CN105813104A - Time slot resource collision detection method in vehicle-mounted ad hoc network - Google Patents
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Abstract
本发明公开一种车载自组织网中时隙资源的碰撞检测方法，节点在候选时隙或是基础时隙内随机选择发送时间点，并根据检测的信号功率，判断是否发生了碰撞。节点在候选时隙的t1～t2时间段内选择发送时间点tx，根据t1-tx期间检测的信号功率判断时隙是否被占用，当信号功率大于噪声功率且信号功率小于最大功率、或是信号功率大于最大功率时，该候选时隙被占用，节点重新选择候选时隙；当信号功率小于等于噪声功率时，该候选时隙未被占用，节点在发送时间点tx通过该候选时隙发送时隙申请帧。本发明降低了时隙碰撞检测的漏判和误判率，提高了时隙碰撞检测的准确度，适用于节点处于高速移动状态的车载自组织网中。
The invention discloses a collision detection method for time slot resources in a vehicle ad hoc network. A node randomly selects a sending time point in a candidate time slot or a basic time slot, and judges whether a collision occurs according to the detected signal power. The node selects the sending time point t x within the time period t 1 ~ t 2 of the candidate time slot, and judges whether the time slot is occupied according to the signal power detected during the period t 1 -t x . When the signal power is greater than the noise power and the signal power is less than the maximum When the power or signal power is greater than the maximum power, the candidate time slot is occupied, and the node reselects the candidate time slot; when the signal power is less than or equal to the noise power, the candidate time slot is not occupied, and the node passes through The candidate time slot sends a time slot application frame. The invention reduces the missed judgment and misjudgment rate of time slot collision detection, improves the accuracy of time slot collision detection, and is suitable for vehicle-mounted ad hoc networks in which nodes are in high-speed moving state.
Description
技术领域technical field
本发明涉及一种车载自组织网中时隙资源的碰撞检测方法，属于车载通信网技术领域。The invention relates to a collision detection method for time slot resources in a vehicular ad hoc network, belonging to the technical field of vehicular communication networks.
背景技术Background technique
RR-ALOHA(ReliableReservationALOHA)协议是基于时隙结构的动态时分复用的信道访问协议，其基本思想是，信道由周期性的帧构成，每帧由N个时隙组成，每个时隙可被节点预约，若预约成功，则该时隙可作为该节点的基础时隙，在每帧的该基础时隙周期性的发送数据包，直到与其他节点发生碰撞或离开网络放弃该信道。在每一帧内，节点通过侦听单跳范围内其他节点广播的数据包，在其帧信息的相应时隙置标志位(忙、空闲)，在下一帧占用的时隙内，不仅广播协作所需的信息，而且广播更新后的帧信息，每个节点按帧周期接收单跳范围内其他节点发送的帧信息并存储为时隙状态表，以了解双跳范围内节点占用时隙的情况。The RR-ALOHA (ReliableReservationALOHA) protocol is a channel access protocol based on time slot structure and dynamic time division multiplexing. Its basic idea is that the channel is composed of periodic frames, and each frame is composed of N time slots. Node reservation, if the reservation is successful, the time slot can be used as the basic time slot of the node, and periodically send data packets in the basic time slot of each frame until it collides with other nodes or leaves the network to give up the channel. In each frame, the node listens to the data packets broadcast by other nodes within the single-hop range, and sets the flag (busy, idle) in the corresponding time slot of its frame information. In the time slot occupied by the next frame, it not only broadcasts the cooperative The required information, and broadcast the updated frame information, each node receives the frame information sent by other nodes within the single-hop range according to the frame cycle and stores it as a time slot state table to understand the time slot occupied by nodes within the double-hop range .
