Methods and systems for time-delay-based communication between unmanned aerial vehicles and vehicles

Abstract

This invention provides a method and system for latency-based communication between unmanned aerial vehicles (UAVs) and vehicles. An arbitrator assigns priorities to each vehicle node carrying priority information. Each vehicle node then enters a different buffer waiting area to await processing. If the channel is occupied, a backoff mechanism is triggered. Each vehicle node sends another request containing new priority information to the arbitrator. The arbitrator determines whether the vehicle node has successfully preempted the channel based on the new priority information. After data transmission is complete, the node releases the channel and notifies the arbitrator that the channel is available, allowing other nodes to contend for the channel. The advantage is that the UAV arbitrator is responsible for controlling and scheduling data packets, ensuring timely transmission of data packets according to priority order, and effectively handling and managing remaining data packets in the event of an interruption, thereby optimizing data transmission latency.

Description

Technical Field

[0001] This invention relates to the field of vehicle-to-everything (V2X) communication, and in particular to a method and system for communication between a time-delay-based unmanned aerial vehicle (UAV) arbitrator and a vehicle. Background Technology

[0002] With the continuous development of vehicle-to-everything (V2X) technology, communication between vehicles and between vehicles and infrastructure is becoming increasingly critical. However, optimizing communication transmission latency has become a significant factor affecting communication efficiency and reliability. Traditional V2X communication systems typically rely on fixed communication base stations and onboard equipment. However, in busy urban areas or remote locations, limitations imposed by communication base stations can lead to decreased communication quality, increased latency, and even problems such as insufficient signal coverage or signal interference.

[0003] To address these issues, drones, as an emerging mobile communication relay node, have begun to be widely used in the field of vehicle-to-everything (V2X) communication in recent years. Utilizing drones as mobile communication relay nodes enables the establishment of more stable and efficient communication links between vehicles or between vehicles and infrastructure, thereby effectively improving the efficiency and reliability of V2X communication.

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

[0005] This invention provides a method and system for communication between unmanned aerial vehicles (UAVs) and vehicles based on time latency, in order to solve the problem of low efficiency in data transmission and processing of UAVs in the prior art.

[0006] To achieve the above objectives, the present invention provides a method for communication between a UAV arbitrator and vehicles based on latency, comprising: selecting a first communication protocol or a second communication protocol according to traffic flow. When the traffic flow exceeds a 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 UAV arbitrator. The UAV arbitrator assigns a new priority to each vehicle node carrying priority information, and then each vehicle node enters a different buffer waiting area within it to wait for the arbitrator to schedule and process it. If the channel is occupied, a backoff mechanism is triggered. When the backoff counter of the UAV arbitrator in the backoff mechanism is zero, each vehicle node sends another request containing new priority information to the UAV arbitrator; the UAV arbitrator makes a comprehensive judgment based on the new priority information and the priorities of each vehicle node in the existing buffer waiting area to determine whether the vehicle node has successfully preempted the channel. After the channel release data transmission is completed under the control of the UAV arbitrator, the node releases the channel and notifies the UAV arbitrator that the channel is idle, allowing other nodes to contend for the channel.

[0007] As a preferred embodiment of the above technical solution, preferably, the subsequent processing of each vehicle node entering its different buffer waiting areas includes:

[0008] When the drone arbitrator is processing data packets from low-priority vehicle nodes, if a data packet from a high-priority vehicle node arrives, it will interrupt the processing of the data packet from the low-priority vehicle node.

[0009] The drone arbitrator transmits the interrupted data packets to the diversion area. After the data packets of the high-priority vehicle nodes are processed, the unprocessed data packets in the diversion area are retrieved and processed.

[0010] As a preferred embodiment of the above technical solution, the unprocessed data packets in the diversion area are retrieved and processed, including: prioritizing the data packets in the diversion area and the newly arrived buffer waiting area and processing them in sequence; otherwise, the backoff mechanism is triggered.

[0011] As a preferred embodiment of the above technical solution, the UAV arbitrator determines whether the vehicle node has successfully preempted the data based on the new priority information. This includes: the UAV arbitrator confirming newly arrived vehicle nodes, existing nodes in the buffer waiting area, and nodes currently transmitting data 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 UAV arbitrator indicates that preemption is possible, and the current transmission node immediately sends data; otherwise, the current transmission node continues to wait.

