CN106372759B - Emergency logistics monitoring method based on the selection of the best emergency network - Google Patents

Abstract

The invention relates to an emergency logistics monitoring method based on the selection of the best emergency network. By arranging a coordinated spectrum sensing module and a spectrum sensing fusion module on a vehicle, the normalized credibility index, emergency index and normalized spectrum sensing module of the spectrum sensing module are obtained. The power consumption index and the normalized speed impact factor that affects the detection performance of the spectrum sensing module, so as to obtain the priority index index that characterizes the performance of the spectrum sensing module in the moving state; The high detection performance of the selected spectrum sensing module and the detection accuracy of the frequency band state in the communication environment around the optimal emergency vehicle enable the communication module on the optimal emergency vehicle to be accurately switched to the idle frequency band to ensure that Remote real-time monitoring of emergency materials on the best emergency vehicles by the emergency logistics dispatch monitoring center.

Description

Emergency logistics monitoring method based on the selection of the best emergency network

technical field

The invention relates to the field of logistics management, in particular to an emergency logistics monitoring method based on the selection of the best emergency network.

Background technique

Emergency logistics refers to special logistics activities that urgently dispatch and transport materials in response to emergencies such as serious natural disasters, public security incidents, and military conflicts.

In the event of extremely serious natural disasters such as earthquakes, mudslides, and typhoons, the National Disaster Prevention Command Center will dispatch vehicles from all over the country to deliver emergency supplies to the affected centers. Under the background of the above special emergency environment, the disaster prevention command center needs to integrate all the idle vehicles of the social logistics company, so as to quickly transport the emergency materials to the disaster-stricken center, and monitor the delivered emergency materials in real time through wireless communication. Check the current status of emergency supplies.

In an emergency environment, the frequency spectrum resources will be intensified, causing the existing wireless communication environment and emergency logistics management system to suffer paralyzed damage, resulting in the inability of the disaster prevention command center to monitor the emergency materials on the vehicle smoothly and in real time. situation, which ultimately led to delays in the safe delivery of emergency supplies to disaster-hit centers that needed them.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide an emergency logistics monitoring method based on the selection of the best emergency network for the above-mentioned prior art.

The technical solution adopted by the present invention to solve the above technical problems is: an emergency logistics monitoring method based on the selection of the best emergency network, which is used for including an emergency logistics dispatch monitoring center, at least one logistics company management center, and a management center belonging to the logistics company management center. In the emergency logistics monitoring system formed by logistics vehicles, each logistics vehicle is provided with a communication module, a spectrum sensing fusion module, and a spectrum sensing module capable of detecting the occupancy status of the communication frequency band. It is characterized in that, the emergency logistics monitoring method sequentially includes: Follow steps 1 to 8 below:

Step 1, according to the received emergency material dispatching request information, the emergency logistics dispatching monitoring center obtains the location data of the emergency material demand place, the emergency material demand intensity and the emergency material demand quantity information; wherein, the emergency material dispatching request information at least includes the emergency material dispatching request information. The location data of the material demand place, the intensity of emergency material demand, and the emergency material demand;

Step 2: In response to the received emergency material scheduling request information, the emergency logistics dispatch monitoring center notifies the management centers of each logistics company to report the number of idle logistics vehicles under its management, the maximum carrying capacity of each idle logistics vehicle, and the logistics company to which the idle logistics vehicles belong. branch address;

Step 3, the management center of each logistics company instructs each branch to report the number of idle logistics vehicles, and sends the address of the branch of the corresponding logistics company and the number of idle logistics vehicles at the branch of the logistics company to the emergency logistics dispatch monitoring center;

Step 4: The emergency logistics dispatching monitoring center calculates the straight-line distance between the address of each logistics company's branch point and the emergency material demand place according to the corresponding branch point addresses and the location data of the emergency material demand place sent by each logistics company, and calculates the distance from each logistics company to the emergency material demand place. The logistics company independently selects the branch network closest to the emergency material demand area as the alternative network point, and the management center of each logistics company sends the selected alternative network point to the emergency logistics dispatching monitoring center; among them, the logistics company branch network point is set The straight-line distance between the address and the place where emergency supplies are needed is the emergency distance;

Step 5: According to the emergency distance corresponding to the alternative outlets, the number of idle logistics vehicles at each alternative outlet, and the maximum carrying capacity of idle logistics vehicles, the emergency logistics dispatch and monitoring center calculates the total carrying capacity of idle logistics vehicles at each alternative outlet and the total carrying capacity of each idle logistics vehicle. The emergency carrying efficiency of the alternative outlets, and the alternative outlets with the highest emergency carrying efficiency are selected as the best emergency outlets, and all idle logistics vehicles at the best emergency outlets are selected as the best emergency vehicles. After the approval of the logistics company to which the best emergency network belongs, the emergency logistics dispatch monitoring center is directly responsible for the dispatch and command of the best emergency network;

Step 6: According to the dispatch and command of the emergency logistics dispatch monitoring center, the corresponding alternative outlets selected by other logistics companies are specially responsible for dispatching logistics vehicles to transport emergency materials directly to the best emergency outlets. All the best emergency vehicles in the best emergency outlets It is specially responsible for transporting emergency materials from the best emergency network to the places where emergency materials are needed, and each best emergency vehicle continuously detects the idle frequency band in the surrounding communication environment during the transportation process, so as to ensure the best emergency vehicle and emergency response. Smooth communication between logistics dispatching and monitoring centers; among them, the optimal number of emergency vehicles responsible for carrying emergency supplies is set to N, and a spectrum sensing fusion module is set on one of the optimal emergency vehicles to communicate around the optimal emergency logistics vehicle. The number of authorized frequency bands in the environment is M; the process for the optimal emergency vehicle to detect idle frequency bands in the surrounding communication environment includes the following steps 6-1 to 6-7:

Step 6-1, the spectrum sensing modules on the N optimal emergency vehicles respectively obtain their own signal-to-noise ratio, their own power consumption value and instant speed vector value, and correspondingly detect the M vehicles in the surrounding communication environment according to their respective preset detection periods. The occupancy of the authorized frequency band is respectively detected by energy, and then the obtained real-time position, detection probability, false alarm probability, self-signal-to-noise ratio and self-power consumption value are respectively sent to the spectrum sensing fusion module; among them:

The spectrum sensing fusion module on the best emergency vehicle is denoted as FC, the i-th spectrum sensing module is denoted as CR _i , the signal-to-noise ratio of the spectrum sensing module CR _i itself is denoted as SNR _i , and the power consumption value of the spectrum sensing module CR _i itself Denoted as E _i , the instant velocity vector value includes the instant velocity value and the offset angle of the instant velocity, the offset angle of the instant velocity is the deviation angle of the current forward direction of the spectrum sensing module from the velocity direction of the spectrum sensing module at the previous moment, and the spectrum sensing module is The instant speed value of the module CR _i is denoted as vi , the offset angle of the instant speed vi of the spectrum sensing module CR _i is denoted as _{θ i , and the preset detection period of the spectrum sensing module CR i is denoted as} T _CRi ; The detection probability of _i to the licensed frequency band j is denoted as P _d (CR _i ,j), and the false alarm probability of the spectrum sensing module CR _i to the licensed frequency band j is denoted as P _f (CR _i ,j), i=1,2,… ,N,N≥3; j=1,2,...,M,M≥2;

Step 6-2, each spectrum sensing module judges that within its corresponding preset detection period, if the difference between the detection probability obtained at the current moment and the detection probability obtained at the previous moment is not within the allowable error range, the The spectrum sensing module sends the detection result at the current moment to the spectrum sensing fusion module for storage, so as to update its detection probability and false alarm probability at the spectrum sensing fusion module; The detection result at the spectrum sensing fusion module is updated; the detection result sent by the spectrum sensing module includes the detection probability and false alarm probability of the licensed frequency band;

Step 6-3, the spectrum sensing fusion module on the optimal emergency vehicle calculates the normalized credibility index of each spectrum sensing module in all spectrum sensing modules; wherein, the normalized credibility index of the spectrum sensing module CR _i is denoted as

SNR _i is the signal-to-noise ratio of the spectrum sensing module CR _i , E _i is the power consumption value of the spectrum sensing module CR _i , N is the total number of spectrum sensing modules on all the best emergency vehicles, and _vi is the spectrum sensing module The instantaneous velocity value of CR _i , θ _i represents the offset angle of the instantaneous velocity vi of the spectrum sensing module CR _i ; _i =1,2,...,N, N≥3;

Step 6-4, the spectrum sensing fusion module on the optimal emergency vehicle obtains the normalized speed influence of each spectrum sensing module according to the preset detection period, the instant speed value and the offset angle of the instant speed direction of each spectrum sensing module. factor and the priority index participating in the cooperative detection; wherein, the acquisition process of the normalized speed impact factor and the priority index of each spectrum sensing module includes the following steps 6-41 to 6-45:

Step 6-41, the spectrum sensing and fusion module on the optimal emergency vehicle obtains the real-time data from the corresponding spectrum sensing module to the spectrum sensing and fusion module according to the preset detection period of each spectrum sensing module, the instant speed value and the offset angle of the instant speed direction. functional equation between distances; where:

Among them, Δd _i represents the real-time distance from the spectrum sensing module CR _i to the spectrum sensing fusion module FC, T _CRi represents the preset detection period of the spectrum sensing module CR _i , and D _0i represents the initial position of the spectrum sensing module CR _i to the spectrum sensing fusion module FC the straight-line distance;

Step 6-42, according to the real-time distance between the spectrum sensing module and the spectrum sensing fusion module and the accumulated moving time of the spectrum sensing module, obtain the average speed value of the spectrum sensing module during the accumulated moving time, and send the average speed value to the Spectrum Sensing Fusion Module on Best Emergency Vehicle; Average Speed Value of Spectrum Sensing Module CR _i Calculated as follows:

in, Represents the average speed value of the spectrum sensing module CR _i in the cumulative moving time, and T _i represents the cumulative moving time of the spectrum sensing module CR _i ;

Step 6-43, the spectrum sensing fusion module on the optimal emergency vehicle calculates the normalized speed influence factor of the speed of each spectrum sensing module on its detection result according to the average speed value sent by each spectrum sensing module; Normalized speed impact factor corresponding to module CR _i The calculation formula is as follows:

N represents the total number of spectrum sensing modules on all the best emergency vehicles, represents the maximum value among the average speed values of all spectrum sensing modules, Represents the minimum value in the average speed value of all spectrum sensing modules; θ _i represents the offset angle of the instantaneous speed of the spectrum sensing module CR _i ;

Step 6-44, without notifying each spectrum sensing module, the best emergency vehicle with spectrum sensing fusion module commands its own communication module to start communication work on any communication frequency band to test the spectrum on each best emergency vehicle The emergency performance of each spectrum sensing module is sensed, and each spectrum sensing module is instructed to send the corresponding detection results to the spectrum sensing fusion module, so that the spectrum sensing fusion module can obtain the emergency index representing the emergency performance of each spectrum sensing module; the detection results sent by each spectrum sensing module include: Detection probability and false alarm probability, the emergency index of spectrum sensing module CR _i is denoted as τ _i ; where:

X represents the communication frequency band currently used by the optimal emergency vehicle with the spectrum sensing fusion module, p _d (CR _i ,X) represents the detection probability of the occupancy of the communication frequency band X by the spectrum sensing module CR _i , and t _i represents the spectrum sensing module CR _i The time from the start of detection to the current detection result sent to the spectrum sensing fusion module;

Step 6-45, the spectrum sensing fusion module on the optimal emergency vehicle calculates the normalized function of each spectrum sensing module according to the normalized credibility index, normalized speed influence factor and emergency index corresponding to each spectrum sensing module. The consumption index is used to obtain the priority index of each spectrum sensing module participating in the cooperative detection; the priority index of the spectrum sensing module CR _i participating in the cooperative detection is denoted as φ _i : where:

τ _i represents the emergency index of the spectrum sensing module CR _i , is the normalized credibility index of the spectrum sensing module CR _i , is the normalized speed impact factor of the spectrum sensing module CR _i , represents the normalized power consumption index of the spectrum sensing module CR _i , and E _i represents the power consumption value of the spectrum sensing module CR _i ;

Step 6-5, the spectrum sensing fusion module on the best emergency vehicle presets the priority index screening threshold for screening the cooperative spectrum sensing module, and according to the priority index screening threshold and the priority index of each spectrum sensing module participating in the cooperative detection, the screening obtains The spectrum sensing module that finally participates in the cooperative detection, and puts the screened spectrum sensing module into the cooperative spectrum sensing module set as a cooperative spectrum sensing module:

When the priority index corresponding to the spectrum sensing module is greater than the preset priority index screening threshold, the spectrum sensing module is selected to participate in the cooperative detection, and the spectrum sensing module is placed in the cooperative spectrum sensing module set as a cooperative spectrum sensing module ; otherwise, the spectrum sensing fusion module on the optimal emergency vehicle refuses the spectrum sensing module to participate in cooperative detection; the total number of cooperative spectrum sensing modules placed in the cooperative spectrum sensing module set is N ₁ , 1≤N ₁ ≤N;

