在无信号灯控制的交叉路口中，车辆通过周期性广播消息与其他车辆交互道路环

At intersections without signal light control, vehicles exchange road environment information with other vehicles through periodic broadcast messages to improve traffic safety. The interference of the road signal will cause the unreliability of the communication link and cause frequent packet loss of the cooperative awareness message (CAM) broadcast by the vehicle. Existing solutions such as relay and forwarding, each vehicle tends to forward CAM messages with the perception ability of the surrounding vehicles, but this will cause vehicles far away from the source node to frequently forward messages, resulting in excessive network load. This paper proposes a CAM message equalization reconstruction algorithm based on distributed cooperation. By constructing the vehicles at the intersection into a logical fleet, the establishment and division of the communication virtual ring and the game team are realized, so as to achieve the purpose of interacting and negotiating the CAM message reconstruction task. , Effectively enhance the reliability and balance of vehicle broadcasting. The simulation results show that the algorithm can not only increase the load balance and CAM message reliability to 0.85 and 0.9, but also obtain a shorter transmission delay.

At intersections without signal light control, vehicles interact with other vehicles with other vehicles to improve road environment information through periodic broadcast messages to improve traffic safety. Interference with road signals can make communication links unreliable, triggering frequent packet drops of cooperative awareness messages (Cooperative Awareness Messages, CAM) for vehicle broadcasts. Existing solutions, such as relay forwarding, tend to include forwarding CAM messages to the perceived capabilities of the surrounding vehicles, but this can cause vehicles farther away from the source node to forward messages frequently, resulting in an over-concentration of network load. In this paper, a CAM message equilibrium reconstruction algorithm based on distributed cooperation is proposed, which can effectively enhance the reliability and balance of vehicle broadcasting by constructing the vehicles of intersections into logical fleets to establish and divide the communication virtual ring and game team, and to achieve the purpose of interactive and negotiating CAM message reconstruction tasks. The simulation results show that the algorithm can not only improve the load balance and CAM message reliability to 0.85 and 0.9, but also obtain short transmission delay.

In the intersection without signal control, vehicles communicate with other vehicles through periodic broadcast messages to improve traffic safety. The interference of road signal will lead to unreliable communication link and frequent packet loss of cooperative awareness message (CAM) broadcast by vehicle. In the existing solutions, such as relay forwarding, each vehicle tends to forward cam messages with the awareness of the surrounding vehicles, but this will make the vehicles far away from the source node send forward messages frequently, resulting in excessive network load concentration. In this paper, a cam message reconstruction algorithm based on distributed cooperation is proposed. By building the vehicles at the intersection into logical teams, the establishment and division of communication virtual ring and game team are realized, so as to achieve the purpose of interaction and negotiation of cam message reconstruction tasks, and effectively enhance the reliability and balance of vehicle broadcasting. The simulation results show that the algorithm can not only improve the load balance and cam message reliability to 0.85 and 0.9, but also achieve shorter transmission delay.<br>