Vehicle-mounted network security message distribution method and electronic equipment

Abstract

The invention provides a vehicle-mounted network security message distribution method based on physical channel quality and electronic equipment, and the method comprises the steps: obtaining at least one candidate forwarding vehicle information set based on the position of a transmitting end, the candidate forwarding vehicle information set comprising at least one piece of vehicle information; based on message signals periodically exchanged between the sending end and a plurality of receiving ends, determining signal power loss for exchanging messages, the receiving ends being vehicles indicated by the vehicle information, and the signal power loss including power loss and path loss caused by obstacles; based on the signal power loss and the signal fading distribution model, respectively determining channel connection probabilities between the sending end and the plurality of receiving ends; determining a vehicle priority queue corresponding to each candidate forwarding vehicle information set based on the channel connection probability between the sending end and the plurality of receiving ends; and the sending end sequentially distributes the security messages to the plurality of receiving ends based on the vehicle priority queue.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology and can be applied to the field of vehicular networks. More specifically, it relates to a method for distributing secure messages in a vehicular network based on physical channel quality. Background Art

[0002] A large number of applications in Vehicular Ad-hoc NETwork (VANET) rely on Vehicle to Vehicle (V2V) communication. These applications include safety information distribution, traffic management, and entertainment, etc. According to whether the network forms a cluster, the existing secure message distribution methods in the Dedicated Short Range Communication (DSRC) band can be divided into cluster-based and non-cluster-based methods. In the non-cluster-based methods, according to whether the forwarding decision is made at the receiver or the sender, the secure message distribution method can be further divided into receiver-oriented methods and sender-oriented methods. In the receiver-oriented methods, when Candidate Forwarders (CFs) receive messages from the current forwarder, they will competitively forward the messages in a distributed manner. However, in the sender-oriented methods, the current CF globally assigns the forwarding priorities of the CFs. After receiving the broadcast packet, the CF broadcasts the message according to a predefined decision sorting, thus greatly reducing the message collision between CFs.

[0003] However, the existing sender-oriented secure message distribution methods only consider factors such as the average physical channel quality between vehicles at the distance scale between vehicles, and cannot reflect the real physical channel quality in the actual scenario, and the distribution delay of secure messages is relatively high. Summary of the Invention

[0004] In view of this, the present disclosure provides a method for distributing secure messages in a vehicular network based on physical channel quality and an electronic device, which can reduce the distribution delay of secure messages.

[0005] One aspect of the present disclosure provides a method for distributing secure messages in a vehicular network based on physical channel quality, including: obtaining at least one set of candidate forwarding vehicle information based on the location of a sending end, where the set of candidate forwarding vehicle information includes at least one vehicle information; determining a signal power loss for exchanging messages based on message signals periodically exchanged between the sending end and multiple receiving ends, where the receiving ends are the vehicles indicated by the vehicle information, and the signal power loss includes the power loss caused by obstacles and path loss; determining the channel connection probabilities between the sending end and the multiple receiving ends respectively based on the signal power loss and the signal fading distribution model; determining a vehicle priority queue corresponding to each set of candidate forwarding vehicle information based on the channel connection probabilities between the sending end and the multiple receiving ends; and the sending end distributing secure messages to the multiple receiving ends in sequence based on the vehicle priority queue.

[0006] According to an embodiment of the present disclosure, the power loss caused by obstacles includes static loss caused by static obstacles and dynamic loss caused by dynamic obstacles. The method further includes: determining the static loss based on the number of times the message signal intersects with static obstacles, where the number of times is determined based on the message signal and the vehicle-mounted map of the sending end; determining the dynamic loss based on the physical contour of the dynamic obstacle; and the physical contour of the dynamic obstacle is determined based on the vehicle shape feature information in the message signal.

[0007] According to an embodiment of the present disclosure, determining the channel connection probability between the sending end and the receiving end based on the signal power loss and the signal fading distribution model includes: determining the received power of the message signal at the receiving end based on the signal power loss; and determining the respective channel connection probabilities between the sending end and the receiving end based on the received power of the signal at the receiving end, the signal fading distribution model, and the fading parameter, where the fading parameter represents the degree of signal fading.

[0008] According to an embodiment of the present disclosure, determining the vehicle priority queue corresponding to each set of candidate forwarding vehicle information based on the channel connection probabilities between the sending end and the multiple receiving ends includes: when the number of sets of candidate forwarding vehicle information is multiple, determining the average channel quality based on the channel connection probabilities between the sending end and the multiple receiving ends; and determining the vehicle priority queue corresponding to each set of candidate forwarding vehicle information when the average channel quality is greater than a preset threshold.

[0009] According to an embodiment of the present disclosure, the method further includes: when the average channel quality is less than the preset threshold, determining whether there is a roadside unit within the signal propagation range of the sending end based on the message signal; and when it is determined that there is a roadside unit, the sending end distributing the secure message to the roadside unit.

[0010] According to an embodiment of the present disclosure, when the number of candidate forwarding vehicle information sets is one, determining a vehicle priority queue corresponding to each candidate forwarding vehicle information set based on the channel connection probability between the sending end and the receiving end includes: obtaining the score of each receiving end based on the distance between the sending end and multiple receiving ends, the channel connection probability, and a preset weight coefficient; determining the vehicle priority queue corresponding to the candidate forwarding vehicle information set based on the order of the scores.

[0011] According to an embodiment of the present disclosure, the sending end sequentially distributes security messages to multiple receiving ends based on the vehicle priority queue, including: dividing the vehicle priority queue into multiple sections; enabling the receiving ends in the same section to compete for access to the channel, and enabling the receiving ends in different sections to access the channel in descending order according to the score range; and the sending end sequentially distributes security messages to the receiving ends based on the order in which the receiving ends access the channel.

[0012] According to an embodiment of the present disclosure, when the number of candidate forwarding vehicle information sets is multiple, determining vehicle priority queues corresponding to the multiple candidate forwarding vehicle information sets based on the channel connection probability between the sending end and the receiving end includes: obtaining the score of the receiving end based on the position of the receiving end, the channel connection probability between the sending end and the receiving end, and a preset weight coefficient; and obtaining vehicle priority queues corresponding to the multiple candidate forwarding vehicle information sets respectively based on the order of the scores for the multiple candidate forwarding vehicle information sets.

