CN113763697A

CN113763697A - Internet of vehicles simulation method and device

Info

Publication number: CN113763697A
Application number: CN202010488424.2A
Authority: CN
Inventors: 吴世杰; 李佐彪; 覃然然; 黄颖恒; 李堪聪; 蒋炳锋; 黄宇建; 潘庆麟; 陈昌盛
Original assignee: Shenzhen Lan You Technology Co Ltd
Current assignee: Shenzhen Lan You Technology Co Ltd
Priority date: 2020-06-01
Filing date: 2020-06-01
Publication date: 2021-12-07

Abstract

The invention discloses a simulation method and a device of Internet of vehicles, wherein the simulation method comprises the following steps: simulating the operation condition of actual traffic to generate basic traffic data; acquiring the traffic basic data; displaying the traffic basic data and receiving control information of the traffic basic data; and updating and simulating the operation condition of the actual traffic according to the control information so as to update and generate the traffic basic data. The invention enriches the simulation function of V2X; the system size is reduced, the operation efficiency of the simulation system is improved, and large-scale V2X simulation of vehicle, pedestrian and traffic light data can be performed; the V2X simulation graphic display interface is provided, rich and flexible data interfaces are provided, and the V2X simulation is simpler, more convenient and more visual, so that the requirement of auxiliary V2X development is met.

Description

Internet of vehicles simulation method and device

Technical Field

The invention relates to the technical field of car networking simulation, in particular to a car networking simulation method and device.

Background

With the development of society and the increasing demand of people for life, the distribution of traffic roads is more and more complex, and more vehicles run on the roads, which results in the increase of the driving difficulty of drivers on the roads and the increase of the risk of traffic accidents. The V2X technology is used for reducing the driving difficulty of a driver, reducing the occurrence of traffic accidents and making traffic and outgoing lines intelligent. V2X is an advanced wireless communication technology that enables interconnection of communication devices for vehicles, signal lights, traffic signs, riders and pedestrians, and sharing information on current status, location and intention of action. V2X is mainly used for studying the relationship between vehicles, vehicles and roads, and between vehicles and people. The V2X includes V2V, V2I, V2P, V2N, and the like, and the related application scenarios are as follows: forward collision early warning, lane change early warning, speed limit early warning, pedestrian early warning and the like.

The car networking simulation system is used for assisting the development of V2X and shortening the development time. The vehicle networking simulation system has the advantages that the real road condition can be simulated in a computer, and the verification and test are carried out without the environment of arranging the V2X on site, so that the manpower and material resources are reduced, and the development efficiency of the V2X is improved. The vehicle networking simulation system can verify whether the design scheme in the V2X is feasible, test whether the function developed by the V2X achieves the expected effect, simulate real data to carry out pressure test on the V2X hardware and the like. For example, a forward collision scene of V2V, a forward congestion scene, a green wave vehicle speed guidance scene of V2I, and the like are verified in the simulation system.

The structure of the existing car networking simulation system is shown in fig. 1, wherein the SUMO can simulate the operation condition of actual traffic, can generate basic data of vehicles, pedestrians, traffic lights, roads, signs and the like, and can initialize the basic data by modifying corresponding configuration files. The Venns framework can obtain or modify these data via the TracI interface provided by SUMO to meet the V2X network simulation requirements.

OMNeT + + is mainly used for various network simulations and provides an operating environment for the Veins framework.

The vehicle in the SUMO is instantiated into an instance after the vehicle in the SUMO is encapsulated into a self TracI interface class according to the TracI interface protocol of the SUMO by the Vens frame, each instance can call the TracI interface class to acquire corresponding vehicle data in the SUMO, each instance is considered as a network node, and corresponding vehicle data updating node data in the SUMO are acquired at regular time, so that traffic network simulation and network protocol simulation are performed.

However, the prior art has the following disadvantages:

1. the function is single, only the network-side simulation of V2X can be carried out, and other functions of V2X, such as V2X scene verification, soft and hard combination, vehicle real-time control and the like, are not provided.

2. The system is large in size, and the operation efficiency of the simulation function of V2X developed secondarily in Veins is low.

3. The V2X simulation based on the Veins framework has no rich graphical display interface.

Disclosure of Invention

The invention provides a simulation method and device of an internet of vehicles, which can solve the problems of single function, large system volume, low operation efficiency and no rich graphical display interface in the prior art.

