Group communication method, computer device, storage medium, and communication device group

Abstract

This application provides a group communication method, a computer device, a storage medium, and a group of communication devices. The method is applied to a first communication device in the group of communication devices, where the first communication device is any one of the communication devices in the group. The method includes: receiving a target data packet sent by a second communication device, where the second communication device is a communication device within a first communication range; determining a forwarding wait time corresponding to the target data packet; the forwarding wait time is negatively correlated with the relative distance between the second communication device and the first communication device, the relative distance being obtained based on the relative position information of the second communication device in the neighbor relationship table of the first communication device; if the target data packet is not received from a communication device within the first communication range within the forwarding wait time, forwarding the target data packet to a communication device within the first communication range. This technical solution ensures the controllability of the data packet transmission delay.

Description

Technical Field

[0001] This application relates to the field of communications, and more particularly to group communication methods, computer devices, storage media, and groups of communication devices. Background Technology

[0002] In complex environments such as open-pit mines, tunnels, and mountainous areas, unmanned mining trucks often travel between mining and unloading points in close formations of 10–20 meters to improve transportation efficiency. Formation control requires each vehicle to complete operations such as status synchronization, braking signal transmission, and obstacle avoidance coordination in a very short time, placing extremely high demands on the real-time performance and reliability of the communication system.

[0003] Autonomous mining trucks communicate with each other via broadcast communication using a carrier sense multiple access with collision avoidance (CSMA / CA) mechanism. This requires contention for a channel before sending data packets. In platoons with a large number of vehicles in close proximity, simultaneous contention can lead to backoff collisions and retransmissions, resulting in uncontrollable data packet transmission delays. Furthermore, autonomous mining trucks rely on the Global Positioning System (GPS) to determine their geographical location, using GPS coordinates as the basis for forwarding decisions. In mine pits, mountainous terrain, or underground environments, GPS signals are frequently obstructed, drifted, or completely lost. This makes it difficult to establish a correct communication topology between vehicles, leading to data routing failures and inaccurate data packet transmission within the platoon. This fails to meet the stringent requirements of millisecond-level safety and control command transmission in closely packed platooning operations of autonomous mining truck fleets. Summary of the Invention

[0004] This application provides a group communication method, computer equipment, storage medium, and group of communication equipment, aiming to solve the technical problems of uncontrollable data packet transmission delay and inaccurate transmission.

[0005] A first aspect provides a group communication method applied to a first communication device in a communication device group, the communication device group including at least two communication devices, the first communication device being any one of the communication devices in the communication device group; the first communication device includes a neighbor relationship table, the neighbor relationship table being used to store device status information of communication devices within a first communication range, the first communication range being the communication range of the first communication device; the device status information includes relative position information, the relative position information being used to represent the position offset and azimuth offset of the communication devices within the first communication range relative to the first communication device; the relative position information is obtained by matching the detection data of the communication devices within the first communication range with the detection data of the first communication device, the detection data reflecting the environment and objects detected by the communication devices; the method includes:

[0006] Receive the target data packet sent by the second communication device, wherein the second communication device is a communication device within the first communication range;

[0007] Determine the forwarding wait time corresponding to the target data packet; the forwarding wait time is negatively correlated with the relative distance between the second communication device and the first communication device, and the relative distance is obtained based on the relative position information of the second communication device in the neighbor relationship table;

[0008] If the target data packet is not received from a communication device within the first communication range within the forwarding waiting time, the target data packet is forwarded to a communication device within the first communication range.

[0009] In this technical solution, each communication device in the communication device group stores a neighbor relationship table. This table stores the device status information of other communication devices within the communication range of the current communication device. The device status information includes relative position information indicating the position offset and azimuth offset of the other communication device relative to itself. Upon receiving a target data packet from another communication device, a forwarding wait time is determined. If no other communication device forwards the target data packet within the forwarding wait time, the target data packet is forwarded. Communication devices forward data packets based on the forwarding wait time, eliminating the need for channel contention, avoiding backoff collisions and retransmissions, and ensuring the controllability of data packet transmission delay. The forwarding waiting time is negatively correlated with the distance between the communication device sending the data packet and the communication device receiving the data packet. This gives the receiving end, which is farther from the sender of the data packet, priority in forwarding the data packet, which helps to reduce the transmission time of the data packet and thus reduce the transmission latency. Since the relative position information between communication devices is obtained by matching the detection data of two communication devices, and the detection data reflects the environment and objects detected by the communication devices, it can get rid of the dependence on the global positioning system (such as GPS) outside the communication device group. This allows the communication devices in the communication device group to complete the position perception between each other to determine the data route even when the absolute position information is unknown, thereby completing the accurate transmission of data packets.

[0010] In conjunction with the first aspect, in one possible implementation, determining the forwarding wait time corresponding to the target data packet includes: determining the forwarding priority parameter of the target data packet based on the relative position information of the second communication device in the neighbor relationship table, wherein the forwarding priority parameter is used to reflect the relative distance; and determining the forwarding wait time corresponding to the target data packet based on the forwarding priority parameter.

[0011] By determining the forwarding priority parameters of data packets based on the relative position information in the neighbor relationship table, and then determining the corresponding forwarding waiting time for the data packets based on the forwarding priority parameters, random delays caused by channel contention can be avoided.

[0012] In conjunction with the first aspect, in one possible implementation, the device status information further includes a stability parameter, which reflects the stability of the communication link between the communication devices within the first communication range and the first communication device; determining the forwarding priority parameter corresponding to the target data packet based on the relative position information of the second communication device in the neighbor relationship table includes: determining the forwarding priority parameter corresponding to the target data packet based on the relative position information of the second communication device in the neighbor relationship table and the stability parameter of the second communication device.

[0013] Determining the forwarding priority parameters of data packets by combining the relative position information and stability parameters of communication devices helps to grant more stable communication devices the right to send data, thereby ensuring the reliability of data transmission.

