A power allocation method, device, and storage medium for vehicle-to-everything (V2X) networks based on non-orthogonal multiple access integration of vehicle platooning.

Abstract

This invention provides a power allocation method, apparatus, and storage medium for vehicle-to-everything (V2X) networks based on non-orthogonal multiple access integration of vehicle platooning. It effectively constructs a relatively stable network topology for dynamic vehicle environments, achieving optimal transmit power and network latency, and significantly improving network throughput. The method includes: Step 1, vehicles interact with surrounding vehicles to perceive information and form platoons until the platoon reaches an equilibrium state; platooning is re-established after changes. Step 2, based on real-time information from the platoon and vehicles, the vehicle-to-vehicle spacing between the current vehicle and the platoon leader in the equilibrium state is obtained. Step 3, a channel model is established between the platoon leader and roadside infrastructure, as well as a channel model between the platoon and other vehicles within the platoon. Step 4, the signal is decoded using serial interference cancellation technology, and the transmission rate between the platoon leader and other vehicles is calculated. Step 5, the optimal transmit power corresponding to maximum throughput and the latency for vehicle file acquisition are obtained.

Description

Technical Field

[0001] This invention belongs to the field of vehicle-to-everything (V2X) wireless communication technology, specifically relating to a power allocation method, apparatus, and storage medium for V2X based on non-orthogonal multiple access integration of vehicle formations. Background Technology

[0002] With the development of wireless communication technologies, such as 4G / 5G, significant progress has been made in the research and development of intelligent vehicle networks based on V2X communication. These advancements not only enhance traffic safety and management but also pave the way for the development of connected autonomous and semi-autonomous vehicles, demonstrating promising prospects.

[0003] The C-V2X interface facilitates direct communication between vehicles (V2V) and between vehicles and infrastructure (V2I) without the need for data relay via cellular networks. [1] It is worth noting that 3GPP Release 14 in 2016 approved the use of LTE-V to enhance vehicle network performance. [2] In addition, the rapidly developing non-orthogonal multiple access (NOMA) technology is expected to provide extensive and efficient broadband communication. This technology not only improves network throughput, but also minimizes access and transmission latency, ensuring compliance with the stringent QoS standards of 5G cellular V2X communication [3].

[0004] Utilizing NOMA cooperative methods can further enhance V2X communication performance by improving the efficiency of long-range transmission links. However, frequent network topology changes in heterogeneous vehicular networks can lead to network communication interruptions, resulting in decreased throughput and increased communication latency. On the other hand, vehicles have limited transmit power, and due to the influence of the communication environment, successfully decoding useful information from the received signal requires a high signal-to-noise ratio. Therefore, stable and efficient communication in heterogeneous vehicular networks is extremely important. Furthermore, vehicular networks face significant communication noise and interference.

[0005] In summary, although there are many existing methods for power allocation in 5G vehicle-to-everything (V2X) communication, there are still many problems: the V2X communication environment is unstable, frequent network switching leads to excessive communication delays, channel modeling ignores the impact of vehicle movement on the channel, vehicle transmission power is limited, and the vehicle's decoding capability for receiving signals is affected by surrounding communication noise and interference.

[0006] References:

[0007] [1] R. Molina-Masegosa, J. Gozalvez and M. Sepulcre, “Comparison of IEEE 802.11p and LTE-V2X: Evaluation of periodic and aperiodic messages of constant and variable size”. IEEE Access, vol.8, pp.121526-121548, 2020.

[0008] [2] S. Chen, J. Hu, Y. Shi, and L. Zhao, “LTE-V: A TD-LTE-based V2X solution for future vehicular networks”. IEEE Internet Things Journal, vol. 3, no. 6, pp. 997–1005, May 2016.

[0009] [3]B.Di,L.Song,Y.Li,and GYLi,“Nonorthogonal multiple access for high reliability and low latency V2X communication in 5G systems”.IEEE Journal on Selected Areas in Communication,vol.35,no.10,pp.2383–2397,Oct.2017. Summary of the Invention

[0010] This invention is made to solve the above-mentioned problems, and aims to provide a power allocation method, device and storage medium for vehicle networking based on non-orthogonal multiple access integration of vehicle formation. It can effectively construct a more stable network topology for dynamic vehicle environment, obtain optimal transmission power and network latency, effectively improve network throughput, conduct wireless communication more stably, and ensure that different types of users obtain accurate information.

[0011] To achieve the above objectives, the present invention employs the following solution:

[0012] <Method>

[0013] This invention provides a vehicle-to-everything (V2X) power allocation method based on non-orthogonal multiple access integration of vehicle platooning, comprising the following steps:

[0014] Step 1: The vehicle interacts with the surrounding vehicles at a certain frequency to sense information. Based on the network and communication characteristics, the vehicle is divided into different formations using a formation algorithm until the vehicle formation is in an equilibrium state. When the formation changes, the formation algorithm is used again to form a new formation.

