An unmanned cluster interconnection communication method based on a modular vehicle

Abstract

The present application belongs to the technical field of unmanned vehicle cluster control, and particularly relates to an unmanned cluster interconnection communication method based on modular vehicles. The method first considers the complexity and uncertainty of the information interaction process within the cluster, and carries out real-time data information equivalent calculation under multi-vehicle, multi-source information transmission and interaction. On this basis, according to the data equivalent size, priority division and equivalent data volume calculation are carried out, and thus data transmission grading under quantitative solution is carried out, and vehicle information response and matching under the process of first-level, second-level and third-level information transmission matching are completed. Finally, under this mechanism, the interconnection communication mechanism of incomplete information is continued, and the online matching mechanism design between different vehicle sub-bodies within the cluster is carried out for the data set with incomplete information and serious information loss, and the interconnection communication system of unmanned cluster vehicles is constructed, realizing system interconnection under real-time communication and interaction.

Description

Technical Field

[0001] This invention belongs to the field of unmanned vehicle swarm control technology, specifically relating to an unmanned swarm interconnection and communication method based on modular vehicles. This unmanned swarm interconnection and communication method mainly involves information transmission and feature identification and extraction processes under dynamic environments and uncertain disturbances. Background Technology

[0002] With the continuous development and advancement of information technology and brain-like artificial intelligence technology, the practical application scenarios faced by vehicle systems are becoming increasingly diversified, and the corresponding actual functional and performance requirements are also becoming increasingly diversified and complex. The vehicle control process is gradually shifting from the performance optimization and real-time parameter response of a single vehicle to a cluster planning and intelligent decision-making process oriented towards multi-vehicle collaboration. By dividing the system's functional hierarchy based on scenarios and operating conditions, the sub-functions under the overall task can be realized.

[0003] Meanwhile, the overall system objective changes dynamically with the scenario and instructions. At this point, the cluster, guided by the task, relies on different levels of the system defined by functional requirements, and each level consists of different sub-entities and their subsystems. During actual operation, there is corresponding information exchange between different components within a vehicle sub-entity, and real-time information interaction also exists between different vehicle sub-entities within the cluster. Multi-vehicle collaborative task division and data sharing and interconnection become the key core of the vehicle cluster control and autonomous decision-making process.

[0004] However, in the interaction of multiple data and diverse information within the overall system, the same vehicle sub-unit simultaneously faces the reception and transmission of multiple objects, multiple datasets, and multiple data information frames. This process is accompanied by problems of information interleaving, omission, and severe data loss. During the back-and-forth transmission of information, how to effectively interconnect system information and extract data features based on a large amount of data from other sub-units within the cluster at different distances, and thus divide cluster tasks and interconnect vehicle sub-units based on the amount of information acquired and the quantitative feature system, becomes a key problem that needs to be solved in the cluster communication process. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] The technical problem this invention aims to solve is: in intelligent and three-dimensional application scenarios, information interaction and overall data identification of multi-vehicle collaboration become the core of the operation of unmanned swarm autonomous platform. Therefore, this invention provides an unmanned swarm interconnection and communication method based on modular vehicles to build a communication topology within the vehicle swarm in a variable and complex environment, thereby completing the information connection process under multi-vehicle interaction, and realizing the autonomous planning and decision-making process of vehicle sub-units under real-time dynamic matching of big data sets.

[0007] (II) Technical Solution

[0008] To address the aforementioned technical problems, this invention provides an unmanned swarm interconnection communication method based on modular vehicles, the interconnection communication method comprising the following steps:

[0009] Step 1: Calculate the information equivalent equivalent to obtain the information equivalent equivalent K corresponding to the total amount of data transmission between different vehicles. i ; Perform real-time data equivalent S i Calculate and obtain the real-time data equivalent S that matches the total amount of vehicle information transmitted and the communication distance. i ;

[0010] Step 2: Calculate and obtain the equivalent data volume S between each pair of vehicles. e1j According to the equivalent data volume S e1j The size clearly defines the priority level of vehicle communication, and the transmission of differentiated information is matched according to the level;

[0011] Step 3: Establish an incomplete information interconnection and communication mechanism.

[0012] In step 1, the information transmission equivalent is calculated, as follows:

[0013] Assume that at time T, data information corresponding to vehicle 1 is simultaneously transmitted to vehicles 2, 3, and 4, and the data transmission process for vehicles 2, 3, and 4 is the same as that for vehicle 1; at this time, the total amount of data transmitted for information a, b, c, and d in a single transmission is m respectively. a m b m c and m d The data transmission frequencies corresponding to information a, information b, information c, and information d are f, respectively. a f b f c f d Therefore, the total output data for each of vehicle 1, vehicle 2, vehicle 3, and vehicle 4 can be obtained as follows:

[0014] I T1 =m a f a ,I T2 =m b f b ,I T3 =m c f c ,I T4 =m d f d

[0015] Meanwhile, the total amount of data simultaneously received by vehicle 1, vehicle 2, vehicle 3, and vehicle 4 are respectively as follows:

[0016] I R1 =m b f b +m c f c +m d f d ,I R2 =m a f a +m c f c +m d f d

[0017] I R3 =m a f a +m b f b +m d f d ,I R4 =m a f a +m b f b +m c f c

[0018] At this point, the information equivalent K corresponding to the total amount of data transmitted between different vehicles is calculated. i The following is an example:

[0019]

[0020] In the formula K i The larger the value, the greater the amount of vehicle information interaction and transmission, and the higher its corresponding priority.

[0021] i = 1, 2, 3, 4, which are the vehicle serial numbers.

[0022] In step 1, the equivalent value K is obtained based on the information. i Calculate and obtain the real-time data equivalent S that matches the total amount of vehicle information transmitted and the communication distance. i The details are as follows:

[0023] The communication distances between vehicles 1 and 2, 1 and 3, 1 and 4, 2 and 3, 2 and 4, and 3 and 4 are respectively: L 12 L 13 L 14 L 23 L 24 and L34 The weight values ​​Sum1, Sum2, Sum3, and Sum4 of the location information associated with vehicles 1, 2, 3, and 4, respectively, are calculated as follows:

[0024]

[0025] Therefore, the real-time data equivalent S, which matches the total amount of vehicle information transmission and communication distance, is... i The calculation yields the following formula:

[0026]

[0027] In step 2, the real-time data equivalent S is determined based on the total amount of vehicle information transmitted and the communication distance. i Obtain the equivalent data volume S between each pair of vehicles. e1j According to the equivalent data volume S e1j The size clearly defines the priority level of vehicle communication; the details are as follows:

[0028] When vehicle 1 communicates with vehicles 2, 3, and 4, the equivalent data volume S between each pair of vehicles is... e1j They are respectively:

[0029]

[0030] And according to the equivalent data volume S e1j The size clearly defines the priority level of vehicle communication, thereby dividing the process of different information transmission and matching in vehicle interconnection communication into three different operating conditions: Level 1, Level 2, and Level 3.

[0031] Where j = 2, 3, 4.

