CN108492550B - V2X high-speed fleet self-organization system based on block chain - Google Patents
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Abstract
The invention discloses block chain-based V2X high-speed fleet self-organization systems, which relate to the technical field of block chains, intelligent contracts, cooperative driving, Internet of things and V2X.A Mesh network of a local area taking a vehicle as a center is formed by utilizing a V2X technology, a temporary fleet construction process is written into a block chain by utilizing a block chain infrastructure through the block chain and the intelligent contract technology, and the whole process of organization and driving of the cooperative driving fleet is automatically executed through an intelligent contract and is recorded into the block chain by utilizing the characteristic of decentralized trust of the block chain distributed book technology.
Description
Technical Field
The invention relates to the technical field of block chains, intelligent contracts, cooperative driving, Internet of things and V2X, in particular to block chain-based V2X high-speed fleet self-organization systems.
Background
The block chain technology, also called distributed ledger technology, is technical solutions for decentralized trust and collective maintenance of distributed ledgers, which utilizes a block chain data structure to verify and store data, and the essence of the technical solutions is that a plurality of nodes participate in a distributed database system which realizes data non-falsification and credible calculation results in a multi-party storage and multi-party calculation mode collectively, the block chain is not single technology, but is a result of fusion of a plurality of technologies, reliable and difficult-to-falsify ledger records are maintained by using the block chain technology, so that the risk of trust can be reduced, and the maintenance cost of cooperation of many parties can be effectively reduced.
V2X is a generic name of V2V (Vehicle-to-Vehicle communication Vehicle), V2I (Vehicle-to-Infrastructure communication Vehicle), V2P (Vehicle-to-peer), and the like, and by carrying advanced Vehicle-mounted sensors, controllers, actuators and other devices, the modern communication and network technologies are integrated, so that exchange and sharing of Vehicle and X (people, vehicles, roads, backgrounds and the like) intelligent information is realized, series traffic data of real-time road conditions, roads, pedestrians and the like are obtained, and accordingly, an environment signal beyond visual range is brought, and meanwhile, the Vehicle-to-Infrastructure communication Vehicle-lights, road signs and the like can interact with the surrounding Infrastructure, and the Vehicle-to-Vehicle communication Vehicle-to-Infrastructure communication Vehicle-to-Infrastructure communication.
The high-speed cooperative motorcade based on V2X, motorcades are formed by a plurality of commercial large-scale vehicles, the perception cooperation is realized through a V2X radio wave propagation mode, the necessary reaction time required by braking of a rear vehicle is greatly shortened, the personnel reaction and equipment perception time is eliminated, and the safety distance between the rear vehicle and the rear vehicle is greatly reduced, so that the air resistance of the vehicles driven by the motorcade is reduced, the vehicle oil consumption is reduced, the pollution emission is reduced, and the driving safety is enhanced.
Disclosure of Invention
Aiming at the needs and the defects of the prior art development, the invention provides block chain-based V2X high-speed motorcade self-organizing systems.
The invention relates to a block chain-based V2X high-speed fleet self-organization system, which adopts the following technical scheme for solving the technical problems that the block chain-based V2X high-speed fleet self-organization system comprises a block chain infrastructure and a fleet, wherein the block chain infrastructure is established in P2P consensus networks by a participating node vehicle enterprise system, a supervision platform, a roadbed and a financial payment system, the P2P consensus network is provided with a management node, an endorsement node and an accounting node, and the execution of an intelligent contract and the generation of a block chain new block area are realized by cooperation;
the rear vehicle of the motorcade collects data from the front vehicle in real time, keeps V2V real-time communication with the front vehicle, and performs coordinated automatic driving, and the events of vehicle departure and destination arrival trigger intelligent contracts, collect relevant vehicle data, and release the data into a block chain by using the edge computing capacity of roadbed facilities;
the communication between the V2V vehicles and the communication between the vehicles and the V2I roadbed is completed through the vehicle-mounted intelligent sensing device and the V2X communication device, V2X network data exchange taking the vehicles as the center is formed, the group negotiation of the temporary fleet is completed through the data exchange, and the intelligent contract of the temporary fleet group is issued; the temporary motorcade building process is written into the block chain by using a block chain infrastructure through a block chain and intelligent contract technology, and the whole process of organization and driving of the coordinated driving motorcade is automatically executed through an intelligent contract and recorded into the block chain by using the characteristic of decentralized trust of the block chain distributed book technology.
Specifically, the blockchain infrastructure creates tokens and distributes mobile value to the tokens as payment currency of the ad hoc fleet, and simultaneously discloses an intelligent contract program to be executed in the blockchain for each participant node to check and call, and all the intelligent contract execution results are recorded in the blockchain.
Specifically, the data recorded in the Block chain is an intelligent contract execution result, and the Block structure of the Block chain comprises a version number, a timestamp, a contract Merkle root abstract, a contract execution result, a front Block abstract value and a local Block abstract value, wherein the transaction structure records intelligent contracts comprising vehicle authentication intelligent contracts, token recharging intelligent contracts and fleet cooperative driving intelligent contracts.
Specifically, the digest algorithm adopts SHA256, the signature algorithm is SHA256WithRSA, the digital certificate adopts an X509 format, and the digital envelope adopts a PKCS7 format.
Specifically, the vehicles are positioned through a GPS position sensor, a V2X communication device is installed, bidirectional communication between the vehicles and the roadbed and between the vehicles and the roadbed in the coverage area of the V2X is achieved, group negotiation of the temporary vehicle group is completed, and a negotiation result is sent to the roadbed.