[0015] Step 2: Based on the real-time information of the formation and vehicles, obtain the vehicle interval between the current vehicle and the leading vehicle in the formation under balanced conditions.

[0016] Step 3: Establish the channel model between the head of the vehicle platoon and the roadside infrastructure, as well as the channel model between the vehicle platoon and other vehicles within the platoon.

[0017] Step 4: Decode the received signal using serial interference cancellation technology within the vehicle formation, and calculate the transmission rate between the head of the vehicle formation and other vehicles.

[0018] Step 5: Construct a mathematical model to obtain the optimal transmission power and vehicle file acquisition latency corresponding to the maximum throughput; this includes the following sub-steps:

[0019] Step 5.1, construct the mathematical model as follows:

[0020]

[0021]

[0022]

[0023] In the formula, R n,l p represents the throughput obtained by the l-th vehicle in the n-th formation. n,l P is the transmission power of the l-th vehicle in the n-th formation from the head of the formation. max The maximum launch power is at the head of the formation, and L is the total number of vehicles in the formation. It is V n,L and V n,l The channel coefficients between, σ 2 For noise power; r n,l B represents the minimum throughput required for the l-th vehicle in the n-th formation to meet the quality of service requirements. n The bandwidth allocated to the nth formation;

[0024] Step 5.2, power allocation solution;

[0025] The power p that the computing system uses to achieve maximum throughput while ensuring that each receiving user meets the minimum throughput requirement. n,l To obtain the optimal power p n,l for:

[0026]

[0027] In the formula, B n For the bandwidth allocated to the nth formation, r n,l The rate required to meet the minimum QoS requirements for the l-th vehicle in the n-th formation;

[0028] Step 5.3, in roadside unit r k Communication between the vehicle and the lead vehicle in the formation is achieved using orthogonal frequency division multiplexing.

[0029] Step 5.4, calculate the response delay t from the roadside unit to the vehicle user. k,l :

[0030]

[0031] In the formula, c is the size of the requested file cached in the roadside unit, and R k,n R n,l These represent the speeds from the roadside unit to the platoon leader and from the platoon leader to the platoon members, respectively.

[0032] Preferably, in the vehicle network power allocation method based on non-orthogonal multiple access integration of vehicle formation provided by the present invention, the frequency of interactive sensing in step 1 is 1ms.

[0033] Preferably, in the vehicle-to-everything (V2X) power allocation method based on non-orthogonal multiple access integration of vehicle platooning provided by the present invention, in step 2, the power allocation is determined according to the vehicle's uniform acceleration a on the road. n,l The model obtains the real-time location and speed information of vehicles; based on the intelligent driving model, it determines the safe distance between the head of the platoon and the current vehicle.

[0034] Real-time position of the vehicle after passing through time slot Δt:

[0035]

[0036] In the formula, Δt divides time into time intervals, Δt = 1 ms, x n,l (t) represents the current position, x n,l (t+Δt) represents the position of the vehicle after a change of Δt, v n,l (t) represents the current speed of the vehicle, a n,l (t) represents the vehicle's acceleration at the current moment, o(Δt) 2 ) represents the expression for Δt 2 Higher-order infinitesimals;

[0037] Vehicle speed after passing through time slot Δt:

[0038]

[0039] The distance between adjacent vehicles in the nth platoon on the road is:

[0040] ΔS n,l (t)=|x n,l-1 (t)-x n,l (t)|

[0041] The distance from the head of the nth formation to the lth vehicle in formation n is:

[0042]

[0043] Preferably, the vehicle-to-everything (V2X) power allocation method based on non-orthogonal multiple access (NOMA) integration for vehicle platooning provided by the present invention includes the following sub-steps in step 4: the lead vehicle in the platoon uses NOMA to synchronously transmit signals to other vehicles in the platoon, and the other vehicles receiving the signals use serial interference cancellation technology to decode them;

[0044] Step 4.1, Received signal modeling;

[0045] Within formation n, the vehicle receives the following signal from the formation leader:

[0046]

[0047] In the formula, It is V n,L and V n,l The channel coefficients between p n,l It is V n,l Vehicle power distribution factor, t n,l From the team leader to V n,l The transmitted signal, N n,l It is zero-mean additive white Gaussian noise;

[0048] Step 4.2: Calculate the transmission rate between the head of the formation and the vehicles within the formation;

[0049] At the receiver, serial interference cancellation technology is employed to decode the receiver signal one by one, with the channel gain gradually decreasing from near to far. n,l The received rate is:

[0050]

[0051] In the formula, It is vehicle PM n,l Total interference received from the RSU after performing serial interference cancellation.