In order to solve the above problem, in a first aspect, the present invention provides a simulation method for a vehicle networking, including:

simulating the operation condition of actual traffic to generate basic traffic data;

acquiring the traffic basic data;

displaying the traffic basic data and receiving control information of the traffic basic data;

and updating and simulating the operation condition of the actual traffic according to the control information so as to update and generate the traffic basic data.

Wherein, the simulating the operation condition of the actual traffic to generate the traffic basic data comprises:

generating traffic basic data comprising vehicles, pedestrians, traffic lights, roads and signs through a preset simulation platform;

modifying the corresponding configuration file to initialize the traffic basic data.

Wherein the acquiring the traffic basic data comprises:

acquiring basic traffic data including vehicles, pedestrians, traffic lights, roads and signs by inheriting an interface of the simulation platform;

and adding a service logic which interacts with a preset control platform and transmits data to transmit the traffic basic data to the control platform, or transmitting control command data of the control platform to the simulation platform to realize real-time control on the simulation platform.

Wherein the displaying the traffic basic data and receiving control information for the traffic basic data includes:

processing the traffic basic data through the control platform and realizing functions of V2X scene simulation, soft and hard combination, V2X algorithm verification, V2X safety test and V2X protocol stack test to display the traffic basic data;

the behaviors of traffic basic data including vehicles, pedestrians, traffic lights, roads and signs are controlled in real time by receiving a keyboard or a mouse.

Wherein, the updating and simulating the operation condition of the actual traffic according to the control information to update and generate the traffic basic data comprises:

the behaviors of the traffic basic data which control the traffic including vehicles, pedestrians, traffic lights, roads and signs are sent to the simulation platform by sending control command data;

the simulation platform responds to the control command data and updates and simulates the operation condition of the actual traffic so as to update and generate the traffic basic data;

and returning the updated traffic basic data to the control platform and displaying.

In a second aspect, a simulation apparatus for a vehicle networking is provided, which includes a simulation module, a connection module, a display module, and an update module:

the simulation module is used for simulating the operation condition of actual traffic to generate traffic basic data;

the connection module is used for acquiring the traffic basic data;

the display module is used for displaying the traffic basic data and receiving control information of the traffic basic data;

and the updating module is used for updating and simulating the operation condition of the actual traffic according to the control information so as to update and generate the traffic basic data.

The simulation module comprises a simulation submodule and an initialization submodule:

the simulation submodule is used for generating traffic basic data comprising vehicles, pedestrians, traffic lights, roads and signs through a preset simulation platform;

the initialization submodule is used for modifying the corresponding configuration file to initialize the traffic basic data.

Wherein, the connection module comprises a simulation platform connection submodule and an operation and control platform connection submodule:

the simulation platform connection submodule is used for acquiring traffic basic data comprising vehicles, pedestrians, traffic lights, roads and signs by inheriting an interface of the simulation platform;

the control platform connection submodule is used for adding service logic which interacts with a preset control platform and transmits data so as to transmit the traffic basic data to the control platform, or transmitting control command data of the control platform to the simulation platform so as to realize real-time control over the simulation platform.

Wherein, the display module comprises a display submodule and a receiving submodule:

the display submodule is used for processing the traffic basic data through the control platform and realizing the functions of V2X scene simulation, soft-hard combination, V2X algorithm verification, V2X safety test and V2X protocol stack test so as to display the traffic basic data;

the receiving submodule is used for controlling the behaviors of basic traffic data including vehicles, pedestrians, traffic lights, roads and signs in real time by receiving a keyboard or a mouse;

the updating module comprises a control command sending submodule, a response submodule and a return submodule:

the command sending submodule is used for sending control command data to the simulation platform for controlling the behaviors of traffic basic data including vehicles, pedestrians, traffic lights, roads and signs;

the response submodule is used for responding the control command data through the simulation platform and updating and simulating the operation condition of the actual traffic so as to update and generate the traffic basic data;

and the back-transmission sub-module is used for transmitting the updated traffic basic data back to the control platform and displaying the traffic basic data.

In a third aspect, a computer-readable storage medium is provided, having stored therein a plurality of instructions adapted to be loaded by a processor to perform the simulation method as described above.

