TWI411979B - Transmission control method of dynamic vehicle - Google Patents

Abstract

A transmission control method of dynamic vehicle comprises: establishing a dynamic area by a leading vehicle; sending a route discovery packet to each vehicle inside a transmissible region of the leading vehicle by the leading vehicle; determining whether locate in the dynamic area or not by the first vehicle to receive the route discovery packet and deciding whether become a member vehicle or not; sending the route discovery packet to each of the vehicle inside the transmissible region of each member vehicle after a delay time by the member vehicle, and at this time the first vehicle to receive the route discovery packet becomes a relay vehicle; collecting the driving data by each of the relay vehicle periodical, and sending to the leading vehicle. Consequently, promoting the transmission quality in the dynamic environment.

Description

Dynamic vehicle communication transmission control method

The invention relates to a communication transmission control method for a dynamic vehicle, in particular to a communication transmission control method for a dynamic vehicle capable of providing stable transmission quality between vehicle fleets.

With the rapid development and maturity of the Internet, various types of network architectures have been proposed and widely used in people's daily lives, such as the early Ethernet [Ethernet] to the current wireless network [Wireless Network] and Mobile communication network, etc., has become an important channel for people to share information and communication transmission. Moreover, the transmission quality of the above various types of network architectures is also one of the issues that are highly valued by modern times.

For example, the conventional communication transmission control methods commonly used to improve transmission quality generally include the following two types: The first conventional communication transmission control method is proposed by Tomasz Imielinski and other scholars in 1996, mainly through regionality. The concept of [Geocast] is used together with the GPS global positioning system to define the size of a valid transmission range, so as to establish a sharing mechanism for regional group information, which can be used within the effective transmission range. The communication is transmitted to each other, and the geographic information is used to effectively limit the transmission range of the packet to broadcast for the geographical regional group.

However, the application range of the first conventional communication transmission control method is limited to communication transmission in a static environment, and the effective transmission range is fixed and cannot follow the user's movement, so once the user leaves the effective transmission range, The signal can no longer be received and will cause the transmission to be interrupted.

The second known communication transmission control method was proposed by Xueliang Yuan Yu and other scholars in 2008. It mainly establishes a set of continuous regional broadcast warning messages by dynamically adjusting the effective transmission range established by regional group broadcasting. The dissemination mechanism, in turn, ensures that the message is not affected by network fragmentation during transmission, effectively avoiding interruption or delay of communication transmission.

However, the above-mentioned second conventional communication transmission control method can continuously adjust the condition of the effective transmission range by continuously evaluating the network condition, but the transmission range of the wireless network is limited due to the limited transmission distance of the wireless network. The margin is also relatively limited, and the effective transmission range still cannot follow the user's movement. Therefore, the second conventional communication transmission control method is still limited to communication transmission in a static environment.

In view of this, the vehicle wireless network [Vehicle Ad hoc Network] technology is gradually developed to overcome the above shortcomings, mainly for users to communicate in a dynamic environment. For example, it can be roughly divided into the following two types: The first conventional wireless wireless network technology for vehicles: proposed by Abdelmalik Bachir and other scholars in 2003, mainly by defining a transmittable range by means of a driving vehicle. The transmittable range is updated at any time following the movement of the traveling vehicle; and, in conjunction with another traveling vehicle whose search position is within the transmittable range and farthest from the traveling vehicle, another transmittable range is established, and the The other transmittable range can also be updated at any time following the movement of the other traveling vehicle. By analogy, another transmittable range is established by a single transmittable range to relatively amplify the range covered by the communication transmission, and each of the transmittable ranges can follow the movement of the traveling vehicle corresponding to itself. Update at any time to effectively achieve the purpose of communication transmission in a dynamic environment.