[0052] <device>

[0053] Furthermore, the present invention also provides a vehicle-to-everything (V2X) power allocation device based on non-orthogonal multiple access integration for automatically controlling the above-mentioned <method>, characterized in that it includes:

[0054] In dynamic formation, vehicles interact with surrounding vehicles at a certain frequency to sense information. Based on network and communication characteristics, formation algorithms are used to divide vehicles into different formations until the vehicle formations reach an equilibrium state. When the formations change, the formation algorithm is used again to re-form the formations.

[0055] The interval acquisition unit obtains the current interval between the vehicle and the leading vehicle in the formation under balanced conditions, based on real-time information of the formation and vehicles.

[0056] The channel model construction department establishes channel models between the head of the vehicle platoon and roadside infrastructure, as well as channel models of the vehicle platoon and other vehicles within the platoon.

[0057] The rate calculation unit decodes the received signals using serial interference cancellation technology within the vehicle formation and calculates the transmission rate between the head of the vehicle formation and other vehicles.

[0058] The optimization department constructs a mathematical model according to steps 5.1 to 5.4 to obtain the optimal transmission power and vehicle file acquisition delay time corresponding to the maximum throughput.

[0059] Step 5.1, construct the mathematical model as follows:

[0060]

[0061]

[0062]

[0063] In the formula, R n,l p represents the throughput obtained by the l-th vehicle in the n-th formation. n,l P is the transmission power of the l-th vehicle in the n-th formation from the head of the formation. max The maximum launch power is at the head of the formation, and L is the total number of vehicles in the formation. It is V n,L and V n,l The channel coefficients between, σ 2 For noise power; r n,l B represents the minimum throughput required for the l-th vehicle in the n-th formation to meet the quality of service requirements. n The bandwidth allocated to the nth formation;

[0064] Step 5.2, power allocation solution;

[0065] The power p that the computing system uses to achieve maximum throughput while ensuring that each receiving user meets the minimum throughput requirement. n,l To obtain the optimal power p n,l for:

[0066]

[0067] In the formula, B n For the bandwidth allocated to the nth formation, r n,l The rate required to meet the minimum QoS requirements for the l-th vehicle in the n-th formation;

[0068] Step 5.3, in roadside unit r k Communication between the vehicle and the lead vehicle in the formation is achieved using orthogonal frequency division multiplexing.

[0069] Step 5.4, calculate the response delay t from the roadside unit to the vehicle user. k,l :

[0070]

[0071] In the formula, c is the size of the requested file cached in the roadside unit, and R k,n R n,l These are the speeds from the roadside unit to the platoon leader and from the platoon leader to the platoon members, respectively.

[0072] The control unit is communicatively connected to the dynamic formation unit, interval acquisition unit, channel model construction unit, rate calculation unit, and optimization unit, and controls their operation.

[0073] Preferably, the vehicle network power distribution device based on vehicle platooning non-orthogonal multiple access integration provided by the present invention may further include: an input display unit, which is communicatively connected to the control unit, allowing the user to input operation commands, and displaying the input, output and intermediate processing data of the corresponding unit in the form of text, tables, graphics, static or dynamic models according to the operation commands.

[0074] Preferably, the vehicle-to-everything (V2X) power allocation device based on non-orthogonal multiple access integration of vehicle platooning provided by the present invention, in the interval acquisition unit, determines the power allocation based on the uniform acceleration 'a' of the vehicle on the road. n,l The model obtains the real-time location and speed information of vehicles; based on the intelligent driving model, it determines the safe distance between the head of the platoon and the current vehicle.

[0075] Real-time position of the vehicle after passing through time slot Δt:

[0076]

[0077] In the formula, Δt divides time into time intervals, Δt = 1 ms, x n,l (t) represents the current position, x n,l (t+Δt) represents the position of the vehicle after a change of Δt, v n,l (t) represents the current speed of the vehicle, a n,l (t) represents the vehicle's acceleration at the current moment, o(Δt) 2 ) represents the expression for Δt 2 Higher-order infinitesimals;

[0078] Vehicle speed after passing through time slot Δt:

[0079]

[0080] The distance between adjacent vehicles in the nth platoon on the road is:

[0081] ΔSn,l (t)=|x n,l-1 (t)-x n,l (t)|

[0082] The distance from the head of the nth formation to the lth vehicle in formation n is:

[0083]

[0084] Preferably, in the vehicle-to-everything (V2X) power distribution device based on non-orthogonal multiple access (NOMA) integration provided by the present invention, in the rate calculation unit, the lead vehicle in the platoon uses NOMA to synchronously transmit signals to other vehicles in the platoon, and the other vehicles receiving the signals use serial interference cancellation technology to decode them; specifically:

[0085] Within formation n, the vehicle receives the following signal from the formation leader:

[0086]

[0087] In the formula, It is V n,L and V n,l The channel coefficients between p n,l It is V n,l Vehicle power distribution factor, t n,l From the team leader to V n,l The transmitted signal, N n,l It is zero-mean additive white Gaussian noise;

[0088] At the receiver, serial interference cancellation technology is employed to decode the receiver signal one by one, with the channel gain gradually decreasing from near to far. n,l The received rate is:

[0089]

[0090] In the formula, It is vehicle PM n,l Total interference received from the RSU after performing serial interference cancellation.

