Unmanned aerial vehicle and vehicle communication method and system based on time delay

Abstract

The invention provides an unmanned aerial vehicle and vehicle communication method and system based on time delay. The arbiter gives priority to each vehicle node carrying priority information to the outside, then each vehicle node enters different buffer areas in the arbiter to wait for being processed, and if a channel is occupied, a backing mechanism is triggered; the vehicle node sends another request containing the new priority information to the arbiter; the arbiter judges whether the vehicle node is successfully preempted or not according to the new priority information; and after data transmission is completed, the node releases the channel and notifies the arbiter that the channel is idle, and other nodes are allowed to contend for the channel. The method has the advantages that the arbiter in the unmanned aerial vehicle is responsible for controlling and scheduling the data packets so as to ensure that the data packets are timely transmitted according to the priority sequence, and the remaining data packets can be effectively processed and managed when interruption occurs so as to optimize the data transmission time delay.

Description

Technical Field

[0001] The present invention relates to the field of vehicle networking communications, and in particular to a method and system for communication between an internal arbitrator of a drone and a vehicle based on time delay. Background Art

[0002] With the continuous development of Internet of Vehicles technology, communication between vehicles and between vehicles and infrastructure is becoming more and more critical. However, the optimization of communication transmission delay has become one of the important factors affecting communication efficiency and reliability. Traditional Internet of Vehicles communication systems usually rely on fixed communication base stations and vehicle-mounted equipment for communication. However, in special scenarios such as busy urban areas or in the wild, due to the limitations of communication base stations, communication quality may decline, resulting in increased delays, and even problems such as insufficient signal coverage or signal interference.

[0003] In order to solve these problems, drones, as emerging mobile communication relay nodes, have been widely used in the field of Internet of Vehicles communication in recent years. Using drones as mobile communication relay nodes can establish more stable and efficient communication links between vehicles or between vehicles and infrastructure, thereby effectively improving the efficiency and reliability of Internet of Vehicles communication.

[0004] However, drones as mobile communication relay nodes also face many problems, such as the impact of factors such as the location, speed, and channel capacity of drones on communication transmission delay. Therefore, how to provide a communication transmission method that can improve the efficiency of drone data transmission and data processing has become an urgent problem to be solved. Summary of the invention

[0005] The present invention provides a method and system for communication between a UAV and a vehicle based on time delay, so as to solve the problem of low efficiency of UAV data transmission and data processing in the prior art.

[0006] In order to achieve the above-mentioned purpose, the technical solution of the present invention provides a method for communication between an arbitrator inside a drone and a vehicle based on delay, comprising: selecting a first communication protocol or a second communication protocol according to the vehicle flow. When the vehicle flow is greater than the threshold, based on the second communication protocol, each vehicle node determines its own priority and requisition information, and sends the priority and requisition information to the drone arbitrator. The drone arbitrator assigns a new priority to each vehicle node that carries priority information externally, and then each vehicle node enters a different buffer zone inside it to wait for the arbitrator to schedule and process, and triggers a fallback mechanism if the channel is occupied. When the fallback counter of the drone arbitrator in the fallback mechanism is zero, each vehicle node sends another request containing new priority information to the arbitrator; the drone arbitrator makes a comprehensive judgment based on the new priority information and the priority of each vehicle node in the existing buffer zone to determine whether the vehicle node is successfully seized. After the channel release data transmission under the control of the arbitrator is completed, the node releases the channel and notifies the arbitrator that the channel is idle, allowing other nodes to compete for the channel.

[0007] As a preferred embodiment of the above technical solution, preferably, each vehicle node then enters a different buffer zone therein and is processed, including:

[0008] When the drone arbitrator is processing a data packet of a low-priority vehicle node, if a data packet of a high-priority vehicle node arrives, the processing of the data packet of the low-priority vehicle node is interrupted;

[0009] The drone arbitrator transmits the interrupted data packet to the diversion area, and after the data packet of the high priority vehicle node is processed, the data packet to be processed in the diversion area is retrieved for processing.

[0010] As a preferred embodiment of the above technical solution, preferably, the pending data packets in the diversion area are retrieved for processing, including: sorting the data packets in the diversion area and the newly arrived buffer area by priority and processing them in sequence; otherwise, the fallback mechanism is triggered.

