CN103402179A - Early-warning information broadcasting system and method based on autonomously cooperative vehicle-mounted network - Google Patents
Early-warning information broadcasting system and method based on autonomously cooperative vehicle-mounted network Download PDFInfo
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Abstract
The invention discloses an early-warning information broadcasting system and an early-warning information broadcasting method based on an autonomously cooperative vehicle-mounted network. The system comprises a neighbor state update module and an autonomous decision module. The system and method utilize position information of nodes of the vehicle-mounted network, realize autonomous coordination among the nodes without extra increase of communication burden, effectively select appropriate nodes to broadcast and forward early-warning information, improve the broadcast efficiency of the early-warning information while ensuring the broadcast reliability, help the nodes of the vehicle-mounted network rapidly broadcast the early-warning information in emergency, avoid occurrence of linked accidents, and ensure traffic safety.
Description
Technical field
The present invention relates to self-organizing In-vehicle networking early warning information broadcast technology field, relate in particular to a kind of based on autonomous collaborative In-vehicle networking early warning information broadcast system and method.
Background technology
Fast-developing and increasingly mature along with the communication technology, sensor technology and embedded computing technique, the In-vehicle networking communication node (abbreviation node) with communication, sensing and computing capability start to occur, and by being provided among vehicle gradually.Utilize the In-vehicle networking communication node, between vehicle, can carry out each other radio communication, and form whereby a zonal In-vehicle networking.Operation information between various vehicle node in In-vehicle networking perception in phase, collection, processing and monitoring network overlay area, and be distributed to the user who needs these information.In-vehicle networking is providing transport information, and more and more important effect is being brought into play in the aspect that ensures traffic safety.The broadcast of early warning information is an important function of In-vehicle networking, when on road, having an accident or during unusual condition, accident vehicle or the vehicle that closes in time perceive the generation of accident or unusual condition by transducer, then by the early warning information (time that comprises generation, the information such as the place that occurs and event) in In-vehicle networking, broadcast, and by other node by message spread out in network rapidly.Receive that the vehicle of message can in time make a response, avoid the generation of chain accident.In order to ensure the safety of traffic, the broadcast of early warning information need to guarantee reliability, guarantees that all vehicles can receive early warning information; Simultaneously, within the short as far as possible time, information is sent to rapidly to each vehicle node, be convenient to the driver and make counter-measure timely.Therefore, the vehicle-mounted net broadcasting method that reliability is strong, message propagation efficiency is high is the key point that In-vehicle networking ensures traffic safety.Traditional In-vehicle networking early warning information broadcasting method adopts the formula flooding algorithm that floods, after namely each node is received the early warning information that neighbor node sends, all can again this information be broadcasted at once, with by Information Communication in wider scope.Yet due to the characteristic of wireless network, the formula algorithm of flooding will cause a large amount of signals to disturb and even signal conflict between node, cause a part of node can't receive smoothly early warning information owing to disturbing and conflicting, and can't ensure reliability.
Based on the requirement of reliability and propagation efficiency, the In-vehicle networking early warning information broadcasting method after a large amount of the improvement is developed.These methods mainly are divided into two classes, based on forwarding person's system of selection of transmitting terminal with based on the forwarding clocking method of receiving terminal.One, based on forwarding person's system of selection of transmitting terminal.In the system of selection of the forwarding person based on transmitting terminal, when a node is broadcasted early warning information, can be by calculating the forwarding person that selects down hop in neighbor node (chosen distance neighbours far away normally, to improve data dissemination efficiency), and the selection that will make is attached in the packet of broadcast.After when neighbor node, receiving the packet of broadcast, if it is chosen as the forwarding person of down hop, this node can repeat said process, and carries out the broadcast of data; If not selected, keep mourning in silence, avoid causing signal to disturb and conflict.This method can ensure propagation efficiency faster, still, and due to the particularity of self-organizing In-vehicle networking, node mobility is strong, and between node, link change is very fast, and link-quality is unstable, when forwarding person's reality of selecting did not receive packet, transmission of news may be interrupted.Therefore the reliability of these class methods is poor.Two, based on the forwarding clocking method of receiving terminal.In the forwarding clocking method based on receiving terminal, the node of broadcast message is not made indication to the forwarding of down hop.When neighbor node receives information, according to the information of self, a random timer is set, the time to after namely again broadcast (forwarding); If the time limit not to and have neighbor node to forward, cancel timing and change silent status over to, avoid causing signal to disturb and conflict.Owing at receiving terminal, doing decision-making, it is hereby ensured that each jumping has node to broadcast, and has avoided the interruption of message propagation.By introducing ACK mechanism, between node, can check mutually whether neighbours have received early warning information, and carry out the re-transmission of message, thereby further ensure reliability.Yet these class methods, because each jumping all will be carried out countdown, thereby caused certain delay, causes the efficiency of message propagation lower.Wherein, ACK is acknowledge character, and in data communication, receiving station issues a kind of transmission class control character of dispatching station.In summary, above-mentioned two class methods all can't be accomplished taking into account of reliability and propagation efficiency, its main cause is that node independently carries out decision-making each other, for fear of a plurality of nodes, transmit simultaneously the signal conflict that causes, perhaps sacrifice reliability, by transmitting terminal, carry out decision-making, or sacrifice propagation efficiency, avoid conflict according to the random timer of receiving terminal time of staggering.