[0012] This invention also provides a system for communication between a UAV arbitrator and vehicles based on time delay. To implement the above method, a UAV arbitrator is set up, 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 traffic flow. When the traffic flow is greater than a threshold, the receiving detection area adopts the second communication protocol to receive data packets containing the priority and preemption information of each vehicle node sent by each vehicle node. The frame header detector and priority classification unit of the receiving detection area are used to assign priority to each vehicle node carrying priority information. Then, each vehicle node enters a different buffer waiting area within it to wait for processing. If the channel is occupied, a backoff mechanism is triggered. In the backoff mechanism, when the backoff counter of the UAV arbitrator is zero, the vehicle node in the buffer waiting area enters the channel, wherein the vehicle node contains new priority information. The UAV arbitrator determines whether the vehicle node has successfully preempted the channel based on the new priority information. When the channel release data transmission is completed, the node releases the channel, and the UAV arbitrator notifies that the channel is idle, allowing other nodes to contend for the channel.

[0013] As a preferred embodiment of the above technical solution, the UAV arbitrator further includes a processing area, which includes a channel for transmitting data packets. The processing area is used to: when the UAV arbitrator is processing data packets from a low-priority vehicle node, if a data packet from a high-priority vehicle node arrives, interrupt the processing of the low-priority vehicle node's data packet. The UAV arbitrator then transmits the interrupted data packet to a distribution area within the processing area. After the high-priority vehicle node's data packet is processed, the UAV arbitrator retrieves the data packet to be processed from the distribution area for further processing.

[0014] As a preferred embodiment of the above technical solution, the processing area is used to: if the channel is idle at this time, re-prioritize the data packets to be processed and the newly received data packets in the buffer waiting area and process them sequentially; otherwise, trigger the backoff mechanism.

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

[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 drone arbitrator indicates that it can preempt, and the interrupted data packet enters the channel of the buffer waiting area from the diversion area; otherwise, the node in the diversion area continues to wait.

[0017] This invention provides a method and system for communication between a drone arbitrator and vehicles based on time delay. When traffic flow exceeds a threshold, each vehicle node determines its own priority and requisition information and sends it to the drone arbitrator. The drone arbitrator assigns priority to each vehicle node carrying priority information, and then each vehicle node enters its respective buffer waiting area to wait for processing. If the channel is occupied, a backoff mechanism is triggered. In the backoff mechanism, when the backoff counter reaches zero, the vehicle node sends another request containing new priority information to the drone arbitrator. The drone arbitrator determines whether the vehicle node has successfully preempted the channel based on the new priority information. After data transmission is completed, the node releases the channel and notifies the drone arbitrator that the channel is idle, allowing other nodes to contend for the channel.

[0018] The advantage of this invention is that the UAV arbitrator acts as a key component, responsible for controlling and scheduling data packets to ensure timely transmission according to priority. In the event of an interruption, it can effectively process and manage remaining data packets to optimize data transmission latency. The algorithm combines vehicle location and speed information, utilizing the UAV as a mobile communication relay node to accurately calculate and adjust vehicle communication transmission latency, achieving more efficient data transmission and real-time information exchange. Through the intelligent algorithm of the UAV arbitrator, dynamic allocation and scheduling of communication resources are achieved, maximizing data transmission efficiency and reliability. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart illustrating a method for communication between a time-delay-based unmanned aerial vehicle arbitrator and a vehicle, provided by the present invention.

[0021] Figure 2 A brief flowchart of a time-delay-based method for communication between a drone arbitrator and a vehicle provided by the present invention. Figure 1 .

[0022] Figure 3 A brief flowchart of a time-delay-based method for communication between a drone arbitrator and a vehicle provided by the present invention. Figure 2 .

[0023] Figure 4 A brief flowchart of a time-delay-based method for communication between a drone arbitrator and a vehicle provided by the present invention. Figure 3 .

[0024] Figure 5 This is a flowchart of the back-off mechanism in this invention.

[0025] Figure 6 A schematic diagram of the structure of a time-delay-based UAV arbitrator and vehicle communication system provided by the present invention. Figure 1 .