The invention has the beneficial effects that:

the V2X simulation function is enriched, and other V2X simulation functions such as V2X scene verification, soft and hard combination, protocol stack verification, algorithm verification, security verification and the like are provided except that the V2X network simulation function is not provided.

The system size is reduced, the operation efficiency of the simulation system is improved, and the V2X simulation of large-scale vehicle, pedestrian and traffic light data can be performed.

The V2X simulation graphic display interface is provided, rich and flexible data interfaces are provided, and the V2X simulation is simpler, more convenient and more visual, so that the requirement of auxiliary V2X development is met.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic diagram of a prior art Internet of vehicles simulation system;

FIG. 2 is a schematic structural diagram of a simulation system of the Internet of vehicles provided by the invention;

FIG. 3 is a schematic flow chart diagram of a simulation method for the Internet of vehicles provided by the present invention;

FIG. 4 is a schematic diagram of an application of the Internet of vehicles simulation system according to the first embodiment of the present invention;

FIG. 5 is a schematic diagram of an application of a simulation system of Internet of vehicles according to a second embodiment of the present invention;

fig. 6 is a schematic application diagram of a car networking simulation system according to a third embodiment of the present invention.

The acronyms appearing herein are defined as follows:

SUMO: an open-source, microscopic and multi-modal traffic simulation software can be applied to vehicle communication simulation, traffic light evaluation, driving route selection, routing reselection and the like.

OMNeT + +: the system is free and open-source multi-protocol network simulation software, and can be applied to network simulation, network protocol simulation and the like of vehicles.

Veins: the open source car networking simulation framework is operated in OMNeT + +, integrates a series of simulation models for the car networking, and can interact with the SUMO.

TracI: the SUMO is an interface for providing basic data of vehicles, pedestrians, traffic lights and the like in the SUMO for other applications to obtain or modify, and supports language calls such as C + +, Python and the like.

LYVNS: the Simulation system is autonomously developed Vehicle network Simulation software, is called LanYou's Vehicle Networking Simulation, can interact with SUMO, and integrates the functions of simulating a V2V scene, a V2I scene, safety testing, soft and hard combination and the like.

V2X: communication between the vehicle and everything.

V2V: the vehicle communicates with the vehicle.

V2I: the vehicle communicates with a roadside unit.

V2P: the vehicle communicates with the pedestrian.

V2N: the vehicle is connected to a network.

An OBU: and a vehicle-mounted terminal unit.

RSU: a road side unit.

BSM: the method comprises the steps of message set data and basic safety messages, wherein the basic safety messages comprise speed, steering, braking, double flashing, positions and the like, and are mostly used in a V2V scene, namely lane change early warning, blind area early warning, intersection collision early warning and the like.

RSI: the system comprises message set data, roadside information, road side RSU integration and platform issuing, wherein the message set data and the roadside information are used for the lower part of an event, and are mostly used for a V2I scene, namely road construction, speed limit signs, overspeed early warning, bus lane early warning and the like.

RSM: message set data, roadside safety messages, also V2I, are primarily interfaced to roadside edge devices for identification of events, such as vehicle accidents, vehicle anomalies, foreign object intrusions, and the like.

A Uu interface: air access interface, a network access technology.

SPAT: message set data, traffic light phase and timing messages, also V2I, roadside RSU integrated semaphores, or semaphores transmitted into the platform over the Uu interface for vehicle speed guidance, green wave push scenarios, and so on.

MAP: the message set data, the MAP message and the SPAT message are used together, the MAP message can describe an intersection, and a corresponding relation also exists between the MAP message and a traffic light of the intersection.

Detailed Description

The technical solutions in 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 obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present disclosure, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the invention. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present invention may be practiced without these specific details. In other instances, well-known structures and processes are not shown in detail to avoid obscuring the description of the invention with unnecessary detail. Thus, the present invention is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.

Referring to fig. 2, fig. 2 is a schematic structural diagram of a car networking simulation system provided by the present invention. The simulation method of the Internet of vehicles provided by the invention is realized by the Internet of vehicles simulation system shown in figure 2.

