CN115361670A - Dynamic ad hoc network communication method for Internet of vehicles - Google Patents
Dynamic ad hoc network communication method for Internet of vehicles Download PDFInfo
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Abstract
The invention belongs to the technical field of communication, and particularly relates to a dynamic ad hoc network communication method for a vehicle networking, which comprises the following steps: the vehicle-mounted node sends node broadcast information in a networking channel and applies for joining the network through the broadcast information; the method comprises the steps that a vehicle-mounted node monitors broadcast information to establish and maintain a neighbor table, wherein neighbor nodes in the neighbor table are vehicle-mounted nodes which can carry out point-to-point communication in a first communication range of the vehicle-mounted node; the vehicle-mounted node applies for adding a mutual trust node to a neighbor node, and after the two nodes become mutual trust nodes, cross-equipment node wireless coverage communication can be carried out; when two mutual communication nodes carry out cross-device communication by using the relay node, the routing table is stored in a communication IP packet, and the relay node does not need to locally store the routing table; the invention physically separates the networking broadcast channel from the information channel, improves the discovery speed of the neighbor nodes, reduces channel conflicts, can quickly identify relative positions among vehicles, and provides good auxiliary data support for the automatic driving technology.
Description
Technical Field
The invention belongs to the technical field of communication, and particularly relates to a dynamic ad hoc network communication method of a vehicle networking.
Background
An ad hoc network is a wireless distributed structure, and emphasizes the concepts of multi-hop, self-organization and no center. A vehicle ad hoc network (VANET) may therefore be defined as a fast moving outdoor communication network (fast moving outdoor communication network), and is also known as a self-organizing traffic information system (society).
The basic idea of the current vehicle-mounted ad hoc network is that vehicles in a certain communication range can be automatically connected to establish a mobile network, and respective information and data sensed by a vehicle-mounted sensor can be mutually exchanged. The nodes can communicate in a single hop range, and each node (vehicle) is not only a transceiver but also a relay point, and can forward data to a vehicle farther away in a multi-hop manner.
Because the moving speed of the social vehicle is large in change and the highest moving speed is high, the whole quantity of communication nodes of the social vehicle is large, and the quantity of local communication nodes is large in change, networking information is changed rapidly, meanwhile, the real-time requirement on emergency information is high due to safety considerations, and a management department has corresponding management requirements on the social vehicle.
But networking information and interactive data in the current vehicle-mounted ad hoc network strategy node are carried out in a shared channel; even if a grading mechanism is adopted, the existing mechanism can transmit the change information of the node networking topology, so that the rapid node information change greatly occupies network bandwidth resources; meanwhile, due to rapid node information change, route maintenance occupies a large amount of system resources and network bandwidth resources, and both networking information real-time requirements and emergency information sending requirements cause information loss or time delay due to resource conflict problems. Each node is in a mutual trust equal state, is usually not matched with strange non-mutual trust between social vehicles, and also does not meet the management requirements of management departments on the social vehicles;
in order to meet the requirements of social vehicle practical application and communication scene management, a communication method suitable for the dynamic ad hoc network technology of the internet of vehicles is needed.
Disclosure of Invention
In order to effectively improve the social vehicle dynamic ad hoc network efficiency and meet the requirements of various practical applications and management communication scenes, the invention provides a communication method of a vehicle networking dynamic ad hoc network, which divides a communication channel adopted in a communication process into a networking channel and an information channel, wherein the communication process comprises the following steps:
the vehicle-mounted node sends node broadcast information in a networking channel and applies for joining the network through the broadcast information;
the method comprises the steps that a vehicle-mounted node monitors broadcast information to establish and maintain a neighbor table, wherein neighbor nodes in the neighbor table are vehicle-mounted nodes which can carry out point-to-point communication in a first communication range of the vehicle-mounted node;
the vehicle-mounted node applies for adding the mutual trust node to the neighbor node, and after the two nodes become mutual trust nodes, cross-device communication can be carried out.
Furthermore, the vehicle-mounted node is provided with a uniformly configured wireless dynamic ad hoc network communication device, the device comprises general vehicle-mounted communication equipment and management vehicle-mounted communication equipment, an information channel is divided into a data channel and a management channel, the general vehicle-mounted communication equipment and the management vehicle-mounted communication equipment can transmit data through the data channel, and only the management vehicle-mounted communication equipment can transmit data through the management channel.
Further, the vehicle-mounted node is configured when leaving the factory or periodically, a general vehicle-mounted communication device is configured at the vehicle leaving factory, license plate loading and annual audit stages, and the configured information comprises a management data key pair used for encrypting data transmitted in a management channel, a communication data key pair used for encrypting data transmitted in a data channel, a license plate number, an annual audit validity period, MAC and static IP; for the management of the in-vehicle communication device, the configured information includes a management data key pair for encryption of data transmitted on the management channel, a communication data key pair for encryption of data transmitted on the data channel, a management node ID, a MAC, a static IP.
