A method for determining link signals in a vehicle-road cooperative network

Abstract

The present invention belongs to the technical field of vehicle networking, and specifically relates to a method for determining a vehicle-road cooperative network link signal, the method comprising determining a communication overlap area according to the communication range of each roadside unit, and receiving a test signal sent by the roadside unit in each communication overlap area respectively, and obtaining a quality coefficient of each communication overlap area according to the received test signal and the original signal; forming a communication matrix for determining the unit network signal according to the obtained quality coefficients of each communication overlap area, and further determining the communication matrix of the vehicle-road cooperative network link. This method can improve the accuracy of transmitted data in the communication overlap area of ​​each roadside unit, and reduce the impact of changes in the network topology on the accuracy of data transmitted on the network link in the vehicle network.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle networking, and specifically relates to a method for determining a link signal in a vehicle-road cooperative network. Background Art

[0002] The Internet of Vehicles is a form of intelligent automobile development based on mobile Internet and intelligent transportation system technologies. Through the information exchange between vehicles and the external environment, real-time interaction and communication between vehicles, between vehicles and road infrastructure, and between vehicles and cloud servers are realized. Internet of Vehicles technologies include vehicle communication technology, vehicle sensing technology, vehicle positioning technology, and vehicle control technology. Through these technologies, vehicles can realize functions such as real-time perception of traffic conditions, acquisition of navigation information, intelligent obstacle avoidance, and automatic driving, thereby providing vehicle drivers with a more intelligent, convenient, safe, and comfortable travel experience.

[0003] The application scenarios of the Internet of Vehicles include highways and urban roads. In urban scenarios, high-rise buildings and environments around the roads will affect the vehicle's wireless communication link and the transmission of data on the communication link. In the highway scenario, although there are no high-rise buildings, the vehicle's speed is fast and the range of the communication link is limited, which causes the communication link to be established briefly and then switch to the next communication link, thereby changing the network topology. Since changes in the network topology are bound to affect the accuracy of data transmitted on the network link in the Internet of Vehicles, there are currently relatively few methods for accurately determining the data transmitted on the vehicle-road cooperative network link. Therefore, it is necessary to provide a vehicle-road cooperative network link signal determination method to overcome the technical problems existing in the prior art. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the purpose of the present invention is to provide a method for determining a link signal of a vehicle-road cooperative network. The method can improve the accuracy of transmitted data in the communication overlap area of ​​each roadside unit and reduce the impact of changes in the network topology on the accuracy of data transmitted on the network link in the vehicle network.

[0005] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0006] 1. A method for determining a link signal in a vehicle-road cooperative network, comprising the following steps:

[0007] Step S1: Obtain layout information of roadside units in the vehicle-road cooperative network to be evaluated, and determine the communication range of each roadside unit according to the acquired layout information, determine the communication overlap area according to the communication range, and divide the communication network into at least a first unit network and a second unit network according to the communication overlap area; wherein the first unit network is a unit network in which only two roadside units form a communication overlap area, and the second unit network is a unit network including three roadside units forming a communication overlap area;

[0008] Step S2: for each type of unit network, receiving a test signal sent by a roadside unit in each communication overlap area, and obtaining a quality coefficient of each communication overlap area according to the received test signal and the original signal;

[0009] Step S3: Form a communication matrix for determining the first unit network and / or the second unit network signal based on the obtained quality coefficients of each communication overlapping area, and determine the communication matrix of the vehicle-road cooperative network link based on the communication matrix of the first unit network and / or the second unit network.

[0010] Preferably, in the communication overlap area, a coordinate system is established with the X axis as the center line of two adjacent roadside units and the Y axis as the line connecting the intersections of the communication overlap area, and the test signals sent by the roadside units are received at the origin O of the coordinate system respectively, and the quality coefficient (α i , β i ).

