交通路口场景下基于802.11p的车队通信性能分析模型

doi:10.11896/jsjkx.200700064

计算机科学 ›› 2021, Vol. 48 ›› Issue (5): 254-262.doi: 10.11896/jsjkx.200700064

交通路口场景下基于802.11p的车队通信性能分析模型

夏思洋, 吴琼, 倪渊之, 武贵路, 李正权

江南大学物联网工程学院江苏无锡214122

收稿日期:2020-07-09 修回日期:2020-10-03 出版日期:2021-05-15 发布日期:2021-05-09
通讯作者: 吴琼(qiongwu@jiangnan.edu.cn)
基金资助:
国家自然科学基金(61701197);无锡市科技发展资金(H20191001)

Performance Analysis Model of 802.11p Based Platooning Communication at Traffic Intersection

XIA Si-yang, WU Qiong, NI Yuan-zhi, WU Gui-lu, LI Zheng-quan

School of Internet of Things Engineering,Jiangnan University,Wuxi,Jiangsu 214122,China

Received:2020-07-09 Revised:2020-10-03 Online:2021-05-15 Published:2021-05-09
About author:XIA Si-yang,born in 1996,postgra-duate.His main research interests include VANETs and communication protocols in autonomous driving.(siyangxia@stu.jiangnan.edu.cn)
WU Qiong,born in 1986,Ph.D,associate professor,master supervisor.His main research interests include autonomous driving communication technology and so on.
Supported by:
National Natural Science Foundation of China(61701197) and Wuxi Science and Technology Development Fund(H20191001).

摘要/Abstract

摘要： 编队策略作为无人驾驶的关键技术之一已经受到广泛的研究与实际的测试了。车队经过红绿灯管制的交通路口场景时,会受到红绿灯时间、队内(外)间距、速度和前进方向等参数的影响,此时因为车队通信网络复杂多变,所以难以维持车队行驶的稳定性,因此可能会进一步造成车队中采用802.11p协议通信的车辆不能在规定的时延限制内接收到完整的重要信息,从而引发道路安全问题。针对此问题,文章考虑802.11p中支持4种传输优先级的数据接入信道的机制,即增强分布式信道接入(Enhanced Distributed Channel Access,EDCA)机制,提出了一种交通路口场景下无人驾驶车队通信性能分析模型。首先构建交通路口处车辆的通信连通网络,并通过建立无人驾驶车队移动模型获得网络通信性能;然后采用概率母函数的方法将典型的描述802.11p EDCA机制的马尔可夫模型转化为z域线性模型,针对4种接入类别的优先级差异,推导车队通信时延与包传递率(Packet Delivery Ratio,PDR)的分析模型;最后通过迭代方法计算出车队通信时延。仿真结果验证了分析模型的准确性,由实验结果可知,该模型中经过交通路口时的车队通信时延低于802.11p协议规定的100 ms且包传递率均高于0.95,因此,该模型能够保证车队通信的及时性与完整性。

关键词: 802.11pEDCA, 车队通信, 交通路口, 无人驾驶

Abstract: As one of the key technologies of automated driving,platooning strategy has been extensively studied and tested in practice.When platoons pass through the traffic intersection controlled by traffic light,kinetic parameters such as traffic light time,intra/inter-platoon spacing,speed,and moving direction are severely affected.At this time,since the platooning communication connectivity network is complex and variable,the driving stability of platoons is difficult to maintain,thus resulting in that the vehicles in platoons that communicate through 802.11p protocols cannot receive the complete important information within the specified delay limit,which finally leads to road safety issues.To solve this problem,considering the Enhanced Distributed Channel Access (EDCA) mechanism of the 802.11p protocol,which supports data of 4 transmission priorities to access channel,a novel communication performance analysis model for automated driving platoons under traffic intersection scenario is proposed.First,we build a connectivity network of vehicular communication at the traffic intersection and obtain the network communication performance through constructing the platoon moving model.Then,the classic Markov model that describes the 802.11p EDCA mechanism is transformed into a z-domain linear model by utilizing the method of probability generating function,and the platooning communication delay and packet delivery ratio (PDR) analysis model is deduced according to the priority differences of the 4 access categories.Finally,iterative method is used to calculate the platooning communication delay.The simulation results verify the accuracy of the analysis model,and it can be found that when passing through the intersection,the communication delay of platoons is lower than the 100ms specified by the 802.11p protocols and the packet delivery ratio is higher than 0.95,which ensures the timeliness and completeness of the platoon communication.

Key words: 802.11p EDCA, Automated driving, Platooning communication, Traffic intersection

中图分类号:

TP393

夏思洋, 吴琼, 倪渊之, 武贵路, 李正权. 交通路口场景下基于802.11p的车队通信性能分析模型[J]. 计算机科学, 2021, 48(5): 254-262. https://doi.org/10.11896/jsjkx.200700064

XIA Si-yang, WU Qiong, NI Yuan-zhi, WU Gui-lu, LI Zheng-quan. Performance Analysis Model of 802.11p Based Platooning Communication at Traffic Intersection[J]. Computer Science, 2021, 48(5): 254-262. https://doi.org/10.11896/jsjkx.200700064

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交通路口场景下基于802.11p的车队通信性能分析模型

Performance Analysis Model of 802.11p Based Platooning Communication at Traffic Intersection

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