[0032] In step 2, during the process of matching the transmission of difference information, the equivalent data volume S is used as a reference. e1j The process of performing first-level information transmission matching includes:

[0033] When vehicle 1 communicates with vehicle 2, vehicle 3, and vehicle 4 respectively, if S e12 ≠S e13 ≠S e14 Then vehicle 1 will prioritize communicating with the vehicle with the largest equivalent data volume, i.e., max(S e12 ,S e13 ,S e14 The vehicle corresponding to ) is: first, vehicle 1 communicates with the vehicle with the next largest equivalent data volume; second, vehicle 1 communicates with the vehicle with the smallest equivalent data volume, i.e., min(S) e12 ,S e13 ,S e14The vehicle corresponding to ).

[0034] In step 2, during the process of matching the transmission of difference information, the equivalent data volume S is used as a reference. e1j The process of performing secondary information transmission matching includes:

[0035] When vehicle 1 communicates with vehicle 2, vehicle 3, and vehicle 4 respectively, if S e12 =S e13 ≠S e14 , or S e12 ≠S e13 =S e14 Then, we further compare the size of the equivalent data volume; if S e12 =S e13 >S e14 , or S e13 =S e14 >S e12 , or S e12 =S e13 e14 , or S e13 =S e14 e12 Therefore, vehicle 1 will prioritize communicating with vehicles that have a larger equivalent data volume.

[0036] However, given that there are always two sets of data with the same equivalent data volume, it is necessary to further determine the priority of the two vehicles with the same equivalent data volume.

[0037] Assuming two vehicles with equivalent data volumes are C1 and C2, where C1 and C2 correspond to vehicles 2 and 3, or vehicles 3 and 4, respectively; in this case, it is necessary to further analyze the information output quantity I corresponding to vehicle 1. T1 The flow direction is used to determine the priority; if the information transmitted by vehicle 1 to vehicles C1 and C2 is I T1C1 and I T1C2 , among which, I T1 =I T1C1 +I T1C2 Therefore, we need to consider a communication allocation mechanism that integrates the response information of the other vehicle; assuming that the information transmitted by vehicles C1 and C2 after receiving the information is I C1 and I C2 Then calculate information I T1C1 and I T1C2 The corresponding response rate η C1 and η C2 Then the calculation formula is as follows:

[0038]

[0039] In the formula, Δt​​C1 and Δt C2 Let Δt be the initial communication delay between vehicle 1 and vehicles C1 and C2, respectively, and Δt be the actual communication delay during the communication process. C1 and Δt C2 They will not be completely identical; the difference between the two is at least one control cycle; based on the response rate η C1 and η C2 Vehicle priority communication is defined, that is, vehicles with high response rates communicate with vehicle 1 first, and those with low response rates communicate second.

[0040] In step 2, during the process of matching the transmission of difference information, the equivalent data volume S is used as a reference. e1j The process of performing three-level information transmission matching includes:

[0041] Scenario 3: When vehicle 1 communicates with vehicle 2, vehicle 3, and vehicle 4 respectively, if S e12 =S e13 =S e14 Then, priority is determined based on the information response rates of vehicles 2, 3 and 4.

[0042] At this time, by analyzing the information output quantity I corresponding to vehicle 1 T1 The flow direction is used to determine the communication priority; if the information transmitted by vehicle 1 to vehicle 2, vehicle 3, and vehicle 4 is I... T12 I T13 and I T14 , among which, I T1 =I T12 +I T13 +I T14 Assume that the information transmitted by vehicles 2, 3, and 4 after receiving the information is I respectively. t2 I t3 and I t4 Then calculate information I T12 I T13 and I T14 The corresponding information response rates η2, η3, and η4 are calculated using the following formulas:

[0043]

[0044] In the formula, Δt2, Δt3 and Δt4 are the initial communication delay times between vehicle 1 and vehicle 2, vehicle 3 and vehicle 4, respectively. In the actual communication process, Δt2, Δt3 and Δt4 will not be completely equal, and the difference between any two of them is at least one control cycle.

[0045] When vehicles 2, 3, and 4 communicate with the other three vehicles, the methods used are similar to the processes described above for first-level, second-level, and third-level information transmission matching. Similar calculations and process analyses can be performed based on the methods described above.

[0046] In step 3, during the process of establishing a cyclic matching mechanism for incomplete information:

[0047] Based on the proportion of missing information, information loss with a signal loss rate in the range of [65%, 100%] is defined as incomplete information loss;

[0048] Based on the established vehicle communication priority order, assuming vehicle 1 communicates with vehicle 2, vehicle 3, and vehicle 4 in sequence, the total amount of information transmitted by vehicle 1 is I. T1 Information a; however, considering information loss during transmission, vehicle 2 receives complete information a, and the total amount of information transmitted is... Incomplete information a * with incomplete information a * Corresponding signal loss rate E ab Of which, 65% ≤ E ab ≤100%; therefore, the total amount of information received by vehicle 1 from vehicle 2 is 100%. incomplete information b * and its corresponding signal loss rate E ba Of which, 65% ≤ E ba ≤100%;

[0049] Calculate the information incompleteness value ω between vehicles 1 and 2. 12 Then the calculation formula is as follows:

[0050]

[0051] If ω 12 If ≥75%, then vehicle communication is within the normal threshold range, and vehicle 1 and vehicle 2 continue to communicate until their priority drops below that of other vehicles; if ω 12 If the value is less than 75%, then the communication continues for 5 rounds. If ω exists within the five rounds... 12 If the accuracy is ≥75%, then the calculation result of a single loop is considered to have an error, and vehicle 1 and vehicle 2 continue to communicate until the vehicle's priority is lower than that of other vehicles; if ω is present in all five loops... 12 If the priority level is less than 75%, then vehicle 1 will begin communicating with the next priority vehicle.

[0052] As assumed, vehicle 1 begins communicating with vehicle 3 at this point, with an information incompleteness value of ω. 13 If the communication information between vehicle 1 and vehicle 3 is incomplete, the degree ω13 If the requirements are not met, then communication with vehicle 4 will begin, with the corresponding information incompleteness value being ω. 14 The specific communication matching calculation process between vehicle 3 and vehicle 4 is shown above; if the communication information between vehicle 1 and vehicle 4 is incomplete, the degree ω 14 If the normal communication threshold range is not met, then vehicle 1 will communicate with vehicle 2 again, and so on, the cyclic communication mechanism under incomplete information matching will run.

[0053] In step 3, during the process of establishing a cyclic matching mechanism for incomplete information:

[0054] Based on the proportion of missing information, information loss with a signal loss rate in the range of [0%, 65%) is defined as severe information loss.