Further, if the interval time of the vehicle-mounted node communication is greater than the shortest push interval time, the device can broadcast a push message to the specified device or a neighbor node in the first communication range of the specified device, wherein the push message comprises prompt information, emergency information and management information, and the prompt information is point-to-point prompt push information sent between the vehicle-mounted nodes according to an appointed information index number; the emergency information is that the vehicle-mounted node installed with the common vehicle-mounted communication equipment breaks down or emergently stops in an accident to carry out emergency broadcasting on surrounding vehicles; the management information is that the vehicle-mounted node which is installed with the vehicle-mounted communication equipment pushes information to a specific node in a management channel.
Further, the vehicle-mounted device comprises an antenna, a radio frequency sending module, a radio frequency receiving module, a data processing unit, a satellite time service positioning module and an interaction unit, wherein:
the satellite time service positioning module provides time information and position information for the data processing unit;
the data processing unit is used for encrypting the transmitted data, decrypting the received data and managing the mutual trust node and communicating the data;
the radio frequency sending module distributes channels according to the data types and sends the channels through an antenna;
the radio frequency receiving module receives data from different channels through the antenna.
Further, if the vehicle-mounted node A requests to become a mutual trust node of the vehicle-mounted node B, when the interval time of the request communication of the vehicle-mounted node A is greater than the interval time of the shortest mutual trust node adding request, the vehicle-mounted node B judges whether the vehicle-mounted node A is in the first communication range after receiving the request, if so, the vehicle-mounted node B agrees to become the mutual trust node, namely the vehicle-mounted node A and the vehicle-mounted node B become the mutual trust node, and the configuration information of each other is stored after the vehicle-mounted node A becomes the mutual trust node; and if the vehicular node B does not agree that the vehicular node A becomes the mutual communication node, the request is refused.
Further, the vehicle-mounted node is provided with a uniformly configured wireless dynamic ad hoc network communication device, the communication interval time of the node broadcast information transmission is dynamically changed according to the vehicle speed, and the communication interval time is shorter when the speed is higher and the communication interval time is longer when the speed is lower.
Further, if the two mutually communicating nodes are not in the first communication range, the cross-device communication is performed through the relay node, which specifically includes:
if the vehicle-mounted node A sends a message to the mutual communication node vehicle-mounted node B which is not in the first communication range, the vehicle-mounted node A searches whether a route to the vehicle-mounted node B exists locally;
if a route exists and the relay node is a neighbor node of the vehicle-mounted node A, filling the route into an IP packet routing table, filling the address of the neighbor node into a first 4-byte unit in the IP packet routing table, wherein the neighbor node is a first relay node;
after receiving the data packet, the relay node judges whether the node sending the data packet is in a neighbor table of the relay node, and if not, the relay node discards the data packet and does not respond; if yes, judging whether the neighbor node is in the received IP packet routing table, if yes, filling the neighbor node address into a second 4-byte unit in the IP packet routing table, wherein the neighbor node is a second relay point;
and repeating the steps to find the next relay point until the IP packet reaches the vehicle-mounted node B.
Further, if the two mutually communicating nodes are not in the first communication range, performing cross-device communication through the relay node specifically includes:
if the vehicle-mounted node A does not have a route to the vehicle-mounted node B, respectively sending data packets from neighbor nodes which are closest to a set second communication range in the front direction, the rear direction, the left direction and the right direction of the vehicle-mounted node A and serve as relay nodes in the current direction; as an alternative implementation, for example, when the first communication range of the vehicle is 300 to 400 meters, all vehicle nodes of the vehicle in the first communication range may be used as their neighboring nodes, the second communication range is usually 1/2 to 2/3 of the position of the first communication range, for example, the second communication range is set to 200 meters, then the vehicle closest to the current vehicle within the range of 200 meters is used as a relay node, for example, there are three vehicles in front of the current vehicle, the first vehicle is 120 meters away from the current vehicle, the second vehicle is 186 meters away from the current vehicle, and the third vehicle is 208 meters away from the current vehicle, then the vehicle closest to the current vehicle 200, that is, the third vehicle is selected as the relay node.
After receiving the data packet, the vehicle-mounted equipment serving as the relay node judges whether the node sending the data packet is in the neighbor table or not, and if not, the node is not processed; otherwise, the address of the relay node is filled in a first 4-byte unit in the IP packet routing table, and the relay node is a first relay node; judging whether a node with the address consistent with that of the vehicle-mounted node B exists in the neighbor table, if so, sending the data packet to the vehicle-mounted node B and finishing routing;
otherwise, the current vehicle-mounted equipment serving as a relay point continues to respectively send data packets from neighbor nodes which are closest to the set second communication range in the front direction, the rear direction, the left direction and the right direction of the current vehicle-mounted equipment serving as relay nodes in the current direction; and after judging that the data is legal, the relay node fills the address of the relay node into a second 4-byte unit in the IP packet routing table, wherein the relay node is a second relay node.
The above operations are repeated until the data packet reaches the in-vehicle node B.