[0011] Preferably, for the communication overlap area in the first unit network, the quality coefficient is obtained according to the following formula:

[0012] Data0=α i Data i1 +β i Data i2

[0013] α i +β i =1

[0014] Where i=1,2; Data0 is the number of data sent to the i-th roadside unit RSU i and the i+1th roadside unit RSU i+1 The original signal sent; Data i1 To receive the signal from the i-th roadside unit RSU in the i-th communication overlap area i Test signal sent; Data i2 To receive the signal from the i+1th roadside unit RSU in the i-th communication overlap area i+1 The test signal sent; (αi , β i ) is the quality coefficient in the i-th communication overlap area.

[0015] Preferably, determining the communication matrix of the first unit network comprises:

[0016] First, the communication matrix between the first roadside unit RSU1 and the second roadside unit RSU2 is determined as:

[0017]

[0018] Then the communication matrix between the second roadside unit RSU2 and the third roadside unit RSU3 is determined as:

[0019]

[0020] The communication matrix of the first unit network is determined according to the communication matrix between the first roadside unit RSU1 and the second roadside unit RSU2, and the communication matrix between the second roadside unit RSU2 and the third roadside unit RSU3:

[0021]

[0022] Among them, (α1, β1) is the quality coefficient in the first communication overlapping area, and (α2, β2) is the quality coefficient in the second communication overlapping area; each column of the communication matrix of the first unit network corresponds to the communication non-overlapping area of ​​the first roadside unit RSU1, the first communication overlapping area, the communication non-overlapping area of ​​the second roadside unit RSU2, the second communication overlapping area and the communication non-overlapping area of ​​the third roadside unit RSU3.

[0023] Preferably, the coordinate range (X1, X2) along the X-axis in the communication overlap area is obtained according to the established coordinate system, and the quality coefficient (α i , β i ), the quality coefficients (α ) of the remaining positions in the communication overlap area are determined according to the following formula n , β n ):

[0024]

[0025] Among them, X n is the horizontal coordinate in the communication overlap area, and X n ∈(X1,0);

[0026]

[0027] Among them, X n is the horizontal coordinate in the communication overlap area, and Xn ∈(0,X2).

[0028] Preferably, for the communication overlap area in the second unit network, the quality coefficient is obtained according to the following formula:

[0029] Data0=α1Data 11 +β1Data 12

[0030] α1+β1=1

[0031] Among them, Data0 is the original signal sent to the first roadside unit RSU1 and the second roadside unit RSU2 respectively; Data 11 To receive the test signal sent by the first roadside unit RSU1 in the first communication overlap area; Data 12 is the test signal sent by the second roadside unit RSU2 received in the first communication overlap area; (α1, β1) is the quality coefficient in the first communication overlap area;

[0032] Data0=α2Data 21 +β2Data 22

[0033] α2+β2=1

[0034] Among them, Data0 is the original signal sent to the second roadside unit RSU2 and the third roadside unit RSU3 respectively; Data 21 To receive the test signal sent by the second roadside unit RSU2 in the second communication overlap area; Data 22 is the test signal sent by the third roadside unit RSU3 received in the second communication overlap area; (α2, β2) is the quality coefficient in the second communication overlap area;

[0035] Data0=α3Data 31 +β3Data 32

[0036] α3+β3=1

[0037] Among them, Data0 is the original signal sent to the first roadside unit RSU1 and the third roadside unit RSU3 respectively; Data 31 To receive the test signal sent by the first roadside unit RSU1 in the third communication overlap area; Data 32 is the test signal sent by the third roadside unit RSU3 received in the third communication overlap area; (α3, β3) is the quality coefficient in the third communication overlap area;

[0038] Then, the quality coefficient of the remaining communication overlap area is obtained according to the following formula:

[0039] Data0=α4Data 041 +β4Data 042 +γ4Data 043

[0040] Data1=α4Data 141 +β4Data 142 +γ4Data 143

[0041] α4+β4+γ4=1

[0042] Among them, Data0 is the original signal sent to the first roadside unit RSU1, the second roadside unit RSU2 and the third roadside unit RSU3 for the first time; Data1 is the original signal sent to the first roadside unit RSU1, the second roadside unit RSU2 and the third roadside unit RSU3 for the second time; Data 041 、Data 042 、Data 043 For the first time, in the fourth communication overlap area, the test signals sent by the first roadside unit RSU1, the second roadside unit RSU2, and the third roadside unit RSU3 are received respectively; Data 141 、Data 142 、Data 143 It is the second time to receive the test signals sent by the first roadside unit RSU1, the second roadside unit RSU2, and the third roadside unit RSU3 in the fourth communication overlapping area; (α4, β4, γ4) are the quality coefficients in the fourth communication overlapping area.

[0043] Preferably, determining the communication matrix of the second unit network comprises:

[0044] First, the communication matrix between the first roadside unit RSU1 and the second roadside unit RSU2 is determined as:

[0045]

[0046] Then the communication matrix between the second roadside unit RSU2 and the third roadside unit RSU3 is determined as:

[0047]

[0048] Then the communication matrix between the first roadside unit RSU1 and the third roadside unit RSU3 is determined as:

[0049]

[0050] Finally, the communication matrix of the second unit network is determined according to the communication matrix between the first roadside unit RSU1 and the second roadside unit RSU2, the communication matrix between the second roadside unit RSU2 and the third roadside unit RSU3, and the communication matrix between the first roadside unit RSU1 and the third roadside unit RSU3:

[0051]

[0052] Among them, (α1, β1) is the quality coefficient in the first communication overlapping area, (α2, β2) is the quality coefficient in the second communication overlapping area, (α3, β3) is the quality coefficient in the third communication overlapping area, and (α4, β4, γ4) is the quality coefficient in the fourth communication overlapping area; each column of the communication matrix of the second unit network corresponds to the communication non-overlapping area of ​​the first roadside unit RSU1, the first communication overlapping area, the communication non-overlapping area of ​​the second roadside unit RSU2, the second communication overlapping area, the communication non-overlapping area of ​​the third roadside unit RSU3, the third communication overlapping area and the fourth communication overlapping area.

[0053] Compared with the prior art, the method for determining a link signal in a vehicle-road cooperative network provided by the present invention has the following beneficial technical effects:

[0054] 1. The above-mentioned vehicle-road cooperative network link signal determination method provided by the present invention can improve the accuracy of transmitted data within the communication overlap area of ​​each roadside unit and reduce the impact of changes in network topology on the accuracy of data transmitted on the network link in the vehicle network.

[0055] 2. The present invention establishes a coordinate system in the communication overlap area, and obtains the coordinate range (X1, X2) along the X axis in the communication overlap area according to the established coordinate system. By first determining the mass coefficient (α i , β i ), and then according to the mass coefficient at the origin of the coordinate system (α i , β i ) and coordinate range (X1, X2) determine the quality coefficient (α) of the remaining positions in the communication overlap area n , β n ), thereby improving the accuracy of determining the quality coefficient in the communication overlap area. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 This is a schematic diagram of the unit network structure of the first type;

[0057] Figure 2 It is a partial schematic diagram of the first type of unit network;

[0058] Figure 3Schematic diagram of the second type of unit network structure.

[0059] The meanings of the symbols in the figure are as follows:

[0060] 11. First communication range; 12. Second communication range; 13. Third communication range; 14. First communication overlapping area; 15. Second communication overlapping area;

[0061] 21. Fourth communication range; 22. Fifth communication range; 23. Sixth communication range; 24. Third communication overlapping area; 25. Fourth communication overlapping area; 26. Fifth communication overlapping area; 27. Sixth communication overlapping area. DETAILED DESCRIPTION

[0062] To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them.