Step 6-6, according to the normalized credibility index, normalized speed influence factor and detection result of each cooperative spectrum sensing module corresponding to each cooperative spectrum sensing module in the cooperative spectrum sensing module set, the spectrum sensing fusion The detection results of the cooperative spectrum sensing modules are fused to obtain the final cooperative detection probability of all cooperative spectrum sensing modules for the licensed frequency band j and the final cooperative false alarm probability for the licensed frequency band j; wherein:

Among them, Q _d (C _l ,j) represents the final cooperative detection probability of all cooperative spectrum sensing modules for licensed frequency band j, and Q _f (C _l ,j) represents the final cooperative false alarm probability of all cooperative spectrum sensing modules for licensed frequency band j ; p _d (CR _k ,j) represents the detection probability of the k-th cooperative spectrum sensing module CR _k in the cooperative spectrum sensing module set to the licensed frequency band j, and p _f (CR _k ,j) represents the k-th cooperative spectrum sensing module set in the set. The false alarm probability of each cooperative spectrum sensing module CR _k for licensed frequency band j, is the normalized credibility index corresponding to the cooperative spectrum sensing module CR _k , represents the normalized speed impact factor corresponding to the cooperative spectrum sensing module CR _k , and N ₁ is the total number of cooperative spectrum sensing modules in the cooperative spectrum sensing module set;

Step 6-7, the spectrum sensing fusion module on the optimal emergency vehicle and the N spectrum sensing modules detect the occupancy of the remaining M-1 authorized frequency bands again according to the methods from step 6-1 to step 6-6, and obtain a target The final cooperative detection probability and final cooperative false alarm probability of each licensed frequency band, and the final cooperative detection probability and final cooperative false alarm probability for the occupancy of M licensed frequency bands are transmitted among the N optimal emergency vehicles, respectively, so as to achieve each The best emergency vehicle grasps the current status of each licensed frequency band;

Step 7, the best emergency vehicle randomly selects an idle frequency band in an unoccupied state by the best emergency vehicle according to the detection results of the occupied states of the M licensed frequency bands and the detected idle frequency bands in an unoccupied state to Complete the smooth communication between the best emergency vehicle and the emergency logistics dispatch monitoring center on the selected idle frequency band;

Step 8, the best emergency vehicle continues to start video monitoring for the emergency materials it carries, and the best emergency vehicle continuously transmits the video monitoring data for the emergency materials to the emergency logistics dispatching monitoring center on the selected idle frequency band to Real-time and smooth monitoring of emergency materials carried on the best emergency vehicles by the emergency logistics dispatch monitoring center.

Compared with the prior art, the advantages of the present invention are:

First of all, by setting up the spectrum sensing module and spectrum sensing fusion module on the vehicle, to use the collaborative work between the spectrum sensing module and the spectrum sensing fusion module to realize the detection of the state of each communication frequency band in the communication environment around the vehicle, so as to provide the best The communication module of the emergency vehicle is switched to the idle communication frequency band to achieve smooth communication between the best emergency vehicle and the emergency logistics dispatching monitoring center, which ensures the remote monitoring effect of the emergency logistics dispatching monitoring center on the materials on the best emergency vehicle;

Secondly, in the process of detecting the state of each communication frequency band in the communication environment around the optimal emergency vehicle, the present invention fully considers the actual motion state of each frequency band sensing module, and obtains the instant speed value and the instant speed offset angle of the spectrum sensing module by obtaining the instant speed value of the spectrum sensing module. , get the normalized speed influence factor that affects the detection performance of the spectrum sensing module, so as to realize the specific and numerical effect of the speed on the detection performance of the spectrum sensing module;

Third, by testing the emergency performance of the frequency band sensing module on each optimal emergency vehicle, the emergency index and normalized power consumption index of each spectrum sensing module are obtained, and the signal-to-noise ratio of each spectrum sensing module is used to obtain the performance of the spectrum sensing module. The normalized credibility index, which comprehensively weighs the normalized credibility index, emergency index, normalized speed impact factor and normalized power consumption index, to obtain the priority used to characterize the performance of the spectrum sensing module in the mobile state. The level index index avoids the inaccuracy of the performance of the spectrum sensing module caused by the use of a single signal-to-noise ratio weight in the traditional method;

Finally, the spectrum sensing modules participating in the cooperative detection are screened through the setting of the priority index, which ensures the high detection performance of the selected spectrum sensing modules and the detection accuracy of the frequency band state in the communication environment around the best emergency vehicle. The communication module on the best emergency vehicle can be accurately switched to work on the idle frequency band, so as to ensure the remote real-time monitoring of the goods on the best emergency vehicle by the emergency logistics dispatch monitoring center, thus ensuring that the emergency materials can be safely delivered to the emergency material needs. land.

Description of drawings

FIG. 1 is a schematic flowchart of an emergency logistics monitoring method based on the selection of the best emergency network in an embodiment of the present invention.

Detailed ways

The present invention will be further described in detail below with reference to the embodiments of the accompanying drawings.

As shown in FIG. 1 , the emergency logistics monitoring method based on the selection of the best emergency network in this embodiment is used to include an emergency logistics dispatch monitoring center, at least one logistics company management center, and all logistics vehicles managed by the logistics company management center. In the formed emergency logistics monitoring system, each logistics vehicle is provided with a communication module, a spectrum sensing fusion module, and a spectrum sensing module capable of detecting the occupancy status of the communication frequency band. The emergency logistics monitoring method sequentially includes the following steps 1 to 8:

Step 1, according to the received emergency material dispatching request information, the emergency logistics dispatching monitoring center obtains the location data of the emergency material demand place, the emergency material demand intensity and the emergency material demand quantity information; wherein, the emergency material dispatching request information at least includes the emergency material dispatching request information. The location data of the place of demand for materials, the intensity of the demand for emergency materials, and the demand for emergency materials; the location information in the dispatch request information for emergency materials can provide the specific location of the place of demand for emergency materials, so as to facilitate the emergency logistics dispatch monitoring center to make the most accurate information for the specific location. The optimal logistics scheduling can ensure the dispatching efficiency of emergency materials; the intensity of emergency material demand represents the emergency degree of the material demand place, and the emergency logistics dispatch monitoring center arranges the order of emergency material delivery according to the intensity of emergency demand, so as to meet the requirements first. The places with the greatest demand for emergency supplies;