[0026] Figure 7 A schematic diagram of the structure of a time-delay-based UAV arbitrator and vehicle communication system provided by the present invention. Figure 2 . Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0028] First, a brief description of the technical solution of this invention will be provided, specifically, the flowchart is as follows. Figure 1 As shown:

[0029] Step 101: Determine if the traffic flow is less than the threshold. If it is less than the threshold, select the first communication protocol and process the data packets sent by the vehicle nodes in sequence. Otherwise, proceed to step 102 and 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 this information to the drone arbitrator. Simultaneously, the drone arbitrator also receives the priority and requisition information of existing vehicle nodes within its system, achieving the purpose of updating.

[0032] Step 103: Determine if the channel is idle. If yes, proceed to step 104; otherwise, trigger the backoff mechanism and proceed to step 105.

[0033] Step 104: After vehicle node information is classified, it enters different cache waiting areas.

[0034] The drone arbitrator assigns new priorities to each vehicle node carrying priority information and sorts them. Based on the determined priorities, each vehicle node is processed in its different buffer waiting areas.

[0035] Specifically, when the channel is idle during the listening period, the channel contention phase begins. The UAV arbitrator assigns new priorities to each node, including the vehicle nodes already cached and the newly received vehicle nodes, according to the new rules.

[0036] Specifically, drone arbitration and priority assignment can be based on different vehicles or different message types. For example, safety information from ambulances has the highest priority, and when comparing safety information from ordinary vehicles with communication information from ambulances, safety information from ordinary vehicles has a higher priority.

[0037] Step 1041: When a high-priority entry occurs, interrupt the current processing.

[0038] When the drone arbitrator is processing data packets from low-priority vehicle nodes, if a data packet from a high-priority vehicle node arrives, the processing of the low-priority vehicle node's data packet is interrupted. The drone arbitrator then transmits the interrupted data packet to a traffic distribution area. After the high-priority vehicle node's data packet has been processed, the drone arbitrator retrieves the data packet to be processed from the traffic distribution area for further processing.

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

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

[0041] After the remaining data packets are processed sequentially and the waiting node is in a no-back-off mechanism, the UAV arbitrator's channel release data transmission is completed. At this time, the node releases the channel and notifies the UAV arbitrator that the channel is idle, allowing other nodes to contend for the channel and directly execute step 104.

[0042] Step 105: Determine if the counter is zero. If it is, proceed to step 102; otherwise, continue waiting.

[0043] After performing this step, you can return to step 102, where the same vehicle node sends a request containing new priority information to the drone arbitrator again, updating the information in the node that previously contained priority information.

[0044] After re-executing step 102, the drone arbitrator determines whether the vehicle node has successfully preempted the data 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 drone arbitrator's buffer waiting area, and the nodes currently transmitting, to confirm the availability of a next valid transmission node. If the current node has the highest priority or the drone arbitrator indicates that the node can preempt the data, the node immediately sends data; otherwise, the node continues to wait.

[0045] The technical solution of the present invention will now be further explained. From the perspective of the unmanned aerial vehicle (UAV), such as... Figure 2 As shown:

[0046] Step 200: Select the transmission protocol.

[0047] The drone arbitrator has an intelligent protocol conversion scheme in its internal electronic components. By identifying and converting the differences between different communication protocols, it enables effective communication and data exchange between different types of vehicles.

[0048] Through intelligent protocol switching, drones can automatically switch communication protocols based on traffic flow 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 communication between different vehicles.

[0049] When traffic flow is low, choosing a standard protocol for the drone arbitrator can reduce system power consumption, as standard protocols typically have lower complexity and energy consumption, making them suitable for use in low-traffic conditions. This helps extend the battery life of onboard equipment and reduce energy consumption. Conversely, when traffic flow increases, selecting a complementary protocol ensures system efficiency and guarantees the timeliness of high-priority data packets. Complementary protocols may offer higher data transmission rates and stronger real-time performance, better meeting the communication needs under high-density traffic conditions, ensuring timely transmission and processing of important data packets, and improving the overall reliability and response speed of the communication system.

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

[0051] Step 201: Detect the data packets and assign them priority.

[0052] By analyzing the header information of vehicle node message packets, the type of data packet, such as emergency information, road condition updates, or general communication, can be identified, along with its importance level, such as emergency events or general information. Based on these factors, the drone arbitrator can assign appropriate priorities 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] In this step, in addition to assigning priorities to the vehicle node data packets that have already been received, priority is also assigned to the new data packets that the vehicle nodes send to the buffer waiting area at regular intervals.