[0014] In conjunction with the first aspect, in one possible implementation, determining the forwarding priority parameter corresponding to the target data packet based on the relative position information of the second communication device in the neighbor relationship table and the stability parameter of the second communication device includes: if the stability of the communication link between the second communication device and the first communication device is sufficient based on the stability parameter of the second communication device, determining the forwarding priority parameter based on the relative position information of the second communication device in the neighbor relationship table; if the stability of the communication link between the second communication device and the first communication device is insufficient based on the stability parameter of the second communication device, determining a preset priority parameter as the forwarding priority parameter.

[0015] When the communication link between the communication device sending the data packet and the communication device receiving the data packet is unstable, setting a preset priority parameter as the forwarding priority parameter for the data packet is beneficial to ensure that the data packet still has the opportunity to be slowly and reliably propagated through other paths when the forwarding path may fail.

[0016] In conjunction with the first aspect, in one possible implementation, the method further includes: receiving a communication greeting message sent by a third communication device, wherein the third communication device is a communication device within the first communication range, the communication greeting message including a group identifier and first detection data, the group identifier being used to identify the communication device group, and the first detection data being used to reflect the environment and objects detected by the third communication device; matching the first detection data and the second detection data to obtain a relative position matching result; the second detection data being used to reflect the environment and objects detected by the first communication device, and the relative position matching result being used to indicate whether the relative position information of the third communication device has been obtained; and updating the relative position information in the neighbor relationship table according to the relative position matching result.

[0017] When a communication device receives a greeting message from another communication device, it matches the probe data carried in the greeting message with its own probe data to obtain the relative position information between itself and the other communication device, and updates the relative position information in the neighbor relationship table. This enables real-time updates of the relative positions between communication devices, ensuring the reliability of data forwarding routes.

[0018] In conjunction with the first aspect, in one possible implementation, the device status information further includes a stability parameter, which reflects the stability of the communication link between the communication devices within the first communication range and the first communication device; the method further includes: updating the stability parameter in the neighbor relationship table according to the relative position matching result.

[0019] Updating the stability parameters in the neighbor relationship table based on the matching results of the probe data is beneficial for real-time updates of the stability of the communication links between communication devices, thereby helping to determine the most stable data forwarding route.

[0020] In conjunction with the first aspect, in one possible implementation, the method further includes: if no communication greeting message is received from the third communication device within a preset time period, or if the stability parameter of the third communication device in the neighbor relationship table is used to reflect the instability of the communication link between the third communication device and the first communication device, then the device status information of the third communication device is deleted from the neighbor relationship table.

[0021] If no greeting messages are received from other communication devices for a period of time, or if the communication links between other communication devices are unstable, the device status information of the other communication device is deleted from the neighbor relationship table to ensure the reliability of the communication devices in the neighbor relationship table.

[0022] In conjunction with the first aspect, in one possible implementation, the method further includes: when the target stability parameter in the neighbor relationship table meets a preset quantity condition, switching to a preset communication mode, and communicating with communication devices in the communication device group under the preset communication mode, wherein the target stability parameter is used to reflect the instability of the communication link between the communication devices within the first communication range and the first communication device.

[0023] When the communication link between a communication device and multiple other communication devices is unstable, the device switches to a preset communication mode and communicates with other communication devices in the preset communication mode. This allows the communication device to communicate with other communication devices even when it falls behind, thereby preventing communication devices in the communication device group from losing connection.

[0024] In conjunction with the first aspect, in one possible implementation, the method further includes: if, within the forwarding waiting time, the target data packet forwarded by a communication device within the first communication range is received, skipping the step of forwarding the target data packet to the communication device within the first communication range.

[0025] If a target data packet is received from another communication device during the packet forwarding wait time, the target data packet will not be forwarded. This reduces the total number of transmissions required to transmit the same data packet, avoids broadcast storms, saves channel resources, reduces network load, and helps save energy consumption of communication equipment.

[0026] Secondly, a group communication device is provided, applied to a first communication device in a group of communication devices, the group of communication devices including at least two communication devices, the first communication device being any one of the communication devices in the group; the first communication device includes a neighbor relationship table, the neighbor relationship table being used to store device status information of communication devices within a first communication range, the first communication range being the communication range of the first communication device; the device status information includes relative position information, the relative position information being used to represent the position offset and azimuth offset of the communication devices within the first communication range relative to the first communication device; the relative position information is obtained by matching the detection data of the communication devices within the first communication range with the detection data of the first communication device, the detection data reflecting the environment and objects detected by the communication device;

[0027] The device includes:

[0028] The receiving module receives the target data packet sent by the second communication device, wherein the second communication device is a communication device within the first communication range;

[0029] The processing module is used to determine the forwarding wait time corresponding to the target data packet; the forwarding wait time is negatively correlated with the relative distance between the second communication device and the first communication device, and the relative distance is obtained based on the relative position information of the second communication device in the neighbor relationship table;

[0030] The sending module is configured to forward the target data packet to the communication device within the first communication range if it does not receive the target data packet forwarded by the communication device within the first communication range within the forwarding waiting time.

[0031] Thirdly, a computer device is provided, including a memory and a processor, the memory being connected to the processor, the processor being configured to execute one or more computer programs stored in the memory, wherein when the processor executes the one or more computer programs, the computer device enables the group communication method of the first aspect described above.

[0032] Fourthly, a computer-readable storage medium is provided, which stores a computer program, the computer program including program instructions, which, when executed by a processor, cause the processor to perform the group communication method of the first aspect.

[0033] Fifthly, a group of communication devices is provided, including at least two communication devices, which are used to perform the group communication method of the first aspect described above.

