WO2020071890A1

WO2020071890A1 - Packet filtering method for vehicle communication data, and vehicle communication terminal device for performing same

Info

Publication number: WO2020071890A1
Application number: PCT/KR2019/090001
Authority: WO
Inventors: 권순일; 정홍종
Original assignee: 주식회사 웨이티즈
Priority date: 2018-10-05
Filing date: 2019-10-04
Publication date: 2020-04-09
Also published as: KR20200039274A; KR102635088B1

Abstract

The present invention relates to a packet filtering method for vehicle communication data, and a vehicle communication terminal device for performing same. The method according to the present invention comprises the steps of: receiving vehicle communication data including packet messages; decoding some packet messages, which are included in the vehicle communication data and are sequentially processed, so as to determine whether to reflect a service logic about the packet message; and filtering the packet message having determined that reflecting the service logic is unnecessary.

Description

Packet filtering method of vehicle communication data and vehicle communication terminal device performing same

The present invention relates to a method for filtering data packets received from a vehicle communication terminal device.

Automobiles are developing in the direction of providing safety, mobility, and convenience by integrating ICT technology. By applying sensors such as radar and vision to the vehicle, we provide safety support services such as blind spot warning, collision warning, and adaptive cruise control (ACC) to the driver, and applied DSRC (Dedicated Short-Range Communications) communication technology to the vehicle. It provides convenient services such as automatic fare collection and bus information service.

Recently, vehicle safety using V2X communication technology, cooperative autonomous driving, and C-ITS (Cooperative-ITS) technology have been studied. V2X communication technology means direct communication between vehicles (V2V; Vehicle to Vehicle) and vehicle-to-infrastructure (V2I) from a vehicle perspective. Pedestrian to Vehicle (P2V), Pedestrian to Driver (P2D), Pedestrian to Driver (P2D) between pedestrians and infrastructure Comprehensive connectivity can be considered, including communication (P2I; Pedestrian to Infra-structure), road sensor network to infrastructure (R2I; Road to Infrastructure), and In-vehicle Network.

A plurality of wireless communication technologies are used to provide all the connections considered in the C-ITS environment. For example, WAVE (Wireless Access in Vehicular Environments) communication technology is used for V2V / V2I communication, WLAN or Bluetooth technology is used for P2V / P2I communication, and sensor communication technology can be used for R2I communication. have.

On the other hand, in the V2X communication system, different communication technologies are mixed and used for the transmission of multi-layer data, and the characteristics of data for each layer are different, so there is a problem that the processing speed of data processing and service logic utilizing the data is reduced.

In addition, the service logic needs to verify and process data for a plurality of dynamic moving and static objects based on the information collected from the multi-layer, so there is a difficulty in slowing down the verification and processing speed.

An object of the present invention is to provide a vehicle communication terminal device and a packet filtering method for vehicle communication data to effectively process data received from a vehicle communication terminal device to improve processing speed of a service logic, and a vehicle communication terminal device performing the same.

A packet filtering method of vehicle communication data according to an embodiment of the present invention includes: filtering a packet of vehicle communication data received from a vehicle communication terminal device, and receiving vehicle communication data including a packet message; Decoding a part of the packet messages sequentially included in the vehicle communication data and determining whether to reflect service logic for the packet messages; And filtering the packet message determined to be unnecessary to reflect the service logic.

A vehicle communication terminal device according to an embodiment of the present invention may process a service logic using a packet filtering method of the vehicle communication data.

On the other hand, steps according to the packet filtering method of the vehicle communication data, may be configured as a computer program to be performed in the analysis system according to an embodiment of the present invention, the computer program to be stored in a computer-readable medium You can.

According to an embodiment of the present invention, by processing the vehicle communication data by applying partial decoding and packet filtering through spatial information, it is possible to effectively process data received from the vehicle communication terminal device to improve the processing speed of service logic.

In addition, by calculating the position of the vehicle using distance calculation through linkage of integer-based and floating-point arithmetic, it is possible to adaptively filter long-distance packets among vehicle communication data to surrounding conditions of the vehicle.

According to another embodiment of the present invention, it is possible to provide a hierarchical data structure capable of storing and retrieving according to multi-layer characteristics and enabling effective dynamic object tracking.

1 is a block diagram showing the overall configuration of a vehicle communication terminal device of the present invention.

