Multi-channel time slot scheduling method and system in V2X repeated coverage scene, and storage medium

Abstract

The invention discloses a multi-channel time slot scheduling method and system in a V2X repeated coverage scene, and a storage medium. The method comprises the following steps: a road side unit allocates a control channel to vehicle nodes running on a bidirectional lane; monitoring time slot information of a control channel and marking free time slots and occupied time slots; determining the occupation condition of the occupied time slot according to the monitoring information on the two control channels; calculating a time slot allocation proportion according to the number of vehicle nodes in different driving directions and / or the request service volume and / or the access frequency; and the road side unit sends confirmation information to the corresponding time slot of the vehicle node according to the time slot distribution proportion. According to the invention, the problems of power consumption increase and communication delay increase caused by re-reservation of the time slot after RSU time slot conflict in the existing V2X repeated coverage scene are solved.

Description

Technical Field

[0001] The present invention belongs to the field of wireless communication technology, and in particular, relates to a multi-channel time slot scheduling method, system and storage medium in a V2X repeated coverage scenario. Background Art

[0002] V2X vehicle-road cooperative wireless communication technology provides communication guarantee for the intelligent driving and intelligent interaction of smart cars. Road Side Units (RSU) serve as information transfer stations of the V2X vehicle-road cooperative network system, used to sense the status of vehicle nodes and perform communication scheduling. In some specific scenarios, such as at intersections in cities or at the entrances and exits of highways, multiple RSUs are usually deployed to provide communication coverage for vehicle nodes in the area, that is, repeated coverage scenarios. Repeated coverage communication is crucial to ensure the reliability and stability of communication.

[0003] However, repeated coverage also leads to a series of problems, such as the management and scheduling of multiple RSUs, information sharing and coordination between RSUs, interference and conflict between RSUs, etc. Among them, the most prominent problem is the time slot conflict caused by multiple RSUs simultaneously allocating time slots to vehicle nodes in the repeated coverage area. After the time slot conflict, the time slot needs to be re-booked, which will disrupt the original communication deployment between multiple RSUs, not only increasing the RSU calculation amount, thereby increasing the RSU power consumption, but also greatly increasing the communication delay.

[0004] In order to solve the problem of increased power consumption and communication delay caused by re-booking time slots after RSU time slot conflicts in the existing V2X repeated coverage scenario, a multi-channel time slot scheduling method, system and storage medium in the V2X repeated coverage scenario are proposed. Summary of the invention

[0005] The embodiments of the present invention propose a multi-channel time slot scheduling method, system and storage medium in a V2X repeated coverage scenario, so as to at least solve the problem of increased power consumption and increased communication delay caused by re-booking time slots after RSU time slot conflicts in the existing V2X repeated coverage scenario.

[0006] According to an embodiment of the present invention, a multi-channel time slot scheduling method in a V2X repeated coverage scenario is provided, including:

[0007] The roadside unit allocates control channels to vehicle nodes traveling on the two-way lanes;

[0008] Monitor the time slot information of the control channel and mark the idle time slots and occupied time slots;

[0009] determining the occupancy of the occupied time slots according to the monitoring information on the two control channels;

[0010] Calculate the time slot allocation ratio according to the number of vehicle nodes in different driving directions and / or the requested traffic volume and / or the access frequency;

[0011] The roadside unit sends confirmation information to the corresponding time slot of the vehicle node according to the time slot allocation ratio.

[0012] In an exemplary embodiment, the roadside unit allocates a control channel to a vehicle node traveling on a bidirectional lane, including:

[0013] The roadside unit divides the channels in the frequency band into two control channels and multiple data service channels. The two control channels are recorded as channel CCH1 and channel CCH2.

[0014] The roadside unit allocates two control channels CCH1 and CCH2 to vehicle nodes traveling on the two-way lanes respectively;

[0015] The roadside unit exchanges data with the vehicle node on the corresponding control channel and performs time slot scheduling.

[0016] In an exemplary embodiment, the monitoring of the time slot information of the control channel and marking the idle time slots and the occupied time slots includes:

[0017] The roadside unit monitors the time slot information of the control channels CCH1 and CCH2;

[0018] If no information is received in a time slot or an error is received in the same control channel time slot, the time slot is determined to be an idle time slot and marked as idle in each data service channel;

[0019] If correct information is received in a time slot, the time slot is determined to be an occupied time slot, and the time slot is marked as occupied in each data service channel.

[0020] In an exemplary embodiment, the occupancy status of the occupied time slot includes any one or a combination of the number of vehicle nodes received in the same time slot or different time slots on the control channels CCH1 and CCH2, the requested traffic volume of the vehicle nodes, and the access frequency of the vehicle nodes.

[0021] In an exemplary embodiment, the calculating of the time slot allocation ratio according to the number of vehicle nodes in different driving directions and / or the requested traffic volume and / or the access frequency includes:

[0022] Calculate the node quantity difference value according to the difference or ratio of the number of vehicle nodes in different driving directions;

[0023] According to the difference or ratio of the traffic volume requested by the vehicle nodes in different driving directions, or the difference value of the traffic volume requested is calculated;

[0024] Calculate the access frequency difference value according to the difference or ratio of the access frequencies of vehicle nodes in different driving directions;

[0025] Calculate the difference value of time slot weights for different driving directions according to the difference value of node quantity and / or the difference value of requested traffic volume and / or the difference value of access frequency;

[0026] The time slot allocation ratio, that is, the occupancy ratio of the data service channel, is calculated based on the time slot weight difference values ​​of different driving directions and the control channel time slot.

[0027] In an exemplary embodiment, the step is also included: when a vehicle node occupying a time slot enters the communication range only in a single driving direction, the time slot allocated to the entering vehicle node is calculated based on the vehicle node density and / or the service request volume and / or the service waiting delay within the coverage area of ​​the roadside unit.

[0028] In an exemplary embodiment, the time slot allocated to the incoming vehicle node is calculated according to the vehicle node density and / or the service request volume and / or the service waiting delay within the coverage area of ​​the roadside unit, including:

[0029] Calculate the regional traffic flow assessment value based on the vehicle node density within the coverage area of ​​the roadside unit;

[0030] Calculate the regional traffic volume assessment value according to the traffic request volume and / or the change value of the traffic request volume within the coverage area of ​​the roadside unit;

[0031] Calculate the regional service delay evaluation value according to the average service waiting delay or the maximum service waiting delay within the coverage area of ​​the roadside unit;

[0032] Calculate the regional business busyness assessment value according to the regional traffic flow assessment value and / or the regional business volume assessment value and / or the regional service delay assessment value;

[0033] The time slot allocated to the incoming vehicle node is calculated based on the regional business busyness assessment value and the preset data service channel.

[0034] In an exemplary embodiment, the roadside unit sends confirmation information to the corresponding time slot of the vehicle node according to the time slot allocation ratio. The roadside unit determines the time slot allocated to the vehicle node according to the preset data service channel and the time slot allocation ratio and sends confirmation information to the corresponding time slot of the vehicle node, that is, the vehicle node successfully reserves the channel time slot.

[0035] In an exemplary embodiment, after receiving the time slot confirmation information from the roadside unit, the vehicle node exchanges data with the roadside unit in the corresponding channel time slot.

[0036] According to yet another embodiment of the present invention, a computer-readable storage medium is provided, which stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute the above method.