[0013] According to an embodiment of the present disclosure, the multiple vehicle priority queues include N vehicle priority queues; the sending end sequentially distributes security messages to multiple receiving ends based on the vehicle priority queue, including: dividing each vehicle priority queue into multiple sections from high to low according to the score range, and enabling the receiving ends in the multiple sections to access the channel in descending order according to the score range; wherein, for the odd sections of the vehicle priority queue, the receiving ends in the same section compete for access to the channel in the order of the first vehicle priority queue to the Nth vehicle priority queue; for the even sections of the vehicle priority queue, the receiving ends in the same section compete for access to the channel in the order of the Nth vehicle priority queue to the first vehicle priority queue; and the sending end sequentially distributes security messages to the receiving ends based on the order in which the receiving ends access the channel.

[0014] Another aspect of the present disclosure provides an electronic device, including: one or more processors; a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are caused to execute the above-mentioned vehicle network security message distribution method based on physical channel quality.

[0015] According to an embodiment of the present disclosure, when calculating the channel connection probability, not only the path loss is considered, but also the loss caused by obstacles and signal fading, that is, the shadow and fading effects of the signal, are considered, so as to obtain a more accurate channel connection probability, which can truly reflect the physical channel quality in the actual situation. Moreover, by distributing secure messages based on the more accurate physical channel probability, the delay of secure message distribution can be effectively reduced.

[0016] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Through the following description of the embodiments of the present disclosure with reference to the drawings, the above and other objects, features, and advantages of the present disclosure will become clearer. In the drawings:

[0018] Figure 1 Schematically shows an application scenario diagram of a vehicle-to-vehicle network secure message distribution method and an electronic device based on physical channel quality according to an embodiment of the present disclosure;

[0019] Figure 2 Schematically shows a flowchart of a vehicle-to-vehicle network secure message distribution method based on physical channel quality according to an embodiment of the present disclosure;

[0020] Figure 3 Schematically shows a message distribution sequence diagram according to an embodiment of the present disclosure;

[0021] Figure 4 Schematically shows a flowchart of a vehicle-to-vehicle network secure message distribution method based on physical channel quality according to another embodiment of the present disclosure;

[0022] Figure 5A Schematically shows an effect diagram according to an embodiment of the present disclosure;

[0023] Figure 5B Schematically shows an effect diagram according to another embodiment of the present disclosure;

[0024] Figure 5C Schematically shows an effect diagram according to another embodiment of the present disclosure;

[0025] Figure 5D Schematically shows an effect diagram according to another embodiment of the present disclosure;

[0026] Figure 5E Schematically shows an effect diagram according to another embodiment of the present disclosure;

[0027] Figure 5F Schematically shows an effect diagram according to another embodiment of the present disclosure; and

[0028] Figure 6 A block diagram of an electronic device suitable for implementing a vehicle network security message distribution method based on physical channel quality according to an embodiment of the present disclosure is schematically shown. Detailed implementation manners

[0029] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. In the following detailed description, for the sake of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present disclosure. However, it is obvious that one or more embodiments can be implemented without these specific details. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily obscuring the concepts of the present disclosure.

[0030] The terms used herein are merely for describing specific embodiments and are not intended to limit the present disclosure. The terms "including", "comprising" and the like used herein indicate the presence of the described features, steps, operations and / or components, but do not exclude the presence or addition of one or more other features, steps, operations or components.

[0031] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those of ordinary skill in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0032] In the case of using expressions such as "at least one of A, B, and C", generally, it should be interpreted according to the meaning commonly understood by those of ordinary skill in the art (for example, "a system having at least one of A, B, and C" should include, but not be limited to, a system having only A, only B, only C, having A and B, having A and C, having B and C, and / or having A, B, and C).

[0033] Embodiments of the present disclosure provide a method and an electronic device for distributing secure messages in a vehicular network based on physical channel quality. At least one set of candidate forwarding vehicle information is obtained based on the position of the sending end, and the set of candidate forwarding vehicle information includes at least one vehicle information. Based on the message signals periodically exchanged between the sending end and multiple receiving ends, the signal power loss for message exchange is determined, where the receiving end is the vehicle indicated by the vehicle information, and the signal power loss includes the power loss caused by obstacles and the path loss. Based on the signal power loss and the signal fading distribution model, the channel connection probabilities between the sending end and multiple receiving ends are respectively determined. Based on the channel connection probabilities between the sending end and multiple receiving ends, a vehicle priority queue corresponding to each set of candidate forwarding vehicle information is determined. The sending end distributes secure messages to multiple receiving ends in sequence based on the vehicle priority queue. When calculating the channel connection probability, not only the path loss is considered, but also the loss caused by obstacles and signal fading, that is, the shadow and fading effects of the signal, so as to obtain a more accurate channel connection probability, which can truly reflect the physical channel quality in the actual situation, and distributing secure messages based on the more accurate physical channel probability can effectively reduce the delay of secure message distribution.

[0034] Figure 1 It is a schematic diagram of the application scenario of the method and device for distributing secure messages in a vehicular network based on physical channel quality according to an embodiment of the present disclosure.

[0035] It should be noted that, Figure 1 The shown is only an example of the system architecture to which the embodiments of the present disclosure can be applied, to help those skilled in the art understand the technical content of the present disclosure, but it does not mean that the embodiments of the present disclosure cannot be used in other devices, systems, environments or scenarios.

[0036] As Figure 1 shown, the scenario 100 of this embodiment includes a server 110, vehicles 120 traveling on the road, obstacles 130, a communication base station 140, and a road traffic network, where the road traffic network may include roads (such as roads 151, 152, 153), and intersections 154 formed by the intersection of roads. Figure 1 The arrows in indicate the driving directions of the roads.

[0037] For example, in this scenario 100, the obstacle 130 may be a pedestrian or other vehicles around the vehicle 120. For example, the vehicle 120 may go straight along the road 151 and pass through the intersection 154, and the obstacle 130 needs to drive from the road 153 to the intersection 154 and turn left into the road 152.

[0038] Vehicle 120 is equipped with a Global Satellite Positioning System (GPS), and information such as the position, driving direction, speed, and surrounding environment of vehicle 120 can be obtained through the GPS. Moreover, vehicle 120 can periodically exchange message signals with surrounding vehicles to obtain information such as the position, driving direction, speed, and surrounding environment of other vehicles.