2 is a view for explaining an embodiment of the configuration of a V2X communication system.

3 is a flowchart illustrating a vehicle communication data packet filtering method according to an embodiment of the present invention.

4 is a diagram for explaining embodiments of a method for filtering a packet message included in vehicle communication data.

5 to 7 are diagrams for explaining embodiments of a method for determining proximity to a packet message.

8 is a table showing distances according to differences in latitude and longitude decimal values.

9 is a view for explaining an embodiment of a data structure for storage and retrieval according to multi-layer characteristics.

10 is a view for explaining an embodiment of a hierarchical data structure capable of effective dynamic object tracking.

11 is a view for explaining an embodiment of a service logic processing procedure.

Hereinafter, a packet filtering method of vehicle communication data according to the present invention and a vehicle communication terminal device performing the same will be described in detail with reference to the accompanying drawings.

The present invention can be variously modified and have various embodiments, and specific embodiments will be illustrated in the drawings and described in detail in the detailed description. This is not intended to limit the present invention to specific embodiments, and may be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

In describing the present invention, terms such as first and second may be used to describe various components, but the components may not be limited by the terms. The terms may be used only for the purpose of distinguishing one component from other components. For example, the first component may be referred to as a second component without departing from the scope of the present invention, and similarly, the second component may be referred to as a first component.

The term and / or may include a combination of a plurality of related described items or any one of a plurality of related described items.

When a component is said to be "connected" or "connected" to another component, it may be directly connected to or connected to the other component, but other components may exist in the middle. Can be understood. On the other hand, when a component is referred to as being “directly connected” or “directly connected” to another component, it can be understood that no other component exists in the middle.

The terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions may include plural expressions unless the context clearly indicates otherwise.

In this application, terms such as “include” or “have” are intended to indicate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, and one or more other features. It can be understood that the existence or addition possibilities of fields or numbers, steps, operations, components, parts or combinations thereof are not excluded in advance.

Unless defined otherwise, all terms used herein, including technical or scientific terms, may have the same meaning as commonly understood by a person skilled in the art to which the present invention pertains. Terms, such as those defined in a commonly used dictionary, can be interpreted as having meanings that are consistent with meanings in the context of related technologies, and are interpreted as ideal or excessively formal meanings unless explicitly defined in the present application. It may not be.

In addition, the following embodiments are provided to more fully explain to those having average knowledge in the art, and the shapes and sizes of elements in the drawings may be exaggerated for more clear explanation.

1 is a block diagram showing the overall configuration of a vehicle communication terminal device according to an embodiment of the present invention.

Referring to FIG. 1, a communication terminal device 10 for a vehicle that is a V2X communication system is periodically attached to a vehicle and periodically transmits packet messages related to vehicle safety, and periodically from a V2X communication system (not shown) attached to another vehicle. Receive packet messages.

The packet messages transmitted and received between the V2X communication systems include vehicle ID information, location information, and status information (for example, driving direction and speed, deceleration and acceleration status, etc.), and may have a standardized message format. .

The vehicle communication terminal device 10 may use the packet message periodically received from the V2X communication system of another vehicle as described above to know the distance between the vehicle to which it is attached and the surrounding vehicle, the operating state of the surrounding vehicle, and the like. Therefore, it is possible to judge the dangerous situation.

On the other hand, in a radio wave environment in which a vehicle moves at a high speed, a hardware module and a software stack to which a technology according to standard standards is applied is provided to the vehicle communication terminal device 10 so that packet messages between vehicles or between vehicles and infrastructure can be transmitted and received within a short time. Is included.

For example, the WAVE communication technology standardized by the IEEE of the United States is a technology that can transmit and receive packet messages between vehicles or between vehicles and infrastructure within a short time of 100msec or less in a radio wave environment in which a vehicle moves at high speed.

As illustrated in FIG. 1, the vehicle communication terminal device 10 to which WAVE communication technology is applied may include a V2X communication module, a GPS module, a memory, and a processor.

The processor provided in the communication terminal device 10 for the vehicle is a processor for driving a safety application (Safety Application), can be interlocked with the vehicle's internal network, and the driver output device 210 to display the application result values, such as various warnings (warning) ).

In addition, the software stack of the WAVE communication system can be divided into software on the kernel and application service software. Here, the software on the kernel includes a device driver, MAC transmission / reception function, routing function, IP packet function, WSMP safety message function, management function, authentication and security protocol function, etc., and application service software includes vehicle safety service and cooperative autonomous driving service. And a driver interface.