[0034] This application can achieve the following technical effects: Communication devices forward data packets based on forwarding wait time, eliminating the need for channel contention, avoiding backoff conflicts and retransmissions, and ensuring controllable data packet transmission delay; Since the forwarding wait time is negatively correlated with the distance between the communication device sending the data packet and the communication device receiving the data packet, the receiving end farther from the sending end of the data packet has the right to forward the data packet first, which helps to reduce the transmission time of the data packet, thereby reducing the transmission delay of the data packet; Since the relative position information between communication devices is obtained by matching the detection data of two communication devices, and the detection data reflects the environment and objects detected by the communication devices, it can get rid of the dependence on the global positioning system (such as GPS) outside the communication device group, so that the communication devices in the communication device group can complete mutual position perception to determine the data route even when the absolute position information is unknown, thereby completing the accurate transmission of data packets. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 A schematic diagram of a communication device group provided in an embodiment of this application;

[0037] Figure 2 A flowchart illustrating a group communication method provided in an embodiment of this application;

[0038] Figure 3 A flowchart illustrating the specific implementation method of obtaining the neighbor relationship table corresponding to the communication devices by sending communication greeting messages to each other;

[0039] Figure 4 This is a schematic diagram of the structure of a group communication device provided in an embodiment of this application;

[0040] Figure 5 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0042] It should be noted that, unless there is a conflict, the various features in the embodiments of this application can be combined with each other, all of which are within the protection scope of this application. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device or the order in the flowchart. Moreover, the terms "first," "second," and "third" used in this application do not limit the data or execution order, but only distinguish identical or similar items with essentially the same function and effect.

[0043] The technical solution of this application is applicable to group communication scenarios. For example, a group communication scenario could be an autonomous vehicle convoy communication scenario. In an autonomous vehicle convoy communication scenario, multiple autonomous vehicles form an autonomous vehicle convoy. All autonomous vehicles in the convoy share road condition information (such as obstacle location, lane occupancy, and traffic signal status) collected in real time by radar, cameras, and laser sensors through a communication system, thereby forming a convoy-level global perception field of view. For example, when driving in a high-speed convoy, after the leading vehicle detects a sudden obstacle, it can transmit warning information to the following vehicles within milliseconds, enabling the convoy to simultaneously decelerate and avoid the obstacle, thus avoiding the risk of a rear-end collision. In a logistics park scenario, vehicles can autonomously plan passing and yielding routes by sharing their location and driving intentions, without human intervention.

[0044] To address the technical challenges of GPS coordinate failure and uncontrollable data packet transmission delay in autonomous vehicle fleets, this application proposes a group communication scheme. Firstly, by matching the detection data of communication devices, this application establishes a relative positional topology among them, eliminating reliance on a global positioning system outside the communication device group. This allows communication devices within the group to achieve mutual positional awareness and determine data routes even when their absolute position information is unknown. Secondly, this application proposes a contention-free forwarding strategy. Communication devices forward their received data packets based on a forwarding wait time, eliminating the need for channel contention, avoiding backoff conflicts and retransmissions, and ensuring controllable data packet transmission delay. If a communication device detects other communication devices sending the same data packet during the forwarding wait time, it cancels its own transmission, ensuring that only one optimal communication device forwards the data packet at any given time, avoiding broadcast storms and further guaranteeing controllable data packet transmission delay.

[0045] The technical solution of this application is described in detail below. The technical solution of this application is applied to a first communication device in a communication device group. The communication device group includes at least two communication devices, and the first communication device is any one of the communication devices in the communication device group.

[0046] For ease of understanding, the communication equipment group of this application will be introduced first. See [link to relevant documentation]. Figure 1 , Figure 1 This is a schematic diagram of a communication device group provided in an embodiment of this application, as shown below. Figure 1 As shown, the communication device group 10 includes multiple communication devices, including communication device 101, communication device 102, ..., communication device 10n, etc. The multiple communication devices communicate based on a wireless communication protocol. For example, the multiple communication devices communicate based on the Wi-Fi protocol, or multiple communication device 101 communicates based on the Bluetooth communication protocol; this application does not impose any limitations on this. The multiple communication devices transmit data packets via broadcast based on the wireless communication protocol.

[0047] In a specific implementation scenario, the communication equipment group 10 can be an unmanned vehicle fleet, and the communication equipment can be the unmanned vehicles in the unmanned vehicle fleet, such as unmanned mining trucks.

[0048] See Figure 2 , Figure 2 This is a flowchart illustrating a group communication method provided in an embodiment of this application, as shown below. Figure 2 As shown, the method includes the following steps:

[0049] S201, the second communication device sends a target data packet to the first communication device, and the first communication device receives the target data packet.

[0050] The second communication device and the first communication device belong to the same communication device group. A communication device group refers to a collection of communication devices formed by multiple communication devices based on preset networking rules or protocols. Communication devices within a communication device group can operate collaboratively or be uniformly managed. The communication device group is identified by a group identifier, which can be pre-written or pre-configured into each communication device within the group.

[0051] The second communication device is a communication device within the first communication range. The first communication range is the communication range of the first communication device, that is, the first communication device can receive communication data sent by the first communication device and can also send communication data to the second communication device, and the second communication device can receive communication data sent by the first communication device and can also receive communication data sent by the first communication device.

[0052] The first communication device can be any one of the communication devices in the group of communication devices. Figure 1 The application does not limit the choice of communication device 101, or communication device 102, or other communication devices in the communication device group 10.

[0053] The first communication device includes a neighbor relationship table, which is used to store the device status information of communication devices within the first communication range. The communication devices within the first communication range include the aforementioned second communication device.

[0054] Device status information refers to information used to reflect the status of communication devices. Device status information includes relative position information. The relative position information stored in the neighbor relationship table of the first communication device is used to reflect the positional and azimuthal offsets of communication devices within the first communication range relative to the first communication device. The neighbor relationship table of the first communication device also stores device identifiers for communication devices within the first communication range. Each device identifier is bound to a set of relative position information, and the relative position information bound to the device identifier reflects the positional and azimuthal offsets of the communication device identified by that device identifier relative to the first communication device.

