Method, device, electronic device and medium for evaluating vehicle connection reliability in vehicle networking

Abstract

In an embodiment of the present disclosure, a method, apparatus, electronic device, and medium for evaluating the connection reliability of vehicles in a vehicle-to-everything (V2X) network are provided. The method includes: obtaining the current number of vehicle connections k connected through vehicle-to-vehicle (V2V) communication within the communication range at time t; determining the reliability connection probability corresponding to the number of vehicle connections according to the current number of vehicle connections k and a preset reliability connection probability function; wherein, the reliability connection probability function is generated according to a first probability function of the number of vehicles N1 within the communication range at time t and a second probability function of the number of vehicle connections N2. The first probability function conforms to a Poisson distribution with parameter β, and the second probability function conforms to a binomial distribution with parameters (N1, p V2V ). According to the reliability connection probability and the reliability connection threshold, it is evaluated whether the current V2V connection is reliable. The present invention gives the conditions for highly reliable connections in the V2X network according to different numbers of vehicles entering the communication range in the V2V scenario, realizing accurate evaluation of reliable connections in the V2V scenario.

Description

Technical Field

[0001] The present invention relates to the field of vehicle networking, and specifically to a method, device, electronic device and medium for evaluating the connection reliability of vehicles in vehicle networking. Background Art

[0002] Vehicle networking, that is, the Internet of Vehicles, takes the vehicles in motion as the information perception objects, and with the help of the new generation of information and communication technology, realizes the network connection between vehicle-to-vehicle (V2V), vehicle-to-person (V2P), vehicle-to-road (V2I), and vehicle-to-service platform (V2N), improves the overall intelligent driving level of vehicles, provides users with safe, comfortable, intelligent and efficient driving experiences and traffic services, and at the same time improves the traffic operation efficiency and the intelligent level of social traffic services. Through vehicle networking, independent vehicles can be connected to each other, collect and process the information of each vehicle in the traffic road network, and realize the sharing of information. Low latency and high-reliability communication are one of the important characteristics of vehicle networking. Therefore, how to evaluate the connection reliability of vehicle networking is particularly important.

[0003] Regarding the connection reliability between vehicles, the prior art provides an evaluation method for data transmission reliability. This evaluation method assumes that all vehicles are equipped with GPS positioning systems, forward and backward infrared radars, infrared signal receiving devices and wireless signal transceiver devices. However, the on-vehicle devices move at high speed with the vehicle speed, which makes the network structure change continuously, and the wireless signals also change accordingly, which makes the data transmission unstable. Here, the data obtained by GPS, infrared radar and infrared signals are recorded as reference data, and the data of the wireless signal receiver is recorded as the data to be detected.

[0004] Let the random variable D i (i = 1, 2,..., N - 1) be the distance between any two consecutive vehicles, and P r {D i <d} be the probability that the distance between two vehicles is less than d. When the distance between two consecutive vehicles is greater than the communication radius R of the vehicle, the communication link between these two vehicles is disconnected, that is, these two vehicles cannot communicate with each other. Then the probability that these two vehicles cannot communicate is:

[0005] P(a) = P r {D > R} = e -ρR

[0006] Let the random variable j represent the number of links of vehicles traveling in the same direction and unable to communicate with each other. Then the probability P c (j) of having j links disconnected among N vehicles is

[0007]

[0008] Multiple sets of reference data are obtained by observing vehicles. The speed and position information of the observed vehicle can be expressed as

[0009] V l =V t +V x

[0010]

[0011] where V1 is the speed of the observed vehicle detected by devices such as radar; V t is the actual speed of the observed vehicle; V x is the relative speed calculated by in-vehicle devices. It is positive if it is in the same direction as the driving direction of the observed vehicle and negative if it is in the opposite direction; x c and y c are the x and y coordinates of the observed vehicle collected by in-vehicle devices; x r and y r are the true x and y coordinates of the observed vehicle; x x and y x are the values relative to the xy axis. The reference data and the observed data are compared, and false information is filtered out. The average value is calculated as follows:

[0012]

[0013]

[0014] where V k is the spatial average speed of the vehicle, that is, within a certain fixed distance, the time taken for all vehicles within this distance to travel within this distance. To ensure the reliability of data in the vehicle network, a new hybrid trust model in the vehicle networking environment will be established. In the vehicle network, data is transmitted using a wireless channel. The wireless channel belongs to a complex time-varying channel, the power of the received signal and the sum of signals.