[0091] Preferably, the vehicle network power distribution device based on non-orthogonal multiple access integration of vehicle formation provided by the present invention has an interactive sensing frequency of 1ms in dynamic formation.

[0092] <Storage Media>

[0093] In addition, the present invention provides a storage medium storing a program for implementing the vehicle-to-everything (V2X) power allocation method based on non-orthogonal multiple access integration as described in any one of claims 1 to 4. The storage medium may be any tangible computer-readable medium containing or storing the program, and the storage medium may be sent, propagated, or transmitted for use by or in conjunction with an instruction execution system, apparatus, or device.

[0094] The role and effect of invention

[0095] The present invention provides a vehicle-to-everything (V2X) power allocation method, device, and storage medium based on non-orthogonal multiple access integration of vehicle platooning. First, vehicles interact with surrounding vehicles at a certain frequency and form platoons, maintaining a dynamic equilibrium state. Then, based on real-time information from the platoon and vehicles, the vehicle-to-vehicle spacing between the current vehicle and the leading vehicle in the platoon is obtained in the equilibrium state. Next, considering the impact of vehicle movement on the channel, a channel model is established between the leading vehicle and roadside infrastructure, as well as between the vehicle platoon and other vehicles within it. After eliminating interference, the transmission rate between the leading vehicle and other vehicles is calculated. Subsequently, a mathematical model, a power allocation solution model, and a response delay model from the roadside unit to the vehicle user are constructed to calculate the optimal transmit power corresponding to the maximum throughput and the latency for vehicle file acquisition. Through the aforementioned process, this invention constructs a stable network topology for the dynamically changing network environment (dynamic vehicle environment) in urban traffic under 5G communication technology. This enables more stable wireless communication, ensuring accurate information for different types of users. While guaranteeing the quality of service for vehicle users receiving data, it effectively improves network throughput and reduces network latency, resulting in a better service quality experience on dynamic roads. Attached Figure Description

[0096] Figure 1 This is a flowchart of a vehicle-to-everything (V2X) power allocation method based on non-orthogonal multiple access integration of vehicle platooning, according to an embodiment of the present invention.

[0097] Figure 2 This is a network model diagram related to an embodiment of the present invention;

[0098] Figure 3 This is a block diagram of the apparatus according to an embodiment of the present invention. Detailed Implementation

[0099] The following description, in conjunction with the accompanying drawings, details the power allocation method, apparatus, and storage medium for vehicle networking based on non-orthogonal multiple access integration in vehicle platooning, which are part of this invention.

[0100] <Example 1>

[0101] Current 5G-based heterogeneous vehicle-to-everything (V2X) power allocation methods suffer from several drawbacks, including an unstable V2X communication environment, excessive communication delays due to frequent network switching, neglect of the impact of vehicle movement on the channel during channel modeling, limited vehicle transmit power, and the vehicle's decoding capability being affected by surrounding communication noise and interference.

[0102] To obtain the optimal transmission power and network latency for the lead vehicle in a platoon, a model needs to be constructed, including vehicle traffic status information, roadside units, and channels. When a vehicle sends a specific service request, the optimal transmission power and network latency of the vehicle platoon can be calculated. However, existing methods have the following problems: (1) When a user initiates a service request, the selection of communication relay nodes is unstable, and dynamic relay selection wastes a lot of time. (2) Many models ignore the impact of vehicle dynamics on channel quality between vehicles and between vehicles and roadside base stations.

[0103] This invention provides a novel resource management method for 5G-enabled vehicle-to-everything (V2X) communication: a power allocation method for V2X based on non-orthogonal multiple access integration of vehicle platooning. This invention fully considers the dynamic nature of V2X, models the inter-vehicle spacing and network channel model within the vehicle platoon, uses a mathematical model to establish a system throughput optimization problem with quality-of-service constraints, and obtains the optimal power intuitively and accurately through numerical analysis. This effectively solves the aforementioned problems existing in the prior art.

