster is determined based on the following steps:

Detecting each vehicle adjacent to the current vehicle, and obtaining at least one of the driving speed of each vehicle, the vehicle position and the number of vehicles covered by communication;

The cluster head of the vehicle cluster is determined based on at least one of the travel speed of each vehicle, the vehicle position, and the number of vehicles covered by communication.

Specifically, this method performs clustering among vehicles in the same direction. First, the vehicles adjacent to the current vehicle in the same driving direction and the vehicles that do not belong to any vehicle cluster can be grouped into a vehicle cluster, where the current vehicle Can be any vehicle in motion.

The on-board radar on the vehicle can detect the driving speed of each vehicle, the position of the vehicle, the distance between the vehicles and other information; the vehicle communication sharing can detect the vehicles that can communicate with the current vehicle, that is, the number of vehicles covered by the current vehicle communication.

Considering that the formation of a cluster is a prerequisite for data distribution, and the main function of the cluster head is to collect the service capabilities of the members in the cluster and designate the sender vehicle, it needs to exchange information frequently with the cluster members. The stability of the communication link between, the cluster head of the vehicle cluster can be determined based on at least one of the following indicators:

In order to prevent frequent changes of cluster heads, a vehicle whose driving speed is closer to the average driving speed of the vehicles in the cluster can be determined as the cluster head of the vehicle cluster;

In order to strengthen the stability of the vehicle cluster, the vehicle that is closer to the center point of the vehicle in the cluster can be determined as the cluster head of the vehicle cluster;

In order to keep the number of vehicles in the vehicle cluster, the vehicle with the largest number of adjacent vehicles in communication coverage can be determined as the cluster head of the vehicle cluster.

It can be understood that, when determining the cluster head of a vehicle cluster, only the driving speed of each vehicle may be considered, or only the position of the vehicle may be considered, and only the number of vehicles covered by communication may be considered, and of course, two or all of them may be considered at the same time. , which is not specifically limited in the embodiments of the present application.

The method provided by the embodiment of the present application determines the cluster head of the vehicle cluster based on at least one of the running speed of each vehicle, the vehicle position and the number of vehicles covered by communication, which further improves the stability of the communication link between the vehicles in the cluster , thereby reducing the data request delay and improving the data distribution efficiency.

Based on any of the foregoing embodiments, determining the cluster head of the vehicle cluster based on at least one of the traveling speed of each vehicle, the vehicle position, and the number of vehicles covered by communication, including:

Determine the speed weight of each vehicle based on the difference between the travel speed of each vehicle and the average speed of the vehicle cluster;

Determine the position weight of each vehicle based on the distance between each vehicle and the center point of the vehicle cluster;

Determine the coverage weight of each vehicle based on the number of vehicles covered by the communication of each vehicle;

Determine the fusion weight of each vehicle based on the speed weight, position weight and coverage weight of each vehicle;

The vehicle with the largest fusion weight is determined as the cluster head of the vehicle cluster.

Specifically, when determining the cluster head, the weighted clustering algorithm is based on the difference between the driving speed of the vehicle and the average speed of the vehicle cluster, the vehicle position of each vehicle, that is, the position of the vehicle in the vehicle cluster, and the number of vehicles covered by communication, that is, the number of vehicle cluster members. metric to select the cluster head vehicle.

The speed weight can represent the difference between the driving speed of each vehicle and the average speed of the vehicle cluster. The smaller the difference between the driving speed and the average speed, the closer the driving speed is to the average speed, the greater the speed weight; the difference between the driving speed and the average speed The larger the value, the more the travel speed deviates from the average speed, and the smaller the speed weight.

The position weight can represent the position of each vehicle in the vehicle cluster. The smaller the distance from the center point of the vehicle cluster, the more the position of the vehicle is in the center of the vehicle cluster, the greater the position weight; the greater the distance from the center point of the vehicle cluster, It is explained that the more the position of the vehicle deviates from the center of the vehicle cluster, the smaller the position weight is.

The coverage weight can represent the number of vehicles that can be covered within the communication range of each vehicle. The more vehicles that can be covered, the greater the coverage weight; the smaller the number of vehicles that can be covered, the smaller the coverage weight.

The speed weight, position weight and coverage weight of each vehicle are fused to obtain the fusion weight. For example, the fusion weight of each vehicle can be obtained by directly adding the three. The fusion weight represents the comprehensive weight of each vehicle on the three indicators of driving speed, vehicle location and the number of vehicles covered by communication.

Immediately, the vehicle with the largest fusion weight value is determined as the cluster head of the vehicle cluster, and the cluster head can declare its own role and vehicle cluster ID to adjacent vehicles through control information. The cluster head thus determined has the largest fusion weight determined by the three indicators of vehicle speed, vehicle position and the number of vehicles covered by communication, thereby making the communication link between vehicles in the generated vehicle cluster more stable and reducing the cost of communication. Recluster frequency.