However, the above-mentioned first conventional vehicle wireless wireless network technology establishes each of the transmittable vehicles of the transmittable range, and must maintain the synchronous mobile to maintain the connection between the transmittable ranges, but in actual use, it is considered The rapid movement of the traveling vehicle and the variable network topology and the like cannot ensure that each of the traveling vehicles maintains the same speed during the traveling, so that if there is a speed difference between the driving vehicles of any of the two transmission ranges , will gradually get rid of the transmission range of the other party, so it is still easy to cause transmission interruption or delay phenomenon.

The second type of random wireless network technology used in the car: in 2008, by Maria Kihl and other scholars, mainly through the vehicle routing agreement and using the flooding [Flooding] method to control the transmission of packets in the network, through Unicast [unicast] mode to improve the efficiency and reliability of communication transmission.

However, the above-mentioned second conventional wireless wireless network technology does not take into account the rapid change of the network topology, and thus cannot provide a stable transmission quality for the user.

In summary, the current method for communication transmission in a dynamic environment is still limited by the transmission distance of the wireless network, the rapid movement of the vehicle, and the changing network topology. Therefore, there is still further improvement. necessary.

SUMMARY OF THE INVENTION It is an object of the present invention to improve the above disadvantages to provide a communication transmission control method for a dynamic vehicle that can communicate between fleets.

Another object of the present invention is to provide a communication transmission control method for a dynamic vehicle having stable transmission quality.

Another object of the present invention is to provide a communication transmission control method for a dynamic vehicle that can avoid the occurrence of interruption and delay of transmission communication.

The communication transmission control method for a dynamic vehicle according to the present invention comprises the steps of: (1) establishing a dynamic regional area by a leading vehicle; and (2) transmitting a route search packet by the leading vehicle. Giving a vehicle within a transmission range of one of the leading vehicles; and step (3), determining whether the vehicle is in the dynamic regional area by the vehicle that first receives the route search packet, and if the determination is “Yes”, The vehicle is a member vehicle, and step (4) is performed. If the determination is no, the vehicle performs step (6); step (4), the member vehicle calculates a delay time, and waits for the After the delay time, the received route search packet is transmitted to the vehicle within the transmit range of the member vehicle, and at this time, the first member vehicle transmitting the route search packet becomes a relay vehicle, and then steps are performed. (5); Step (5), by receiving the route search packet transmitted by the member vehicle, determining whether it is the first reception, and if the determination is "Yes", proceeding to step (3) again, if it is determined to be "no Then, step (7); step (6) is performed to determine whether it is located behind the driving direction in the dynamic regional area. If the determination is YES, step (7) is performed, and if the determination is "NO", The vehicle is not allowed to join the fleet and ends; and in step (7), the relay vehicle periodically collects driving information of the member vehicles within its own transmit range and transmits it to the leading vehicle for control.

The above and other objects, features and advantages of the present invention will become more <RTIgt; The communication transmission control method for a dynamic vehicle according to a preferred embodiment of the present invention is mainly applied to a plurality of vehicles (hereinafter referred to as a fleet) in the same traveling direction, and the present embodiment mainly uses a dedicated short-range communication [Dedicated Short Range Communication] agreement to achieve The communication transmission between the vehicles can be communicated with each other when any two vehicles are located in the transmission range 广播 [broadcast range] of one of the other parties. More specifically, the present invention pre-structures a leading vehicle 1 [Mead Vehicle] and a member vehicle 2 [Member Vehicle] in the fleet to perform the present by the leading vehicle 1 and the plurality of member vehicles 2 Invention related steps. The leading vehicle 1 is a vehicle with the middle of the team in the forefront of the driving direction, and has a dynamic regional multicast module 11 [Dynamic Geocast Module], a fleet building module 12 [Fleet Initialization Module] and a team member. Monitoring module 13 [Fleet Member Monitor Module]. among them:

The dynamic regional multicast module 11 is configured to define a dynamic regional region in a wireless wireless network environment for the vehicle to limit the scope of the fleet, and the dynamic regional region can follow the The driving direction of the leading vehicle 1 is synchronously moved, so that the range that can be covered by the dynamic regional area can be updated in real time.