[0015] P(r)=|r| -n ·S(r)·R 2 (r)

[0016] r(t)=s(t)+d(t)+n(t)

[0017] where |r| is the distance between the observed vehicle and the observation station; |r| -nIt represents the propagation loss and dispersion in space; n belongs to [3, 4], S(r) represents the shadow fading caused by terrain undulation, shielding of buildings and obstacles, etc.; R(r) represents the multipath fading, which is the mutual interference and crosstalk of the direct wave and the reflected wave generated by various reflectors; r(t) is the received signal; s(t) is the transmitted wave signal; d(t) is the scattered wave signal; n(t) is the Gaussian noise. When the observed vehicle is far from the observation station, the probability density functions of the azimuth angle and amplitude respectively satisfy the following equations.

[0018]

[0019]

[0020] Among them, σ is the standard deviation.

[0021] Service information is transmitted in frame format, so the factor affecting the reliability of data transmission is the frame error rate rather than the bit error rate. Therefore, the transmission reliability can be improved by detecting coding, error correction coding, acknowledgment, and retransmission mechanisms. Assume that the signal strength P received at a position d away from the wireless signal transmitter r is a random variable subject to an exponential distribution, and the probability density function of P r is f(p r ).

[0022]

[0023]

[0024] Among them, E(p r ) is the mean value of the signal strength p r ; P s is the wireless transmission power of the vehicle transmitting the signal; G s , G r are respectively the signal transmitting antenna gain and the signal receiving antenna gain; λ c is the point wavelength of the wireless signal; c is the speed of light; f represents the wireless signal transmission frequency; d represents the distance between the transmitting and receiving vehicles, positive for the same direction and negative for the opposite direction. When the signal strength of the warning message received by the vehicle is greater than the minimum signal reception strength p min , then the message can be decoded successfully and the real data can be obtained. Therefore, for the warning message to be successfully transmitted in the vehicle network, it means that the signal strength received by the observed vehicle is greater than the minimum signal strength p min , and then P(d) is defined as the standard of message transmission reliability.

[0025]

[0026]

[0027]

[0028] Define a system parameter in the vehicle - to - everything (V2X) network, namely the message reliable transmission threshold P TH , whose value can be set according to the system requirements. To ensure the reliability of data transmission, the success probability of data transmission between any two vehicles with a distance of d cannot be lower than this threshold, that is

[0029] P(d)≥P TH

[0030] However, in the above - mentioned evaluation method, the influence of the number of vehicles entering the communication range is not considered, resulting in the inaccuracy of the evaluation of the connection reliability between vehicles. Summary of the Invention

[0031] In view of this, embodiments of the present disclosure provide a method, device, electronic device and medium for evaluating the connection reliability of vehicles in a vehicle - to - everything network, which at least partially solve the problems existing in the prior art.

[0032] In a first aspect, embodiments of the present disclosure provide a method for evaluating the connection reliability of vehicles in a vehicle - to - everything network, which includes:

[0033] Obtain the current number of vehicle connections k through vehicle - to - vehicle (V2V) connections within the communication range at time t;

[0034] According to the current number of vehicle connections k and a preset reliability connection probability function, determine the reliability connection probability corresponding to the number of vehicle connections; wherein, the reliability connection probability function is generated according to a first probability function of the number of vehicles N1 within the communication range at time t and a second probability function of the number of vehicle connections N2, where the first probability function conforms to a Poisson distribution with parameter β, and the second probability function conforms to a binomial distribution with parameters (N1, p V2V ), and p V2V is the probability that the on - vehicle unit of the vehicle works normally and the wireless channel state between vehicles is good;

[0035] According to the reliability connection probability and a preset reliability connection threshold, evaluate whether the current V2V connection is reliable.