Step 2: In response to the received emergency material scheduling request information, the emergency logistics dispatch monitoring center notifies the management centers of each logistics company to report the number of idle logistics vehicles under its management, the maximum carrying capacity of each idle logistics vehicle, and the logistics company to which the idle logistics vehicles belong. Address of branch outlets; the maximum carrying capacity of each idle logistics vehicle refers to the maximum cargo capacity that each idle logistics vehicle can transport alone; each idle logistics vehicle corresponds to a branch outlet of a logistics company to which it belongs;

Step 3, the management center of each logistics company instructs each branch to report the number of idle logistics vehicles, and sends the address of the branch of the corresponding logistics company and the number of idle logistics vehicles at the branch of the logistics company to the emergency logistics dispatch monitoring center;

For example, at logistics company A, the branch of logistics company A consists of three branches: A, B and C; among them, the number of idle logistics vehicles at branch point A is a, and the number of idle logistics vehicles at branch point B is b. , the number of idle logistics vehicles at branch point C is c. At this time, the logistics company management center of company A orders three branch points A, B and C to send their corresponding addresses and the corresponding number of idle vehicles a, B and C respectively. b and c are sent to the emergency logistics dispatch monitoring center together;

Step 4: The emergency logistics dispatching monitoring center calculates the straight-line distance between the address of each logistics company's branch point and the emergency material demand place according to the corresponding branch point addresses and the location data of the emergency material demand place sent by each logistics company, and calculates the distance from each logistics company to the emergency material demand place. The logistics company independently selects the branch network closest to the emergency material demand area as the alternative network point, and the management center of each logistics company sends the selected alternative network point to the emergency logistics dispatching monitoring center; among them, the logistics company branch network point is set The straight-line distance between the address and the place where emergency supplies are needed is the emergency distance;

Specifically for the logistics company A in this embodiment, the emergency logistics dispatch and monitoring center calculates the emergency distance between the three branch points according to the addresses of the three branch points A, B and C sent by the logistics company A and the location data of the places where emergency supplies are needed. The straight-line distance between the places of material demand. Assuming that branch point B is the closest to the emergency material demand point among the three branch points, then logistics company A selects branch point B as an alternative network point, and then the logistics company management center of company A will select The alternative network point - branch point B sent to the emergency logistics dispatch monitoring center; and the straight-line distance between each branch point and the emergency material demand place represents the emergency distance of the corresponding branch point;

Step 5: According to the emergency distance corresponding to the alternative outlets, the number of idle logistics vehicles at each alternative outlet, and the maximum carrying capacity of idle logistics vehicles, the emergency logistics dispatch and monitoring center calculates the total carrying capacity of idle logistics vehicles at each alternative outlet and the total carrying capacity of each idle logistics vehicle. The emergency carrying efficiency of the alternative outlets, and the alternative outlets with the highest emergency carrying efficiency are selected as the best emergency outlets, and all idle logistics vehicles at the best emergency outlets are selected as the best emergency vehicles. After the logistics company to which the best emergency network belongs is approved for filing, the emergency logistics dispatch monitoring center is directly responsible for the dispatch and command of the best emergency network; among them, the emergency carrying efficiency is the total carrying capacity of the alternative network and the corresponding emergency logistics of the alternative network. ratio between

Specifically, it is assumed that at the alternative outlet B of logistics company A, the emergency distance of the alternative outlet B is s1, the number of idle logistics vehicles in the alternative outlet B is 2, and the maximum carrying capacity of each idle logistics vehicle is X1 and X2; Assuming that at the alternative outlet D of logistics company B, the emergency distance of the alternative outlet D is s2, the number of idle logistics vehicles in the alternative outlet D is 3, and the maximum carrying capacity of each idle logistics vehicle is X1, X2 respectively and X3; assuming that at the alternative outlet F of logistics company C, the emergency distance of the alternative outlet F is s3, the number of idle logistics vehicles at the alternative outlet F is 4, and the maximum carrying capacity of each idle logistics vehicle is X1. , X2, X3 and X4;

Correspondingly, the total carrying capacity of idle logistics vehicles at alternative outlet B is X1+X2, the total carrying capacity of idle logistics vehicles at alternative outlet D is X1+X2+X3, and the total carrying capacity of idle logistics vehicles at alternative outlet F is The amount is X1+X2+X3+X4;

The emergency carrying efficiency at the alternative network point B is (X1+X2)/s1; the emergency carrying efficiency at the alternative network point D is (X1+X2+X3)/s2; the emergency carrying efficiency at the alternative network point F is (X1 +X2+X3+X4)/s3;

Among the alternative outlets B, D and F, if the emergency carrying efficiency of the alternative outlet D is the highest, the alternative outlet D is selected as the best emergency outlet, and all idle logistics vehicles at the best emergency outlet D are selected as the best emergency outlet. emergency vehicles;

Step 6: According to the dispatch and command of the emergency logistics dispatch monitoring center, the corresponding alternative outlets selected by other logistics companies are specially responsible for dispatching logistics vehicles to transport emergency materials directly to the best emergency outlets. All the best emergency vehicles in the best emergency outlets It is specially responsible for transporting emergency materials from the best emergency network to the places where emergency materials are needed, and each best emergency vehicle continuously detects the idle frequency band in the surrounding communication environment during the transportation process, so as to ensure the best emergency vehicle and emergency response. Smooth communication between logistics dispatching and monitoring centers; among them, the optimal number of emergency vehicles responsible for carrying emergency supplies is set to N, and a spectrum sensing fusion module is set on one of the optimal emergency vehicles to communicate around the optimal emergency logistics vehicle. The number of authorized frequency bands in the environment is M; the process for the optimal emergency vehicle to detect idle frequency bands in the surrounding communication environment includes the following steps 6-1 to 6-7:

Step 6-1, the spectrum sensing modules on the N optimal emergency vehicles respectively obtain their own signal-to-noise ratio, their own power consumption value and instant speed vector value, and correspondingly detect the M vehicles in the surrounding communication environment according to their respective preset detection periods. The occupancy of the authorized frequency band is respectively detected by energy, and then the obtained real-time position, detection probability, false alarm probability, self-signal-to-noise ratio and self-power consumption value are respectively sent to the spectrum sensing fusion module; among them:

The spectrum sensing fusion module on the best emergency vehicle is denoted as FC, the i-th spectrum sensing module is denoted as CR _i , the signal-to-noise ratio of the spectrum sensing module CR _i itself is denoted as SNR _i , and the power consumption value of the spectrum sensing module CR _i itself Denoted as E _i , the instant velocity vector value includes the instant velocity value and the offset angle of the instant velocity, the offset angle of the instant velocity is the deviation angle of the current forward direction of the spectrum sensing module from the velocity direction of the spectrum sensing module at the previous moment, and the spectrum sensing module is The instant speed value of the module CR _i is denoted as vi , the offset angle of the instant speed vi of the spectrum sensing module CR _i is denoted as _{θ i , and the preset detection period of the spectrum sensing module CR i is denoted as} T _CRi ; The detection probability of _i to the licensed frequency band j is denoted as P _d (CR _i ,j), and the false alarm probability of the spectrum sensing module CR _i to the licensed frequency band j is denoted as P _f (CR _i ,j), i=1,2,… ,N,N≥3; j=1,2,...,M,M≥2;

For example, set the position _of the spectrum sensing module CR1 at the previous moment as O, the current position of the spectrum sensing module CR1 as _{A '} , and the forward direction (that is, the immediate speed direction) of the spectrum sensing module CR1 as along OB' direction, the offset angle θ ₁ of the instantaneous speed of the spectrum sensing module CR ₁ is ∠B'OA';

In this embodiment, the movement situation of the spectrum sensing module in the actual environment is fully considered, especially for the special situation of the vehicle where the influence of the vehicle speed must be considered, the instantaneous speed of the spectrum sensing module and the offset angle of the instantaneous speed are used to characterize the vehicle. The movement of the upper spectrum sensing module can be more suitable for practical needs and more usable;

Step 6-2, each spectrum sensing module judges that within its corresponding preset detection period, if the difference between the detection probability obtained at the current moment and the detection probability obtained at the previous moment is not within the allowable error range, the The spectrum sensing module sends the detection result at the current moment to the spectrum sensing fusion module for storage, so as to update its detection probability and false alarm probability at the spectrum sensing fusion module; The detection result at the spectrum sensing fusion module is updated; the detection result sent by the spectrum sensing module includes the detection probability and false alarm probability of the authorized frequency band; here, the detection probability and False alarm probability, so that the spectrum sensing module is always the latest detection probability and false alarm probability at the spectrum sensing fusion module, so as to ensure the subsequent detection performance for authorized frequency bands;

Step 6-3, the spectrum sensing fusion module on the optimal emergency vehicle calculates the normalized credibility index of each spectrum sensing module in all spectrum sensing modules; wherein, the normalized credibility index of the spectrum sensing module CR _i is denoted as

SNR _i is the signal-to-noise ratio of the spectrum sensing module CR _i , E _i is the power consumption value of the spectrum sensing module CR _i , N is the total number of spectrum sensing modules on all the best emergency vehicles, and _vi is the spectrum sensing module The instantaneous velocity value of CR _i , θ _i represents the offset angle of the instantaneous velocity vi of the spectrum sensing module CR _i ; _i =1,2,...,N, N≥3;

In the process of calculating the normalized credibility index of the spectrum sensing module, the weights of the signal-to-noise ratio of each spectrum sensing module in all spectrum sensing modules on the optimal emergency vehicle are considered, and the instantaneous The influence of the speed value and the offset angle of the instantaneous speed can be used to accurately obtain the real screening reference index for screening the spectrum sensing modules participating in the cooperative detection, thereby improving the fusion performance of the spectrum sensing fusion module in the subsequent cooperative detection;

Step 6-4, the spectrum sensing fusion module on the optimal emergency vehicle obtains the normalized speed influence of each spectrum sensing module according to the preset detection period, the instant speed value and the offset angle of the instant speed direction of each spectrum sensing module. factor and the priority index participating in the cooperative detection; wherein, the acquisition process of the normalized speed impact factor and the priority index of each spectrum sensing module includes the following steps 6-41 to 6-45:

Step 6-41, the spectrum sensing and fusion module on the optimal emergency vehicle obtains the real-time data from the corresponding spectrum sensing module to the spectrum sensing and fusion module according to the preset detection period of each spectrum sensing module, the instant speed value and the offset angle of the instant speed direction. functional equation between distances; where:

Among them, Δd _i represents the real-time distance from the spectrum sensing module CR _i to the spectrum sensing fusion module FC, T _CRi represents the preset detection period of the spectrum sensing module CR _i , and D _0i represents the initial position of the spectrum sensing module CR _i to the spectrum sensing fusion module FC the straight-line distance;

For example, the time value of the spectrum sensing module CR _m at the time of the first real-time detection is T ₁ , and the time value of the spectrum sensing module CR _m at the time of the second real-time detection is T ₂ , then the preset detection period T of the spectrum sensing module CR _{m CRm} =T ₂ -T ₁ ;

Step 6-42, according to the real-time distance between the spectrum sensing module and the spectrum sensing fusion module and the accumulated moving time of the spectrum sensing module, obtain the average speed value of the spectrum sensing module during the accumulated moving time, and send the average speed value to the Spectrum Sensing Fusion Module on Best Emergency Vehicle; Average Speed Value of Spectrum Sensing Module CR _i Calculated as follows:

in, Represents the average speed value of the spectrum sensing module CR _i in the cumulative moving time, and T _{i represents} the cumulative moving time of the spectrum sensing module CR _i ; the cumulative moving time Ti is the time from the start of the detection work of the spectrum sensing module CR _i to the current moment interval;

Step 6-43, the spectrum sensing fusion module on the optimal emergency vehicle calculates the normalized speed influence factor of the speed of each spectrum sensing module on its detection result according to the average speed value sent by each spectrum sensing module; Normalized speed impact factor corresponding to module CR _i The calculation formula is as follows:

N represents the total number of spectrum sensing modules on all the best emergency vehicles, represents the maximum value among the average speed values of all spectrum sensing modules, Represents the minimum value in the average speed value of all spectrum sensing modules; θ _i represents the offset angle of the instantaneous speed of the spectrum sensing module CR _i ;

The normalized speed influence factor set in the embodiment of the present invention It not only fully considers the average speed value of each spectrum sensing module when it moves, but also considers the instantaneous speed value and the offset angle value of the instantaneous speed when a single spectrum sensing module moves itself in the acquisition of the normalized speed influence factor, so that It can avoid the detection needs that are not suitable for the actual situation caused by assuming that the spectrum sensing module is in an ideal static state, so that the detection of the frequency band state in this embodiment is more accurate because the movement of the spectrum sensing module on the vehicle is considered. functionality and practicality;

