Expressway RSU dynamic activation method and system based on joint coverage probability estimation

Abstract

The invention discloses a highway RSU dynamic activation method and system based on joint coverage probability estimation, and relates to the technical field of communication, and the method comprises the steps: obtaining multi-dimensional real-time data, inputting the multi-dimensional real-time data into a preset joint coverage probability closed expression, and carrying out the calculation and output to obtain a joint coverage probability; based on the initial deployment density of the preset RSU, the optimal RSU deployment density under the maximum joint coverage probability is obtained through continuous adjustment and calculation; and part of RSU nodes are intelligently activated or dormant based on the optimal RSU deployment density under the maximum joint coverage probability.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a method and system for dynamically activating RSUs on a highway based on joint coverage probability estimation. Background Art

[0002] With the rapid development of fifth-generation mobile communication systems (5G) technology, vehicle-to-infrastructure (V2I) communications have become a core component of intelligent transportation systems. Vehicle-to-infrastructure (V2I) communications are crucial for ensuring driving safety and efficiency. In highway scenarios, high-speed vehicle movement and obstruction by large vehicles are major challenges affecting V2I communication performance. Currently, there is a lack of a dynamic activation method for RSU deployment in highway vehicle-infrastructure collaboration scenarios. Existing technologies have two main deficiencies:

[0003] Static network configuration flaws: Current V2I networks use a fixed RSU activation strategy, which cannot dynamically adjust network parameters based on real-time traffic conditions (such as changes in large vehicle density and traffic speed fluctuations), resulting in low communication resource utilization.

[0004] Lack of dynamic optimization basis: Existing methods lack quantitative analysis of the continuous communication needs during vehicle movement, especially the lack of a dynamic correlation model between joint coverage probability and network parameters, making it difficult to support intelligent activation decisions for RSUs. Summary of the Invention

[0005] In order to solve the deficiencies mentioned in the above background technology, the purpose of the present invention is to provide a method and system for dynamic activation of highway RSUs based on joint coverage probability estimation.

[0006] In a first aspect, the purpose of the present invention can be achieved by the following technical solution: a method for dynamically activating highway RSUs based on joint coverage probability estimation, the method comprising the following steps:

[0007] Acquire multi-dimensional real-time data, input the multi-dimensional real-time data into a pre-set closed-form expression of joint coverage probability, and calculate and output the joint coverage probability; wherein the multi-dimensional real-time data includes the number of lanes, traffic density, vehicle speed, and RSU transmitting antenna beamwidth;

[0008] Based on the preset initial deployment density of RSU, the optimal RSU deployment density under the maximum joint coverage probability is obtained through continuous adjustment and calculation; based on the optimal RSU deployment density under the maximum joint coverage probability, some RSU nodes are intelligently activated or dormant.

[0009] In combination with the first aspect, in some implementations of the first aspect, the method further includes: the vertical coordinate of the position of the RSU is

[0010] Where N is the lane number and w is the width of each lane.

[0011] In combination with the first aspect, in some implementations of the first aspect, the method further includes: a probability P of the communication link between the RSU and the small vehicle on the fast lane being line of sight LOS L Equivalent to the left and right lengths of the intersection of the communication link and the center of the lane No blockage, that is Correspondingly, the probability that the communication link is non-line-of-sight NLOS is p N =1-p L .

[0012] In conjunction with the first aspect, in certain implementations of the first aspect, the method further includes: when the communication link is line-of-sight, selecting a typical small vehicle with an initial position of l1, a time slot of t1, and coordinates of (-vΔt, 0), and a moved position of l2, a time slot of t2=t1+Δt, and coordinates of (0, 0) for analysis; assuming that the typical small vehicle before and after the movement is associated with the LOS RSU x1 at coordinates (x, d);

[0013] Assume that RSU sends information to the vehicle with unit power, and the channel between the RSU node x and the typical vehicle at any time t is h x (k) indicates that h x (k) obeys Rayleigh fading with mean 1, that is, The path loss function is expressed as g(x) = ||x|| -α , where ||x|| represents the distance between the RSU node x and the typical vehicle, and α represents the path loss factor; then the useful signal power received by the typical vehicle at l1 before moving is The useful signal power received by a typical vehicle at position l2 after moving is