[0036] According to a specific implementation manner of embodiments of the present disclosure, the expression of the first probability function is:

[0037]

[0038] According to a specific implementation manner of embodiments of the present disclosure, the expression of the second probability function is:

[0039]

[0040] According to a specific implementation manner of an embodiment of the present disclosure, the expression of the reliability connection probability function is as follows:

[0041]

[0042] In a second aspect, an embodiment of the present disclosure provides a vehicle - to - everything (V2V) vehicle connection reliability evaluation device, which includes:

[0043] A vehicle connection number acquisition unit, configured to acquire the current vehicle connection number k of vehicles connected through V2V within the communication range at time t;

[0044] A reliability connection probability calculation unit, configured to determine the reliability connection probability corresponding to the vehicle connection number k according to the vehicle connection number k and a preset reliability connection probability function; wherein, the reliability connection probability function is generated according to a first probability function of the number of vehicles N1 within the communication range at time t and a second probability function of the vehicle connection number N2. The first probability function conforms to a Poisson distribution with parameter β, and the second probability function conforms to a binomial distribution with parameter (N1, p V2V )), where p V2V is the probability that the on - vehicle unit of the vehicle works normally and the wireless channel state between vehicles is good;

[0045] A reliability evaluation unit, configured to evaluate whether the current V2V connection is reliable according to the reliability connection probability and a preset reliability connection threshold.

[0046] According to a specific implementation manner of an embodiment of the present disclosure, the expression of the first probability function is as follows:

[0047]

[0048] According to a specific implementation manner of an embodiment of the present disclosure, the expression of the second probability function is as follows:

[0049]

[0050] According to a specific implementation manner of an embodiment of the present disclosure, the expression of the reliability connection probability function is as follows:

[0051]

[0052] In a third aspect, an embodiment of the present disclosure further provides an electronic device, which includes:

[0053] At least one processor; and,

[0054] A memory communicatively connected to the at least one processor; wherein,

[0055] The memory stores instructions executable by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to execute the vehicle networking vehicle connection reliability evaluation method in the foregoing first aspect or any implementation manner of the first aspect.

[0056] Fourthly, an embodiment of the present disclosure further provides a non-transitory computer-readable storage medium. The non-transitory computer-readable storage medium stores computer instructions for causing the computer to execute the vehicle networking vehicle connection reliability evaluation method in the foregoing first aspect or any implementation manner of the first aspect.

[0057] Fifthly, an embodiment of the present disclosure further provides a computer program product. The computer program product includes a computing program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by the computer, the computer is caused to execute the vehicle networking vehicle connection reliability evaluation method in the foregoing first aspect or any implementation manner of the first aspect.

[0058] In the above-mentioned embodiment, when evaluating the connection reliability in the V2V scenario of vehicle networking, the influence of the parameter of the number of vehicles entering the communication range is considered, and the conditions for highly reliable connections in vehicle networking are given respectively according to different numbers of vehicles entering the communication range in the V2V scenario, realizing accurate evaluation of reliable connections in the V2V scenario. Description of the Drawings

[0059] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0060] Figure 1 It is a schematic flowchart of the vehicle networking vehicle connection reliability evaluation method provided by the first embodiment of the present invention;

[0061] Figure 2 It is a schematic structural diagram of the vehicle networking vehicle connection reliability evaluation device provided by the second embodiment of the present invention. Detailed Embodiments

[0062] The embodiments of the present disclosure will be described in detail below with reference to the drawings.

[0063] The following describes the embodiments of the present disclosure through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present disclosure from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all embodiments. The present disclosure can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts belong to the scope of protection of the present disclosure.

[0064] It should be noted that the following describes various aspects of the embodiments within the scope of the appended claims. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, those skilled in the art should understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using other structures and / or functionality in addition to one or more of the aspects described herein.

[0065] It should also be noted that the drawings provided in the following embodiments only illustrate the basic concept of the present disclosure schematically. The drawings only show the components related to the present disclosure, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in its actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0066] In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the described aspects can be practiced without these specific details.

[0067] Please refer to Figure 1 , the first embodiment of the present invention provides a method for evaluating the connection reliability of vehicles in a vehicle-to-everything (V2X) network, which can be executed by an electronic device. Specifically, it is executed by one or more processors in the electronic device to implement the following steps:

[0068] S101, obtain the current number of vehicle connections k connected through vehicle-to-vehicle (V2V) at time t within the communication range.

[0069] In this embodiment, the electronic device may be a device with computing capabilities such as a laptop, a desktop computer, a workstation, a server, etc. A specific application program may be installed in the electronic device, and the vehicle networking vehicle connection reliability evaluation method of this embodiment can be implemented by executing the application program.

