CN111526496A - C-V2X communication anomaly detection method based on group type command and dispatch - Google Patents

Abstract

The invention discloses a C-V2X communication abnormality detection method based on group-type command and dispatch. Through group-type unified command and dispatch, each fixed communication device is within the effective communication range of at least two other fixed communication devices. Deployment, through two-by-two mutual inspection, can quickly and easily determine whether fixed communication equipment is abnormal in communication; vehicle-end communication equipment can quickly and accurately determine whether it communicates with itself by broadcasting heartbeat packets, setting timeout timers, and establishing a perfect abnormality judgment mechanism In this way, the problem of false positives and false negatives of abnormal communication can be effectively avoided; through the group work scenario, the list of all communication devices within the effective communication range of the current location of the vehicle-end communication device and the corresponding status information can be obtained from the cloud server. If the communication is abnormal, other effective communication methods can be quickly adopted to facilitate unified management and scheduling.

Description

A C-V2X Communication Anomaly Detection Method Based on Group Command and Dispatch

technical field

The invention relates to the technical field of unmanned driving and assisted driving, in particular to a C-V2X communication abnormality detection method based on group command and dispatch.

Background technique

With the rapid development of society and economy, automobile travel has become the main way of travel. However, while automobiles bring convenience to human beings, they also bring frequent traffic accidents. People are eager to change this situation with new technologies. Under this circumstance, more and more automakers are launching self-driving technology.

Environment perception is an important part of autonomous driving systems. At present, commonly used environmental perception sensors include millimeter-wave radar, ultrasonic radar, high-precision sensors and high-definition cameras. In recent years, due to the increasingly prominent limitations of a single sensor, multi-sensor fusion sensing technology has become the focus of research.

Due to the disadvantages of high sensor cost, limited sensing distance and blind spot occlusion, it cannot fully meet the requirements of autonomous driving. The reason is that traffic is a complex system composed of people, vehicles and roads, and no single component can represent the state of the entire system. Therefore, vehicle-road collaboration technology has become an important way to realize autonomous driving technology. A vehicle communication technology (Vehicle to Everything, V2X) is emerging as one of the important technologies for vehicle-road collaboration.

Two standards based on V2X communication are Dedicated Short Range Communications (DSRC) and LTE-based communication (Cellular vehicle-to-everything, C-V2X).

C-V2X: C stands for Cellular, which is a wireless communication technology for vehicles based on the evolution of cellular network communication technologies such as 3G/4G/5G; V2X is a new generation of information communication technology that connects vehicles with everything, and is based on cellular networks. The Internet of Vehicles technology, where V represents the vehicle, X represents any object that interacts with the vehicle, and the current X mainly includes vehicles, people, traffic roadside infrastructure and networks.

V2V: Vehicle-To-Vehicle, that is, vehicle-to-vehicle, which can be used for information interaction and reminder between vehicles. The most typical application is for collision avoidance safety systems between vehicles.

V2I: Vehicle-To-Infrastructure, that is, vehicle-infrastructure, vehicles can communicate with roads and even other infrastructure such as traffic lights, roadblocks, etc., and obtain road management information such as traffic light signal timing.

V2N: Vehicle-To-Network, that is, vehicle-to-Internet, is the most widely used form of Internet of Vehicles at present. Its main function is to connect the vehicle to the cloud server through the mobile network, and use the navigation, task files, and road information provided by the cloud server. and other application functions.

V2P: Vehicle-To-Pedestrian, that is, vehicle-pedestrian, used to warn pedestrians or non-motor vehicles on the road.

RSU: Road-Side-Unit, that is, the roadside unit, has the function of V2X communication, is used to collect the information of vehicles within the broadcast range, and has the function of broadcasting RTK, GPS, early warning and other information.

OBU: On-Board-Unit, the on-board unit, has V2X communication and networking functions, and is used to broadcast vehicle, early warning and other information.