[0055] Based on the established vehicle communication priority order, assuming vehicle 1 communicates with vehicle 2, vehicle 3, and vehicle 4 in sequence, the total amount of information transmitted by vehicle 1 is I. T1 Information a; however, considering the severe information loss due to environmental factors, malfunctions, etc. during transmission, vehicle 2 transmits a total amount of information based on the received complete information a. Incomplete information a * with incomplete information a * Corresponding signal loss rate E ab Therefore, the total amount of information received by vehicle 1 from vehicle 2 is... incomplete information b * and its corresponding signal loss rate E ba In information a * With b * In this case, at least one piece of information has a signal loss rate in the range [0%, 65%), i.e., E ab With E ba At least one of them is in the range [0%, 65);

[0056] Calculate the information feedback rate γ between vehicle 1 and vehicle 2. 12 Then the calculation formula is as follows:

[0057]

[0058] If γ 12 If ≥50%, then vehicle communication is within the normal threshold range, and vehicle 1 and vehicle 2 continue to communicate until their priority drops below that of other vehicles. If γ 12 If the γ value is less than 50%, then continue the communication back and forth three times. If the γ value is within three times... 12If the result is ≥55%, then the calculation result of a single loop is considered to have an error, and Vehicle 1 and Vehicle 2 continue to communicate until their priority is lower than that of other vehicles; if all three results have γ 12 If the priority level is less than 55%, then vehicle 1 will begin communicating with the next priority vehicle.

[0059] As assumed, vehicle 1 begins communicating with vehicle 3 at this point, with a corresponding information feedback rate of γ. 13 If the information feedback rate γ between vehicle 1 and vehicle 3 13 If the requirements are not met, then communication with vehicle 4 will begin, with the corresponding information incompleteness value being γ. 14 The specific communication matching calculation process with vehicle 3 and vehicle 4 is shown above.

[0060] If the communication information between vehicle 1 and vehicle 4 is incomplete, γ 14 If the communication threshold is not met, vehicle 1 will stop sending messages and remain silent for 5 seconds before restarting communication according to the priority order. If the feedback rate of communication between vehicle 1 and other vehicles meets the normal threshold constraint, vehicle 1 will communicate normally; otherwise, a communication fault code will be sent, indicating a communication failure in vehicle 1. The communication matching process between vehicles 2, 3, and 4 under severe information loss is similar.

[0061] (III) Beneficial Effects

[0062] Compared with existing technologies, this invention proposes an unmanned cluster interconnection and communication method based on modular vehicles, which is based on the process of repeated transmission of multi-dataset information in the multi-vehicle collaborative interaction process. On the basis of data equivalent calculation, it further performs differentiated information transmission matching and incomplete information interconnection and communication, and establishes a multi-vehicle communication mode based on multi-vehicle collaborative interaction and data priority division. During the dynamic information transmission process, information transmission and transmission are carried out, realizing the interaction between vehicle cluster sub-units under the action of real-time dynamic information, and completing the multi-vehicle collaborative and interconnection work process under the overall command planning. Attached Figure Description

[0063] Figure 1 This is a schematic diagram of a multi-vehicle information interconnection architecture.

[0064] Figure 2 This is a schematic diagram of a cluster interconnection communication network architecture. Detailed Implementation

[0065] To make the objectives, contents, and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0066] During collaborative operation of vehicle clusters, real-time information transmission occurs between different sub-units within the cluster. These sub-units need to provide feedback and synchronize responses based on factors such as information capacity, target location, and information priority to ensure the synchronous iteration of data and information flows. Under complex and intertwined operating conditions, the information between different sub-units also changes dynamically. Effective filtering based on current data allows for the extraction of vehicle data features from limited datasets. This enables the design of a cluster communication network architecture under varying environments, balancing information exchange, data priority determination, and incomplete information exchange. Ultimately, this facilitates the decomposition of sub-unit tasks and the transmission of instructions under the overall goal and task planning, achieving autonomous decision-making and intelligent control of the cluster in multi-dimensional scenarios.

[0067] The cluster multi-vehicle information interconnection architecture involved in this invention is as follows: Figure 1 As shown in the figure. Assume that the unmanned swarm mainly consists of four intelligent sub-entities, and there is real-time data interaction and communication process between the different sub-entities.

[0068] This method mainly consists of three parts: information transmission equivalent calculation, differential information transmission matching, and incomplete information interconnection communication mechanism. Information transmission equivalent calculation primarily considers the total amount of data output by different vehicles (I). Ti Total amount of data received I Ri Weight value Sum of associated location information i The information equivalent K is calculated. i With real-time data equivalent S i (i = 1, 2, 3, 4). Secondly, the equivalent data volume between different vehicles is calculated, and vehicle communication priority levels are assigned based on their size. This enables information transmission and matching processes under three different operating conditions: Level 1, Level 2, and Level 3, establishing an information level classification mechanism based on data priority. Finally, considering information loss and omission during multi-vehicle information matching, a cyclic matching mechanism for incomplete information under precise range division and an online matching mechanism for severely missing information are implemented. This establishes a complete communication network and exchange mechanism within the cluster of vehicles, enabling intelligent cluster control of the unmanned platform in complex unmanned environments.

[0069] To address the aforementioned technical problems, this invention provides an unmanned swarm interconnection communication method based on modular vehicles, the interconnection communication method comprising the following steps:

[0070] Step 1: Calculate the information equivalent equivalent to obtain the information equivalent equivalent K corresponding to the total amount of data transmission between different vehicles. i ; Perform real-time data equivalent S i Calculate and obtain the real-time data equivalent S that matches the total amount of vehicle information transmitted and the communication distance. i ;

[0071] Step 2: Calculate and obtain the equivalent data volume S between each pair of vehicles. e1j According to the equivalent data volume S e1j The size clearly defines the priority level of vehicle communication, and the transmission of differentiated information is matched according to the level;

[0072] Step 3: Establish an incomplete information interconnection and communication mechanism.

[0073] In step 1, the information transmission equivalent is calculated, as follows:

[0074] Assume that at time T, data information corresponding to vehicle 1 is simultaneously transmitted to vehicles 2, 3, and 4, and the data transmission process for vehicles 2, 3, and 4 is the same as that for vehicle 1; at this time, the total amount of data transmitted for information a, b, c, and d in a single transmission is m respectively. a m b m c and m d The data transmission frequencies corresponding to information a, information b, information c, and information d are f, respectively. a f b f c f d Therefore, the total output data for each of vehicle 1, vehicle 2, vehicle 3, and vehicle 4 can be obtained as follows:

[0075] I T1 =m a f a ,I T2 =m b f b ,I T3 =m c f c ,I T4 =m d f d

[0076] Meanwhile, the total amount of data simultaneously received by vehicle 1, vehicle 2, vehicle 3, and vehicle 4 are respectively as follows:

[0077] I R1 =m b f b +m c f c +m d f d ,I R2 =m a f a +m c f c +m d f d

[0078] I R3 =m a f a +m b f b +m d f d ,I R4 =m a f a +m b f b +m c f c

[0079] At this point, the information equivalent K corresponding to the total amount of data transmitted between different vehicles is calculated. i The following is an example:

[0080]

[0081] In the formula K i The larger the value, the greater the amount of vehicle information interaction and transmission, and the higher its corresponding priority.

[0082] i = 1, 2, 3, 4, which are the vehicle serial numbers.