[0011] As a preferred embodiment of the above technical solution, preferably, the drone arbitrator determines whether the vehicle node has been successfully preempted according to the new priority information, including: the drone arbitrator confirms the newly arrived vehicle node in the buffer, the existing nodes in the buffer, and the nodes being transmitted to determine the next valid transmission node. If the priority of the current transmission node is higher than the priority of the current receiving node and the priority of the waiting node, the drone arbitrator indicates that it can be preempted, and the current transmission node immediately sends data; otherwise, the current transmission node continues to wait.

[0012] The present invention also provides a system for communication between an internal arbitrator of a drone and a vehicle based on time delay. In order to implement the above method, an internal arbitrator of a drone is set, including a receiving detection area and a buffer waiting area. The receiving detection area is used to select a first communication protocol or a second communication protocol according to the vehicle flow; when the vehicle flow is greater than a threshold, the receiving detection area adopts the second communication protocol to receive a data packet containing the priority and requisition information of the vehicle node sent by each vehicle node. The frame header detector and the priority classification unit of the receiving detection area are used to assign a priority to each vehicle node received from the outside carrying priority information, and then each vehicle node enters a different buffer zone therein to wait for processing, and a fallback mechanism is triggered if the channel is occupied. In the fallback mechanism, when the fallback counter of the drone arbitrator is zero, the vehicle node in the buffer zone enters the channel, wherein the vehicle node contains new priority information. The drone arbitrator determines whether the vehicle node is successfully seized based on the new priority information. When the channel releases and the data transmission is completed, the node releases the channel, and the arbitrator notifies that the channel is idle, allowing other nodes to compete for the channel.

[0013] As a preferred embodiment of the above technical solution, preferably, the drone arbitrator further includes a processing area, and the processing area includes a channel for transmitting data packets, which is used to: when the drone arbitrator is processing a data packet of a low-priority vehicle node, if a data packet of a high-priority vehicle node arrives, the processing of the data packet of the low-priority vehicle node is interrupted. The drone arbitrator transmits the interrupted data packet to a diversion area in the processing area, and after the data packet of the high-priority vehicle node is processed, the data packet to be processed in the diversion area is retrieved for processing.

[0014] As a preferred embodiment of the above technical solution, preferably, the processing area is used for: if the channel is idle at this time, the processing area is re-prioritized according to the pending data packets and the received new data packets in the buffer area and then processed in sequence; otherwise the fallback mechanism is triggered.

[0015] As a preferred embodiment of the above technical solution, preferably, a receiving detection area is used for the drone arbitrator to confirm the next valid transmission node for the existing nodes in the buffer containing new priority information and the nodes that are transmitting.

[0016] The processing area of ​​the drone arbitrator is used to send a preemption signal if the current node has the highest priority or the indication node of the drone arbitrator indicates that it can be preempted, and the interrupted data packet enters the channel of the buffer zone from the diversion area; otherwise, the nodes in the diversion area continue to wait.

[0017] The technical solution of the present invention provides a method and system for communication between an internal arbitrator of a UAV and a vehicle based on time delay. When the traffic volume is greater than a threshold, each vehicle node determines its own priority and requisition information and sends it to the UAV arbitrator; the arbitrator assigns priority to each vehicle node that carries priority information externally, and then each vehicle node enters a different buffer zone inside it to wait for processing, and if the channel is occupied, the backoff mechanism is triggered; when the backoff counter of the vehicle node in the backoff mechanism is zero, the vehicle node sends another request containing new priority information to the arbitrator; the arbitrator determines whether the vehicle node has been successfully preempted based on the new priority information; after the data transmission is completed, the node releases the channel and notifies the arbitrator that the channel is idle, allowing other nodes to compete for the channel.

[0018] The advantage of the present invention is that the internal arbitrator of the drone acts as a key component, responsible for controlling and scheduling data packets to ensure that the data packets are transmitted in a timely manner according to the priority order, and can effectively process and manage the remaining data packets when an interruption occurs to optimize the data transmission delay. The algorithm combines information such as vehicle position and speed, and uses the drone as a mobile communication relay node to accurately calculate and adjust the vehicle communication transmission delay to achieve more efficient data transmission and real-time information interaction. Through the arbitrator intelligent algorithm, dynamic allocation and scheduling of communication resources are realized, maximizing the efficiency and reliability of data transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 A flowchart of a method for communication between an internal arbitrator of a UAV and a vehicle based on delay provided by the present invention.