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

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

[0056] The priority scheduling of data packets is handled by the UAV arbitrator. Based on the importance of the information transmitted by the vehicles, data packets are allocated to different buffer waiting areas, with high-priority data entering the high-priority buffer waiting area, and so on. The UAV arbitrator processes data packets in priority order: first, high-priority buffer waiting area packets are processed, followed by medium-priority packets, and finally low-priority packets. When a higher-priority data packet arrives, the current processing is interrupted to prioritize the newly arrived high-priority data packet, ensuring timeliness. This mechanism guarantees the timely transmission and processing of vehicle data in high-speed areas, improving the system's real-time performance and response speed.

[0057] Step 203: The buffer waiting area performs buffer management and interrupt handling on the received vehicle node data packets before sending them to the vehicle node.

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

[0059] Specifically, if a high-priority data packet arrives while a priority data packet is being processed, the system will immediately interrupt the process. After the interruption, the system will transfer the unprocessed low-priority data packet portion to different distribution areas for buffering. The system will further differentiate the priorities of each low-priority data packet and divide the buffer waiting area into regions of different sizes to store the original low-priority data after further differentiation. This ensures that after all high-priority data packets have been processed, the buffered data packets in the distribution area will be processed first, guaranteeing the timely processing of high-priority data packets.

[0060] Through this adaptive interrupt handling mechanism and buffer waiting area management system, the system can effectively cope with the arrival of data packets of different priorities and ensure that high-priority data packets are processed first, thereby improving the overall performance and response speed of the communication system.

[0061] Furthermore, throughout the entire implementation process, the system is capable of troubleshooting and self-diagnosis: the processing area of ​​the UAV arbitrator monitors and identifies faults in the UAV communication process and automatically repairs them to improve the system's reliability and stability. The UAV arbitrator performs real-time data analysis based on sensors and the data it senses, continuously monitoring the stability and efficiency of the UAV communication link. Once a communication fault or data transmission anomaly is detected, the system immediately activates a fault mode recognition algorithm to analyze the fault type and its impact range. Based on the identification results, the processing area automatically takes corresponding repair measures, including but not limited to rerouting the communication path, adjusting transmission parameters, or switching the communication frequency band. Through real-time self-diagnosis and automatic repair, the UAV arbitrator can quickly respond to various communication faults, ensuring stable communication between UAVs and between UAVs and vehicle nodes, thereby improving the reliability and success rate of mission execution.

[0062] The supporting protocol in step 200 is modified based on the commonly used 802.11P CSMA / CA protocol for vehicle-to-everything (V2X) communication to accommodate the drone arbitrator function mentioned earlier. The specific modification process is described below; please refer to [reference needed]. Figure 3 :

[0063] Step 301: Initialize vehicle nodes and set relevant information.

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

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

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

[0067] During the contention phase, when a node is ready to send data, it first sends a request to the receiver in the UAV arbitrator's detection area, carrying its priority information. The UAV arbitrator sets different listening times for each node based on its assigned priority (shorter listening times for higher priority nodes, and so on, defined as High Distributed Frame Interval (HDIFS), Medium Distributed Frame Interval (MDIFS), and Low Distributed Frame Interval (LDIFS)). The UAV arbitrator assigns new priorities to nodes with self-defined priorities based on its self-defined listening times, and then processes the nodes sequentially according to the new priorities.

[0068] Step 303: The vehicle node enters the retreat mechanism to wait for the preemption or enter the contention phase.

[0069] The backoff mechanism adopts the IEEE 802.11 standard DCF backoff mechanism, using a binary exponential backoff method, with a backoff time range of (0, ..., ...). ).in, This indicates the current backtracking phase and the corresponding contention window size. ,in This is the maximum backoff phase specified in the 802.11 standard, where W is the initial contention window size (set in step 301). The backoff counter's value range is... The counter is decremented by 1 whenever the channel is idle; otherwise, it remains unchanged. If a collision occurs (i.e., multiple vehicle nodes have the same priority, or the drone arbitrator indicates that preemption is allowed, potentially causing these nodes to transmit data simultaneously), the contention window of the colliding node is doubled to reduce the probability of a collision. When the backoff counter countdown ends, the node enters the contention phase; otherwise, it continues to wait and update the counter.

