Self-adaptive feedback control method for basic safety messages in cooperative vehicle safety system

Abstract

The invention discloses a self-adaptive feedback control method for a basic safety message (Basic Save Message, BSM) in a Cooperative Vehicle Safety System (CVSSs). The self-adaptive feedback controlmethod comprises the following steps of capturing a channel competition condition in real time by using a traffic condition sensing model, hiding the influence of a terminal and a channel error rate,and calculating an IDR (Information Discovery Rate) to provide a basis for a prediction model; giving an ideal network performance by using a prediction model, regarding an ideal network state as to acquire the maximum IDR, and using the ideal IDR as a reference to guide BSM rate adaptive feedback control; and converging an error between the ideal IDR and the actual IDR to zero by using a feedbackrate control model. Compared with the prior art, the method has the advantages that factors having adverse effects on the IDR are fully considered, the real-time vehicle tracking precision can be improved in different Internet of Vehicles environments and network environments, and the robustness of the CVSSs under different interference influences is improved.

Description

technical field [0001] The invention relates to the technical field of Internet of Vehicles communication, in particular to an adaptive feedback control method for basic safety messages in a cooperative vehicle safety system. Background technique [0002] Vehicular Ad Hoc Networks (VANETs) are considered to be an important part of Intelligent Transportation System (ITS). Its goal is to improve road safety. VANETs improve road safety through vehicle-to-vehicle (V2V) communication, providing various active safety applications, such as cooperative collision warning, electronic emergency braking, etc., collision warning and overtaking warning, etc. However, these active safety applications require each vehicle to have a good estimate of the location and status of surrounding vehicles. These messages are periodically broadcast on the shared channel through Basic Security Messages (BSM). Vehicles use BSM to detect possible collisions and warn the driver. This concept is called...

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Problems solved by technology

However, in VANETs with limited channel capacity (10MHz for CCH) this statement does not hold

Moreover, in CVSSs, limited channel capacity, interference from hidden terminals, and channel fading can adversely affect IDR, thereby reducing tracking accuracy

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