[0104] like Figure 1 As shown, the vehicle-to-everything (V2X) power allocation method based on non-orthogonal multiple access integration of vehicle platooning provided in this embodiment includes the following steps:

[0105] Step 1: Establish a network model. Vehicles perceive information by constantly interacting with surrounding vehicles. Based on network and communication characteristics, the vehicle formation algorithm is used to divide the vehicles into different formations until the vehicle formations are in an equilibrium state. When the formations change, the formation algorithm is used again.

[0106] like Figure 2 As shown, in this embodiment, the network model includes bidirectional lanes and roadside units; the arrival of vehicle nodes in the model follows a Poisson distribution, vehicle nodes are randomly distributed on the road, and their speed can change dynamically. Acceleration and deceleration are uniform within a unit time slot, and their direction is constant; the roadside units can provide user-requested data, including but not limited to in-vehicle entertainment data, weather data, navigation data, etc., and the data size stored in each roadside unit is random.

[0107] Step 2: Based on the vehicle's uniform acceleration a on the road n,lThe model obtains the real-time location and speed information of vehicles; based on the intelligent driving model, it obtains the safe distance between the head of the platoon and the current vehicle.

[0108] Real-time position of the vehicle after passing through time slot Δt:

[0109]

[0110] In the formula, Δt divides time into time intervals, Δt = 1 ms, x n,l (t) represents the current position, x n,l (t+Δt) represents the position of the vehicle after a change of Δt, v n,l (t) represents the current speed of the vehicle, a n,l (t) represents the vehicle's acceleration at the current moment, o(Δt) 2 ) represents the expression for Δt 2 Higher-order infinitesimals;

[0111] Vehicle speed after passing through time slot Δt:

[0112]

[0113] The distance between adjacent vehicles in the nth platoon on the road is:

[0114] ΔS n,l (t)=|x n,l-1 (t)-x n,l (t)|

[0115] The distance from the head of the nth formation to the lth vehicle in formation n:

[0116]

[0117] Step 3: Construct channel models for base stations and vehicles on the road in the network, as well as channel models between vehicles.

[0118] Step 3.1: Considering the impact of vehicle movement on the communication channel via Doppler, and also considering that only line-of-sight communication exists between the vehicle and the roadside unit, the channel model can be expressed as:

[0119]

[0120] in It is the channel coefficient, representing r k And the first vehicle in the convoy V n,L Fast channel fading component of the link between them, ξ k,n It is a log-normal shaded random variable with bias ζ, β is the path loss exponent, and d k,n It is vehicle V n,L and RSUrk .

[0121] Small-scale fast decay channel A first-order Gaussian Markov stochastic process is used for modeling, and the model is as follows:

[0122]

[0123] In the formula, It is an estimate of the channel gain, where e is a channel difference term that follows a complex Gaussian distribution and is independent. and ζ=J0(2πf D T s According to the Jake model, where J0 is a zeroth-order Bessel of the first kind, f D It is the maximum Doppler frequency affected by velocity, T s It is a periodic feedback delay, ∈ k,n Typically, this indicates that the estimated channel error has a mean of zero and a variance (noise power) of σ. k,n 2 =σ k 2 .

[0124] Step 3.2: Considering that the speeds of vehicles are not significantly different, the communication links between vehicles can be considered error-free. The channel gain between vehicles in a platoon includes normal shadow attenuation and path loss.

[0125]

[0126] In the formula, It is the V at the head of the vehicle formation n,L and V n,l The channel coefficients between, ξ n,l d is a shaded random variable with a bias ζ that follows a log-normal distribution. n,l It is the V at the head of the vehicle formation n,L and other vehicles in the formation V n,l The distance between them.

[0127] Step 4. In the formation, the lead vehicle uses non-orthogonal multiple access technology to synchronously transmit signals to other vehicles in the formation. The other vehicles that receive the signals use serial interference cancellation technology to decode them. The specific steps include receiving signal modeling and obtaining the transmission rate between the lead vehicle and other vehicles in the formation after using serial interference cancellation technology.

[0128] Step 4.1: Modeling the Received Signal: Within a formation of n, the signal received by a vehicle from the head of the formation is as follows:

[0129]

[0130] In the formula, It is V n,L and V n,l The channel coefficients between p n,l It is V n,l Vehicle power distribution factor, t n,l From the team leader to V n,l The transmitted signal, N n,l It is zero-mean additive white Gaussian noise (AWGN) with a variance of σ. 2 .

[0131] Step 4.2: Transmission rate between the platoon leader and vehicles within the platoon

[0132] At the receiver, serial interference cancellation technology is employed to decode the receiver signal one by one, with the channel gain gradually decreasing from near to far. n,l The received rate can be expressed as:

[0133]

[0134] In the formula, It is vehicle V n,l The total interference received from the RSU after performing serial interference cancellation, in addition, Because the vehicle connects to V n,L-1 After serial interference is eliminated, there is no interference.