[0083] In step 1, the equivalent value K is obtained based on the information. i Calculate and obtain the real-time data equivalent S that matches the total amount of vehicle information transmitted and the communication distance. i The details are as follows:

[0084] The communication distances between vehicles 1 and 2, 1 and 3, 1 and 4, 2 and 3, 2 and 4, and 3 and 4 are respectively: L 12 L 13 L 14 L 23 L 24 and L 34 The weight values ​​Sum1, Sum2, Sum3, and Sum4 of the location information associated with vehicles 1, 2, 3, and 4, respectively, are calculated as follows:

[0085]

[0086] Therefore, the real-time data equivalent S, which matches the total amount of vehicle information transmission and communication distance, is... i The calculation yields the following formula:

[0087]

[0088] In step 2, the real-time data equivalent S is determined based on the total amount of vehicle information transmitted and the communication distance. i Obtain the equivalent data volume S between each pair of vehicles. e1j According to the equivalent data volume S e1j The size clearly defines the priority level of vehicle communication; the details are as follows:

[0089] When vehicle 1 communicates with vehicles 2, 3, and 4, the equivalent data volume S between each pair of vehicles is... e1j They are respectively:

[0090]

[0091] And according to the equivalent data volume S e1j The size clearly defines the priority level of vehicle communication, thereby dividing the process of different information transmission and matching in vehicle interconnection communication into three different operating conditions: Level 1, Level 2, and Level 3.

[0092] Where j = 2, 3, 4.

[0093] In step 2, during the process of matching the transmission of difference information, the equivalent data volume S is used as a reference. e1j The process of performing first-level information transmission matching includes:

[0094] When vehicle 1 communicates with vehicle 2, vehicle 3, and vehicle 4 respectively, if S e12 ≠S e13 ≠S e14 Then vehicle 1 will prioritize communicating with the vehicle with the largest equivalent data volume, i.e., max(S e12 ,S e13 ,S e14 The vehicle corresponding to ) is: first, vehicle 1 communicates with the vehicle with the next largest equivalent data volume; second, vehicle 1 communicates with the vehicle with the smallest equivalent data volume, i.e., min(S) e12 ,S e13 ,S e14 The vehicle corresponding to ).

[0095] In step 2, during the process of matching the transmission of difference information, the equivalent data volume S is used as a reference. e1j The process of performing secondary information transmission matching includes:

[0096] When vehicle 1 communicates with vehicle 2, vehicle 3, and vehicle 4 respectively, if S e12 =S e13 ≠S e14 , or S e12 ≠S e13 =S e14Then, we further compare the size of the equivalent data volume; if S e12 =S e13 >S e14 , or S e13 =S e14 >S e12 , or S e12 =S e13 e14 , or S e13 =S e14 e12 Therefore, vehicle 1 will prioritize communicating with vehicles that have a larger equivalent data volume.

[0097] However, given that there are always two sets of data with the same equivalent data volume, it is necessary to further determine the priority of the two vehicles with the same equivalent data volume.

[0098] Assuming two vehicles with equivalent data volumes are C1 and C2, where C1 and C2 correspond to vehicles 2 and 3, or vehicles 3 and 4, respectively; in this case, it is necessary to further analyze the information output quantity I corresponding to vehicle 1. T1 The flow direction is used to determine the priority; if the information transmitted by vehicle 1 to vehicles C1 and C2 is I T1C1 and I T1C2 , among which, I T1 =I T1C1 +I T1C2 Therefore, we need to consider a communication allocation mechanism that integrates the response information of the other vehicle; assuming that the information transmitted by vehicles C1 and C2 after receiving the information is I C1 and I C2 Then calculate information I T1C1 and I T1C2 The corresponding response rate η C1 and η C2 Then the calculation formula is as follows:

[0099]

[0100] In the formula, Δt C1 and Δt C2 Let Δt be the initial communication delay between vehicle 1 and vehicles C1 and C2, respectively, and Δt be the actual communication delay during the communication process. C1 and Δt C2 They will not be completely identical; the difference between the two is at least one control cycle; based on the response rate η C1 and η C2 Vehicle priority communication is defined, that is, vehicles with high response rates communicate with vehicle 1 first, and those with low response rates communicate second.

[0101] In step 2, during the process of matching the transmission of difference information, the equivalent data volume S is used as a reference.​​e1j The process of performing three-level information transmission matching includes:

[0102] Scenario 3: When vehicle 1 communicates with vehicle 2, vehicle 3, and vehicle 4 respectively, if S e12 =S e13 =S e14 Then, priority is determined based on the information response rates of vehicles 2, 3 and 4.

[0103] At this time, by analyzing the information output quantity I corresponding to vehicle 1 T1 The flow direction is used to determine the communication priority; if the information transmitted by vehicle 1 to vehicle 2, vehicle 3, and vehicle 4 is I... T12 I T13 and I T14 , among which, I T1 =I T12 +I T13 +I T14 Assume that the information transmitted by vehicles 2, 3, and 4 after receiving the information is I respectively. t2 I t3 and I t4 Then calculate information I T12 I T13 and I T14 The corresponding information response rates η2, η3, and η4 are calculated using the following formulas:

[0104]

[0105] In the formula, Δt2, Δt3 and Δt4 are the initial communication delay times between vehicle 1 and vehicle 2, vehicle 3 and vehicle 4, respectively. In the actual communication process, Δt2, Δt3 and Δt4 will not be completely equal, and the difference between any two of them is at least one control cycle.

[0106] When vehicles 2, 3, and 4 communicate with the other three vehicles, the methods used are similar to the processes described above for first-level, second-level, and third-level information transmission matching. Similar calculations and process analyses can be performed based on the methods described above.

[0107] In step 3, during the process of establishing a cyclic matching mechanism for incomplete information:

[0108] Based on the proportion of missing information, information loss with a signal loss rate in the range of [65%, 100%] is defined as incomplete information loss;

[0109] Based on the established vehicle communication priority order, assuming vehicle 1 communicates with vehicle 2, vehicle 3, and vehicle 4 in sequence, the total amount of information transmitted by vehicle 1 is I.T1 Information a; however, considering information loss during transmission, vehicle 2 receives complete information a, and the total amount of information transmitted is... Incomplete information a * with incomplete information a * Corresponding signal loss rate E ab Of which, 65% ≤ E ab ≤100%; therefore, the total amount of information received by vehicle 1 from vehicle 2 is 100%. incomplete information b * and its corresponding signal loss rate E ba Of which, 65% ≤ E ba ≤100%;

[0110] Calculate the information incompleteness value ω between vehicles 1 and 2. 12 Then the calculation formula is as follows:

[0111]

[0112] If ω 12 If ≥75%, then vehicle communication is within the normal threshold range, and vehicle 1 and vehicle 2 continue to communicate until their priority drops below that of other vehicles; if ω 12 If the value is less than 75%, then the communication continues for 5 rounds. If ω exists within the five rounds... 12 If the accuracy is ≥75%, then the calculation result of a single loop is considered to have an error, and vehicle 1 and vehicle 2 continue to communicate until the vehicle's priority is lower than that of other vehicles; if ω is present in all five loops... 12 If the priority level is less than 75%, then vehicle 1 will begin communicating with the next priority vehicle.