[0063] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the invention claimed for protection, but merely represents some embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0064] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0065] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0066] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the invention product is usually placed when in use, or the orientation or positional relationship commonly understood by those skilled in the art. Such terms are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0067] The Internet of Vehicles plays an important role in improving vehicle road safety and traffic efficiency. With the growth of mobile devices and mobile communication volume, the demand for V2V and V2I communication is increasing, and the Internet of Vehicles is becoming more and more mature. However, there are still some challenges in the deployment of Internet of Vehicles applications, such as topology changes caused by the rapid movement of vehicle nodes.

[0068] At present, the SDIV architecture (i.e., software-defined vehicle network architecture) is used in the Internet of Vehicles to manage and plan network traffic in the network, allowing service providers and operators to deploy the needs of users and applications in the form of software in the remote controller through programming to achieve automatic management of the network, which can provide higher scalability and better network performance. In the SDIV architecture, the controller is used to regularly collect vehicle and road condition information, and establish a connection model for the entire network to form global topology information. The controller can implement functions such as routing decisions based on the global topology information, showing great advantages in handling high-speed vehicle movement scenarios, making data transmission simpler and more feasible. The control layer in the SDIV architecture contains one or more SDN controllers and has global topology information to achieve flexible control of data transmission in the Internet of Vehicles. The data layer includes various access devices in the Internet of Vehicles communication scenario, such as SDN switches, base stations, roadside units, vehicle terminals, information servers, etc., and undertakes functions such as data storage and forwarding. However, the rapid changes in the communication link caused by the rapid movement of vehicle nodes, for example, will affect the authenticity and reliability of the data transmitted in the communication link.

[0069] Therefore, see Figure 1-Figure 3 The present invention provides a method for determining a link signal of a vehicle-road cooperative network, the method comprising the following steps:

[0070] Step S1: Obtain the layout information of the roadside units in the vehicle-road cooperative network to be evaluated, and determine the communication range of each roadside unit according to the acquired layout information, determine the communication overlap area according to the communication range, and divide the communication network into at least two types of unit networks according to the communication overlap area; wherein the first type of unit network is a unit network in which the communication overlap area is formed by only two roadside units, which is defined as the first unit network in the present invention. The second type of unit network is a unit network including a communication overlap area formed by three roadside units, which is defined as the second unit network in the present invention.

[0071] In the first unit network, the distribution and communication range of each roadside unit are not the same, and there are only overlapping areas between the communication ranges of two roadside units. For example, the first roadside unit RSU1 has a first communication range 11, the second roadside unit RSU2 has a second communication range 12, and the third roadside unit RSU3 has a third communication range 13. Among them, there is a first communication overlap area 14 between the first roadside unit RSU1 and the second roadside unit RSU2, and there is a second communication overlap area 15 between the second roadside unit RSU2 and the third roadside unit RSU3. Of course, the actual vehicle-road cooperative network is composed of many unit networks as described above, which will not be repeated here.

[0072] In the second unit network, the distribution and communication range of each roadside unit are not the same, and there are overlapping areas in the communication ranges of three roadside units. For example, the fourth roadside unit RSU4 has a fourth communication range 21, the fifth roadside unit RSU5 has a fifth communication range 22, and the sixth roadside unit RSU6 has a sixth communication range 23. Among them, there is a third communication overlap area 24 between the fourth roadside unit RSU4 and the fifth roadside unit RSU5, a fourth communication overlap area 25 between the fifth roadside unit RSU5 and the sixth roadside unit RSU6, a fifth communication overlap area 26 between the fourth roadside unit RSU4 and the sixth roadside unit RSU6, and a sixth communication overlap area 27 between the fourth roadside unit RSU4, the fifth roadside unit RSU5 and the sixth roadside unit RSU6. Of course, the actual vehicle-road cooperative network is composed of many unit networks as described above, which will not be repeated here.

[0073] Step S2: For each type of unit network, a test signal sent by a roadside unit is received in each communication overlap area, and a quality coefficient of each communication overlap area is calculated based on the received test signal and the original signal.