Further, in the routing process, 28-byte selectable items are added to the sent IP packet, wherein the selectable items comprise a 4-byte communication source address, a 4-byte communication destination address, a 3-byte communication packet sequence number, a 1-byte routing table length, a 16-byte 4-item relay application node address, a routing table with the length of the routing table multiplied by 4 bytes, and an actual information load; the communication source address is the address of the vehicle-mounted equipment initiating the communication request, and the communication target address is the target address of the data packet.
Compared with the existing dynamic ad hoc network communication method, the invention has the advantages that:
1. the networking broadcast channel and the information channel are physically separated, so that the discovery speed of neighbor nodes is improved, and channel conflict is reduced;
2. according to the characteristic that the vehicle ad hoc network is changed rapidly, a broadcast monitoring and overtime mechanism is adopted as a local area network entry and exit condition, and vehicle networking resource consumption is further simplified;
3. the device communication IP address adopts static IP pre-allocation, and the loss of address allocation negotiation is cancelled;
4. a routing table is cancelled, the routing table is embedded in an IP packet, the routing loss of the rapid topology change network is avoided, the forwarding selection of the edge relay point is selectively carried out by adopting an actual traveling path and the positions of neighbor nodes according to the vehicle-mounted characteristics, and the RREQ flooding is avoided;
5. a mutual communication node mechanism is added, and unnecessary ad hoc network communication is reduced;
6. according to the characteristic that the vehicle needs to be controlled and managed, a management node and legal verification are introduced, so that the invasion of illegal nodes can be avoided, and invalid communication can be reduced;
7. the method is suitable for the requirements of the social vehicle on dynamic and rapid ad hoc network and meets the requirements of various practical applications and management communication scenes;
8. through node broadcast information package, can discern relative position fast between the vehicle, support for the good auxiliary data of autopilot technique provides.
Drawings
Fig. 1 is a schematic view of a communication apparatus device employed in the present invention;
FIG. 2 is an illustration of a communication channel in the present invention;
FIG. 3 is a schematic diagram of the networking range of the device of the present invention;
FIG. 4 is a communication classification diagram of a device node according to the present invention;
FIG. 5 is a diagram of the IP packet format of the present invention;
FIG. 6 is a diagram illustrating a communication relay selection according to the present invention;
FIG. 7 is a schematic diagram of a working flow of a node after channel monitoring is started according to the present invention;
fig. 8 is a flow chart of processing information after the node receives the channel monitoring information according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a dynamic ad hoc network communication method of the Internet of vehicles, which divides a communication channel adopted in the communication process into a networking channel and an information channel, and the communication process comprises the following steps:
the vehicle-mounted node sends node broadcast information in a networking channel and applies for joining the network through the broadcast information;
the method comprises the steps that a vehicle-mounted node monitors broadcast information to establish and maintain a neighbor table, wherein neighbor nodes in the neighbor table are vehicle-mounted nodes which can carry out point-to-point communication in a first communication range of the vehicle-mounted node;
the vehicle-mounted node applies for adding the mutual trust node to the neighbor node, and after the two nodes become mutual trust nodes, cross-device communication can be carried out.
The vehicle-mounted node is a vehicle, and a wireless dynamic ad hoc network communication device which is installed on the vehicle-mounted node and is subjected to unified configuration is divided into two devices when being configured, wherein one device is a common vehicle-mounted communication device, and the other device is a management vehicle-mounted communication device.
As shown in fig. 1, the wireless dynamic ad hoc network communication device adopted by the present invention is configured in a unified manner, and the vehicle-mounted device includes an antenna, a radio frequency transmitting module, a radio frequency receiving module, a data processing unit, a satellite time service positioning module, and an interaction unit, wherein:
the satellite time service positioning module provides time information and position information for the data processing unit;
the data processing unit is used for encrypting the transmitted data, decrypting the received data and managing the mutual trust node and communicating the data;
the radio frequency sending module distributes channels according to the data types and sends the channels through an antenna;
the radio frequency receiving module receives data from different channels through an antenna.
The system comprises a wireless dynamic ad hoc network communication device (hereinafter referred to as a device node) which is configured in a unified way, and a management department can set configuration information of a data processing unit in the stages of vehicle delivery, license plate loading and annual audit when the wireless dynamic ad hoc network communication device is installed on a social vehicle communication device and is configured as a common device node, wherein the configuration information comprises a management data key pair, a communication data key pair, a license plate, the annual audit validity period, MAC (media access control), static IP (Internet protocol) and the like; for the communication device installed in the management unit to be configured as a management equipment node, the management department can set configuration information of the data processing unit, including but not limited to a management data key pair, a communication data key pair, a management node ID, MAC, static IP and the like; the communication information of each equipment node adopts a unified management data key pair and a communication data key pair, and the management data key pair and the communication data key pair comprise public keys and private keys and are not disclosed to the outside.