[0113] As assumed, vehicle 1 begins communicating with vehicle 3 at this point, with an information incompleteness value of ω. 13 If the communication information between vehicle 1 and vehicle 3 is incomplete, the degree ω 13 If the requirements are not met, then communication with vehicle 4 will begin, with the corresponding information incompleteness value being ω. 14 The specific communication matching calculation process between vehicle 3 and vehicle 4 is shown above; if the communication information between vehicle 1 and vehicle 4 is incomplete, the degree ω 14 If the normal communication threshold range is not met, then vehicle 1 will communicate with vehicle 2 again, and so on, the cyclic communication mechanism under incomplete information matching will run.

[0114] In step 3, during the process of establishing a cyclic matching mechanism for incomplete information:

[0115] Based on the proportion of missing information, information loss with a signal loss rate in the range of [0%, 65%) is defined as severe information loss.

[0116] Based on the established vehicle communication priority order, assuming vehicle 1 communicates with vehicle 2, vehicle 3, and vehicle 4 in sequence, the total amount of information transmitted by vehicle 1 is I. T1 Information a; however, considering the severe information loss due to environmental factors, malfunctions, etc. during transmission, vehicle 2 transmits a total amount of information based on the received complete information a. Incomplete information a * with incomplete information a * Corresponding signal loss rate E ab Therefore, the total amount of information received by vehicle 1 from vehicle 2 is... incomplete information b * and its corresponding signal loss rate E ba In information a * With b * In this case, at least one piece of information has a signal loss rate in the range [0%, 65%), i.e., E ab With E ba At least one of them is in the range [0%, 65);

[0117] Calculate the information feedback rate γ between vehicle 1 and vehicle 2. 12 Then the calculation formula is as follows:

[0118]

[0119] If γ 12 If ≥50%, then vehicle communication is within the normal threshold range, and vehicle 1 and vehicle 2 continue to communicate until their priority drops below that of other vehicles. If γ 12 If the γ value is less than 50%, then continue the communication back and forth three times. If the γ value is within three times... 12 If the result is ≥55%, then the calculation result of a single loop is considered to have an error, and Vehicle 1 and Vehicle 2 continue to communicate until their priority is lower than that of other vehicles; if all three results have γ 12 If the priority level is less than 55%, then vehicle 1 will begin communicating with the next priority vehicle.

[0120] As assumed, vehicle 1 begins communicating with vehicle 3 at this point, with a corresponding information feedback rate of γ. 13 If the information feedback rate γ between vehicle 1 and vehicle 3 13 If the requirements are not met, then communication with vehicle 4 will begin, with the corresponding information incompleteness value being γ. 14 The specific communication matching calculation process with vehicle 3 and vehicle 4 is shown above.

[0121] If the communication information between vehicle 1 and vehicle 4 is incomplete, γ 14If the communication threshold is not met, vehicle 1 will stop sending messages and remain silent for 5 seconds before restarting communication according to the priority order. If the feedback rate of communication between vehicle 1 and other vehicles meets the normal threshold constraint, vehicle 1 will communicate normally; otherwise, a communication fault code will be sent, indicating a communication failure in vehicle 1. The communication matching process between vehicles 2, 3, and 4 under severe information loss is similar.

[0122] Example 1

[0123] This embodiment focuses on the research of equivalent calculation of multiple data, information transmission level matching, and interconnection communication mechanisms for incomplete information. It primarily designs and develops information communication methods and network topology architectures for vehicle clusters under time-varying environments. The following description, in conjunction with the accompanying drawings, further illustrates an unmanned cluster interconnection communication method based on modular vehicles.

[0124] Suppose a vehicle cluster consists of four vehicle sub-vehicles: vehicle 1, vehicle 2, vehicle 3, and vehicle 4, which transmit information a, information b, information c, and information d, respectively. During vehicle cluster control, a vehicle can receive information from all other vehicles, and its own transmitted information can be received by other vehicles; however, vehicle control commands can only be received by the controlled target vehicle.

[0125] Step 1: Calculation of Information Transmission Equivalent

[0126] During the information transmission phase, vehicles need to ensure continuous information exchange. Specifically, information a, b, c, and d must be sent sequentially according to priority, with the order depending on the priority level. The priority order of these messages is not fixed at different times and needs to be calculated based on real-time information data.

[0127] 1.1 Calculation of Information Equivalent

[0128] Assume that at time T, data from vehicle 1 is simultaneously transmitted to vehicles 2, 3, and 4, and the data transmission process for vehicles 2, 3, and 4 is the same as that for vehicle 1. In this single transmission, the total amount of data transmitted for information a, b, c, and d are respectively m. a m b m c and m d The data transmission frequencies corresponding to information a, information b, information c, and information d are f, respectively. a f b f c f dTherefore, the total output data for vehicles 1, 2, 3, and 4 can be obtained as follows:

[0129] I T1 =m a f a ,I T2 =m b f b ,I T3 =m c f c ,I T4 =m d f d

[0130] Meanwhile, the total amount of data simultaneously received by vehicle 1, vehicle 2, vehicle 3, and vehicle 4 are respectively as follows:

[0131] I R1 =m b f b +m c f c +m d f d ,I R2 =m a f a +m c f c +m d f d

[0132] I R3 =m a f a +m b f b +m d f d ,I R4 =m a f a +m b f b +m c f c

[0133] At this point, the information equivalent K corresponding to the total amount of data transmitted between different vehicles is calculated. i (i = 1, 2, 3, 4) is shown below:

[0134]

[0135] In the formula K i The larger (i = 1, 2, 3, 4) is, the greater the amount of interaction and transmission of vehicle information, and the higher its corresponding priority.

[0136] 1.2 Real-time data equivalent calculation

[0137] Based on GPS positioning, the communication distances between vehicle 1 and vehicle 2, vehicle 1 and vehicle 3, vehicle 1 and vehicle 4, vehicle 2 and vehicle 3, vehicle 2 and vehicle 4, and vehicle 3 and vehicle 4 can be obtained as follows: L 12 L 13 L 14 L 23 L 24 and L 34 .

[0138] For the location information weight values ​​Sum1, Sum2, Sum3, and Sum4 associated with vehicles 1, 2, 3, and 4 respectively, the corresponding values ​​are calculated as follows:

[0139]

[0140] Therefore, a real-time data equivalent S that matches the total amount of vehicle information transmission and communication distance can be determined. i Calculating using (i = 1, 2, 3, 4), we get the following formula:

[0141]

[0142] Step 2: Matching and Transmitting Differential Information

[0143] When vehicle 1 communicates with vehicles 2, 3, and 4, priority is assigned based on the data equivalent between them. The order of communication is determined by the data equivalent, and this order also corresponds to the order of system decisions and strategy execution. Based on this, new matching and interactions continue, thereby calculating the equivalent data volume S between each pair of vehicles. e1j (j=2,3,4) are respectively:

[0144]

[0145] And according to the equivalent data volume S e1j The size (j=2,3,4) clearly defines the priority level of vehicle communication, thereby dividing the process of different information transmission and matching in vehicle interconnection communication into three different operating conditions: Level 1, Level 2, and Level 3.