[0014] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: when the communication link is line-of-sight, the LOS RSU before the movement constitutes Φ1, and the LOS RSU after the movement constitutes Φ2; the interference power of other LOS RSUs received by the typical vehicle at l1 before the movement is The interference power received by the typical vehicle at l2 after moving to other LOS RSUs is Assuming that the signal-to-interference ratio of a typical vehicle before moving is subject to interference constraints, The signal-to-interference ratio of a typical vehicle after moving is

[0015] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: calculating the joint coverage probability based on a probability density function of the closest distance to obtain:

[0016] Let R1 and R2 be the random variables of the distance from a typical small vehicle at position l1 and position l2 to its nearest LOS RSU, r1 and r2 are real number realizations respectively; the probability density function of R1 is:

[0017]

[0018] Assume that the typical vehicle is associated with the LOS RSU at x1 before and after movement, so R2 is represented by R1.

[0019] In conjunction with the first aspect, in certain implementations of the first aspect, the method further includes: calculating the joint coverage probability using a closed-form expression for the joint coverage probability, and the calculation process is as follows:

[0020] The probability that x1 is on the left side of l1 or on the right side of l1 is A left =A right =0.5, so from the total probability formula we can know that the total joint coverage probability is P c (l1,l2)=0.5*P c (l1,l2|left)+0.5*P c (l1,l2|right);

[0021] The joint coverage probability is defined as the probability that the signal-to-interference ratio (SIR) of a typical small vehicle at both the front and back positions is greater than the threshold T. The closed-form expression is:

[0022]

[0023] The coordinates of point A are The coordinates of point B are

[0024] In a second aspect, in order to achieve the above-mentioned purpose, the present invention discloses a highway RSU dynamic activation system based on joint coverage probability estimation, comprising:

[0025] A probability acquisition module is used to acquire multi-dimensional real-time data, input the multi-dimensional real-time data into a pre-set closed-form expression of joint coverage probability, and calculate and output the joint coverage probability; wherein the multi-dimensional real-time data includes the number of lanes, traffic density, vehicle speed, and RSU transmitting antenna beamwidth;

[0026] The density adjustment module is used to obtain the optimal RSU deployment density under the maximum joint coverage probability based on the preset RSU initial deployment density through continuous adjustment calculation; based on the optimal RSU deployment density under the maximum joint coverage probability, some RSU nodes are intelligently activated or dormant.

[0027] In another aspect of the present invention, in order to achieve the above-mentioned purpose, a terminal device is disclosed, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. The memory stores a computer program capable of running on the processor, and when the processor loads and executes the computer program, the above-mentioned highway RSU dynamic activation method based on joint coverage probability estimation is adopted.

[0028] In another aspect of the present invention, in order to achieve the above-mentioned purpose, a computer-readable storage medium is disclosed, in which a computer program is stored. When the computer program is loaded and executed by a processor, the above-mentioned highway RSU dynamic activation method based on joint coverage probability estimation is adopted.

[0029] Beneficial effects of the present invention:

[0030] The present invention accurately models occlusion and mobility, derives the expression for joint coverage probability, and establishes a dynamic parameter adjustment mechanism. That is, by using the calculation method for joint coverage probability estimation, the optimal RSU dynamic activation parameter value is found under different conditions such as the total number of one-way lanes, large vehicle density, small vehicle moving speed, and roadside unit RSU transmitting antenna beamwidth to achieve the goal of maximizing the joint coverage probability. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0032] Figure 1 It is a schematic flow chart of the method of the present invention;

[0033] Figure 2 It is a schematic diagram of the collaborative partitioning strategy of the present invention;

[0034] Figure 3 This is a schematic diagram of a node model for a multi-lane highway according to the present invention;

[0035] Figure 4 It is a schematic diagram of the left side of a typical small vehicle l1 before the movement of the LOS RSU x1 associated with the present invention before and after the movement;

[0036] Figure 5 It is a schematic diagram of the right side of a typical small vehicle l1 before movement of the LOS RSU x1 associated with the present invention before and after movement;

[0037] Figure 6 It is a schematic diagram of the deployment and activation mechanism flow of RSU of the present invention;