Summary of the invention
The object of the invention is to, by a kind of In-vehicle networking early warning information broadcast system and method based on independently working in coordination with, solve the problem that above background technology is partly mentioned.
For reaching this purpose, the present invention by the following technical solutions:
A kind of based on autonomous collaborative In-vehicle networking early warning information broadcast system, it comprises the neighbor state update module and the module of making decisions on one's own;
Neighbours' accepting state of early warning information packet set M, each early warning information packet m of M that described neighbor state update module has received for real-time servicing, the latest position information L(b of neighbor node b) and content distribution service (CDS) state, wherein, neighbours' accepting state of described each early warning information packet m comprises: received m neighbor node set R (m), may receive the neighbor node set P (m) of m and not receive the neighbor node set N (m) of m;
The described module of making decisions on one's own is for when receiving early warning information packet m, according to N(m) in the positional information L of all nodes, calculate its geometric center I, and to P(m) and R(m) in all nodes, by its distance to I, sort from short to long, make that r is the rank of this node c, this node c forwards early warning information packet m after r time slot, even this node c ranks the first, and forwards at once m.
The invention also discloses a kind of In-vehicle networking early warning information broadcasting method based on independently working in coordination with, it comprises the steps:
Up-to-date positional information L and content distribution service (CDS) state of neighbours' accepting state, the neighbor node of each early warning information packet m in early warning information packet set M, M that A, neighbor state update module real-time servicing have received, wherein, neighbours' accepting state of described each early warning information packet m comprises: received m neighbor node set R (m), may receive the neighbor node set P (m) of m and not receive the neighbor node set N (m) of m;
B, the module of making decisions on one's own are when receiving early warning information packet m, according to N(m) in the positional information L of all nodes, calculate its geometric center I, and to P(m) and R(m) in all nodes, by its distance to I, sort from short to long, make that r is the rank of this node c, this node c forwards early warning information packet m after r time slot, even this node c ranks the first, and forwards at once m.
Especially, described steps A specifically comprises:
A1, to each early warning information packet m, initialization N (m), R (m) is empty set, P (m) is the set of known neighbor node;
The early warning information packet set M={m that A2, broadcast comprise node self-position information L and received
1, m
2..., m
nBeacon bag;
The beacon bag that A3, reception neighbor node B send, and inspection positional information L (B) wherein and the early warning information packet set M (B) that has received={ m
B1,m
B2..., m
Bk;
A4, for each m in M
i, upgrade N (m
i), R (m
i) and P (m
i);
A5, for M(B) in each m
BjIf, m
BjNot in M, initialization N(m
Bj) be empty set, R(m
Bj)={ B}, P(m
Bj) be all neighbor nodes;
A6, when receiving the early warning information m of node S broadcast, if m is not in M, initialization R (m), P (m), N (m) is empty set, add node S in R (m) and from P (m), in N (m), remove, and according to the positional information L (B) of each neighbor node B, if it is in the communication context of node S, neighbor node B is moved into to P (m), each is neither belonged to the neighbor node immigration N (m) that R (m) does not belong to P (m) yet.
Especially, described steps A 4 specifically comprises:
If A41 is m
iAt M(B) in, by neighbor node B from P (m
i) in remove, add R (m
i);
If A42 is m
iNot at M(B) in, by neighbor node B from P (m
i) in remove, add N (m
i).