However, the existing DSRC and C-V2X communication technologies are mainly based on broadcast messages, and there is no effective way to perform device self-check to ensure the reliability and stability of the communication channel, so that the abnormal state of the device cannot be detected in time within the effective communication range. , so that the broadcast information of other vehicles cannot be effectively obtained, which leads to unimaginable consequences. In the case of unmanned and assisted driving, the problem will be greatly magnified. For example, if the vehicle ahead broadcasts a collision warning signal, if the warning information cannot be received due to a problem with the V2X of itself or the other party, it will bring serious consequences. Therefore, the abnormal detection of V2X communication is particularly important.

SUMMARY OF THE INVENTION

In view of this, the present invention provides a C-V2X communication abnormality detection method based on group command and dispatch, so as to effectively improve the C-V2X communication abnormality detection speed and reduce the problems of false detection and missed detection.

Therefore, the present invention provides a C-V2X communication anomaly detection method based on group command and dispatch, comprising the following steps:

S1: In a group work scenario, a plurality of fixed communication devices and a plurality of on-board communication devices are deployed uniformly; wherein each fixed communication device is within the effective communication range of at least two other fixed communication devices;

S2: each of the fixed communication devices reports the respective communication status and location information to the cloud server in real time, and the cloud server calculates the effective communication range of each of the fixed communication devices;

S3: each of the vehicle-end communication devices reports their respective location information and communication status to the cloud server in real time, and the cloud server calculates the effective communication range of each of the vehicle-end communication devices;

S4: Each vehicle-end communication device obtains, from the cloud server, a list of all communication devices located within the effective communication range of its current location, and the location information and communication status corresponding to each communication device in the list;

S5: Each of the vehicle-end communication devices determines whether each communication device in the list is within the effective communication range of the vehicle-end communication device according to the obtained location information of each communication device in the list, and determines whether each communication device in the list is within the effective communication range of the vehicle-end communication device, and according to the position information of each communication device in the list The communication status of each communication device in the list is determined, and whether the communication status of each communication device in the list is normal, and the valid communication device list corresponding to each of the vehicle-end communication devices is determined;

S6: each of the on-board communication devices broadcasts heartbeat packets at fixed time intervals, and starts a timeout timer; wherein, the timeout time of the timeout timer is greater than each of the on-board communication devices and the corresponding valid communication device list The propagation time required for normal communication of each communication device in China;

S7: each of the on-board communication devices determines whether they have received ACKs from all the communication devices in the corresponding valid communication device list before the timeout timer expires; if so, execute step S8; if not, execute step S9;

S8: The vehicle-end communication device communicates normally, and communicates with each communication device in the corresponding valid communication device list through the C-V2X communication method;

S9: The on-board communication device judges whether the ACK of the communication device in the corresponding valid communication device list is received before the expiration of the timeout timer; if so, execute steps S10 to S12; if not, execute step S13;

S10: The vehicle-side communication device records and counts the communication devices that have not sent ACK, and determines whether the same communication device has not sent ACK three times or more; if so, go to step S11; if not, go to step S12;

S11: The communication of the vehicle-end communication device is normal, and the communication device that has not sent ACK is reported to the cloud server, and communicated with the communication device that has not sent ACK through DSRC communication;

S12: The vehicle-end communication device performs communication quality inspection, and switches to the DSRC communication mode to communicate with each communication device in the corresponding valid communication device list;

S13: The communication of the vehicle-end communication device is abnormal, and the abnormality is handled by itself, and reported to the cloud server, and switched to the DSRC communication mode to communicate with each communication device in the corresponding valid communication device list, until the vehicle-end communication When the communication of the device is abnormally restored or the communication quality is restored, switch to the C-V2X communication mode to communicate with each communication device in the corresponding valid communication device list.

