CN105303852B - Traffic accident message distributing method based on In-vehicle networking - Google Patents

Abstract

The invention discloses a method for distributing traffic accident messages based on a vehicle network, comprising the following steps: after a traffic accident occurs, searching for first driving information of a first target vehicle near the accident vehicle, wherein the first driving information includes the first target vehicle The driving speed of the vehicle, the driving direction of the first target vehicle and the distance between the first target vehicle and the accident vehicle; judging and determining whether the first target vehicle is is the original relay vehicle; if the first target vehicle is the original relay vehicle, the accident vehicle sends the accident information to the original relay vehicle; the original relay vehicle forwards the accident information. The invention has the following advantages: in the urban traffic network with huge data requests and heavy traffic flow, the safety information can be transmitted quickly, and the vehicles that are about to arrive at the accident scene can know the road conditions ahead in advance, so as to respond in time to avoid further deterioration of traffic conditions .

Description

Traffic accident message distribution method based on vehicle network

technical field

The invention belongs to the research field of opportunistic network data transmission mechanism, and in particular relates to a traffic accident message distribution method based on a vehicle network.

Background technique

In the urban vehicle network, with the rapid increase of the number of vehicles, the urban traffic conditions are becoming more and more complex. For emergencies such as road traffic accidents, if the safety warning is not timely, it may lead to serious traffic accidents such as serial rear-end collisions. The resulting traffic congestion makes the increasingly severe traffic situation worse.

In the event of sudden traffic accidents in the city, the safety warning will be quickly disseminated to gain more emergency response time for the drivers of the rear vehicles, and at the same time remind the rear vehicles to update the road planning to avoid congestion, which is of great value to the improvement of urban traffic conditions .

The vehicle-mounted network is a mobile ad-hoc network composed of a large number of sensor nodes equipped with perception, storage, data processing and wireless communication capabilities loaded on fast-moving vehicles. It is deployed in urban vehicle-mounted scenarios with large data communications and high service quality requirements. roadside infrastructure, and build a vehicle-road coordination system to improve data transmission efficiency.

For the security message distribution of urban vehicle networks, the relevant research is still immature. Most studies only distribute security messages to vehicles in the same direction, without considering the role of reverse vehicles and roadside units on security message distribution, which is prone to coverage holes. Affect the transmission range and speed of safety messages; at the same time, because the data transmission of the vehicle node is carried out during the driving process of the vehicle, it may cause the receiving vehicle to gradually drive out of the communication range of the sending vehicle during the data transmission process, resulting in data transmission failure. situation, that is, invalid transmissions are generated, affecting the quality of service of the security application.

Contents of the invention

The present invention aims to solve at least one of the above-mentioned technical problems.

For this reason, the first object of the present invention is to propose a method for distributing traffic accident messages based on the vehicle network.

The second purpose of the present invention is to propose another traffic accident message distribution method based on the vehicle network.

In order to achieve the above object, an embodiment of one aspect of the present invention discloses a method for distributing traffic accident messages based on a vehicle network, including the following steps: A: After a traffic accident occurs, search for the first driving position of the first target vehicle near the accident vehicle. information, wherein the first driving information includes the driving speed of the first target vehicle, the driving direction of the first target vehicle and the distance between the first target vehicle and the accident vehicle; B: according to the accident vehicle The communication distance of the accident vehicle, the transmission time of the accident message of the accident vehicle and the first driving information judge and determine whether the first target vehicle is the original relay vehicle; C: if the first target vehicle is the original relay vehicle; a relay vehicle, the accident vehicle sends accident information to the original relay vehicle; and D: the original relay vehicle forwards the accident information.

According to the vehicle-mounted network-based traffic accident message distribution method of the embodiment of the present invention, in the urban traffic network with huge data requests and heavy traffic flow, the safety information can be transmitted quickly, so that the vehicles that are about to arrive at the accident scene can know the road conditions ahead in advance, thereby Respond in time to avoid further deterioration of traffic conditions.