The fleet building module 12 is connected to the dynamic regional multicast module 11 for executing a setup operation procedure of the team members to search for the vehicle located in the dynamic regional area to become the member vehicle 2.

The team member monitoring module 13 is connected to the fleet building module 12 for periodically capturing the driving information of each member vehicle 2, such as: driving speed, direction, location, etc., for the leading vehicle. 1 monitor team members.

Referring to FIG. 1 again, the plurality of member vehicles 2 are vehicles in the fleet behind the direction of travel of the leading vehicle 1, and each member vehicle 2 is provided with a travel information agent 21 [Travel Information Agent] , a successor monitoring module 22 [Successor Monitor Module] and a vehicle prediction module 23 [Vehicle Prediction Module]. among them:

The driving information agent 21 is used to analyze the data received by the GPS receiver in real time, so that each member vehicle 2 can obtain its own driving information.

The successor monitoring module 22 is connected to the driving information agent 21 and wirelessly coupled to the team member monitoring module 13 for periodically collecting the driving information analyzed by the driving information agent 21 to For the team member monitoring module 13 to periodically capture, and can be used as a reference for subsequent team members to leave the team or new members to join the team.

The vehicle prediction module 23 is connected to the successor monitoring module 22 for transmitting the information of the driving information periodically collected by the successor monitoring module 22 for each member vehicle 2 to determine that it is free from the other party. The range is the time required.

Referring to FIG. 2, the communication transmission control method for a dynamic vehicle according to a preferred embodiment of the present invention includes a fleet scope establishing step S1, a fleet establishment initialization step S2, a member establishment determining step S3, and a packet transmission step S4. A member expansion decision step S5, a termination determination step S6, and a fleet management step S7. among them:

Referring to Figures 1, 2 and 3, the fleet scope establishing step S1 of the dynamic vehicle communication transmission control method according to the preferred embodiment of the present invention is established by the dynamic regional multicast module 11 of the leading vehicle 1. 〝 Dynamic regional areas 〞. More specifically, the present invention preliminarily selects a vehicle positioned at the forefront of the driving direction as the leading vehicle 1 among a plurality of vehicles to form a fleet, and then uses the dynamic regional multicast module of the leading vehicle 1 11 receiving the satellite positioning coordinates by using the GPS receiver, so that the leading vehicle 1 knows the actual location of the vehicle; then, the dynamic regional grouping distance R〞 is one of the driving directions of the leading vehicle 1 and is the same driving. The direction of the road is a rectangular area composed of a wide area to establish the dynamic regional area. The dynamic regional grouping distance R〞 can be defined according to the range of the fleet to be established by the leading vehicle 1. In this embodiment, the dynamic regional grouping distance R is selected to be 1 km, so the The dynamic regional area is the rectangular area covered by the leading vehicle 1 within 1 km behind the direction of travel.

Referring to Figures 1, 2 and 4, the fleet establishment initialization step S2 of the dynamic vehicle communication transmission control method according to the preferred embodiment of the present invention is performed by the leader vehicle 1 performing the initialization operation procedure of the team members. The route discovery packet is transmitted to the vehicle within the transmission range of the leading vehicle 1. More specifically, the transmission range of the present embodiment is described by a circular area within 100 m of each vehicle, and the transmission range 〞 preferably covers the dynamic regional area. The length of the direction of travel [that is, the width of the rectangular area], so the team establishment initialization step S2 transmits the 〝 route search packet 给 to the position around the leader vehicle 1 by the fleet building module 12 of the leader vehicle 1 Vehicles within m. The routing search packet includes the range currently covered by the dynamic regional area, so as to determine whether the vehicle can become the reference basis of the member vehicle 2 as the subsequent vehicles. For convenience of the following description, the transmission range of the leading vehicle 1 described below in this embodiment is a leader transmission range A〞.

