V2V communication mode switching method based on optimal estimated distance between vehicles

Abstract

The invention discloses a V2V communication mode switching method based on an optimal estimated distance between vehicles. The method comprises the following steps: predicting a state estimation valueof a vehicle at the current moment according to a related variable of a vehicle state; updating the state estimation value of the vehicle according to the predicted state estimation value of the vehicle at the current moment and the measurement data of the vehicle state to obtain an optimal state estimation value; obtaining an optimal estimated distance between the vehicles according to the optimal state estimated value; and according to the probability density function of the square of the estimated distance between the vehicles, the optimal estimated distance between the vehicles and a setdistance threshold of direct communication between the vehicles, obtaining the probability of carrying out V2V communication mode switching decision, and switching the V2V communication mode accordingto the probability density function. Compared with the V2V communication mode switching method based on the measurement distance, the V2V communication mode switching method based on the optimal estimated distance between the vehicles selects a proper communication mode for the V2V vehicle pair, and the average throughput of a V2V communication link is improved.

Description

technical field [0001] The present invention belongs to the technical field of wireless communication, and more specifically relates to a V2V communication mode switching method based on an optimal estimated distance between vehicles. Background technique [0002] In the intelligent transportation system (Intelligent Transport System, ITS), in order to improve the safety of vehicles, it is necessary to realize the mutual communication of vehicle pairs to transmit information such as early warning messages and vehicle locations. During the dynamic driving process of the vehicle, establishing an appropriate V2V communication mode between the vehicles can effectively improve the performance of the V2V communication link. In the traditional Internet of Vehicles communication, the vehicle obtains the location information of the surrounding vehicles by analyzing and processing the data collected by sensors such as lidar. The connection can only be successfully established when the...

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Problems solved by technology

[0004] In view of the defects of the prior art, the purpose of the present invention is to provide a V2V communication mode switching method based on the optimal estimated distance between vehicles, aiming to solve the problem of the average throughput of the V2V communication link caused by the existing V2V communication mode switching based on the measured distance. low volume problem

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