Step 6-44, without notifying each spectrum sensing module, the best emergency vehicle with spectrum sensing fusion module commands its own communication module to start communication work on any communication frequency band to test the spectrum on each best emergency vehicle The emergency performance of each spectrum sensing module is sensed, and each spectrum sensing module is instructed to send the corresponding detection results to the spectrum sensing fusion module, so that the spectrum sensing fusion module can obtain the emergency index representing the emergency performance of each spectrum sensing module; the detection results sent by each spectrum sensing module include: Detection probability and false alarm probability, the emergency index of spectrum sensing module CR _i is denoted as τ _i ; where:

X represents the communication frequency band currently used by the optimal emergency vehicle with the spectrum sensing fusion module, p _d (CR _i ,X) represents the detection probability of the occupancy of the communication frequency band X by the spectrum sensing module CR _i , and t _i represents the spectrum sensing module CR _i The time from the start of detection to the current detection result sent to the spectrum sensing and fusion module; by tentatively calculating the emergency index of each spectrum sensing module, the spectrum sensing and fusion module can understand the real emergency performance of each spectrum sensing module for frequency band detection, thereby Provide reliable reference indicators for subsequent screening of collaborative spectrum sensing modules;

Step 6-45, the spectrum sensing fusion module on the optimal emergency vehicle calculates the normalized function of each spectrum sensing module according to the normalized credibility index, normalized speed influence factor and emergency index corresponding to each spectrum sensing module. The consumption index is used to obtain the priority index of each spectrum sensing module participating in the cooperative detection; the priority index of the spectrum sensing module CR _i participating in the cooperative detection is denoted as φ _i : where:

τ _i represents the emergency index of the spectrum sensing module CR _i , is the normalized credibility index of the spectrum sensing module CR _i , is the normalized speed impact factor of the spectrum sensing module CR _i , represents the normalized power consumption index of the spectrum sensing module CR _i , and E _i represents the power consumption value of the spectrum sensing module CR _i ;

In this step 6-45, the normalized credibility index, the normalized speed influence factor and the emergency index, which affect the detection performance of the spectrum sensing module, are comprehensively weighed, and the normalized function of the spectrum sensing module is also considered. In this embodiment, the method of setting the priority index of the spectrum sensing module avoids the use of a single signal-to-noise ratio in the traditional method. Due to the inaccuracy of the performance of the spectrum sensing module caused by the weights, the spectrum sensing modules participating in the cooperative detection are screened through the setting of the priority index, which largely ensures that the spectrum sensing modules selected in this embodiment are screened. high detection performance;

Step 6-5, the spectrum sensing fusion module on the best emergency vehicle presets the priority index screening threshold for screening the cooperative spectrum sensing module, and according to the priority index screening threshold and the priority index of each spectrum sensing module participating in the cooperative detection, the screening obtains The spectrum sensing module that finally participates in the cooperative detection, and puts the screened spectrum sensing module into the cooperative spectrum sensing module set as a cooperative spectrum sensing module:

When the priority index corresponding to the spectrum sensing module is greater than the preset priority index screening threshold, the spectrum sensing module is selected to participate in the cooperative detection, and the spectrum sensing module is placed in the cooperative spectrum sensing module set as a cooperative spectrum sensing module ; otherwise, the spectrum sensing fusion module on the optimal emergency vehicle refuses the spectrum sensing module to participate in cooperative detection; the total number of cooperative spectrum sensing modules placed in the cooperative spectrum sensing module set is N ₁ , 1≤N ₁ ≤N;

Step 6-6, according to the normalized credibility index, normalized speed influence factor and detection result of each cooperative spectrum sensing module corresponding to each cooperative spectrum sensing module in the cooperative spectrum sensing module set, the spectrum sensing fusion The detection results of the cooperative spectrum sensing modules are fused to obtain the final cooperative detection probability of all cooperative spectrum sensing modules for the licensed frequency band j and the final cooperative false alarm probability for the licensed frequency band j; wherein:

Among them, Q _d (C _l ,j) represents the final cooperative detection probability of all cooperative spectrum sensing modules for licensed frequency band j, and Q _f (C _l ,j) represents the final cooperative false alarm probability of all cooperative spectrum sensing modules for licensed frequency band j ; p _d (CR _k ,j) represents the detection probability of the k-th cooperative spectrum sensing module CR _k in the cooperative spectrum sensing module set to the licensed frequency band j, and p _f (CR _k ,j) represents the k-th cooperative spectrum sensing module set in the set. The false alarm probability of each cooperative spectrum sensing module CR _k for licensed frequency band j, is the normalized credibility index corresponding to the cooperative spectrum sensing module CR _k , represents the normalized speed impact factor corresponding to the cooperative spectrum sensing module CR _k , and N ₁ is the total number of cooperative spectrum sensing modules in the cooperative spectrum sensing module set;

Step 6-7, the spectrum sensing fusion module on the optimal emergency vehicle and the N spectrum sensing modules detect the occupancy of the remaining M-1 authorized frequency bands again according to the methods from step 6-1 to step 6-6, and obtain a target The final cooperative detection probability and final cooperative false alarm probability of each licensed frequency band, and the final cooperative detection probability and final cooperative false alarm probability for the occupancy of M licensed frequency bands are transmitted among the N optimal emergency vehicles, respectively, so as to achieve each The best emergency vehicle grasps the current status of each licensed frequency band;

Step 7, the best emergency vehicle randomly selects an idle frequency band in an unoccupied state by the best emergency vehicle according to the detection results of the occupied states of the M licensed frequency bands and the detected idle frequency bands in an unoccupied state to Complete the smooth communication between the best emergency vehicle and the emergency logistics dispatch monitoring center on the selected idle frequency band;

Step 8, the best emergency vehicle continues to start video monitoring for the emergency materials it carries, and the best emergency vehicle continuously transmits the video monitoring data for the emergency materials to the emergency logistics dispatching monitoring center on the selected idle frequency band to Real-time and smooth monitoring of emergency materials carried on the best emergency vehicles by the emergency logistics dispatch monitoring center.