More specifically, the software stack of the WAVE communication system is composed of a plurality of layers (layers), as shown in Figure 2, the plurality of layers are each designed to satisfy the function and performance of a specific communication standard.

Table 1 below shows information about a plurality of standards required to implement the WAVE communication technology.

2 and Table 1, the WAVE communication technology uses a 5.9 GHz dedicated frequency band and is designed to meet IEEE 802.11p and IEEE 1609.x standards.

IEEE 802.11p includes a physical (PHY) layer for wireless transmission and a MAC layer, and the IEEE 1609.x standard includes a multi-channel layer, a network layer, an authentication and security layer, and an application service layer mounted on the IEEE 802.11p. .

The SAE J2735 standard includes a message layer and defines a set of Dedicated Short Range Communication (DSRC) messages transmitted and received between vehicles or between vehicles and infrastructures.

Meanwhile, the SAE J2945 / X standard defines performance requirements required for service.

The vehicle communication terminal device 10 according to an embodiment of the present invention may include a V2X communication module including a plurality of layers to satisfy WAVE communication standards as described with reference to FIGS. 2 and 1. The invention is not limited to this, and may be in accordance with other standards for communication between vehicles.

Meanwhile, the vehicle communication data received by the vehicle communication terminal device 10 includes all message data defined in SAE J2735 including Basic Safety Message (BSM) transmitted from one or more other V2X communication systems (not shown). It includes, it may be received in the message layer of the vehicle communication terminal device 10.

The basic safety message (BSM) includes BSM data elements defined in the SAE J2735 standard, for example, time (UTC time), position (Latitude, Longitude, Elevation), speed (Speed), direction (Heading), brake Data such as system status (traction, abs, scs, brakeBoost, auxBrakes) and vehicle size (Width, Length).

Here, the packet message data received by the vehicle communication terminal device 10 is not limited to the above-described messages and data, and data related to surrounding vehicles, such as PATH HISTORY and PATH PREDICTION, and It may further include location and time information related to a signal conversion timing of a traffic light, construction, weather, and the like.

The vehicle communication terminal device 10 decodes packet messages received from an external object to process service logic, and logic data may be calculated through service logic processing.

Logic data includes object classification (TC, Target Classification), time-to-collision (TTC), time-to-intersection (TTI) and distance (DTI) defined in the SAE J2945 / X standard. to Intersection).

In addition, an application result value may be determined in the vehicle communication terminal device 10 using the calculated logic data, which is a forward collision warning (FCW) required by the SAE J2945 / X standard, an emergency brake detection warning ( Emergency Electronic Brake Lights (EEBL), Blind Spot Warning (BSW), Lane Change Warning (LCW) and Intersection Movement Assist (IMA), Signal Phase and Timing ), Roadside Alert, and Traveler Information.

As described above, in the V2X communication system, different communication technologies are mixed and used for the transmission of multi-layer data, and the characteristics of data for each layer are different, so the processing speed of data processing and service logic utilizing the data may be reduced. have.

In addition, the service logic needs to process data for the dynamic moving object based on the information collected from the multi-layers, so it may be difficult to process the data.

Hereinafter, a packet filtering method of vehicle communication data and embodiments of a vehicle communication terminal device according to the present invention will be described in more detail with reference to FIGS. 3 to 11.

3 is a flowchart illustrating a vehicle communication data packet filtering method according to an embodiment of the present invention, and shows a method of filtering a packet of vehicle communication data received from an external object by the vehicle communication terminal device 10. Meanwhile, a description of the same method described with reference to FIGS. 1 and 2 of the method illustrated in FIG. 3 will be omitted below.

Referring to FIG. 3, the vehicle communication terminal device 10 receives vehicle communication data including a packet message (step S300).

The vehicle communication data includes packet messages transmitted from an external object, for example, a V2X communication system attached to another vehicle, and each packet message may include basic safety message (BSM) data. have.

Meanwhile, each message may include at least one of time, position, speed, direction, brake system status, vehicle size, movement path, and signal phase, signal timing, and event type.

The vehicle communication terminal device 10 decodes a part of the packet messages sequentially included in the vehicle communication data (step S310), and determines whether to reflect the service logic for the packet message using a part of the decoded packet message (Step S320).