[0021] Figure 2 A brief process of a method for communicating between a drone internal arbitrator and a vehicle based on time delay provided by the present invention Figure 1 .

[0022] Figure 3 A brief process of a method for communicating between a drone internal arbitrator and a vehicle based on time delay provided by the present invention Figure 2 .

[0023] Figure 4 A brief process of a method for communicating between a drone internal arbitrator and a vehicle based on time delay provided by the present invention Figure 3 .

[0024] Figure 5 Flow chart of the backoff mechanism in the present invention.

[0025] Figure 6 A schematic diagram of the structure of a system for communicating between an internal arbitrator of a drone and a vehicle based on time delay provided by the present invention Figure 1 .

[0026] Figure 7 A schematic diagram of the structure of a system for communicating between an internal arbitrator of a drone and a vehicle based on time delay provided by the present invention Figure 2 . DETAILED DESCRIPTION

[0027] In order 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 clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0028] First, the technical solution of the present invention is briefly described. Specifically, the flow chart is as follows Figure 1 As shown:

[0029] Step 101, determine whether the vehicle flow is less than a threshold value. If so, select the first communication protocol to sequentially process the data packets sent by the vehicle node. Otherwise, execute step 102 to execute the second communication protocol.

[0030] Step 102: Each vehicle node sends its own information to the drone arbitrator.

[0031] Specifically, each vehicle node determines its own priority and requisition information, and sends the priority and requisition information to the drone arbitrator. At the same time, the drone arbitrator also receives the priority and requisition information of the vehicle nodes already inside it to achieve the purpose of updating.

[0032] Step 103, determine whether the channel is idle, if so, execute step 104, otherwise trigger the backoff mechanism and execute step 105.

[0033] Step 104: Vehicle node information is classified and enters different buffers.

[0034] The drone arbitrator assigns new priorities to and sorts each vehicle node that carries priority information externally, and processes each vehicle node into a different buffer zone according to the determined priorities.

[0035] Specifically, when the channel is idle during the listening time, it enters the channel contention stage, and the drone arbitrator assigns a new priority to each node according to the new rules for the vehicle nodes cached internally and the newly received vehicle nodes.

[0036] Specifically, the UAV can arbitrate and assign priorities based on different vehicles or different message types. For example, when receiving safety information from an ambulance, the priority is the highest. When the safety information from an ordinary vehicle is compared with the communication information from an ambulance, the safety information from the ordinary vehicle has a higher priority.

[0037] Step 1041: When a high priority message enters, the current processing is interrupted.

[0038] When the drone arbitrator is processing a data packet of a low-priority vehicle node, if a data packet of a high-priority vehicle node arrives, the processing of the data packet of the low-priority vehicle node will be interrupted. The drone arbitrator transmits the interrupted data packet to the diversion area, and after the data packet of the high-priority vehicle node is processed, the data packet to be processed in the diversion area is retrieved for processing.

[0039] Step 1042: Process the remaining data packets sequentially.

[0040] At this time, the channel is idle. After the high priority processing is completed, the pending data packets in the buffer area and the received new data packets are re-prioritized and processed in sequence; otherwise, the fallback mechanism is triggered to execute step 105.

[0041] After the remaining data packets are processed sequentially and there is no backoff mechanism waiting for the node, the channel release of the arbitrator is completed. At this time, the node releases the channel and notifies the arbitrator that the channel is idle, allowing other nodes to compete for the channel and directly execute step 104.

[0042] Step 105, determine whether the counter is zero, if so, execute step 102, otherwise, continue waiting.

[0043] After executing this step, the process may return to step 102 , where the same vehicle node sends a request containing new priority information to the arbitrator again, and updates the information in the node containing the priority information previously.

[0044] After re-executing step 102, the drone arbitrator determines whether the vehicle node has been successfully preempted based on the new priority information. Specifically, the drone arbitrator compares the priorities of the vehicle node containing the new priority information, the existing nodes in the arbitrator buffer, and the nodes that are transmitting, and confirms that there is a next valid transmission node. If the current node has the highest priority or the drone arbitrator indicates that the node can be preempted, the node sends the data immediately; otherwise, the node continues to wait.