[0039] Vehicle 120 can upload data to the backend server through communication base station 140. Server 110 can, for example, request data from the backend server through the network to obtain the data uploaded by vehicle 120.

[0040] It should be noted that the method for distributing secure messages in a vehicular network based on physical channel quality provided by the embodiments of the present disclosure can be executed by vehicle 120. The method for distributing secure messages in a vehicular network based on physical channel quality provided by the embodiments of the present disclosure can also be executed by server 110.

[0041] It should be understood that Figure 1 the number and types of servers, roads, vehicles, obstacles, and communication base stations in

[0042] are merely illustrative. According to the implementation requirements, there can be any number and types of servers, roads, vehicles, obstacles, and communication base stations. Figure 1 The following will be based on Figure 2 the described scenario to describe in detail the information processing method of the disclosed embodiments through

[0043] Figure 2 Schematically shows a flowchart of the method for distributing secure messages in a vehicular network based on physical channel quality according to an embodiment of the present disclosure.

[0044] As Figure 2 shown, this embodiment includes operations S210 - S250, and the method for distributing secure messages in a vehicular network based on physical channel quality can be executed by the server in the system for distributing secure messages in a vehicular network based on physical channel quality.

[0045] In operation S210, at least one candidate forwarding vehicle information set is obtained based on the position of the sending end, and the candidate forwarding vehicle information set includes at least one vehicle information.

[0046] In the embodiments of the present disclosure, the sending end may be a vehicle that distributes security messages. The vehicles indicated by the vehicle information included in the candidate forwarding vehicle information set may be the neighboring vehicles of the sending end, that is, the vehicles that can periodically exchange message signals with the sending end. Transmitters and receivers are configured on each vehicle. The transmitter can be used to transmit signals, and the receiver can be used to receive signals. Then, vehicles can periodically exchange message signals based on the transmitter and the receiver. The vehicle information may include, but is not limited to, information such as the position information of the vehicle, the driving direction information, the external shape feature information of the vehicle, the speed information, and the surrounding environment information. The security message may be information related to vehicle driving safety and traffic environment safety.

[0047] For example, when the sending end is located on a straight street or a highway, a candidate forwarding vehicle set can be obtained based on the message intention propagation direction of the sending end; when the sending end is located at an intersection, multiple candidate forwarding vehicle information sets can be obtained. It can be understood that the intersection and the candidate forwarding vehicle set are in one-to-one correspondence, and the vehicle information in the candidate forwarding vehicle information set is obtained from the message signals periodically exchanged between the sending end and the receiving end.

[0048] In operation S220, based on the message signals periodically exchanged between the sending end and multiple receiving ends, determine the signal power loss for message exchange, where the receiving end is the vehicle indicated by the vehicle information, and the signal power loss includes the power loss caused by obstacles and the path loss.

[0049] The receiving end is the vehicle indicated by the vehicle information in the candidate forwarding vehicle information set, and message signals are periodically exchanged between the sending end and the receiving end. The sending end can determine the signal power loss between the sending end and the receiving end according to the message signals, where the signal power loss includes the power loss caused by obstacles and the path loss.

[0050] The power loss caused by obstacles may refer to the loss caused by the signal passing through obstacles when transmitting from the sending end to the receiving end. The path loss may refer to the weakening of the signal intensity due to the transmission distance during the signal transmission process.

[0051] In operation S230, based on the signal power loss and the signal fading distribution model, determine the channel connection probabilities between the sending end and multiple receiving ends respectively.

[0052] When calculating the channel connection probabilities between the sending end and multiple receiving ends, not only the signal power loss caused by the path and obstacles is considered, but also the fading effect of the signal is considered. Specifically, the fading effect of the signal may refer to the random change of parameters such as the amplitude, phase, or frequency of the signal due to various factors during the signal transmission process. The signal fading distribution model can be used to reflect the impact of signal fading on the channel quality when calculating the channel connection probabilities.

[0053] For example, the Nakagami-m distribution model can be used as the signal fading distribution model. This model is a probability distribution model that describes the signal fading characteristics. The model introduces a fading parameter. By setting different fading parameters, the fading characteristics of the channel in various actual scenarios can be flexibly fitted. Specifically, the value of the fading parameter can be set according to different scenarios. For example, when the distance between the transmitter and the receiver is greater than 150m, the fading parameter is set to 1, indicating that the channel fading is relatively severe; when the distance between the transmitter and the receiver is less than 50m, the fading parameter is set to 3, indicating that the channel fading is relatively light.

[0054] It can be understood that when there are multiple candidate forwarding vehicle sets, the channel connection probabilities between the receivers corresponding to the vehicle information in all candidate forwarding vehicle information sets are calculated respectively.

[0055] In operation S240, based on the channel connection probabilities between the transmitter and multiple receivers, a vehicle priority queue corresponding to each candidate forwarding vehicle information set is determined.

[0056] The channel connection probability between the transmitter and the receiver is determined based on the signal power loss and the signal fading distribution model. Specifically, it can be a value ranging from 0 to 1. The channel connection probability can reflect the physical channel quality between the transmitter and the receiver. A score can be calculated based on the channel connection probability and the distance between the transmitter and the receiver to evaluate the physical channel quality between the transmitter and the receiver. Based on the order of this score, a vehicle priority queue can be obtained.

[0057] It can be understood that if there is only one candidate forwarding vehicle set, then a vehicle priority queue can be obtained for this candidate forwarding vehicle set. If there are multiple candidate forwarding vehicle sets, that is, when the transmitter is located at an intersection, then multiple vehicle priority queues can be obtained. Each candidate forwarding vehicle set corresponds to a vehicle priority queue, that is, each fork in the road corresponds to a vehicle priority queue.

[0058] In operation S250, the transmitter distributes safety messages to multiple receivers in turn based on the vehicle priority queue.

[0059] The vehicle priority queue can be a queue obtained based on the score order between the transmitter and the receiver. This score is used to evaluate the physical channel quality between the transmitter and the receiver. Specifically, it can be a queue sorted from high to low according to the score. The vehicle priority queue can be divided into multiple sections. Each section corresponds to a different score range. Receivers in different sections access the channel in turn according to the high and low of the score range. The transmitter can distribute safety messages to multiple receivers in turn according to the order in which the receivers access the channel.

[0060] Those skilled in the art can understand that Figure 2 the serial numbers of the steps in [[ ]] are only used to define different operations, and should not be regarded as a limitation on the execution order of the method.

