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WO2020071890A1 - Procédé de filtrage des paquets pour données de communication de véhicule, et dispositif terminal de communication de véhicule pour la mise en œuvre de celui-ci - Google Patents

Procédé de filtrage des paquets pour données de communication de véhicule, et dispositif terminal de communication de véhicule pour la mise en œuvre de celui-ci

Info

Publication number
WO2020071890A1
WO2020071890A1 PCT/KR2019/090001 KR2019090001W WO2020071890A1 WO 2020071890 A1 WO2020071890 A1 WO 2020071890A1 KR 2019090001 W KR2019090001 W KR 2019090001W WO 2020071890 A1 WO2020071890 A1 WO 2020071890A1
Authority
WO
WIPO (PCT)
Prior art keywords
packet
vehicle communication
message
vehicle
service logic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2019/090001
Other languages
English (en)
Korean (ko)
Inventor
권순일
정홍종
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wayties Inc
Original Assignee
Wayties Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wayties Inc filed Critical Wayties Inc
Publication of WO2020071890A1 publication Critical patent/WO2020071890A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40052—High-speed IEEE 1394 serial bus
    • H04L12/40071—Packet processing; Packet format
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
    • H04L1/0045—Arrangements at the receiver end
    • H04L1/0047—Decoding adapted to other signal detection operation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40267—Bus for use in transportation systems
    • H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle

Definitions

  • the present invention relates to a method for filtering data packets received from a vehicle communication terminal device.
  • Automobiles are developing in the direction of providing safety, mobility, and convenience by integrating ICT technology.
  • sensors such as radar and vision
  • ACC adaptive cruise control
  • DSRC Dedicated Short-Range Communications
  • V2X communication technology means direct communication between vehicles (V2V; Vehicle to Vehicle) and vehicle-to-infrastructure (V2I) from a vehicle perspective.
  • V2V Vehicle to Vehicle
  • V2I vehicle-to-infrastructure
  • Pedestrian to Vehicle (P2V) Pedestrian to Driver (P2D)
  • P2D Pedestrian to Driver
  • Comprehensive connectivity can be considered, including communication (P2I; Pedestrian to Infra-structure), road sensor network to infrastructure (R2I; Road to Infrastructure), and In-vehicle Network.
  • a plurality of wireless communication technologies are used to provide all the connections considered in the C-ITS environment.
  • WAVE Wireless Access in Vehicular Environments
  • WLAN or Bluetooth technology is used for P2V / P2I communication
  • sensor communication technology can be used for R2I communication. have.
  • V2X communication system different communication technologies are mixed and used for the transmission of multi-layer data, and the characteristics of data for each layer are different, so there is a problem that the processing speed of data processing and service logic utilizing the data is reduced.
  • the service logic needs to verify and process data for a plurality of dynamic moving and static objects based on the information collected from the multi-layer, so there is a difficulty in slowing down the verification and processing speed.
  • An object of the present invention is to provide a vehicle communication terminal device and a packet filtering method for vehicle communication data to effectively process data received from a vehicle communication terminal device to improve processing speed of a service logic, and a vehicle communication terminal device performing the same.
  • a packet filtering method of vehicle communication data includes: filtering a packet of vehicle communication data received from a vehicle communication terminal device, and receiving vehicle communication data including a packet message; Decoding a part of the packet messages sequentially included in the vehicle communication data and determining whether to reflect service logic for the packet messages; And filtering the packet message determined to be unnecessary to reflect the service logic.
  • a vehicle communication terminal device may process a service logic using a packet filtering method of the vehicle communication data.
  • steps according to the packet filtering method of the vehicle communication data may be configured as a computer program to be performed in the analysis system according to an embodiment of the present invention, the computer program to be stored in a computer-readable medium You can.
  • the present invention by processing the vehicle communication data by applying partial decoding and packet filtering through spatial information, it is possible to effectively process data received from the vehicle communication terminal device to improve the processing speed of service logic.
  • FIG. 1 is a block diagram showing the overall configuration of a vehicle communication terminal device of the present invention.
  • FIG. 2 is a view for explaining an embodiment of the configuration of a V2X communication system.
  • FIG. 3 is a flowchart illustrating a vehicle communication data packet filtering method according to an embodiment of the present invention.
  • FIG. 4 is a diagram for explaining embodiments of a method for filtering a packet message included in vehicle communication data.
  • 5 to 7 are diagrams for explaining embodiments of a method for determining proximity to a packet message.
  • FIG. 9 is a view for explaining an embodiment of a data structure for storage and retrieval according to multi-layer characteristics.
  • FIG. 10 is a view for explaining an embodiment of a hierarchical data structure capable of effective dynamic object tracking.
  • 11 is a view for explaining an embodiment of a service logic processing procedure.
  • first and second may be used to describe various components, but the components may not be limited by the terms. The terms may be used only for the purpose of distinguishing one component from other components.
  • first component may be referred to as a second component without departing from the scope of the present invention, and similarly, the second component may be referred to as a first component.
  • a component When a component is said to be “connected” or “connected” to another component, it may be directly connected to or connected to the other component, but other components may exist in the middle. Can be understood. On the other hand, when a component is referred to as being “directly connected” or “directly connected” to another component, it can be understood that no other component exists in the middle.
  • FIG. 1 is a block diagram showing the overall configuration of a vehicle communication terminal device according to an embodiment of the present invention.
  • a communication terminal device 10 for a vehicle that is a V2X communication system is periodically attached to a vehicle and periodically transmits packet messages related to vehicle safety, and periodically from a V2X communication system (not shown) attached to another vehicle. Receive packet messages.
  • the packet messages transmitted and received between the V2X communication systems include vehicle ID information, location information, and status information (for example, driving direction and speed, deceleration and acceleration status, etc.), and may have a standardized message format. .
  • the vehicle communication terminal device 10 may use the packet message periodically received from the V2X communication system of another vehicle as described above to know the distance between the vehicle to which it is attached and the surrounding vehicle, the operating state of the surrounding vehicle, and the like. Therefore, it is possible to judge the dangerous situation.
  • a hardware module and a software stack to which a technology according to standard standards is applied is provided to the vehicle communication terminal device 10 so that packet messages between vehicles or between vehicles and infrastructure can be transmitted and received within a short time. Is included.
  • the WAVE communication technology standardized by the IEEE of the United States is a technology that can transmit and receive packet messages between vehicles or between vehicles and infrastructure within a short time of 100msec or less in a radio wave environment in which a vehicle moves at high speed.
  • the vehicle communication terminal device 10 to which WAVE communication technology is applied may include a V2X communication module, a GPS module, a memory, and a processor.