[0045] The technical solution of the present invention is now further described. From the perspective of a drone, Figure 2 As shown:

[0046] Step 200: Select a transmission protocol.

[0047] The drone arbitrator’s internal electronic components have an intelligent protocol conversion solution that enables effective communication and data exchange between different types of vehicles by identifying and converting the differences between different communication protocols.

[0048] Through intelligent protocol conversion, the drone can automatically switch the communication protocol according to the traffic conditions to adapt to different vehicle types and communication needs, thereby achieving efficient and reliable inter-vehicle communication and data exchange. This ensures optimal compatibility and interoperability in communications between different vehicles.

[0049] When the traffic volume is low, the drone arbitrator selects the common protocol to reduce the power consumption of the system, because the common protocol usually has lower complexity and energy consumption, and is suitable for use when the traffic volume is low. This helps to extend the battery life of the on-board equipment and reduce energy consumption. When the traffic volume increases, the selection of the supporting protocol can ensure the efficiency of the system and guarantee the timeliness of high-priority important data packets. The supporting protocol may have a higher data transmission rate and stronger real-time performance, which can better meet the communication needs under high-density traffic, ensure that important data packets can be transmitted and processed in time, and improve the reliability and response speed of the overall communication system.

[0050] Therefore, by dynamically selecting different communication protocols according to the traffic conditions, the system can strike a balance between power consumption and efficiency, thereby flexibly adjusting the communication mode according to the needs of different scenarios, thereby improving the overall performance and applicability of the present invention.

[0051] Step 201: Detect and assign priorities to data packets.

[0052] By analyzing the header information of the vehicle node message packet, it is possible to identify the type of data packet, such as emergency information, road condition updates, or general communication, as well as its importance level, such as emergency events or general information. Based on these factors, the arbitrator can assign a corresponding priority to each message packet, ensuring that the system can process and respond to the most important information in a timely and effective manner, thereby improving the efficiency and reliability of the overall communication system.

[0053] Among them, in this step, in addition to assigning priorities to received vehicle node data packets, the vehicle node data packets also assign priorities to new data packets sent to the buffer by the vehicle node at a regular frequency.

[0054] Step 202: Transmission scheduling and priority processing.

[0055] A packet scheduling method based on priority queue is used, which dynamically adjusts the transmission order according to the priority of the packet to ensure that high-priority packets are transmitted before low-priority packets.

[0056] The arbitrator is responsible for the priority scheduling of data packets. According to the importance of the information transmitted by the vehicle, the data packets are assigned to different buffers, and high-priority data enters the high-priority buffer, and so on. The arbitrator processes the data packets in order of priority: first, the data packets in the high-priority buffer are processed, followed by the medium-priority, and finally the low-priority. When a higher-priority data packet arrives, the current processing is interrupted to give priority to the newly arrived high-priority data packet to ensure timeliness. This mechanism ensures that the data of vehicles in the high-speed area can be transmitted and processed in a timely manner, improving the real-time performance and response speed of the system.

[0057] Step 203: The buffer performs buffer management and interrupt processing on the received vehicle node data packet and then sends it to the vehicle node.

[0058] Specifically, the buffer can dynamically adjust its size according to the data flow, and ensure timely processing of data packets through adaptive interrupt processing technology.

[0059] Specifically, if a high-priority data packet arrives while a priority data packet is being processed, the system will immediately interrupt the processing. After the interrupt occurs, the system will transfer the unprocessed low-priority data packets to different diversion areas for caching, further distinguish the priorities of the current low-priority data packets, and divide the buffer into areas of different sizes to store the original low-priority data after further distinction, so that after all high-priority data packets are processed, the pending data packets cached in the diversion area are processed first to ensure timely processing of high-priority data packets.

[0060] Through this adaptive interrupt handling mechanism and buffer management system, the system can effectively respond to the arrival of data packets of different priorities and ensure priority processing of high-priority data packets, thereby improving the overall performance and response speed of the communication system.

[0061] Furthermore, throughout the entire embodiment process, the system is capable of troubleshooting and self-diagnosis: the processing area of ​​the drone arbitrator is used to monitor and identify faults in the drone communication process, and automatically repair them to improve the reliability and stability of the system. The arbitrator performs real-time data analysis based on sensors and their sensed data, and continuously monitors the stability and efficiency of the drone communication link. Once a communication failure or data transmission anomaly is detected, the system will immediately start the fault mode recognition algorithm to analyze the type of fault and the scope of impact. Based on the identification results, the processing area will automatically take corresponding repair measures, including but not limited to rerouting the communication path, adjusting transmission parameters, or switching communication frequency bands. Through real-time self-diagnosis and automatic repair, the drone arbitrator can quickly respond to various communication failures, ensure stable communication between drones and between drones and vehicle nodes, and improve the reliability and success rate of task execution.