[0061] In the embodiments of the present disclosure, when calculating the physical channel probability, not only the free space path loss of the signal during propagation is considered, but also more fine-grained physical channel information is considered, that is, the loss caused by the signal passing through obstacles and the fading of the signal. The physical channel probability obtained based on this can more accurately reflect the true physical channel quality. Moreover, the vehicle priority queue determined based on the physical channel probability, which is used as the basis for the sender to distribute safety messages, can reduce the delay of the sender distributing safety messages.

[0062] According to another embodiment of the present disclosure, the power loss caused by obstacles includes static loss caused by static obstacles and dynamic loss caused by dynamic obstacles; the method further includes: determining the static loss based on the number of times the message signal intersects with the static obstacle, where the number of times is determined based on the message signal and the in-vehicle map of the sender; determining the dynamic loss based on the physical contour of the dynamic obstacle; the physical contour of the dynamic obstacle is determined based on the vehicle shape feature information in the message signal.

[0063] Due to the complexity of the urban environment, buildings, moving vehicles, parked vehicles, etc. will all have a significant impact on the propagation of wireless signals. To accurately reflect the propagation characteristics of the signal, the present disclosure considers the mesoscale radio shadow effect, that is, the power loss caused by obstacles, specifically including static loss caused by static obstacles and dynamic loss caused by dynamic obstacles, where the static obstacles can be buildings and the dynamic obstacles can be moving vehicles.

[0064] The calculation formula of the static loss is shown in formula (1):

[0065] Formula (1)

[0066] Wherein represents the static loss, n represents the number of times the signal exchanged between the sender and the receiver intersects with the obstacle, represents the length of the signal exchanged between the sender and the receiver intersecting with the obstacle, and are empirical parameters. Generally speaking, the value of [[ ]] can be 9.6 dB / wall, the value of [[ ]] can be 0.45 dB / m.

[0067] The calculation formula of the dynamic loss is shown in formula (2):

[0068] Formula (2)

[0069] Among them, represents the dynamic loss, represents the signal power loss caused by the signal passing through a large moving obstacle with a physical contour, such as the signal power loss caused by the signal passing through a moving truck, freight car and other main vehicles, represents the signal power loss caused by the signal passing through a small moving obstacle with a physical contour, such as the signal power loss caused by the signal passing through a moving car and other secondary vehicles. The size of the physical contour is determined based on the vehicle shape feature information in the message signal, is a preset correction term.

[0070] It should be understood that when calculating the power loss caused by the obstacle in this embodiment, the dynamic loss caused by the moving obstacle and the static loss caused by the stationary obstacle are comprehensively considered, and the propagation characteristics of the signal can be accurately reflected.

[0071] According to another embodiment of the present disclosure, determining the channel connection probability between the sending end and the receiving end based on the signal power loss and the signal fading distribution model includes: determining the received power of the message signal at the receiving end based on the signal power loss; determining the respective channel connection probabilities between the sending end and the receiving end based on the received power of the signal at the receiving end, the signal fading distribution model, and the fading parameter, where the fading parameter represents the degree of signal fading.

[0072] The power calculation formula of the signal at the receiving end is shown in formula (3):

[0073] Formula (3)

[0074] Among them, represents the power of the signal at the receiving end, represents the power of the signal at the sending end, represents the signal gain at the sending end, represents the signal gain at the receiving end, represents the path loss of the signal, represents the static loss of the signal, represents the dynamic loss of the signal.

[0075] The calculation formula of the path loss is shown in formula (4):

[0076] Formula (4)

[0077] Among them, represents the path loss, represents the distance between the sending end and the receiving end, which is determined based on the vehicle position information in the message signal exchanged between the sending end and the receiving end, represents a preset path loss exponent, represents the wavelength of the signal.

[0078] To reflect the impact of signal fading on channel quality, a signal fading distribution model can be used when calculating the channel connection probability. Exemplarily, the Nakagami-m distribution can be used for modeling. As the signal fading distribution model, the calculation formula for the channel connection probability of the signal between the transmitter and the receiver is shown in Formula (5):

[0079] Formula (5)

[0080] where, is the cumulative distribution function (CDF) of the received signal amplitude , m is the fading parameter, which is specifically determined according to the distance between the transmitter and the receiver. For example, when the distance between the transmitter and the receiver is greater than 150m, the value of m can be 1, ω is the power of the signal at the receiver, that is, in Formula (4). Thus, the probability of successful transmission of the signal on the channel between the transmitter and the receiver can be obtained as .

[0081] It can be understood that the channel connection probability obtained in this embodiment not only considers the path loss of the signal, but also considers the power loss caused by the signal passing through obstacles and the signal fading effect. The channel connection probability obtained based on this can more accurately reflect the physical channel quality in the real scenario.

[0082] According to another embodiment of the present disclosure, determining the vehicle priority queue corresponding to each candidate forwarding vehicle information set based on the channel connection probability between the transmitter and multiple receivers includes: when the number of candidate forwarding vehicle information sets is multiple, determining the average channel quality based on the channel connection probability between the transmitter and multiple receivers; when the average channel quality is greater than a preset threshold, determining the vehicle priority queue corresponding to each candidate forwarding vehicle information set.

[0083] Exemplarily, when the transmitter is located at an intersection, the transmitter obtains multiple candidate forwarding vehicle information sets, and calculates the channel connection probability between the transmitter and multiple receivers. The calculation formula for the average channel quality of this transmitter based on the channel connection probability is shown in Formula (6):

[0084] Formula (6)

[0085] where, represents the average channel quality, and is specifically used to represent the physical channel quality around the current intersection, is the number of fork roads at the intersection, that is, the number of candidate forwarding vehicle information sets, denote the candidate forwarding vehicles located at the i-th intersection denote the channel connection probability between the sending end Vc and the receiving end Vj

[0086] When the average channel quality is greater than the preset threshold, determine the vehicle priority queue corresponding to each candidate forwarding vehicle information set, that is, each fork corresponds to a vehicle priority queue

[0087] It can be understood that in the scenario where the sending end is located at an intersection, it is necessary to calculate the average channel quality of the sending end according to the channel connection probabilities between the sending end and multiple receiving ends, so as to evaluate the quality of the channel between the sending end and multiple receiving ends