The member establishment determining step S3 of the dynamic vehicle communication transmission control method according to the preferred embodiment of the present invention determines whether the user is located in the dynamic regional area by first receiving the vehicle of the routing search packet. If the determination is YES, the vehicle can become the member vehicle 2, and then the packet transmission step S4 is performed; if the determination is "NO", the vehicle performs the termination determination step S6. The reason for receiving the vehicle for the first route search packet is the vehicle other than the leader vehicle 1, and the reason will be further described later. More specifically, at this time, the present embodiment first receives the routing search packet transmitted by the leading vehicle 1 by the vehicle in the transmission range A〞, and determines whether it is located in the dynamic regionality. In the area ;; since the dynamic regional area of the embodiment is a rectangular area covered within 1 km behind the direction of travel of the leading vehicle 1, the 〝 leader transmittable range A 包含 includes 100 around the leading vehicle 1 In the case where the determination is made to be "YES" in the member establishment determining step S3, the vehicle is in the rear of the traveling direction of the leading vehicle 1. At this time, the determination is "NO". In the case of the vehicle, it is indicated that the vehicle is in front of the traveling direction of the leading vehicle 1.

Referring to Figures 1, 2 and 5, the packet transmission step S4 of the communication transmission control method for a dynamic vehicle according to a preferred embodiment of the present invention calculates a delay time [Defer time] by the member vehicle 2, and Waiting for the delay time, transmitting the received routing search packet to the vehicle within its own transmission range, and then performing the member expansion determination step S6; wherein, the first transmission at this time The member vehicle 2 of the routing search packet is a relay vehicle. More specifically, at this time, the present embodiment transmits the packet transmission step S4 by the member vehicle 2 in the transmission range A of the leader, and the travel information agent 21 of the member vehicle 2 passes through the GPS receiver. After analyzing and obtaining the driving information of the user, calculate the delay time of the user using the formula (1) as follows:

Where T is the 〝 delay time 该 of the member vehicle 2, V _{m is} the vehicle speed of the member vehicle 2, and V ₁ is the vehicle speed of the vehicle transmitting the 〝 route search packet 此时 [this time indicates the speed of the leading vehicle 1] D _1m is the distance between the two vehicles, and A is the radius of the transmission range 〞 of the circular area. Thereby, using the above formula (1) to calculate the delay time 该 of the member vehicle 2, the 〝 relay vehicle 建立 can be established simultaneously in the 〝 transmittable range 而, and the present embodiment is the first time When the packet transmission step S4 is performed, a first relay vehicle 建立 is established in the 〝 leader transmittable range A 〞 to manage one of the 中继 first relay vehicles 管理 by the 中继 first relay vehicle 〝 The member vehicle 2 within the first transmittable range A1〞; wherein the member vehicle 2 managed by the first relay vehicle 并不 does not include the member vehicle 2 that is simultaneously located within the 〝 leader transmittable range A〞.

The member expansion determination step S5 of the communication transmission control method for a dynamic vehicle according to the preferred embodiment of the present invention determines whether the vehicle is the first reception by receiving the vehicle that is transmitted by the member vehicle 2 and searching for the packet. If yes, the member establishment determination step S3 is re-executed; if the determination is "NO", the fleet management step S7 is performed. More specifically, since the vehicle that receives the route search packet transmitted by the member vehicle 2 includes all the vehicles within the transmission range of the member vehicle 2, in this member expansion determination step S5 If the determination is YES, it means that the vehicle is behind the traveling direction of the member vehicle 2; and if the determination is "NO", the vehicle is in the member vehicle. 2 The front of the direction of travel. Therefore, the member expansion judging step S5 of the present invention mainly ensures that the team members can be successively established in the rear of the driving direction of the leading vehicle 1.

Wherein, in the first member expansion determination step S5, the transmission range of the member vehicle 2 includes the leader vehicle 1, so the leader vehicle 1 will also receive the first route search packet for the first time. Since the present invention mainly uses the vehicle behind the driving direction of the leading vehicle 1 as a member of the team, the member expansion determining step S5 determines whether the vehicle that received the routing search packet for the first time does not include The leading vehicle 1.