[0055] Each set of relative position information can be represented in the form of (Δx, Δy, Δθ), where (Δx, Δy) represents the position offset and Δθ represents the azimuth offset.

[0056] Optionally, the device status information also includes stability parameters. The stability parameters stored in the neighbor relationship table of the first communication device are used to reflect the stability of the communication link between communication devices within the first communication range and the first communication device. Similarly, a device identifier is bound to a stability parameter, and the stability parameter bound to the device identifier is used to reflect the stability of the communication link between the communication device identified by the device identifier and the first communication device.

[0057] The stability parameter can be expressed as S ij S ij This indicates the stability of the communication link between the j-th communication device (referring to the communication device within the first communication range) in the communication device group and the i-th communication device (referring to the first communication device) in the communication device group.

[0058] It is understandable that the neighbor relationship table of the first communication device stores the device identifier and device status information of the second communication device.

[0059] It should be noted that each communication device in the same communication device group has a corresponding neighbor table, which stores the device status information of communication devices within its communication range. Each communication device's neighbor table is obtained by sending communication greeting messages between the communication devices in the group. The specific implementation method for obtaining the neighbor table of a communication device by sending communication greeting messages between the communication devices in the group will be discussed later. Figure 3 The corresponding solutions will be described in detail, and will not be elaborated on here.

[0060] The target data packet is a data packet that needs to be transmitted in the communication device group and has not been transmitted to the first communication device in the past, that is, the first communication device has not received the target data packet in the past. The target data packet is carried in a preset data frame and transmitted in the communication device group. The preset data frame includes a frame header, which includes, but is not limited to, the following fields: (1) Source node identifier, used to identify the sender of the data packet; for the target data packet, its source node identifier is the device identifier of the second communication device; (2) Sequence number, used to uniquely identify the data packet, and different data packets have different sequence numbers; (3) Time to live (TTL), used to limit the propagation range of the data packet in the network; (4) Group identifier, used to identify the communication device group; (5) Priority parameter field, used to write the forwarding priority parameter of the data packet. For the definition of the forwarding priority parameter, please refer to the relevant description below.

[0061] S202, the first communication device determines the forwarding wait time corresponding to the target data packet.

[0062] Here, the forwarding wait time for the target data packet refers to the time required to forward the target data packet after it has been received. The forwarding wait time for the target data packet is negatively correlated with the relative distance between the second and first communication devices. A longer relative distance between the second and first communication devices results in a shorter forwarding wait time for the target data packet, and vice versa. The relative distance between the second and first communication devices is obtained based on the relative position information of the second communication device in the neighbor relationship table of the first communication device.

[0063] After receiving the target data packet, the first communication device reads the source node identifier in the frame header of the data frame carrying the target data packet to obtain the device identifier of the second communication device; then, in the neighbor relationship table of the first communication device, the relative position information bound to the device identifier of the second communication device is determined as the relative position information of the second communication device, and then the forwarding waiting time corresponding to the target data packet is determined based on the relative position information of the second communication device.

[0064] In some embodiments, the first communication device determines the forwarding wait time corresponding to the target data packet through the following steps A1-A2:

[0065] A1. Determine the forwarding priority parameter corresponding to the target data packet based on the relative position information of the second communication device in the neighbor relationship table of the first communication device.

[0066] Here, the forwarding priority parameter corresponding to the target data packet is used to reflect the relative distance between the second communication device and the first communication device.

[0067] In one feasible implementation, the first communication device determines the forwarding priority parameter corresponding to the target data packet based on the relative position information of the second communication device in the neighbor relationship table of the first communication device and the stability parameter of the second communication device. The specific determination method is as follows:

[0068] First, the first communication device determines whether the communication link between the second communication device and the first communication device is stable based on the stability parameters of the second communication device.

[0069] In one specific implementation, the first communication device can determine whether the stability parameter of the second communication device is greater than a first parameter threshold, for example, the first parameter threshold is 0.5; if the stability parameter of the second communication device is greater than the first parameter threshold, it is determined that the stability of the communication link between the second communication device and the first communication device is sufficient; if the stability parameter of the second communication device is less than or equal to the first parameter threshold, it is determined that the stability of the communication link between the second communication device and the first communication device is insufficient.

[0070] Then, assuming that the communication link between the second communication device and the first communication device is sufficiently stable, the first communication device determines the forwarding priority parameter corresponding to the target data packet based on the relative position information of the second communication device in the neighbor relationship table of the first communication device.

[0071] In one specific implementation, the first communication device can determine the forwarding priority parameter corresponding to the target data packet according to the following formula: PIF = -(Δx) SA ×cos(Δθ SA )+Δy SA ×sin(Δθ SA )). (Δx SA Δy SA Δθ represents the positional offset of the sender of the target data packet (i.e., the second communication device) relative to the receiver of the target data packet (i.e., the first communication device). SAThis represents the azimuth offset between the sender and receiver of the target data packet. PIF represents the forwarding priority parameter; a larger parameter indicates a greater relative distance between the second and first communication devices, resulting in a higher forwarding priority for the target data packet. Conversely, a smaller parameter indicates a closer relative distance, resulting in a lower forwarding priority. When the communication device group is a convoy, PIF is the negative value of the projection of the sending and receiving vehicles of the target data packet onto the convoy's forward direction. It is understood that other methods can also be used to determine the forwarding priority parameter corresponding to the target data packet, and this application does not impose any limitations on this.

[0072] Furthermore, if the stability of the communication link between the second and first communication devices is determined to be insufficient, the first communication device will set a preset priority parameter as the forwarding priority parameter corresponding to the target data packet. The preset priority parameter is a fixed forwarding priority parameter set in advance, used to indicate that the forwarding priority of the target data packet is not high, and is denoted as P. backup For example, P backup =0.