[0088] According to another embodiment of the present disclosure, when the average channel quality is less than the preset threshold, determine whether there is a roadside unit within the signal propagation range of the sending end based on the message signal; when it is determined that there is a roadside unit, the sending end distributes security messages to the roadside unit

[0089] The average channel quality can be a value in the range of 0 to 1. Similarly, the preset threshold can also be a value in the range of 0 to 1. When the average channel quality is greater than the preset threshold, it indicates that the average channel quality between the sending end and multiple receiving ends is good. When the average channel quality is less than the preset threshold, it indicates that the average channel quality between the sending end and multiple receiving ends is poor

[0090] For example, assume that the average channel quality is 0.7 and the preset threshold is 0.9. In this case, the average channel quality is less than the preset threshold, indicating that the average channel quality is relatively poor. Then, the sending end no longer distributes security messages to the receiving end, but distributes security messages to the roadside unit

[0091] Since the sending end and the roadside unit can also exchange message signals periodically, the sending end can determine whether there is a roadside unit according to the message signal. When there is a roadside unit, the sending end distributes security messages to the roadside unit; otherwise, the sending end enters the Store-Carry-Forward mode

[0092] According to another embodiment of the present disclosure, when the number of candidate forwarding vehicle information sets is one, determining the vehicle priority queue corresponding to each candidate forwarding vehicle information set based on the channel connection probability between the sending end and the receiving end includes: obtaining the score of each receiving end based on the distance, channel connection probability, and preset weight coefficient between the sending end and multiple receiving ends; determining the vehicle priority queue corresponding to the candidate forwarding vehicle information set based on the order of the scores

[0093] When the number of candidate forwarding vehicle information sets is one, the score of each receiver is calculated based on the channel connection probability and the distance between the sender and the receiver. The calculation formula for each receiver's score is shown in Formula (7):

[0094] Formula (7)

[0095] Among them, represents the score of receiver Vj, represents the channel connection probability between the sender Vc and the receiver Vj, represents the propagation distance of the signal, represents the distance between the sender Vc and the receiver Vj, represents the preset weight coefficient.

[0096] Weight coefficient can be a value in the range of 0 to 1. Different weight coefficients can be designed according to different needs. For example, when the weight coefficient is set to 0.3, it means that the channel connection probability between the sender and the receiver has a greater impact on the vehicle priority queue. When the weight coefficient is set to 0.7, it means that the distance between the sender and the receiver has a greater impact on the vehicle priority queue.

[0097] After determining the score of each receiver, the scores can be arranged in descending order to obtain the order of scores, and based on the order of scores, the priority order of the receivers can be obtained correspondingly, that is, the vehicle priority queue.

[0098] According to another embodiment of the present disclosure, when the number of candidate forwarding vehicle information sets is one, the sender distributes security messages to multiple receivers in turn based on the vehicle priority queue, including: dividing the vehicle priority queue into multiple sections; allowing the receivers in the same section to compete for access to the channel, and allowing the receivers in different sections to access the channel in descending order according to the score range; and the sender distributes security messages to the receivers in turn based on the order of the receivers accessing the channel.

[0099] Exemplarily, when the sender is located on a straight street and the number of candidate forwarding vehicle information sets is one, the order of scores of multiple receivers can be arranged to obtain the vehicle priority queue. The vehicle priority queue is divided into A sections, and the score ranges of each section are different. The receivers in the same section compete for access to the channel, and the receivers in different sections access the channel in descending order according to the score range.

[0100] For example, there are 9 vehicles in the vehicle priority queue, which are divided into three sections in descending order according to the score range. Assuming that there are three receivers in the first section, the second section, and the third section respectively, then the receivers in the first section access the channel first. The three receivers in the first section compete to access the channel. Then the receivers in the second section access the channel. Similarly, the three receivers in the second section also compete to access the channel. Finally, the receivers in the third section access the channel, and the three receivers in the third section compete to access the channel.

[0101] When the number of candidate forwarding vehicle information sets is one, the waiting time of the receivers in the Kth section is calculated. It can be assumed that the size of the contention window for the kth segment is , and the contention window is the time window, which is specifically represented as a time period. Since the receivers in the kth section compete to access the channel within this time period, the minimum waiting time of the receivers in section k can be obtained as shown in formula (8):

[0102] Formula (8)

[0103] Among them, represents the minimum waiting time of the receivers in section k, represents the size of the contention window for the kth section.

[0104] It should be understood that based on the method proposed in the present disclosure, a vehicle priority queue that is more in line with the actual application scenario can be obtained. Based on this priority to distribute security messages, the allocation of the waiting time of the receivers in each section can be made more reasonable.

[0105] According to another embodiment of the present disclosure, when the number of candidate forwarding vehicle information sets is multiple, based on the channel connection probability between the sender and the receiver, determining the vehicle priority queue corresponding to multiple candidate forwarding vehicle information sets includes: obtaining the score of the receiver based on the position of the receiver, the channel connection probability between the sender and the receiver, and a preset weight coefficient; for multiple candidate forwarding vehicle information sets, obtaining the vehicle priority queue corresponding to each of the multiple candidate forwarding vehicle information sets based on the order of the scores.

[0106] For example, when the sender is located at an intersection, one fork corresponds to one candidate forwarding vehicle information set. In this case, for each candidate forwarding vehicle information set, the scores of each receiver need to be calculated respectively, and the vehicle priority queue is determined based on the order of the scores.

[0107] When the number of candidate forwarding vehicle information sets is multiple, the score calculation formula for the j-th receiver at the i-th fork is shown in Formula (9):

[0108] Formula (9)

[0109] Wherein, represents the score of the j-th receiver at the i-th fork, represents a preset weight coefficient, represents the distance between the receiver Vj and the center o of the intersection, represents the propagation distance of the signal, represents the channel connection probability between the transmitter Vc and the receiver Vj.

[0110] Weight coefficient can be a value in the range of 0 to 1, and different weight coefficients can be designed according to different needs. For example, when the weight coefficient is set to 0.3, it means that the channel connection probability between the transmitter and the receiver has a greater impact on the vehicle priority queue; when the weight coefficient is set to 0.7, it means that the distance between the transmitter and the receiver has a greater impact on the vehicle priority queue.

[0111] For each candidate vehicle information set, after determining the scores of each receiver, the scores can be sorted in descending order to obtain the order of the scores, and based on the order of the scores, the priority order of the receivers can be correspondingly obtained, that is, the vehicle priority queue. It can be understood that one candidate vehicle information set corresponds to one vehicle priority queue.