In one embodiment, the cluster head determination process of the vehicle cluster is as follows:

V(t)={V ₁ , V ₂ , ..., V _j , ..., V _|V(t)| } represents the vehicle set, j represents the number of the vehicle, and |V(t)| number of vehicles;

的车辆V_j更高的权重，相邻车辆指在车辆集V(t)中，与车辆V_j之间的距离在V2V通信范围rV2V内的车辆V_h，表示为集合

1) In order to prevent frequent changes of cluster heads, the given speed is close to the average speed of several adjacent vehicles

The vehicle V _j has a higher weight, the adjacent vehicle refers to the vehicle V h in the vehicle set V(t), the distance between the vehicle V _j and the vehicle V j is within the V2V communication range _rV2V , expressed as a set

In the scenario of a two-way road, the adjacent vehicles of the vehicle V _j include adjacent vehicles in the same direction and in the opposite direction, i.e.

表示与车辆V_j同向的相邻车辆集，dir(.)表示车辆行驶方向；in,

represents the set of adjacent vehicles in the same direction as the vehicle V _j , and dir(.) represents the driving direction of the vehicle;

表示与车辆V_j反向的相邻车辆集。

represents the set of adjacent vehicles in the opposite direction to vehicle V _j .

中且不属于任何车辆簇的若干车辆平均速度，即

This method clusters vehicles in the same direction, so the average speed of adjacent vehicles considered is the set of vehicles in the same direction

The average speed of several vehicles in and not belonging to any vehicle cluster, namely

的车辆分配的权重表示为：Then, the speed is close to the average speed of several adjacent vehicles

The weights assigned to the vehicles are expressed as:

表示相邻若干车辆的平均速度。where s(V _j ) represents the speed of the vehicle V _j ,

Indicates the average speed of several adjacent vehicles.

2) In order to strengthen the stability of the vehicle cluster, a higher weight is given to the vehicle V _j that is closer to the center points of several adjacent vehicles, which is expressed as:

Among them, V _f represents the vehicle in the foremost position among the adjacent vehicles, and V _r represents the vehicle in the rearmost position among the adjacent vehicles.

When the vehicle V _j is at the center point, the weight value is the largest, that is

Since wc(V _j )′≥0, it is normalized by max(wc(V _j )′), that is,

3) In order to maintain the number of vehicles in the vehicle cluster, a higher weight is given to the vehicle V _j that can cover the most adjacent vehicles, expressed as

Combining the above three indicators, the fusion weight of vehicle V _j in several adjacent vehicles is calculated, which is expressed as W(V _j )=ws(V _j )+wc(V _j )+wn(V _j ).

Based on any of the foregoing embodiments, a data distribution method is provided, comprising:

The vehicle cluster belonging status of the current vehicle is updated based on the distance between the current vehicle and the cluster head of the vehicle cluster to which it belongs, and/or the distance between the current vehicle and the cluster heads of other vehicle clusters.

Specifically, since the driving speed and driving direction of each vehicle are constantly changing, the cluster head and cluster member vehicles of the vehicle cluster may also be changing, that is, the vehicle cluster belonging status of the current vehicle is also constantly being updated.

It can be understood that the vehicle cluster belonging status of the current vehicle includes:

1) Leaving the vehicle cluster: when the distance between the cluster head (CH _k ) of the k-th vehicle cluster (C _k ) and the vehicle V _j is greater than the V2V communication range, the condition is satisfied

dis(CH _k , V _j )>rV2V

Where dis(.) represents the distance between vehicles, and rV2V represents the V2V communication range, then the vehicle V _j exits the vehicle cluster.

2) Joining a vehicle cluster: The vehicle V _j is in the coverage area of the cluster head CH _k . According to the state of the vehicle V _j , there are three situations, as follows:

Case a) Vehicle V _j does not belong to any vehicle cluster, when the condition is satisfied

dis(CH _k , V _j )≤rV2V

vehicle V _j joins C _k ;

Case b) Vehicle V _j has been added to C _k , in order to avoid frequent changes of vehicle clusters, only when the number of vehicles included in the new vehicle cluster (C _k+1 ) is greater than the number of vehicles included in the currently added vehicle cluster (C _k ), Only vehicles V _j are allowed to join new vehicle clusters. i.e. satisfy the condition

dis(V _j , CH _k+1 )≤rV2V∧|C _k |＜|C _k+1 |

Vehicle V _j can join a new vehicle cluster C _k+1 ;

Case c) The cluster head can join another vehicle cluster after disbanding the vehicle cluster through the control message; the disbanded cluster members can join the adjacent vehicle cluster.

3) Generate vehicle clusters

Several adjacent vehicles that do not belong to any vehicle cluster designate the vehicle with the largest weight value as the cluster head to generate a new vehicle cluster;

The disbanded cluster members of the original vehicle cluster generate new vehicle clusters when there are no adjacent vehicle clusters in their coverage.

The method provided by the embodiment of the present application determines the vehicle cluster belonging state of the current vehicle based on the distance between the current vehicle and the cluster head of the vehicle cluster, thereby realizing effective management of the vehicle cluster.