[0073] When the communication link between the communication device sending the data packet and the communication device receiving the data packet is unstable, setting a preset priority parameter as the forwarding priority parameter for the data packet is beneficial to ensure that the data packet still has the opportunity to be slowly and reliably propagated through other paths when the forwarding path may fail.

[0074] Determining the forwarding priority parameters of data packets by combining the relative position information and stability parameters of communication devices helps to grant more stable communication devices the right to send data, thereby ensuring the reliability of data transmission.

[0075] In another feasible implementation, the stability of the communication link between the second communication device and the first communication device can be disregarded, and the forwarding priority parameter corresponding to the target data packet can be determined directly based on the relative position information of the second communication device in the neighbor relationship table of the first communication device.

[0076] A2. Determine the forwarding wait time for the target data packet based on the forwarding priority parameter corresponding to the target data packet.

[0077] The forwarding wait time for the target data packet is negatively correlated with the forwarding priority parameter of the target data packet. That is, the larger the forwarding priority parameter of the target data packet, the shorter the forwarding wait time for the target data packet, and the smaller the forwarding priority parameter of the target data packet, the longer the forwarding wait time for the target data packet.

[0078] In one specific implementation, the first communication device can determine the forwarding wait time corresponding to the target data packet according to the following formula: T delay =T max -α×PIF. T delay Indicates the forwarding waiting time, T max This indicates the preset maximum waiting time, for example, 5 milliseconds; α represents the scaling factor, used to convert the forwarding priority parameter to the time domain.

[0079] In steps A1-A2 above, the forwarding priority parameter of the data packet is determined based on the relative position information in the neighbor relationship table, and the forwarding waiting time corresponding to the data packet is determined based on the forwarding priority parameter of the data packet, which can avoid random delays caused by channel contention.

[0080] After determining the forwarding priority parameter corresponding to the target data packet, the first communication device can write the forwarding priority parameter corresponding to the target data packet into the priority parameter field in the frame header of the data frame carrying the target data packet; the media access control (MAC) layer of the first communication device determines the forwarding wait time corresponding to the target data packet based on the forwarding priority parameter written in the priority parameter field, and then executes the subsequent step S203.

[0081] S203, the first communication device determines whether it has received the target data packet forwarded by the communication device within the first communication range within the forwarding waiting time corresponding to the target device.

[0082] Specifically, during the forwarding waiting period corresponding to the target data, the first communication device continuously monitors the wireless channel. When it detects a data packet (hereinafter referred to as a data packet to be judged) sent by another communication device in the communication device group, it reads the sequence number corresponding to the data packet to be judged from the frame header of the data frame carrying the data packet to be judged, and determines whether the sequence number corresponding to the data packet to be judged is the sequence number corresponding to the target data packet. If the sequence number corresponding to the data packet to be judged is the sequence number corresponding to the target data packet, it is determined that the target data packet forwarded by the communication device within the first communication range has been received, and the first communication device skips step S204. Furthermore, since the target data packet has been received before, the first communication device can also discard the data packet to be judged. If the sequence number corresponding to the data packet to be judged is not the sequence number corresponding to the target data packet, it means that the data packet to be judged has not been received before, and the first communication device can use the data packet to be judged as a new target data packet and execute step S202. If the target data packet forwarded by the communication device within the first communication range is not received within the forwarding waiting period corresponding to the target data, the first communication device executes step S204.

[0083] S204, the first communication device forwards the target data packet to the communication devices within the first communication range.

[0084] Specifically, the first communication device forwards target data packets to communication devices (including the second communication device) within the first communication range via wireless broadcast.

[0085] In the above Figure 2 In the corresponding technical solution, the communication devices in the communication device group store a neighbor relationship table. This table stores the device status information of other communication devices within the communication range of the current communication device. The device status information includes relative position information indicating the position offset and azimuth offset of the other communication device relative to itself. Upon receiving a target data packet sent by another communication device, the forwarding waiting time corresponding to the data packet is determined. If no other communication device forwards the target data packet within the forwarding waiting time, then the target data packet is forwarded. The communication devices forward data packets based on the forwarding waiting time, eliminating the need for channel contention, avoiding backoff collisions and retransmissions, and ensuring the controllability of data packet transmission delay. The forwarding waiting time is negatively correlated with the distance between the communication device sending the data packet and the communication device receiving the data packet. This gives the receiving end, which is farther from the sender of the data packet, priority in forwarding the data packet, which helps to reduce the transmission time of the data packet and thus reduce the transmission latency. Since the relative position information between communication devices is obtained by matching the detection data of two communication devices, and the detection data reflects the environment and objects detected by the communication devices, it can get rid of the dependence on the global positioning system (such as GPS) outside the communication device group. This allows the communication devices in the communication device group to complete the position perception between each other to determine the data route even when the absolute position information is unknown, thereby completing the accurate transmission of data packets.

[0086] The following example illustrates the above. Figure 2 The corresponding technical solutions will be introduced.

[0087] For example, a convoy of five driverless mining trucks (i.e., a group of communication equipment) is traveling in a straight line. The distance between two adjacent driverless mining trucks is 15 meters. The five driverless mining trucks are numbered V1 to V5, with V1 being the lead truck and V5 being the tail truck.

[0088] All vehicles establish their own neighbor relationships by sending each other greeting messages.

[0089] The relative position information in V1's neighbor table is as follows:

[0090] V2: ;

[0091] V3:

[0092] The relative position information in V2's neighbor relationship table is as follows:

[0093] V1: ;

[0094] V3: ;

[0095] V4:

[0096] The relative position information in V3's neighbor relationship table is as follows:

[0097] V1:

[0098] V2: ;

[0099] V4: ;

[0100] V5:

[0101] The relative position information in V4's neighbor relationship table is as follows:

[0102] V2:

[0103] V3:

[0104] V5:

[0105] The relative position information in V5's neighbor relationship table is as follows:

[0106] V3:

[0107] V4:

[0108] .