In the embodiment, based on an AD-HOC networking framework, a communication channel of the AD-HOC networking framework is divided into a networking channel and an information channel on a physical channel, and the information channel is divided into two transmission channels, namely an independent data channel and an independent management channel. As shown in fig. 2, the physical channel is divided into a networking channel and an information channel, and the information channel is divided into two transmission channels, namely an independent data channel and an independent management channel. The IP address in the communication networking adopts static IP pre-allocation, and dynamic IP address allocation is not carried out in the network; the networking channel transmits data in an asynchronous time division multiplexing mode.
In the embodiment, the equipment node sends the equipment node information broadcast application to join the network through the networking channel, and establishes an equipment node legality judging mechanism, only legal equipment nodes can access the network, and a judging method in the prior art can be adopted for judging whether the nodes are legal or not; the equipment node monitors other equipment node broadcast information in a coverage area to realize neighbor node discovery, so that a local area network taking the equipment node as a center is formed, and an overtime mechanism is adopted as a neighbor node exit condition; no information other than the device node information broadcast is sent in the networking channel; the equipment node can carry out corresponding communication in the information channel according to the networking information; in this embodiment, a mutually trusted node mechanism is also established, relay communication across the wireless coverage area of the device node can be performed only between mutually trusted nodes, and when the target node is a mutually trusted node and is not in the coverage area of the device node, a neighbor node is used as a relay to perform data forwarding.
According to the fact that topology change of nodes of the internet of vehicles is fast, and the number difference of the nodes in a coverage area is large, a route searching method does not adopt an AD-HOC RREQ flooding broadcast mechanism, but adopts a new directional and relay-free route table method: selecting a proper neighbor node in each of the front, back, left and right directions of the vehicle to apply for relay forwarding, and diffusing and searching the target node outwards according to the method, storing the routing table from the source node to the target node in the IP data packet, the source node and the target node, wherein each relay point does not store the routing table, and each relay point of the subsequent relay communication correspondingly forwards the routing table in the IP data packet.
The coverage range of the communication of the equipment nodes is 300-400 meters, and the vehicles move 33 meters per second according to the driving speed of 120 kilometers per hour of the vehicles, so that 9-10 seconds are enough to ensure that neighbor nodes can find out in time and deal with emergency situations, and the number of the nodes in the coverage range is increased rapidly when the vehicles are in driving jam, so that wireless collision conflict can be increased rapidly in a larger coverage range, and the waste of network bandwidth resources is caused.
The method comprises the following steps that the equipment node establishes communication information with other equipment nodes by maintaining a neighbor node linked list, wherein the neighbor node linked list is established by monitoring broadcast information of each equipment node in a networking channel, and the method comprises the following steps:
each equipment node data processing unit sends broadcast information in a networking channel to apply for joining in a network, wherein the broadcast information adopts an IP broadcast packet data format, and the IP broadcast packet data information contains plaintext 32-bit random verification data plus equipment node encryption data; the plain text format of the encrypted data of the equipment node is as follows: 32-bit random verification number + position information + time information + equipment node information, wherein the position information and the time information are provided by a satellite time service positioning module, and plaintext data is encrypted through a communication data public key to obtain equipment node encrypted data;
the longest allowable interval is adopted for the broadcast packet sending interval of each equipment node and is determined according to the vehicle speed, the longest allowable interval is small when the vehicle speed is high, and the longest allowable interval is large when the vehicle speed is low;
the device node monitors and receives the broadcast packet sent by the adjacent device node in the networking channel, only uses the broadcast packet as a neighbor node linked list, and does not perform secondary broadcast forwarding.
The equipment node decrypts the received equipment node encrypted data by using a communication data private key, the equipment needs to verify that a plaintext 32-bit random verification number is consistent with a 32-bit random verification number in the equipment node encrypted data so as to ensure node validity, and meanwhile, the received time information and position information are compared with the equipment node information and need to be within an allowable error range, and if the received time information and position information are all within the allowable error range, the adjacent equipment node information is considered to be reliable; if the information of the node is judged to be illegal and unreliable, the linked list of the neighbor node is not updated; judging that the node information of the adjacent equipment is legal and reliable, and updating a neighbor node linked list;
after the device node receives the broadcast information of the neighbor node newly, adding the newly received neighbor node information to the head of the neighbor node linked list every time, wherein the neighbor node information comprises neighbor device node information, position information and time information, searching whether the neighbor node linked list has the same neighbor node or not, and deleting the same neighbor node information from the neighbor node linked list if the neighbor node linked list has the same neighbor node information;
the equipment node regularly checks the information updating time of each node of the neighbor node linked list, and when the updating time and the current time exceed the overtime setting, the neighbor nodes which are not updated by the broadcast information in the overtime are identified or deleted to show that the local area network of the current equipment node is exited.
As shown in fig. 3, the device node a receives device node broadcast information of the node B and the node C in the coverage area of the node a, and after verifying that the device node broadcast information is valid and reliable adjacent device node information, adds a neighbor node linked list, places the latest received node information at the head of the linked list, and stores each neighbor node information together with information receiving time, thereby forming an a, B, and C local area network with the device node a as the center. In the same way, the local area networks A, B, C, D and E with the equipment node C as the center can be formed, and the local area networks C, D and E with the equipment node E as the center can be formed.