Based on any of the above embodiments, the cluster head of the vehicle cluster is updated based on the following steps:

Receive adjacent vehicle information broadcast by member vehicles in the vehicle cluster;

Based on the adjacent vehicle information, update the control information of the vehicle cluster and broadcast it, so that the member vehicles in the vehicle cluster can calculate the fusion weight according to the control information;

Calculate the fusion weight of the current vehicle, and accept the fusion weight broadcast by the member vehicles in the vehicle cluster;

Based on the fusion weight of the current vehicle and the fusion weight broadcast by member vehicles in the vehicle cluster, the cluster head of the vehicle cluster is updated, and the vehicle cluster control information carrying the updated cluster head identifier is broadcast.

Specifically, after the vehicle cluster is generated, the cluster head interacts with the member vehicles in the cluster. The interaction process is as follows:

1) The cluster members send the perceived adjacent vehicle information (ID, position and speed of the attached vehicle cluster) to the cluster head;

2) The cluster head updates the number of cluster members, the average speed of the vehicle cluster, and the position of the frontmost vehicle ( _Vf ) and the rearmost vehicle ( _Vr ) in the vehicle cluster according to the received information. Then, the cluster head broadcasts the updated control information;

3) The cluster head and the cluster members calculate the fusion weight according to the received information, and the cluster members send the calculated fusion weight to the cluster head. The calculation process of the fusion weight is as follows:

C(t)={C ₁ , C ₂ , ..., C _k , ..., C _|C(t)| } denotes a vehicle cluster, k denotes the number of the vehicle cluster, and |C(t)| denotes The number of vehicle clusters in the set, after the vehicle clusters are generated, consider similar indicators as in the above embodiment, but the considered object becomes the generated vehicle cluster C _k :

① In order to prevent frequent changes of cluster heads, a higher weight is given to the vehicle V _j whose speed is close to the average speed of the vehicle cluster as(C _k ), which is expressed as

② In order to strengthen the stability of the vehicle cluster, a higher weight is given to the vehicle V _j that is closer to the center point of the vehicle cluster, which is expressed as

When the vehicle V _j is at the center point of the vehicle cluster, the weight value is the largest, that is,

Since wc(V _j )′≥0, it is normalized by max(wc(V _j )′), that is,

③ In order to maintain the number of vehicles in the vehicle cluster, a higher weight is given to the vehicle V _j that can cover more vehicles in the same vehicle cluster, that is, the selected next cluster head can cover the most cluster members, expressed as

表示在车辆簇C_k中车辆V_j的相邻车辆集。in,

represents the set of neighboring vehicles of vehicle V _j in vehicle cluster C _k .

Combining the above three indicators, the fusion weight of the vehicle V _j in the vehicle cluster is calculated, which is expressed as W(V _j )=ws(V _j )+wc(V _j )+wn(V _j ).

4) The cluster head selects the vehicle with the largest fusion weight value as the next cluster head. Then, the cluster head announces the next cluster head to the cluster members through control information. Control information may include WAVE service broadcasts, basic safety messages, auxiliary information for service scheduling, and the like.

In the method provided by the embodiment of the present application, through the information exchange between the cluster head and the cluster members, and according to the received information, the cluster head calculates its own fusion weight, and the cluster head designates the vehicle with the largest fusion weight value as the next cluster head, realizing the cluster head. The update of the head, thus maintaining the stability of the vehicle cluster, provides conditions for data distribution.

Based on any of the foregoing embodiments, FIG. 3 is a second schematic flowchart of a data distribution method provided by an embodiment of the present application. 3, an embodiment of the present application provides a data distribution method, which may include:

Step 310, in the case that the current vehicle is a member vehicle in the vehicle cluster to which it belongs, broadcast the service capability of the current vehicle, so that the cluster head in the vehicle cluster to which it belongs can broadcast based on the service capability of the cluster head and each member vehicle in the vehicle cluster. The service capability of the vehicle is determined, and the sender vehicle is determined from the vehicle cluster, and the vehicle cluster is determined based on each vehicle adjacent to the current vehicle in the same driving direction;

Step 320, receiving the vehicle identifier of the sender vehicle broadcasted by the cluster head;

Step 330, in the case that the vehicle identification of the sender's vehicle is consistent with the vehicle identification of the current vehicle, distribute the cached data.

Specifically, when the current vehicle is a member vehicle in the vehicle cluster to which it belongs, first, the cluster head and the cluster members announce the unfinished request, and the cluster members and the cluster head based on their own cached data items and adjacent vehicles traveling in opposite directions request to be replied, calculate its own service capability, and then the cluster members broadcast their service capability;

The cluster head designates the sender vehicle according to the service capability broadcasted by each member vehicle and the service capability of the cluster head itself. The cluster head assigns the vehicle identity of the sender vehicle, which has the highest service capability in the cluster.

The designated sender vehicle searches its own cached data items and broadcasts the data item with the most unserved requests. Each other member vehicle other than the sender vehicle can be switched to the reception channel so that the distribution data of the adjacent vehicle traveling in the opposite direction can be received.

Based on any of the above embodiments, the service capability of the current vehicle is determined based on the following steps:

Based on the cached data of the current vehicle and the request data of each vehicle adjacent to the current vehicle in the opposite driving direction, the service capability of the current vehicle is determined.