In addition, the method for distributing traffic accident messages based on the vehicle network according to the above-mentioned embodiments of the present invention may also have the following additional technical features:

Further, in step D, it further includes: D1: After the original relay vehicle receives the accident information, it searches for intermediate driving information of an intermediate target vehicle near the original relay vehicle, wherein the intermediate driving The information includes the traveling speed of the intermediate target vehicle, the traveling direction of the intermediate target vehicle and the distance between the intermediate target vehicle and the original relay vehicle; D2: according to the accident information communication distance of the original relay vehicle, The accident message transmission time of the original relay vehicle, the first travel information and the intermediate travel information determine whether the intermediate target vehicle is an intermediate relay vehicle; D3: if the intermediate target vehicle is an intermediate relay vehicle , the original relay vehicle sends accident information to the intermediate relay vehicle; and D4: the intermediate relay vehicle forwards the accident information.

Further, the intermediate relay vehicle includes a first intermediate relay vehicle and at least one intermediate distribution relay vehicle, and the first intermediate relay vehicle receives the accident information sent by the original relay vehicle and forwards it to all The intermediate distribution relay vehicle, the intermediate distribution relay vehicle receives the accident information and forwards the accident information.

The original relay vehicle includes the same forward vehicle, the same direction rear vehicle, the opposite front vehicle and the reverse rear vehicle of the accident vehicle, wherein, the same forward vehicle is relative to the reference vehicle, and the same direction as the reference vehicle Vehicles traveling in the same direction and located in front of the reference vehicle; the rear vehicle in the same direction is a vehicle traveling in the same direction as the reference vehicle and located behind the reference vehicle relative to the reference vehicle; The vehicle in front is a vehicle that is opposite to the reference vehicle in the direction of travel of the reference vehicle and located behind the reference vehicle in the direction of travel; A vehicle that travels in the opposite direction and is located in front of the reference vehicle in the travel direction.

Further, in step D, it further includes: DA: After the original relay vehicle receives the accident information, it searches for a fixed relay device near the original relay vehicle, if the fixed relay device is located in the Within the communication distance of the accident vehicle, the accident vehicle sends the accident information to the fixed relay device; DB: the fixed relay device forwards the accident information shown.

In order to achieve the above object, an embodiment of the present invention discloses a traffic accident message distribution method based on a vehicle network, including the following steps: S1: After a traffic accident occurs, search for the location information of a fixed relay device near the accident vehicle; S2: If the fixed relay device is located within the communication distance of the accident vehicle, the accident vehicle sends the accident information to the fixed relay device; S3: Search for a first target near the fixed relay device The first driving information of the vehicle, wherein the first driving information includes the driving speed of the first target vehicle, the driving direction of the first target vehicle and the distance between the first target vehicle and the accident vehicle; S4: Judging and determining whether the first target vehicle is the original relay vehicle according to the communication distance of the fixed relay device, the transmission time of the accident message of the fixed relay device and the first driving information; S5: If The first target vehicle is the original relay vehicle, and the accident vehicle sends accident information to the first original relay vehicle; and S6: the original relay vehicle forwards the accident information.

According to the vehicle-mounted network-based traffic accident message distribution method of the embodiment of the present invention, in the urban traffic network with huge data requests and heavy traffic flow, the safety information can be transmitted quickly, so that the vehicles that are about to arrive at the accident scene can know the road conditions ahead in advance, thereby Respond in time to avoid further deterioration of traffic conditions.