Referring to fig. 3, fig. 3 is a flowchart of a simulation method of the internet of vehicles according to the present invention, the method includes steps S1-S4:

s1, simulating the operation condition of actual traffic to generate traffic basic data; step S1 includes steps S11-S12:

and S11, generating traffic basic data including vehicles, pedestrians, traffic lights, roads and signs through a preset simulation platform.

In this embodiment, the preset simulation platform is formed by a SUMO and is responsible for simulating the operation condition of actual traffic, generating basic data such as vehicles, pedestrians, traffic lights, roads, signs and the like, and transmitting the basic data to the data transmission application through local network communication.

And S12, modifying the corresponding configuration file to initialize the traffic basic data.

In this embodiment, the data transfer application may obtain or modify these data via the TracI interface provided by the SUMO to meet the data requirements of the LYVNS for V2X simulation. Modifying the corresponding configuration file initializes the base data.

S2, acquiring the traffic basic data; step S2 includes steps S21-S22:

and S21, acquiring basic traffic data including vehicles, pedestrians, traffic lights, roads and signs by inheriting the interface of the simulation platform.

In this embodiment, the data transmission application inherits the TraCI interface of the SUMO, and can acquire basic data of vehicles, pedestrians, traffic lights, roads, signs and the like in the SUMO.

And S22, adding a service logic interacting with a preset control platform and transmitting data to transmit the traffic basic data to the control platform, or transmitting the control command data of the control platform to the simulation platform to realize the real-time control of the simulation platform.

In this embodiment, the preset control platform is the LYVNS, and a service logic that interacts with and transmits data to the LYVNS is added, so that data of the SUMO may be transmitted to the LYVNS, and control command data of the LYVNS may also be transmitted to the SUMO, so as to implement a real-time control function, and meet a functional requirement of the LYVNS.

S3, displaying the traffic basic data and receiving control information of the traffic basic data; step S3 includes steps S31-S32:

and S31, processing the traffic basic data through the control platform, and realizing V2X scene simulation, soft and hard combination, V2X algorithm verification, V2X safety test and V2X protocol stack test functions to display the traffic basic data.

In this embodiment, the SUMO data is processed to realize the functions of V2X scene simulation, soft and hard combination, V2X algorithm verification, V2X security test, V2X protocol stack test, and the like, and these functions are presented in a UI display manner.

And S32, controlling the behaviors of the traffic basic data including vehicles, pedestrians, traffic lights, roads and signs in real time by receiving the keyboard or the mouse.

In this embodiment, behaviors such as vehicles, pedestrians, traffic lights and the like of the SUMO can be controlled in real time by the keyboard or the mouse, and are transmitted to the SUMO after the control command is sent to the data transmission application, and the SUMO responds to the control command.

And S4, updating and simulating the operation condition of the actual traffic according to the control information to update and generate the traffic basic data. Step S4 includes steps S41-S43:

and S41, controlling the behaviors of the traffic basic data including vehicles, pedestrians, traffic lights, roads and signs by sending control command data to the simulation platform.

In this embodiment, the control command is transmitted to the SUMO after being sent to the data transmission application, and the SUMO responds to the control command.

And S42, responding the control command data and updating and simulating the operation condition of the actual traffic by the simulation platform so as to update and generate the traffic basic data.

In this embodiment, the SUMO updates and simulates the operation condition of actual traffic, and generates basic data such as vehicles, pedestrians, traffic lights, roads, signs and the like again.

And S43, transmitting the updated traffic basic data back to the control platform and displaying.

In this embodiment, the updated traffic profile is displayed in the LYVNS.

The simulation method is realized by a vehicle networking simulation system, and the vehicle networking simulation system has the following three embodiments:

referring to fig. 4, fig. 4 is a schematic application diagram of a car networking simulation system according to a first embodiment of the present invention. The vehicle networking simulation system consists of an SUMO, a data transmission application and an LYVNS.

(1) In the SUMO, the operation condition of actual traffic can be simulated, basic data such as vehicles, pedestrians, traffic lights, roads, signs and the like can be generated, and the basic data can be initialized by modifying corresponding configuration files. The data transfer application may obtain or modify this data via the TracI interface provided by the SUMO to meet the data requirements required by LYVNS for V2X simulation.