上述信道资源的分配过程一般包括信道监听、信道接入及信道维护三个过程，节点进入网络后，首先监听一帧的时间，获取周围一跳节点广播的帧信息，维护自身的时隙状态表；从下一帧开始，根据时隙状态表，随机选取其中状态为空闲的时隙作为候选时隙，候选时隙到达之后，若仍为空闲状态，则在该时隙发送时隙申请帧，针对该时隙申请帧收到的其他节点的帧信息中，该时隙均标志为该节点占用，表明申请成功，该节点以该时隙为基础时隙发送数据。The above-mentioned channel resource allocation process generally includes three processes: channel monitoring, channel access and channel maintenance. After a node enters the network, it first monitors the time of one frame, obtains the frame information broadcast by the surrounding one-hop nodes, and maintains its own time slot status table ; From the next frame, according to the slot state table, randomly select the idle slot as the candidate slot, after the candidate slot arrives, if it is still in the idle state, then send a slot request frame in this slot, In the frame information of other nodes received by the time slot application frame, the time slot is marked as occupied by the node, indicating that the application is successful, and the node sends data based on the time slot.
图1是RR-ALOHA协议的帧数据格式，图2是相应的时隙描述表，如图所示，每个时隙具有状态位、占用节点编号(STI)、优先级等标志位，节点可通过邻居节点发送的帧信息中时隙的标志位，感知周围两跳节点范围内被占用的时隙，避免碰撞的发生；具体的说，对于本节点占用时隙，本节点收到其他节点的帧信息，若时隙的STI与本节点的STI不同，无论状态位取值如何，均说明本节点占用的基础时隙发生了碰撞，若状态位为1且STI与本节点STI相同，说明本节点占用的基础时隙未发生碰撞，可继续占用；对于其他节点(设STI为n)占用时隙，根据其收到的帧信息，其所占用的时隙状态为1且STI不等于n，说明其占用的基础时隙发生了碰撞，若状态位不为1，表明未发生碰撞，该节点可继续占用其基础时隙。Figure 1 is the frame data format of the RR-ALOHA protocol, and Figure 2 is the corresponding time slot description table, as shown in the figure, each time slot has status bits, occupied node number (STI), priority and other flag bits, and the nodes can Through the flag bit of the time slot in the frame information sent by the neighbor node, the time slot occupied by the surrounding two-hop nodes is perceived to avoid the occurrence of collision; specifically, for the time slot occupied by the node, the node receives the time slot from other nodes frame information, if the STI of the time slot is different from the STI of the node, regardless of the value of the state bit, it means that the basic time slot occupied by the node has a collision. If the state bit is 1 and the STI is the same as the STI of the node, it means that the The basic time slot occupied by the node has no collision and can continue to occupy; for other nodes (set STI as n) to occupy the time slot, according to the frame information it receives, the state of the time slot occupied by it is 1 and the STI is not equal to n, It indicates that a collision has occurred in the basic time slot occupied by it. If the status bit is not 1, it indicates that no collision has occurred, and the node can continue to occupy its basic time slot.
上述对于节点占用时隙的碰撞检测方法，并不适用于拓扑结构处于动态变化状态的车载自组织网中，这是因为，节点处于高速移动状态时，根据周围节点的帧信息判断是否发生碰撞，极易出现误判情况，导致碰撞次数增多，造成数据发送不稳定；同时，由于每个节点在发送时隙中的发送时间完全相同，会出现碰撞检测不及时即漏判的问题。The above-mentioned collision detection method for nodes occupying time slots is not suitable for vehicular ad hoc networks whose topological structure is in a dynamically changing state. Misjudgment is very easy to occur, resulting in an increase in the number of collisions, resulting in unstable data transmission; at the same time, because the transmission time of each node in the transmission time slot is exactly the same, there will be a problem that the collision detection is not timely or the judgment is missed.
发明内容Contents of the invention
鉴于上述原因，本发明的目的在于提供一种车载自组织网中时隙资源的碰撞检测方法，该方法适用于节点处于高速移动状态的车载自组织网中，可减小时隙碰撞检测的漏判和误判率，提高时隙资源的利用率。In view of the above reasons, the object of the present invention is to provide a collision detection method for time slot resources in a vehicular ad hoc network, which is applicable to a vehicular ad hoc network in which nodes are moving at high speed, and can reduce the missed judgment of time slot collision detection And misjudgment rate, improve the utilization rate of time slot resources.
