为解决CAM消息在智能车队中可靠均衡传输的问题，本文提出了一种基于分布

In order to solve the problem of reliable and balanced transmission of CAM messages in smart fleets, this paper proposes a distributed cooperation-based CAM message balanced reconstruction algorithm, which connects all vehicles in the smart fleet into a closed virtual ring and divides them into A number of overlapping game teams. Since each game group contains the vehicles in the adjacent game group, it can transmit the strategy information in the current game group to the adjacent game group, and realize the information interaction and negotiation between the adjacent game groups. As a result, the information of each vehicle will be transmitted to other vehicles in the fleet in the form of a group on the virtual logic loop, and based on the feedback information interacted on the virtual logic loop, it will continuously modify and update its own strategy information, and finally realize CAM The balanced distribution of message reconstruction tasks among vehicles. The experimental simulation results show that, compared to the relay and forwarding, the CAM message balance reconstruction algorithm based on distributed cooperation not only improves the network load balance to above 0.85, but also obtains a lower message forwarding volume and shorter transmission delay. Achieve the purpose of shortening the network delay and balancing the communication load.

In order to solve the problem of reliable equilibrium transmission of CAM message in intelligent fleet, this paper proposes a CAM message equalization reconstruction algorithm based on distributed cooperation, connecting all vehicles in intelligent fleet to a closed virtual ring and dividing it into several game groups with overlapping head and tail. Because each game group contains vehicles in the adjacent game group, it can transmit the strategic information in the current game group to the adjacent game group, and realize the interaction and negotiation of the information between the adjacent game group. As a result, information for each vehicle will be passed to other vehicles in the fleet as a group on the virtual logic ring, and its own policy information will be constantly corrected and updated based on feedback interacting on the virtual logic ring, resulting in an even distribution of CAM message refactoring tasks between vehicles. The experimental simulation results show that compared with relay forwarding, the CAM message balance reconstruction algorithm based on distributed cooperation not only increases the network load balance to more than 0.85, but also obtains a lower message forwarding volume and a short transmission delay, which can shorten the network delay and balance the communication load.

In order to solve the problem of reliable and balanced transmission of cam messages in the intelligent fleet, this paper proposes a cam message balancing reconstruction algorithm based on distributed cooperation, which connects all the vehicles in the intelligent fleet to a closed virtual ring and divides them into several overlapping game groups. Because each game group contains the vehicles in the adjacent game group, it can transfer the strategy information of the current game group to the adjacent game group, and realize the information interaction and negotiation between the adjacent game groups. Thus, the information of each vehicle will be transmitted to other vehicles in the fleet in the form of a group in the virtual logic ring, and according to the feedback information of interaction in the virtual logic ring, the strategy information of each vehicle will be continuously modified and updated, and finally the cam message reconstruction task will be evenly distributed among vehicles. The simulation results show that, compared with relay forwarding, the cam message balancing reconstruction algorithm based on distributed cooperation not only improves the network load balancing degree to more than 0.85, but also achieves lower message forwarding amount and shorter transmission delay, so as to shorten the network delay and balance the communication load.<br>