[0038] Figure 7 The optimal RSU density λ is when the RSU transmitting antenna beam width ψ of the present invention changes. r Schematic diagram of the determination process;

[0039] Figure 8 The joint coverage probability of the present invention with respect to the RSU density λ is r Schematic diagram of the curve;

[0040] Figure 9 The optimal RSU density λ is when the small vehicle moving speed changes. r Schematic diagram of the determination process;

[0041] Figure 10 The joint coverage probability of the present invention with respect to the RSU density λ at different small vehicle moving speeds is r Schematic diagram of the curve;

[0042] Figure 11 It is a schematic diagram of the system structure of the present invention. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0044] Example 1:

[0045] like Figure 1 As shown, the highway RSU dynamic activation method based on joint coverage probability estimation includes the following steps:

[0046] S101: Acquire multi-dimensional real-time data, input the multi-dimensional real-time data into a pre-set closed-form expression of joint coverage probability, and calculate and output the joint coverage probability; wherein the multi-dimensional real-time data includes the number of lanes, traffic density, vehicle speed, and RSU transmitting antenna beamwidth;

[0047] Consider a parallel one-way multi-lane highway consisting of N lanes, each lane has a width of w, such as Figure 3As shown in Figure 1. On this highway, small vehicles traveling at a faster speed occupy the fast lane, lane 1. In contrast, large vehicles traveling at a slower speed travel in the outer lanes, lanes 2 to N. Since the traffic density in different lanes is different, we model the center of the large vehicle in lane i as a density of λ. i The average length of large vehicles is modeled as τ. The RSUs communicating with vehicles are deployed on the outermost side of the highway and are modeled as density λ. r At the same time, a directional transmitting antenna with a beam width of ψ is deployed at each RSU. The vertical coordinate of the RSU location is

[0048] In a V2I scenario, the RSU must transmit information to the vehicle via downlink to ensure safe and efficient driving. Therefore, ensuring good downlink coverage is crucial, and we focus on the performance of downlink communication. When the RSU communicates with a small vehicle in the fast lane, the communication link may be blocked by a large vehicle in the other lane. The probability P of the communication link being Line of Sight (LOS) is L Equivalent to the left and right lengths of the intersection of the communication link and the center of the lane No blockage, that is Correspondingly, the probability that the communication link is non-line of sight (NLOS) is p N =1-p L To simplify the analysis, we assume that the NLOS link is completely blocked and the small vehicle can only communicate with the RSU that can establish the LOS link. For the convenience of subsequent description, we refer to it as LOS RSU. Therefore, according to the PPP refinement theorem, the LOS RSU also constitutes a one-dimensional PPP with a density of λ L =p L λ r .

[0049] Modeling of vehicle mobility

[0050] Considering vehicle mobility, we analyze a typical small vehicle with an initial position of l1, time slot t1, and coordinates (-vΔt, 0). After moving, it moves to l2, time slot t2 = t1 + Δt, and coordinates (0, 0). We only analyze the case where no handoff occurs, assuming that the typical small vehicle before and after the move is associated with the LOS RSU x1 at coordinates (x, d).

[0051] Assuming that RSU sends information to the vehicle with unit power, the channel between the RSU node x and the typical vehicle at any time t is hx (k) indicates that h x (k) obeys Rayleigh fading with mean 1, that is, h x (k)~exp(1). The path loss function is expressed as g(x)=||x|| -α , where ||x|| represents the distance between the RSU node x and the typical vehicle, and α represents the path loss factor. The useful signal power received by the typical vehicle at l1 before moving is The useful signal power received by a typical vehicle at position l2 after moving is

[0052] Since the probability of a communication link being LOS is independent of the position of the vehicle before and after the movement and the distance the vehicle moves, the specific position of the RSU that can establish a LOS link with the typical vehicle before and after the movement will change, but the density of the one-dimensional PPP they form remains unchanged, which is λ L Let the LOS RSU before the movement constitute Φ1, and the LOS RSU after the movement constitute Φ2. Therefore, the interference power of other LOS RSUs received by the typical vehicle at l1 before the movement is The interference power received by the typical vehicle at l2 after moving to other LOS RSUs is We assume that the system is interference-constrained and the noise is negligible. The signal-to-interference ratio of a typical vehicle before moving is The signal-to-interference ratio of a typical vehicle after moving is

[0053] S102: Based on the preset initial deployment density of RSU, the optimal RSU deployment density under the maximum joint coverage probability is obtained through continuous adjustment and calculation; based on the optimal RSU deployment density under the maximum joint coverage probability, some RSU nodes are intelligently activated or dormant.