[0070] In this embodiment, specifically, within the coverage of a cellular (base station), the number of vehicle-to-vehicle communication connections detected by the cellular (base station) is used as the current vehicle connection number k of the current vehicle connected via V2V within the communication range at time t; within the partial coverage or outside the coverage of the cellular (base station), the number of vehicle connections obtained by the OBU (on-board unit) of any vehicle is used as the current vehicle connection number k.

[0071] S102. Determine the reliability connection probability corresponding to the vehicle connection number according to the current vehicle connection number k and a preset reliability connection probability function.

[0072] In this embodiment, since the relative speed and relative distance between a vehicle and its adjacent vehicles are small and their changes are also small during the driving process, whether a reliable connection can be established also depends on the reliable operation of the on-board unit. Assume that the number of vehicles entering the communication range is N1 (≥2). When the traffic flow density is low, the mutual communication between vehicles has little impact. When the traffic flow density is high, that is, N1 is large, considering that the communication content between vehicles is mainly reflected in safety applications, the safety information includes two categories: periodic information (including information such as the position, speed, acceleration, braking of the vehicle) and event-driven emergency information (including collisions, lane changes, etc.). The medium for communication between vehicles is a channel (frequency band), and the information transmission capacity of the channel is limited. Therefore, when the traffic flow density increases, the periodic information broadcast between vehicles will inevitably increase, which easily leads to communication delay and packet loss, that is, the connection reliability decreases at this time. Therefore, the impact of the vehicle connection number k on the connection reliability needs to be considered.

[0073] In this embodiment, the traffic flow is relatively congested and there are few opportunities for free driving. The number of vehicles N1 (≥2) at time t is fitted with a binomial distribution. At this time, the binomial distribution can be approximately considered to conform to a Poisson distribution with parameter β. According to the definition of the Poisson distribution in probability theory, β is the average number of events occurring per unit time. Here, β is the number of vehicles passing through per unit time. And the number of vehicle connections via V2V at time t is N2, and it conforms to a binomial distribution with parameters (N1, p V2V ) and p V2V is the probability that the on-board unit of the vehicle works normally and the wireless channel state between vehicles is good; among them, it can be assumed that p V2V =1, that is, the probability that the on-board unit of the vehicle works normally and the wireless channel state between vehicles is good is 100%. Of course, p can also be set according to the actual situation.V2V The present invention does not make any specific limitation on the value.

[0074] In this embodiment, based on the above setting, the expression of the first probability function of the number of vehicles N1 is:

[0075]

[0076] The second probability function of the number of vehicle connections N2 is expressed as:

[0077]

[0078] The above two probability functions are combined to obtain the V2V reliability connection probability function when the number of vehicles at time t is 0, 1, ..., n respectively:

[0079]

[0080] S103: Evaluate whether the current V2V connection is reliable according to the reliability connection probability and a preset reliability connection threshold.

[0081] In this embodiment, the reliability connection threshold is set to P th , if P{N2(t)=k}≥P th , then the current Internet of Vehicles connection is considered reliable, otherwise it is unreliable, where P th It can be set according to actual needs and circumstances, and the present invention does not specifically limit its specific value.

[0082] In summary, this embodiment takes into account the influence of the parameter of the number of vehicles entering the communication range when evaluating the connection reliability in the V2V scenario of the Internet of Vehicles, and gives the conditions for high-reliability connection of the Internet of Vehicles according to the different numbers of vehicles entering the communication range in the V2V scenario, thereby realizing accurate evaluation of reliability connection in the V2V scenario.

[0083] See also Figure 2 A second embodiment of the present invention provides a vehicle network vehicle connection reliability assessment device, which includes:

[0084] A vehicle connection number acquisition unit 210 is used to acquire the current number k of vehicle connections through V2V within the communication range at time t;

[0085] A reliability connection probability calculation unit 220 is configured to determine a reliability connection probability corresponding to the number of vehicle connections k according to the number of vehicle connections k and a preset reliability connection probability function; wherein, the reliability connection probability function is generated according to a first probability function of the number of vehicles N1 within the communication range at time t and a second probability function of the number of vehicle connections N2. The first probability function conforms to a Poisson distribution with parameter β, and the second probability function conforms to a binomial distribution with parameters (N1, p V2V ), where p V2V is the probability that the on-vehicle unit of the vehicle works normally and the wireless channel state between vehicles is good;

[0086] A reliability evaluation unit 230 is configured to evaluate whether the current V2V connection is reliable according to the reliability connection probability and a preset reliability connection threshold.