[0109] Assuming the radar ahead of V1 detects an obstacle and needs to immediately broadcast an emergency braking command to the entire formation, the process of the group communication method involved in this formation is as follows:

[0110] s1, Data packet encapsulation

[0111] The obstacle detection module of the lead vehicle V1 triggers an emergency braking command. The application layer of V1 encapsulates this emergency braking command into a data packet, and the network layer of V1 generates a forwarding frame. The header of the forwarding frame is as follows:

[0112] Source node ID: V1;

[0113] Serial number: 0x8A3F (unique identifier for emergency braking command);

[0114] TTL:5;

[0115] Formation ID: Fleet_Alpha;

[0116] PIF field: 0 (initial value).

[0117] s2, Initial broadcast of the data packet and neighbor reception

[0118] V1 keeps PIF at 0 and immediately broadcasts the data packet. V2 and V3 within V1's communication range receive the data packet simultaneously.

[0119] V2 queries its neighbor table to obtain the relative position of the data packet sender V1 and V2: ;

[0120] V2 calculates the forwarding priority parameters of data packets:

[0121]

[0122] V2 updates the PIF field in the data packet to 15.

[0123] The V2 MAC layer calculates the packet forwarding wait time:

[0124] V2 starts a 3.5ms priority timer.

[0125] V3 queries its neighbor table to obtain the relative position of the data packet sender V1 and V3: ;

[0126] V3 calculates the forwarding priority parameters of data packets:

[0127]

[0128] V3 updates the PIF field in the data packet to 30.

[0129] The V3 MAC layer calculates the data packet transmission delay:

[0130] V3 starts a 2.0ms priority timer.

[0131] s3, Secondary broadcast of data packets and neighbor reception:

[0132] After 2.0ms, V3's timer times out. Upon the timeout, V3 checks the channel and confirms that no data packet with the same sequence number is being transmitted. V3 then broadcasts and forwards the data packet without contention, setting the PIF field in the packet to 30 and updating the source node ID of the forwarded frame to V3.

[0133] 3.5ms before (after V3 forwarding): V2 detects a data packet with the same sequence number being forwarded by V3 during the waiting period. V2 immediately cancels its own send timer, suppressing this forwarding.

[0134] After receiving the data packet, V1 finds that it is a data packet with the same sequence number sent by V1 and discards the data packet.

[0135] V4 and V5 receive a data packet (PIF=30) from V3.

[0136] V4 identifies the sender of the data packet, V3, queries V4's neighbor table, and obtains the relative position of the sender V3 and V4:

[0137] ;

[0138] V4 calculates the forwarding priority parameters of data packets:

[0139]

[0140] V4 updates the PIF field in the data packet to 15.

[0141] The V4 MAC layer calculates the packet forwarding wait time:

[0142] V4 starts a 3.5ms timer.

[0143] V5 identifies the sender of the data packet, V3, and queries V5's neighbor table to obtain the relative position of the sender V3 and V5:

[0144] ;

[0145] V5 calculates the forwarding priority parameters of data packets: ;

[0146] V5 updates the PIF field in the data packet to 30.

[0147] The V5 MAC layer calculates the packet forwarding wait time:

[0148] V5 starts a 2.0ms timer.

[0149] 2.0ms later: V5 timer times out, broadcast forwarding data packets.

[0150] 3.5ms ago: V4 detected V5's forwarding and suppressed its own transmission.

[0151] In this way, the emergency braking command is issued from V1 and propagates to the entire formation through the optimal path of V1→V3→V5, avoiding redundant forwarding of V2 and V4, and greatly reducing channel contention and network congestion.

[0152] The following section describes the specific implementation method for obtaining the neighbor relationship table of communication devices by sending communication greeting messages between communication devices in a communication device group.

[0153] In some embodiments, the above Figure 2 Corresponding group communication methods also include Figure 3 The process steps shown include the following steps:

[0154] S301, the third communication device sends a communication greeting message to the first communication device, and the first communication device receives the communication greeting message.

[0155] Here, the third communication device is a device within the first communication range. The third communication device and the aforementioned second communication device can be the same communication device or different communication devices.

[0156] A communication greeting message is a message transmitted between communication devices in a communication device group to greet each other. Its purpose is to detect and confirm the presence of each other and maintain communication between the devices in the group. A third communication device can periodically send this greeting message via broadcast.

[0157] The communication greeting message sent by the third communication device includes a group identifier and first detection data. The group identifier identifies the communication device group to which the third and first communication devices belong. The first detection data reflects the environment and objects detected by the third communication device, and includes, but is not limited to, 3D point cloud data such as laser point cloud data and infrared point cloud data. The first detection data can be obtained by the third communication device through feature extraction of the 3D point cloud data acquired in the most recent detection cycle. For example, if the third communication device is equipped with a lidar, it can downsample and extract features (such as through normal vector histogram extraction) the laser point cloud data in the most recent scanning cycle to obtain a fixed-length hash value, which serves as the first detection data. It is understood that any data that reflects the surrounding environment and objects of the third communication device can be used as the first detection data; this application does not limit the form or type of the first detection data.

[0158] In addition to including the group identifier and the first detection data, the communication greeting message sent by the third communication device may also include information such as the device identifier of the third communication device, the working channel of the third communication device, and the communication rate of the third communication device.

[0159] S302, the first communication device matches the first detection data and the second detection data to obtain the relative position matching result.

[0160] Here, the second detection data reflects the environment and objects detected by the first communication device, and the type and form of the second detection data are the same as those of the first detection data. For example, if the first detection data is a fixed-length hash value obtained by the third communication device through downsampling and feature extraction of laser point cloud data in the most recent scanning cycle, then the second detection data is also a fixed-length hash value obtained by the first communication device through downsampling and feature extraction of laser point cloud data in the most recent scanning cycle.

