CN111526496B - C-V2X communication anomaly detection method based on group type command and dispatch - Google Patents
C-V2X communication anomaly detection method based on group type command and dispatch Download PDFInfo
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Abstract
The invention discloses a C-V2X communication abnormality detection method based on group type command scheduling, which is characterized in that through group type unified command scheduling, deployment is carried out according to the mode that each fixed communication device is in the effective communication range of at least two other fixed communication devices, and whether the fixed communication devices are abnormal in communication can be rapidly and conveniently determined through mutual detection; the vehicle-end communication equipment can rapidly and accurately judge whether the communication is abnormal or not by broadcasting a heartbeat packet, setting a timeout timer and establishing a perfect abnormality judgment mechanism, so that the problems of false alarm and missing report of the communication abnormality can be effectively avoided; through the work scene of the group type, all communication equipment lists and corresponding state information in the effective communication range of the current position of the vehicle-end communication equipment can be obtained from the cloud server, and if communication abnormality exists, other effective communication modes can be rapidly adopted, so that unified management and scheduling are facilitated.
Description
Technical Field
The invention relates to the technical field of unmanned driving and auxiliary driving, in particular to a C-V2X communication anomaly detection method based on group command scheduling.
Background
With the rapid development of social economy, automobile travel becomes a main travel mode, however, automobiles bring convenience to human beings and frequent occurrence of traffic accidents, and new technologies are urgently desired to change the current situation. In this case, more and more automobile manufacturers are pushing out automatic driving technology.
Environmental awareness is an important component of an autopilot system. Currently, commonly used environmental perception sensors include millimeter wave radar, ultrasonic radar, high-precision sensors, high-definition cameras and the like. In recent years, due to the increasing prominence of the limitation of a single sensor, a multi-sensor fusion sensing technology is an important research point.
Due to the defects of high sensor cost, limited sensing distance, blind area shielding and the like, the requirement of automatic driving cannot be completely met. The reason for this is that traffic is a complex system of people-vehicles-roads, and any single component cannot represent the state of the whole system, so that the vehicle-road cooperation technology becomes an important way for realizing the automatic driving technology. A vehicle communication technology (Vehicle to Everything, V2X) is emerging as one of the important technologies for vehicle-road coordination.
Two standards for V2X-based communication are dedicated short range communication technology (Dedicated Short Range Communications, DSRC) and LTE-based communication technology (C-V2X).
C-V2X is C, namely Cellular, which is a vehicular wireless communication technology formed based on the evolution of 3G/4G/5G and other Cellular network communication technologies; V2X is a new generation of information communication technology connecting vehicles with everything, is a cellular network-based internet of vehicles technology, where V represents a vehicle, X represents any object that interacts with a vehicle, and currently X mainly includes vehicles, people, traffic roadside infrastructure and networks.
V2V: vehicle-To-Vehicle, i.e., vehicle-To-Vehicle, may be used as an inter-Vehicle information exchange and reminder, most typically for use in an inter-Vehicle collision avoidance safety system.
V2I: vehicle-To-Infrastructure, i.e., vehicle-Infrastructure, can communicate with roads and even other Infrastructure, such as traffic lights, road blocks, etc., to obtain road management information such as traffic light signal timing.
V2N: the Vehicle-To-Network, namely the Vehicle-internet, is the most widely used Vehicle networking form at present, and the Vehicle-To-Network is mainly used for connecting vehicles To a cloud server through a mobile Network and using application functions such as navigation, task files, road information and the like provided by the cloud server.
V2P: vehicle-To-Pederstrian, i.e., vehicle-Pedestrian, is used To alert pedestrians or non-motor vehicles on the road of safety.
RSU: the Road-Side-Unit, namely a Road Side Unit, has a V2X communication function, is used for collecting information of vehicles in a broadcasting range, and has functions of broadcasting information such as RTK, GPS, early warning and the like.
OBU: the On-Board-Unit, namely the vehicle-mounted Unit, has the functions of V2X communication and networking and is used for broadcasting information such as vehicles, early warning and the like.