Claims (1)

1. The emergency logistics monitoring method based on the optimal emergency network selection is used for an emergency logistics monitoring system which comprises an emergency logistics scheduling monitoring center, at least one logistics company management center and logistics vehicles managed by the logistics company management center, wherein each logistics vehicle is provided with a communication module, a spectrum sensing fusion module and a spectrum sensing module capable of detecting the occupation state condition of a communication frequency band, and is characterized by sequentially comprising the following steps 1 to 8:

step 1, an emergency logistics dispatching monitoring center acquires position data of an emergency material demand place, emergency material demand intensity and emergency material demand amount information according to received emergency material dispatching request information; the emergency material scheduling request information at least comprises position data of an emergency material demand place, the intensity degree of the emergency material demand and the quantity of the emergency material demand;

step 2, the emergency logistics scheduling monitoring center informs each logistics company management center of reporting the number of idle logistics vehicles under corresponding management, the maximum bearing capacity of each idle logistics vehicle and the logistics company network distribution point address to which the idle logistics vehicle belongs according to the received emergency material scheduling request information;

step 3, reporting the number of idle logistics vehicles by each sub-network point to which each logistics company management center instruction belongs, and sending the corresponding logistics company sub-network point address and the number of idle logistics vehicles at the logistics company sub-network point to an emergency logistics scheduling monitoring center;

step 4, the emergency logistics dispatching monitoring center calculates the straight line distance between the branch network point address of each logistics company and the emergency material demand place according to the corresponding branch network point address and the position data of the emergency material demand place sent by each logistics company, each logistics company independently selects the closest branch network point to the emergency material demand place as an alternative network point, and each logistics company management center sends the selected alternative network point to the emergency logistics dispatching monitoring center; setting a straight line distance between a distribution point address of a logistics company and an emergency material demand place as an emergency distance;

step 5, the emergency logistics dispatching monitoring center respectively calculates the total carrying capacity of the idle logistics vehicles of each alternative network point and the emergency carrying efficiency of each alternative network point according to the emergency distance corresponding to the alternative network point, the number of the idle logistics vehicles of each alternative network point and the maximum carrying capacity condition of the idle logistics vehicles, selects the alternative network point with the maximum emergency carrying efficiency as the optimal emergency network point, and selects all the idle logistics vehicles at the optimal emergency network point as the optimal emergency vehicles, and after the emergency logistics dispatching monitoring center obtains the record permission of the logistics company to which the optimal emergency network point belongs, the emergency logistics dispatching monitoring center is directly responsible for dispatching and commanding the optimal emergency network point; the emergency bearing efficiency is the ratio of the total carrying capacity of the alternative network points to the emergency logistics corresponding to the alternative network points;

step 6, according to the dispatching command of the emergency logistics dispatching monitoring center, corresponding alternative network points selected by other logistics companies are specially responsible for dispatching logistics vehicles to directly transport emergency materials to the optimal emergency network points, all optimal emergency vehicles of the optimal emergency network points are specially responsible for carrying the emergency materials at the optimal emergency network points to emergency material demand places, and all optimal emergency vehicles constantly detect idle frequency bands in the surrounding communication environment in the carrying process so as to guarantee smooth communication between the optimal emergency vehicles and the emergency logistics dispatching monitoring center; the method comprises the following steps that the number of the optimal emergency vehicles responsible for carrying emergency materials is set to be N, a spectrum sensing fusion module is arranged on one optimal emergency vehicle, and the number of authorized frequency bands in the communication environment around the optimal emergency logistics vehicle is M; the process of detecting the idle frequency band in the surrounding communication environment by the optimal emergency vehicle comprises the following steps 6-1 to 6-7:

step 6-1, spectrum sensing modules on the N best emergency vehicles respectively acquire a self signal to noise ratio, a self power consumption value and an instant speed vector value, correspondingly and respectively carry out energy detection on the occupation conditions of M authorized frequency bands in the surrounding communication environment according to respective preset detection periods, and then respectively and correspondingly send the acquired instant position, detection probability, false alarm probability, self signal to noise ratio and self power consumption value to a spectrum sensing fusion module; wherein:

the spectrum sensing fusion module on the best emergency vehicle is recorded as FC, the ith spectrum sensing module is recorded as CR_iSpectrum sensing module CR_iIs denoted as SNR_iSpectrum sensing module CR_iIs recorded as E_iThe instant speed vector value comprises an instant speed value and a deviation angle of the instant speed, the deviation angle of the instant speed is a deviation angle of the current advancing direction of the spectrum sensing module deviating from the speed direction of the spectrum sensing module at the previous moment, and the spectrum sensing module CR_iIs recorded as v_iSpectrum sensing module CR_iInstant velocity v of_iIs marked by_iSpectrum sensing module CR_iIs recorded as T_CRi(ii) a Spectrum sensing module CR_iThe detection probability of the authorized frequency band j is recorded as P_d(CR_iJ), spectrum sensing module CR_iThe false alarm probability of the authorized frequency band j is marked as P_f(CR_i,j)，i＝1,2,…,N，N≥3；j＝1,2,…,M，M≥2；

Step 6-2, each frequency spectrum sensing module judges that in a corresponding preset detection period, if the difference value between the detection probability acquired at the current moment and the detection probability acquired at the previous moment is not within the allowable error range, the frequency spectrum sensing module sends the detection result of the current moment to the frequency spectrum sensing fusion module for storage so as to update the detection probability and the false alarm probability of the frequency spectrum sensing fusion module; otherwise, the spectrum sensing module does not update the detection result of the spectrum sensing fusion module in the current preset detection period; the detection result sent by the spectrum sensing module comprises detection probability and false alarm probability of the authorized frequency band;

6-3, calculating the normalized credibility indexes of all spectrum sensing modules by a spectrum sensing fusion module on the optimal emergency vehicle; wherein, the spectrum sensing module CR_iIs recorded as the normalized confidence index

SNR_iRepresentation spectrum sensing module CR_iSelf signal-to-noise ratio of E_iRepresentation spectrum sensing module CR_iN represents the total number of spectrum sensing modules on all the best emergency vehicles, v_iRepresentation spectrum sensing module CR_iInstant velocity value of theta_iRepresentation spectrum sensing module CR_iInstant velocity v of_iThe offset angle of (d); 1,2, …, N, N is not less than 3;

6-4, acquiring a normalized speed influence factor of each spectrum sensing module and a priority index participating in cooperative detection by a spectrum sensing fusion module on the optimal emergency vehicle according to a preset detection period, an instant speed value and a deviation angle of an instant speed direction of each spectrum sensing module; the acquisition process of the normalized speed influence factor and the priority index of each spectrum sensing module comprises the following steps 6-41 to 6-45:

6-41, obtaining a function equation between real-time distances from the corresponding spectrum sensing module to the spectrum sensing fusion module by the spectrum sensing fusion module on the optimal emergency vehicle according to the preset detection period, the instant speed value and the offset angle of the instant speed direction of each spectrum sensing module; wherein:

wherein, Δ d_iRepresentation spectrum sensing module CR_iReal-time distance to spectrum sensing fusion module FC, T_CRiRepresentation spectrum sensing module CR_iA predetermined detection period of D_0iRepresentation spectrum sensing module CR_iThe linear distance from the initial position to the spectrum sensing fusion module FC;