As shown in fig. 4, the device node may perform type 4 communication operations to a particular neighboring node within the coverage area: adding mutual information nodes, general data communication, data push communication and data relay communication.
Initiating a mutual trust node application to a specific neighbor node in a data channel, wherein after the neighbor node permission is obtained, the two nodes become mutual trust nodes and are permanently stored in respective configuration information; the mutual-trust nodes can communicate by the relay node across the wireless coverage range of the equipment node, and the adding process of the mutual-trust nodes is as follows:
after the equipment mutual-trust node adding request time interval is greater than the shortest mutual-trust node adding request time interval, the equipment node A can send a mutual-trust node adding request to a specified neighbor node B;
the communication request IP packet data information comprises a mutual trust node adding request, and after the appointed neighbor node B receives the mutual trust node adding request in a data channel, the neighbor node B can check whether the application node A is in a neighbor node linked list of the node B; if the application node A is not in the node B self neighbor node linked list, the node A is considered not to be a legal node, no response reply is given, and the communication session is terminated; and if the application node A is in the node B own neighbor node linked list, sending mutual trust node addition request information to the interaction unit.
After the interaction unit agrees to be added as a mutual trust node, the node B sends an agreement addition reply to the application node A, and the two parties become mutual trust nodes and are permanently stored in respective configuration information; and if the interactive unit refuses to add the node as the mutual trust node, the node B sends an addition refusing reply to the application node A.
The equipment node can delete the local mutual trust node through the interaction unit, and the deleted mutual trust node can respond to the opposite party as a non-mutual trust node when initiating a communication request.
The equipment node initiates a data communication link application to a specific neighbor node in a coverage area in a data channel, and after obtaining permission of the neighbor node, corresponding data communication operations including but not limited to characters, voice, video interaction, file transmission and the like can be performed. The general data communication flow is as follows:
after the equipment communication request time interval is longer than the shortest communication request interval time, the equipment node A can send a communication request to a specified neighbor node B, and the communication request IP packet data information comprises data communication link application and equipment communication encrypted data; the plaintext format of the equipment communication encrypted data is as follows: the node A of the equipment communicates with a random public key and a communication type; encrypting the plaintext data through the communication data public key to obtain equipment communication encrypted data;
after the appointed neighbor node B receives the data communication link application in the data channel, the neighbor node B can check whether the application node A is in the neighbor node linked list of the node B; if the application node A is not in the node B neighbor node linked list, the node A is considered as a legal node, no response reply is given, and the communication session is terminated;
if the application node A is in the node B's own neighbor node linked list, the node B decrypts the received equipment communication encrypted data by using a communication data private key to obtain a node A communication random public key, and simultaneously checks whether the application node A is a node B mutual trust node or a management node;
if the node A is not the node B mutual trust node or the management node, sending the communication link application and the communication type to an interaction unit, and if the interaction unit refuses communication, sending the refused data communication link to the application node A by the node B; if the interaction unit agrees to communication, the node B sends a reply agreement data communication link to the application node A and contains a node B communication random public key encrypted by the communication data public key, and the two parties establish the data communication link and carry out communication according to the communication type;
if the node A is a node B mutual trust node or a management node, the node B sends a reply agreement data communication link to the application node A and contains a node B communication random public key encrypted by the communication data public key, and the two parties establish the data communication link and carry out related communication interaction according to the communication type.
The device node may also send regulatory agency-specific communication content data (including without limitation voice, text) to specific neighboring nodes within coverage without obtaining neighboring node permission. For example, when a front wheel fault occurs in a vehicle of the neighbor node, a specified "front wheel fault" prompt push information index number may be sent to the neighbor node. The data push communication is divided into 3 types of prompt information, emergency information and management information. The prompt message is point-to-point prompt push message sent between equipment nodes according to an appointed message index number, for example, when a front wheel fault occurs in a vehicle of a neighbor node, a specified 'front wheel fault' prompt push message index number can be sent to the neighbor node; the emergency information is that the common node is failed or emergently stops in an accident to carry out emergency broadcasting on surrounding vehicles, for example, the information of 'vehicle failure and avoidance attention' is uniformly prompted; the management information is that the management node pushes information to a specific node in a management channel, for example, the management node prompts information of 'XXXX trucks driving to the right' of a specific common node, or pushes information of 'construction 500 meters ahead, and speed reduction is noticed' to nodes of all paths. The data push communication flow is as follows:
after the device communication push time interval is greater than the shortest push time interval, the device node may send specific push communication content to the specified neighbor node, and if the node target address is set to 255.255.255.255, the node is broadcast push. The push request IP packet data information comprises equipment push communication and information encryption data, the plaintext of the information encryption data is push communication type, push information index number and push information, and the plaintext data is encrypted through a communication data public key to obtain information encryption data;
after the appointed neighbor node receives the pushing request of the equipment node A in the data channel, the neighbor node decrypts the received information encryption data by using a communication data private key and checks whether the application node A is in a neighbor node linked list of the node; if the node A is not in the node self neighbor node linked list and is prompt information pushing, the node A is considered not to be a legal node, no response reply is given, and the communication session is terminated; if the application node A is in the node self neighbor node linked list or pushes the emergency information and the management information, the neighbor node sends the specific information index number and the corresponding push information to the interaction unit.