Specifically, the service capability can reflect the number of vehicles to be answered that each vehicle can satisfy. The greater the number of vehicles that can be satisfied, the higher the service capability; the less the number of vehicles that can be satisfied, the lower the service capability.

The number of vehicles to be answered to the request that can be satisfied can be determined according to the cached data of the current vehicle and the request data of the requesting vehicle.

If the request data of any request vehicle is included in the cached data set of the current vehicle, it means that the current vehicle can satisfy the request vehicle; if the request data of multiple request vehicles are included in the cached data set of the current vehicle, then Indicates that the current vehicle can satisfy the multiple request vehicles at the same time.

In one embodiment, the service capability of the current vehicle can be determined by the following formula:

表示车辆V_j的相邻车辆V_h收到的待回复请求的数据项集，The database D={d ₁ , d ₂ , ..., d _|D| } is divided into multiple data items, |D| represents the total number of data items,

Represents the data item set of the pending reply request received by the adjacent vehicle V _h of the vehicle V _j ,

表示车辆V_j缓存的数据项集，能满足车辆V_j反向道路中的相邻车辆

待回复请求的车辆表示为

Represents the data item set cached by vehicle V _j , which can satisfy the adjacent vehicles in the reverse road of vehicle V _j

Vehicles to respond to requests are represented as

The service capability is determined according to the maximum number of vehicles that can be answered by the vehicle V _j , which can be expressed as

Based on any of the above-mentioned embodiments, before detecting each vehicle in the vehicle cluster and obtaining at least one of the driving speed of each vehicle, the vehicle position and the number of vehicles covered by communication, the method further includes:

The interference elimination algorithm based on the atomic norm minimization theory is adopted to eliminate the interference of the vehicle-mounted radar used to sense the driving information of adjacent vehicles and the communication transceiver used to sense the information sharing working in the same frequency band.

Specifically, Intelligent Traffic System (ITS) is an emerging application of today's fifth-generation (5G) communication architecture. High-capacity, low-latency V2V communication and precise sensing are critical for ITS. Modern cars are equipped with automotive radar to locate surrounding cars, pedestrians and infrastructure, and the need for high-speed V2V communication also enables communication systems to shift to higher frequency resources. Therefore, spectrum sharing between automotive radar and high-capacity V2V communication in this frequency band is necessary, spectrum sharing can provide higher spectrum utilization, however, spectrum sharing between the two systems may bring serious interference.

One solution to achieve spectrum sharing is to allocate different resources for the radar system and the communication system, the radar and the communication do not use the same resource at the same time, so there is no interference. But this approach does not allow both systems to fully utilize existing resources;

Another approach to sharing spectrum is to consider radar systems and communication systems operating in an overlapping manner. One approach to overlapping spectrum sharing is to mitigate the impact of one system by retrofitting the other, but this approach can affect the performance of the radar system. cause certain losses.

In view of the above problems, the embodiment of the present application adopts an interference elimination algorithm based on the atomic norm minimization theory to eliminate the interference that the vehicle-mounted radar used for sensing the driving information of adjacent vehicles and the communication transceiver used for sensing information sharing work in the same frequency band. Wherein, the information received by the vehicle communication sharing may include the unserved request ID, the request vehicle ID, the latest state of the vehicle, and the like.

Reconstruct the FMCW (Frequency Modulated Continuous Wave) interference signal, convert the interference reconstruction problem into a spectrum estimation problem, and achieve accurate spectrum estimation through an algorithm based on the atomic norm minimization theory. According to the current frequency estimation results and FMCW The shared parameters of the waveform derive the start frequency of FMCW interference on the next OFDM (Orthogonal Frequency Division Multiplexing, Orthogonal Frequency Division Multiplexing) symbol, and then complete interference reconstruction and cancellation on each OFDM symbol.

Assuming that the radar and the communication entity share some auxiliary information (the OFDM receiver knows the basic parameters of the radar waveform), the OFDM-based communication system retains the reference signal in a specific time interval, and performs radar interference estimation on the reference signal, and realizes the interference based on this assumption. Signal reconstruction.

The FMCW interference signal has a variable frequency at each OFDM sampling point, so the algorithm based on the atomic norm minimization theory cannot be directly applied. First convert the FMCW signal to a single frequency signal:

表示带噪声的调频连续波干扰信号；

表示调频连续波信号的频率调制斜率，B_R表示雷达系统的带宽，T表示FMCW波形的一个周期；T_s表示基于OFDM通信系统的采样间隔；N表示快速傅里叶变换点数。在FMCW干扰信号转换为单频信号后，将其建模为正弦信号的混合：in,

Indicates the FM continuous wave interference signal with noise;

Represents the frequency modulation slope of the FM continuous wave signal, _BR represents the bandwidth of the radar system, T represents one cycle of the FMCW waveform; T _s represents the sampling interval based on the OFDM communication system; N represents the number of fast Fourier transform points. After the FMCW interference signal is converted to a single frequency signal, it is modeled as a mixture of sinusoidal signals:

c _l , f _l ∈ [0, 1], φ _l ∈ [0, 2π) represent the amplitude, normalized frequency, and phase of the l-th sine wave, respectively.