Especially, described step B specifically comprises:
B1, when receiving early warning information packet m, use the method for steps A to upgrade N(m), P(m) and R(m);
If B2 is N(m) be empty set, abandon forwarding early warning information packet m;
B3, according to N(m) in the positional information L of all nodes, calculate its geometric center I;
B4, to P(m) and R(m) in all nodes, by its to I the distance sort from short to long;
B5, according to the ranking results of step B4, r is the rank of this node c if make, this section is named a person for a particular job after r time slot and to be forwarded early warning information packet m, even this node c ranks the first, and forwards at once m.
Especially, described step B also comprises:
B6, in the process that wait for to forward, if R (m), N (m) and P (m) state change, recalculate the sequence of node or abandon the plan of original early warning information package forward.
The present invention utilizes the positional information of vehicle-mounted net node, additionally do not increasing on the basis of communications burden, realized internodal autonomous collaborative, effectively select suitable node to carry out broadcast and the forwarding of early warning information, when improving the early warning information propagation efficiency, ensured the reliability of propagating, help the In-vehicle networking node when emergency occurs, to broadcast rapidly early warning information, avoid the generation of chain accident, ensure traffic safety.
The accompanying drawing explanation
Fig. 1 for the embodiment of the present invention provide based on autonomous collaborative In-vehicle networking early warning information broadcast system structure block diagram;
Fig. 2 for the embodiment of the present invention provide based on autonomous collaborative In-vehicle networking early warning information broadcasting method flow chart;
The practical application example of the In-vehicle networking early warning information broadcasting method that Fig. 3 provides for the embodiment of the present invention.
Embodiment
The invention will be further described below in conjunction with drawings and Examples.Be understandable that, specific embodiment described herein is only be used to explaining the present invention, but not limitation of the invention.Also it should be noted that in addition, for convenience of description, in accompanying drawing, only show part related to the present invention but not full content.
Please refer to shown in Figure 1, Fig. 1 for the embodiment of the present invention provide based on autonomous collaborative In-vehicle networking early warning information broadcast system structure block diagram.
In the present embodiment, based on autonomous collaborative In-vehicle networking early warning information broadcast system, comprise neighbor state update module 101 and the module 102 of making decisions on one's own.
The early warning information packet set M that described neighbor state update module 101 has received for real-time servicing, neighbours' accepting state of each early warning information packet m of M, the latest position information L(b of neighbor node b) and content distribution service (CDS) state, wherein, neighbours' accepting state of described each early warning information packet m comprises: received m neighbor node set R (m), may receive the neighbor node set P (m) of m and not receive the neighbor node set N (m) of m.
Neighbor state update module 101 is mainly based on DSRC(Dedicated Short Range Communications, special-purpose short distance communication) beacon (beacon) package informatin of periodic broadcast in agreement, upgrade neighbor state.Simultaneously, the ACK state of packet is attached in the beacon bag, realizes backfence information sharing.
The described module 102 of making decisions on one's own is for when receiving early warning information packet m, according to N(m) in the positional information L of all nodes, calculate its geometric center I, and to P(m) and R(m) in all nodes, by its distance to I, sort from short to long, make that r is the rank of this node c, this node c forwards early warning information packet m after r time slot, even this node c ranks the first, and forwards at once m.
As shown in Figure 2, Fig. 2 for the embodiment of the present invention provide based on autonomous collaborative In-vehicle networking early warning information broadcasting method flow chart.
In the present embodiment, based on autonomous collaborative In-vehicle networking early warning information broadcasting method, comprise the steps:
Up-to-date positional information L and content distribution service (CDS) state of neighbours' accepting state, the neighbor node of each early warning information packet m in early warning information packet set M, M that step S201, neighbor state update module real-time servicing have received, wherein, neighbours' accepting state of described each early warning information packet m comprises: received m neighbor node set R (m), may receive the neighbor node set P (m) of m and not receive the neighbor node set N (m) of m.In the present embodiment, described step S201 specifically comprises:
Step S2011, to each early warning information packet m, initialization N (m), R (m) is empty set, P (m) is the set of known neighbor node.
The early warning information packet set M={m that step S2012, broadcast comprise node self-position information L and received
1, m
2..., m
nBeacon bag.
