CN-122028092-A - Remote communication method and system for unmanned vehicle

CN122028092ACN 122028092 ACN122028092 ACN 122028092ACN-122028092-A

Abstract

The invention relates to the technical field of vehicle communication and discloses a remote communication method and a remote communication system of an unmanned vehicle, wherein the method comprises the steps of obtaining an effective interference point set of the surrounding environment of the unmanned vehicle and calculating a dynamic shielding index; the method comprises the steps of synchronously obtaining a bottom physical channel quality parameter, executing cross-layer bilateral judgment by combining a dynamic shielding index and the bottom physical channel quality parameter, entering a link protection state when the cross-layer bilateral judgment meets a trigger condition, executing a cut-off operation on a conventional service flow and executing an enhanced transmission strategy on a core control instruction, starting a back-off recovery window when the condition of meeting a preliminary recovery condition is detected, executing progressive service recovery during the duration of the back-off recovery window, and executing network topology rollback after the expiration of the back-off recovery window. The invention improves the link blocking pre-judging accuracy, ensures the reliable transmission of key instructions when the channel is deteriorated, and effectively prevents network state oscillation caused by frequent fluctuation of signals in the shielding edge area.

Inventors

FENG SHU
CHEN JIAHAO
DAI KAI
LI CHAOPING
ZHANG HAOBIN
WANG ZHIFENG
CUI SHAN
CHU XUECONG
YAO QIHAO
WANG CE

Assignees

尚元智行(桐乡)科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260416

Claims (10)

1. A method of remote communication for an unmanned vehicle, comprising: Acquiring an effective interference point set of the surrounding environment of the unmanned vehicle, and calculating a dynamic shielding index for representing the communication line-of-sight shielding degree based on the effective interference point set; synchronously acquiring a bottom physical channel quality parameter, and executing cross-layer bilateral judgment by combining the dynamic shielding index and the bottom physical channel quality parameter; when the cross-layer bilateral judgment meets the triggering condition, entering a link protection state, executing a cut-off operation on a conventional service flow in the link protection state, and executing an enhanced transmission strategy on a core control instruction; And when the preliminary recovery condition is detected to be met, starting a back-off recovery window, executing progressive service recovery during the duration of the back-off recovery window, and executing network topology rollback after the expiration of the back-off recovery window.
2. A method of remote communication of an unmanned vehicle according to claim 1, wherein said calculating a dynamic occlusion index for characterizing the degree of communication line-of-sight occlusion based on said set of effective interference points comprises: calculating a space weight coefficient for each discrete point in the effective interference point set, wherein the space weight coefficient is determined by the orthogonal distance from the discrete point to the communication line-of-sight ray and the normalized reflection characteristic quantity of the discrete point; combining the electromagnetic attenuation coefficient of each discrete point with the corresponding space weight coefficient, introducing equivalent local volume elements to perform discrete summation calculation, and obtaining an original shielding index; And carrying out normalization processing on the original shielding index by adopting a logic function, and generating a scalar value continuously reflecting shielding risks as the dynamic shielding index.
3. The method of claim 1, wherein the underlying physical channel quality parameter comprises a signal-to-noise ratio measurement, and wherein the performing a cross-layer bilateral decision in combination with the dynamic occlusion index and the underlying physical channel quality parameter comprises: calculating the time sequence fading change rate of the signal-to-noise ratio measured value according to the set time step; And when the dynamic shielding index is larger than a preset shielding early warning threshold value and the time sequence fading change rate is lower than a maximum tolerance fading rate threshold value, judging that the cross-layer bilateral judgment meets the triggering condition.
4. A method of remotely communicating an unmanned vehicle according to claim 3, wherein said performing a shutoff operation on a regular traffic flow comprises: calculating a dynamic cut-off factor for the conventional service flow according to the dynamic shielding index and the shielding early warning threshold; And redirecting the conventional service data packet to be sent to a buffer zone in a suspended state or actively discarding the conventional service data packet according to the cut-off proportion represented by the dynamic cut-off factor.
5. The method of claim 1, wherein said executing an enhanced transmission strategy on the core control command comprises: intercepting the core control instruction to be sent, and extracting the key information load of the core control instruction; the network transmission protocol level is adjusted down, the extracted key information load is reconstructed and packaged into connectionless user datagram protocol messages or customized Ethernet frames for transmission; And (3) attaching a service layer sequence number to the reconstructed packet, synchronously starting a retransmission timer, and reporting transmission failure to an upper layer application if the application layer acknowledgement packet is not received after the maximum retransmission times or the maximum duration time are reached.
6. The method of claim 5, wherein said executing an enhanced transmission strategy on core control instructions further comprises enabling a hierarchical redundancy mechanism in accordance with a risk level interval of said dynamic occlusion index: When the dynamic shielding index is in a medium risk interval, executing an information redundancy strategy, and transmitting the core control instruction by adopting a low-order modulation coding scheme containing forward error correction bits; When the dynamic shielding index is in a high-risk interval, overlapping a time redundancy strategy on the basis of executing the information redundancy strategy, and repeatedly sending the same core control instruction for a plurality of times at a set time interval; And when the dynamic shielding index is in an extreme risk interval, executing a multi-path redundancy strategy, and simultaneously transmitting the copies of the core control instruction to the main and standby communication interfaces of different systems for parallel transmission.
7. A method of remote communication of an unmanned vehicle according to claim 3, wherein the initiating a backoff recovery window comprises: Calculating a normalized restoration judgment amount based on the current value of the dynamic shielding index, the signal-to-noise ratio measured value and the confirmation success rate of the core control instruction; when the recovery judgment amount is higher than a preset recovery entry threshold value in a set continuous sampling period, judging that the preliminary recovery condition is met, and starting the back-off recovery window; And calculating and setting the duration time of the back-off recovery window according to the current recovery judgment amount and the preset minimum recovery observation time.
8. The unmanned vehicle remote communication method according to claim 7, wherein the performing progressive traffic restoration during the backoff restoration window duration comprises: Constructing a recovery opening coefficient which gradually increases along with the passing time of the back-off recovery window; Calculating an actual gating coefficient based on the restoration opening coefficient to relax the interception operation of the conventional service flow, and gradually reducing the number of redundant copies repeatedly sent by the core control instruction according to the restoration opening coefficient; And if the dynamic shielding index is detected to be higher than a deterioration judgment threshold value or the signal to noise ratio measured value is detected to be lower than a lower limit threshold value during the duration of the backoff recovery window, stopping the current backoff recovery window, and resetting the system to the link protection state.
9. The method according to claim 1, wherein the performing network topology rollback after the end of the backoff recovery window comprises: Extracting the state information of the base network stored before entering the link protection state, and calculating the comprehensive link utility of the state information of the base network, wherein the comprehensive link utility is obtained by weighting the quality parameters of the bottom physical channel, the unidirectional time delay, the confirmation success rate and the statistical normalization value of the topology switching cost; When the comprehensive link utility of the network state information of the base line is larger than the sum of the comprehensive link utility and the utility hysteresis margin of the current temporary topology state, triggering a rollback control instruction; and executing the subitem rollback operation according to the order of recovering the receiving beam number and the working frequency point, recovering the target access node and recovering the queue scheduling parameters, and clearing the temporary network state record generated during the blocking period after the rollback result passes the stability confirmation.
10. A telecommunication system of an unmanned vehicle, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a telecommunication method of an unmanned vehicle according to any one of claims 1 to 9 when executing the program.