[0062] The supporting protocol in step 200 is modified based on the commonly used Internet of Vehicles 802.11P CSMA / CA protocol to match the arbitrator function mentioned above. The specific modification process is as follows, refer to Figure 3 :

[0063] Step 301: Initialize the vehicle node and set related information.

[0064] Specifically, after the vehicle node is initialized, each vehicle node determines its own priority and sets a reasonable initial contention window size and maximum backoff time.

[0065] Step 302: Enter listening, enter contention phase or trigger backoff mechanism.

[0066] Specifically, after entering the listening time, if the node in the arbitrator is idle, the contention phase is entered; otherwise, the backoff mechanism is triggered to execute step 303 .

[0067] In the contention phase, when a node is ready to send data, it first sends a request to the receiver in the arbitrator's receiving detection zone, carrying its priority information. The arbitrator sets different listening times for each node with different priorities (high priority listening time is shorter, and so on, defined as high distributed frame interval (HDIFS), medium distributed frame interval (MDIFS) and low distributed frame interval (LDIFS)). The arbitrator assigns a new priority to the node with its own priority according to its own listening time, and processes the nodes in turn according to the new priority.

[0068] Step 303: The vehicle node enters a back-off mechanism to wait for preemption or enters a contention phase.

[0069] The back-off mechanism adopts the back-off mechanism of IEEE 802.11 standard DCF, adopts binary exponential back-off method, and the back-off time range is (0, Wj -1). Among them, j∈(0,m) represents the current retreat stage, W j Indicates the corresponding contention window size. j =2 j W, where m is the maximum backoff stage specified in the 802.11 standard and W is the initial contention window size (set in step 301). The backoff counter has a value range of (0, W j ), whenever the channel is idle, the counter is reduced by 1; otherwise, it remains unchanged. If a collision occurs (i.e., multiple vehicle nodes have the same priority, or the arbitrator indicates that preemption is allowed, resulting in the possibility that these nodes send data at the same time), the contention window of the colliding node is doubled to reduce the probability of collision. When the back-off counter counts down, the node enters the contention phase; otherwise, it continues to wait and update the counter.

[0070] Step 304: The countdown ends and the vehicle nodes compete again.

[0071] When the node's backoff counter reaches zero, the node sends another request to the arbitrator, in which the node updates its priority information.

[0072] The arbitrator evaluates the priority of the node as described in step 302 and considers other ongoing transmissions to determine the next data transmission node. If the current node has the highest priority or the arbitrator indicates that the node can be preempted, it enters contention and the node sends data immediately, otherwise, the node continues to wait for the back-off mechanism to be triggered again.

[0073] Step 305: The node that obtains permission from the arbitrator starts transmitting data.

[0074] In this step, other nodes (the nodes interrupted by the preemption) temporarily stop sending data and continue to monitor the channel status when channel occupation is detected.

[0075] Step 306: The node releases the channel and notifies the arbitrator that the channel is idle, allowing other nodes to compete for the channel.

[0076] In this step, after the remaining data packets are processed sequentially and there is no waiting node in the backoff mechanism, the arbitrator's channel releases the data transmission and the node releases the channel and notifies the arbitrator that the channel is idle, allowing other nodes to compete for the channel.

[0077] In order to implement the above method, the present invention also provides a system for communicating between the internal arbitrator of the UAV and the vehicle based on time delay, such as Figure 7 As shown, the system includes: a drone arbitrator 41 and a vehicle node 42. Further, the drone arbitrator 41 includes: a receiving detection area 411, a cache waiting area 412 and a processing area 413.

[0078] The receiver of the receiving detection area 411 is used to select the first communication protocol or the second communication protocol according to the vehicle flow; when the vehicle flow is greater than the threshold, the receiving detection area 411 adopts the second communication protocol to receive the data packet sent by each vehicle node 42 containing its priority and requisition information; wherein each vehicle node 42 includes the historical vehicle node already in the arbitrator.