[0161] The relative position matching result is used to indicate whether the relative position information of the third communication device has been obtained. For an introduction to the relative position information, please refer to the relevant description of step S201 above, which will not be repeated here.

[0162] Specifically, the first communication device matches the first and second probe data using a 3D point cloud registration algorithm to obtain a relative position matching result. The 3D point cloud registration algorithm includes, but is not limited to, the iterative closest point (ICP) algorithm and the normal distributions transform (NDT) algorithm.

[0163] S303, the first communication device updates the relative position information in the neighbor relationship table of the first communication device according to the relative position matching result.

[0164] Specifically, when the relative position matching result indicates that the relative position information of the third communication device has been obtained, the first communication device determines whether the device identifier of the third communication device exists in its neighbor relationship table. If the device identifier of the third communication device does not exist in the neighbor relationship table, the device identifier and the relative position information of the third communication device are saved to the neighbor relationship table to update the relative position information in the neighbor relationship table. If the device identifier of the third communication device exists in the neighbor relationship table, the relative position information of the third communication device in the neighbor relationship table is updated to the latest matched relative position information of the third communication device to update the relative position information in the neighbor relationship table. When the relative position matching result indicates that the relative position information of the third communication device has not been obtained, the first communication device does not update the relative position information in its neighbor relationship table.

[0165] S304, the first communication device updates the stability parameter in the neighbor relationship table of the first communication device according to the relative position matching result.

[0166] Specifically, if the device identifier of the third communication device is not present in the neighbor relationship table of the first communication device, the initial stability parameter is used as the stability parameter corresponding to the device identifier of the third communication device and saved to the neighbor relationship table of the first communication device to update the stability parameter in the neighbor relationship table of the first communication device. The initial stability parameter is, for example, 1. If the device identifier of the third communication device is present in the neighbor relationship table of the first communication device, when the relative position matching result is used to represent the relative position information of the third communication device, the stability parameter of the third communication device in the neighbor relationship table of the first communication device is increased, or, according to the formula... Update the stability parameter of the third communication device in the neighbor table of the first communication device; if the relative position matching result indicates that the relative position information of the third communication device has not been obtained, decrease the stability parameter of the third communication device in the neighbor table of the first communication device, or, according to the formula... Update the stability parameters of the third communication device in the neighbor relationship table of the first communication device, thereby updating the stability parameters in the neighbor relationship table of the first communication device.

[0167] In the above Figure 3In the corresponding technical solution, when a communication device receives a communication greeting message from another communication device, it matches the probe data carried in the greeting message with its own probe data to obtain the relative position information between itself and the other communication device, and updates the relative position information in the neighbor relationship table. This enables real-time updates of the relative positions between communication devices, ensuring the reliability of data forwarding routes. Based on the matching results of the probe data, the stability parameters in the neighbor relationship table are updated, which is beneficial for real-time updates of the stability of the communication links between communication devices, thereby helping to determine the most stable data forwarding route.

[0168] In some embodiments, the above Figure 3 The corresponding method steps also include: if no communication greeting message is received from the third communication device within a preset time period, or if the stability parameter of the third communication device in the neighbor relationship table of the first communication device is used to reflect the instability of the communication link between the third communication device and the first communication device, the first communication device may also delete the device status information of the third communication device in the neighbor relationship table of the first communication device.

[0169] For example, if no communication greeting message is received from the third communication device within 5 seconds, or if the stability parameter of the third communication device in the neighbor relationship table of the first communication device is less than 0.1, it is considered that the third communication device is not within the range of the first communication device, and the device status information of the third communication device is deleted from the neighbor relationship table of the first communication device.

[0170] If no greeting messages are received from other communication devices for a period of time, or if the communication links between other communication devices are unstable, the device status information of the other communication device is deleted from the neighbor relationship table to ensure the reliability of the communication devices in the neighbor relationship table.

[0171] In some embodiments, the above Figure 3 The corresponding method steps also include: when the target stability parameter in the neighbor relationship table of the first communication device meets a preset quantity condition, the first communication device switches to a preset communication mode and communicates with communication devices in the communication device group in the preset communication mode. The target stability parameter is used to reflect the instability of the communication link between the communication devices within the first communication range and the first communication device. For example, the target stability parameter is less than 0.1.

[0172] The preset quantity condition can be that the ratio of the number of target stability parameters in the neighbor relationship table of the first communication device to the total number of communication devices in the communication device group is greater than 1 / 2. The preset communication mode is the backup communication mode corresponding to the communication device group, used to communicate with other communication devices when the communication device is in a "disconnected state". For example, the preset communication mode can be point-to-point communication. When the target stability parameters in the neighbor relationship table of the first communication device meet the preset quantity condition, the first communication device can also output an alarm prompt to the upper-level control system to indicate that the first communication device has lost communication connection with most of the communication devices in the communication device group.

[0173] When the communication link between a communication device and multiple other communication devices is unstable, the device switches to a preset communication mode and communicates with other communication devices in the preset communication mode. This allows the communication device to communicate with other communication devices even when it falls behind, thereby preventing communication devices in the communication device group from losing connection.

[0174] The method of this application has been described above; the apparatus of this application will be described below.

[0175] See Figure 4 , Figure 4 This is a schematic diagram of a group communication device provided in an embodiment of this application, applied to a first communication device. For a description of the first communication device, please refer to the foregoing description; Figure 4 As shown, the group communication device 40 includes:

[0176] The receiving module 401 receives the target data packet sent by the second communication device, wherein the second communication device is a communication device within the first communication range;

[0177] Processing module 402 is used to determine the forwarding wait time corresponding to the target data packet; the forwarding wait time is negatively correlated with the relative distance between the second communication device and the first communication device, and the relative distance is obtained based on the relative position information of the second communication device in the neighbor relationship table;

[0178] The sending module 403 is configured to forward the target data packet to the communication device within the first communication range if it does not receive the target data packet forwarded by the communication device within the first communication range within the forwarding waiting time.