[0074] In this embodiment, the quality coefficient is obtained for the communication overlap area in the first unit network as follows:

[0075] The original signal Data0 is sent by the first roadside unit RSU1 and the second roadside unit RSU2 respectively. At this time, the test signal Data sent by the first roadside unit RSU1 is received in the first communication overlap area 14. 11 And the test signal Data sent by the second road side unit RSU2 12 , the quality coefficients are calculated according to the following formula:

[0076] Data0=α1Data 11 +β1Data 12

[0077] α1+β1=1

[0078] Wherein, (α1, β1) is the quality coefficient in the first communication overlapping area 14.

[0079] Subsequently, the second roadside unit RSU2 and the third roadside unit RSU3 send the original signal Data0 respectively, and at this time, the test signal Data1 sent by the second roadside unit RSU2 is received in the second communication overlap area 15. 21 And the test signal Data sent by the third road side unit RSU3 22 , the quality coefficients are calculated according to the following formula:

[0080] Data0=α2Data 21 +β2Data 22

[0081] α2+β2=1

[0082] Wherein, (α2, β2) is the quality coefficient in the second communication overlapping area 15.

[0083] The quality coefficient of each communication overlapping area can be obtained in turn according to the above method, which will not be repeated here.

[0084] Since the communication overlap area is relatively large, directly using the quality coefficient calculated by the above method as the quality coefficient of the communication overlap area is not accurate enough.

[0085] Preferably, in the communication overlap area, a coordinate system is established with the X axis as the center line of two adjacent roadside units and the Y axis as the line connecting the intersections of the communication overlap area, and the test signals sent by the roadside units are received at the origin O of the coordinate system respectively, and the quality coefficient (α i , β i ).

[0086] Preferably, the coordinate range (X1, X2) along the X-axis in the communication overlap area is obtained according to the established coordinate system, and the quality coefficient (α i , β i ), the quality coefficients (α ) of the remaining positions in the communication overlap area are determined according to the following formula n , β n ):

[0087]

[0088] Among them, X n is the horizontal coordinate in the communication overlap area, and X n ∈(X1,0);

[0089]

[0090] Among them, X n is the horizontal coordinate in the communication overlap area, and X n ∈(0,X2).

[0091] In the above preferred embodiment, a coordinate system is established in the communication overlap area, and a coordinate range (X1, X2) along the X axis in the communication overlap area is obtained according to the established coordinate system. By first determining the quality coefficient (α i , β i ), and then according to the mass coefficient at the origin of the coordinate system (α i , β i ) and coordinate range (X1, X2) determine the quality coefficient (α) of the remaining positions in the communication overlap area n , β n ), thereby improving the accuracy of determining the quality coefficient in the communication overlap area.

[0092] In this embodiment, the quality coefficient is obtained for the communication overlap area in the second unit network as follows:

[0093] The fourth roadside unit RSU4 and the fifth roadside unit RSU5 send the original signal Data0 respectively, and at this time, the test signal Data1 sent by the fourth roadside unit RSU4 is received in the third communication overlap area 24. 11 And the test signal Data sent by the fifth road side unit RSU5 12 , the quality coefficients are calculated according to the following formula:

[0094] Data0=α1Data 11 +β1Data 12

[0095] α1+β1=1

[0096] Wherein, (α1, β1) is the quality coefficient in the third communication overlapping area 24.

[0097] Subsequently, the fifth roadside unit RSU5 and the sixth roadside unit RSU6 send the original signal Data0, and at this time, the test signal Data1 sent by the fifth roadside unit RSU5 is received in the fourth communication overlap area 25. 21 And the test signal Data sent by the sixth road side unit RSU6 22 , the quality coefficients are calculated according to the following formula:

[0098] Data0=α2Data 21 +β2Data 22

[0099] α2+β2=1

[0100] Wherein, (α2, β2) is the quality coefficient within the fourth communication overlapping area 25.