[0037] According to another embodiment of the present invention, a multi-channel time slot scheduling system in a V2X repeated coverage scenario is also provided, including:

[0038] Vehicle node;

[0039] Roadside Unit;

[0040] and one or more programs, wherein the one or more programs are stored in a memory and configured to be executed by a processor of the vehicle node and / or roadside unit, the programs causing the computer to perform the above method.

[0041] The multi-channel time slot scheduling method, system and storage medium in the V2X repeated coverage scenario of the present invention have the following advantages:

[0042] (1) The roadside unit schedules the time slot conflicting nodes. Compared with the traditional method of giving up time slots and re-booking time slots when vehicle nodes have time slot conflicts, the same time slots on different data service channels are allocated to the conflicting nodes for use. There is no need for the conflicting nodes to re-book time slots, which reduces the probability of conflicts when re-booking time slots and reduces communication delays.

[0043] (2) The roadside unit determines the occupancy status of the occupied time slots based on the monitoring information on the two control channels and calculates the time slot allocation ratio based on the number of vehicle nodes in different driving directions and / or the requested business volume and / or the access frequency. Compared with the traditional time slot reservation scheme, the adaptive adjustment of time slot allocation can achieve full utilization and effective scheduling of resources in the overlapping coverage area, thereby effectively improving communication efficiency and reducing communication delay.

[0044] (3) When a vehicle node that occupies a time slot only in a single driving direction enters the communication range, the time slot allocated to the entering vehicle node is calculated based on the vehicle node density and / or business request volume and / or service waiting delay within the coverage area of ​​the roadside unit. Compared with the traditional time slot reservation scheme, when the time slot resources are sufficient, the time slot of the rescheduled idle channel can be allocated to the original vehicle node for use, thereby improving the node communication efficiency; when the time slot resources are scarce, the idle time slot is reserved for the new node to use, thereby ensuring network fairness. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a diagram of a scenario in which multiple road side units of a vehicle network are repeatedly covered in an embodiment of the present invention;

[0046] Figure 2 It is a flow chart of a multi-channel time slot scheduling method in a V2X repeated coverage scenario;

[0047] Figure 3 is a flowchart of step S01 of an embodiment of the present invention;

[0048] Figure 4 is a method flow chart of step S02 of an embodiment of the present invention;

[0049] Figure 5 is a method flow chart of step S04 of an embodiment of the present invention;

[0050] Figure 6 is a flowchart of additional step S04' of an embodiment of the present invention;

[0051] Figure 7 is a schematic diagram of time slot scheduling in an embodiment of the present invention;

[0052] Figure 8 It is a schematic diagram of the structure of a multi-channel time slot scheduling system in a V2X repeated coverage scenario according to an embodiment of the present invention. DETAILED DESCRIPTION

[0053] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0054] like Figure 1 The diagram shows a scenario of repeated coverage of multiple roadside units in a vehicle network of an embodiment of the present invention. There are problems of increased power consumption and increased communication delay caused by re-booking time slots after time slot conflicts within the repeated coverage range of multiple RSUs. To this end, an embodiment of the present invention proposes a multi-channel time slot scheduling method, system and storage medium in a V2X repeated coverage scenario. When a conflict occurs in the time slots of vehicle nodes, the roadside unit monitors different occupancy information on the control channel in the repeated coverage area, and allocates the same time slots on different data service channels to different vehicle nodes to avoid time slot conflicts, thereby reducing the number of secondary reservations. After the time slot conflict is resolved, the idle time slots are reallocated to ensure channel utilization.

[0055] A multi-channel time slot scheduling method in a V2X repeated coverage scenario according to an embodiment of the present invention is shown in the flowchart as follows: Figure 2 As shown, the steps include:

[0056] Step S01: The roadside unit allocates a control channel to a vehicle node traveling on a two-way lane;

[0057] Step S02: monitor the time slot information of the control channel and mark the idle time slots and occupied time slots;

[0058] Step S03, determining the occupancy status of the occupied time slots according to the monitoring information on the two control channels;

[0059] Step S04, calculating the time slot allocation ratio according to the number of vehicle nodes in different driving directions and / or the requested traffic volume and / or the access frequency;

[0060] Step S05: The roadside unit sends confirmation information to the corresponding time slot of the vehicle node according to the time slot allocation ratio.

[0061] The method of the embodiment of the present invention utilizes a roadside unit to schedule time slot conflicting nodes, and allocates the same time slots on different data service channels to the conflicting nodes for use, without the need for the conflicting nodes to re-book time slots, thereby reducing the probability of conflicts occurring when re-booking time slots and reducing communication delays; at the same time, the roadside unit determines the occupancy of occupied time slots based on the monitoring information on the two control channels and calculates the time slot allocation ratio based on the number of vehicle nodes in different driving directions and / or the requested business volume and / or the access frequency, and adaptively adjusts the time slot allocation, thereby achieving full utilization and effective scheduling of resources within the repeated coverage area, and effectively solving the problem of increased power consumption and increased communication delay caused by re-booking time slots after time slot conflicts within the repeated coverage area of ​​multiple RSUs.

[0062] In an exemplary embodiment, step S01, the roadside unit allocates the control channel to the vehicle node traveling on the bidirectional lane, as shown in the flowchart. Figure 3 As shown, the steps include:

[0063] Step S011, the roadside unit divides the channels in the frequency band into two control channels and multiple data service channels, and the two control channels are recorded as channel CCH1 and channel CCH2;

[0064] Step S012: The roadside unit allocates two control channels CCH1 and CCH2 to vehicle nodes traveling on the two-way lanes respectively;

[0065] Step S013: The roadside unit exchanges data with the vehicle node on the corresponding control channel and performs time slot scheduling.

[0066] In this embodiment, the seven 10 MHz channels in the IEEE802.11p frequency band are divided into two control channels and five data service channels. The roadside unit allocates two control channels (channel CCH1 and channel CCH2) to the vehicle nodes traveling in the forward and reverse directions, respectively. The roadside unit exchanges data with the vehicle nodes on the corresponding control channels and performs time slot scheduling.

[0067] In an exemplary embodiment, step S02, monitoring the time slot information of the control channel and marking the idle time slots and occupied time slots, the flow chart is as follows: Figure 4 As shown, the steps include:

[0068] Step S021, the roadside unit monitors the time slot information of the control channels CCH1 and CCH2;

[0069] Step S022: If no information is received in the time slot or an error is received in the same control channel time slot, the time slot is determined to be an idle time slot, and the time slot is marked as idle in each data service channel;

[0070] Step S023: If correct information is received in the time slot, the time slot is determined to be an occupied time slot, and the time slot is marked as occupied in each data service channel.

[0071] In this embodiment, the RSU monitors the information of each time slot of the control channel. If a reception error occurs or no information is received, the time slot is regarded as an idle time slot and can be reserved by the vehicle node. No confirmation allocation information is sent in the corresponding time slot of the next frame; otherwise, the time slot is regarded as an occupied time slot and the vehicle node occupying the time slot is recorded.

[0072] In an exemplary embodiment, the occupancy status of the occupied time slots in step S03 includes any one or a combination of the number of vehicle nodes received in the same time slot or different time slots on the control channels CCH1 and CCH2, the requested traffic volume of the vehicle nodes, and the access frequency of the vehicle nodes.