(2) In the data transmission application, in order to meet the requirement of LYVNS for V2X simulation function, the data transmission application inherits all the TracI interfaces provided by SUMO and is richer than the TracI interfaces of the Venns framework. By utilizing the TracI interface, smooth lane changing of vehicles, dynamic vehicle adding, vehicle data subscribing and the like in the SUMO can be controlled. The LYVNS interaction is added, so that data of vehicles, pedestrians and traffic lights in the SUMO are transmitted to a UDP (user Datagram protocol) server of the LYVNS, the data are used as simulation input data of the LYVNS, and after being processed by the LYVNS, a simulation result is obtained and can be displayed through the UI. On the other hand, the LYVNS control command is transmitted to the SUMO, so that the behaviors of vehicles, pedestrians and traffic lights in the SUMO can be controlled in real time, the change of the behaviors is returned to the LYVNS in a data mode, and the LYVNS can perform dynamic V2X simulation. The data transmission application and the LYVNS interaction data are transmitted through a protocol stack or protocol designed by the inventor. In the logic of interacting with LYVNS, data from SUMO is distinguished, the data are divided into BSM data, SPAT data, MAP data, RSI data and RSM data according to different data, the distinguished data are encoded by a protocol stack designed by us and then transmitted to LYVNS, and the LYVNS is decoded by the protocol stack to obtain correct data and then is used for simulation of V2X.

(3) The description and implementation of the functional modules in the LYVNS are as follows:

V2X scenes, including V2V, V2I, V2P, etc. Data received by a UDP server is decoded by a protocol stack designed by people and then distributed to a scene of V2X, whether a calculation result meets the condition of triggering a certain scene of V2X or not is judged by a multithread polling calculation and data processing method, and if the calculation result meets the condition, a UI layer is informed to display and warn. For example, a forward collision scene is tested, data such as position data, course angle and speed of the main vehicle and the far vehicle are acquired from a UDP server, whether the main vehicle and the far vehicle meet the condition of the forward collision scene is calculated, if the condition is met, the forward collision early warning is displayed on a UI interface, and the predicted collision residual time and the current distance between the two vehicles are displayed.

And the verification of the V2X algorithm comprises a road matching algorithm, a straight line V2V algorithm and a vehicle congestion clustering algorithm. Similar to the realization of the scene function of the V2V, the data received by the UDP server is decoded by a protocol stack and then distributed to the scene of the V2X, and a corresponding algorithm is used for calculating whether the vehicle is successfully matched with the road and whether the vehicle is in a traffic state with vehicle congestion at present.

The V2X protocol stack tests, and the protocol stack encoding and decoding functions in fig. 4 are part of the functions provided by the V2X protocol stack. The method mainly tests the performance of a protocol stack developed by people, such as the coding and decoding capability per second, the packet loss rate test and the like, and the packet loss rate test realization method is that a local socket simulates communication between a server and a client, so that the most packet tests can be sent out as much as possible per second, the coding of the server and the packet number (including success and failure) sent out are recorded, the packet number successfully received and decoded by the client is recorded, and the packet loss rate is calculated. Meanwhile, BSM, SPAT, MAP, RSI and RSM data input by a user can be encoded through the protocol stack, and the size of the data before encoding and the size of the data after encoding are compared.

And the soft and hard combination is mainly used for transmitting the data received by the UDP server to the test development board. The transmission mode supports transmission to the development board through a serial port, a Micro USB and a wireless WIFI mode, and transmission parameters can be configured in the LYVN. After receiving the data, the development board decodes the data through a self-developed protocol stack to obtain BSM, SPAT, MAP, RSI and RSM data, and then the tested development board can be used for simulating a real scene to perform testing, such as scene trigger testing.

And the real-time control can be realized by controlling the behaviors of vehicles, pedestrians and traffic lights in the SUMO in real time through LYVNS. Such as controlling lane change and acceleration and deceleration of the vehicle. The implementation method is that the LYVNS sends control behavior data to the data transmission application by detecting whether a mouse or a keyboard triggers the control behavior, the data transmission application analyzes the behavior data into commands which are in accordance with the TracI interface of the SUMO and sends the commands to the SUMO, and when the SUMO updates the information of vehicles, pedestrians and traffic lights, the SUMO returns the basic data of the updated vehicles, pedestrians and traffic lights.