为实现上述目的，本发明采用以下技术方案：To achieve the above object, the present invention adopts the following technical solutions:
车载自组织网中时隙资源的碰撞检测方法，A collision detection method for time slot resources in a vehicular ad hoc network,
一种车载自组织网中时隙资源的碰撞检测方法，A collision detection method for time slot resources in a vehicular ad hoc network,
节点在候选时隙或是基础时隙内随机选择发送时间点，并根据检测的信号功率，判断是否发生了碰撞。The node randomly selects the sending time point in the candidate time slot or the basic time slot, and judges whether a collision occurs according to the detected signal power.
进一步的，further,
节点在候选时隙的t1～t2时间段内选择发送时间点tx，根据t1-tx期间检测的信号功率Pc，当Pc＞Pn且Pc＜Pmax、或是Pc＞Pmax时，该候选时隙被占用，节点重新选择候选时隙；当Pc≤Pn时，该候选时隙未被占用，节点在发送时间点tx通过该候选时隙发送时隙申请帧；其中，Pn为噪声功率，Pmax为正常信号功率最大值。The node selects the sending time point t x within the time period t 1 ~ t 2 of the candidate time slot. According to the signal power P c detected during the period t 1 -t x , when P c >P n and P c <P max , or When P c >P max , the candidate time slot is occupied, and the node reselects the candidate time slot; when P c ≤ P n , the candidate time slot is not occupied, and the node transmits through the candidate time slot at the sending time point t x Time slot application frame; among them, P n is the noise power, and P max is the maximum value of normal signal power.
节点根据其他节点的帧信息，当所述候选时隙的状态均为本节点占用时，节点将所述候选时隙作为基础时隙发送数据；当存在所述候选时隙的状态为碰撞或者其他节点占用时，节点重新选择候选时隙。According to the frame information of other nodes, when the states of the candidate time slots are all occupied by the node, the node uses the candidate time slots as the basic time slots to send data; when the state of the candidate time slots is collision or other When the node is occupied, the node reselects the candidate time slot.
节点通过所述基础时隙发送数据前，在所述基础时隙内的t1～t2时间段内随机选取发送时间点tx，根据t1-tx期间检测的信号功率Pc，当Pc＞Pn且Pc＜Pmax、或者Pc＞Pmax时，判断所述基础时隙发生碰撞，节点重新选择候选时隙；当Pc≤Pn时，判断所述基础时隙未发生碰撞。Before sending data through the basic time slot, the node randomly selects the sending time point t x within the time period t 1 ~ t 2 in the basic time slot, and according to the signal power P c detected during the period t 1 -t x , when When P c >P n and P c <P max , or P c >P max , it is judged that the basic time slot collides, and the node reselects a candidate time slot; when P c ≤ P n , it is judged that the basic time slot No collision occurred.
时隙状态包括空闲、碰撞、本节点占用、邻居节点占用、两跳邻居节点占用共五种状态。The time slot state includes five states: idle, collision, local node occupation, neighbor node occupation, and two-hop neighbor node occupation.
节点从空闲状态时隙，且非三跳邻居节点占用状态的时隙中选择候选时隙。Nodes select candidate slots from slots in the idle state and occupied by non-three-hop neighbor nodes.
本发明的优点是：The advantages of the present invention are:
本发明可减小时隙碰撞检测的漏判和误判率，降低碰撞检测的时延，提高时隙碰撞检测的准确度，提高时隙资源的利用率，尤其适用于节点处于高速移动状态的车载自组织网中。The invention can reduce the missed judgment and misjudgment rate of time slot collision detection, reduce the time delay of collision detection, improve the accuracy of time slot collision detection, and improve the utilization rate of time slot resources, and is especially suitable for vehicles with nodes in a high-speed moving state self-organizing network.
附图说明Description of drawings
图1是RR-ALOHA协议的帧数据格式。Figure 1 is the frame data format of the RR-ALOHA protocol.
图2是RR-ALOHA协议的时隙描述表。Fig. 2 is a time slot description table of the RR-ALOHA protocol.