[0073] In an exemplary embodiment, the step S04, calculating the time slot allocation ratio according to the number of vehicle nodes in different driving directions and / or the requested traffic volume and / or the access frequency, the flow chart is as follows: Figure 5 As shown, the steps include:

[0074] Step S041, calculating a node quantity difference value according to a difference or ratio of the quantity of vehicle nodes in different driving directions;

[0075] Step S042, calculating the difference or ratio of the traffic volume requested by the vehicle nodes in different driving directions or the difference value of the traffic volume requested;

[0076] Step S043, calculating the access frequency difference value according to the difference or ratio of the access frequencies of vehicle nodes in different driving directions;

[0077] Step S044, calculating the difference value of time slot weights for different driving directions according to the difference value of the number of nodes and / or the difference value of the requested traffic volume and / or the difference value of the access frequency;

[0078] Step S045, calculating the time slot allocation ratio, that is, the occupancy ratio of the data service channel, according to the time slot weight difference values ​​of different driving directions and the control channel time slot.

[0079] In this embodiment, the node quantity difference value is calculated according to the difference or ratio of the number of vehicle nodes in different driving directions, and the node quantity difference value is calculated according to the positive correlation between the difference of the number of vehicle nodes in different driving directions and the node quantity difference value, or the node quantity difference value is calculated according to the positive correlation between the ratio evaluation value of the number of vehicle nodes in different driving directions and the node quantity difference value, and the node quantity difference value is represented by the variable l;

[0080] The difference or ratio of the requested traffic volume of the vehicle nodes in different driving directions or the calculation of the requested traffic volume difference value is to calculate the requested traffic volume difference value of each position according to the positive correlation between the difference of the requested traffic volume of the vehicle nodes in different driving directions and the requested traffic volume difference value, or to calculate the requested traffic volume difference value of each position according to the positive correlation between the ratio evaluation value of the requested traffic volume of the vehicle nodes in different driving directions and the requested traffic volume difference value, and the requested traffic volume difference value is represented by the variable w;

[0081] The access frequency difference value is calculated according to the difference or ratio of the access frequencies of vehicle nodes in different driving directions. The access frequency difference value is calculated according to the positive correlation between the difference of the access frequencies of vehicle nodes in different driving directions and the access frequency difference value, or the access frequency difference value is calculated according to the positive correlation between the ratio evaluation value of the access frequencies of vehicle nodes in different driving directions and the access frequency difference value. The access frequency difference value is represented by a variable r.

[0082] The ratio evaluation value is calculated based on the absolute value of the difference between the ratio and 1;

[0083] The calculation of the time slot weight difference values ​​for different driving directions based on the node quantity difference value and / or the requested business volume difference value and / or the access frequency difference value is calculated based on the positive correlation between the time slot weight difference values ​​for different driving directions and the node quantity difference value and / or the requested business volume difference value and / or the access frequency difference value, and the time slot weight difference values ​​for different driving directions are represented by the variable p.

[0084] Embodiments A1 to A7 represent different implementation methods for calculating time slot weight difference values ​​for different driving directions.

[0085] Embodiment A1: Calculate the difference values ​​of time slot weights for different driving directions according to the difference values ​​of the number of nodes.

[0086] The time slot weight difference value p of different driving directions is calculated based on the positive correlation between the node quantity difference value l and the time slot weight difference value of different driving directions. In a preferred implementation, the time slot weight difference value p of different driving directions is calculated as follows: o2+o3, where o1, o2 (o1·o2>0), and o3 are calculation coefficients obtained by prior training. In this embodiment, the number of vehicle nodes in different driving directions is obtained and the ratio of the number is calculated to be 0.8, and the absolute value of the difference between the ratio of the number of nodes and 1 is calculated to obtain the ratio evaluation value d=0.2. According to the positive correlation between the ratio evaluation value of the number of vehicle nodes in different driving directions and the node number difference value, the node number difference value l=k1·d k2 + k3 = 5 × 0.2 1 +0=1 (k1, k2, k3 are calculation coefficients obtained by pre-training. In this embodiment, k1=5, k2=1, k3=0), the calculation coefficients obtained by pre-training o1=1, o2=1, o3=0, calculate the difference value of time slot weights in different driving directions p=o1·l o2 +o3=1×1+0=1.

[0087] Embodiment A2: Calculate the difference values ​​of time slot weights for different driving directions according to the difference values ​​of requested traffic volumes.

[0088] The time slot weight difference value p of different driving directions is calculated based on the positive correlation between the request traffic volume difference value w and the time slot weight difference value of different driving directions. In a preferred implementation, the time slot weight difference value p of different driving directions is calculated as follows: o5 +o6, where o4, o5 (o4·o5>0), and o6 are calculation coefficients obtained by prior training. In this embodiment, the requested traffic volume of vehicle nodes in different driving directions is obtained, and the requested traffic volume difference m=0.8 is calculated (normalized according to the preset traffic volume request threshold), and the requested traffic volume difference value w=k4·m is calculated according to the positive correlation between the requested traffic volume difference value and the requested traffic volume difference value. k5 +k6=1.5×0.8 1 +0=1.2 (k4, k5, k6 are calculation coefficients obtained by prior training. In this embodiment, k4=1.5, k5=1, k6=0), the calculation coefficients obtained by prior training are o4=1, o5=1, o6=0, and the difference value of the time slot weights in different driving directions is calculated as p=o4·w o5 +o6=1×1.2+0=1.2.

[0089] Embodiment A3: Calculate the time slot weight difference values ​​of different driving directions according to the access frequency difference values.

[0090] The time slot weight difference value p of different driving directions is calculated based on the positive correlation between the access frequency difference value r and the time slot weight difference value of different driving directions. In a preferred implementation, the time slot weight difference value p of different driving directions is calculated as follows: o8+o9, where o7, o8 (o8>0), and o9 are calculation coefficients obtained by prior training. In this embodiment, the vehicle node access frequency in a certain time period in different driving directions is obtained, and the node access frequency difference n=0.4 is calculated (normalized according to the preset access frequency threshold), and the access frequency difference value r=k7·n is calculated based on the positive correlation between the node access frequency difference and the access frequency difference value. k8 + k9 = 2 × 0.4 + 0 = 0.8 (k7, k8, k9 are calculation coefficients obtained by prior training. In this embodiment, k7 = 2, k8 = 1, k9 = 0), the calculation coefficients obtained by prior training are o7 = 1, o8 = 1, o9 = 0, and the difference value of the time slot weights for different driving directions is calculated as p = o7·r o8 +o9=1×0.8+0=0.8.

[0091] Embodiment A4: Calculate the difference values ​​of time slot weights for different driving directions according to the difference values ​​of the number of nodes and the difference values ​​of the requested traffic volume.