6-42, obtaining an average speed value of the spectrum sensing module in the accumulated moving time according to the real-time distance between the spectrum sensing module and the spectrum sensing fusion module and the accumulated moving time of the spectrum sensing module, and sending the average speed value to the spectrum sensing fusion module on the optimal emergency vehicle; spectrum sensing module CR_iAverage speed value ofThe calculation formula is as follows:

wherein,representation spectrum sensing module CR_iAverage speed value in cumulative moving time, T_iRepresentation spectrum sensing module CR_iThe accumulated movement time of (2);

6-43, calculating a normalized speed influence factor of the speed of each spectrum sensing module on a detection result by a spectrum sensing fusion module on the optimal emergency vehicle according to the average speed value sent by each spectrum sensing module; wherein, the spectrum sensing module CR_iCorresponding normalized velocity impact factorThe calculation formula of (a) is as follows:

n represents the total number of spectrum sensing modules on all best emergency vehicles,represents the maximum of the average speed values of all spectrum sensing modules,representing the minimum value in the average speed values of all spectrum sensing modules; theta_iRepresentation spectrum sensing module CR_iThe instant speed of (a);

6-44, on the premise of not informing each spectrum sensing module, the optimal emergency vehicle with the spectrum sensing fusion module orders the communication module to start communication work on any communication frequency band, so as to test the emergency performance of the spectrum sensing module on each optimal emergency vehicle, and orders each spectrum sensing module to send corresponding detection results to the spectrum sensing fusion module, so that the spectrum sensing fusion module can sense and fuse the detection resultsThe joint module obtains emergency indexes representing the emergency performance of each frequency spectrum sensing module; the detection result sent by each spectrum sensing module comprises detection probability and false alarm probability, and the spectrum sensing module CR_iThe emergency index is recorded as tau_i(ii) a Wherein:

x represents the currently used communication frequency band of the optimal emergency vehicle with the spectrum sensing fusion module, p_d(CR_iX) denotes a spectrum sensing module CR_iProbability of detection of occupation of communication band X, t_iRepresentation spectrum sensing module CR_iThe time from the start of detection to the time of sending the current detection result to the spectrum sensing fusion module;

6-45, calculating the normalized power consumption index of each spectrum sensing module by a spectrum sensing fusion module on the optimal emergency vehicle according to the normalized credibility index, the normalized speed influence factor and the emergency index corresponding to each spectrum sensing module to obtain the priority index of each spectrum sensing module participating in cooperative detection; spectrum sensing module CR_iThe priority index participating in the cooperative detection is marked as phi_i: wherein:

τ_irepresentation spectrum sensing module CR_iThe emergency index of (a) is,representation spectrum sensing module CR_iThe normalized confidence index of (a) is,representation spectrum sensing module CR_iThe normalized velocity-influencing factor of (a),representation spectrum sensing module CR_iNormalized power consumption index of, E_iRepresentation spectrum sensing module CR_iA power consumption value of;

6-5, presetting a priority index screening threshold value for screening the cooperative spectrum sensing module by a spectrum sensing fusion module on the best emergency vehicle, screening to obtain a spectrum sensing module finally participating in cooperative detection according to the priority index screening threshold value and the priority indexes of the cooperative detection participated by each spectrum sensing module, and putting the spectrum sensing module obtained by screening into a cooperative spectrum sensing module set to serve as the cooperative spectrum sensing module:

when the priority index corresponding to the spectrum sensing module is larger than a preset priority index screening threshold, selecting the spectrum sensing module to participate in cooperative detection, and placing the spectrum sensing module into a cooperative spectrum sensing module set to serve as a cooperative spectrum sensing module; otherwise, the spectrum sensing fusion module on the optimal emergency vehicle refuses the spectrum sensing module to participate in cooperative detection; the total number of the cooperative spectrum sensing modules which are arranged in the cooperative spectrum sensing module set is N₁，1≤N₁≤N；

6-6, fusing the detection results of all the cooperative spectrum sensing modules by a spectrum sensing fusion module according to the normalized credibility index and the normalized speed influence factor corresponding to each cooperative spectrum sensing module in the cooperative spectrum sensing module set and the detection result of each cooperative spectrum sensing module to obtain the final cooperative detection probability of all the cooperative spectrum sensing modules for the authorized frequency band j and the final cooperative false alarm probability for the authorized frequency band j; wherein:

wherein Q is_d(C_lJ) represents the final cooperative detection probability, Q, of all cooperative spectrum sensing modules for the authorized frequency band j_f(C_lJ) represents the final cooperative false alarm probability of all cooperative spectrum sensing modules for the authorized frequency band j; p is a radical of_d(CR_kJ) denotes the kth cooperative spectrum sensing module CR of the set of cooperative spectrum sensing modules_kProbability of detection, p, of authorized frequency band j_f(CR_kJ) denotes the kth cooperative spectrum sensing module CR of the set of cooperative spectrum sensing modules_kFor the false alarm probability of the licensed frequency band j,representation of a cooperative spectrum sensing module CR_kThe corresponding normalized confidence index of the image is,representation of a cooperative spectrum sensing module CR_kCorresponding normalized velocity influence factor, N₁The total number of the cooperative spectrum sensing modules in the cooperative spectrum sensing module set;

step 6-7, the spectrum sensing fusion module and the N spectrum sensing modules on the optimal emergency vehicle sense the occupation situation of the remaining M-1 authorized frequency bands again according to the method from the step 6-1 to the step 6-6 to obtain the final cooperative detection probability and the final cooperative false alarm probability for each authorized frequency band, and the final cooperative detection probability and the final cooperative false alarm probability for the occupation situation of the M authorized frequency bands are mutually transmitted among the N optimal emergency vehicles respectively to realize that each optimal emergency vehicle grasps the current state situation of each authorized frequency band;

step 7, the optimal emergency vehicle randomly selects one idle frequency band in a non-occupied state according to the detection results of the occupation states of the M authorized frequency bands and the detected idle frequency band in the non-occupied state, so that smooth communication between the optimal emergency vehicle and the emergency logistics scheduling monitoring center is completed on the selected idle frequency band;

and 8, continuously starting the video monitoring for the borne emergency materials by the optimal emergency vehicle, and continuously transmitting the video monitoring data for the emergency materials to the emergency logistics dispatching monitoring center on the selected idle frequency band by the optimal emergency vehicle so as to realize the real-time and smooth monitoring of the emergency materials borne by the optimal emergency vehicle by the emergency logistics dispatching monitoring center.