[0079] The vehicle node 42 is used to periodically send data to the cache waiting area 412 in the arbitrator.

[0080] The frame header detector and priority classification unit of the receiving detection area 411 are used to assign priority to each vehicle node 42 that receives external priority information, and then each vehicle node 42 enters a different cache waiting area 412 therein to wait for processing. If the channel is occupied, the fallback mechanism is triggered; wherein, in the fallback mechanism, when the fallback counter of the drone arbitrator 41 is zero, the data packets of the vehicle nodes 42 in different cache waiting areas 412 enter the channel, and other new vehicle nodes 42 send another request containing new priority information to the receiving detection area 411 of the arbitrator. The drone arbitrator 41 assigns new priorities to the data packets 2 of the vehicle nodes 4 cached in its internal cache waiting area 412 and the data packets of the newly received vehicle nodes 42 at the same time.

[0081] The drone arbitrator 41 determines whether the vehicle node 42 has successfully seized the channel based on the new priority information. The processing area 413 of the arbitrator 41 is used to release the channel and notify the arbitrator that the channel is idle when the channel release data transmission is completed, allowing other nodes to compete for the channel.

[0082] The drone arbitrator 41 also includes a processing area 413, which includes a channel for transmitting data packets, which is used to: when the drone arbitrator 41 is processing a data packet of a low-priority vehicle node 42, if a data packet of a high-priority vehicle node 42 arrives, the processing of the low-priority data packet is interrupted. The drone arbitrator 41 transmits the interrupted data packet to the diversion area in the processing area 413, and after the data packet of the high-priority vehicle node 42 is processed, the data packet to be processed in the diversion area is retrieved for processing.

[0083] The processing area 413 is also used to, if the channel is idle at this time, re-prioritize the pending data packets in the cache waiting area 412 and the received new data packets and process them in sequence; otherwise, the fallback mechanism is triggered.

[0084] The receiving detection area 411 is also used by the drone arbitrator 41 to confirm the next valid transmission node by comparing the vehicle node 42 containing new priority information, the existing nodes in the arbitrator buffer, and the nodes that are transmitting.

[0085] The processing area 413 of the drone arbitrator 41 is used. If the currently received vehicle node 42 has the highest priority or the indication node of the drone arbitrator 41 indicates to each vehicle node 42 that it can be preempted, the interrupted data packet enters the channel of the cache waiting area 412 from the diversion area of ​​the processing area 413. Further, the transmitting area 414 sends the preemption signal to the new vehicle node 42, and the new vehicle node 42 immediately sends the data; otherwise, the vehicle node 42 in the diversion area continues to wait.

[0086] In summary, the present invention proposes an internal arbitrator of a UAV and a communication method thereof based on the vehicle communication transmission delay. The main functions of the arbitrator include scheduling the transmission order and managing the output buffer, processing and scheduling data packets of different priorities according to the set priority order, and considering the real-time factors, giving priority to processing data packets from some vehicles on the high-speed part to ensure timely transmission and processing.

[0087] The technical solution provided by the present invention uses the UAV as a mobile processor for mobile communication while ensuring communication stability, and realizes delay optimization and data transmission efficiency improvement in vehicle communication transmission through its built-in arbitrator system and related protocols. The arbitrator system ensures the real-time and stability of data transmission by scheduling transmission order, managing buffers, and giving priority to high-priority data packets, thereby minimizing transmission delay and meeting the needs of real-time communication between vehicles and UAVs.

[0088] At the same time, it has functions such as network security management, troubleshooting, and data analysis optimization, which improves the reliability and performance of the entire system. The arbitrator and the intelligent vehicle are integrated into one system, and through the collaborative work between the vehicles, faster data transmission and latency optimization are achieved. Intelligent scheduling and real-time monitoring of vehicle status are achieved, further improving the intelligence level of the system. The flexibility and efficiency of drones are used to supplement and support the vehicle communication network, optimizing data transmission efficiency and reliability.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for communication between a drone and a vehicle based on time delay, characterized in that: The method comprises: Selecting the first communication protocol or the second communication protocol according to the traffic volume; When the vehicle flow is greater than a threshold, each vehicle node determines its own priority and requisition information based on the second communication protocol, and sends the priority and requisition information to the drone arbitrator; The drone arbitrator assigns new priorities to each vehicle node that carries priority information externally and sorts them. After that, each vehicle node enters a different buffer zone inside it and waits for the arbitrator to schedule and process it. If the channel is occupied, the fallback mechanism is triggered. When the back-off counter of the drone arbitrator in the back-off mechanism is zero, each of the vehicle nodes sends another request containing new priority information to the arbitrator; the drone arbitrator comprehensively determines whether the vehicle node is preempted successfully based on the new priority information and the priority of each vehicle node already in the buffer; After the data transmission is completed, the node releases the channel under the control of the arbitrator and notifies the arbitrator that the channel is idle, allowing other nodes to compete for the channel.