[0092] The time slot weight difference value p of different driving directions is calculated based on the positive correlation between the node quantity difference value l and the request traffic volume difference value w and the time slot weight difference value of different driving directions. In a preferred implementation, the time slot weight difference value p of different driving directions is calculated as follows: o11 +o12·w o13 , where o10, o11 (o11>0), o12, o13 (o13>0) are the calculation coefficients obtained by prior training. In this embodiment, the number of vehicle nodes in different driving directions is obtained and the ratio of the number is calculated to be 0.8, and the absolute value of the difference between the ratio of the number of nodes and 1 is calculated to obtain a ratio evaluation value of 0.2. According to the positive correlation between the ratio evaluation value of the number of vehicle nodes in different driving directions and the node number difference value, the node number difference value l=k1·d k2 + k3 = 5 × 0.2 1 +0=1 (k1, k2, k3 are calculation coefficients obtained by pre-training, in this embodiment, k1=5, k2=1, k3=0); obtain the requested traffic volume of vehicle nodes in different driving directions, calculate the requested traffic volume difference m=0.8 (normalized according to the preset traffic volume request threshold), and calculate the requested traffic volume difference value w=k4·m according to the positive correlation between the requested traffic volume difference and the requested traffic volume difference value k5 +k6=1.5×0.8 1 +0=1.2 (k4, k5, k6 are calculation coefficients obtained by prior training. In this embodiment, k4=1.5, k5=1, k6=0); the calculation coefficients obtained by prior training are o10=0.7, o11=1, o12=0.3, o13=1, and the difference value of the time slot weights in different driving directions is calculated as p=o10·l o11 +o12·wo13 =0.7×1+0.3×1.2=1.06. In another preferred embodiment, the time slot weight difference value p of different driving directions is calculated as follows: o15 ·w o16 +o17, where o14, o15 (o15>0), o16 (o16>0), and o17 are calculation coefficients obtained by prior training. In this embodiment, the number of vehicle nodes in different driving directions is obtained and the ratio of the number is calculated to be 0.8, and the absolute value of the difference between the ratio of the number of nodes and 1 is calculated to obtain a ratio evaluation value of 0.2. According to the positive correlation between the ratio evaluation value of the number of vehicle nodes in different driving directions and the node number difference value, the node number difference value l=k1·d k2 + k3 = 5 × 0.2 1 +0=1 (k1, k2, k3 are calculation coefficients obtained by pre-training, in this embodiment, k1=5, k2=1, k3=0); obtain the requested traffic volume of vehicle nodes in different driving directions, calculate the requested traffic volume difference m=0.8 (normalized according to the preset traffic volume request threshold), and calculate the requested traffic volume difference value w=k4·m according to the positive correlation between the requested traffic volume difference and the requested traffic volume difference value k5 +k6=1.5×0.8 1 +0=1.2 (k4, k5, k6 are calculation coefficients obtained by prior training. In this embodiment, k4=1.5, k5=1, k6=0); the calculation coefficients obtained by prior training are o14=0.9, o15=1, o16=1, o17=0, and the difference value of the time slot weights in different driving directions is calculated as p=o14·l o15 ·w o16 +o17=0.9×1×1.2+0=1.08.

[0093] Embodiment A5: Calculate the difference values ​​of time slot weights for different driving directions according to the difference values ​​of the number of nodes and the difference values ​​of access frequencies.

[0094] The time slot weight difference value p of different driving directions is calculated based on the positive correlation between the node quantity difference value l and the access frequency difference value r and the time slot weight difference value of different driving directions. In a preferred implementation, the time slot weight difference value p of different driving directions is calculated as follows: o19 +o20·r o21 , where o18, o19 (o19>0), o20, o21 (o21>0) are the calculation coefficients obtained by prior training. In this embodiment, the number of vehicle nodes in different driving directions is obtained and the ratio of the number is calculated to be 0.8, and the absolute value of the difference between the ratio of the number of nodes and 1 is calculated to obtain a ratio evaluation value of 0.2. According to the positive correlation between the ratio evaluation value of the number of vehicle nodes in different driving directions and the node number difference value, the node number difference value l=k1·d k2+ k3 = 5 × 0.2 1 +0=1 (k1, k2, k3 are calculation coefficients obtained by pre-training, in this embodiment, k1=5, k2=1, k3=0); obtain the vehicle node access frequency in different driving directions within a certain time period, calculate the node access frequency difference n=0.4 (normalized according to the preset access frequency threshold), and calculate the access frequency difference value r=k7·n according to the positive correlation between the node access frequency difference and the access frequency difference value k8 +k9=2×0.4+0=0.8 (k7, k8, k9 are calculation coefficients obtained by prior training. In this embodiment, k7=2, k8=1, k9=0); the calculation coefficients obtained by prior training are o18=0.8, o19=1, o20=0.2, o21=1, and the difference value of the time slot weights in different driving directions is calculated as p=o18·l o19 +o20·r o21 =0.8×1+0.2×0.8=0.96. In another preferred embodiment, the time slot weight difference value p of different driving directions is calculated as follows: o23 ·r o23 +o25, where o22, o23 (o23>0), o24 (o24>0), and o25 are calculation coefficients obtained by prior training. In this embodiment, the number of vehicle nodes in different driving directions is obtained and the ratio of the number is calculated to be 0.8, and the absolute value of the difference between the ratio of the number of nodes and 1 is calculated to obtain a ratio evaluation value of 0.2. According to the positive correlation between the ratio evaluation value of the number of vehicle nodes in different driving directions and the node number difference value, the node number difference value l=k1·d k2 + k3 = 5 × 0.2 1 +0=1 (k1, k2, k3 are calculation coefficients obtained by pre-training, in this embodiment, k1=5, k2=1, k3=0); obtain the vehicle node access frequency in different driving directions within a certain time period, calculate the node access frequency difference n=0.4 (normalized according to the preset access frequency threshold), and calculate the access frequency difference value r=k7·n according to the positive correlation between the node access frequency difference and the access frequency difference value k8 +k9=2×0.4+0=0.8 (k7, k8, k9 are calculation coefficients obtained by prior training. In this embodiment, k7=2, k8=1, k9=0); the calculation coefficients obtained by prior training are o22=1.2, o23=1, o24=1, o25=0, and the difference value of time slot weights in different driving directions is calculated as p=o22·l o23 ·r o23 +o25=1.2×1×0.8+0=0.96.

[0095] Embodiment A6: Calculate the difference value of time slot weights for different driving directions according to the difference value of requested traffic volume and the difference value of access frequency.

[0096] The time slot weight difference value p of different driving directions is calculated based on the positive correlation between the request traffic volume difference value w and the access frequency difference value r and the time slot weight difference value of different driving directions. In a preferred implementation, the time slot weight difference value p of different driving directions is calculated as follows: o27 +o28·r o29 , where o26, o27 (o27>0), o28, o29 (o29>0) are calculation coefficients obtained by prior training. In this embodiment, the traffic volume requested by vehicle nodes in different driving directions is obtained, and the difference in requested traffic volume m=0.8 is calculated (normalized according to the preset traffic volume request threshold), and the difference in requested traffic volume w=k4·m is calculated according to the positive correlation between the difference in requested traffic volume and the difference in requested traffic volume. k5 +k6=1.5×0.8 1 +0=1.2 (k4, k5, k6 are calculation coefficients obtained by pre-training, in this embodiment, k4=1.5, k5=1, k6=0); obtain the vehicle node access frequency in different driving directions within a certain time period, calculate the node access frequency difference n=0.4 (normalized according to the preset access frequency threshold), and calculate the access frequency difference value r=k7·n according to the positive correlation between the node access frequency difference and the access frequency difference value k8 + k9 = 2 × 0.4 + 0 = 0.8 (k7, k8, k9 are calculation coefficients obtained by prior training. In this embodiment, k7 = 2, k8 = 1, k9 = 0); the calculation coefficients obtained by prior training are o26 = 0.7, o27 = 1, o28 = 0.3, o29 = 1, and the difference value of the time slot weights for different driving directions is calculated as p = o26·w o27 +o28·r o29 =0.7×1.2+0.3×0.8=1.08. In another preferred embodiment, the time slot weight difference value p of different driving directions is calculated as p=o30·w o31 ·r o32 +o33, where o30, o31 (o31>0), o32 (o32>0), and o33 are calculation coefficients obtained by prior training. In this embodiment, the traffic volume requested by vehicle nodes in different driving directions is obtained, and the difference in the requested traffic volume is calculated as m=0.8 (normalized according to the preset traffic volume request threshold), and the difference in the requested traffic volume is calculated as w=k4·m according to the positive correlation between the difference in the requested traffic volume and the difference in the requested traffic volume. k5 +k6=1.5×0.8 1+0=1.2 (k4, k5, k6 are calculation coefficients obtained by pre-training, in this embodiment, k4=1.5, k5=1, k6=0); obtain the vehicle node access frequency in different driving directions within a certain time period, calculate the node access frequency difference n=0.4 (normalized according to the preset access frequency threshold), and calculate the access frequency difference value r=k7·n according to the positive correlation between the node access frequency difference and the access frequency difference value k8 + k9 = 2 × 0.4 + 0 = 0.8 (k7, k8, k9 are calculation coefficients obtained by prior training. In this embodiment, k7 = 2, k8 = 1, k9 = 0); the calculation coefficients obtained by prior training are o30 = 1.1, o31 = 1, o32 = 1, o33 = 0, and the difference value of the time slot weights for different driving directions is calculated as p = o30·w o31 ·r o32 +o33=1.1×1.2×0.8+0=1.056.