[0112] According to another embodiment of the present disclosure, when the number of candidate forwarding vehicle information sets is multiple, the multiple vehicle priority queues include N vehicle priority queues; the transmitter distributes security messages to multiple receivers in turn based on the vehicle priority queue, including: dividing each vehicle priority queue into multiple sections based on the score range from high to low, and accessing the receivers in multiple sections to the channel in turn according to the score range from high to low; wherein, for the odd sections of the vehicle priority queue, in the order of the first vehicle priority queue to the N-th vehicle priority queue, the receivers in the same section are accessed to the channel competitively in turn; for the even sections of the vehicle priority queue, in the order of the N-th vehicle priority queue to the first vehicle priority queue, the receivers in the same section are accessed to the channel competitively in turn; the transmitter distributes security messages to the receivers in turn based on the order of the receivers accessing the channel.

[0113] Figure 3Schematically shown is a message distribution sequence diagram according to an embodiment of the present disclosure. An embodiment of the present disclosure proposes an alternating polling channel access method. When the number of candidate forwarding vehicle information sets is multiple, taking the number of vehicle priority queues as 3 and each priority queue being divided into 4 sections according to the score range from high to low, that is, taking N = 3 and A = 4 as an example, as Figure 3 shown, 1-1 represents the first section of the first vehicle priority queue, 1-2 represents the second section of the first vehicle priority queue, and so on, 3-4 represents the fourth section of the third vehicle priority queue.

[0114] According to the alternating polling channel access method proposed in this embodiment, the receivers in the 1-1, 2-1, 3-1, 3-2, 2-2, 1-2, 1-3, 2-3, 3-3, 3-4, 2-4, 1-4 sections access the channel in sequence. The receivers within each section compete to access the channel, and the sender distributes security messages to the receivers in sequence according to the order in which the receivers access the channel.

[0115] When the candidate forwarding vehicle information set is multiple, calculating the minimum waiting time of the receivers in each section, it can be assumed that the used contention window matrix is as shown in formula (10):

[0116] Formula (10)

[0117] Among them, represents the contention window size of the jth section of the ith vehicle priority queue. N represents the number of vehicle priority queues, that is, the number of candidate forwarding vehicle information sets, and A represents the number of sections. Then, the minimum waiting time for the receiver in the jth section of the ith vehicle priority queue to access the channel can be obtained as shown in formula (11):

[0118] Formula (11)

[0119] Among them, represents the minimum waiting time for the receiver in the jth section of the ith vehicle priority queue to access the channel. N represents the number of vehicle priority queues, that is, the number of candidate forwarding vehicle information sets.

[0120] It can be understood that by adopting this alternating polling channel access method, the waiting time of vehicles at different intersections can be relatively balanced, thus ensuring the fairness of candidate forwarding vehicles at different intersections accessing the wireless channel.

[0121] Figure 4 Schematically shown is a flowchart of a vehicle-to-vehicle network security message distribution method based on physical channel quality according to another embodiment of the present disclosure. See Figure 4, this embodiment includes operations S401 to S412.

[0122] In operation S401, at least one candidate forwarding vehicle information set is obtained based on the location of the sending end, and the candidate forwarding vehicle information set includes at least one vehicle information.

[0123] For example, when the sending end is located on a straight street, one candidate forwarding vehicle information set is obtained. When the sending end is located at an intersection, multiple candidate forwarding vehicle information sets are obtained corresponding to the number of branches at the intersection. For example, when the sending end is located at an intersection with three branches, three candidate forwarding vehicle information sets will be obtained. The vehicle information in the specific candidate forwarding vehicle information set is obtained based on the message signals periodically exchanged between the sending end and the receiving end.

[0124] In operation S402, the channel connection probabilities between the sending end and multiple receiving ends are respectively determined, and the sending end is the vehicle indicated by the vehicle information in the candidate forwarding vehicle information set.

[0125] For example, if the sending end obtains one candidate forwarding vehicle information set, which includes four vehicle information, then the channel connection probabilities between the sending end and these four receiving ends are respectively calculated.

[0126] For example, if the sending end obtains two candidate forwarding vehicle information sets, and each of these two sets includes four vehicle information, then the channel connection probabilities between the sending end and these eight receiving ends are respectively calculated.

[0127] In operation S403, it is judged whether the number of candidate forwarding vehicle information sets is one.

[0128] In operation S404, when the number of candidate forwarding vehicle information sets is one, the vehicle forwarding priority queue is determined based on the channel connection probability.

[0129] For example, the scores of the receiving ends are calculated based on the channel connection probability, and the vehicle forwarding priority queue is determined according to the score ranking.

[0130] In operation S405, based on the vehicle priority queue, security messages are sequentially distributed to multiple receiving ends.

[0131] For example, if the vehicle priority queue includes four receiving ends, then these four receiving ends are divided into two sections from high to low according to the score range, with two vehicles in each section. The two receiving ends in the first section compete for access to the channel, and then the two receiving ends in the second section compete for access to the channel. The sending end distributes security messages sequentially based on the order in which the receiving ends access the channel.

[0132] In operation S406, when there are multiple candidate forwarding vehicle information sets, calculate the average channel quality of the sending end.

[0133] For example, if the number of candidate forwarding vehicle information sets is two, and there are four receiving ends in each set, then calculate the average channel quality of the sending end based on the channel connection probabilities between the sending end and these eight receiving ends.

[0134] In operation S407, determine whether the average channel quality is greater than the threshold.

[0135] In operation S408, when the average channel quality is greater than the threshold, determine multiple vehicle forwarding priority queues based on the channel connection probabilities.

[0136] For example, if the number of candidate forwarding vehicle information sets is two, then for each candidate forwarding vehicle information set, determine the vehicle forwarding priority queue based on the channel connection probabilities between the receiving ends corresponding to the vehicle information in the candidate forwarding vehicle information set and the sending end, that is, one candidate forwarding vehicle information set corresponds to one vehicle forwarding priority queue.

[0137] In operation S409, based on the multiple vehicle forwarding priority queues, distribute the security messages to multiple receiving ends in sequence.

[0138] For example, the receiving ends access the channel based on the vehicle forwarding priority queue, and the sending end distributes the security messages to multiple receiving ends in sequence according to the order in which the receiving ends access the channel.