In addition, the traffic accident message distribution method of the vehicle network according to the above-mentioned embodiments of the present invention may also have the following additional technical features:

Further, in step S6, it further includes: S601: After the original relay vehicle receives the accident information, it searches for intermediate travel information of an intermediate target vehicle near the original relay vehicle, wherein the intermediate travel The information includes the traveling speed of the intermediate target vehicle, the traveling direction of the intermediate target vehicle, and the distance between the intermediate target vehicle and the original relay vehicle; S602: According to the accident information communication distance of the original relay vehicle, The accident message transmission time of the original relay vehicle, the first travel information and the intermediate travel information determine whether the intermediate target vehicle is an intermediate relay vehicle; S603: If the intermediate target vehicle is an intermediate relay vehicle , the original relay vehicle sends accident information to the intermediate relay vehicle; and S604: the intermediate relay vehicle forwards the accident information.

Further, the intermediate relay vehicle includes a first intermediate relay vehicle and at least one intermediate distribution relay vehicle, and the first intermediate relay vehicle receives the accident information sent by the original relay vehicle and forwards it to all The intermediate distribution relay vehicle, the intermediate distribution relay vehicle receives the accident information and forwards the accident information.

Further, the original relay vehicle includes the same-direction front vehicle, the same-direction rear vehicle, the opposite front vehicle and the reverse rear vehicle of the accident vehicle, wherein, for two same-direction vehicles, along their traveling direction, located at The vehicle in front is called the same-direction front vehicle, and the vehicle at the rear is called the same-direction rear vehicle; for two reverse vehicles, along their traveling direction, the front vehicle is called the reverse front vehicle, The vehicle located in the rear is called the reverse rear vehicle.

Further, when the accident site of the accident vehicle is an intersection, the original relay vehicle includes the vehicle in front of the accident vehicle and the vehicle behind the intersection, wherein, for the intersection, along its traveling direction, located at The vehicle ahead is referred to as the intersection front vehicle, and the vehicle behind is referred to as the intersection rear vehicle.

Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and comprehensible from the description of the embodiments in conjunction with the following drawings, wherein:

Fig. 1 is the flow chart of the traffic accident message distribution method based on vehicle network of an embodiment of the present invention;

Fig. 2 is a schematic diagram of the position relationship of vehicles in the same direction according to an embodiment of the present invention;

Fig. 3 is a schematic diagram of transmission between vehicles in the same direction according to an embodiment of the present invention;

Fig. 4 is a schematic diagram of the transmission of vehicles in the same direction to vehicles in the opposite direction according to an embodiment of the present invention;

Fig. 5 is a schematic diagram of multi-directional safety message distribution of roadside units according to an embodiment of the present invention.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus should not be construed as limiting the invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and should not be understood as indicating or implying relative importance.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

These and other aspects of embodiments of the invention will become apparent with reference to the following description and drawings. In these descriptions and drawings, some specific implementations of the embodiments of the present invention are specifically disclosed to represent some ways of implementing the principles of the embodiments of the present invention, but it should be understood that the scope of the embodiments of the present invention is not limited by this limit. On the contrary, the embodiments of the present invention include all changes, modifications and equivalents coming within the spirit and scope of the appended claims.

A method for distributing traffic accident messages based on a vehicle network according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

Assume that the communication radius of the vehicle nodes is the same, denoted as CV. The communication radius of the roadside unit (that is, the fixed relay device) is the same, denoted as CU. The communication radius of the roadside unit is greater than that of the vehicle node, that is, CU>CV; the safety message propagation distance is the same, denoted as CP. The safety message propagation distance is greater than the communication radius of the roadside unit, that is, CP>CU.