[0070] Step 304: The countdown ends, and the vehicle node is reclaimed.

[0071] When a node's backoff counter reaches zero, the node sends another request to the drone arbitrator. During this request, the node updates its own priority information.

[0072] The drone arbitrator evaluates the node's priority according to the description 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 drone arbitrator indicates that the node can preempt, contention begins, and the node immediately sends data; otherwise, the node continues to wait for the fallback mechanism to be triggered again.

[0073] Step 305: The node that has obtained permission from the drone arbitrator begins transmitting data.

[0074] In this step, other nodes (the nodes that were preempted and interrupted) temporarily stop sending data and continue to monitor the channel status when channel occupancy is detected.

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

[0076] In this step, after the remaining data packets are processed sequentially and the waiting node is in the absence of a backoff mechanism, the channel release data transmission of the UAV arbitrator is completed. At this time, the node releases the channel and notifies the UAV arbitrator that the channel is idle, allowing other nodes to contend for the channel.

[0077] To implement the above method, the present invention also provides a system for communication between a time-delay-based unmanned aerial vehicle arbitrator and a vehicle, 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 buffer waiting area 412 and a processing area 413.

[0078] The receiver in the receiving detection area 411 is used to select a first communication protocol or a second communication protocol according to the traffic flow. When the traffic flow is greater than the threshold, the receiving detection area 411 adopts the second communication protocol to receive data packets containing the priority and requisition information sent by each vehicle node 42. Among them, each vehicle node 42 includes existing historical vehicle nodes in the UAV arbitrator.

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

[0080] The frame header detector and priority classification unit in the receiving detection area 411 are used to assign priorities to each vehicle node 42 receiving external data carrying priority information. Afterwards, each vehicle node 42 enters its respective buffer waiting area 412 to wait for processing. If the channel is occupied, a backoff mechanism is triggered. In the backoff mechanism, when the backoff counter of the UAV arbitrator 41 reaches zero, data packets from vehicle nodes 42 in different buffer waiting areas 412 enter the channel, and some new vehicle nodes 42 send another request containing new priority information to the receiving detection area 411 of the UAV arbitrator. The UAV arbitrator 41 simultaneously assigns new priorities to the data packets 2 of vehicle nodes 42 already buffered in its internal buffer waiting area 412 and to the newly received data packets of vehicle nodes 42.

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

[0082] The drone arbitrator 41 also includes a processing area 413, which includes a channel for transmitting data packets. When the drone arbitrator 41 is processing a low-priority data packet from a vehicle node 42, if a high-priority data packet from a vehicle node 42 arrives, the processing of the low-priority data packet is interrupted. The drone arbitrator 41 transmits the interrupted data packet to a distribution area within the processing area 413. After the high-priority vehicle node 42's data packet is processed, the drone arbitrator 41 retrieves the data packet to be processed from the distribution area for further processing.

[0083] The processing area 413 is also used to process data packets in the buffer waiting area 412 in order of priority reordering based on the pending data packets and newly received data packets if the channel is idle at this time; otherwise, a backoff 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 node in the drone arbitrator's buffer waiting area, and the node that is transmitting.

[0085] The processing area 413 of the UAV arbitrator 41 is used to, if the currently receiving vehicle node 42 has the highest priority or the UAV arbitrator 41 indicates to each vehicle node 42 that it can preempt, the interrupted data packet enters the channel of the buffer waiting area 412 from the diversion area of ​​the processing area 413. Further, the transmission area 414 sends a preemption signal to the new vehicle node 42, and the new vehicle node 42 immediately sends data; otherwise, the vehicle node 42 in the diversion area continues to wait.

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

[0087] The technical solution provided by this invention utilizes a drone as a mobile processor for mobile communication while ensuring communication stability. Through its built-in drone arbitrator system and related protocols, it achieves latency optimization and improved data transmission efficiency in vehicle communication. The drone arbitrator system, by scheduling transmission order, managing buffer waiting areas, and prioritizing high-priority data packets, ensures the real-time performance and stability of data transmission, minimizing transmission latency and thus meeting the real-time communication needs between vehicles and drones.