[0139] In operation S410, determine whether there is a roadside unit.

[0140] In operation S411, when the average channel quality is less than the threshold and there is a roadside unit, distribute the security message.

[0141] For example, if the average channel quality is less than the threshold and there is a roadside unit, the sending end sends the security message to be broadcast to the roadside unit, and the roadside unit is responsible for forwarding the security message.

[0142] In operation S412, when the average channel quality is less than the threshold and there is no roadside unit, the sending end enters the store-carry-forward mode.

[0143] To further prove the effectiveness of the embodiments of the present disclosure, the embodiments of the present disclosure simulate the following two network scenarios in the Object Modular Network Testbed in C++ (omnet++) and the Simulation of Urban Mobility (SUMO):

[0144] The first scenario is the highway scenario, which is specifically composed of 6 lanes, each 2 kilometers long, and the width of each lane is set to 5 meters.

[0145] The second scenario is the Manhattan grid scenario. This scenario takes into account the uneven distribution of buildings at intersections. In implementation, the building outlines are extracted for modeling, and each building is simplified to a rectangle. Each straight line represents a two-lane road. This scenario has 15 intersections and 22 straight roads. When a vehicle reaches an intersection, it turns or goes straight with the same probability.

[0146] Table 1 is the table of vehicle-related parameters used during testing. The message data rate is set to 6 Mbps, and the message signal sending interval is set to 0.1 s. Vehicles can identify the current scenario (highway or intersection) through the sent messages and obtain the location information of neighboring vehicles.

[0147] Table 1 Vehicle Parameter Table

[0148]

[0149] In the embodiments of the present disclosure, the number of vehicles is dynamically adjusted in different scenarios, and the performance of the end-to-end delay, average broadcast hop count, and average delivery rate of the secure message distribution method based on physical channel quality proposed in this application is observed, and compared with other current representative methods, specifically including Robust and Fast Forwarding (ROFF) and Binary partitioning based Data dissemination with Self-Correction (BDSC).

[0150] Figure 5A - Figure 5F Schematically shows the effect diagram according to the embodiments of the present disclosure, where Figure 5A specifically compares the average end-to-end delays of the method proposed in this application with ROFF and BDSC in the straight street scenario and under different numbers of vehicles, Figure 5B specifically compares the average end-to-end delays of the method proposed in this application with ROFF and BDSC in the Manhattan grid scenario and under different numbers of vehicles. In the straight street scenario, the end-to-end delay refers to the time delay from the generation of a secure message at one end to the successful reception of the message at the other end of the street; in the Manhattan grid scenario, the end-to-end delay refers to the time taken for the message to be transmitted from the lower left to the upper right of the grid.

[0151] According to Figure 5A and Figure 5BIt can be concluded that the end-to-end latency of all methods in both scenarios increases with the increase in the number of vehicles. Compared with the other two methods, the method proposed in this application has the lowest latency. The reasons are as follows: First, routing methods such as ROFF prioritize the farthest vehicle as the optimal forwarding node, but due to the poor physical channel, the message cannot be forwarded to the vehicles in the farthest area, resulting in a waste of time. Second, the method proposed in the embodiments of the present disclosure takes into account the physical channel quality of finer-grained information, which makes the waiting time allocation of vehicles in CF more reasonable. Third, the candidate forwarding vehicle priority allocation mechanism and intersection waiting time calculation method proposed in the embodiments of the present disclosure accelerate the progress of safety message dissemination and reduce channel contention.

[0152] Figure 5C Specifically compared the average broadcast hop counts of the method proposed in this application with the two methods of ROFF and BDSC in the straight street scenario and under different numbers of vehicles. Figure 5D Specifically compared the average broadcast hop counts of the method proposed in this application with the two methods of ROFF and BDSC in the Manhattan grid scenario and under different numbers of vehicles. It can be seen from Figure 5C and Figure 5D that due to the improvement of the connection status of the vehicular ad hoc network, the increase in the number of vehicles has led to a gradual decrease in the average broadcast hop count. In addition, compared with methods based on physical channel quality such as BDSC and the method proposed in this application, ROFF has the fewest average broadcast hop counts because ROFF tends to select the farthest vehicle to forward messages, but also has higher latency and lower delivery rate.

[0153] Figure 5E Specifically compared the average delivery rates of the method proposed in this application with the two methods of ROFF and BDSC in the straight street scenario and under different numbers of vehicles. Figure 5F Specifically compared the average delivery rates of the method proposed in this application with the two methods of ROFF and BDSC in the Manhattan grid scenario and under different numbers of vehicles. It can be seen from Figure 5E and Figure 5FAs can be seen, since the method proposed in this application and the BDSC method consider the factor of physical channel quality, the average delivery rate is higher than that of the ROFF method. At the same time, due to the more fine-grained design of the link model in this application, this method is slightly superior to BDSC in terms of the average delivery rate of data packets. In addition, it can also be observed that the average delivery rates of the method proposed in this application and BDSC first increase and then gradually decrease, while ROFF always shows an increasing trend. Because when the number of vehicles is small, there is a "network partitioning" problem in the Manhattan grid scenario, but as the number of vehicles increases, the network partitioning problem is slightly improved. However, when the number of vehicles exceeds a certain value, the message collision probability between vehicles will increase significantly. The lower bound design of the waiting time difference between adjacent vehicles in ROFF prevents the deterioration of the average data packet delivery rate in the case of high vehicle density.

[0154] Figure 6 A schematic block diagram of an electronic device that can be used to implement the method of the embodiments of the present disclosure is schematically shown.

[0155] As Figure 6 shown, the electronic device 600 according to the embodiments of the present disclosure includes a processor 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 602 or the program loaded from the storage section 608 into the random access memory (RAM) 603. The processor 601 may include, for example, a general microprocessor (such as a CPU), an instruction set processor, and / or a related chipset, and / or a dedicated microprocessor (such as an application specific integrated circuit (ASIC)), etc. The processor 601 may also include on-board memory for caching purposes. The processor 601 may include a single processing unit or multiple processing units for performing different actions of the method flow according to the embodiments of the present disclosure.