In addition, the member establishment determination step S3 is performed last time, and if the determination is "NO", that is, the vehicle receiving the routing search packet is located behind the driving direction of the dynamic regional area; Wherein, regardless of whether the vehicle receiving the routing search packet is located in front of or behind the driving direction of the dynamic regional area, the vehicle selects the routing search packet to be discarded without forwarding, that is, The vehicle cannot be a member of the team.

Referring to FIGS. 1, 2 and 5 again, the termination determining step S6 of the communication transmission control method for the dynamic vehicle according to the preferred embodiment of the present invention is further determined by the first time receiving the vehicle of the routing search packet. Whether it is located behind the driving direction of the dynamic regional area, if it is judged as "Yes", the establishment of the fleet is completed, and then the fleet management step S7 is performed; if the determination is "No", the vehicle is represented Unable to join the team to become the member vehicle 2 and end the establishment of the team. More specifically, after the member establishment determining step S3, the packet transmission step S4, and the member expansion step S5 are repeatedly performed, the plurality of vehicles behind the driving direction of the leading vehicle 1 have successively become the member vehicle 2, and each time the member 2 is performed The packet transmission step S4 can establish a 〝 relay vehicle 〞; thereby, the member vehicles 2 located within the transmission range 即可 can indirectly pass through the 〝 relay vehicles and lie in another 〝 The member vehicles 2 within the transmittable range 2 communicate with each other, and the pick-up vehicle can be used to manage the member vehicles 2 within its own transmit range. Therefore, when the packet transmission step S4 is performed for the last time, the establishment of the last 〝 relay vehicle in the fleet is completed.

The fleet management step S7 of the communication transmission control method for a dynamic vehicle according to the preferred embodiment of the present invention periodically collects the driving information of the member vehicle 2 within the transmission range of the vehicle by the relay vehicle, and transmits The leading vehicle 1 is controlled. More specifically, the termination determination step S6 has completed the establishment of the fleet, and the fleet management step S7 is mainly for effectively controlling the stability of the communication transmission in the fleet, so as to provide better transmission quality and avoid interruption of communication transmission. Or delays occur. Therefore, after the member vehicle 2 subsequent monitor monitoring module 22 periodically collects the travel information analyzed by the travel information agent 21 of its own, the relay vehicle 对应 is directly or indirectly supplied via its own corresponding relay vehicle The team member monitoring module 13 of the leading vehicle 1 periodically captures the driving vehicle 1 for the driving information of each of the member vehicles 2.

In addition, the fleet management step S7 of the present invention further includes a prediction step of mainly performing a related program by the vehicle prediction module 23 of each of the relay vehicles. More specifically, the predicting step further calculates a detachment time by each of the 〝 relay vehicles 并, and judges according to the delay time 各 of each of the 〝 relay vehicles , themselves, In order to know the time required for each of the relay vehicles to detach from the transmission range of the preceding relay vehicle 或 [or the leading vehicle 1], and then borrow in advance before the 〝 departure time 〞 It is replaced by the former 〝 relay vehicle 〞 [or the leading vehicle 1] looking for another relay vehicle 〞. For example, the vehicle prediction module 23 of each of the 〝 relay vehicles of the present embodiment calculates its own detachment time 利用 using the following formula (2):

Where P _t is the 〝 departure time 各 of each of the 〝 relay vehicles 〞, A is the radius of the transmission range 〞 of the circular area, V _{r is} the speed of the 〝 relay vehicle _,, V _n is the previous one车 Relay vehicle 〞 [or the leading vehicle 1] vehicle speed, D _nr is the distance between the two vehicles, and T is the 〝 delay time 各 of each of the 〝 relay vehicles 〞. When the vehicle prediction module 23 of each of the 〝 relay vehicles determines that its own detachment time 〞 conforms to the above formula (2), the former 〝 relay vehicle 〞 [or the leading vehicle 1] searches for itself成员 The transmission range 〞, another member vehicle 2 having the smallest delay time 且 and not meeting the above formula (2) is regarded as another relay vehicle 〞, and the leading vehicle 1 is synchronized to update each of the 〝 relay vehicles 〞 List of. Thereby, the network interruption caused by the rapid movement of the vehicle in the dynamic environment is effectively solved to ensure the quality of the communication transmission, and the member vehicles 2 in the dynamic regional area can be accurately controlled.