For example, the vehicle communication terminal device 10 may partially decode only service identification information among the corresponding packet messages, and use the partially decoded service identification information to determine whether the corresponding packet message is registered in the service logic.

As a result of checking, if the corresponding packet message is not registered in the service logic, the vehicle communication terminal device 10 may determine that it is unnecessary to reflect the service logic for the packet message.

In addition, the vehicle communication terminal device 10 may partially decode only message identification information among the corresponding packet messages, and use the partially decoded message identification information to determine whether the corresponding packet message is registered as a message ID required for service logic. .

As a result of checking, if the corresponding packet message is not registered as a message ID required for service logic, the vehicle communication terminal device 10 may determine that it is unnecessary to reflect the service logic for the packet message.

In addition, the vehicle communication terminal device 10 determines the proximity to the corresponding packet message based on the position and speed of the mounted vehicle, and as a result of the determination, determines that the corresponding packet message is transmitted from an object that is not close to the vehicle. If it is possible, it may be determined that it is unnecessary to reflect the service logic for the packet message.

Here, the proximity may be determined by calculating the distance between the vehicle and the object that transmitted the corresponding packet message, and accordingly, it may be determined that reflection of service logic is unnecessary for a remote packet.

Thereafter, the vehicle communication terminal device 10 filters the packet message determined to be unnecessary in the service logic in step S320 (step S330).

For example, the vehicle communication terminal device 10 may process service logic by processing the remaining packet messages excluding filtered packet messages among a plurality of packet messages included in vehicle communication data.

4 is for describing embodiments of a method for filtering packet messages included in vehicle communication data, and shows packet messages included in vehicle communication data and sequentially processed.

Referring to FIG. 4, a part of the received packet of vehicle communication data is partially decoded and the packet 410 having a provider service identifier (PSID) not registered in the service logic is filtered (PSID_MAP).

Thereafter, a part of the packets included in the vehicle communication data is partially decoded without verifying the signature and is not registered as a required message ID (MsgId) of the service logic, or is close based on the vehicle's location and speed (POS / TIME). The long distance packets 420 are filtered (MID_MAP, OBJ_MAP).

In the same manner as described above, only a part of packets are sequentially decoded, and

packets

430 and 440 that do not need to be reflected in the service logic may be dropped and filtered.

According to another embodiment of the present invention, by calculating the position of the vehicle using distance calculation through linkage of integer-based and floating-point arithmetic, it is possible to adaptively filter long-distance packets among vehicle communication data to the surrounding situation of the vehicle. have.

For example, the vehicle communication terminal device 10 may calculate a distance using at least one of altitude filtering, filtering according to latitude and longitude integer operations, and filtering according to floating-point operations to determine proximity to a packet message. have.

Hereinafter, embodiments of a method for determining proximity to a packet message will be described in more detail with reference to FIGS. 5 to 7.

Referring to FIG. 5, altitude filtering, long-distance filtering based on latitude and longitude integer calculation, near field filtering based on floating-point operation, and ΔT filtering based on floating-point operation may be used for distance calculation.

As illustrated in FIG. 5, the accuracy of distance calculation may be increased by using floating-point arithmetic, but distance calculation through floating-point arithmetic may be minimized to increase processing speed.

On the other hand, the direction vector is calculated as shown in FIG. 6, and the vehicle and the relative object are based on the currently received message, for example, transmission time, location, direction, speed, etc. included in each message of SAE J2735. Filtering may be performed by calculating the position of.

As shown in FIG. 7, the processing speed may vary according to the difference in the latitude and longitude, and the number of digits of the decimal point may be applied to adjust the distance for filtering according to ΔT and the speed of the vehicle and the number of surrounding objects to be processed.

In addition, the distance according to the difference in the value of the latitude and longitude can be obtained as shown in the table in FIG.

Referring to FIG. 9, the maximum number of divisions according to dynamic and static data characteristics may be adjusted, for example, high in a dynamic case and low in a static case.

In addition, storage and search results based on priority are provided, and the search distance can be adjusted according to the current location, direction, maximum distance, speed, etc. by applying the area search function by the direction vector.

In FIG. 10, 'C _W ' denotes a cell width, 'C _H ' denotes a cell height, and 'C _NF ' denotes the number of cells in front of the vehicle (# of Cells for Vehicle Front), 'C _NR 'means # of Cells for Vehicle Rear.