[0135] Step 5: Set a service quality threshold r for each receiving user. n,l Only when the transmission rate between the head of the formation and the receiving user is greater than a given threshold r n,l Only in this way can we ensure that the receiving user can accurately obtain the required signal. n,l ≥r n,l Specifically, this includes solving for throughput maximization and power allocation.

[0136] Step 5.1: Maximize throughput.

[0137] Introducing the conditions for successful decoding by the receiving vehicle:

[0138]

[0139] In the formula, r n,l B represents the minimum throughput required for the l-th vehicle in the n-th formation to meet the quality of service requirements. n Divided into the bandwidth allocated to the nth formation, σ 2 This represents noise power.

[0140] The mathematical model is constructed as follows:

[0141]

[0142]

[0143]

[0144] In the formula, R n,l p represents the throughput obtained by the l-th vehicle in the n-th formation. n,l P is the transmission power of the l-th vehicle in the n-th formation from the head of the formation. max σ is the maximum transmission power of the lead unit. 2 This represents noise power.

[0145] Step 5.2: Solve for power distribution.

[0146] The power p that the computing system uses to achieve maximum throughput while ensuring that each receiving user meets the minimum throughput requirement. n,l The optimal power is obtained as follows:

[0147]

[0148] In the formula, B n For the bandwidth allocated to the nth formation, r n,l The rate required to satisfy the minimum QoS requirement for the l-th vehicle in the n-th formation is given by L, where L is the total number of vehicles in the formation.

[0149] Step 5.3: In roadside unit r k Communication between the vehicle and the lead vehicle in the formation is achieved using orthogonal frequency division multiplexing.

[0150]

[0151] In the formula, It is r k,n and V n,L The channel coefficient between, B k,n It is the bandwidth allocated to the nth formation, σ 2 P is the noise power. B For r k Maximum transmission power.

[0152] Step 5.4: Calculate the response delay from the roadside unit to the vehicle user using the following formula. This process ends here.

[0153]

[0154] In the formula, c is the size of the requested file cached in the roadside unit, and R k,n R n,l These represent the speeds from the roadside unit to the platoon leader and from the platoon leader to the platoon members, respectively.

[0155] <Example 2>

[0156] Furthermore, this second embodiment provides a vehicle-to-everything (V2X) power allocation device based on vehicle formation and non-orthogonal multiple access integration that can automatically implement the above method. The system includes a dynamic formation module, an interval acquisition module, a channel model construction module, a rate calculation module, an optimization calculation module, an input display module, and a control module.

[0157] The dynamic formation module can perform the content described in step 1 above. The vehicle interacts with the surrounding vehicles at a certain frequency to sense information. Based on the network and communication characteristics, the vehicle is divided into different formations using a formation algorithm until the vehicle formation is in an equilibrium state. When the formation changes, the formation algorithm is used again to form a new formation.

[0158] The interval acquisition module can perform the work described in step 2 above, and obtain the interval between the current vehicle and the first vehicle in the formation when in equilibrium, based on the real-time information of the formation and vehicles.

[0159] The channel model building module can perform the tasks described in step 3 above, establishing a channel model between the head of the vehicle platoon and the roadside infrastructure, as well as a channel model between the vehicle platoon and other vehicles within the platoon.

[0160] The rate calculation module can perform the functions described in step 4 above, decode the received signal serial interference cancellation technique within the vehicle formation, and calculate the transmission rate between the head of the vehicle formation and other vehicles.

[0161] The optimization module can perform the steps described in step 5 above to obtain the optimal transmit power and vehicle file acquisition delay time corresponding to the maximum throughput.

[0162] The input display module is used to allow users to input operation commands and to display the input, output, and intermediate processing data of the corresponding modules in the form of text, tables, graphics, static or dynamic models according to the operation commands.

[0163] The control module is communicatively connected to the dynamic formation module, interval acquisition module, channel model construction module, rate calculation module, optimization module, and input display module, controlling their operation.

[0164] The above embodiments are merely illustrative examples of the technical solutions of the present invention. The vehicle-to-everything (V2X) power allocation method, apparatus, and storage medium based on non-orthogonal multiple access integration of vehicle platooning involved in the present invention are not limited to the contents described in the above embodiments, but are subject to the scope defined by the claims. Any modifications, additions, or equivalent substitutions made by those skilled in the art based on these embodiments are within the scope of protection claimed by the claims of the present invention.

