CN105959983B - Based on the car networking cluster association boundary of Apollo Nice circle and cluster method for switching between - Google Patents

Based on the car networking cluster association boundary of Apollo Nice circle and cluster method for switching between Download PDF

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CN105959983B
CN105959983B CN201610497432.7A CN201610497432A CN105959983B CN 105959983 B CN105959983 B CN 105959983B CN 201610497432 A CN201610497432 A CN 201610497432A CN 105959983 B CN105959983 B CN 105959983B
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vehicle
switching
cluster
circle
boundary
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CN105959983A (en
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陈文婕
肖竹
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Central South University of Forestry and Technology
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Central South University of Forestry and Technology
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/0005—Control or signalling for completing the hand-off
    • H04W36/0083—Determination of parameters used for hand-off, e.g. generation or modification of neighbour cell lists
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention discloses a kind of car networking cluster association boundary and cluster method for switching between based on Apollo Nice circle, the steps include: that 1) vehicle information acquisition system acquires associated vehicle, the driving status of adjacent cluster head vehicle and wagon flow sub-clustering information in real time；2) according to the collected newest running condition information of institute, the modeling on boundary is associated with cluster using switching between the circle progress cluster of Apollo Nice；3) running condition information current according to vehicle is associated with boundary method with cluster using by switching between the car networking cluster based on Apollo Nice circle, and whether the cluster association boundary modeling functions derived, real-time judge should be the vehicle and execute switching.If cluster is associated with boundary function relational expression and sets up, which is switched in its front cluster head.If it is invalid that cluster is associated with boundary function relational expression, switching is not executed for the vehicle.The present invention has many advantages, such as that principle is novel, applied widely and good reliability.