[0097] Embodiment A7: Calculate the difference value of time slot weights for different driving directions according to the difference value of the number of nodes, the difference value of the requested traffic volume and the difference value of the access frequency.

[0098] The time slot weight difference value p of different driving directions is calculated based on the positive correlation between the node quantity difference value l, the request traffic volume difference value w, the access frequency difference value r and the time slot weight difference value of different driving directions. In a preferred implementation, the time slot weight difference value p of different driving directions is calculated as follows: o35 +o36·w o37 +o38·r o39 , where o34, o35 (o35>0), o36, o37 (o37>0), o38, o39 (o39>0) are calculation coefficients obtained by prior training. In this embodiment, the ratio of the number of vehicle nodes in different driving directions is obtained and calculated as 0.8, and the absolute value of the difference between the ratio of the number of nodes and 1 is calculated to obtain a ratio evaluation value of 0.2. According to the positive correlation between the ratio evaluation value of the number of vehicle nodes in different driving directions and the node number difference value, the node number difference value l=k1·d k2 + k3 = 5 × 0.2 1 +0=1 (k1, k2, k3 are calculation coefficients obtained by pre-training, in this embodiment, k1=5, k2=1, k3=0); obtain the requested traffic volume of vehicle nodes in different driving directions, calculate the requested traffic volume difference m=0.8 (normalized according to the preset traffic volume request threshold), and calculate the requested traffic volume difference value w=k4·m according to the positive correlation between the requested traffic volume difference and the requested traffic volume difference value k5 +k6=1.5×0.8 1+0=1.2 (k4, k5, k6 are calculation coefficients obtained by pre-training, in this embodiment, k4=1.5, k5=1, k6=0); obtain the vehicle node access frequency in different driving directions within a certain time period, calculate the node access frequency difference n=0.4 (normalized according to the preset access frequency threshold), and calculate the access frequency difference value r=k7·n according to the positive correlation between the node access frequency difference and the access frequency difference value k8 + k9 = 2 × 0.4 + 0 = 0.8 (k7, k8, k9 are calculation coefficients obtained by prior training. In this embodiment, k7 = 2, k8 = 1, k9 = 0); the calculation coefficients obtained by prior training are o34 = 0.5, o35 = 1, o26 = 0.3, o27 = 1, o28 = 0.2, o29 = 1, and the difference value of the time slot weights in different driving directions is calculated as p = o34·l o35 +o36·w o37 +o38·r o39 =0.5×1+0.3×1.2+0.2×0.8=1.02. In another preferred embodiment, the time slot weight difference value p of different driving directions is calculated as p=o40·l o41 ·w o42 ·r o43 +o44, where o40, o41 (o41>0), o42 (o42>0), o43 (o43>0), and o44 are calculation coefficients obtained by prior training. In this embodiment, the number of vehicle nodes in different driving directions is obtained and the ratio of the number is calculated to be 0.8, and the absolute value of the difference between the ratio of the number of nodes and 1 is calculated to obtain a ratio evaluation value of 0.2. According to the positive correlation between the ratio evaluation value of the number of vehicle nodes in different driving directions and the node number difference value, the node number difference value l=k1·d k2 + k3 = 5 × 0.2 1 +0=1 (k1, k2, k3 are calculation coefficients obtained by pre-training, in this embodiment, k1=5, k2=1, k3=0); obtain the requested traffic volume of vehicle nodes in different driving directions, calculate the requested traffic volume difference m=0.8 (normalized according to the preset traffic volume request threshold), and calculate the requested traffic volume difference value w=k4·m according to the positive correlation between the requested traffic volume difference and the requested traffic volume difference value k5 +k6=1.5×0.8 1 +0=1.2 (k4, k5, k6 are calculation coefficients obtained by pre-training, in this embodiment, k4=1.5, k5=1, k6=0); obtain the vehicle node access frequency in different driving directions within a certain time period, calculate the node access frequency difference n=0.4 (normalized according to the preset access frequency threshold), and calculate the access frequency difference value r=k7·n according to the positive correlation between the node access frequency difference and the access frequency difference value k8+k9=2×0.4+0=0.8 (k7, k8, k9 are calculation coefficients obtained by prior training. In this embodiment, k7=2, k8=1, k9=0); the calculation coefficients obtained by prior training are o40=1, o41=1, o42=1, o43=1, o44=0, and the difference value of time slot weights in different driving directions is calculated as p=o40·l o41 ·w o42 ·r o43 +o44=1×1×1.2×0.8+0=0.96.

[0099] In step S045, the time slot allocation ratio, i.e., the occupancy ratio of the data service channel, is determined according to the relationship between the time slot weight difference value of different driving directions calculated by the method described in any one of the embodiments A1 to A7 and the preset multi-level threshold. In this embodiment, there are 5 data service channels in total, and the preset multi-level threshold is 0.9 for the first level threshold and 0.6 for the second level threshold; if the time slot weight difference value of different driving directions p≥0.9, the occupancy ratio of the data service channel is 5:0 or 0:5; if the time slot weight difference value of different driving directions 0.6≤p<0.9, the occupancy ratio of the data service channel is 4:1 or 1:4; if the time slot weight difference value of different driving directions p<0.6, the occupancy ratio of the data service channel is 3:2 or 2:3.

[0100] In a preferred embodiment, step S04' is also included: when a vehicle node occupying a time slot enters the communication range only in a single driving direction, the time slot allocated to the entering vehicle node is calculated based on the vehicle node density and / or service request volume and / or service waiting delay within the coverage area of ​​the roadside unit.