In addition, referring to Figures 1, 2 and 6, the communication transmission control method for a dynamic vehicle according to a preferred embodiment of the present invention further includes a new member establishing step, the new member establishing step is completed at the termination determining step S6. Only after the establishment of the establishment. More specifically, the new member establishment step includes a transmission request step S81, a packet transmission step S82, and a new member establishment determination step S83. among them:

The transmission request step S81 transmits a join request packet to the nearest relay vehicle by the vehicle to be added to the fleet [hereinafter referred to as the new vehicle]. More specifically, the relay vehicle closest to the new vehicle must be within the transmission range of the new vehicle to receive the incoming request packet transmitted by the new vehicle.

The packet transmission step S82 transmits the 〝 route search packet to the vehicle within its own transmission range 藉 by receiving the 〝 请求 请求 请求 请求 〝 , , , , , , , , , , 〝 〝 〝 〝 〝 〝 〝 〝 〝 〝 The package is 〞. In more detail, since the vehicle is in the transmission range of the new vehicle, the new vehicle is also located within the transmission range of the vehicle. The new vehicle is able to successfully receive the routing search packet.

The new member establishment determining step S83 determines whether the new vehicle is within the range covered by the dynamic regional area by the new vehicle. If the determination is yes, the new vehicle is allowed to join the team to become the member vehicle. 2; If the judgment is "No", the new vehicle is not allowed to join the team member and ends.

The communication transmission control method of the dynamic vehicle of the present invention can pre-establish the dynamic regional area by the leading vehicle, so as to successively establish a team member in the dynamic regional area, and at the same time, by searching for suitable team members as a relay vehicle In this way, in addition to allowing the members of the team to communicate with each other within the transmission range of the other party, the members of the team that are not within the transmission range of the other party can communicate with each other through the relay vehicle, and the dynamic regional area is The present invention can be updated in real time following the movement of the leading vehicle, so that the present invention can effectively achieve the effect of communicating with each other during the travel of the fleet.

The communication transmission control method of the dynamic vehicle of the present invention can be used as the relay vehicle by performing the packet transmission step every time, that is, the member vehicle that transmits the route search packet for the first time, so that Team members within the range of the other party's transmission can communicate with each other quickly, and because the speed difference between the relay vehicles is small, it is not easy to get rid of each other's transmission range, so that each of the transmission ranges can be Maintaining a better connection state enables the present invention to effectively achieve the effect of stable transmission quality between each member vehicle.

The communication transmission control method of the dynamic vehicle of the present invention can determine the time when any two relay vehicles are separated from the transmission range of the other party by calculating the departure time of each of the relay vehicles, so as to be lost in any two transmittable ranges. Before the connection, another relay vehicle is searched for in advance, so as to ensure uninterrupted communication transmission in the dynamic regional area, and the transmission quality of each member vehicle can be ensured, thereby effectively avoiding transmission interruption. Or the effect of delays.

While the invention has been described in connection with the preferred embodiments described above, it is not intended to limit the scope of the invention. The technical scope of the invention is protected, and therefore the scope of the invention is defined by the scope of the appended claims.

〔this invention〕

1‧‧‧Leading vehicles

11‧‧‧Dynamic Regional Broadcasting Module

12‧‧‧Fleet building module

13‧‧‧Fleet member monitoring module

2‧‧‧Member vehicles

21‧‧‧Travel Information Agent

22‧‧‧ Successor Monitoring Module

23‧‧‧Vehicle Prediction Module

R‧‧‧Dynamic regional grouping distance

A‧‧‧Leaderable transmission range

A1‧‧‧First transmittable range

Fig. 1 is a schematic diagram showing the system architecture of a communication transmission control method for a dynamic vehicle according to the present invention.