Rewrite the mixed signal based on atomic norm minimization theory, define atom α(f, φ) = [α(f, φ) ₀ , ..., α(f, φ) _M - ₁ ] ^T , for f∈[ 0, 1], φ∈[0, 2π), further denoted as α(f, φ) _m = e ^j(2πfm+φ) , m=0, ..., M-1, therefore, the radar interference vector i =[i(0),...,i(M-1)] can be rewritten as

where c _l > 0 and the phase of the interfering sine wave is at φ _l ;

Atomic set A={α(f, φ): f∈[0, 1], φ∈[0, 2π)} is the constituent element of interference, and the atomic norm of the interference signal is expressed as

conv(A) represents the convex hull of the set of atoms A. The atomic norm has semidefinite programming properties, and the above formula can be expressed as

T(u) represents the Hermitian-Toeplitz matrix:

The atomic norm is solved according to the linear semidefinite programming theory method. According to Caratheodory's lemma, any positive semi-definite Toeplitz matrix can be decomposed by Vandermonde, and we get

A _s =[α(f ₁ ,0),...,α(f _s ,0)]

C=diag([c ₁ ,...,c _s ])

The interference frequency [f ₁ , ..., f _s ] is solved by the Proney method or other super-resolution methods, since the FMCW interference has been converted into a single frequency form, the frequency estimation result contains only one element, namely f ₁ ;

The reconstructed FMCW interference on the OFDM symbol can be expressed as

Among them, _PR represents the transmit power of the radar signal;

By considering the frequency modulation slope K _r of the FMCW signal, the starting frequency on the next OFDM symbol is calculated, then the FMCW radar interference on each OFDM symbol is reconstructed, the reconstructed interference on each OFDM symbol is subtracted, and the The demodulation process is completed at the receiver.

In the method provided by the embodiment of the present application, an interference elimination algorithm based on the atomic norm minimization theory is adopted to eliminate the interference of the vehicle-mounted radar used for sensing the driving information of adjacent vehicles and the V2V communication transceiver used for sensing information sharing working in the same frequency band .

Based on any of the foregoing embodiments, FIG. 4 is a third schematic flowchart of a data distribution method provided by an embodiment of the present application. Referring to FIG. 4, an embodiment of the present application provides a data distribution method, which may include:

S1, the interference elimination algorithm based on atomic norm minimization theory is adopted to eliminate the interference that the vehicle radar used to sense the driving information of adjacent vehicles and the V2V communication transceiver used to sense information sharing work in the same frequency band. After the interference is eliminated, the vehicle The speed, position and number of adjacent vehicles in the same direction are sensed through FMCW radar waveforms, and the sensed information is shared with adjacent vehicles based on OFDM communication.

S2, according to the information perceived by the vehicle in step S1, select the cluster head and perform vehicle clustering through the weighted clustering algorithm, and update the vehicle cluster belonging state of the current vehicle according to the distance between the current vehicle and the cluster head. The vehicle cluster belonging state includes the current vehicle leaving the vehicle cluster, joining the vehicle cluster and generating the vehicle cluster.

Among them, the average speed difference between the vehicle and the vehicle cluster, the position of the vehicle in the vehicle cluster and the number of vehicle cluster members are used as the indicators of the weighted clustering algorithm to select the cluster head and reduce the frequency of re-clustering.

S3, the cluster head and the cluster member vehicles calculate their respective service capabilities. In the case that the current vehicle is the cluster head in the vehicle cluster to which it belongs, based on the service capabilities of the current vehicle and the service capabilities broadcast by each member vehicle in the vehicle cluster, from the vehicle Determine the sender's vehicle in the cluster, and broadcast the vehicle identifier of the sender's vehicle to request the sender's vehicle to distribute the cached data;

In the case that the current vehicle is a member vehicle in the vehicle cluster to which it belongs, broadcast the service capability of the current vehicle, so that the cluster head in the vehicle cluster to which it belongs can be based on the service capability of the cluster head and the service capability broadcast by each member vehicle in the vehicle cluster , determine the sender vehicle from the vehicle cluster; receive the vehicle identifier of the sender vehicle broadcasted by the cluster head; when the vehicle identifier of the sender vehicle is consistent with the vehicle identifier of the current vehicle, distribute the cached data.

During specific distribution, after the sender vehicle broadcasts the data items with the most unserved requests, the other data items are broadcast by the RSU and another vehicle cluster. Each RSU has two queues for outstanding requests, i.e. one for requests submitted within its coverage and another queue for transferring request content from peer RSUs, vehicles between RSUs cache peer RSU transfer requests Content.

The data distribution apparatus provided by the embodiments of the present application is described below, and the data distribution apparatus described below and the data distribution method described above can be referred to each other correspondingly.