[0101] The time slot allocated to the incoming vehicle node is calculated based on the vehicle node density and / or business request volume and / or service waiting delay within the coverage area of ​​the roadside unit. The flow chart is as follows Figure 6 As shown, the steps include:

[0102] Step S04'1, calculating the regional vehicle flow assessment value according to the vehicle node density within the coverage area of ​​the roadside unit;

[0103] Step S04'2, calculating the regional traffic volume assessment value according to the traffic request volume and / or the change value of the traffic request volume within the coverage area of ​​the roadside unit;

[0104] Step S04'3, calculating the regional service delay evaluation value according to the average service waiting delay or the maximum service waiting delay within the coverage area of ​​the roadside unit;

[0105] Step S04'4, calculating the regional business busyness evaluation value according to the regional vehicle flow evaluation value and / or the regional business volume evaluation value and / or the regional service delay evaluation value;

[0106] Step S04'5: Calculate the time slot allocated to the incoming vehicle node according to the regional business busyness evaluation value and the preset data service channel.

[0107] In this embodiment, the regional traffic flow evaluation value is calculated according to the vehicle node density within the coverage area of ​​the roadside unit, and the regional traffic flow evaluation value is calculated according to the positive correlation between the vehicle node density within the coverage area of ​​the roadside unit and the regional traffic flow evaluation value, and the regional traffic flow evaluation value is represented by the variable s;

[0108] The calculating of the regional traffic volume assessment value according to the traffic request volume and / or the change value of the traffic request volume within the coverage area of ​​the roadside unit is to calculate the regional traffic volume assessment value according to the positive correlation between the traffic request volume within the coverage area of ​​the roadside unit and the regional traffic volume assessment value, to calculate the regional traffic volume assessment value according to the positive correlation between the change value of the traffic request volume within the coverage area of ​​the roadside unit (any one of the average change value, the maximum change value or the minimum change value within a certain period of time) and the regional traffic volume assessment value, or to calculate any one of the regional traffic volume assessment values ​​according to the positive correlation between the traffic request volume within the coverage area of ​​the roadside unit and the change value of the traffic request volume within the coverage area of ​​the roadside unit and the regional traffic volume assessment value, wherein the regional traffic volume assessment value is represented by a variable c;

[0109] The method of calculating the regional service delay evaluation value based on the average service waiting delay or the maximum service waiting delay within the coverage area of ​​the roadside unit is to calculate the regional service delay evaluation value based on the positive correlation between the average service waiting delay or the maximum service waiting delay within the coverage area of ​​the roadside unit and the regional service delay evaluation value, and the regional service delay evaluation value is represented by the variable f.

[0110] The regional business busyness assessment value calculated based on the regional vehicle flow assessment value and / or the regional business volume assessment value and / or the regional service delay assessment value is calculated based on the positive correlation between the regional business busyness assessment value and the regional vehicle flow assessment value and / or the regional business volume assessment value and / or the regional service delay assessment value, and the regional business busyness assessment value is represented by the variable y.

[0111] Examples B1 to B7 represent different implementations of calculating the regional business busyness evaluation value.

[0112] Embodiment B1: Calculate the regional business busyness evaluation value based on the regional traffic flow evaluation value.

[0113] Specifically, the regional traffic flow assessment value is calculated based on the positive correlation between the vehicle node density within the coverage area of ​​the roadside unit and the regional traffic flow assessment value, represented by the variable s; the regional business busyness assessment value y is calculated based on the positive correlation between the regional traffic flow assessment value s and the regional business busyness assessment value. In a preferred implementation, the regional business busyness assessment value y is calculated as g1·sg2 +g3, where g1, g2 (g1·g2>0), and g3 are calculation coefficients obtained by prior training. In this embodiment, the vehicle node density within the coverage area of ​​the roadside unit is obtained as 1 (vehicle / square meter), and the regional vehicle flow evaluation value s=0.9×1=0.9 (where 0.9 is the calculation coefficient obtained by prior training) is calculated based on the positive correlation between the vehicle node density within the coverage area of ​​the roadside unit and the regional vehicle flow evaluation value. The calculation coefficients obtained by prior training are g1=1, g2=1, and g3=0, and the regional business busyness evaluation value y=g1·s g2 +g3=1×0.9+0=0.9.

[0114] Embodiment B2: Calculate the regional business busyness evaluation value according to the regional business volume evaluation value.

[0115] Specifically, the regional traffic volume evaluation value is calculated based on the positive correlation between the traffic request volume and / or the change value of the traffic request volume within the coverage area of ​​the roadside unit and the regional traffic volume evaluation value, represented by variable c; the regional traffic busyness evaluation value y is calculated based on the positive correlation between the regional traffic volume evaluation value c and the regional traffic busyness evaluation value. In a preferred implementation, the regional traffic busyness evaluation value y is calculated as follows: g5 +g6, where g4, g5 (g4·g5>0), and g6 are calculation coefficients obtained by prior training. In this embodiment, the amount of service requests within the coverage area of ​​the roadside unit in a certain time period is obtained as 6, and the regional service volume evaluation value c=0.2×6=1.2 (where 0.2 is the calculation coefficient obtained by prior training) is calculated based on the positive correlation between the service request amount within the coverage area of ​​the roadside unit and the regional service volume evaluation value. The calculation coefficients obtained by prior training are g4=0.8, g5=1, and g6=0, and the regional service busyness evaluation value y=g4·c g5 +g6=0.8×1.2+0=0.96.

[0116] Embodiment B3: Calculate the regional business busyness evaluation value according to the regional service delay evaluation value.

[0117] Specifically, the regional service delay evaluation value is calculated based on the positive correlation between the average service waiting delay or the maximum service waiting delay within the coverage area of ​​the roadside unit and the regional service delay evaluation value, represented by the variable f; the regional service busyness evaluation value y is calculated based on the positive correlation between the regional service delay evaluation value f and the regional service busyness evaluation value. In a preferred implementation, the regional service busyness evaluation value y is calculated as g7·f g8+g9, where g7, g8 (g7·g8<0), and g9 are calculation coefficients obtained by prior training. In this embodiment, the average service waiting delay within the coverage area of ​​the roadside unit within a certain period of time is obtained as 2 seconds. According to the positive correlation between the average service waiting delay and the regional service delay evaluation value, the regional service delay evaluation value f=0.4×2=0.8 (where 0.4 is the calculation coefficient obtained by prior training) is calculated. The calculation coefficients obtained by prior training are g7=1, g8=1, and g9=0. The regional service busyness evaluation value y=g7·f is calculated. g8 +g9=1×0.8 1 +0=0.8.

[0118] Embodiment B4: Calculate the regional business busyness evaluation value based on the regional vehicle flow evaluation value and the regional business volume evaluation value.

[0119] Specifically, the regional business busyness evaluation value y is calculated according to the positive correlation between the regional vehicle flow evaluation value s and the regional business volume evaluation value c and the regional business busyness evaluation value. In a preferred implementation, the regional business busyness evaluation value y is calculated as follows: g11 +g12·c g13 , where g10, g11 (g11>0), g12, g13 (g13>0) are calculation coefficients obtained by prior training. In this embodiment, the vehicle node density within the coverage area of ​​the roadside unit is obtained as 1 (vehicle / square meter), and the regional vehicle flow evaluation value s=0.9×1=0.9 (where 0.9 is a calculation coefficient obtained by prior training) is calculated based on the positive correlation between the vehicle node density within the coverage area of ​​the roadside unit and the regional vehicle flow evaluation value; the business request volume within a certain time period within the coverage area of ​​the roadside unit is obtained as 6, and the regional business volume evaluation value c=0.2×6=1.2 (where 0.2 is a calculation coefficient obtained by prior training) is calculated based on the positive correlation between the business request volume within the coverage area of ​​the roadside unit and the regional business volume evaluation value; the calculation coefficients obtained by prior training are g10=0.7, g11=1, g12=0.25, g13=1, and the regional business busyness evaluation value y=g10·s g11 +g12·c g13 +g14=0.7×0.9+0.25×1.2=0.93. In another preferred embodiment, the regional business busyness evaluation value y is calculated as follows: g15 ·c g16 +g17, where g14, g15 (g15>0), g16 (g16>0), and g17 are calculation coefficients obtained through prior training.