图3是本发明的时隙描述表。Fig. 3 is a time slot description table of the present invention.
图4是本发明的选择发送时间点示意图。Fig. 4 is a schematic diagram of the selected sending time point in the present invention.
图5是本发明的方法流程图。Fig. 5 is a flow chart of the method of the present invention.
具体实施方式detailed description
以下结合附图和实施例对本发明作进一步详细的说明。The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.
图3是本发明的时隙描述表，图4是本发明的选择发送时间示意图，如图所示，为解决车载自组织网中碰撞检测误判率高的问题，本发明将帧信息中每个时隙的状态位用两个子标志位(x，y)表示，当(x，y)取值为(1，1)时表明发生碰撞，并将节点的感知范围扩展到三跳相邻节点范围；对于因发送时间相同而导致无法检测的问题，本发明通过随机选择发送时间并结合判断接收功率的方法，提高时隙碰撞的检测准确度，减少碰撞的漏判。以下结合本发明的方法流程图进行详细的说明。Fig. 3 is a time slot description table of the present invention, and Fig. 4 is a schematic diagram of the selected transmission time of the present invention, as shown in the figure, in order to solve the problem of high misjudgment rate of collision detection in the vehicular ad hoc network, the present invention divides each The state bit of a time slot is represented by two sub-flag bits (x, y). When the value of (x, y) is (1, 1), it indicates that a collision occurs, and the sensing range of the node is extended to three-hop adjacent nodes. Scope: For the problem that cannot be detected due to the same sending time, the present invention improves the detection accuracy of timeslot collision and reduces the missed judgment of collision by randomly selecting the sending time and combining the method of judging the receiving power. A detailed description will be given below in conjunction with the flow chart of the method of the present invention.
图5是本发明的方法流程图，如图所示，本发明公开的车载自组织网中时隙资源的碰撞检测方法，包括以下步骤：Fig. 5 is the method flowchart of the present invention, as shown in the figure, the collision detection method of time slot resource in the vehicular ad hoc network disclosed by the present invention, comprises the following steps:
节点A进入信道，根据时隙状态表，选取并确定出候选时隙后，在该候选时隙内的t1～t2时间段内随机选择发送时间点tx，同时，物理层启动当前信道的信号功率检测，并将检测结果发送给MAC层，在t1-tx期间，如果物理层检测的信号功率Pc＞Pn且Pc＜Pmax(设噪声功率为Pn，正常信号功率最大值为Pmax)，表明在节点A的一跳范围内已有节点占用该候选时隙，节点A立即停止在候选时隙发送数据，并将该候选时隙状态设置为空闲，重新在剩余的空闲时隙中选择新的候选时隙；如果物理层检测到的信号功率Pc＞Pmax，表明此时有多个节点占用了该候选时隙，即发生了碰撞，节点A停止发送数据，并将该候选时隙的状态设置为碰撞，重新在剩余的空闲时隙中选择新的候选时隙；如果物理层检测的信号功率Pc≤Pn，表明尚无节点占用候选时隙，节点A将候选时隙状态设置为本节点占用，在选择出的发送时间点tx发送时隙申请帧。Node A enters the channel, selects and determines the candidate time slot according to the time slot state table, randomly selects the sending time point t x within the time period t 1 ~ t 2 in the candidate time slot, and at the same time, the physical layer starts the current channel , and send the detection result to the MAC layer. During the period t 1 -t x , if the signal power detected by the physical layer is P c >P n and P c <P max (assuming that the noise power is P n , the normal signal The maximum power value is P max ), indicating that a node already occupies the candidate time slot within one hop of node A, node A immediately stops sending data in the candidate time slot, and sets the state of the candidate time slot as idle, and restarts Select a new candidate time slot from the remaining free time slots; if the signal power P c >P max detected by the physical layer indicates that there are multiple nodes occupying the candidate time slot at this time, that is, a collision occurs, and node A stops sending data, and set the state of the candidate time slot to collision, and select a new candidate time slot in the remaining free time slots; if the signal power detected by the physical layer P c ≤ P n , it indicates that no node has occupied the candidate time slot , node A sets the status of the candidate time slot as being occupied by the node, and sends a time slot application frame at the selected sending time point t x .