[0156] In the RAM 603, various programs and data required for the operation of the electronic device 600 are stored. The processor 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. The processor 601 performs various operations of the method flow according to the embodiments of the present disclosure by executing the programs in the ROM 602 and / or the RAM 603. It should be noted that the program may also be stored in one or more memories other than the ROM 602 and the RAM 603. The processor 601 may also implement the method provided by the embodiments of the present disclosure by executing the programs stored in the one or more memories.

[0157] According to an embodiment of the present disclosure, the electronic device 600 may further include an input / output (I / O) interface 605, and the input / output (I / O) interface 605 is also connected to the bus 604. The electronic device 600 may further include one or more of the following components connected to the I / O interface 605: an input portion 606 including a keyboard, a mouse, etc.; an output portion 607 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker, etc.; a storage portion 608 including a hard disk, etc.; and a communication portion 609 including a network interface card such as a LAN card, a modem, etc. The communication portion 609 performs communication processing via a network such as the Internet. The drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed so that a computer program read from it can be installed into the storage portion 608 as needed.

[0158] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and combinations of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0159] Those skilled in the art can understand that the features recited in the various embodiments and / or claims of the present disclosure can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly recited in the present disclosure. In particular, without departing from the spirit and teachings of the present disclosure, the features recited in the various embodiments and / or claims of the present disclosure can be combined and / or combined in various ways. All such combinations and / or combinations fall within the scope of the present disclosure.

[0160] The embodiments of the present disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments have been described separately above, this does not mean that the measures in each embodiment cannot be used advantageously in combination. The scope of the present disclosure is defined by the appended claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art can make various substitutions and modifications, and all such substitutions and modifications should fall within the scope of the present disclosure.

Claims

1. A vehicle network security message distribution method based on physical channel quality, characterized in that, The method includes: Obtaining at least one set of candidate forwarding vehicle information based on the location of the sending end, where the set of candidate forwarding vehicle information includes at least one vehicle information; Determining the signal power loss for message exchange based on the message signals periodically exchanged between the sending end and multiple receiving ends, where the receiving ends are the vehicles indicated by the vehicle information, and the signal power loss includes the power loss caused by obstacles and the path loss; Respectively determining the channel connection probabilities between the sending end and the multiple receiving ends based on the signal power loss and the signal fading distribution model; Determining a vehicle priority queue corresponding to each set of candidate forwarding vehicle information based on the channel connection probabilities between the sending end and the multiple receiving ends; The sending end distributes safety messages to the multiple receiving ends in sequence based on the vehicle priority queue.

2. The method according to claim 1, wherein The power loss caused by the obstacles includes the static loss caused by static obstacles and the dynamic loss caused by dynamic obstacles; the method further includes: Determining the static loss based on the number of intersections of the message signal with static obstacles, where the number is determined based on the message signal and the on-vehicle map of the sending end; Determining the dynamic loss based on the physical contour of the dynamic obstacle; the physical contour of the dynamic obstacle is determined based on the vehicle shape feature information in the message signal.

3. The method according to claim 1, characterized in that, The determining the channel connection probabilities between the sending end and the receiving end based on the signal power loss and the signal fading distribution model includes: Determining the received power of the message signal at the receiving end based on the signal power loss; Determining the respective channel connection probabilities between the sending end and the receiving end based on the received power of the signal at the receiving end, the signal fading distribution model, and the fading parameter, where the fading parameter represents the degree of signal fading.

4. The method according to claim 1, wherein The determining the vehicle priority queue corresponding to each set of candidate forwarding vehicle information based on the channel connection probabilities between the sending end and the multiple receiving ends includes: When the number of sets of candidate forwarding vehicle information is multiple, determining the average channel quality based on the channel connection probabilities between the sending end and the multiple receiving ends; When the average channel quality is greater than a preset threshold, determining the vehicle priority queue corresponding to each set of candidate forwarding vehicle information.

5. The method according to claim 4, wherein The method further includes: When the average channel quality is less than the preset threshold, determining whether there is a roadside unit within the signal propagation range of the sending end based on the message signal; When it is determined that there is a roadside unit, the sending end distributes safety messages to the roadside unit.

6. The method according to claim 1, wherein When the number of sets of candidate forwarding vehicle information is one, the determining the vehicle priority queue corresponding to each set of candidate forwarding vehicle information based on the channel connection probabilities between the sending end and the receiving end includes: Obtaining the score of each receiving end based on the distances, channel connection probabilities, and preset weight coefficients between the sending end and the multiple receiving ends; Determining the vehicle priority queue corresponding to the set of candidate forwarding vehicle information based on the order of the scores.

7. The method according to claim 6, wherein The sending end sequentially distributes security messages to the multiple receiving ends based on the vehicle priority queue, including: Dividing the vehicle priority queue into multiple sections; Letting the receiving ends in the same section compete for access to the channel, and letting the receiving ends in different sections access the channel in descending order according to the score range; The sending end sequentially distributes security messages to the receiving ends based on the order in which the receiving ends access the channel.

8. The method according to claim 4, wherein When the number of candidate forwarding vehicle information sets is multiple, determining the vehicle priority queue corresponding to the multiple candidate forwarding vehicle information sets based on the channel connection probability between the sending end and the receiving end includes: Obtaining the score of the receiving end based on the position of the receiving end, the channel connection probability between the sending end and the receiving end, and a preset weight coefficient; For multiple candidate forwarding vehicle information sets, obtaining the vehicle priority queue corresponding to each of the multiple candidate forwarding vehicle information sets based on the order of the scores.

9. The method according to claim 8, wherein The multiple vehicle priority queues include N vehicle priority queues; The sending end sequentially distributes security messages to the multiple receiving ends based on the vehicle priority queue, including: Based on the score range from high to low, dividing each vehicle priority queue into multiple sections, and sequentially accessing the receiving ends in the multiple sections according to the score range from high to low; where For the odd-numbered sections of the vehicle priority queue, in the order from the first vehicle priority queue to the Nth vehicle priority queue, sequentially let the receiving ends in the same section compete for access to the channel; For the even-numbered sections of the vehicle priority queue, in the order from the Nth vehicle priority queue to the first vehicle priority queue, sequentially let the receiving ends in the same section compete for access to the channel; The sending end sequentially distributes security messages to the receiving ends based on the order in which the receiving ends access the channel.

10. An electronic device, including: One or more processors; A storage device for storing one or more programs, wherein, when the one or more programs are executed by the one or more processors, the one or more processors are caused to execute the method according to any one of claims 1 to 9.

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