[0101] Subsequently, the fourth roadside unit RSU4 and the sixth roadside unit RSU6 send the original signal Data0, and at this time, the test signal Data1 sent by the fourth roadside unit RSU4 is received in the fifth communication overlap area 26. 31 And the test signal Data sent by the sixth road side unit RSU6 32 , the quality coefficients are calculated according to the following formula:

[0102] Data0=α3Data 31 +β3Data 32

[0103] α3+β3=1

[0104] Wherein, (α3, β3) is the quality coefficient within the fifth communication overlapping area 26.

[0105] Subsequently, the fourth roadside unit RSU4, the fifth roadside unit RSU5 and the sixth roadside unit RSU6 send the first original signal Data0 respectively, and at this time, the test signal Data1 sent by the fourth roadside unit RSU4 is received in the sixth communication overlap area 27. 41 , the test signal Data sent by the fifth roadside unit RSU5 42 And the test signal Data sent by the sixth road side unit RSU6 43 Subsequently, the fourth roadside unit RSU4, the fifth roadside unit RSU5 and the sixth roadside unit RSU6 send the second original signal Data1 respectively, and at this time, the test signal Data1 sent by the fourth roadside unit RSU4 is received in the sixth communication overlap area 27. 44 , the test signal Data sent by the fifth roadside unit RSU5 45 And the test signal Data sent by the sixth road side unit RSU6 46 , and calculate the quality coefficients according to the following formula:

[0106] Data0=α4Data 41 +β4Data 42 +γ4Data 43

[0107] Data1=α4Data 44 +β4Data 45 +γ4Data 46

[0108] α4+β4+γ4=1

[0109] Among them, (α4, β4, γ4) is the quality coefficient in the sixth communication overlapping area 27.

[0110] Step S3: A communication matrix for determining the unit network signal is formed based on the obtained quality coefficients of each communication overlapping area, and a communication matrix for the vehicle-road cooperative network link is determined based on the communication matrices of each unit network.

[0111] For the first unit network, it is first determined that the quality coefficient in the communication non-overlapping area of ​​the first roadside unit RSU1 and the second roadside unit RSU2 is 1, and the quality coefficients in the first communication overlapping area 14 are α1 and β1 respectively, so the communication matrix between the first roadside unit RSU1 and the second roadside unit RSU2 can be obtained as:

[0112]

[0113] Similarly, the communication matrix between the second roadside unit RSU2 and the third roadside unit RSU3 is:

[0114]

[0115] The communication matrix of the first unit network is calculated based on the communication matrix between the first roadside unit RSU1 and the second roadside unit RSU2, and the communication matrix between the second roadside unit RSU2 and the third roadside unit RSU3:

[0116]

[0117] Each column of the communication matrix corresponds to the communication non-overlapping area of ​​the first roadside unit RSU1, the first communication overlapping area 14, the communication non-overlapping area of ​​the second roadside unit RSU2, the second communication overlapping area 15 and the communication non-overlapping area of ​​the third roadside unit RSU3.

[0118] For the second unit network, the communication matrix between the fourth roadside unit RSU4 and the fifth roadside unit RSU5 is:

[0119]

[0120] Similarly, the communication matrix between the fifth road side unit RSU5 and the sixth road side unit RSU6 is:

[0121]

[0122] Similarly, the communication matrix between the fourth roadside unit RSU4 and the sixth roadside unit RSU6 is:

[0123]

[0124] Subsequently, the communication matrix of the second unit network is calculated according to the communication matrix between the fourth roadside unit RSU4 and the fifth roadside unit RSU5, the communication matrix between the fifth roadside unit RSU5 and the sixth roadside unit RSU6, and the communication matrix between the fourth roadside unit RSU4 and the sixth roadside unit RSU6:

[0125]

[0126] Among them, each column of the above-mentioned communication matrix corresponds to the communication non-overlapping area of ​​the fourth roadside unit RSU4, the third communication overlapping area 24, the communication non-overlapping area of ​​the fifth roadside unit RSU5, the fourth communication overlapping area 25, the communication non-overlapping area of ​​the sixth roadside unit RSU6, the fifth communication overlapping area 26 and the sixth communication overlapping area 27.