[0087] Wherein, the expression of the first probability function is:

[0088]

[0089] Wherein, the expression of the second probability function is:

[0090]

[0091] Wherein, the expression of the reliability connection probability function is:

[0092]

[0093] When evaluating the connection reliability in the V2V scenario of the vehicle networking in this embodiment, the influence of the parameter of the number of vehicles entering the communication range is considered, and the conditions for highly reliable connections in the vehicle networking are given respectively according to different numbers of vehicles entering the communication range in the V2V scenario, realizing the accurate evaluation of the reliability connection in the V2V scenario.

[0094] The third embodiment of the present invention further provides an electronic device, which includes:

[0095] At least one processor; and,

[0096] A memory communicatively connected to the at least one processor; wherein,

[0097] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle networking vehicle connection reliability evaluation method of any one of the foregoing embodiments.

[0098] The fourth embodiment of the present invention further provides a non-transitory computer-readable storage medium, which stores computer instructions for causing the computer to execute the vehicle connection reliability evaluation method of any one of the foregoing embodiments.

[0099] The fifth embodiment of the present invention further provides a computer program product, which includes a computing program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to execute the vehicle connection reliability evaluation method of any one of the foregoing embodiments.

[0100] As described above, the foregoing are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed by the present disclosure should be covered by the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A method for evaluating the connection reliability of vehicles in the Internet of Vehicles, characterized in that, including: obtaining the current number of vehicle connections k that are connected through V2V within the communication range at time t; Determine the reliability connection probability corresponding to the vehicle connection number according to the current vehicle connection number k and a preset reliability connection probability function; wherein, the reliability connection probability function is generated according to a first probability function of the number of vehicles N1 within the communication range at time t and a second probability function of the vehicle connection number N2, the first probability function conforms to a Poisson distribution with parameter β, and β is the number of vehicles passing through per unit time; the second probability function conforms to a binomial distribution with parameters (N1, p V2V ), and p V2V is the probability that the on-vehicle unit of the vehicle works normally and the wireless channel state between vehicles is good; evaluating whether the current V2V connection is reliable according to the reliability connection probability and a preset reliability connection threshold.

2. The vehicle connection reliability evaluation method for the vehicle networking according to claim 1, characterized in that, The expression of the first probability function is:

3. The vehicle connection reliability evaluation method for the vehicle networking according to claim 2, characterized in that, The expression of the second probability function is:

4. The method for evaluating the vehicle connection reliability of the vehicle networking according to claim 3, wherein The expression of the reliability connection probability function is:

5. An evaluation device for the connection reliability of vehicles in an Internet of Vehicles, characterized in that, including: a vehicle connection number obtaining unit, configured to obtain the current number of vehicle connections k that are connected through V2V within the communication range at time t; A reliability connection probability calculation unit, which is used to determine the reliability connection probability corresponding to the vehicle connection number according to the current vehicle connection number k and a preset reliability connection probability function; wherein, the reliability connection probability function is generated according to a first probability function of the number of vehicles N1 within the communication range at time t and a second probability function of the vehicle connection number N2. The first probability function conforms to a Poisson distribution with parameter β, and the second probability function conforms to a binomial distribution with parameters (N1, p V2V ), where p V2V is the probability that the on-vehicle unit of the vehicle works normally and the wireless channel state between vehicles is good; a reliability evaluation unit, configured to evaluate whether the current V2V connection is reliable according to the reliability connection probability and a preset reliability connection threshold.

6. The vehicle networking vehicle connection reliability evaluation device according to claim 5, wherein, The expression of the first probability function is:

7. The vehicle networking vehicle connection reliability evaluation device according to claim 6, wherein, The expression of the second probability function is:

8. The vehicle connection reliability evaluation device for the vehicle networking according to claim 7, wherein The expression of the reliability connection probability function is:

9. An electronic device, characterized in that, The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute the vehicle connection reliability evaluation method according to any one of claims 1 to 4.

10. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium stores computer instructions for causing the computer to execute the vehicle connection reliability evaluation method according to any one of claims 1 to 4.

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