[0054] The calculation of the joint coverage probability is obtained based on the probability density function of the closest distance:

[0055] Let R1 and R2 be the random variables of the distances of a typical small vehicle from position l1 and position l2 to its nearest LOS RSU, and r1 and r2 be their real-number realizations. The probability density function of R1 is

[0056]

[0057] Assume that a typical vehicle is associated with the LOS RSU at x1 before and after movement, so R2 can be expressed by R1. However, the position relationship between l1 and x1 before movement will affect the expression of R2. Here we discuss two cases, one is x1 to the left of l1, and the other is x1 to the right of l1. The expression of R2 is different in the two cases. The first case is as follows Figure 4 As shown, x1 is on the left side of l1. The second case is as follows Figure 5 As shown, x1 is on the right side of l1, r2=

[0058]

[0059] The joint coverage probability is calculated using the closed-form expression of the joint coverage probability, and the calculation process is as follows:

[0060] Joint coverage probability

[0061] The probability that x1 is on the left side of l1 or on the right side of l1 is A left =A right =0.5, so from the total probability formula we can know that the total joint coverage probability is P c (l1,l2)=0.5*P c (l1,l2|left)+0.5*P c (l1,l2|right).

[0062] P c Taking (l1,l2|left) as an example, the joint coverage probability is defined as the probability that the signal-to-interference ratio (SIR) of a typical small vehicle at the two positions before and after the move is greater than the threshold T. The final closed-form expression is:

[0063]

[0064] Among them, Figure 4 and Figure 5 The interfering RSU can only be located on the left side of A and the right side of B, where the coordinates of point A are The coordinates of point B are Since the RSU is equipped with a directional transmitting antenna with a beam width of ψ, for a typical small vehicle, the signal it can receive is limited to a circle with a radius of R = 2d*tan(ψ*π / 360) corresponding to the outermost road where the RSU is distributed. Therefore, for interference before moving, we need to determine and relationship and and For the interference after moving, we need to judge and relationship and and constrain the location of the interfering RSU. This corresponds to P c The inner integration range of (l1,l2|left).

[0065] RSU deployment and activation mechanism

[0066] The deployment and activation mechanism of RSU is designed as follows: When the key parameters of the highway network (including the total number of one-way lanes, the density of large vehicles, the moving speed of small vehicles, and the beam width of the RSU transmitting antenna) change, the system will dynamically adjust the deployment density of RSU to optimize network performance. Specifically, by monitoring the changes in these parameters in real time, the system can determine the optimal RSU density when the joint coverage probability is maximized. Based on this optimization goal, we adopt an adaptive activation strategy: first set the initial RSU density, and then according to the optimal RSU density value calculated in real time, intelligently activate or sleep some RSU nodes, thereby achieving dynamic optimization of network coverage efficiency and effective control of energy consumption. The whole process is as follows Figure 6 express;

[0067] Maximize joint coverage probability

[0068] When the RSU transmitting antenna beam width ψ changes, the RSU density λ that maximizes the joint coverage probability r Determination

[0069] After determining the RSU transmitting antenna beamwidth ψ, we can calculate the RSU density λ based on the joint coverage probability expression obtained above. r The corresponding joint coverage probability at different values is obtained by comparing the size of the joint coverage probability to obtain the λ corresponding to the maximum joint coverage probability. r When the RSU transmitting antenna beam width ψ changes, the joint coverage probability is recalculated to obtain the λ corresponding to the maximum joint coverage probability. r The specific process is as follows Figure 7 As shown;

[0070] Specifically, the present invention is further described below through examples: for example, Figure 8 As shown, λ r Take integers from 10 to 100, and the value of the joint coverage probability increases with λ r The increase of shows a trend of increasing first and then decreasing, so we directly read out the λ that maximizes the joint coverage probability from the graph r When the RSU transmitting antenna beam width ψ=160°, λ r=30, the maximum joint coverage probability can be obtained. When the RSU transmitting antenna beam width ψ = 150°, λ r =60, the maximum joint coverage probability can be obtained. When the RSU transmitting antenna beam width ψ = 140°, λ r = 80, the maximum joint coverage probability can be obtained. Correspondingly, for the initial RSU density, some RSU nodes are intelligently activated or dormant according to the optimal RSU density value.