[0146] 2.1 First-level information transmission matching

[0147] If S e12 ≠S e13 ≠S e14 Then vehicle 1 will prioritize communicating with the vehicle with the largest equivalent data volume, i.e., max(S e12 ,S e13 ,Se14 The vehicle corresponding to ) is: first, vehicle 1 communicates with the vehicle with the next largest equivalent data volume; second, vehicle 1 communicates with the vehicle with the smallest equivalent data volume, i.e., min(S) e12 ,S e13 ,S e14 The vehicle corresponding to ).

[0148] 2.2 Secondary Information Transmission Matching

[0149] If S e12 =S e13 ≠S e14 , or S e12 ≠S e13 =S e14 Then we further compare the size of the equivalent data volume. If S e12 =S e13 >S e14 , or S e13 =S e14 >S e12 , or S e12 =S e13 e14 , or S e13 =S e14 e12 Therefore, vehicle 1 will prioritize communicating with the vehicle that has the larger equivalent data volume. However, since there will always be two sets of data with the same equivalent data volume, it is necessary to further determine the priority of the two vehicles with the same equivalent data volume.

[0150] Assume two vehicles with equivalent data volumes are C1 and C2, where C1 and C2 correspond to vehicles 2 and 3, or vehicles 3 and 4, respectively. In this case, further analysis of the information output I corresponding to vehicle 1 is needed. T1 The flow direction is used to determine priority. If the information transmitted from vehicle 1 to vehicles C1 and C2 is I... T1C1 and I T1C2 (I T1 =I T1C1 +I T1C2 In this case, we need to consider a communication allocation mechanism that integrates the information responses from the other vehicle. Assume that vehicles C1 and C2 transmit I, I, and I2 respectively after receiving the information. C1 and I C2 Then calculate information I T1C1 and I T1C2 The corresponding response rate η C1 and η C2 Then the calculation formula is as follows:

[0151]

[0152] In the formula, Δt​​C1 and Δt C2 Let Δt be the initial communication delay between vehicle 1 and vehicles C1 and C2, respectively, and Δt be the actual communication delay during the communication process. C1 and Δt C2 They will not be completely identical; the difference between the two is at least one control cycle. (Based on the response rate η) C1 and η C2 Vehicle priority communication is defined, that is, vehicles with high response rates communicate with vehicle 1 first, and those with low response rates communicate second.

[0153] 2.3 Three-level information transmission matching

[0154] If S e12 =S e13 =S e14 Then, priority is determined based on the information response rates of vehicles 2, 3 and 4.

[0155] At this time, by analyzing the information output quantity I corresponding to vehicle 1 T1 The flow of information is used to determine communication priority. If the information transmitted by vehicle 1 to vehicle 2, vehicle 3, and vehicle 4 is I... T12 I T13 and I T14 (I T1 =I T12 +I T13 +I T14 Assume that the information transmitted by vehicles 2, 3, and 4 after receiving the information is I. t2 I t3 and I t4 Then calculate information I T12 I T13 and I T14 The corresponding information response rates η2, η3, and η4 are calculated using the following formulas:

[0156]

[0157] In the formula, Δt2, Δt3 and Δt4 are the initial communication delay times between vehicle 1 and vehicle 2, vehicle 3 and vehicle 4, respectively. In the actual communication process, Δt2, Δt3 and Δt4 will not be completely equal, and the difference between any two of them is at least one control cycle.

[0158] When vehicles 2, 3, and 4 communicate with the other three vehicles, the methods used are similar, and similar calculations and process analyses can be performed according to the above method.

[0159] Step 3: Incomplete Information Interconnection and Communication Mechanism

[0160] In multi-vehicle communication under complex environments, considering the information matching process in multi-vehicle interconnection communication, information loss and omission are inevitable due to external factors. Although different vehicles are communicating with each other, a collaborative multi-vehicle communication process is still needed to address the incomplete information. Therefore, the communication mechanism needs to be adjusted according to the degree of information loss. Based on the proportion of information loss, information loss within the range of [65%, 100%) is defined as incomplete information loss, and information loss within the range of [0%, 65%) is defined as severe information loss.

[0161] 3.1 Cyclic Matching Mechanism for Incomplete Information

[0162] Based on the established priority order, assuming vehicle 1 communicates with vehicle 2, vehicle 3, and vehicle 4 sequentially, the total amount of information sent by vehicle 1 is I. T1 Information a. However, considering information loss during transmission, vehicle 2 receives complete information a, and the total amount of information transmitted is... Incomplete information a * with incomplete information a * Corresponding signal loss rate E ab (65%≤E) ab ≤100%). Therefore, the total amount of information received by vehicle 1 from vehicle 2 is... incomplete information b * and its corresponding signal loss rate E ba (65%≤E) ba ≤100%.

[0163] Calculate the information incompleteness value ω between vehicles 1 and 2. 12 Then the calculation formula is as follows:

[0164]

[0165] If ω 12 If ≥75%, then vehicle communication is within the normal threshold range, and vehicle 1 and vehicle 2 continue communicating until their priority drops below that of other vehicles. If ω 12 If the value is less than 75%, then the communication continues for 5 rounds. If ω exists within the five rounds... 12 If the accuracy is ≥75%, then the calculation result of a single loop is considered to have an error, and vehicle 1 and vehicle 2 continue to communicate until the vehicle's priority is lower than that of other vehicles; if ω is present in all five loops... 12 If the priority level is less than 75%, then vehicle 1 will begin communicating with the next priority vehicle.

[0166] As assumed, vehicle 1 begins communicating with vehicle 3 at this point, with an information incompleteness value of ω. 13 If the communication information between vehicle 1 and vehicle 3 is incomplete, the degree ω13 If the requirements are not met, then communication with vehicle 4 will begin, with the corresponding information incompleteness value being ω. 14 The specific communication matching calculation process between vehicle 1 and vehicle 4 is shown above. If the communication information between vehicle 1 and vehicle 4 is incomplete (ω...), then... 14 If the normal communication threshold range is not met, then vehicle 1 will communicate with vehicle 2 again, and so on, the cyclic communication mechanism under incomplete information matching will run.

[0167] 3.2 Online matching mechanism with severe information gaps

[0168] Based on the established priority order, assuming vehicle 1 communicates with vehicle 2, vehicle 3, and vehicle 4 sequentially, the total amount of information sent by vehicle 1 is I. T1 Information a. However, considering the severe information loss due to environmental factors, malfunctions, etc. during transmission, vehicle 2 transmits a total amount of information based on the received complete information a. Incomplete information a * with incomplete information a * Corresponding signal loss rate E ab Therefore, the total amount of information received by vehicle 1 from vehicle 2 is... incomplete information b * and its corresponding signal loss rate E ba In information a * With b * In this context, at least one piece of information corresponds to a signal loss rate within the range of [0%, 65%).