[0088] Meanwhile, it possesses functions such as network security management, troubleshooting, and data analysis and optimization, improving the reliability and performance of the entire system. Integrating the arbitrator with intelligent vehicles into a single system, through collaborative work with the vehicles, achieves faster data transmission and optimized latency. It enables intelligent scheduling and real-time monitoring of vehicle status, further enhancing the system's intelligence level. The flexibility and efficiency of drones 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, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some or all of the technical features; and these modifications or substitutions 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 includes: Select the first or second communication protocol based on traffic flow; When the traffic flow exceeds 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 UAV arbitrator. The drone arbitrator assigns new priorities and sorts each vehicle node carrying priority information. Then, each vehicle node enters a different buffer waiting area to await scheduling by the drone arbitrator. If the channel is occupied, a fallback mechanism is triggered. The process of each vehicle node entering a different buffer waiting area to await scheduling by the drone arbitrator includes: when the drone arbitrator is processing data packets from a low-priority vehicle node, if a data packet from a high-priority vehicle node arrives, the processing of the low-priority vehicle node's data packet is interrupted. The drone arbitrator transmits the interrupted data packet to a distribution area. After the high-priority vehicle node's data packet is processed, the drone arbitrator retrieves the pending data packet from the distribution area for processing. When the back-off counter of the drone arbitrator in the back-off mechanism reaches zero, each vehicle node sends another request containing new priority information to the drone arbitrator. The drone arbitrator comprehensively determines whether the vehicle node has successfully preempted the data based on the new priority information and the priorities of the existing vehicle nodes in the buffer waiting area. Specifically, the drone arbitrator's determination of whether the vehicle node has successfully preempted the data based on the new priority information includes confirming that there is a next valid transmission node for newly arrived vehicle nodes, existing nodes in the buffer waiting area, and nodes currently transmitting data. 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 preemption is possible, and the current transmission node immediately sends data; otherwise, the current transmission node continues to wait. After the data transmission is completed under the control of the UAV arbitrator, the node releases the channel and notifies the UAV arbitrator that the channel is idle, allowing other nodes to contend for the channel.

2. The method according to claim 1, characterized in that, The process of retrieving and processing the data packets to be processed within the traffic splitting zone includes: Data packets in the diversion area and newly arrived buffer waiting area are prioritized and processed sequentially; otherwise, the backoff mechanism is triggered.

3. A time-delay-based system for communication between unmanned aerial vehicles and vehicles, characterized in that, The system includes a drone arbitrator and vehicle nodes: The drone arbitrator includes a receiving and detection area, a buffer waiting area, and a processing area. The receiving and detection area is used to select a first communication protocol or a second communication protocol according to the traffic flow. When the traffic flow is greater than the threshold, the receiving and detection area adopts the second communication protocol to receive data packets containing the priority and requisition information of each vehicle node. The frame header detector and priority classification unit in the receiving detection area are used to assign priority to each vehicle node that receives external priority information. Then, each vehicle node enters a different buffer waiting area within it to wait for processing. If the channel is occupied, a backoff mechanism is triggered. In the backoff mechanism, when the backoff counter of the UAV arbitrator is zero, the vehicle node in the buffer waiting area enters the channel, and the vehicle node contains new priority information. The receiving detection area is used by the UAV arbitrator to confirm whether there is a next valid transmission node for existing nodes and nodes that are transmitting in the cache waiting area containing new priority information. The processing area includes a channel for transmitting data packets, specifically used for: when the UAV arbitrator is processing data packets from low-priority vehicle nodes, if a data packet from a high-priority vehicle node arrives, the processing of the low-priority vehicle node's data packet is interrupted; the UAV arbitrator transmits the interrupted data packet to a distribution area within the processing area; after the high-priority vehicle node's data packet is processed, the processing area retrieves the pending data packet from the distribution area for processing; the processing area is also used for: if the current node has the highest priority or the UAV arbitrator's indicator node indicates that it can preempt, the processing area sends a preemption signal, and the interrupted data packet enters the channel of the buffer waiting area from the distribution area; otherwise, the node in the distribution area continues to wait. The drone arbitrator is used to determine whether the vehicle node has successfully preempted the channel based on the new priority information; after the channel release data transmission is completed, the node releases the channel and notifies the drone arbitrator that the channel is idle, allowing other nodes to contend for the channel.

4. The system according to claim 3, characterized in that, The processing area is used to process data packets in the buffer waiting area and newly received data packets in the order of priority reordering if the channel is idle; otherwise, the backoff mechanism is triggered.

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