[0071] When the small vehicle moving speed v changes, the RSU density λ that maximizes the joint coverage probability r Determination

[0072] After determining the moving speed v of the small vehicle, we can calculate the RSU density λ based on the joint coverage probability expression obtained above. r The corresponding joint coverage probability at different values is obtained by comparing the size of the joint coverage probability to obtain the λ corresponding to the maximum joint coverage probability. r When the speed v of the small vehicle changes, the joint coverage probability is recalculated to obtain the λ corresponding to the maximum joint coverage probability. r The whole process is as follows: Figure 9 As shown:

[0073] like Figure 10 As shown, λ r Take integers from 10 to 100, and the value of the joint coverage probability increases with λ r The increase of shows a trend of increasing first and then decreasing, so we directly read out the λ that maximizes the joint coverage probability from the graph r When the moving distance of the small vehicle vΔt=10m, λ r =40, the maximum joint coverage probability can be obtained. When the moving distance of the small vehicle vΔt=30m, λ r =55, the maximum joint coverage probability can be obtained. When the moving distance of the small vehicle vΔt = 50m, λ r = 60, the maximum joint coverage probability can be obtained. Correspondingly, for the initial RSU density, some RSU nodes are intelligently activated or dormant according to the optimal RSU density value.

[0074] Example 2: In order to achieve the above purpose, based on Example 1, Figure 11 As shown, the present invention discloses a highway RSU dynamic activation system based on joint coverage probability estimation, comprising:

[0075] The probability acquisition module 11 is used to acquire multi-dimensional real-time data, input the multi-dimensional real-time data into a pre-set closed-form expression of joint coverage probability, and calculate and output the joint coverage probability; wherein the multi-dimensional real-time data includes the number of lanes, traffic density, vehicle speed, and RSU transmitting antenna beamwidth;

[0076] The density adjustment module 12 is used to obtain the optimal RSU deployment density under the maximum joint coverage probability based on the preset RSU initial deployment density by continuously adjusting and calculating; and intelligently activate or sleep some RSU nodes based on the optimal RSU deployment density under the maximum joint coverage probability.

[0077] Based on the same inventive concept, the present invention also provides a computer device, which includes: one or more processors and a memory for storing one or more computer programs; the program includes program instructions, and the processor is used to execute the program instructions stored in the memory. The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is used to implement one or more instructions, specifically for loading and executing one or more instructions in a computer storage medium to implement the above method.

[0078] It should be further explained that, based on the same inventive concept, the present invention also provides a computer storage medium having a computer program stored thereon, which executes the above method when executed by a processor. The storage medium can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electrical, magnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component.

[0079] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0080] The above shows and describes the basic principles, main features and advantages of the present disclosure. Those skilled in the art should understand that the present disclosure is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present disclosure. Various changes and improvements may be made to the present disclosure without departing from the spirit and scope of the present disclosure, and such changes and improvements shall fall within the scope of the present disclosure.

Claims

1. A highway RSU dynamic activation method based on joint coverage probability estimation is characterized by: The method comprises the following steps: Acquire multi-dimensional real-time data, input the multi-dimensional real-time data into a pre-set closed-form expression of joint coverage probability, and calculate and output the joint coverage probability; wherein the multi-dimensional real-time data includes the number of lanes, traffic density, vehicle speed, and RSU transmitting antenna beamwidth; Based on the preset initial deployment density of RSU, the optimal RSU deployment density under the maximum joint coverage probability is obtained through continuous adjustment and calculation; based on the optimal RSU deployment density under the maximum joint coverage probability, some RSU nodes are intelligently activated or dormant.

2. The highway RSU dynamic activation method based on joint coverage probability estimation according to claim 1 is characterized in that: The vertical coordinate of the RSU location is Where N is the lane number and w is the width of each lane.