2. The method according to claim 1, characterized in that Afterwards, each vehicle node enters a different buffer zone therein and is processed, including: When the drone arbitrator is processing a data packet of a low-priority vehicle node, if a data packet of a high-priority vehicle node arrives, the processing of the data packet of the low-priority vehicle node is interrupted; The drone arbitrator transmits the interrupted data packet to the diversion area, and after the data packet of the high priority vehicle node is processed, the to-be-processed data packet in the diversion area is retrieved for processing.

3. The method according to claim 2, characterized in that The retrieving the data packets to be processed in the diversion area for processing includes: The data packets in the diversion area and the newly arrived buffer area are prioritized and processed sequentially; otherwise, the fallback mechanism is triggered.

4. The method according to claim 1 or 3, characterized in that: The UAV arbitrator determines whether the vehicle node is successfully preempted according to the new priority information, including: The drone arbitrator confirms that there is a next valid transmission node for the newly arrived vehicle node in the buffer zone, the existing nodes in the buffer zone, and the nodes that are transmitting; If the priority of the current transmitting node is higher than the priority of the current receiving node and the priority of the waiting node, the drone arbitrator indicates that it can be preempted, and the current transmitting node immediately sends data; otherwise, the current transmitting node continues to wait.

5. A system for communication between an internal arbitrator of a UAV and a vehicle based on time delay, characterized in that: The method according to any one of claims 1 to 4 can be implemented, characterized in that it includes: The internal arbitrator of the drone includes a receiving detection area and a cache waiting area. The receiving detection area is used to select the first communication protocol or the second communication protocol according to the vehicle flow; when the vehicle flow is greater than a threshold, the receiving detection area adopts the second communication protocol to receive a data packet sent by each vehicle node containing the priority and requisition information of the vehicle node; The frame header detector and the priority classification unit of the receiving detection zone are used to assign a priority to each vehicle node received from the outside carrying priority information, and then each vehicle node enters a different buffer waiting area therein to wait for processing, and triggers a fallback mechanism if the channel is occupied; wherein, in the fallback mechanism, when the fallback counter of the drone arbitrator is zero, the vehicle node in the buffer zone enters the channel, wherein the vehicle node contains new priority information; The drone arbitrator is used to determine whether the vehicle node has successfully seized the channel based on the new priority information; when the channel release data transmission is completed, the node releases the channel, and the arbitrator notifies that the channel is idle, allowing other nodes to compete for the channel.

6. The system according to claim 5, characterized in that The drone arbitrator also includes a processing area, and the processing area includes a channel for transmitting data packets, which is used to: When the drone arbitrator is processing a data packet of a low-priority vehicle node, if a data packet of a high-priority vehicle node arrives, the processing of the data packet of the low-priority vehicle node is interrupted; The drone arbitrator transmits the interrupted data packet to the diversion area within the processing area, and after the data packet of the high-priority vehicle node is processed, retrieves the data packet to be processed in the diversion area for processing.

7. The system according to claim 6, characterized in that The processing area is used to, if the channel is idle at this time, re-prioritize the to-be-processed data packets and the received new data packets in the buffer area and process them in sequence; otherwise, the fallback mechanism is triggered.

8. The system according to claim 5 or 7, characterized in that: include: The receiving detection area is used for the drone arbitrator to confirm the next valid transmission node for the existing nodes in the buffer containing the new priority information and the nodes being transmitted; The processing area of ​​the drone arbitrator is used to send a preemption signal if the current node has the highest priority or the indication node of the drone arbitrator indicates that it can be preempted, and the interrupted data packet enters the channel of the buffer zone from the diversion area; otherwise, the nodes in the diversion area continue to wait.

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