However, the existing DSRC and C-V2X communication technologies are mainly based on broadcast messages, and there is no effective way to perform device self-inspection to ensure reliability and stability of a communication channel, so that abnormal states of devices cannot be found in time within an effective communication range, and thus communication information of other vehicles cannot be obtained effectively, and inconceivable results are brought. In the case of unmanned and assisted driving, this problem can be greatly amplified. For example, if the front vehicle broadcasts a collision warning signal and the warning information cannot be received due to the occurrence of a problem of V2X of itself or the other party, serious consequences are brought, and thus abnormal detection of V2X communication is particularly important.
Disclosure of Invention
In view of the above, the invention provides a group-based command and dispatch C-V2X communication anomaly detection method, which is used for effectively improving the C-V2X communication anomaly detection speed and reducing the problems of false detection, missed detection and the like.
Therefore, the invention provides a C-V2X communication anomaly detection method based on group command scheduling, which comprises the following steps:
s1: under a group work scene, uniformly deploying a plurality of fixed communication devices and a plurality of vehicle-end communication devices; wherein each fixed communication device is within the effective communication range of at least two other fixed communication devices;
s2: each fixed communication device reports respective communication state and position information to a cloud server in real time, and the cloud server calculates the effective communication range of each fixed communication device;
s3: each vehicle-end communication device reports respective position information and communication states to a cloud server in real time, and the cloud server calculates the effective communication range of each vehicle-end communication device;
s4: each vehicle-end communication device acquires a list of all communication devices positioned in an effective communication range of the current position of the vehicle-end communication device and position information and communication states corresponding to all communication devices in the list from the cloud server;
s5: each vehicle-end communication device judges whether each communication device in the list is in the effective communication range of the vehicle-end communication device according to the acquired position information of each communication device in the list, judges whether the communication state of each communication device in the list is normal according to the communication state of each communication device in the list, and determines the effective communication device list corresponding to each vehicle-end communication device;
s6: each vehicle-end communication device broadcasts a heartbeat packet at fixed time intervals and starts a timeout timer; the overtime time of the overtime timer is longer than the propagation time required by normal communication between each vehicle-end communication device and each communication device in the corresponding effective communication device list;
s7: each vehicle-end communication device judges whether ACK of all communication devices in the corresponding effective communication device list is received before the timeout timer is finished; if yes, executing step S8; if not, executing step S9;
s8: the vehicle-end communication equipment communicates normally and communicates with each communication equipment in the corresponding effective communication equipment list in a C-V2X communication mode;
s9: the vehicle-end communication equipment judges whether ACK of communication equipment in a corresponding effective communication equipment list is received before the timeout timer is ended; if yes, executing the steps S10 to S12; if not, executing step S13;
s10: the vehicle-end communication equipment records and counts communication equipment which does not send ACK, and judges whether the same communication equipment does not send ACK for more than three times; if yes, executing step S11; if not, executing step S12;
s11: the vehicle-end communication equipment normally communicates, the communication equipment which does not send the ACK is reported to the cloud server, and the communication equipment which does not send the ACK communicates with the communication equipment through a DSRC communication mode;
s12: the vehicle-end communication equipment performs communication quality inspection and is switched to a DSRC communication mode to communicate with each communication equipment in the corresponding effective communication equipment list;
s13: and the vehicle-end communication equipment performs communication abnormality, performs abnormality processing on the vehicle-end communication equipment, reports the communication abnormality to the cloud server, switches to a DSRC communication mode to communicate with each communication equipment in the corresponding effective communication equipment list until the vehicle-end communication equipment recovers from the communication abnormality or communication quality recovers, and switches to a C-V2X communication mode to communicate with each communication equipment in the corresponding effective communication equipment list.
According to the C-V2X communication abnormality detection method based on the group command scheduling, provided by the invention, the group unified command scheduling is adopted to deploy each fixed communication device in the effective communication range of at least two other fixed communication devices, and whether the fixed communication devices are abnormal in communication can be rapidly and conveniently determined through mutual detection; the vehicle-end communication equipment can rapidly and accurately judge whether the communication is abnormal or not by broadcasting a heartbeat packet, setting a timeout timer and establishing a perfect abnormality judgment mechanism, so that the problems of false alarm and missing report of the communication abnormality can be effectively avoided; through the work scene of the group type, all communication equipment lists and corresponding state information in the effective communication range of the current position of the vehicle-end communication equipment can be obtained from the cloud server, and if communication abnormality exists, other effective communication modes can be rapidly adopted, so that unified management and scheduling are facilitated.