The above-mentioned C-V2X communication anomaly detection method based on group-type command and dispatch provided by the present invention, through group-type unified command and dispatch, according to the way that each fixed communication device is within the effective communication range of at least two other fixed communication devices. , Through mutual inspection, it is possible to quickly and easily determine whether the communication of fixed communication equipment is abnormal; the vehicle-end communication equipment can quickly and accurately determine whether its communication is abnormal by broadcasting heartbeat packets, setting timeout timers, and establishing a perfect abnormality judgment mechanism. , which can effectively avoid the problem of false positives and false negatives of abnormal communication; through the group work scenario, the list of all communication devices within the effective communication range of the current location of the vehicle-end communication device and the corresponding status information can be obtained from the cloud server. If abnormal, other effective communication methods can be quickly adopted to facilitate unified management and scheduling.

Description of drawings

1 is a flowchart of C-V2X communication abnormality detection in a C-V2X communication abnormality detection method based on group command and dispatch provided by the present invention;

FIG. 2 is a schematic diagram of group command and dispatch in Embodiment 1 of the present invention.

Description of reference numerals: 1. RSU-1 equipment; 2. RSU-2 equipment; 3. RSU-3 equipment; 4. OBU-1 equipment; 5. OBU-2 equipment; 6. OBU-3 equipment; 7. OBU -4 equipment; 8, cloud server.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are merely illustrative and not intended to limit the present invention.

A C-V2X communication anomaly detection method based on group command and dispatch provided by the present invention, as shown in Figure 1, includes the following steps:

S1: In a group work scenario, a plurality of fixed communication devices and a plurality of on-board communication devices are deployed uniformly; wherein each fixed communication device is within the effective communication range of at least two other fixed communication devices;

Specifically, the fixed communication device can be an RSU device, or it can also be a cloud, or it can also be an edge computing terminal, which is not limited here; the vehicle-end communication device can be an OBU device;

Each fixed communication device communicates with at least two other fixed communication devices at the same time to determine whether it is faulty. Therefore, each fixed communication device needs to be interconnected with each other, and it is necessary to determine whether other communication devices communicating with the fixed communication device are abnormal;

S2: Each fixed communication device reports its communication status and location information to the cloud server in real time, and the cloud server calculates the effective communication range of each fixed communication device;

S3: Each vehicle-end communication device reports its position information and communication status to the cloud server in real time, and the cloud server calculates the effective communication range of each vehicle-end communication device;

S4: Each vehicle-end communication device obtains, from the cloud server, a list of all communication devices located within the effective communication range of its current location and the location information and communication status corresponding to each communication device in the list;

S5: Each vehicle-end communication device judges whether each communication device in the list is within the effective communication range of the vehicle-end communication device according to the obtained position information of each communication device in the list, and according to the communication status of each communication device in the list, Determine whether the communication status of each communication device in the list is normal, and determine the valid communication device list corresponding to each vehicle-end communication device;

S6: Each vehicle-end communication device broadcasts heartbeat packets at fixed time intervals, and starts a timeout timer; wherein, the timeout time of the timeout timer is greater than the normal communication between each vehicle-end communication device and each communication device in the corresponding valid communication device list the required propagation time;

S7: each on-board communication device judges whether it has received ACKs from all the communication devices in the corresponding valid communication device list before the timeout timer expires; if so, go to step S8; if not, go to step S9;

S8: The vehicle-end communication device communicates normally, and communicates with each communication device in the corresponding valid communication device list through the C-V2X communication method;

S9: The on-board communication device determines whether the ACK of the communication device in the corresponding valid communication device list is received before the timeout timer expires; if so, execute steps S10 to S12; if not, execute step S13;

S10: The vehicle-side communication device records and counts the communication devices that have not sent ACK, and determines whether the same communication device has not sent ACK three times or more; if so, go to step S11; if not, go to step S12;

S11: The vehicle-end communication device communicates normally, report the communication device that has not sent ACK to the cloud server, and communicate with the communication device that has not sent ACK through DSRC communication;

S12: The vehicle-end communication device checks the communication quality, and switches to the DSRC communication mode to communicate with each communication device in the corresponding valid communication device list;

S13: The communication of the vehicle-end communication device is abnormal, and the abnormality is handled by itself, and reported to the cloud server, and then switched to the DSRC communication mode to communicate with each communication device in the corresponding valid communication device list, until the communication of the vehicle-end communication device is abnormally restored or the communication After the quality is restored, switch to C-V2X communication mode to communicate with each communication device in the corresponding effective communication device list.