Based on any of the foregoing embodiments, FIG. 5 is one of the schematic structural diagrams of the data distribution apparatus provided by the embodiment of the present application. Referring to FIG. 5, an embodiment of the present application provides a data distribution apparatus, and the apparatus includes:

The sender vehicle determination unit 510 is configured to, in the case that the current vehicle is the cluster head in the vehicle cluster to which it belongs, based on the service capability of the current vehicle and the service capability broadcast by each member vehicle in the vehicle cluster, from the The sender vehicle is determined in a vehicle cluster, and the vehicle cluster is determined based on each vehicle adjacent to the current vehicle in the same driving direction;

The vehicle identification broadcasting unit 520 is configured to broadcast the vehicle identification of the sender vehicle, so as to request the sender vehicle to distribute the cached data.

The data distribution device provided by the embodiment of the present application, before data distribution, clusters vehicles in the same driving direction into vehicle clusters, which improves the stability of communication links between vehicles in the cluster and reduces network overhead; According to the service capabilities of the vehicles in the vehicle cluster, the cluster head designates the sender vehicle to request the sender vehicle to distribute the cached data, which reduces the vehicle request satisfaction time and effectively improves the data distribution efficiency of the vehicle.

Based on any of the above embodiments, the apparatus includes a cluster head determination unit, configured to:

Detecting each vehicle of the vehicle cluster, and obtaining at least one of the traveling speed of each vehicle, the vehicle position and the number of vehicles covered by communication;

A cluster head of the vehicle cluster is determined based on at least one of the travel speed of each vehicle, the vehicle location, and the number of vehicles covered by communication.

Based on any of the above embodiments, the cluster head determining unit is further configured to:

determining a speed weight for each vehicle based on the difference between the travel speed of each vehicle and the average speed of the vehicle cluster;

determining a position weight of each vehicle based on the vehicle position of each vehicle;

determining the coverage weight of each vehicle based on the number of vehicles covered by the communication of each vehicle;

determining the fusion weight of each vehicle based on the speed weight, position weight and coverage weight of each vehicle;

The vehicle with the largest fusion weight is determined as the cluster head of the vehicle cluster.

Based on any of the above embodiments, the apparatus includes a cluster head update unit, configured to:

receiving adjacent vehicle information broadcast by member vehicles in the vehicle cluster;

Based on the adjacent vehicle information, update the control information of the vehicle cluster and broadcast it, so that the member vehicles in the vehicle cluster calculate the fusion weight according to the control information;

Calculate the fusion weight of the current vehicle, and accept the fusion weight broadcast by member vehicles in the vehicle cluster;

Based on the fusion weight of the current vehicle and the fusion weight broadcast by member vehicles in the vehicle cluster, the cluster head of the vehicle cluster is updated, and the vehicle cluster control information carrying the updated cluster head identifier is broadcast.

Based on any of the above embodiments, the apparatus includes an interference cancellation unit, configured to:

The interference elimination algorithm based on the atomic norm minimization theory is adopted to eliminate the interference of the vehicle-mounted radar used for sensing the driving information of adjacent vehicles and the communication transceiver used for sensing information sharing working in the same frequency band.

Based on any of the foregoing embodiments, FIG. 6 is a second schematic structural diagram of a data distribution apparatus provided by an embodiment of the present application. 6, an embodiment of the present application provides a data distribution apparatus, the apparatus includes:

The service capability broadcasting unit 610 is configured to broadcast the service capability of the current vehicle when the current vehicle is a member vehicle in the vehicle cluster to which it belongs, so that the cluster head in the vehicle cluster can be based on the service capability of the cluster head , and the service capability broadcasted by each member vehicle in the vehicle cluster, the sender vehicle is determined from the vehicle cluster, and the vehicle cluster is determined based on each vehicle adjacent to the current vehicle in the same driving direction;

a vehicle identification receiving unit 620, configured to receive the vehicle identification of the sender vehicle broadcasted by the cluster head;

The data distribution unit 630 is configured to distribute the cached data when the vehicle identification of the sender vehicle is consistent with the vehicle identification of the current vehicle.

Based on any of the foregoing embodiments, the apparatus further includes an attribution state update unit, configured to:

The vehicle cluster belonging state of the current vehicle is updated based on the distance between the current vehicle and the cluster head of the vehicle cluster to which it belongs, and/or the distance between the current vehicle and the cluster heads of other vehicle clusters.

Based on any of the foregoing embodiments, the apparatus further includes a service capability determination unit, configured to:

The service capability of the current vehicle is determined based on the cached data of the current vehicle and the request data of each vehicle adjacent to the current vehicle in the opposite driving direction.

FIG. 7 illustrates a schematic diagram of the physical structure of an electronic device. As shown in FIG. 7 , the electronic device may include: a processor (processor) 710, a communication interface (Communication Interface) 720, a memory (memory) 730, and a communication bus 740, The processor 710 , the communication interface 720 , and the memory 730 communicate with each other through the communication bus 740 . The processor 710 can call the computer program in the memory 730 to execute the data distribution method, for example, including: in the case that the current vehicle is the cluster head in the vehicle cluster to which it belongs, based on the service capability of the current vehicle, and the vehicle cluster The service capability broadcasted by each member vehicle in the network, determine the sender vehicle from the vehicle cluster, and the vehicle cluster is determined based on each vehicle adjacent to the current vehicle in the same driving direction; broadcast the vehicle identifier of the sender vehicle , to request the sender vehicle to distribute the cached data.