Fig. 2 is a flow chart showing the steps of the communication transmission control method of the dynamic vehicle of the present invention.

Figure 3 is a schematic diagram showing the steps of establishing a fleet range for the communication transmission control method of the dynamic vehicle of the present invention.

Figure 4 is a schematic diagram showing the initialization steps of the fleet establishment of the communication transmission control method of the dynamic vehicle of the present invention.

Fig. 5 is a block diagram showing the steps of packet transmission in the communication transmission control method of the dynamic vehicle of the present invention.

Fig. 6 is a schematic diagram showing the steps of establishing a new member of the communication transmission control method of the dynamic vehicle of the present invention.

Claims (6)

A communication transmission control method for a dynamic vehicle includes the steps of: (1) establishing a dynamic regional area by a leading vehicle; and (2) transmitting, by the leading vehicle, a route search packet to one of the leading vehicles. (3) The vehicle that receives the route search packet for the first time determines whether it is located in the dynamic regional area. If the determination is YES, the vehicle becomes a member vehicle, and steps are performed. (4) If the determination is No, the vehicle performs step (6); (4) calculates a delay time by the member vehicle, and transmits the received route search packet to the bit after waiting for the delay time. a vehicle within the transmit range of the member vehicle, and at this time, the first member vehicle transmitting the route search packet becomes a relay vehicle, and then proceeds to step (5), and the delay time of the step (4) is Calculated as described below: Where T is the delay time of the member vehicle, V _{m is} the vehicle speed of the member vehicle, V _l is the vehicle speed of the vehicle transmitting the route search packet, D _lm is the distance between the two vehicles, and A is the transmittable range (5) determining whether it is the first reception by receiving the route search packet transmitted by the member vehicle, and if the determination is YES, the step (3) is repeated, and if the determination is "No", Then, step (7) is performed; (6) determining whether it is located behind the driving direction in the dynamic regional area. If the determination is YES, step (7) is performed, and if the determination is "NO", the vehicle is not Allowing to join the team and ending; and (7) by the relay vehicle regularly collecting driving information of the member vehicles within its own transmission range, and transmitting to the leading vehicle for control. According to the method for controlling communication transmission of a dynamic vehicle according to claim 1, wherein the step (1) establishes the dynamic regional region, which is pre-existing in the vehicle in the front of the driving direction among the plurality of vehicles that are to form the fleet. The leader vehicle is the dynamic regional area within a range of one of the dynamic regional grouping distances behind the driving direction of the leading vehicle. The communication transmission control method for a dynamic vehicle according to claim 1, wherein the vehicle that receives the route search packet for the first time in the step (3) does not include the leader vehicle. The communication transmission control method for a dynamic vehicle according to claim 1, wherein the step (7) further comprises a prediction step of calculating a departure time by each of the relay vehicles, and according to the self Delay time to determine the time required to deviate from the transmit range of the previous relay vehicle or the lead vehicle for the previous relay vehicle or the lead vehicle to re-see another relay before the departure time The vehicle is replaced. The communication transmission control method for a dynamic vehicle according to item 4 of the patent application scope, wherein the departure time is calculated according to the following formula: Where P _t is the departure time of each of the relay vehicles, A is the distance of the transmittable range, V _r is the speed of each of the relay vehicles, and V _n is the speed of the previous relay vehicle or the leading vehicle, D _Nr is the distance between the two vehicles, and T is the delay time of each of the relay vehicles. The method for controlling communication transmission of a dynamic vehicle according to claim 1 of the patent application, further comprising a new member establishing step, the new member establishing step being performed after the completion of the establishment of the fleet, comprising transmitting a new vehicle Adding a request packet to the relay vehicle closest to itself; transmitting the route search packet to the new vehicle by the relay vehicle receiving the join request packet; determining whether the new vehicle is located in the dynamic regional area, if If the judgment is "Yes", the new vehicle will join the team to become the member vehicle. If the judgment is "No", the new vehicle will not be allowed to join the team.