Description

Based on the car networking cluster association boundary of Apollo Nice circle and cluster method for switching between
Technical field
The invention mainly relates to the car networking communications field more particularly to a kind of car networking cluster passes based on Apollo Nice circle Join boundary and cluster method for switching between.
Background technique
This nearest decades, intelligent transportation system ITS (Intelligent Transport System) is very burning hot, can To say, it is the developing direction of future transportation system, and reaches the optimality of system using multi-source data, data fusion scheduling algorithm Can, this is a trend of current ITS application study.In urban road, car networking (IoV) is formed between vehicle and vehicle, It is very important a part in intelligent transportation.And the duration of inter-vehicle communication can be completed by switching between car networking cluster.By In high vehicle speeds and inter-vehicle communication is limited in scope, and car networking Topology connection is be easy to cause to interrupt.Meanwhile it being cut between car networking cluster Changing is a sufficiently complex process, how to facilitate intuitively portray switching model and design be simple and efficient, practical switching Method is a problem.Based on this, building convenient for analysis car networking cluster between switching model and develop rapidly and efficiently, stability and The good car networking cluster method for switching between of practicability is necessary.
Summary of the invention
The present invention is based on the car networking cluster association boundary of Apollo Nice circle and cluster method for switching between, utilize on board unit OBU (On board Unit) and vehicle-carrying communication module and range sensor etc. carry out sub-clustering management in road pavement vehicle (Clustering) on the basis of, by periodically acquiring current vehicle, cluster head vehicle (Cluster Head, CH) and adjacent The running condition information of vehicle sub-clustering, the algorithm based on Apollo Nice circle carries out data fusion and modeling, final to obtain accurately Switching judgment information.
In order to solve the above technical problems, technical solution proposed by the present invention are as follows:
A kind of the car networking cluster association boundary and cluster method for switching between round based on Apollo Nice, which is characterized in that including Following steps:
S1: vehicle information acquisition system acquires the driving status and vehicle sub-clustering (Clustering) letter of associated vehicle in real time Breath；
S2: according to vehicle running state information, using switching and cluster incidence edge between the circle building car networking cluster of Apollo Nice Boundary's model carries out data fusion and modeling, derives the distance threshold formula switched between vehicle cluster；
S3: based on switching distance threshold formula between above-mentioned derived vehicle cluster and utilizing real time data, vehicle is calculated The switching distance threshold numerical value being associated between cluster head.If vehicle information acquisition system collected vehicle and Qi Guan in real time The current spacing for joining cluster head is greater than the switching distance threshold numerical value, then system is that the vehicle executes switching；Otherwise, system is not this Vehicle executes switching.
Further, the vehicle information acquisition system is that on board unit OBU, communication module and its correlation distance sense Device.
Further, the driving status and vehicle sub-clustering information of vehicle, including cluster head vehicle are acquired in the step S1 (CH) selected, the signal transmission power of adjacent C H, vehicle is at a distance from adjacent C H, between the travel speed of vehicle, adjacent C H Distance and the switching that is configured of system background is sluggish and switching time.
Further, the step S2 is using sliding data window, according to newest running condition information, using Apollo Nice circle algorithm carries out data fusion and modeling, including establishes sluggish switching, switching time and path loss model, derives and works as Vehicle in front V1Be associated with cluster head vehicle CH1Switching distance threshold formula.Fig. 2 in reference book annex, specifically includes following Step:
S21: current vehicle V is defined1Receive the cluster head CH of Adjacent vehicles sub-clustering1And CH2Signal reception power be respectively as follows:
Wherein, PH1And PH2Respectively indicate the cluster head C of Adjacent vehicles sub-clusteringH1And CH2Signal transmission power, XH1And XH2Point It Biao Shi not CH1And CH2The shadow fading factor, dV,H1And dV,H2It is vehicle V respectively1And CH1With CH2Real-time spacing, α and β points It is not adjacent sub-clustering CH1And CH2Path loss index.Current time V1Still fall within CH1The sub-clustering at place is needed to switching item Part is judged.
S22: according to switching condition between cluster (dB form):
RSRPR, CH2≥RSRPR, CH1+H (3)
Wherein, RSRPr,CH1It is vehicle to current cluster head CH1Reference Signal Received Power, RSRPr,CH2It is vehicle to CH2 Reference Signal Received Power, H is that switching is sluggish.
Above-mentioned formula (3) is converted into power (W-shaped formula):
According to the expression formula in S21 about reception power, the S22 derivation of equation can be obtained:
And according to the characteristic of Apollo Nice circle, by CH1And CH2It is considered as two focuses of Apollo Nice circle, dV,H1With dV,H2There is following relationship:
dV,H2=dV,H1kA,kA≠ 1 (6) wherein, kAIt is Apollo Nice circle ratio, referring to Fig. 2 in Figure of description, According to formula (6), vehicle V1The dotted line Circular test at place is substantially to be closed according to the cluster that Apollo Nice circle characteristic is derived from Join boundary.
In conjunction with formula (5) and (6), d is replacedV,H2And continues abbreviation and can obtain:
Then switch distance threshold:
S23: in handoff procedure, distance that vehicle is advanced:
RH1-xH=vt(TTT+T0) (9)
Wherein, RH1Indicate CH1Covering radius, xHIt is that Apollo Nice round edge circle (dotted line in Fig. 2) arrives on the horizontal axis CH1Distance, vtIt is Vehicle Speed, TTT is handover trigger time, T0It is that switching executes the time.
And kAIt also may indicate that are as follows:
Wherein, dH1,H2It is adjacent cluster head CH1And CH2Distance.X is replaced using formula (10)H:
S24: by kASubstitute into dth_HOExpression formula, i.e. formula (8) in and abbreviation, just obtained and defined by acquired data Switching distance threshold formula:
Further, the judgment method of the step S3 are as follows: calculate switching distance threshold in real time using data collected Numerical value executes switching for the vehicle, does not otherwise execute switching if cluster association boundary function relational expression is set up；
Wherein, cluster association boundary function relational expression is as follows:
dV, H1≥dth_HO, execute switching；
dV, H1< dth_HO, do not execute switching.
Above method can be sketched are as follows:
S1: mobile unit acquires associated vehicle running condition information and vehicle sub-clustering (Clustering) information in real time；
S2: using sliding data window, according to newest running condition information, data are carried out using Apollo Nice circle algorithm Fusion and modeling, derive that current vehicle is associated with the switching distance threshold formula of cluster head；
S3: the current spacing that vehicle is associated with cluster head is obtained, vehicle and its are calculated according to the formula that S2 is derived It is associated with both the switching distance threshold numerical value of cluster head, comparison, the vehicle is judged whether it is and executes switching.
Compared with the prior art, the advantages of the present invention are as follows:
It is provided by the invention vehicle-mounted based on the car networking cluster association boundary of Apollo Nice circle and cluster method for switching between, use Unit OBU system carries out data collection, and vehicle running state information is carried out data fusion, final to obtain the high cluster of accuracy Between handover information.This method is able to achieve the switching of vehicle cluster indirect force, and the intelligent transportation system application between vehicle and vehicle provides can By property, practicability and the higher switching judgment information of accuracy.Compared to traditional vehicle cluster method for switching between, the present invention is provided Method Modeling is relatively easy, method is simple and efficient, also ensures higher accuracy, while required time delay is shorter, ensure that The real-time of method very well satisfies the demand of some intelligent transportation system related applications.
Detailed description of the invention
Fig. 1 is that the car networking cluster based on Apollo Nice circle in the present invention is associated with boundary and the signal of cluster method for switching between process Figure；
Fig. 2 is the model on the association of car networking the cluster boundary and cluster method for switching between in the present invention based on Apollo Nice circle Figure；
Fig. 3 is that the car networking cluster based on Apollo Nice circle in the present invention is associated with boundary and cluster method for switching between implementation process Figure；
Specific embodiment
Below in conjunction with Figure of description, the invention will be further described, but protection model not thereby limiting the invention It encloses.
As shown in figure 3, the car networking cluster based on Apollo Nice circle in the present embodiment is associated with boundary and cluster method for switching between, Step are as follows:
(1) running condition information of vehicle is acquired in real time using on board unit OBU, the signal including adjacent cluster head vehicle passes The spacing of defeated power and the two, vehicle are currently associated with the spacing and vehicle itself travel speed of cluster head with it；
(2) using sliding data window, according to newest running condition information, data are carried out using Apollo Nice circle algorithm Fusion and modeling, including switching sluggishness, switching time and path loss model, derive switching distance threshold formula；
(3) the distance threshold d of vehicle and cluster where it is calculatedth_HO, as whether the judgement whether vehicle switches Factor.If vehicle be currently associated with the spacing d of cluster headV,H1Greater than distance threshold dth_HO, then switching is executed；Otherwise, it does not hold Row switching.
The model on car networking cluster association boundary and cluster method for switching between based on Apollo Nice circle is as shown in Fig. 2, driving Direction is from left to right 1. region is cluster head CH1Coverage area, 2. region indicates cluster associated region.CH2Indicate driving direction On front cluster head and current vehicle V1Possible switching target.It is analyzed by Apollo Nice circle (off-centre operation):
Define current vehicle V1Receive the cluster head CH of Adjacent vehicles sub-clustering1And CH2Signal reception power be respectively as follows:
Wherein, PH1And PH2Respectively indicate the cluster head C of Adjacent vehicles sub-clusteringH1And CH2Signal transmission power, χH1And XH2Point It Biao Shi not CH1And CH2The shadow fading factor, dV,H1And dV, H2It is vehicle V respectively1And CH1With CH2Real-time spacing, α and β difference It is adjacent sub-clustering CH1And CH2Path loss index.Current time V1Still fall within CH1The sub-clustering at place, needs to switching condition Judged.
According to switching condition between cluster (dB form):
RSRPr,CH2≥RSRPr,CH1+H
Wherein, RSRPr,CH1It is vehicle to current cluster head CH1Reference Signal Received Power, RSRPr,CH2It is vehicle to CH2 Reference Signal Received Power, H be switching lag parameter.
Above-mentioned formula is converted into power (W-shaped formula):
Further it may be expressed as:
And according to the characteristic of Apollo Nice circle, dV,H1And dV,H2There is following relationship:
dV,H2=dV,H1kA,kA≠1
Wherein, kAIt is Apollo Nice circle ratio.
Replace dV,H2And continue abbreviation:
Then switch distance threshold:
In handoff procedure, distance that vehicle is advanced:
RH1-xH=vt(TTT+T0)
Wherein, RH1Indicate CH1Covering radius, xHIt is that Apollo Nice round edge circle arrives cluster head CH on the horizontal axis1Away from From vtIt is Vehicle Speed, TTT is handover trigger time, T0It is that switching executes the time.Notice kAIt also may indicate that are as follows:
Wherein, dH1,H2Indicate adjacent cluster head CH1And CH2Distance.
Replace xH:
By kASubstitute into dth_HOIn and abbreviation, just obtained as defined in acquired data switching distance threshold expression formula:
Further, judgment method: switching distance threshold numerical value in real time is calculated using data collected, if cluster incidence edge Bound function relational expression is set up, then executes switching for the vehicle, otherwise do not execute switching；
Therefore, cluster association boundary function relational expression is as follows:
dV, H1> dth_HO, execute switching；
DV, H1< dth_HO, do not execute switching.
Above-mentioned is particular content of the invention, is not intended to limit the present invention in any form.It is any to be familiar with this field Technical staff, without deviating from the scope of the technical scheme of the present invention, all using the technology contents of the disclosure above to this Inventive technique scheme makes many possible changes and modifications or equivalent example modified to equivalent change.Therefore, it is all not It is detached from the content of technical solution of the present invention, technical spirit any is simply repaired to what the present invention and embodiment were done according to the present invention Change, equivalent variations and modification, all shall fall within the protection scope of the technical scheme of the invention.