  • the processor provided in the communication terminal device 10 for the vehicle is a processor for driving a safety application (Safety Application), can be interlocked with the vehicle's internal network, and the driver output device 210 to display the application result values, such as various warnings (warning) ).
  • a safety application Safety Application
  • the software stack of the WAVE communication system can be divided into software on the kernel and application service software.
  • the software on the kernel includes a device driver, MAC transmission / reception function, routing function, IP packet function, WSMP safety message function, management function, authentication and security protocol function, etc.
  • application service software includes vehicle safety service and cooperative autonomous driving service. And a driver interface.
  • the software stack of the WAVE communication system is composed of a plurality of layers (layers), as shown in Figure 2, the plurality of layers are each designed to satisfy the function and performance of a specific communication standard.
  • Table 1 below shows information about a plurality of standards required to implement the WAVE communication technology.
  • the WAVE communication technology uses a 5.9 GHz dedicated frequency band and is designed to meet IEEE 802.11p and IEEE 1609.x standards.
  • IEEE 802.11p includes a physical (PHY) layer for wireless transmission and a MAC layer
  • the IEEE 1609.x standard includes a multi-channel layer, a network layer, an authentication and security layer, and an application service layer mounted on the IEEE 802.11p. .
  • the SAE J2735 standard includes a message layer and defines a set of Dedicated Short Range Communication (DSRC) messages transmitted and received between vehicles or between vehicles and infrastructures.
  • DSRC Dedicated Short Range Communication
  • the vehicle communication terminal device 10 may include a V2X communication module including a plurality of layers to satisfy WAVE communication standards as described with reference to FIGS. 2 and 1.
  • the invention is not limited to this, and may be in accordance with other standards for communication between vehicles.
  • the vehicle communication data received by the vehicle communication terminal device 10 includes all message data defined in SAE J2735 including Basic Safety Message (BSM) transmitted from one or more other V2X communication systems (not shown). It includes, it may be received in the message layer of the vehicle communication terminal device 10.
  • BSM Basic Safety Message
  • the basic safety message includes BSM data elements defined in the SAE J2735 standard, for example, time (UTC time), position (Latitude, Longitude, Elevation), speed (Speed), direction (Heading), brake Data such as system status (traction, abs, scs, brakeBoost, auxBrakes) and vehicle size (Width, Length).
  • time UTC time
  • position Latitude, Longitude, Elevation
  • speed Speed
  • direction Heading
  • brake Data such as system status (traction, abs, scs, brakeBoost, auxBrakes) and vehicle size (Width, Length).
  • the packet message data received by the vehicle communication terminal device 10 is not limited to the above-described messages and data, and data related to surrounding vehicles, such as PATH HISTORY and PATH PREDICTION, and It may further include location and time information related to a signal conversion timing of a traffic light, construction, weather, and the like.
  • the vehicle communication terminal device 10 decodes packet messages received from an external object to process service logic, and logic data may be calculated through service logic processing.
  • Logic data includes object classification (TC, Target Classification), time-to-collision (TTC), time-to-intersection (TTI) and distance (DTI) defined in the SAE J2945 / X standard. to Intersection).
  • TC object classification
  • TTC time-to-collision
  • TTI time-to-intersection
  • DTI distance
  • an application result value may be determined in the vehicle communication terminal device 10 using the calculated logic data, which is a forward collision warning (FCW) required by the SAE J2945 / X standard, an emergency brake detection warning ( Emergency Electronic Brake Lights (EEBL), Blind Spot Warning (BSW), Lane Change Warning (LCW) and Intersection Movement Assist (IMA), Signal Phase and Timing ), Roadside Alert, and Traveler Information.
  • FCW forward collision warning
  • EBL Emergency Electronic Brake Lights
  • BSW Blind Spot Warning
  • LCW Lane Change Warning
  • IMA Intersection Movement Assist
  • the service logic needs to process data for the dynamic moving object based on the information collected from the multi-layers, so it may be difficult to process the data.
  • the present invention by processing the vehicle communication data by applying partial decoding and packet filtering through spatial information, it is possible to effectively process data received from the vehicle communication terminal device to improve the processing speed of service logic.
  • FIG. 3 is a flowchart illustrating a vehicle communication data packet filtering method according to an embodiment of the present invention, and shows a method of filtering a packet of vehicle communication data received from an external object by the vehicle communication terminal device 10. Meanwhile, a description of the same method described with reference to FIGS. 1 and 2 of the method illustrated in FIG. 3 will be omitted below.
  • the vehicle communication terminal device 10 receives vehicle communication data including a packet message (step S300).
  • the vehicle communication data includes packet messages transmitted from an external object, for example, a V2X communication system attached to another vehicle, and each packet message may include basic safety message (BSM) data. have.
  • BSM basic safety message
  • each message may include at least one of time, position, speed, direction, brake system status, vehicle size, movement path, and signal phase, signal timing, and event type.
  • the vehicle communication terminal device 10 decodes a part of the packet messages sequentially included in the vehicle communication data (step S310), and determines whether to reflect the service logic for the packet message using a part of the decoded packet message (Step S320).
  • the vehicle communication terminal device 10 may partially decode only service identification information among the corresponding packet messages, and use the partially decoded service identification information to determine whether the corresponding packet message is registered in the service logic.
  • the vehicle communication terminal device 10 may determine that it is unnecessary to reflect the service logic for the packet message.