[0127] The above-mentioned vehicle-road cooperative network link signal determination method provided by the present invention can improve the accuracy of transmitted data within the communication overlap area of ​​each roadside unit and reduce the impact of changes in network topology on the accuracy of data transmitted on the network link in the vehicle network.

[0128] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the above specific implementation methods. Therefore, any modification or equivalent replacement of the present invention; and all technical solutions and improvements thereof that do not depart from the spirit and scope of the invention are included in the scope of the claims of the present invention.

Claims

1. A method for determining a link signal in a vehicle-road cooperative network, characterized in that: The steps include: Step S1: Obtain layout information of roadside units in the vehicle-road cooperative network to be evaluated, and determine the communication range of each roadside unit according to the acquired layout information, determine the communication overlap area according to the communication range, and divide the communication network into at least a first unit network and a second unit network according to the communication overlap area; wherein the first unit network is a unit network in which only two roadside units form a communication overlap area, and the second unit network is a unit network including three roadside units forming a communication overlap area; Step S2: for each type of unit network, receiving a test signal sent by a roadside unit in each communication overlap area, and obtaining a quality coefficient of each communication overlap area according to the received test signal and the original signal; Step S3: forming a communication matrix for determining the first unit network and / or the second unit network signal according to the obtained quality coefficients of each communication overlap area, and determining the communication matrix of the vehicle-road cooperative network link according to the communication matrix of the first unit network and / or the second unit network; For the communication overlap area in the first unit network, the quality coefficient is obtained according to the following formula: Data0=a i Data i1 +b i Data i2 α i +β i =1 Where i=1,2; Data0 is the number of data sent to the i-th roadside unit RSU i and the i+1th roadside unit RSU i+1 The original signal sent; Data i1 To receive the signal from the i-th roadside unit RSU in the i-th communication overlap area i Test signal sent; Data i2 To receive the signal from the i+1th roadside unit RSU in the i-th communication overlap area i+1 The test signal sent; (α i , β i ) is the quality coefficient in the i-th communication overlap area; Determining a communication matrix of the first unit network includes: First, the communication matrix between the first roadside unit RSU1 and the second roadside unit RSU2 is determined as: ； Then the communication matrix between the second roadside unit RSU2 and the third roadside unit RSU3 is determined as: ； The communication matrix of the first unit network is determined according to the communication matrix between the first roadside unit RSU1 and the second roadside unit RSU2, and the communication matrix between the second roadside unit RSU2 and the third roadside unit RSU3: ； Wherein, (α1, β1) is the quality coefficient in the first communication overlapping area, and (α2, β2) is the quality coefficient in the second communication overlapping area; each column of the communication matrix of the first unit network corresponds to the communication non-overlapping area of ​​the first roadside unit RSU1, the first communication overlapping area, the communication non-overlapping area of ​​the second roadside unit RSU2, the second communication overlapping area and the communication non-overlapping area of ​​the third roadside unit RSU3; For the communication overlap area in the second unit network, the quality coefficient is obtained according to the following formula: Date0=α1Date 11 +β1Data 12 α1+β1=1 Among them, Data0 is the original signal sent to the first roadside unit RSU1 and the second roadside unit RSU2 respectively; Data 11 To receive the test signal sent by the first roadside unit RSU1 in the first communication overlap area; Data 12 is the test signal sent by the second roadside unit RSU2 received in the first communication overlap area; (α1, β1) is the quality coefficient in the first communication overlap area; Data0=α2Data 21 +β2Data 22 α2+β2=1 Among them, Data0 is the original signal