[0179] It should be noted that the aforementioned group communication device 40 can execute the group communication method provided in the embodiments of this application, and has the corresponding functional modules and beneficial effects for executing the method. Technical details not described in detail in the embodiments can be found in the aforementioned group communication method provided in the embodiments of this application.

[0180] See Figure 5 , Figure 5 This is a schematic diagram of the structure of a computer device 50 provided in an embodiment of this application. The computer device 50 includes a processor 501 and a memory 502. The memory 502 is connected to the processor 501, for example, via a bus.

[0181] Processor 501 is configured to support the computer device 50 in performing the corresponding functions in the methods described in the above method embodiments. Processor 501 may be a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof. The aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The aforementioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0182] Memory 502 is used to store program code, etc. Memory 502 may include volatile memory (VM), such as random access memory (RAM); memory 502 may also include non-volatile memory (NVM), such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); memory 502 may also include combinations of the above types of memory.

[0183] The memory 502 is used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the group communication method in the embodiments of this application. The processor executes various functional applications and data processing of the group communication method by running the non-volatile software programs, instructions, and modules stored in the memory, thereby realizing the functions of the group communication method provided in the above method embodiments.

[0184] Memory 502 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and applications required for at least one function. The data storage area may store data created based on the use of the group communication device. In some embodiments, the memory may include memory remotely located relative to the processor, which can be connected to the group communication device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0185] The one or more modules are stored in the memory. When executed by the one or more processors, they perform the group communication method in any of the above method embodiments. For example, they perform the method steps described in the above method embodiments to realize the functions of the modules described in the above device embodiments.

[0186] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a computer, cause the computer to perform the method described in the foregoing embodiments.

[0187] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0188] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A group communication method, characterized in that, A first communication device is applied in a communication device group, the communication device group including at least two communication devices, the first communication device being any one of the communication devices in the communication device group; the first communication device includes a neighbor relationship table, the neighbor relationship table being used to store device status information of communication devices within a first communication range, the first communication range being the communication range of the first communication device; the device status information includes relative position information and stability parameters, the relative position information being used to represent the position offset and azimuth offset of the communication devices within the first communication range relative to the first communication device, the stability parameters being used to reflect the stability of the communication link between the communication devices within the first communication range and the first communication device; The relative position information is obtained by matching the detection data of the communication device within the first communication range with the detection data of the first communication device through a three-dimensional point cloud registration algorithm. The detection data reflects the environment and objects detected by the communication device and includes three-dimensional point cloud data. The method includes: Receive the target data packet sent by the second communication device, wherein the second communication device is a communication device within the first communication range; Based on the relative position information of the second communication device in the neighbor relationship table and the stability parameters of the second communication device, the forwarding priority parameters corresponding to the target data packet are determined; Based on the forwarding priority parameter, determine the forwarding wait time corresponding to the target data packet; If the target data packet is not received from a communication device within the first communication range within the forwarding waiting time, the target data packet is forwarded to a communication device within the first communication range. The method further includes: The system receives a communication greeting message sent by a third communication device, which is a communication device within the first communication range. The communication greeting message includes a group identifier and first detection data. The group identifier is used to identify the communication device group, and the first detection data is used to reflect the environment and objects detected by the third communication device. The first detection data and the second detection data are matched to obtain a relative position matching result; the second detection data is used to reflect the environment and objects detected by the first communication device, and the relative position matching result is used to indicate whether the relative position information of the third communication device has been obtained. When the relative position matching result is used to indicate that the relative position information of the third communication device has been obtained, the stability parameter of the third communication device in the neighbor relationship table is increased. When the relative position matching result indicates that the relative position information of the third communication device has not been obtained, the stability parameter of the third communication device in the neighbor relationship table is reduced. The difference between the stability parameters of the third communication device after the increase and the stability parameters of the third communication device before the increase is the first difference, and the difference between the stability parameters of the third communication device before the decrease and the stability parameters of the third communication device after the decrease is the second difference, wherein the first difference is less than the second difference.

2. The method of claim 1, wherein, The step of determining the forwarding priority parameter corresponding to the target data packet based on the relative position information of the second communication device in the neighbor relationship table and the stability parameters of the second communication device includes: If the stability of the communication link between the second communication device and the first communication device is sufficient based on the stability parameters of the second communication device, the forwarding priority parameter is determined based on the relative position information of the second communication device in the neighbor relationship table. If the stability of the communication link between the second communication device and the first communication device is determined to be insufficient based on the stability parameters of the second communication device, the preset priority parameter is determined as the forwarding priority parameter.

3. The method according to claim 1 or 2, characterized in that, The method further includes: Based on the relative position matching results, update the relative position information in the neighbor relationship table.

4. The method of claim 1, wherein, The method further includes: If no communication greeting message is received from the third communication device within a preset time period, or if the stability parameter of the third communication device in the neighbor relationship table is used to reflect the instability of the communication link between the third communication device and the first communication device, the device status information of the third communication device shall be deleted from the neighbor relationship table.

5. The method of claim 1, wherein, The method further includes: When the target stability parameter in the neighbor relationship table meets the preset quantity condition, the system switches to a preset communication mode and communicates with the communication devices in the communication device group under the preset communication mode. The target stability parameter is used to reflect the instability of the communication link between the communication device within the first communication range and the first communication device.

6. The method of claim 1 or 2, wherein, The method further includes: If the target data packet is received from a communication device within the first communication range within the forwarding waiting time, the step of forwarding the target data packet to a communication device within the first communication range is skipped.

7. A computer device, comprising: The device includes a memory and a processor, the memory being connected to the processor, the processor being configured to execute one or more computer programs stored in the memory, the processor causing the computer device to perform the method as described in any one of claims 1-6 when executing the one or more computer programs.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1-6.

9. A group of communication devices, characterized in that It includes at least two communication devices, which are used to perform the method as described in any one of claims 1-6.

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