  • the vehicle communication terminal device 10 may partially decode only message identification information among the corresponding packet messages, and use the partially decoded message identification information to determine whether the corresponding packet message is registered as a message ID required for service logic. .
  • the vehicle communication terminal device 10 may determine that it is unnecessary to reflect the service logic for the packet message.
  • the vehicle communication terminal device 10 determines the proximity to the corresponding packet message based on the position and speed of the mounted vehicle, and as a result of the determination, determines that the corresponding packet message is transmitted from an object that is not close to the vehicle. If it is possible, it may be determined that it is unnecessary to reflect the service logic for the packet message.
  • the proximity may be determined by calculating the distance between the vehicle and the object that transmitted the corresponding packet message, and accordingly, it may be determined that reflection of service logic is unnecessary for a remote packet.
  • the vehicle communication terminal device 10 filters the packet message determined to be unnecessary in the service logic in step S320 (step S330).
  • the vehicle communication terminal device 10 may process service logic by processing the remaining packet messages excluding filtered packet messages among a plurality of packet messages included in vehicle communication data.
  • 4 is for describing embodiments of a method for filtering packet messages included in vehicle communication data, and shows packet messages included in vehicle communication data and sequentially processed.
  • PSID_MAP provider service identifier
  • a part of the packets included in the vehicle communication data is partially decoded without verifying the signature and is not registered as a required message ID (MsgId) of the service logic, or is close based on the vehicle's location and speed (POS / TIME).
  • the long distance packets 420 are filtered (MID_MAP, OBJ_MAP).
  • the vehicle communication terminal device 10 may calculate a distance using at least one of altitude filtering, filtering according to latitude and longitude integer operations, and filtering according to floating-point operations to determine proximity to a packet message. have.
  • altitude filtering long-distance filtering based on latitude and longitude integer calculation
  • near field filtering based on floating-point operation
  • ⁇ T filtering based on floating-point operation
  • the accuracy of distance calculation may be increased by using floating-point arithmetic, but distance calculation through floating-point arithmetic may be minimized to increase processing speed.
  • the direction vector is calculated as shown in FIG. 6, and the vehicle and the relative object are based on the currently received message, for example, transmission time, location, direction, speed, etc. included in each message of SAE J2735. Filtering may be performed by calculating the position of.
  • the processing speed may vary according to the difference in the latitude and longitude, and the number of digits of the decimal point may be applied to adjust the distance for filtering according to ⁇ T and the speed of the vehicle and the number of surrounding objects to be processed.
  • the distance according to the difference in the value of the latitude and longitude can be obtained as shown in the table in FIG.
  • FIG. 9 is a view for explaining an embodiment of a data structure for storage and retrieval according to multi-layer characteristics.
  • the maximum number of divisions according to dynamic and static data characteristics may be adjusted, for example, high in a dynamic case and low in a static case.
  • search distance can be adjusted according to the current location, direction, maximum distance, speed, etc. by applying the area search function by the direction vector.
  • FIG. 10 is a view for explaining an embodiment of a hierarchical data structure capable of effective dynamic object tracking.
  • 'C W ' denotes a cell width
  • 'C H ' denotes a cell height
  • 'C NF ' denotes the number of cells in front of the vehicle (# of Cells for Vehicle Front)
  • the data structure shown in FIG. 10 is a hierarchical data structure in which surrounding objects are searchable based on the current location, and may have a composite structure combining a latitude-based hierarchical LOD structure and AABB TREE.
  • Cell division with high precision is applied to the vicinity, and the number of cells can be changed according to the speed, lane width and length of the vehicle.
  • object clustering is applied to enable searching for the presence or absence of objects on a cell-by-cell basis, so that collision or presence of cells can be confirmed.
  • a HASH structure for quickly finding a corresponding object in a cell is applied based on the received message information, and it may be possible to continuously update the data structure according to a change in location information.
  • the service logic may be processed by a flow as shown in FIG. 11.
  • a method and system for analyzing a vehicle-to-X communication system can be applied to various vehicle communication standards such as Europe or Japan.
  • the above-described methods according to the exemplary embodiment of the present invention may be manufactured as a program to be executed in a computer and stored in a computer-readable recording medium.
  • Examples of the computer-readable recording medium include ROM, RAM, and CD-ROM , Magnetic tape, floppy disk, and optical data storage.
  • the computer-readable recording medium can be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.
  • functional programs, codes, and code segments for implementing the method can be easily inferred by programmers in the technical field to which the present invention pertains.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un procédé de filtrage des paquets pour des données de communication de véhicule, et un dispositif terminal de communication de véhicule pour la mise en œuvre de celui-ci. Le procédé selon la présente invention comprend les étapes consistant à : recevoir des données de communication de véhicule contenant des messages en paquets ; décoder certains messages en paquets, qui sont inclus dans les données de communication de véhicule et sont traités séquentiellement, de façon à déterminer s'il faut refléter une logique de service concernant les messages en paquets ; et filtrer les messages en paquets pour lesquels il a été déterminé qu'il n'est pas nécessaire de refléter la logique de service.
PCT/KR2019/090001 2018-10-05 2019-10-04 Procédé de filtrage des paquets pour données de communication de véhicule, et dispositif terminal de communication de véhicule pour la mise en œuvre de celui-ci Ceased WO2020071890A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2018-0118982 2018-10-05
KR1020180118982A KR102635088B1 (ko) 2018-10-05 2018-10-05 차량 통신 데이터의 패킷 필터링 방법 및 그를 수행하는 차량용 통신 단말 장치