[0120] Embodiment B5: Calculate the regional business busyness evaluation value based on the regional vehicle flow evaluation value and the regional service delay evaluation value.

[0121] Specifically, the regional business busyness evaluation value y is calculated based on the positive correlation between the regional vehicle flow evaluation value s and the regional service delay evaluation value f and the regional business busyness evaluation value. In a preferred implementation, the regional business busyness evaluation value y is calculated as follows: g19 +g20·f g21 , where g18, g19 (g19>0), g20, g21 (g21>0) are calculation coefficients obtained by prior training. In this embodiment, the vehicle node density within the coverage area of ​​the roadside unit is obtained as 1 (vehicle / square meter), and the regional vehicle flow evaluation value s=0.9×1=0.9 (where 0.9 is a calculation coefficient obtained by prior training) is calculated based on the positive correlation between the vehicle node density within the coverage area of ​​the roadside unit and the regional vehicle flow evaluation value; the average service waiting delay within a certain period of time within the coverage area of ​​the roadside unit is obtained as 2 seconds, and the regional service delay evaluation value f=0.4×2=0.8 (where 0.4 is a calculation coefficient obtained by prior training) is calculated based on the positive correlation between the average service waiting delay and the regional service delay evaluation value; the calculation coefficients g18=0.8, g19=1, g20=0.2, g21=1 obtained by prior training, and the regional business busyness evaluation value y=g18·s is calculated. g19 +g20·f g21 =0.8×0.9+0.2×0.8=0.88. In another preferred embodiment, the regional business busyness evaluation value y is calculated as y=g22·s g23 ·f g24 +g25, where g22, g23 (g23>0), g24 (g24>0), and g25 are calculation coefficients obtained through prior training.

[0122] Embodiment B6: Calculate the regional service busyness evaluation value according to the regional service volume evaluation value and the regional service delay evaluation value.

[0123] Specifically, the regional service busyness evaluation value y is calculated according to the positive correlation between the regional service volume evaluation value c, the regional service delay evaluation value f and the regional service busyness evaluation value. In a preferred implementation, the regional service busyness evaluation value y is calculated as follows: g27 +g28·f g29, where g26, g27 (g27>0), g28, g29 (g29>0) are calculation coefficients obtained by prior training. In this embodiment, the amount of service requests within the coverage area of ​​the roadside unit in a certain time period is obtained as 6, and the regional service volume evaluation value c=0.2×6=1.2 (where 0.2 is a calculation coefficient obtained by prior training) is calculated based on the positive correlation between the amount of service requests within the coverage area of ​​the roadside unit and the regional service volume evaluation value; the average service waiting delay within the coverage area of ​​the roadside unit in a certain period of time is obtained as 2 seconds, and the regional service delay evaluation value f=0.4×2=0.8 (where 0.4 is a calculation coefficient obtained by prior training) is calculated based on the positive correlation between the average service waiting delay and the regional service delay evaluation value; the calculation coefficients g26=0.4, g27=1, g28=0.6, g29=1 obtained by prior training, and the regional service busyness evaluation value y=g26·s is calculated. g27 +g28·f g29 =0.4×1.2+0.6×0.8=0.96. In another preferred embodiment, the regional business busyness evaluation value y is calculated as g30·s g31 ·f g32 +g33, where g30, g31 (g31>0), g32 (g32>0), and g33 are calculation coefficients obtained through prior training.

[0124] Embodiment B7: Calculate the regional business busyness evaluation value based on the regional vehicle flow evaluation value, the regional business volume evaluation value and the regional service delay evaluation value.

[0125] Specifically, the regional business busyness evaluation value y is calculated based on the positive correlation between the regional vehicle flow evaluation value s, the regional business volume evaluation value c, the regional service delay evaluation value f and the regional business busyness evaluation value. In a preferred implementation, the regional business busyness evaluation value y is calculated as follows: g35 +g36·c g37 +g38·f g39, where g34, g35 (g35>0), g36, g37 (g37>0), g38, g39 (g39>0) are calculation coefficients obtained by prior training. In this embodiment, the vehicle node density within the coverage area of ​​the roadside unit is obtained as 1 (vehicle / square meter), and the regional vehicle flow evaluation value s=0.9×1=0.9 (where 0.9 is a calculation coefficient obtained by prior training) is calculated based on the positive correlation between the vehicle node density within the coverage area of ​​the roadside unit and the regional vehicle flow evaluation value; the business request volume within the coverage area of ​​the roadside unit in a certain time period is obtained as 6, and the regional business volume evaluation value c=0.2×6=1.2 (where 0 .2 is the calculation coefficient obtained by prior training); the average service waiting delay within the coverage area of ​​the roadside unit within a certain period of time is obtained as 2 seconds, and the regional service delay evaluation value f=0.4×2=0.8 is calculated based on the positive correlation between the average service waiting delay and the regional service delay evaluation value (where 0.4 is the calculation coefficient obtained by prior training); the calculation coefficients obtained by prior training are g34=0.5, g35=1, g26=0.2, g27=1, g28=0.3, g29=1, and the regional business busyness evaluation value y=g34·s g35 +g36·c g37 +g38·f g39 =0.5×0.9+0.2×1.2+0.3×0.8=0.93. In another preferred embodiment, the regional business busyness evaluation value y is calculated as g40·s g41 ·c g42 ·f g43 +g44, where g40, g41 (g41>0), g42 (g42>0), g43 (g43>0), and g44 are calculation coefficients obtained through prior training.

[0126] The time slot allocated to the incoming vehicle node is calculated based on the regional business busyness evaluation value y calculated according to any one of embodiments B1 to B7 and the preset threshold range. In this embodiment, there are 5 preset data service channel time slots. If the regional business busyness evaluation value y<0.2, all time slots are allocated to the incoming vehicle node; if the regional business busyness evaluation value is 0.2≤y<0.4, 4 time slots are allocated to the incoming vehicle node, and the remaining 1 time slot is marked as idle, and the corresponding time slot of the control channel is reserved for reservation by other vehicle nodes; if the regional business busyness evaluation value is 0.4≤y<0.6, 3 time slots are allocated to the incoming vehicle node, and the remaining 2 time slots are marked as idle; if the regional business busyness evaluation value is 0.6≤y<0.8, 2 time slots are allocated to the incoming vehicle node, and the remaining 3 time slots are marked as idle; if the regional business busyness evaluation value is 0.8≤y<1, 1 time slot is allocated to the incoming vehicle node, and the remaining 4 time slots are marked as idle; if the regional business busyness evaluation value y≥1, no time slot is allocated to the incoming vehicle node.

[0127] In a preferred embodiment, the roadside unit sends confirmation information to the corresponding time slot of the vehicle node according to the time slot allocation ratio. The roadside unit determines the time slot allocated to the vehicle node according to the preset data service channel and the time slot allocation ratio and sends confirmation information to the corresponding time slot of the vehicle node, that is, the vehicle node successfully reserves the channel time slot. In this embodiment, taking the occupancy ratio of the data service channel as 3:2 as an example, the confirmation information is sent to the vehicle node on CCH1 [S N ,S N ,S N ,X,X], allocate the corresponding time slots in SCH1, 2, and 3 to the node, and send confirmation information [X,X,S N ,S N ,S N ], allocate the corresponding time slots in SCH4 and 5 to the incoming vehicle node.