The processor 710 can call the computer program in the memory 730 to execute the data distribution method, for example, including: in the case that the current vehicle is a member vehicle in the vehicle cluster to which it belongs, broadcasting the service capability of the current vehicle, so that the vehicle cluster to which the vehicle belongs is broadcasted. The cluster head in the vehicle cluster can determine the sender vehicle from the vehicle cluster based on the service capability of the cluster head and the service capability broadcast by each member vehicle in the vehicle cluster, and the vehicle cluster is based on the same driving direction. Determine each vehicle adjacent to the current vehicle;

receiving the vehicle identification of the sender vehicle broadcasted by the cluster head;

In the case that the vehicle identification of the sender vehicle is consistent with the vehicle identification of the current vehicle, the cached data is distributed.

In addition, the above-mentioned logic instructions in the memory 730 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

On the other hand, an embodiment of the present application further provides a computer program product, where the computer program product includes a computer program, the computer program can be stored on a non-transitory computer-readable storage medium, and the computer program is executed by a processor When the computer is capable of executing the data distribution method provided by the above embodiments, for example, the method includes: in the case that the current vehicle is the cluster head in the vehicle cluster to which it belongs, based on the service capability of the current vehicle, and The service capability broadcasted by member vehicles, the sender vehicle is determined from the vehicle cluster, and the vehicle cluster is determined based on each vehicle adjacent to the current vehicle in the same driving direction; the vehicle identification of the sender vehicle is broadcast to The sender vehicle is requested to distribute the cached data.

When the computer program is executed by the processor, the computer can execute the data distribution methods provided by the above embodiments, for example, including: in the case that the current vehicle is a member vehicle in the vehicle cluster to which it belongs, broadcasting the service capability of the current vehicle , so that the cluster head in the vehicle cluster to which it belongs can determine the sender vehicle from the vehicle cluster based on the service capability of the cluster head and the service capability broadcast by each member vehicle in the vehicle cluster, and the vehicle cluster is based on Determine each vehicle adjacent to the current vehicle in the same driving direction;

receiving the vehicle identification of the sender vehicle broadcasted by the cluster head;

In the case that the vehicle identification of the sender vehicle is consistent with the vehicle identification of the current vehicle, the cached data is distributed.

On the other hand, an embodiment of the present application further provides a processor-readable storage medium, where a computer program is stored in the processor-readable storage medium, and the computer program is used to cause the processor to execute the data distribution provided by the foregoing embodiments. The steps of the method, for example, include: when the current vehicle is the cluster head in the vehicle cluster to which it belongs, based on the service capability of the current vehicle and the service capability broadcast by each member vehicle in the vehicle cluster, from the vehicle cluster The vehicle cluster is determined based on each vehicle adjacent to the current vehicle in the same driving direction; the vehicle identification of the sender vehicle is broadcast to request the sender vehicle to distribute the cached data.

The computer program is used to cause the processor to execute the steps of the data distribution method provided by the above embodiments, for example, including: in the case that the current vehicle is a member vehicle in the vehicle cluster to which it belongs, broadcasting the service capability of the current vehicle to The cluster head in the vehicle cluster to which it belongs can determine the sender vehicle from the vehicle cluster based on the service capability of the cluster head and the service capability broadcast by each member vehicle in the vehicle cluster, and the vehicle cluster is based on the same driving Determine each vehicle adjacent to the current vehicle in the direction;

receiving the vehicle identification of the sender vehicle broadcasted by the cluster head;

In the case that the vehicle identification of the sender vehicle is consistent with the vehicle identification of the current vehicle, the cached data is distributed.

The processor-readable storage medium can be any available medium or data storage device that can be accessed by a processor, including, but not limited to, magnetic storage (eg, floppy disk, hard disk, magnetic tape, magneto-optical disk (MO), etc.), optical storage (eg, CD, DVD, BD, HVD, etc.), and semiconductor memory (eg, ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid-state disk (SSD)), and the like.

The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

From the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on this understanding, the above-mentioned technical solutions can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic A disc, an optical disc, etc., includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or some parts of the embodiments.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions recorded in the foregoing embodiments, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (12)