The specific implementation of the above-mentioned C-V2X communication anomaly detection method based on group command and dispatch provided by the present invention will be described in detail below through a specific embodiment.

Example 1:

As shown in Figure 2, the group uniformly deploys three RSU devices, RSU-1 device 1, RSU-2 device 2 and RSU-3 device 3, and the distance between the two is not more than 1km to ensure the interconnection between the two. Specifically, the RSU-2 device 2 needs to communicate with both the RSU-1 device 1 and the RSU-3 device 3, so that it can determine whether it is abnormal. RSU-1 device 1 and RSU-3 device 3 are the same. In addition, the group uniformly deploys four OBU devices, OBU-1 device 4, OBU-2 device 5, OBU-3 device 6 and OBU-4 device 7.

The RSU-1 device 1 , the RSU-2 device 2 , and the RSU-3 device 3 each detect their own communication status and location information, and report to the cloud server 8 . The cloud server 8 stores the data of the three RSU devices after receiving them, and calculates the effective communication range of the three RSU devices.

When the OBU-3 device 6 runs to the position shown in FIG. 2 , it reports its own GPS information and communication status to the cloud server 8 . After receiving the information reported by the OBU-3 device 6, the cloud server 8 calculates the effective communication range of the OBU-3 device 6 according to the reported GPS information, and sends the location information and communication status of all devices within the effective communication range to the OBU-3 3 devices 6. As shown in FIG. 2 , the RSU-3 device 3 , the OBU-2 device 5 and the OBU-4 device 7 are within the effective communication range of the OBU-3 device 6 .

After the OBU-3 device 6 receives the information sent by the cloud server 8, it calculates and determines again whether the RSU-3 device 3, the OBU-2 device 5, and the OBU-4 device 7 are within the effective communication range of the OBU-3 device 6, Determine whether the communication status is normal and mark it, so as to determine the list of effective communication devices.

The OBU-3 device 6 broadcasts heartbeat information at 2-second intervals and starts a timeout timer of 500ms.

The OBU-3 device 6 determines that it has received an ACK reply from each device in the valid communication device list within 500ms.

If the OBU-3 device 6 can receive ACKs from all the devices in the valid communication device list, the OBU-3 device 6 communicates normally, marks the communication status as normal, and communicates through the C-V2X communication method.

If the OBU-3 device 6 does not receive the ACK of the OBU-4 device 7 before the 500ms timeout expires, and the ACKs of the other devices except the OBU-4 device 7 in the list of valid communication devices have been received, it starts to count and It is logged that OBU-4 device 7 did not reply with an ACK.

If the OBU-4 device 7 does not reply with ACK for more than three times, the communication of the OBU-3 device 6 is normal, and the information of the OBU-4 device 7 is reported to the cloud server 8 to facilitate further troubleshooting in the future. The OBU-3 device 6 passes the DSRC The communication method communicates with the OBU-4 device 7.

If the OBU-3 device 6 sends ACK more than three times, and the OBU-4 device 7 replies with ACK at least once, it is possible that the signal quality of the OBU-3 device 6 is poor. It can switch to DSRC communication for communication and start to check its own signal. quality.

If the 500ms timeout expires and the OBU-3 device 6 does not receive an ACK from any device, the OBU-3 device 6 communicates abnormally, handles the exception by itself, and immediately reports to the cloud server 8 to switch to the DSRC communication mode for communication.