[0128] After receiving the time slot confirmation information from the roadside unit, the vehicle node exchanges data with the roadside unit in the corresponding channel time slot. Figure 7The time slot scheduling diagram of this embodiment shown in the figure shows that the upper left corner is the initial moment. The forward-moving vehicle V1 passes RSU1 and reserves a time slot on the control channel CCH1. Since no other vehicle occupies the time slot on CCH2 at this time, RSU1 allocates the corresponding time slots of the data service channels SCH1-5 to the vehicle node V1. Similarly, the lower right corner shows that the reverse-moving vehicle passes RSU2 and also occupies the same time slot. At this time, the two vehicles are not within the communication range and there is no conflict. When a vehicle enters the repeated coverage area of ​​the roadside unit, the roadside unit monitors that the same time slot on the control channel is reserved by different vehicle nodes, as shown in the middle part. At this time, the roadside unit that monitors the two vehicle nodes performs time slot scheduling and allocates the data service channels SCH1-5 to the two vehicles for use. When the two vehicle nodes move out of the communication range, the roadside unit monitors the control channel again and there is no conflict, and reallocates the idle time slot. If the time slot resources are tight at this time (as shown in the lower left corner) and other time slots are occupied, the idle time slot is reserved for the new node. If the time slot resources are sufficient (as shown in the upper right corner), the idle node is restored to the original node for use.

[0129] A computer-readable storage medium according to an embodiment of the present invention stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute a method according to any one of the above embodiments.

[0130] A multi-channel time slot scheduling system in a V2X repeated coverage scenario according to an embodiment of the present invention, the structural diagram is as follows Figure 8 As shown, including:

[0131] Vehicle node;

[0132] Roadside Unit;

[0133] as well as

[0134] One or more programs, wherein the one or more programs are stored in a memory and configured to be executed by the roadside unit, and the programs enable a computer to execute the method described in the above embodiment.

[0135] Of course, those skilled in the art should realize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the scope of the present invention, any changes or modifications to the above embodiments will fall within the protection scope of the present invention.

Claims

1. A multi-channel time slot scheduling method in a V2X repeated coverage scenario, characterized in that: include: The roadside unit allocates control channels to vehicle nodes traveling on the two-way lanes; Monitor the time slot information of the control channel and mark the idle time slots and occupied time slots; determining the occupancy of the occupied time slots according to the monitoring information on the two control channels; Calculate the time slot allocation ratio according to the number of vehicle nodes in different driving directions and / or the requested traffic volume and / or the access frequency; The roadside unit sends confirmation information to the corresponding time slot of the vehicle node according to the time slot allocation ratio.

2. The multi-channel time slot scheduling method in the V2X repeated coverage scenario according to claim 1 is characterized in that: The roadside unit allocates the control channel to the vehicle nodes traveling on the two-way lane, including: The roadside unit divides the channels in the frequency band into two control channels and multiple data service channels. The two control channels are recorded as channel CCH1 and channel CCH2. The roadside unit allocates two control channels CCH1 and CCH2 to vehicle nodes traveling on the two-way lanes respectively; The roadside unit exchanges data with the vehicle node on the corresponding control channel and performs time slot scheduling.

3. The multi-channel time slot scheduling method in the V2X repeated coverage scenario according to claim 2 is characterized in that: The monitoring of the time slot information of the control channel and marking the idle time slots and the occupied time slots includes: The roadside unit monitors the time slot information of the control channels CCH1 and CCH2; If no information is received in a time slot or an error is received in the same control channel time slot, the time slot is determined to be an idle time slot and marked as idle in each data service channel; If correct information is received in a time slot, the time slot is determined to be an occupied time slot, and the time slot is marked as occupied in each data service channel.

4. The multi-channel time slot scheduling method in the V2X repeated coverage scenario according to claim 3 is characterized in that: The occupation status of the occupied time slot includes any one or a combination of the number of vehicle nodes received in the same time slot or different time slots on the control channels CCH1 and CCH2, the requested traffic volume of the vehicle nodes, and the access frequency of the vehicle nodes.

5. The multi-channel time slot scheduling method in the V2X repeated coverage scenario according to claim 1 is characterized in that: The calculating of the time slot allocation ratio according to the number of vehicle nodes in different driving directions and / or the requested traffic volume and / or the access frequency comprises: Calculate the node quantity difference value according to the difference or ratio of the number of vehicle nodes in different driving directions; According to the difference or ratio of the traffic volume requested by the vehicle nodes in different driving directions, or the difference value of the traffic volume requested is calculated; Calculate the access frequency difference value according to the difference or ratio of the access frequencies of vehicle nodes in different driving directions; Calculate the difference value of time slot weights for different driving directions according to the difference value of node quantity and / or the difference value of requested traffic volume and / or the difference value of access frequency; The time slot allocation ratio, that is, the occupancy ratio of the data service channel, is calculated based on the time slot weight difference values ​​of different driving directions and the control channel time slot.

6. The multi-channel time slot scheduling method in the V2X repeated coverage scenario according to claim 4 is characterized in that: It also includes the following steps: when a vehicle node occupying a time slot enters the communication range only in a single driving direction, the time slot allocated to the entering vehicle node is calculated based on the vehicle node density and / or the service request volume and / or the service waiting delay within the coverage area of ​​the roadside unit.

7. The multi-channel time slot scheduling method in the V2X repeated coverage scenario according to claim 6 is characterized in that: The calculating of the time slot allocated to the incoming vehicle node according to the vehicle node density and / or the service request amount and / or the service waiting delay within the coverage area of ​​the roadside unit includes: Calculate the regional traffic flow assessment value based on the vehicle node density within the coverage area of ​​the roadside unit; Calculate the regional traffic volume assessment value according to the traffic request volume and / or the change value of the traffic request volume within the coverage area of ​​the roadside unit; Calculate the regional service delay evaluation value according to the average service waiting delay or the maximum service waiting delay within the coverage area of ​​the roadside unit; Calculate the regional business busyness assessment value according to the regional traffic flow assessment value and / or the regional business volume assessment value and / or the regional service delay assessment value; The time slot allocated to the incoming vehicle node is calculated based on the regional business busyness assessment value and the preset data service channel.

8. The multi-channel time slot scheduling method in the V2X repeated coverage scenario according to claim 5, characterized in that: The roadside unit sends confirmation information to the corresponding time slot of the vehicle node according to the time slot allocation ratio. The roadside unit determines the time slot allocated to the vehicle node according to the preset data service channel and time slot allocation ratio and sends confirmation information to the corresponding time slot of the vehicle node, that is, the vehicle node successfully reserves the channel time slot.

9. A computer-readable storage medium storing a computer program for electronic data exchange, wherein: The computer program enables a computer to execute the method according to any one of claims 1 to 8.

10. A multi-channel time slot scheduling system in a V2X repeated coverage scenario, characterized in that include: Vehicle node; Roadside Unit; as well as One or more programs, wherein the one or more programs are stored in a memory and configured to be executed by the roadside unit, the programs causing a computer to execute the method according to any one of claims 1-8.

Images