Claims

1. A power allocation method for vehicle-to-everything (V2X) networks based on non-orthogonal multiple access integration of vehicle platooning, characterized in that, Includes the following steps: Step 1: The vehicle interacts with the surrounding vehicles at a certain frequency to sense information. Based on the network and communication characteristics, the vehicle is divided into different formations using a formation algorithm until the vehicle formation is in an equilibrium state. When the formation changes, the formation algorithm is used again to form a new formation. Step 2: Based on the real-time information of the formation and vehicles, obtain the vehicle interval between the current vehicle and the leading vehicle in the formation under balanced conditions. Step 3: Establish the channel model between the head of the vehicle platoon and the roadside infrastructure, as well as the channel model between the vehicle platoon and other vehicles within the platoon. Step 4: Decode the received signal using serial interference cancellation technology within the vehicle formation, and calculate the transmission rate between the head of the vehicle formation and other vehicles. Step 5: Construct a mathematical model to obtain the optimal transmission power and vehicle file acquisition latency corresponding to the maximum throughput; this includes the following sub-steps: Step 5.1, construct the mathematical model as follows: In the formula, R n，l p represents the throughput obtained by the l-th vehicle in the n-th formation. n，l P is the transmission power of the l-th vehicle in the n-th formation from the head of the formation. max The maximum launch power is at the head of the formation, and L is the total number of vehicles in the formation. It is V n，L and V n，l The channel coefficients between, σ 2 For noise power; r n，l B represents the minimum throughput required for the l-th vehicle in the n-th formation to meet the quality of service requirements. n The bandwidth allocated to the nth formation; Step 5.2, power allocation solution; The power p that the computing system uses to achieve maximum throughput while ensuring that each receiving user meets the minimum throughput requirement. n，l To obtain the optimal power p n，l for: In the formula, B n For the bandwidth allocated to the nth formation, r n，l The rate required to meet the minimum QoS requirements for the l-th vehicle in the n-th formation; Step 5.3, in roadside unit r k Communication between the vehicle and the lead vehicle in the formation is achieved using orthogonal frequency division multiplexing. Step 5.4, calculate the response delay t from the roadside unit to the vehicle user. k，l : In the formula, c is the size of the requested file cached in the roadside unit, and R k，n R n，l These represent the speeds from the roadside unit to the platoon leader and from the platoon leader to the platoon members, respectively.

2. The vehicle-to-everything (V2X) power allocation method based on non-orthogonal multiple access integration of vehicle platooning according to claim 1, characterized in that: in, In step 1, the frequency of interactive sensing is 1ms.

3. The vehicle-to-everything (V2X) power allocation method based on non-orthogonal multiple access integration of vehicle platooning according to claim 1, characterized in that: in, In step 2, based on the vehicle's uniform acceleration a on the road n，l The model obtains the real-time location and speed information of vehicles; based on the intelligent driving model, it determines the safe distance between the head of the platoon and the current vehicle. Real-time position of the vehicle after passing through time slot Δt: In the formula, Δt divides time into time intervals, Δt = 1 ms, x n，l (t) represents the current position, x n，l (t+Δt) represents the position of the vehicle after a change of Δt, v n，l (t) represents the current speed of the vehicle, a n，l (t) represents the vehicle's acceleration at the current moment, o(Δt) 2 ) represents the expression for Δt 2 Higher-order infinitesimals; Vehicle speed after passing through time slot Δt: The distance between adjacent vehicles in the nth platoon on the road is: ΔS n，l (t)=|x n，l-1 (t)-x n，l (t)| The distance from the head of the nth formation to the lth vehicle in formation n is:

4. The vehicle-to-everything (V2X) power allocation method based on non-orthogonal multiple access integration of vehicle platooning as described in claim 1. Its features are: In step 4, the lead vehicle in the convoy uses non-orthogonal multiple access (NOAMI) technology to synchronously transmit the signal to other vehicles in the convoy. The other vehicles that receive the signal use serial interference cancellation technology to decode it. This includes the following sub-steps: Step 4.1, Received signal modeling; Within formation n, the vehicle receives the following signal from the formation leader: In the formula, It is V n，L and V n，l The channel coefficients between p n，l It is V n，l Vehicle power distribution factor, t n，l From the team leader to V n，l The transmitted signal, N n，l It is zero-mean additive white Gaussian noise; Step 4.2: Calculate the transmission rate between the head of the formation and the vehicles within the formation; At the receiver, serial interference cancellation technology is employed to decode the receiver signal one by one, with the channel gain gradually decreasing from near to far. n，l The received rate is: In the formula, It is vehicle PM n，l Total interference received from the RSU after performing serial interference cancellation.