3. The highway RSU dynamic activation method based on joint coverage probability estimation according to claim 2 is characterized in that: The probability P that the communication link between the RSU and the small vehicle on the fast lane is line of sight LOS L Equivalent to the left and right lengths of the intersection of the communication link and the center of the lane No blockage, that is Correspondingly, the probability that the communication link is non-line-of-sight NLOS is p N =1-p L .

4. The highway RSU dynamic activation method based on joint coverage probability estimation according to claim 3 is characterized in that: When the communication link is line-of-sight, a typical small vehicle with an initial position of l1, time slot t1, coordinates (-vΔt, 0), a position of l2 after movement, time slot t2 = t1 + Δt, and coordinates (0, 0) is selected for analysis. Assume that the typical small vehicle before and after movement is associated with the LOS RSU x1 at coordinates (x, d). Assume that the RSU sends information to the vehicle at unit power. The channel between the RSU node x and the typical vehicle at any time t is represented by h. x (k) indicates that h x (k) obeys Rayleigh fading with mean 1, that is, The path loss function is expressed as g(x) = ||x|| -α , where ||x|| represents the distance between the RSU node x and the typical vehicle, and α represents the path loss factor; then the useful signal power received by the typical vehicle at l1 before moving is The useful signal power received by a typical vehicle at position l2 after moving is 5. The highway RSU dynamic activation method based on joint coverage probability estimation according to claim 4 is characterized in that: When the communication link is line of sight, the LOS RSU before the movement constitutes Φ1, and the LOS RSU after the movement constitutes Φ2; the interference power of other LOS RSUs received by the typical vehicle at l1 before the movement is The interference power received by the typical vehicle at l2 after moving to other LOS RSUs is Assuming that the signal-to-interference ratio of a typical vehicle before moving is subject to interference constraints, The signal-to-interference ratio of a typical vehicle after moving is 6. The highway RSU dynamic activation method based on joint coverage probability estimation according to claim 1 is characterized in that: The calculation of the joint coverage probability is obtained based on the probability density function of the closest distance: Let R1 and R2 be the random variables of the distance from a typical small vehicle at position l1 and position l2 to its nearest LOS RSU, r1 and r2 are real number realizations respectively; the probability density function of R1 is: Assume that the typical vehicle is associated with the LOS RSU at x1 before and after movement, so R2 is represented by R1.

7. The highway RSU dynamic activation method based on joint coverage probability estimation according to claim 6 is characterized in that: The joint coverage probability is calculated using the closed-form expression of the joint coverage probability, and the calculation process is as follows: The probability that x1 is on the left side of l1 or on the right side of l1 is A left =A right =0.5, so from the total probability formula we can know that the total joint coverage probability is P c (l1,l2)=0.5*P c (l1,l2|left)+0.5*P c (l1,l2|right); The joint coverage probability is defined as the probability that the signal-to-interference ratio (SIR) of a typical small vehicle at both the front and back positions is greater than the threshold T. The closed-form expression is: The coordinates of point A are The coordinates of point B are 8. Highway RSU dynamic activation system based on joint coverage probability estimation, characterized by: include: A probability acquisition module is used to acquire multi-dimensional real-time data, input the multi-dimensional real-time data into a pre-set closed-form expression of joint coverage probability, and calculate and output the joint coverage probability; wherein the multi-dimensional real-time data includes the number of lanes, traffic density, vehicle speed, and RSU transmitting antenna beamwidth; The density adjustment module is used to obtain the optimal RSU deployment density under the maximum joint coverage probability based on the preset RSU initial deployment density through continuous adjustment calculation; based on the optimal RSU deployment density under the maximum joint coverage probability, some RSU nodes are intelligently activated or dormant.

9. A terminal device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that: The memory stores a computer program that can be run on the processor. When the processor loads and executes the computer program, the highway RSU dynamic activation method based on joint coverage probability estimation according to any one of claims 1 to 7 is adopted.

10. A computer-readable storage medium storing a computer program, wherein: When the computer program is loaded and executed by the processor, the highway RSU dynamic activation method based on joint coverage probability estimation according to any one of claims 1 to 7 is adopted.

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