Please refer to Fig. 1 and Fig. 2, write down the accident vehicle (i.e. safety message source node) as x, take the accident vehicle x driving direction as the standard, in the embodiment of the present invention, the accident vehicle x is the reference vehicle, and the reference vehicle is only used on the vehicle described in reference. Vehicles traveling in the same direction are called vehicles in the same direction, including vehicle a, vehicle b and vehicle d, and vehicles traveling in the opposite direction are called reverse vehicles, including vehicle A and vehicle B. a is the front vehicle in the same direction, d is the rear vehicle in the same direction; for two reverse vehicles A and B, A is the reverse front vehicle, B is the reverse rear vehicle

When a traffic accident occurs, the accident vehicle x generates a safety message, and uses CP as the propagation distance to search for the first target vehicle near the accident vehicle and judge whether the first target vehicle is a relay vehicle (determined according to the safe communication distance of the accident vehicle) , if the first target vehicle is a relay vehicle, the accident vehicle propagates the safety message. In some examples of the present invention, the first target vehicle is the nearest vehicle in all directions from the accident vehicle (the vehicle in the same direction, the vehicle in the same direction, the vehicle in front of the direction, the vehicle in the opposite direction and the vehicle closest to the accident vehicle in other directions Vehicles).

Vehicle b and vehicle x have a traffic accident, vehicle x is the safety message source node, vehicle x generates a safety message and uses CP as the propagation distance, and propagates the safety message to the vehicles behind it in the same direction.

Time validity judgment of safety message transmission: The difference between the remaining validity period of safety message and the expected transmission time is used as the judgment condition. If it is greater than 0, it means that the transmission is feasible; otherwise, the transmission is abandoned.

Location validity determination for safety message transmission: The location where the receiving node expects to receive the safety message is used as the judgment condition. If it is within the preset safety message propagation range, the transmission is feasible; otherwise, the transmission is abandoned.

The distance validity judgment of safety message transmission:

Judgment on the validity of the distance of safety message transmission between vehicles in the same direction: Take vehicle a in front of the same direction to transmit safety information to vehicle b in the same direction as an example, record the driving speed of vehicle a as v _a , and the driving speed of vehicle b as v _b , the current distance between vehicle a and vehicle b is f _ab , and f _ab <CV, and the safety message transmission time is τ. If v _a ≥ v _b , the judgment condition is τ(v _a -v _b )+f _ab <CV; if v _a <v _b , the judgment condition is τ(v _b -v _a )-f _ab <0. If the judgment condition is true, vehicle a sends a safety message to vehicle b, and vehicle b receives the message; otherwise, no safety message is sent.

Judgment on the validity of the distance for the transmission of safety messages from vehicles in the same direction to vehicles in the opposite direction: Take vehicle α in the same direction to transmit safety messages to vehicle A in the opposite direction as an example, the speeds are v _a and v _A , the current distance is f _aA , and f _aA <CV. The distance between two lanes is D. According to the calculation method of the distance between opposite vehicles, the judgment condition is If the judgment condition is true, vehicle a sends a safety message to vehicle A, and vehicle A receives the message; otherwise, no safety message is sent.

Judgment on the validity of the distance of safety message transmission between reverse vehicles: Take the transmission of safety messages from the reverse rear vehicle B to the reverse front vehicle A as an example, record the driving speed of vehicle A as v _A , and the driving speed of vehicle B as v _B , the current distance between vehicle A and vehicle B is f _AB , and f _AB <CV. If v _A ≥ v _B , the judgment condition is τ(v _A -v _B )+f _AB <CV; if v _A <v _B , the judgment condition is τ(v _B -v _A )-f _AB <0. If the judgment condition is true, vehicle B sends a safety message to vehicle A, and vehicle A receives the message; otherwise, no safety message is sent.

Judgment on the validity of the distance of the safety message transmitted from the reverse vehicle to the same direction vehicle: Take the reverse vehicle A to transmit the safety message to the same direction vehicle a as an example, the speeds are v _A and v _a respectively, the current distance is f _Aa , and f _Aa <CV. The distances between vehicle A and vehicle a and the accident vehicle x are f _Ax and f _ax , respectively. According to the calculation method of the distance between opposite vehicles, it can be obtained, if the judgment condition is Otherwise, if Then the judgment condition is that if the judgment condition is true, then vehicle A sends a safety message to vehicle a, and vehicle a receives the message; otherwise, no safety message is sent;