1. a data distribution method, is characterized in that, comprises: In the case where the current vehicle is the cluster head in the vehicle cluster to which it belongs, the sender vehicle is determined from the vehicle cluster based on the service capability of the current vehicle and the service capability broadcast by each member vehicle in the vehicle cluster. The vehicle cluster is determined based on each vehicle adjacent to the current vehicle in the same driving direction; The vehicle identification of the sender vehicle is broadcast to request the sender vehicle to distribute the cached data. 2. The data distribution method according to claim 1, wherein the cluster head of the vehicle cluster is determined based on the following steps: Detecting each vehicle of the vehicle cluster, and obtaining at least one of the traveling speed of each vehicle, the vehicle position and the number of vehicles covered by communication; A cluster head of the vehicle cluster is determined based on at least one of the travel speed of each vehicle, the vehicle location, and the number of vehicles covered by communication. 3. The data distribution method according to claim 2, wherein the cluster head of the vehicle cluster is determined based on at least one of the traveling speed of each vehicle, the vehicle position and the number of vehicles covered by communication, include: determining a speed weight for each vehicle based on the difference between the travel speed of each vehicle and the average speed of the vehicle cluster; determining the position weight of each vehicle based on the distance between each vehicle and the center point of the vehicle cluster; determining the coverage weight of each vehicle based on the number of vehicles covered by the communication of each vehicle; determining the fusion weight of each vehicle based on the speed weight, position weight and coverage weight of each vehicle; The vehicle with the largest fusion weight is determined as the cluster head of the vehicle cluster. 4. data distribution method according to claim 2 or 3, is characterized in that, the cluster head of described vehicle cluster is updated based on following steps: receiving adjacent vehicle information broadcast by member vehicles in the vehicle cluster; Based on the adjacent vehicle information, update the control information of the vehicle cluster and broadcast it, so that the member vehicles in the vehicle cluster calculate the fusion weight according to the control information; Calculate the fusion weight of the current vehicle, and accept the fusion weight broadcast by member vehicles in the vehicle cluster; Based on the fusion weight of the current vehicle and the fusion weight broadcast by member vehicles in the vehicle cluster, the cluster head of the vehicle cluster is updated, and the vehicle cluster control information carrying the updated cluster head identifier is broadcast. 5 . The data distribution method according to claim 2 , wherein the detection of each vehicle in the vehicle cluster is performed before obtaining at least one of the running speed of each vehicle, the vehicle position and the number of vehicles covered by communication. 6 . ,Also includes: The interference elimination algorithm based on the atomic norm minimization theory is adopted to eliminate the interference of the vehicle-mounted radar used for sensing the driving information of adjacent vehicles and the communication transceiver used for sensing information sharing working in the same frequency band. 6. A data distribution method, comprising: In the case that the current vehicle is a member vehicle in the vehicle cluster to which it belongs, the service capability of the current vehicle is broadcast, so that the cluster head in the vehicle cluster to which it belongs can be based on the service capability of the cluster head and each vehicle in the vehicle cluster. the service capability broadcasted by the member vehicles, the sender vehicle is determined from the vehicle cluster, and the vehicle cluster is determined based on each vehicle adjacent to the current vehicle in the same driving direction; receiving the vehicle identification of the sender vehicle broadcasted by the cluster head; In the case that the vehicle identification of the sender vehicle is consistent with the vehicle identification of the current vehicle, the cached data is distributed. 7. The data distribution method according to claim 6, further comprising: The vehicle cluster belonging state of the current vehicle is updated based on the distance between the current vehicle and the cluster head of the vehicle cluster to which it belongs, and/or the distance between the current vehicle and the cluster heads of other vehicle clusters. 8. The data distribution method according to claim 1 or 6, wherein the service capability of the current vehicle is determined based on the following steps: The service capability of the current vehicle is determined based on the cached data of the current vehicle and the request data of each vehicle adjacent to the current vehicle in the opposite driving direction. 9. A data distribution device, comprising: The sender vehicle determination unit is configured to, in the case that the current vehicle is the cluster head in the vehicle cluster to which it belongs, based on the service capability of the current vehicle and the service capability broadcast by each member vehicle in the vehicle cluster, from the vehicle The sender vehicle is determined in a cluster, and the vehicle cluster is determined based on each vehicle adjacent to the current vehicle in the same driving direction; A vehicle identification broadcasting unit, configured to broadcast the vehicle identification of the sender's vehicle, so as to request the sender's vehicle to distribute the cached data. 10. A data distribution device, comprising: a service capability broadcasting unit, configured to broadcast the service capability of the current vehicle when the current vehicle is a member vehicle in the vehicle cluster to which it belongs, so that the cluster head in the vehicle cluster to which it belongs can be based on the service capability of the cluster head, and the service capability broadcast by each member vehicle in the vehicle cluster, and the sender vehicle is determined from the vehicle cluster, and the vehicle cluster is determined based on each vehicle adjacent to the current vehicle in the same driving direction; a vehicle identification receiving unit, configured to receive the vehicle identification of the sender vehicle broadcasted by the cluster head; A data distribution unit, configured to distribute the cached data when the vehicle identification of the sender vehicle is consistent with the vehicle identification of the current vehicle. 11. An electronic device, comprising a memory, a processor and a computer program stored on the memory and running on the processor, wherein the processor implements the program as claimed in claim 1 when the processor executes the program The data distribution method described in any one of claims 6 to 5, or the data distribution method described in any one of claims 6 to 8 is implemented. 12. A non-transitory computer-readable storage medium on which a computer program is stored, wherein the computer program implements the data distribution method according to any one of claims 1 to 5 when the computer program is executed by a processor, Or implement the data distribution method as claimed in any one of claims 6 to 8.

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