The beacon bag that step S2013, reception neighbor node B send, and inspection positional information L (B) wherein and the early warning information packet set M (B) that has received={ m
B1, m
B2..., m
Bk.
Step S2014, for each m in M
i, upgrade N (m
i), R (m
i) and P (m
i).
If m
iAt M(B) in, by neighbor node B from P (m
i) in remove, add R (m
i); If m
iNot at M(B) in, by neighbor node B from P (m
i) in remove, add N (m
i).
Step S2015, for M(B) in each m
BjIf, m
BjNot in M, initialization N(m
Bj) be empty set, R(m
Bj)={ B}, P(m
Bj) be all neighbor nodes.
Step S2016,, when receiving the early warning information m of node S broadcast, if m is not in M, initialization R (m), P (m), N (m) is empty set, add node S in R (m) and from P (m), in N (m), remove, and according to the positional information L (B) of each neighbor node B, if it is in the communication context of node S, neighbor node B is moved into to P (m), each is neither belonged to the neighbor node immigration N (m) that R (m) does not belong to P (m) yet.
Step S202, the module of making decisions on one's own are when receiving early warning information packet m, according to N(m) in the positional information L of all nodes, calculate its geometric center I, and to P(m) and R(m) in all nodes, by its to I the distance sort from short to long, according to ranking results, r is the rank of this node c if make, this node c forwards early warning information packet m after r time slot, and even this node c ranks the first, and forwards at once m.In the present embodiment, described step S202 specifically comprises:
Step S2021, when receiving early warning information packet m, use the method for step S201 to upgrade N(m), P(m) and R(m).
If step S2022 is N(m) be empty set, abandon forwarding early warning information packet m.
Step S2023, according to N(m) in the positional information L of all nodes, calculate its geometric center I.
Step S2024, to P(m) and R(m) in all nodes, by its to I the distance sort from short to long.
Step S2025, according to the ranking results of step S2024, r is the rank of this node c if make, this section is named a person for a particular job after r time slot and to be forwarded early warning information packet m, even this node c ranks the first, and forwards at once m.
Step S2026, in the process that wait for to forward, if R (m), N (m) and P (m) state change, recalculate the sequence of node or abandon the plan of original early warning information package forward.
As shown in Figure 3, the practical application example of the In-vehicle networking early warning information broadcasting method that Fig. 3 provides for the embodiment of the present invention, in figure, 1 represents first time slot, and 2 represent second time slot, and 3 represent the 3rd time slot, and 4 represent the 4th time slot, 5 represent the 5th time slot.
By node S, send early warning information packet m at first, in first time slot, node S broadcasts, and Node B, node F and node M node receive m.After carrying out the sequence of step S202, node F ranks the first, and in second time slot, carries out the forwarding broadcast of m, and node A, node G and node F receive early warning information packet m.In new round sequence, the neighborhood that covers due to node A and node G is not quite similar, for guaranteed efficiency, node A and node G broadcast simultaneously in the 3rd time slot, node D, node I and node L receive early warning information packet m, node H, due to conflict, takes turns and does not receive early warning information packet m at this.In the 4th time slot, node I and node L broadcast simultaneously, and early warning information packet m is sent to node J and node K.Afterwards, node H carries out the broadcast of a beacon bag, and node G has received this beacon and wrapped and learn that node H does not receive m, carries out the re-transmission of m.Final all nodes have all received early warning information packet m.
In-vehicle networking early warning information broadcast system and method based on independently working in coordination with provided by the invention specifically has the following advantages: one, reliability is high.By ACK, ensure that each node can receive whole early warning information.Two, more efficient; The delay of message propagation is very little, can be within very short time by message propagation to the most of node in network.Three, more energy-conservation.Greatly reduce number of broadcast times in network, reduce the energy consumption that redundant broadcast is brought.
Note, above are only preferred embodiment of the present invention and institute's application technology principle.Skilled person in the art will appreciate that and the invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious variations, readjust and substitute and can not break away from protection scope of the present invention.Therefore, although by above embodiment, the present invention is described in further detail, the present invention is not limited only to above embodiment, in the situation that do not break away from the present invention's design, can also comprise more other equivalent embodiment, and scope of the present invention is determined by appended claim scope.