Drawings
FIG. 1 is a flow chart of C-V2X communication anomaly detection in a C-V2X communication anomaly detection method based on group command and dispatch provided by the invention;
fig. 2 is a schematic diagram of group command scheduling in embodiment 1 of the present invention.
Reference numerals illustrate: 1. RSU-1 equipment; 2. RSU-2 equipment; 3. RSU-3 equipment; 4. OBU-1 equipment; 5. an OBU-2 device; 6. OBU-3 equipment; 7. OBU-4 equipment; 8. and the cloud server.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is apparent that the described embodiments are merely examples and are not intended to limit the present invention.
The invention provides a C-V2X communication anomaly detection method based on group command scheduling, which is shown in figure 1 and comprises the following steps:
s1: under a group work scene, uniformly deploying a plurality of fixed communication devices and a plurality of vehicle-end communication devices; wherein each fixed communication device is within the effective communication range of at least two other fixed communication devices;
specifically, the fixed communication device may be an RSU device, or may also be a cloud end, or may also be an edge computing end, which is not limited herein; the vehicle-end communication equipment can be OBU equipment;
each fixed communication device communicates with at least two other fixed communication devices simultaneously to determine whether the fixed communication devices are self-failure, so that the fixed communication devices are required to be interconnected and communicated with each other, and whether other communication devices communicating with the fixed communication devices are abnormal or not is required to be determined;
s2: each fixed communication device reports the respective communication state and position information to a cloud server in real time, and the cloud server calculates the effective communication range of each fixed communication device;
s3: each vehicle-end communication device reports the respective position information and communication state to a cloud server in real time, and the cloud server calculates the effective communication range of each vehicle-end communication device;
s4: each vehicle-end communication device acquires a list of all communication devices positioned in an effective communication range of the current position of the vehicle-end communication device and position information and communication states corresponding to the communication devices in the list from a cloud server;
s5: each vehicle-end communication device judges whether each communication device in the list is in the effective communication range of the vehicle-end communication device according to the acquired position information of each communication device in the list, judges whether the communication state of each communication device in the list is normal according to the communication state of each communication device in the list, and determines the effective communication device list corresponding to each vehicle-end communication device;
s6: each vehicle-end communication device broadcasts a heartbeat packet at fixed time intervals and starts a timeout timer; the overtime time of the overtime timer is longer than the propagation time required by normal communication between each vehicle-end communication device and each communication device in the corresponding effective communication device list;
s7: each vehicle-end communication device judges whether ACK of all communication devices in the corresponding effective communication device list is received before the timeout timer is finished; if yes, executing step S8; if not, executing step S9;
s8: the communication equipment at the vehicle end communicates normally and communicates with each communication equipment in the corresponding effective communication equipment list in a C-V2X communication mode;
s9: the vehicle-end communication equipment judges whether ACK of the communication equipment in the corresponding effective communication equipment list is received before the timeout timer is finished; if yes, executing the steps S10 to S12; if not, executing step S13;
s10: the vehicle-end communication equipment records and counts the communication equipment which does not send the ACK, and judges whether the same communication equipment does not send the ACK for more than three times; if yes, executing step S11; if not, executing step S12;
s11: the communication equipment at the vehicle end normally communicates, the communication equipment which does not send the ACK is reported to the cloud server, and the communication equipment which does not send the ACK communicates with the communication equipment through a DSRC communication mode;
s12: the vehicle-end communication equipment performs communication quality inspection and is switched to a DSRC communication mode to communicate with each communication equipment in the corresponding effective communication equipment list;
s13: the communication of the vehicle-end communication equipment is abnormal, the vehicle-end communication equipment performs abnormality processing, reports the abnormal processing to the cloud server, switches to a DSRC communication mode to communicate with each communication equipment in the corresponding effective communication equipment list until the communication abnormality of the vehicle-end communication equipment is recovered or the communication quality is recovered, and switches to a C-V2X communication mode to communicate with each communication equipment in the corresponding effective communication equipment list.
The following describes in detail the implementation of the method for detecting C-V2X communication anomalies based on group-based command scheduling according to a specific embodiment.