When the target node is a mutual trust node and is not in the coverage range of the equipment node, the neighbor node can be used as a relay to forward data, the route searching method comprises the steps of selecting a proper neighbor node in 4 directions respectively according to the vehicle-mounted traveling direction and the position of the neighbor node to apply for relay forwarding, diffusing outwards to search the target node according to the method, storing the routing table from the source node to the target node in an IP data packet, storing the routing table in the source node and the target node, not storing the routing table in each relay, and correspondingly forwarding each relay in subsequent relay communication according to the routing table in the IP data packet. The IP packet format used in the data relay communication process is shown in fig. 5, where the IP packet header length is defined as 48: the header is added with a selectable item of 28 bytes, and the selectable item sequentially comprises 4 bytes of a communication source address, 4 bytes of a communication destination address, 3 bytes of a communication packet sequence number, 1 byte of the length of a routing table and 4 bytes of a relay application node address. The front part of the IP packet data is a routing table with 4 bytes multiplied by the length of the routing table, followed by the actual information payload. The data relay communication flow is as follows:
the method comprises the steps that an equipment node sends information to a credible node which is not in the coverage range of the equipment node, whether a route to the credible node exists or not is firstly searched locally at the equipment node, if a route table exists and a relay point is a neighbor node, the route is filled into a route table in the front of an IP packet data part, the address of the neighbor node is filled into a first 4-byte unit in the route table in the front of the IP packet data part and is a first relay point, subsequent relay points are sequentially filled according to a local route sequence, the length of an IP packet optional route table is not less than a TTL value, the TTL value is not less than 1, and when the data item of the local route table is less than the length of the route table, the redundant data of the route table in the front of the IP packet data are all filled into 0; the IP header source address is a source equipment node address, the target address is a first relay point address, the communication source address in the selectable items of the IP packet header is the source equipment node address, the communication target address is a credible node address, the serial number of the communication packet is filled, the first relay application node address is filled in the first relay point address, the other relay application node addresses are all filled in 0, and the source equipment node sends data to the first relay point after the actual information load is packaged in the IP packet routing table;
after the first relay point receives the data, the first relay point can check whether the source equipment node is in a node neighbor node linked list or not; if the source equipment node is not in the node self neighbor node linked list, the source equipment node is considered not to be a legal node, no response reply is given, and the communication session is terminated; when a first relay point checks that a source device node is in a node self neighbor node linked list, meanwhile, a neighbor node of the first relay point is also in an IP packet routing table, the neighbor node is a second relay point, secondary relay transmission is carried out, an IP head source address is a first relay point address, a target address is a second relay point IP, the TTL value is reduced by one, a first relay application node address is filled in the second relay point address, and the rest data are unchanged, and all data are transmitted to the second relay point; and under the condition that the relay nodes are normally communicated according to the routing table in the IP packet, the relay nodes sequentially relay, and finally the IP data of the source equipment node reaches the credible node.
If the source device node does not locally have a route to a trusted node, selecting a data forwarding relay point according to the method shown in fig. 6, confirming a vehicle traveling direction according to vehicle positioning information, and dividing 4 relay node selection areas in the range of 90-degree included angles of the front, rear, left and right of the node traveling direction, wherein the selection method is that in the active neighbor nodes, each area selects a proper neighbor node as a relay application node, for example, the neighbor node closest to a radius circle of 200 meters away from the device node, so that C, E, F and G can be selected as the relay application point as shown in fig. 6; the length of the routing table of the IP packet selectable item is not less than the TTL value, the TTL value is not less than 1, and the routing table item data in the front of the IP packet data are all filled in 0; the source address of the IP header is a source equipment node IP, the target address is a 255.255.255.255 broadcast address, the communication source address in the selectable item of the IP packet header is the source equipment node IP, the communication target address is a credible node address, the sequentially accumulated communication packet serial numbers are filled, the relay application node address in the selectable item of the IP packet is sequentially filled in 4 selected neighbor nodes, and the actual information load is packaged in the routing list of the IP packet. The source device node transmits the IP packet data to all the neighbor nodes within the coverage area through IP broadcasting.