Claims (6)
1. one kind based on autonomous collaborative In-vehicle networking early warning information broadcast system, it is characterized in that, comprises the neighbor state update module and the module of making decisions on one's own;
Neighbours' accepting state of early warning information packet set M, each early warning information packet m of M that described neighbor state update module has received for real-time servicing, the latest position information L(b of neighbor node b) and content distribution service (CDS) state, wherein, neighbours' accepting state of described each early warning information packet m comprises: received m neighbor node set R (m), may receive the neighbor node set P (m) of m and not receive the neighbor node set N (m) of m;
The described module of making decisions on one's own is for when receiving early warning information packet m, according to N(m) in the positional information L of all nodes, calculate its geometric center I, and to P(m) and R(m) in all nodes, by its distance to I, sort from short to long, make that r is the rank of this node c, this node c forwards early warning information packet m after r time slot, even this node c ranks the first, and forwards at once m.
2. one kind based on autonomous collaborative In-vehicle networking early warning information broadcasting method, it is characterized in that, comprises the steps:
Up-to-date positional information L and content distribution service (CDS) state of neighbours' accepting state, the neighbor node of each early warning information packet m in early warning information packet set M, M that A, neighbor state update module real-time servicing have received, wherein, neighbours' accepting state of described each early warning information packet m comprises: received m neighbor node set R (m), may receive the neighbor node set P (m) of m and not receive the neighbor node set N (m) of m;
B, the module of making decisions on one's own are when receiving early warning information packet m, according to N(m) in the positional information L of all nodes, calculate its geometric center I, and to P(m) and R(m) in all nodes, by its distance to I, sort from short to long, make that r is the rank of this node c, this node c forwards early warning information packet m after r time slot, even this node c ranks the first, and forwards at once m.
3. the In-vehicle networking early warning information broadcasting method based on independently working in coordination with according to claim 2, is characterized in that, described steps A specifically comprises:
A1, to each early warning information packet m, initialization N (m), R (m) is empty set, P (m) is the set of known neighbor node;
The early warning information packet set M={m that A2, broadcast comprise node self-position information L and received
1, m
2..., m
nBeacon bag;
The beacon bag that A3, reception neighbor node B send, and inspection positional information L (B) wherein and the early warning information packet set M (B) that has received={ m
B1, m
B2..., m
Bk;
A4, for each m in M
i, upgrade N (m
i), R (m
i) and P (m
i);
A5, for M(B) in each m
BjIf, m
BjNot in M, initialization N(m
Bj) be empty set, R(m
Bj)={ B}, P(m
Bj) be all neighbor nodes;
A6, when receiving the early warning information m of node S broadcast, if m is not in M, initialization R (m), P (m), N (m) is empty set, add node S in R (m) and from P (m), in N (m), remove, and according to the positional information L (B) of each neighbor node B, if it is in the communication context of node S, neighbor node B is moved into to P (m), each is neither belonged to the neighbor node immigration N (m) that R (m) does not belong to P (m) yet.
4. the In-vehicle networking early warning information broadcasting method based on independently working in coordination with according to claim 3, is characterized in that, described steps A 4 specifically comprises:
If A41 is m
iAt M(B) in, by neighbor node B from P (m
i) in remove, add R (m
i);
If A42 is m
iNot at M(B) in, by neighbor node B from P (m
i) in remove, add N (m
i).
5. the In-vehicle networking early warning information broadcasting method based on independently working in coordination with according to claim 2, is characterized in that, described step B specifically comprises:
B1, when receiving early warning information packet m, use the method for steps A to upgrade N(m), P(m) and R(m);
If B2 is N(m) be empty set, abandon forwarding early warning information packet m;
B3, according to N(m) in the positional information L of all nodes, calculate its geometric center I;
B4, to P(m) and R(m) in all nodes, by its to I the distance sort from short to long;
B5, according to the ranking results of step B4, r is the rank of this node c if make, this section is named a person for a particular job after r time slot and to be forwarded early warning information packet m, even this node c ranks the first, and forwards at once m.
6. the In-vehicle networking early warning information broadcasting method based on independently working in coordination with according to claim 5, is characterized in that, described step B also comprises:
B6, in the process that wait for to forward, if R (m), N (m) and P (m) state change, recalculate the sequence of node or abandon the plan of original early warning information package forward.
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