Claims (4)

1. a kind of car networking cluster association boundary and cluster method for switching between based on Apollo Nice circle, which is characterized in that including with Lower step:
S1: vehicle information acquisition system acquires the driving status and vehicle sub-clustering information of associated vehicle in real time；
S2: module of boundary is associated with cluster using switching between the circle building car networking cluster of Apollo Nice according to vehicle running state information Type carries out data fusion and modeling, derives vehicle and the switching distance threshold formula for being currently associated with cluster head；
S3: based on above-mentioned derived vehicle and the current switching distance threshold formula for being associated with cluster head, and real time data meter is utilized Calculate the switching distance threshold numerical value that vehicle is associated with cluster head；If vehicle information acquisition system in real time collected vehicle with The real-time spacing for being associated with cluster head is greater than the switching distance threshold numerical value, then system is that the vehicle executes switching；Otherwise, system is not The vehicle executes switching；
The step S2 is using sliding data window, according to newest running condition information collected, using Apollo Nice Circle algorithm carries out data fusion and modeling, including establishes sluggish switching, switching time and path loss model, derives and works as front truck With the switching distance threshold formula that is associated with cluster head vehicle, specifically includes the following steps:
S21: current vehicle V is defined1Receive the cluster head CH of Adjacent vehicles sub-clustering1And CH2Signal reception power be respectively as follows:
Wherein, PH1And PH2Respectively indicate the cluster head CH of Adjacent vehicles sub-clustering1And CH2Signal transmission power, χH1And χH2Table respectively Show CH1And CH2The shadow fading factor, dV,H1And dV,H2It is vehicle V respectively1And CH1With CH2Real-time spacing, α and β are respectively Adjacent sub-clustering CH1And CH2Path loss index；
S22: according to switching condition between cluster:
RSRPr,CH2≥RSRPr,CH1+H
Wherein, RSRPr,CH1It is vehicle to current cluster head CH1Reference Signal Received Power, RSRPr,CH2It is vehicle to CH2Ginseng Signal reception power is examined, H is that switching is sluggish.
Above-mentioned formula is converted into power form:
Formula in S21, which is substituting to S22 formula, to be obtained:
And according to the characteristic of Apollo Nice circle, dV,H1And dV,H2There is following relationship:
dV,H2=dV,H1kA,kA≠1
Wherein, kAIt is Apollo Nice circle ratio；
Replace dV,H2And continue abbreviation:
Then switch distance threshold:
S23: in handoff procedure, distance that vehicle is advanced:
RH1-xH=vt(TTT+T0)
Wherein, RH1It is current association cluster head CH1Covering radius, xHIt is that Apollo Nice round edge circle arrives CH on the horizontal axis1Away from From vtIt is Vehicle Speed, TTT is handover trigger time, T0It is that switching executes the time；
And kAIt also may indicate that are as follows:
Wherein, dH1,H2It is adjacent cluster head CH1With cluster head CH2Distance；
Replace xH:
S24: by kASubstitute into dth_HOIn and abbreviation, just obtained as defined in acquired data switching distance threshold expression formula:
2. according to claim 1 a kind of based on switching side between the car networking cluster association boundary of Apollo Nice circle and cluster Method, which is characterized in that the vehicle information acquisition system includes the equipment such as on board unit OBU, communication module and range sensor.
3. according to claim 1 a kind of based on switching side between the car networking cluster association boundary of Apollo Nice circle and cluster Method, which is characterized in that the driving status and vehicle sub-clustering information of vehicle, the choosing including cluster head vehicle are acquired in the step S1 Fixed, the signal transmission power of Adjacent vehicles, vehicle is at a distance from adjacent cluster head, between the travel speed of vehicle, Adjacent vehicles The switching sluggishness and switching time that distance and system background are configured.
4. according to claim 1 a kind of based on switching side between the car networking cluster association boundary of Apollo Nice circle and cluster Method, which is characterized in that the judgment method of the step S3 is to calculate switching distance threshold number in real time using data collected Value executes switching for the vehicle, does not otherwise execute switching if cluster association boundary function relational expression is set up；Switch decision criterion, That is cluster association boundary function relational expression is as follows:
dV,H1≥dth_HO, execute switching；
dV,H1< dth_HO, do not execute switching；dth_HOIndicate the distance threshold of vehicle and cluster where it.
CN201610497432.7A 2016-06-30 2016-06-30 Based on the car networking cluster association boundary of Apollo Nice circle and cluster method for switching between Expired - Fee Related CN105959983B (en)

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