The data structure shown in FIG. 10 is a hierarchical data structure in which surrounding objects are searchable based on the current location, and may have a composite structure combining a latitude-based hierarchical LOD structure and AABB TREE.

Cell division with high precision is applied to the vicinity, and the number of cells can be changed according to the speed, lane width and length of the vehicle.

In addition, object clustering is applied to enable searching for the presence or absence of objects on a cell-by-cell basis, so that collision or presence of cells can be confirmed.

In addition, a HASH structure for quickly finding a corresponding object in a cell is applied based on the received message information, and it may be possible to continuously update the data structure according to a change in location information.

Meanwhile, after a packet of vehicle communication data is partially decoded and filtered by the above-described method, the service logic may be processed by a flow as shown in FIG. 11.

In the above, a method and system for analyzing a vehicle-to-X communication system according to an embodiment of the present invention are described using the North American vehicle communication standard (WAVE) as an example, but the present invention is not limited thereto.

For example, a method and system for analyzing a vehicle-to-X communication system according to the present invention can be applied to various vehicle communication standards such as Europe or Japan.

The above-described methods according to the exemplary embodiment of the present invention may be manufactured as a program to be executed in a computer and stored in a computer-readable recording medium. Examples of the computer-readable recording medium include ROM, RAM, and CD-ROM , Magnetic tape, floppy disk, and optical data storage.

The computer-readable recording medium can be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion. In addition, functional programs, codes, and code segments for implementing the method can be easily inferred by programmers in the technical field to which the present invention pertains.

As described above, it will be understood that the technical configuration of the present invention described above can be implemented in other specific forms without changing the technical spirit or essential characteristics of the present invention by those skilled in the art to which the present invention pertains.

Therefore, the above-described embodiments are to be understood as illustrative and not restrictive in all respects, and the scope of the present invention is indicated by the following claims rather than the above detailed description, and the meaning and scope of the claims And it should be construed that all modifications or variations derived from the equivalent concept are included in the scope of the present invention.

Claims

A method for filtering packets of vehicle communication data received from a vehicle communication terminal device,

Receiving vehicle communication data including a packet message;

Decoding a part of the packet messages sequentially included in the vehicle communication data and determining whether to reflect service logic for the packet messages; And

And filtering packet messages determined to be unnecessary to reflect service logic.
The method of claim 1, wherein the determining step

And partially decoding service identification information among the packet messages.
The method of claim 2, wherein the determining step

Checking whether the packet message is registered in a service logic using the partially decoded service identification information; And

And determining that it is unnecessary to reflect service logic for the packet message when the packet message is not registered in the service logic as a result of the check.
The method of claim 1, wherein the determining step

And partially decoding message identification information without verifying a signature among the packet messages.
The method of claim 4, wherein the determining step

Checking whether the packet message is registered as a message ID required for service logic by using the partially decoded message identification information; And

And determining that it is unnecessary to reflect service logic for the packet message when the packet message is not registered as a message ID required for service logic.
The method of claim 1, wherein the determining step

Determining a proximity to the packet message based on the location and speed of the vehicle provided with the vehicle communication terminal device; And

And determining, as a result of the determination, that the packet message is transmitted from an object that is not close to the vehicle, that it is unnecessary to apply service logic to the packet message.
The method of claim 6, wherein the proximity determination step

And calculating a distance between the vehicle and the object.
The method of claim 7, wherein the step of calculating the distance

Vehicle communication data packet filtering method performed using at least one of altitude filtering, filtering according to latitude and longitude integer operations, and filtering according to floating-point operations.
The method of claim 1, wherein the packet message

A vehicle communication data packet filtering method comprising at least one of time, position, speed, direction, brake system status, vehicle size, travel path, and signal phase, signal timing, and event type.
According to claim 1,

And processing service logic by processing the remaining packet messages excluding the filtered packet message among the plurality of packet messages included in the vehicle communication data.
The method of claim 10,

Logical data calculated through the processing of the service logic includes object classification (TC, target classification), time-to-collision (TTC), time-to-intersection (TTI), and cross-distance (DTI). Distance to Intersection) vehicle communication data packet filtering method comprising at least one.
A computer program stored on a medium for executing the method of any one of claims 1 to 11.
A communication terminal device for a vehicle performing the method of any one of claims 1 to 11.