[0169] Calculate the information feedback rate γ between vehicles 1 and 2. 12 Then the calculation formula is as follows:

[0170]

[0171] If γ 12 If ≥50%, then vehicle communication is within the normal threshold range, and vehicle 1 and vehicle 2 continue to communicate until their priority drops below that of other vehicles. If γ 12 If the γ value is less than 50%, then continue the communication back and forth three times. If the γ value is within three times... 12 If the result is ≥55%, then the calculation result of a single loop is considered to have an error, and Vehicle 1 and Vehicle 2 continue to communicate until their priority is lower than that of other vehicles; if all three results have γ 12 If the priority level is less than 55%, then vehicle 1 will begin communicating with the next priority vehicle.

[0172] As assumed, vehicle 1 begins communicating with vehicle 3 at this point, with a corresponding information feedback rate of γ. 13 If the information feedback rate γ of communication between vehicle 1 and vehicle 313 If the requirements are not met, then communication with vehicle 4 will begin, with the corresponding information incompleteness value being γ. 14 The specific communication matching calculation process with vehicle 3 and vehicle 4 is shown above.

[0173] If the communication information between vehicle 1 and vehicle 4 is incomplete, γ 14 If the communication threshold is not met, vehicle 1 will stop sending messages and remain silent for 5 seconds before restarting communication according to the priority order. If the feedback rate of communication between vehicle 1 and other vehicles meets the normal threshold constraint, vehicle 1 will communicate normally; otherwise, a communication fault code will be sent, indicating a communication failure in vehicle 1. The communication matching process between vehicles 2, 3, and 4 under severe information loss is similar.

[0174] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for unmanned swarm interconnection communication based on modular vehicles, characterized in that, The interconnection communication method includes the following steps: Step 1: Calculate the information equivalent value to obtain the information equivalent value corresponding to the total amount of data transmission between different vehicles. K i Perform real-time data equivalent S i Calculate and obtain real-time data equivalents that match the total amount of vehicle information transmitted and the communication distance. S i ; Step 2: Calculate and obtain the equivalent data volume between each pair of vehicles. S e1j Based on the equivalent data volume S e1j The size clearly defines the priority level of vehicle communication, and the transmission of differentiated information is matched according to the level; Step 3: Establish an incomplete information interconnection and communication mechanism; In step 3, during the process of establishing a cyclic matching mechanism for incomplete information: Based on the proportion of missing information, information loss with a signal loss rate in the range of [65%, 100%] is defined as incomplete information loss; Based on the established vehicle communication priority order, assuming vehicle 1 communicates with vehicle 2, vehicle 3, and vehicle 4 in sequence, the total amount of information transmitted by vehicle 1 is: I T1 Information a However, considering the information loss during transmission, vehicle 2 receives complete information. a The total amount of information sent is Incomplete information a * with incomplete information a * Corresponding signal loss rate E ab Of which, 65% ≤ E ab ≤100%; therefore, the total amount of information received by vehicle 1 from vehicle 2 is 100%. Incomplete information b * and its corresponding signal loss rate E ba Of which, 65%≤ E ba ≤100%; Calculate the information incompleteness value between vehicles 1 and 2. ω 12 Then the calculation formula is as follows: if ω 12 If the vehicle communication rate is ≥75%, then vehicle 1 and vehicle 2 will continue to communicate until their priority drops below that of other vehicles; if ω 12 If the failure rate is less than 75%, then the communication will continue for 5 rounds. If there is a failure rate within the five rounds... ω 12 If the accuracy rate is ≥75%, then the calculation result of a single loop is considered to have an error, and Vehicle 1 and Vehicle 2 will continue to communicate until the vehicle's priority drops below that of other vehicles; if the accuracy rate is ≥75% within five loops, then the calculation result of a single loop is considered to have an error. ω 12 If the priority level is less than 75%, then vehicle 1 will begin communicating with the next priority vehicle. As assumed, vehicle 1 begins communicating with vehicle 3 at this point, and its corresponding information incompleteness value is... ω 13 If the communication information between vehicle 1 and vehicle 3 is incomplete... ω 13 If the requirements are not met, then communication with vehicle 4 will begin, with the corresponding information incompleteness value being [value missing]. ω 14 The specific communication matching calculation process between vehicle 1 and vehicle 4 is shown above; if the communication information between vehicle 1 and vehicle 4 is incomplete... ω 14 If the normal communication threshold range is not met, then vehicle 1 will communicate with vehicle 2 again, and so on, the cyclic communication mechanism under incomplete information matching will run. In step 3, during the process of establishing a cyclic matching mechanism for incomplete information: Based on the proportion of missing information, information loss with a signal loss rate in the range of [0%, 65) is defined as severe information loss; Based on the established vehicle communication priority order, assuming vehicle 1 communicates with vehicle 2, vehicle 3, and vehicle 4 in sequence, the total amount of information transmitted by vehicle 1 is: I T1 Information a However, considering the significant information loss during transmission due to environmental factors, malfunctions, etc., vehicle 2, based on the complete information it has acquired... a The total amount of information sent is Incomplete information a * with incomplete information a * Corresponding signal loss rate E ab Therefore, the total amount of information received by vehicle 1 from vehicle 2 is... Incomplete information b * and its corresponding signal loss rate E ba In information a * and b * In this context, at least one piece of information corresponds to a signal loss rate within the range of [0%, 65%), i.e. E ab and E ba At least one of them is in the range [0%, 65); Calculate the information feedback rate between vehicle 1 and vehicle 2. γ 12 Then the calculation formula is as follows: if γ 12 If ≥50%, then vehicle communication is within the normal threshold range, and vehicle 1 and vehicle 2 continue to communicate until their priority drops below that of other vehicles; if γ 12 If the success rate is less than 50%, then continue the communication back and forth three times. If it succeeds within three times... γ 12 If the error rate is ≥55%, then the calculation result of a single loop is considered to have an error. Vehicle 1 and Vehicle 2 will continue to communicate until the vehicle's priority is lower than that of other vehicles; if all three results are... γ 12 If the priority level is less than 55%, then vehicle 1 will begin communicating with the next priority vehicle. As assumed, vehicle 1 begins communicating with vehicle 3 at this point, with a corresponding information feedback rate of γ 13 If the information feedback rate between vehicle 1 and vehicle 3 γ 13 If the requirements are not met, then communication with vehicle 4 will begin, with the corresponding information incompleteness value being [value missing]. γ 14 The specific communication matching calculation process with vehicle 3 and vehicle 4 is shown above. If the communication information between vehicle 1 and vehicle 4 is incomplete γ 14 If the normal communication threshold range is not met, then vehicle 1 will stop sending messages and remain silent for 5 seconds before restarting communication according to the priority order. If the information feedback rate between vehicle 1 and other vehicles meets the normal threshold range constraint, then vehicle 1 will communicate normally; otherwise, a communication fault code will be sent, indicating that vehicle 1 has a communication fault. The communication matching process between vehicle 2, vehicle 3, and vehicle 4 under severe information loss is similar.