当节点A收到所有其他节点的帧信息中，该候选时隙的状态均为节点A占用(状态位为(1，0)，STI为节点A的STI)时，表明基础时隙申请成功，后续节点A将该候选时隙作为基础时隙发送数据；相反的，如果节点A收到所有其他节点的帧信息中，存在该候选时隙的状态不是节点A占用时，节点A需要重新选择候选时隙。When node A receives the frame information of all other nodes, the state of the candidate time slot is occupied by node A (the status bit is (1, 0), and STI is the STI of node A), indicating that the basic time slot application is successful, Subsequent node A uses the candidate time slot as the basic time slot to send data; on the contrary, if node A receives the frame information of all other nodes, and the state of the candidate time slot is not occupied by node A, node A needs to reselect the candidate time slot time slot.
节点A在使用基础时隙过程中，根据接收的其他节点的帧信息和服务信息，维护自身的时隙状态表。节点A利用基础时隙发送数据之前，在基础时隙内的t1～t2时间段内随机选取发送时间点tx，并根据t1-tx期间检测的信号功率判断是否发生碰撞：当检测的信号功率Pc＞Pn且Pc＜Pmax，或者Pc＞Pmax时，判断该基础时隙发生了碰撞，节点A停止发送数据，将基础时隙的状态修改为碰撞，重新选择候选时隙；当检测的信号功率Pc≤Pn时，判断该基础时隙没有其他节点占用，节点A可继续通过该基础时隙发送帧信息及服务信息。Node A maintains its own time slot state table according to the received frame information and service information of other nodes during the use of the basic time slot. Before node A uses the basic time slot to send data, it randomly selects the sending time point t x within the time period t 1 ~ t 2 in the basic time slot, and judges whether a collision occurs according to the signal power detected during the period t 1 -t x : when When the detected signal power P c >P n and P c <P max , or P c >P max , it is judged that a collision has occurred in the basic time slot, node A stops sending data, changes the state of the basic time slot to collision, and restarts Select a candidate time slot; when the detected signal power P c ≤ P n , it is judged that the basic time slot is not occupied by other nodes, and node A can continue to send frame information and service information through the basic time slot.
进一步的，结合图3所示，本发明的时隙状态包括五种，设定五种状态的优先级：碰撞＞本节点占用＞邻居节点占用＞两跳邻居节点占用＞空闲，各状态的转换方法为：Further, as shown in FIG. 3 , the time slot states of the present invention include five types, and the priorities of the five states are set: collision>occupied by this node>occupied by neighbor nodes>occupied by two-hop neighbor nodes>idle, the conversion of each state The method is:
对于本节点占用状态，当收到的帧信息中对基础时隙的状态为碰撞或者其他节点占用(其他节点占用是指邻居节点占用或两跳邻居节点占用)时，本节点将本节点占用状态修改为碰撞状态；当收到的帧信息中基础时隙的状态为本节点占用或空闲时，状态保持不变。For the occupancy state of this node, when the state of the basic time slot in the received frame information is collision or other node occupancy (other node occupancy refers to occupancy of neighbor nodes or occupancy of two-hop neighbor nodes), the node will change the occupancy state of this node to Modified to the collision state; when the state of the basic time slot in the received frame information is occupied by the node or idle, the state remains unchanged.
对于邻居节点占用状态，当本节点将某时隙状态设置为邻居节点占用时，如果收到节点B的帧信息中，该时隙的状态为占用，且其STI与邻居节点的STI不相同，则认为发生了碰撞，本节点将该时隙状态设置为碰撞；由于各节点随机选择发送时间点而具有不同的发送时间，当本节点的两个或多个邻居节点占用同一个时隙时，本节点能够确保先收到一个邻居节点的帧信息，并根据其帧信息更新时隙状态表，在下一个帧周期如果收到另一个邻居节点的帧信息，即可及时检测出是否发生了碰撞，解决了漏判的问题。For neighbor node occupancy state, when the node sets the status of a time slot as neighbor node occupancy, if it receives the frame information of Node B, the state of the time slot is occupied, and its STI is different from the neighbor node’s STI, Then it is considered that a collision has occurred, and this node sets the state of the time slot as collision; because each node randomly selects the sending time point and has a different sending time, when two or more neighbor nodes of the node occupy the same time slot, This node can ensure that it receives the frame information of a neighbor node first, and updates the slot state table according to its frame information. If it receives the frame information of another neighbor node in the next frame period, it can detect whether a collision has occurred in time. Solved the problem of missed judgment.