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WO2020071890A1 true WO2020071890A1 (fr) 2020-04-09

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11804128B2 (en) 2021-03-31 2023-10-31 Honda Motor Co., Ltd. Target classification

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022050447A1 (fr) * 2020-09-03 2022-03-10 엘지전자 주식회사 Procédé de sécurisation de données de véhicule

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KR20160045745A (ko) * 2013-08-22 2016-04-27 콘티넨탈 테베스 아게 운트 코. 오하게 지리적 좌표계에서 수신 회랑에 기반하여 필터링하는 차량 대 사물 수신기
KR20160045744A (ko) * 2013-08-22 2016-04-27 콘티넨탈 테베스 아게 운트 코. 오하게 수신된 신호 강도에 기반하여 차량 대 사물 네트워크에서 수신된 데이터의 감축
WO2018066876A1 (fr) * 2016-10-06 2018-04-12 엘지전자(주) Procédé de prise en charge de communication v2x dans un système de communication sans fil
WO2018182315A1 (fr) * 2017-03-30 2018-10-04 주식회사 웨이티즈 Procédé d'analyse de système de communication véhicule-à-tout et système d'analyse l'utilisant

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Publication number Priority date Publication date Assignee Title
US20110080302A1 (en) * 2009-10-02 2011-04-07 Gm Global Technology Operations, Inc. Reducing the Computational Load on Processors by Selectively Discarding Data in Vehicular Networks
KR20160045745A (ko) * 2013-08-22 2016-04-27 콘티넨탈 테베스 아게 운트 코. 오하게 지리적 좌표계에서 수신 회랑에 기반하여 필터링하는 차량 대 사물 수신기
KR20160045744A (ko) * 2013-08-22 2016-04-27 콘티넨탈 테베스 아게 운트 코. 오하게 수신된 신호 강도에 기반하여 차량 대 사물 네트워크에서 수신된 데이터의 감축
WO2018066876A1 (fr) * 2016-10-06 2018-04-12 엘지전자(주) Procédé de prise en charge de communication v2x dans un système de communication sans fil
WO2018182315A1 (fr) * 2017-03-30 2018-10-04 주식회사 웨이티즈 Procédé d'analyse de système de communication véhicule-à-tout et système d'analyse l'utilisant

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11804128B2 (en) 2021-03-31 2023-10-31 Honda Motor Co., Ltd. Target classification

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