The V2X safety test mainly provides the functions of certificate management, certificate validity verification, data signature verification and false data detection. For example, a simple implementation of data signatures: in LYVNS, the flow of the simulation main vehicle to send data to the remote vehicle is as follows: the main car is regarded as a sender, and the far car is regarded as a receiver. And after receiving the data, the remote vehicle verifies the signature by using a public key provided by the master vehicle, if the signature is correct, the remote vehicle receives the data, and if not, the remote vehicle discards the data.

And generating a V2X simulation report, wherein the function is the result of statistical simulation function test and is stored in a file. For example, when the forward collision of V2V is tested, the number of tests is automatically counted, the parameters (such as pre-collision time) set by each test are recorded, and the number, duration, distance and other data of scene trigger are recorded, so as to generate a file for storage, and the file is used for the user to view, so as to determine the optimal forward collision setting parameters according to the simulation effect.

For an external open interface, other user applications can acquire more data or richer control functions through the external open interface provided by LYVNS, the implementation method of the interface is similar to the TracI interface provided by SUMO, LYVNS can start a TCP server to monitor a specific port and wait for user application connection, and after the user connection, the user application can acquire more data by calling the external open interface of LYVNS, such as data except UI display, position and timing information of traffic lights and ID of roads. Or richer control functions, timing traffic lights again, dynamically adding vehicles and the like.

And data playback, which is mainly aimed at data playback of vehicles and pedestrians. After the user marks the vehicle of interest, the LYVNS will start to temporarily store the historical GPS, speed, time, road ID, and behavior data of the vehicle or pedestrian, i.e., the historical motion trace information of the vehicle or pedestrian.

The implementation method comprises the following steps: basic data (including GPS, speed and road ID data) of vehicles or pedestrians from the SUMO or control data of the vehicles or pedestrians initiated by LYVNS are temporarily stored in a disk file after being attached with the current computer system time, and the temporary storage is stopped until the vehicles or pedestrians finish the simulated movement route, and then the data are taken out from the file and displayed on a UI of the LYVNS.

And the UI display provides a human-computer interaction interface, and can be visually and vividly presented or used simply and conveniently. The method is mainly realized by windows and controls.

Referring to fig. 5, fig. 5 is a schematic application diagram of a car networking simulation system according to a second embodiment of the present invention; compared with the first embodiment, the present embodiment adds the functions of V2X network and V2X protocol simulation, and is suitable for V2X network simulation and V2X network protocol simulation of simulating data of a certain scale.

(1) FIG. 5 first level, the interaction of Veins with SUMO functions the same as in the prior art scheme.

(2) In the second layer of fig. 5, in Veins, we enrich the TraCI interface for interacting with SUMO data and add the function of interacting with LYVNS data in the Mobility class in the Veins framework based on the prior art. The official Venns framework only realizes the TracI interface used for network simulation, a plurality of TracI interfaces with SUMO open to the outside are not realized, and in order to meet the requirements of LYVNS on V2X simulation function, the TracI interfaces of the Venns have to be enriched, such as a control vehicle smooth lane changing interface, a dynamic vehicle adding interface, a subscription vehicle data interface and the like. LYVNS data interaction is added into a Vens framework, so that data of vehicles, pedestrians and traffic lights in the SUMO are transmitted to a UDP (user Datagram protocol) server of the LYVNS, network simulation data and network protocol simulation data in the Vens are transmitted to the LYVNS, the data are used as simulation input data of the LYVNS, and after being processed by the LYVNS, a simulation result is obtained and can be displayed through a UI (user interface). The LYVNS control commands are transmitted to the SUMO, so that the behaviors of vehicles, pedestrians and traffic lights in the SUMO can be controlled in real time, the change of the behaviors is returned to the LYVNS in a data mode, and the LYVNS can perform dynamic control V2X simulation. After being coded by a protocol stack designed by the inventor, the data is transmitted to a UDP server of LYVNS through a UDP client, so that the correctness and the safety of the data are ensured. In addition, the data which are distinguished are coded by the protocol stack designed by us and then transmitted to LYVNS, and the LYVNS is decoded by the protocol stack to obtain correct data, and then the correct data is used for simulation of V2X.