5. A vehicle-to-everything (V2X) power distribution device based on non-orthogonal multiple access integration of vehicle platooning, characterized in that, include: The dynamic formation module uses information perceived by vehicles to interact with surrounding vehicles at a certain frequency. Based on network and communication characteristics, it uses a formation algorithm to divide vehicles into different formations until the vehicle formation is in an equilibrium state. When the formation changes, the formation algorithm is used again to form a new formation. The interval acquisition module obtains the interval between the current vehicle and the first vehicle in the formation when the formation is in equilibrium, based on the real-time information of the formation and vehicles. The channel model construction module establishes the channel model between the head of the vehicle platoon and the roadside infrastructure, as well as the channel model between the vehicle platoon and other vehicles within the platoon. The rate calculation module decodes the received signal using serial interference cancellation technology within the vehicle formation and calculates the transmission rate between the head of the vehicle formation and other vehicles. The optimization module constructs a mathematical model according to steps 5.1 to 5.4 to obtain the optimal transmission power and vehicle file acquisition delay time corresponding to the maximum throughput. Step 5.1, construct the mathematical model as follows: In the formula, R n，l p represents the throughput obtained by the l-th vehicle in the n-th formation. n，l P is the transmission power of the l-th vehicle in the n-th formation from the head of the formation. max The maximum launch power is at the head of the formation, and L is the total number of vehicles in the formation. It is V n，L and V n，l The channel coefficients between, σ 2 For noise power; r n，l B represents the minimum throughput required for the l-th vehicle in the n-th formation to meet the quality of service requirements. n The bandwidth allocated to the nth formation; Step 5.2, power allocation solution; The power p that the computing system uses to achieve maximum throughput while ensuring that each receiving user meets the minimum throughput requirement. n，l To obtain the optimal power p n，l for: In the formula, B n For the bandwidth allocated to the nth formation, r n，l The rate required to meet the minimum QoS requirements for the l-th vehicle in the n-th formation; Step 5.3, in roadside unit r k Communication between the vehicle and the lead vehicle in the formation is achieved using orthogonal frequency division multiplexing. Step 5.4, calculate the response delay t from the roadside unit to the vehicle user. k，l : In the formula, c is the size of the requested file cached in the roadside unit, and R k，n R n，l These are the speeds from the roadside unit to the platoon leader and from the platoon leader to the platoon members, respectively. The control module is communicatively connected to the dynamic formation module, interval acquisition module, channel model construction module, rate calculation module, and optimization module, and controls their operation.

6. The vehicle-to-everything (V2X) power distribution device based on non-orthogonal multiple access integration of vehicle platooning according to claim 5, characterized in that, Also includes: The input display module communicates with the control module, allowing users to input operation commands and displaying the input, output, and intermediate processing data of the corresponding modules in the form of text, tables, graphics, static or dynamic models according to the operation commands.

7. The vehicle-to-everything (V2X) power distribution device based on non-orthogonal multiple access integration of vehicle platooning according to claim 5, characterized in that: in, In the interval acquisition module, based on the vehicle's uniform acceleration 'a' on the road... n，l The model obtains the real-time location and speed information of vehicles; based on the intelligent driving model, it determines the safe distance between the head of the platoon and the current vehicle. Real-time position of the vehicle after passing through time slot Δt: In the formula, Δt divides time into time intervals, Δt = 1 ms, x n，l (t) represents the current position, x n，l (t+Δt) represents the position of the vehicle after a change of Δt, v n，l (t) represents the current speed of the vehicle, a n，l (t) represents the vehicle's acceleration at the current moment, o(Δt) 2 ) represents the expression for Δt 2 Higher-order infinitesimals; Vehicle speed after passing through time slot Δt: The distance between adjacent vehicles in the nth platoon on the road is: ΔS n，l (t)=|x n，l-1 (t)-x n，l (t)| The distance from the head of the nth formation to the lth vehicle in formation n is:

8. The vehicle-to-everything (V2X) power distribution device based on non-orthogonal multiple access integration of vehicle platooning according to claim 5, characterized in that: in, In the rate calculation module, the lead vehicle in the platoon uses non-orthogonal multiple access (NOAMI) technology to synchronously transmit the signal to other vehicles in the platoon. The other vehicles receiving the signal use serial interference cancellation technology for decoding. Specifically: Within formation n, the vehicle receives the following signal from the formation leader: In the formula, It is V n，L and V n，l The channel coefficients between p n，l It is V n，l Vehicle power distribution factor, t n，l From the team leader to V n，l The transmitted signal, N n，l It is zero-mean additive white Gaussian noise; At the receiver, serial interference cancellation technology is employed to decode the receiver signal one by one, with the channel gain gradually decreasing from near to far. n，l The received rate is: In the formula, It is vehicle PM n，l Total interference received from the RSU after performing serial interference cancellation.

9. The vehicle-to-everything (V2X) power distribution device based on non-orthogonal multiple access integration of vehicle platooning according to claim 5, characterized in that: in, In the dynamic formation module, the frequency of interaction awareness is 1ms.

10. A storage medium, characterized in that: The system stores a program for implementing the vehicle-to-everything (V2X) power allocation method based on non-orthogonal multiple access integration as described in any one of claims 1 to 4.

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