Example 1:
as shown in figure 2, three RSU devices are uniformly deployed in a group, the distance between each two RSU-1 devices 1, each RSU-2 device 2 and each RSU-3 device 3 is not more than 1km, and interconnection and intercommunication between every two RSU-1 devices are ensured. Specifically, the RSU-2 device 2 communicates with both the RSU-1 device 1 and the RSU-3 device 3, so that it is possible to determine whether there is an abnormality of itself. RSU-1 device 1 and RSU-3 device 3 are the same. In addition, the group deploys four OBU devices, OBU-1 device 4, OBU-2 device 5, OBU-3 device 6, and OBU-4 device 7 in a unified manner.
The RSU-1 device 1, the RSU-2 device 2 and the RSU-3 device 3 respectively detect the communication state and the position information of the RSU-1 device and report the communication state and the position information to the cloud server 8. The cloud server 8 receives and stores the data of the three RSU devices, and calculates the effective communication ranges of the three RSU devices.
When the OBU-3 device 6 operates to the position shown in fig. 2, its own GPS information and communication status are reported to the cloud server 8. After receiving the information reported by the OBU-3 device 6, the cloud server 8 calculates the effective communication range of the OBU-3 device 6 according to the reported GPS information, and sends the position information and the communication state of all devices in the effective communication range to the OBU-3 device 6. As shown in FIG. 2, the RSU-3 device 3, the OBU-2 device 5, and the OBU-4 device 7 are within effective communication range of the OBU-3 device 6.
After the OBU-3 device 6 receives the information issued by the cloud server 8, it calculates and determines again whether the RSU-3 device 3, the OBU-2 device 5 and the OBU-4 device 7 are within the effective communication range of the OBU-3 device 6, and judges whether the communication state is normal and marks, thereby determining an effective communication device list.
The OBU-3 device 6 broadcasts heartbeat information at 2 second intervals and starts a 500ms timeout timer.
The OBU-3 device 6 determines that the ACK condition replied by each device in the list of active communication devices is received within 500 ms.
If the OBU-3 device 6 can receive the ACK of all devices in the effective communication device list, the OBU-3 device 6 communicates normally, the communication state is marked as normal, and the communication is carried out through a C-V2X communication mode.
If the OBU-3 device 6 does not receive the ACK of the OBU-4 device 7 before the 500ms timeout ends, all the ACKs of the other devices in the active communication device list except the OBU-4 device 7 are received, counting is started and it is recorded that the OBU-4 device 7 does not reply to the ACK.
If the OBU-4 device 7 does not reply with the ACK for more than three times, the OBU-3 device 6 communicates normally, and the information of the OBU-4 device 7 is reported to the cloud server 8, so that further investigation of the problem is facilitated later, and the OBU-3 device 6 communicates with the OBU-4 device 7 in a DSRC communication mode.
If the OBU-3 device 6 sends more than three ACKs and the OBU-4 device 7 replies with an ACK at least once, the OBU-3 device 6 may have poor signal quality, and may switch to the DSRC communication mode to perform communication and begin to check its signal quality.
If the 500ms timeout is over, the OBU-3 device 6 does not receive any device ACK, the OBU-3 device 6 communicates abnormally, performs exception handling by itself, immediately reports to the cloud server 8, and switches to a DSRC communication mode for communication.
If the OBU-3 device 6 detects that the anomaly has recovered, or that the signal quality has recovered, it immediately switches to the C-V2X communication mode for communication.