If the OBU-3 device 6 detects that the abnormality has recovered, or the signal quality has recovered, it immediately switches to the C-V2X communication mode for communication.

The above-mentioned C-V2X communication anomaly detection method based on group-type command and dispatch provided by the present invention, through group-type unified command and dispatch, according to the way that each fixed communication device is within the effective communication range of at least two other fixed communication devices. , Through mutual inspection, it is possible to quickly and easily determine whether the communication of fixed communication equipment is abnormal; the vehicle-end communication equipment can quickly and accurately determine whether its communication is abnormal by broadcasting heartbeat packets, setting timeout timers, and establishing a perfect abnormality judgment mechanism. , so as to effectively avoid the problems of false positives and false negatives of abnormal communication; through the group work scenario, the list of all communication devices within the effective communication range of the current location of the vehicle-end communication device and the corresponding status information can be obtained from the cloud server. If abnormal, other effective communication methods can be quickly adopted to facilitate unified management and scheduling.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention. Thus, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims (1)

1. A C-V2X communication abnormity detection method based on clique type command and dispatch is characterized by comprising the following steps:

s1: in a group type working scene, uniformly deploying a plurality of fixed communication equipment and a plurality of vehicle-end communication equipment; wherein each fixed communication device is in the effective communication range of at least two other fixed communication devices;

s2: reporting respective communication state and position information to a cloud server by each fixed communication device in real time, and calculating the effective communication range of each fixed communication device by the cloud server;

s3: each vehicle-end communication device reports respective position information and communication state to a cloud server in real time, and the cloud server calculates the effective communication range of each vehicle-end communication device;

s4: each vehicle-end communication device acquires a list of all communication devices located in an effective communication range of the current position of the vehicle-end communication device from the cloud server, and position information and communication states corresponding to the communication devices in the list;

s5: each vehicle-end communication device judges whether each communication device in the list is in the effective communication range of the vehicle-end communication device according to the acquired position information of each communication device in the list, judges whether the communication state of each communication device in the list is normal according to the communication state of each communication device in the list, and determines an effective communication device list corresponding to each vehicle-end communication device;

s6: broadcasting heartbeat packets by each vehicle-end communication device at fixed time intervals, and starting an overtime timer; the overtime time of the overtime timer is longer than the propagation time required by normal communication between each vehicle-end communication device and each communication device in the corresponding effective communication device list;

s7: each vehicle-end communication device judges whether the ACK of all the communication devices in the corresponding effective communication device list is received before the timeout timer is ended; if yes, go to step S8; if not, go to step S9;

s8: the vehicle-end communication equipment is in normal communication and communicates with each communication equipment in the corresponding effective communication equipment list in a C-V2X communication mode;

s9: the vehicle-end communication equipment judges whether ACK of the communication equipment in the corresponding effective communication equipment list is received before the timeout timer is ended; if yes, executing step S10-step S12; if not, go to step S13;

s10: the vehicle-end communication equipment records and counts communication equipment which does not send ACK, and judges whether the communication equipment which does not send ACK is the same communication equipment for more than three times; if yes, go to step S11; if not, go to step S12;

s11: the communication of the vehicle-end communication equipment is normal, the communication equipment which does not send ACK is reported to the cloud server, and the communication equipment which does not send ACK is communicated with the communication equipment which does not send ACK in a DSRC communication mode;

s12: the vehicle-end communication equipment carries out communication quality inspection and is switched into a DSRC communication mode to communicate with each communication equipment in the corresponding effective communication equipment list;

s13: and when the communication of the vehicle-end communication equipment is abnormal, the vehicle-end communication equipment performs abnormal processing, reports the abnormal processing to the cloud server, switches the communication mode into a DSRC communication mode to communicate with each communication equipment in the corresponding effective communication equipment list until the communication abnormality or the communication quality of the vehicle-end communication equipment is recovered, and switches the communication mode into a C-V2X communication mode to communicate with each communication equipment in the corresponding effective communication equipment list.

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