对于两跳邻居节点占用状态，当收到其他节点的帧信息中，时隙状态为碰撞或空闲时，两跳邻居节点占用状态保持不变(其中时隙状态为碰撞时，保持不变是为了防止碰撞状态的无限传播，而将其局限在两跳范围以内)；时隙状态为除上述两种状态之外的其它状态时，两跳邻居节点占用状态修改为相应的状态。需要说明的是，当本节点收到时隙状态为两跳邻居节点占用时，表明该时隙被本节点的三跳邻居节点占用，为了适应节点高速移动的状态，本节点选择候选时隙时要尽量避免选择三跳邻居节点所占用的时隙。For the occupancy state of the two-hop neighbor node, when receiving the frame information of other nodes, when the time slot state is collision or idle, the occupancy state of the two-hop neighbor node remains unchanged (when the time slot state is collision, it remains unchanged for the purpose of To prevent the infinite propagation of the collision state, and limit it within the range of two hops); when the time slot state is other than the above two states, the two-hop neighbor node occupancy state is modified to the corresponding state. It should be noted that when the node receives the time slot status as occupied by the two-hop neighbor node, it indicates that the time slot is occupied by the three-hop neighbor node of the node. Try to avoid choosing time slots occupied by three-hop neighbor nodes.
对于碰撞状态，优先级最高，收到其他节点的帧信息中，无论时隙状态为何，碰撞状态均不改变。For the collision state, the priority is the highest. In the frame information received from other nodes, no matter what the time slot state is, the collision state will not change.
对于空闲状态，当收到其他节点的帧信息中，时隙状态为除碰撞以外的其他状态时，空闲状态均会修改为相应状态。For the idle state, when receiving the frame information from other nodes, when the slot state is other than the collision state, the idle state will be modified to the corresponding state.
本发明的车载自组织网中时隙资源的碰撞检测方法，是将帧信息中每个时隙的状态增加为空闲、碰撞、本节点占用、邻居节点占用、两跳邻居节点占用共五种状态，将节点的感知范围扩展到三跳相邻节点范围，节点可根据状态位挑选候选时隙；同时，本发明在候选时隙或基础时隙内随机选择发送时间点，并结合检测的信号功率判断是否发送了碰撞，提高了碰撞检测的准确性，降低了节点碰撞检测的漏判和误判率，提高了信道利用率。The collision detection method of the time slot resource in the vehicular ad hoc network of the present invention is to increase the state of each time slot in the frame information into five states: idle, collision, own node occupation, neighbor node occupation, and two-hop neighbor node occupation. , the sensing range of the node is extended to the range of three-hop adjacent nodes, and the node can select candidate time slots according to the status bits; at the same time, the present invention randomly selects the sending time points in the candidate time slots or basic time slots, and combines the detected signal power Judging whether a collision is sent, improves the accuracy of collision detection, reduces the missed judgment and misjudgment rate of node collision detection, and improves the channel utilization rate.
以上所述是本发明的较佳实施例及其所运用的技术原理，对于本领域的技术人员来说，在不背离本发明的精神和范围的情况下，任何基于本发明技术方案基础上的等效变换、简单替换等显而易见的改变，均属于本发明保护范围之内。The above are the preferred embodiments of the present invention and the technical principles used therefor. For those skilled in the art, without departing from the spirit and scope of the present invention, any technical solution based on the present invention Obvious changes such as equivalent transformation and simple replacement all fall within the protection scope of the present invention.
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