Description

Remote communication method and system for unmanned vehicle Technical Field The invention relates to the technical field of vehicle communication, in particular to a remote communication method and a remote communication system for an unmanned vehicle. Background The unmanned vehicle needs to keep real-time communication with a remote control center or a road side unit in the running process so as to receive a core control instruction and upload conventional service data. In complex environments such as urban roads, vehicles often face physical obstruction of buildings, large vehicles, or other obstacles, resulting in sudden degradation or even complete blockage of the communication link. Existing telecommunication scheduling strategies typically rely on index feedback of the underlying physical channel to trigger network protection mechanisms. Because of time overhead in the statistics and feedback process of the bottom layer index, the mechanism has response lag when facing sudden physical blocking, so that a large amount of data to be sent is accumulated in a buffer zone of the gateway, and queue congestion and overall network delay are caused. Some existing schemes attempt to introduce environment-aware data to pre-judge link blocking in advance, but simply rely on space-aware information to be easily interfered by inherent noise of a sensor or reflection attribute difference of an environment medium, so that judgment false alarms are generated, and resource limitation and waste are caused in a normal communication state. In the communication link recovery stage, when the unmanned vehicle runs to the edge of the shielding area or runs out of the shielding area, the short-time change of the space environment can cause frequent fluctuation of the physical signal intensity. When the existing communication system detects that the channel index rises in a short time, the conventional data transmission state is usually restored immediately and the original network connection topology is switched back. The instantaneous response to signal fluctuation can cause repeated switching of a service scheduling rule and an access path, so that fluctuation of a data queue, disordered change of transmission delay and repeated reconstruction of control plane signaling are caused, and the overall stability of the unmanned vehicle remote communication system is reduced. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a remote communication method and a remote communication system of an unmanned vehicle, which solve the problems that in the existing remote communication of the unmanned vehicle, response delay exists in a scheduling strategy depending on the feedback of a bottom channel index, gateway buffer congestion is easy to occur when a physical link is blocked, and false alarms are easy to occur due to the noise of a sensor or the attribute difference of a medium due to single dependence on environmental perception pre-judgment. The first aspect of the present invention provides a remote communication method for an unmanned vehicle, comprising: Acquiring an effective interference point set of the surrounding environment of the unmanned vehicle, and calculating a dynamic shielding index for representing the communication line-of-sight shielding degree based on the effective interference point set; synchronously acquiring a bottom physical channel quality parameter, and executing cross-layer bilateral judgment by combining the dynamic shielding index and the bottom physical channel quality parameter; when the cross-layer bilateral judgment meets the triggering condition, entering a link protection state, executing a cut-off operation on a conventional service flow in the link protection state, and executing an enhanced transmission strategy on a core control instruction; And when the preliminary recovery condition is detected to be met, starting a back-off recovery window, executing progressive service recovery during the duration of the back-off recovery window, and executing network topology rollback after the expiration of the back-off recovery window. The method comprises the steps of calculating a space weight coefficient for each discrete point in an effective interference point set, wherein the space weight coefficient is determined by the orthogonal distance from the discrete point to a communication line of sight ray and the normalized reflection characteristic quantity of the discrete point, combining an electromagnetic attenuation coefficient of each discrete point with the space weight coefficient corresponding to the electromagnetic attenuation coefficient, introducing an equivalent local volume element to perform discrete summation calculation to obtain an original shielding index, and performing normalization processing on the original shielding index by adopting a logic function to generate a scalar value continuously reflecting shielding risks as the dynamic shieldi