(3) In the third layer of fig. 5, the functions of V2X network and V2X protocol emulation are added, and the other functions are the same as those described in the first embodiment. The analysis functions of the V2X network and the V2X protocol are mainly provided by Veins, and logic codes for testing the network or the network protocol by itself are added to the Veins, and the results of the analysis or the test of the Veins are returned to the LYVNS for UI display. If the receiving of the test traffic light signal is linearly attenuated along with the increase of the distance between the vehicle and the traffic light, a corresponding network control code is added into the veins, when the distance between the vehicle and the traffic light is increased, the signal quality is deteriorated, and when the vehicle leaves the network range served by the traffic light, the traffic light information data can not be received. And the signal quality or the result that the traffic light signal data cannot be received is returned to the LYVNS for UI display, so that the method is more visual.

Referring to fig. 6, fig. 6 is a schematic application diagram of a car networking simulation system according to a third embodiment of the present invention. In the embodiment, the TracI interface is integrated in the LYVNS, the data transmission application in the first embodiment is omitted, the system integration level is improved, the stability is improved, the operation efficiency is higher than that of the Internet of vehicles simulation system in the first embodiment, and the implementation difficulty is high.

(1) Fig. 6 first layer, SUMO application. As in the first embodiment.

(2) The second layer in fig. 6 integrates the functions of the data transmission application layer in the first embodiment to the LYVNS, so that the UDP server, the UDP client and the interaction part with the LYVNS can be deleted, the TracI interface is directly inherited in the LYVNS, data such as vehicles, pedestrians, traffic lights, roads and signs can be acquired from the SUMO through the TracI interface, and the control command of the LYVNS is directly transmitted to the SUMO through the TracI interface, so that the behaviors of the vehicles, the pedestrians and the traffic lights in the SUMO can be controlled in real time. The other V2X functions in the same way as in the first embodiment.

In a second aspect, the invention provides a simulation device of a vehicle networking, which is implemented by a vehicle networking simulation system as shown in fig. 2. The simulation device comprises a simulation module, a connection module, a display module and an updating module:

the simulation module is used for simulating the operation condition of actual traffic to generate traffic basic data; the simulation module comprises a simulation submodule and an initialization submodule:

The connection module is used for acquiring the traffic basic data; wherein, the connection module comprises a simulation platform connection submodule and an operation and control platform connection submodule:

The display module is used for displaying the traffic basic data and receiving control information of the traffic basic data; wherein, the display module comprises a display submodule and a receiving submodule:

And the updating module is used for updating and simulating the operation condition of the actual traffic according to the control information so as to update and generate the traffic basic data. The updating module comprises a control command sending submodule, a response submodule and a return submodule:

In this embodiment, the updated traffic profile is displayed in the LYVNS.

It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor. To this end, the present invention provides a storage medium, in which a plurality of instructions are stored, and the instructions can be loaded by a processor to execute the steps in any one of the integration methods provided by the present invention.

Wherein the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.

Since the instructions stored in the storage medium can execute the steps in any integration method provided in the embodiments of the present invention, the beneficial effects that can be achieved by any integration method provided in the embodiments of the present invention can be achieved, for details, see the foregoing embodiments, and are not described herein again.

The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A simulation method of a vehicle networking is characterized by comprising the following steps:

acquiring the traffic basic data;

2. The simulation method of claim 1, wherein the simulating the actual traffic behavior to generate the traffic profile comprises:

3. The simulation method of claim 2, wherein the obtaining the traffic basic data comprises:

4. The simulation method of claim 3, wherein said presenting the traffic basic data and receiving control information for the traffic basic data comprises:

5. The simulation method of claim 4, wherein the updating and simulating the operation of the actual traffic to update and generate the traffic basic data according to the control information comprises:

6. The utility model provides a simulation device of car networking which characterized in that, includes simulation module, connection module, show module and update module:

the connection module is used for acquiring the traffic basic data;

7. The simulation apparatus of claim 6, wherein the simulation module comprises a simulation sub-module and an initialization sub-module:

8. The simulation apparatus of claim 7, wherein the connection module comprises a simulation platform connection sub-module and a manipulation platform connection sub-module:

9. The simulation device of claim 8, wherein the display module comprises a display sub-module and a receiving sub-module:

10. A computer-readable storage medium having stored thereon a plurality of instructions adapted to be loaded by a processor to perform the simulation method of any of claims 1 to 5.