Coordinated safety message distribution between vehicles in the same direction and vehicles in the opposite direction:

Safety message distribution between vehicles in the same direction: take the accident vehicle as the source node, and take the rear vehicle in the same direction as the destination node whose distance from the source node is less than the safety message propagation distance, and the safety message is transmitted between the vehicles in the same direction to the rear, that is A forward vehicle (referred to as a relay vehicle) distributes safety messages to rear vehicles in a multicast manner, and its transmission strategy adopts the strategy of rear full reception and farthest rear relay. Among them, the rear all-receiving strategy means that all vehicles in the same direction behind the relay vehicle and have not yet received the safety message receive the safety message; The vehicle, as the new relay vehicle, is the next sending node of the safety message, preparing for the next message distribution.

Please refer to Figure 3, the source node x transmits the safety message to the rear vehicle in the same direction, and according to the rear full reception strategy, the rear vehicles d and e within its communication range CV receive the safety message; according to the farthest rear relay strategy, Vehicle e is selected as the relay vehicle.

Safety message distribution from vehicles in the same direction to vehicles in the opposite direction: When there is no rear vehicle in the same direction but a reverse vehicle within the communication range of the relay vehicle, the relay vehicle uses the farthest forward relay strategy to pass the message to the reverse vehicle , which aims to avoid message coverage holes by exploiting the multi-hop transmission between reverse vehicles and their travel. Among them, the farthest forward relay strategy refers to the reverse vehicle that can receive the safety message and is located at the front as the planned amount of receiving the safety message and the new relay vehicle.

Please refer to Figure 4, the source node x transmits the safety message to the reverse vehicle, and according to the farthest forward relay strategy, vehicle A is selected as the relay vehicle. It should be noted that vehicle B is neither the destination node of the safety message nor the relay vehicle, so vehicle B does not receive the safety message.

Safety message distribution from the reverse vehicle to the same direction vehicle: When the reverse relay vehicle encounters the same direction vehicle that has not yet obtained the safety message, it will transmit the safety message to the same direction vehicle again according to the rear full reception and the farthest rear relay strategy. Directing vehicles: Continue to perform safety message transmission between vehicles in the same direction until the safety message distribution reaches the border of its propagation range, or the message distribution reaches the intersection. If the safety message reaches the boundary of its propagation range, the relay vehicle will distribute the message to the vehicles that newly enter the safety message propagation range until the message expires. If the safety message arrives at the intersection, the roadside unit executes multi-directional safety message distribution.

Multi-directional safety message distribution of roadside units: When the safety message transmission reaches the intersection where roadside units are deployed, since the communication capability of roadside units is stronger than that of vehicle nodes, roadside units are used to distribute safety messages in all directions. control.

Specifically, referring to FIG. 5 , roadside units RU are deployed. When the roadside unit RU receives the safety message from the vehicle x, the RU first judges which directions of vehicles in the various directions of the intersection are likely to drive to the road where the vehicle x is located, and these directions are called the vehicle source directions. Then RU calculates the remaining propagation distance of the safety message in each vehicle source direction according to the geographical location of the safety message source node and the safety message propagation distance.

The center of the intersection is denoted as α, the distance between the vehicle x and the intersection center α is f _xα , in the direction of the vehicle source N→S, the remaining propagation distance In the vehicle source direction W→E, the remaining propagation distance is in the vehicle source direction S→N, the remaining propagation distance

If the remaining propagation distance is greater than 0, the vehicle source direction is said to be an effective vehicle source direction, and a new virtual safety message source node position is generated for this direction, and the remaining propagation distance is the safety message propagation distance. The warning content of the safety message is consistent with the original safety message carried by vehicle e. Then, in the direction of the effective vehicle source, implement the message distribution of the full reception and the farthest relay strategy to find a new relay node. Among them, the all-receiving strategy means that all vehicles within the communication range of the roadside unit receive safety messages; the farthest relay strategy means that the vehicle within the communication range of the roadside unit and the farthest away from the roadside unit is used as the relay vehicle, responsible for the safety message distribution on the road segment. Take the effective vehicle source direction S→N where vehicles i and j are located as an example. Vehicles i and j both receive the safety message sent by RU. Since j is far away from RU, vehicle j becomes safe in the effective vehicle source direction S→N. Relay vehicle for message distribution.