As shown in fig. 7-8, after receiving IP broadcast data sent by a source device node, a neighbor node checks whether the address of a relay application node in the option of an IP packet is consistent with the address of the neighbor node itself, if not, the broadcast is ignored, and if so, the source device node is checked whether in the node itself neighbor node linked list; if the source equipment node is not in the node own neighbor node linked list, the source equipment node is considered to be not a legal node, no response reply is given, and the communication session is terminated;
if the neighbor node checks that the source equipment node is in the neighbor node linked list of the node, the neighbor node is a first relay node, the source address of the IP header is the address of the first relay node, the TTL value is reduced by one, and the first item of the routing table at the front part of the IP packet data is filled with the address of the first relay node;
if the communication target address is in the neighbor list of the first relay node, the IP header target address is the communication target address, a first item of a routing table at the front part of the IP packet data is changed into the first relay node address, the first item of the relay application node address is filled in the communication target address, and the rest data are unchanged, and all data are sent to the communication target address;
if the communication destination address is not in the neighbor list of the first relay node, the vehicle traveling direction is confirmed according to the first relay node vehicle positioning information, 4 relay node selection areas are divided in the range of 90 degrees included angles of the front, the back, the left and the right of the node traveling direction, the source equipment node direction is removed, a proper neighbor node is selected in each area of the rest 3 directions to serve as a relay application node, the IP header destination address is a 255.255.255.255 broadcast address, the relay application node address in the IP packet selectable item is sequentially filled in 3 selected neighbor nodes, the 4 th item fills in 0, the first item of the routing table in the front of the IP packet data is changed into the first relay node address, and the first relay node transmits the IP packet data to all neighbor nodes in the coverage range through IP broadcast.
And searching a communication path according to the method, putting the relay node passing through the Nth time into the Nth item of the routing table in front of the IP packet data, and searching until the communication target address is reached or the TTL time is 0, and stopping searching if the communication target address is not found when the TTL value is 0. When the communication target address is found, the front routing table of the IP packet data contains a relay path from the source device, the same data packet with the same node address of the source device and the communication packet serial number is received in the longest life cycle, the first arriving default is the optimal path, the subsequent arriving is the alternative path, and the communication target can quickly perform information interaction with the source device address according to the routing table of the IP packet.
As shown in fig. 7, after the vehicle-mounted node starts channel monitoring, the vehicle-mounted node sends broadcast information of the node on a networking channel to apply for joining a network, then sets a node timing broadcast interval according to the vehicle speed, and sends updated broadcast information of the node again when the timing broadcast interval is up, and if the timing broadcast interval is not up, different communication functions such as mutual communication node addition, general data communication, data push communication, data relay communication and the like are executed according to an instruction of an interaction unit
As shown in fig. 8, in the channel monitoring process, if data transmitted by a channel is received, the type of the channel data is determined, if the data is the neighboring node networking broadcast data, and the received data is combined with the rule, the neighbor table is updated according to the received data, if the data is the neighboring node information channel data, whether the vehicle-mounted node sending the information is in the neighbor table is determined, and if the data is the neighboring node information channel data, the data is processed, and the related information is sent to the interaction unit. If the difference value between the updating time and the current time exceeds the system set value, the neighbor node is judged to be overtime, and the neighbor node is deleted from the neighbor table.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A dynamic ad hoc network communication method of the Internet of vehicles is characterized in that a communication channel adopted in the communication process is divided into two independent physical channels, namely a networking channel and an information channel, and the communication process comprises the following steps:
the vehicle-mounted node sends node broadcast information in a networking channel and applies for joining the network through the broadcast information;
the method comprises the steps that a vehicle-mounted node monitors broadcast information to establish and maintain a neighbor table, wherein neighbor nodes in the neighbor table are vehicle-mounted nodes which can carry out point-to-point communication in a first communication range of the vehicle-mounted node;
the vehicle-mounted node applies for adding the mutual trust node to the neighbor node, and after the two nodes become mutual trust nodes, cross-device communication can be carried out.
2. The communication method according to claim 1, wherein the vehicle-mounted node is equipped with a uniformly configured wireless dynamic ad hoc network communication device, the device comprises a general vehicle-mounted communication device and a management vehicle-mounted communication device, an information channel is divided into a data channel and a management channel, both the general vehicle-mounted communication device and the management vehicle-mounted communication device can transmit data through the data channel, and only the management vehicle-mounted communication device can transmit data through the management channel.
3. The dynamic ad hoc network communication method in the car networking according to claim 2, wherein the vehicle node is configured at the time of factory shipment or periodically, and a general vehicle communication device is configured at the stage of factory shipment, license plate installation and annual audit of the vehicle, and the configured information includes a management data key pair for data encryption transmitted in a management channel, a communication data key pair for data encryption transmitted in a data channel, a license plate number, an annual audit validity period, MAC, and a static IP; for the management of the in-vehicle communication device, the configured information includes a management data key pair for encryption of data transmitted on the management channel, a communication data key pair for encryption of data transmitted on the data channel, a management node ID, a MAC, a static IP.