According to the C-V2X communication abnormality detection method based on the group command scheduling, provided by the invention, the group unified command scheduling is adopted to deploy each fixed communication device in the effective communication range of at least two other fixed communication devices, and whether the fixed communication devices are abnormal in communication can be rapidly and conveniently determined through mutual detection; the vehicle-end communication equipment can rapidly and accurately judge whether the communication is abnormal or not by broadcasting a heartbeat packet, setting a timeout timer and establishing a perfect abnormality judgment mechanism, so that the problems of false alarm and missing report of the communication abnormality can be effectively avoided; through the work scene of the group type, all communication equipment lists and corresponding state information in the effective communication range of the current position of the vehicle-end communication equipment can be obtained from the cloud server, and if communication abnormality exists, other effective communication modes can be rapidly adopted, so that unified management and scheduling are facilitated.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (1)
1. A C-V2X communication anomaly detection method based on group command scheduling is characterized by comprising the following steps:
s1: under a group work scene, uniformly deploying a plurality of fixed communication devices and a plurality of vehicle-end communication devices; wherein each fixed communication device is within the effective communication range of at least two other fixed communication devices;
s2: each fixed communication device reports respective communication state and position information to a cloud server in real time, and the cloud server calculates the effective communication range of each fixed communication device;
s3: each vehicle-end communication device reports respective position information and communication states to a cloud server in real time, and the cloud server calculates the effective communication range of each vehicle-end communication device;
s4: each vehicle-end communication device acquires a list of all communication devices positioned in an effective communication range of the current position of the vehicle-end communication device and position information and communication states corresponding to all communication devices in the list from the cloud server;
s5: each vehicle-end communication device judges whether each communication device in the list is in the effective communication range of the vehicle-end communication device according to the acquired position information of each communication device in the list, judges whether the communication state of each communication device in the list is normal according to the communication state of each communication device in the list, and determines the effective communication device list corresponding to each vehicle-end communication device;
s6: each vehicle-end communication device broadcasts a heartbeat packet at fixed time intervals and starts a timeout timer; the overtime time of the overtime timer is longer than the propagation time required by normal communication between each vehicle-end communication device and each communication device in the corresponding effective communication device list;
s7: each vehicle-end communication device judges whether ACK of all communication devices in the corresponding effective communication device list is received before the timeout timer is finished; if yes, executing step S8; if not, executing step S9;
s8: the vehicle-end communication equipment communicates normally and communicates with each communication equipment in the corresponding effective communication equipment list in a C-V2X communication mode;
s9: the vehicle-end communication equipment judges whether ACK of communication equipment in a corresponding effective communication equipment list is received before the timeout timer is ended; if yes, executing the steps S10 to S12; if not, executing step S13;
s10: the vehicle-end communication equipment records and counts communication equipment which does not send ACK, and judges whether the same communication equipment does not send ACK for more than three times; if yes, executing step S11; if not, executing step S12;
s11: the vehicle-end communication equipment normally communicates, the communication equipment which does not send the ACK is reported to the cloud server, and the communication equipment which does not send the ACK communicates with the communication equipment through a DSRC communication mode;
s12: the vehicle-end communication equipment performs communication quality inspection and is switched to a DSRC communication mode to communicate with each communication equipment in the corresponding effective communication equipment list;
s13: and the vehicle-end communication equipment performs communication abnormality, performs abnormality processing on the vehicle-end communication equipment, reports the communication abnormality to the cloud server, switches to a DSRC communication mode to communicate with each communication equipment in the corresponding effective communication equipment list until the vehicle-end communication equipment recovers from the communication abnormality or communication quality recovers, and switches to a C-V2X communication mode to communicate with each communication equipment in the corresponding effective communication equipment list.
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| CN112449318B (en) * | 2020-10-23 | 2023-04-25 | 浙江中控信息产业股份有限公司 | Message transmission method based on C-V2X vehicle-road cooperative application |
| CN112533174B (en) * | 2020-11-24 | 2021-11-09 | 东风汽车集团有限公司 | Early warning and communication redundancy method and system for red light running scene based on C-V2X |
| CN115250418A (en) * | 2021-04-07 | 2022-10-28 | 中兴通讯股份有限公司 | Communication method, internet of vehicles platform, vehicle-mounted unit and storage medium |
| CN113194438B (en) * | 2021-04-25 | 2022-06-21 | 武汉船舶通信研究所（中国船舶重工集团公司第七二二研究所） | Vehicle-mounted multi-network multi-frequency integration broadband mobile communication equipment |
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| CN115617020B (en) * | 2022-11-08 | 2025-08-05 | 辉羲智能科技(上海)有限公司 | Vehicle-mounted control system and vehicle-mounted operation detection method, system and storage medium |
| CN117202242B (en) * | 2023-11-08 | 2024-02-06 | 南京邮电大学 | Node failure detection method in Internet of vehicles based on particle filter model |
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| CN109843653A (en) * | 2017-07-26 | 2019-06-04 | 松下电器（美国）知识产权公司 | Abnormal detector and method for detecting abnormality |
| WO2019142456A1 (en) * | 2018-01-22 | 2019-07-25 | パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカ | Abnormality determination device, abnormality detection model creation server, and program |
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