2. The unmanned cluster interconnection and communication method based on modular vehicles as described in claim 1, characterized in that, In step 1, the information transmission equivalent is calculated, as follows: Assuming in T At any given moment, data information corresponding to vehicle 1 is simultaneously transmitted to vehicles 2, 3, and 4. The data transmission process for vehicles 2, 3, and 4 is the same as that for vehicle 1. At this time, the total amount of data transmitted for information a, b, c, and d in a single transmission is respectively... m a , m b , m c and m d The data transmission frequencies corresponding to information a, information b, information c, and information d are respectively f a , f b , f c , f d Therefore, the total output data for each of vehicle 1, vehicle 2, vehicle 3, and vehicle 4 can be obtained as follows: Meanwhile, the total amount of data simultaneously received by vehicle 1, vehicle 2, vehicle 3, and vehicle 4 are respectively as follows: At this point, the equivalent information value corresponding to the total amount of data transmitted between different vehicles is calculated. K i The following is an example: In the formula K i The larger the value, the greater the amount of vehicle information interaction and transmission, and the higher its corresponding priority. i =1, 2, 3, 4, which are the vehicle serial numbers.

3. The unmanned cluster interconnection and communication method based on modular vehicles as described in claim 2, characterized in that, In step 1, the equivalent value of the obtained information is... K i Calculate and obtain real-time data equivalents that match the total amount of vehicle information transmitted and the communication distance. S i The details are as follows: The communication distances between vehicle 1 and vehicle 2, vehicle 1 and vehicle 3, vehicle 1 and vehicle 4, vehicle 2 and vehicle 3, vehicle 2 and vehicle 4, and vehicle 3 and vehicle 4 are as follows: L 12 , L 13 , L 14 , L 23 , L 24 and L 34 The weight values ​​Sum1, Sum2, Sum3, and Sum4 of the location information associated with vehicles 1, 2, 3, and 4, respectively, are calculated as follows: Therefore, the real-time data equivalent is matched with the total amount of vehicle information transmission and communication distance. S i The calculation yields the following formula: 。 4. The unmanned cluster interconnection and communication method based on modular vehicles as described in claim 3, characterized in that, In step 2, the real-time data equivalent is matched with the total amount of vehicle information transmission and the communication distance. S i Obtain the equivalent data volume between each pair of vehicles. S e1j Based on the equivalent data volume S e1j The size clearly defines the priority level of vehicle communication; the details are as follows: When vehicle 1 communicates with vehicles 2, 3, and 4, the equivalent data volume between each pair of vehicles is... S e1j They are respectively: Based on the equivalent data volume S e1j The size clearly defines the priority level of vehicle communication, thereby dividing the process of different information transmission and matching in vehicle interconnection communication into three different operating conditions: Level 1, Level 2, and Level 3. in, j =2, 3, 4.

5. The unmanned cluster interconnection and communication method based on modular vehicles as described in claim 4, characterized in that, In step 2, during the process of matching the transmission of difference information, the equivalent data volume is used as a reference. S e1j The process of performing first-level information transmission matching includes: When vehicle 1 communicates with vehicle 2, vehicle 3, and vehicle 4 respectively, if S e12 ≠ S e13 ≠ S e14 Then vehicle 1 will prioritize communicating with the vehicle with the largest equivalent data volume, i.e., max( S e12 , S e13 , S e14 The vehicle corresponding to ) is: first, vehicle 1 communicates with the vehicle with the next largest equivalent data volume; second, vehicle 1 communicates with the vehicle with the smallest equivalent data volume, i.e., min( S e12 , S e13 , S e14 The vehicle corresponding to ).

6. The unmanned cluster interconnection and communication method based on modular vehicles as described in claim 4, characterized in that, In step 2, during the process of matching the transmission of difference information, the equivalent data volume is used as a reference. S e1j The process of performing secondary information transmission matching includes: When vehicle 1 communicates with vehicle 2, vehicle 3, and vehicle 4 respectively, if S e12 = S e13 ≠ S e14 ,or S e12 ≠ S e13 = S e14 Then we further compare the size of the equivalent data volume; if S e12 = S e13 > S e14 ,or S e13 = S e14 > S e12 ,or S e12 = S e13 < S e14 ,or S e13 = S e14 < S e12 Therefore, vehicle 1 will prioritize communicating with vehicles that have a larger equivalent data volume. However, given that there are always two sets of data with the same equivalent data volume, it is necessary to further determine the priority of the two vehicles with the same equivalent data volume. Assuming two cars with equivalent data volumes are respectively C 1 and C 2, of which C 1 and C 2 corresponds to vehicle 2 and vehicle 3, or vehicle 3 and vehicle 4 respectively; in this case, it is necessary to further analyze the information output corresponding to vehicle 1. I T1 The flow direction is used to determine priority; if vehicle 1 transmits to vehicle... C 1 and C The information for 2 is respectively I T1C1 and I T1C2 ,in, I T1 = I T1C1 + I T1C2 Therefore, we need to consider a communication allocation mechanism that integrates the response information of the other vehicle; assuming the vehicle... C 1 and C 2. The information transmitted after receiving the information is as follows: I C1 and I C2 So, calculate the information I T1C1 and I T1C2 Corresponding response rate η C1 and η C2 Then the calculation formula is as follows: In the formula, t C1 and t C2 Vehicle 1 and Vehicle C 1 and C The initial communication delay time of 2, in the actual communication process t C1 and t C2 They will not be completely identical; the difference between the two is at least one control cycle; based on the response rate. η C1 and η C2 Vehicle priority communication is defined, that is, vehicles with high response rates communicate with vehicle 1 first, and those with low response rates communicate second.

7. The unmanned cluster interconnection and communication method based on modular vehicles as described in claim 4, characterized in that, In step 2, during the process of matching the transmission of difference information, the equivalent data volume is used as a reference. S e1j The process of performing three-level information transmission matching includes: Scenario 3: When vehicle 1 communicates with vehicle 2, vehicle 3, and vehicle 4 respectively, if S e12 = S e13 = S e14 Then, priority is determined based on the information response rates of vehicles 2, 3 and 4. At this point, by analyzing the information output corresponding to vehicle 1 I T1 The flow direction is used to determine the communication priority; if the information transmitted by vehicle 1 to vehicle 2, vehicle 3, and vehicle 4 are respectively I T12 , I T13 and I T14 ,in, I T1 = I T12 + I T13 + I T14 Assume that the information transmitted by vehicles 2, 3, and 4 after receiving the information is as follows: I t2 , I t3 and I t4 So, calculate the information I T12 , I T13 and I T14 Corresponding information response rate η 2. η 3 and η 4. Then the calculation formula is as follows: In the formula, t 2. t 3 and t 4 represents the initial communication delay between vehicle 1 and vehicles 2, 3, and 4, respectively, during the actual communication process. t 2. t 3 and t 4. They will not be completely equal; the difference between any two of them is at least one control cycle.

8. The unmanned cluster interconnection and communication method based on modular vehicles as described in claim 1, characterized in that, The method further performs differentiated information transmission matching and incomplete information interconnection communication based on the equivalent calculation of data equivalents. It establishes a multi-vehicle communication mode based on multi-vehicle collaborative interaction and data priority division. During the dynamic information transmission process, it performs information transmission and transmission processes, realizes the interaction between vehicle cluster sub-units under the action of real-time dynamic information, and completes the multi-vehicle collaborative and interconnection work process under the overall command planning.

Images