4. The communication method of the dynamic ad hoc network of the internet of vehicles according to claim 3, wherein if the communication interval time of the vehicle-mounted nodes is longer than the shortest push interval time, the device can broadcast a push message to the specified device or the neighboring nodes in the first communication range, the push message comprises a prompt message, an emergency message and a management message, and the prompt message is a point-to-point prompt push message sent between the vehicle-mounted nodes according to an appointed information index number; the emergency information is that the vehicle-mounted node installed with the common vehicle-mounted communication equipment breaks down or emergently stops in an accident to carry out emergency broadcasting on surrounding vehicles; the management information is that the vehicle-mounted node which is provided with the vehicle-mounted communication equipment pushes information to a specific node in a management channel.
5. The communication method of the dynamic ad hoc network in the internet of vehicles according to claim 1, 2, 3 or 4, wherein the vehicle-mounted device comprises an antenna, a radio frequency transmitting module, a radio frequency receiving module, a data processing unit, a satellite time service positioning module and an interaction unit, wherein:
the satellite time service positioning module provides time information and position information for the data processing unit;
the data processing unit is used for encrypting the transmitted data, decrypting the received data and managing the mutual trust node and communicating the data;
the radio frequency sending module distributes channels according to the data types and sends the channels through an antenna;
the radio frequency receiving module receives data from different channels through the antenna.
6. The communication method according to claim 1, wherein if the vehicle-mounted node a requests to become a mutual-trust node of the vehicle-mounted node B, when the communication-requesting interval time of the vehicle-mounted node a is longer than the shortest mutual-trust node addition request interval time, after receiving the request, the vehicle-mounted node B determines whether the vehicle-mounted node a is within the first communication range, if so, the request to become the mutual-trust node is agreed, that is, the vehicle-mounted node a and the vehicle-mounted node B become the mutual-trust node and then store the configuration information of each other; and if the vehicular node B does not agree that the vehicular node A becomes the mutual communication node, the request is refused.
7. The communication method of the dynamic ad hoc network of the internet of vehicles according to claim 4 or 6, wherein the wireless dynamic ad hoc network communication device configured in a unified way is installed on the vehicle-mounted node, the communication interval time of the node broadcast information sending is changed dynamically according to the vehicle speed, and the communication interval time is shorter when the speed is higher and the communication interval time is longer when the speed is lower.
8. The dynamic ad hoc network communication method in the internet of vehicles according to claim 6, wherein if the two mutually communicating nodes are not in the first communication range, the inter-device communication is performed through the relay node, and specifically comprises:
if the vehicle-mounted node A sends a message to the mutual communication node vehicle-mounted node B which is not in the first communication range, the vehicle-mounted node A searches whether a route to the vehicle-mounted node B exists locally;
if a route exists and the relay node is a neighbor node of the vehicle-mounted node A, filling the route into an IP packet routing table, filling the address of the neighbor node into a first 4-byte unit in the IP packet routing table, wherein the neighbor node is a first relay node;
after receiving the data packet, the relay node judges whether the node sending the data packet is in a neighbor table of the relay node, and if not, the relay node discards the data packet and does not respond; if yes, judging whether the neighbor node is in the received IP packet routing table, if yes, filling the neighbor node address into a second 4-byte unit in the IP packet routing table, wherein the neighbor node is a second relay point;
and repeating the steps to find the next relay point until the IP packet reaches the vehicular node B.
9. The dynamic ad hoc network communication method in the internet of vehicles according to claim 6, wherein if the two mutually communicating nodes are not in the first communication range, the inter-device communication is performed through the relay node, and specifically comprises:
if the vehicle-mounted node A does not have a route to the vehicle-mounted node B, respectively sending data packets from neighbor nodes which are closest to a set second communication range in the front direction, the rear direction, the left direction and the right direction of the vehicle-mounted node A as relay nodes in the current direction;
after receiving the data packet, the vehicle-mounted equipment serving as the relay node judges whether the node sending the data packet is in the neighbor table or not, and if not, the node is not processed; otherwise, the address of the relay node is filled in a first block of 4-byte unit in the IP packet routing table, and the relay node is a first relay point; judging whether a node with the address consistent with that of the vehicle-mounted node B exists in the neighbor table, if so, sending the data packet to the vehicle-mounted node B and finishing routing;
otherwise, the current vehicle-mounted equipment is used as a relay point to continuously and respectively send data packets from neighbor nodes which are closest to the set second communication range in the front direction, the rear direction, the left direction and the right direction as the relay node in the current direction; and after judging that the data is legal, the relay node fills the address of the relay node into a second 4-byte unit in the IP packet routing table, wherein the relay node is a second relay node.
The above operations are repeated until the data packet reaches the in-vehicle node B.
10. The communication method for the dynamic ad hoc network of the car networking according to claim 8 or 9, wherein in the routing process, 28 bytes of selectable items are added to the sent IP packet, wherein the selectable items comprise a 4-byte communication source address, a 4-byte communication destination address, a 3-byte communication packet serial number, a 1-byte routing table length, a 16-byte 4-item relay application node address, a routing table with the length of the routing table multiplied by 4 bytes, and actual information load; the communication source address is the address of the vehicle-mounted equipment initiating the communication request, and the communication target address is the target address of the data packet.
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