In addition, other components and functions of the method for distributing traffic accident messages based on the vehicle-mounted network in the embodiment of the present invention are known to those skilled in the art, and will not be repeated in order to reduce redundancy.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and modifications can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the invention is defined by the claims and their equivalents.

Claims (5)

1. a kind of traffic accident message distributing method based on In-vehicle networking, which is characterized in that include the following steps：

S1：After traffic accident occurs, the location information of the fixed relay device near accident vehicle is searched for；

S2：If the fixed relay device is located in the communication distance of the accident vehicle, the accident vehicle is to the fixation Relay sends exception message；

S3：Search for the first driving information of the first object vehicle near the fixed relay device, wherein first traveling Information includes the travel speed of the first object vehicle, the travel direction of the first object vehicle and the first object vehicle At a distance from the accident vehicle；

S4：According to the communication distance of the fixed relay device, the exception message transmission time of the fixed relay device and institute The first driving information is stated to judge and assert whether the first object vehicle is original relay vehicle；

S5：If the first object vehicle is the original relay vehicle, the accident vehicle is sent out to the original relay vehicle Send exception message；And

S6：The original relay vehicle forwards the exception message.

2. the traffic accident message distributing method according to claim 1 based on In-vehicle networking, which is characterized in that in step In S6, further comprise：

S601：After the original relay vehicle receives the exception message, the centre near the original relay vehicle is searched for The intermediate driving information of target vehicle, wherein the intermediate traveling information includes the travel speed of the intermediate objective vehicle, institute State intermediate objective vehicle travel direction and the intermediate objective vehicle at a distance from the original relay vehicle；

S602：According to the exception message communication distance of original relay vehicle, the exception message transmission time of original relay vehicle, institute It states the first driving information and the intermediate driving information judges whether the intermediate objective vehicle is intermediate relay vehicle；

S603：If the intermediate objective vehicle is intermediate relay vehicle, the original relay vehicle is to the intermediate relay vehicle Send exception message；And

S604：The intermediate relay vehicle forwards the exception message.

3. the traffic accident message distributing method according to claim 2 based on In-vehicle networking, which is characterized in that in described Between relay vehicle include the first intermediate relay vehicle and at least one intermediate distribute relay vehicle, the first intermediate relay vehicle It receives the exception message that the original relay vehicle is sent and is transmitted to the intermediate distribution relay vehicle, the centre point Hair relay vehicle receives the exception message and forwards the exception message.

4. the traffic accident message distributing method according to claim 1 based on In-vehicle networking, which is characterized in that the original Beginning relay vehicle includes front vehicles in the same direction, front vehicle in the same direction, reversed front vehicles and the reversed rear of the accident vehicle Vehicle, wherein for two vehicles in the same direction, along its travel direction, the vehicle positioned at front is known as the front vehicles in the same direction, position Vehicle in rear is known as the front vehicle in the same direction；The vehicle in front is located at along its travel direction for two reversed vehicles The referred to as described reversed front vehicles, the vehicle being located behind are known as the reversed front vehicle.

5. the traffic accident message distributing method according to claim 1 based on In-vehicle networking, which is characterized in that when described When the accident spot of accident vehicle is intersection, the original relay vehicle includes vehicle in front of the crossroad of the accident vehicle And crossroad front vehicle, wherein for intersection, along its travel direction, the vehicle positioned at front is known as the intersection Road front vehicles, the vehicle being located behind are known as the crossroad front vehicle.