sent to the second roadside unit RSU2 and the third roadside unit RSU3 respectively; Data 21 To receive the test signal sent by the second roadside unit RSU2 in the second communication overlap area; Data 22 is the test signal sent by the third roadside unit RSU3 received in the second communication overlap area; (α2, β2) is the quality coefficient in the second communication overlap area; Date0=α3Date 31 +β3Data 32 α3+β3=1 Among them, Data0 is the original signal sent to the first roadside unit RSU1 and the third roadside unit RSU3 respectively; Data 31 To receive the test signal sent by the first roadside unit RSU1 in the third communication overlap area; Data 32 is the test signal sent by the third roadside unit RSU3 received in the third communication overlap area; (α3, β3) is the quality coefficient in the third communication overlap area; Then, the quality coefficient of the remaining communication overlap area is obtained according to the following formula: Date0=α4Date 041 +β4Data 042 +γ4Data 043 Data1=α4Data 141 +β4Data 142 +γ4Data 143 α4+β4+γ4=1 Among them, Data0 is the original signal sent to the first roadside unit RSU1, the second roadside unit RSU2 and the third roadside unit RSU3 for the first time; Data1 is the original signal sent to the first roadside unit RSU1, the second roadside unit RSU2 and the third roadside unit RSU3 for the second time; Data 041 、Data 042 、Data 043 For the first time, in the fourth communication overlap area, the test signals sent by the first roadside unit RSU1, the second roadside unit RSU2, and the third roadside unit RSU3 are received respectively; Data 141 、Data 142 、Data 143 is the second reception of the test signals sent by the first roadside unit RSU1, the second roadside unit RSU2, and the third roadside unit RSU3 in the fourth communication overlap area; (α4, β4, γ4) is the quality coefficient in the fourth communication overlap area; Determining a communication matrix of the second unit network includes: First, the communication matrix between the first roadside unit RSU1 and the second roadside unit RSU2 is determined as: ； Then the communication matrix between the second roadside unit RSU2 and the third roadside unit RSU3 is determined as: ； Then the communication matrix between the first roadside unit RSU1 and the third roadside unit RSU3 is determined as: ； Finally, the communication matrix of the second unit network is determined according to the communication matrix between the first roadside unit RSU1 and the second roadside unit RSU2, the communication matrix between the second roadside unit RSU2 and the third roadside unit RSU3, and the communication matrix between the first roadside unit RSU1 and the third roadside unit RSU3: ； Among them, (α1, β1) is the quality coefficient in the first communication overlapping area, (α2, β2) is the quality coefficient in the second communication overlapping area, (α3, β3) is the quality coefficient in the third communication overlapping area, and (α4, β4, γ4) is the quality coefficient in the fourth communication overlapping area; each column of the communication matrix of the second unit network corresponds to the communication non-overlapping area of ​​the first roadside unit RSU1, the first communication overlapping area, the communication non-overlapping area of ​​the second roadside unit RSU2, the second communication overlapping area, the communication non-overlapping area of ​​the third roadside unit RSU3, the third communication overlapping area and the fourth communication overlapping area.

2. The method according to claim 1, characterized in that: In the communication overlap area, a coordinate system is established with the X axis as the center line of two adjacent roadside units and the Y axis as the line connecting the intersection points of the communication overlap area. The test signals sent by the roadside units are received at the origin O of the coordinate system respectively, and the quality coefficient (α i , β i ).

3. The method according to claim 2, characterized in that: According to the established coordinate system, the coordinate range (X1, X2) along the X axis in the communication overlap area is obtained, and the quality coefficient (α i , β i ), the quality coefficients (α ) of the remaining positions in the communication overlap area are determined according to the following formula n , β n ): ， Among them, X n is the horizontal coordinate in the communication overlap area, and X n ∈(X1,0); ， Among them, X n is the horizontal coordinate in the communication overlap area, and X n ∈(0,X2).

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