The vehicle-enterprise system is used for managing relevant conditions of vehicles, the roadbed comprises resource gathering points including networks, calculation and storage, the resource gathering points are distributed on two sides of a road, bidirectional communication with the vehicles is achieved through V2I, data of the vehicles are gathered, messages are broadcast to nodes in a block chain according to preset rules, execution of intelligent contracts is triggered, the financial payment system is used for exchanging tokens and issuing relevant intelligent contracts, and the monitoring platform is used for authenticating vehicle identities.
Specifically, the management node is responsible for admission of the participating nodes, the endorsement node is selected from the nodes of the block chain P2P consensus network and is responsible for execution confirmation of the intelligent contract, consensus is achieved among the accounting nodes, a new block is generated and is broadcast to the whole P2P consensus network, and then each participating node completes confirmation and updates the local account book.
Specifically, the vehicle and the roadbed facility are audited through the supervision platform, and a digital certificate is issued to the vehicle and the roadbed facility through a third-party digital certificate authentication center.
Specifically, the third-party digital certificate authentication center is responsible for issuing digital certificates, and establishes and issues identity certificates and communication certificates for the blockchain infrastructure, so that the participation of the nodes in secure communication and identity authentication is realized.
Compared with the prior art, the V2X high-speed fleet self-organization system based on the block chain has the advantages that a Mesh network of a local area taking a vehicle as a center is formed by effectively utilizing a V2X technology, a temporary fleet building process is written into the block chain by utilizing a block chain infrastructure through the block chain and intelligent contract technology, and the whole process of organization and running of a cooperative driving fleet is automatically executed through an intelligent contract and recorded into the block chain by utilizing the characteristic of decentralized trusting of the block chain distributed account book technology;
the vehicle-mounted intelligent sensing device and the V2I roadside resource are effectively utilized, cooperative driving of a high-speed motorcade is realized, profits of all parties of a temporary motorcade are made clear, and reasonable distribution of cost-saving profits is realized.
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For a clear description of the embodiments of the present invention or the technical content of the prior art, the following brief description of the drawings is provided for the embodiments of the present invention or the prior art, it is obvious that the drawings described below are only part of the embodiments of the present invention, and for those skilled in the art, other drawings can be obtained without inventive efforts, but all of them are within the protection scope of the present invention.
FIG. 1 is a schematic diagram of a blockchain based V2X high speed fleet ad hoc system;
FIG. 2 is a schematic diagram of the block chain structure;
fig. 3 is a flow chart of high speed fleet ad-hoc co-driving.
Detailed Description
In order to make the technical solutions, technical problems to be solved, and technical effects of the present invention more apparent, the following technical solutions of the present invention are described in detail with reference to specific embodiments, and it is obvious that the described embodiments are only partial embodiments of the present invention, rather than all embodiments.
Examples
The embodiment provides a block chain-based V2X high-speed fleet self-organizing system, the system architecture of which is shown in fig. 1, including a block chain infrastructure, a fleet; the communication between V2V vehicles and the communication between the vehicles and V2I roadbed is completed through the vehicle-mounted intelligent sensing device and the V2X communication device, the data exchange of V2X network with the vehicles as the center is realized, the group negotiation of the temporary fleet is completed through the data exchange, and the intelligent contract of the temporary fleet group is issued;
the block chain infrastructure is established by a participating node vehicle enterprise system, a supervision platform, a roadbed and a financial payment system in P2P consensus networks, meanwhile, the P2P consensus networks are provided with management nodes, endorsement nodes and accounting nodes, and the execution of intelligent contracts and the generation of new block areas of the block chain are realized through the cooperation of the management nodes, the endorsement nodes and the accounting nodes;
the rear vehicle of the motorcade collects data from the vehicles in real time, keeps V2V real-time communication with the front vehicle, and performs coordinated automatic driving, and events such as vehicle departure, destination arrival and the like can trigger intelligent contracts, collect related vehicle data, and effectively utilize the edge computing capability of roadbed facilities to release the data to a block chain.
In addition, in the V2X high-speed fleet self-organizing system based on the block chain in this embodiment, a monitoring platform exists to audit vehicles and roadbed facilities, and a third-party digital certificate authentication center issues digital certificates for the vehicles and the roadbed facilities, as shown in fig. 1; and the third-party digital certificate authentication center builds and issues an identity certificate and a communication certificate for the blockchain infrastructure.
In the block chain based V2X high-speed fleet self-organizing system of this embodiment, the vehicles are positioned by GPS position sensors, and V2X communication devices are installed to realize bidirectional communication between vehicles and within the coverage area of V2X and between vehicles and roadbeds, complete the fleet formation negotiation of the temporary fleet, and send the negotiation result to the roadbeds. The third-party digital certificate authentication center is responsible for issuing digital certificates, realizes safe communication and identity authentication among participating nodes, and issues digital certificates to vehicle assets and roadbed facilities through the supervision platform to ensure the credibility of the identities.
In the block chain-based V2X high-speed fleet self-organization system, block chain infrastructures are provided by block chain infrastructure operators, block chain infrastructures are established in P2P consensus networks, tokens are created and distributed with moving values to serve as payment currency of the self-organization fleet, meanwhile, intelligent contract programs to be executed in the block chains are disclosed and used for checking and calling of all participating nodes, all intelligent contract execution results are recorded in the block chains, and the P2P consensus network is a network system which does not have a central node and exchanges messages among the nodes.
Fig. 2 is a schematic diagram of the Block chain structure, as shown in fig. 2, the data recorded in the Block chain is an intelligent contract execution result, and its Block structure includes a version number, a timestamp, a contract Merkle root abstract, a contract execution result, a previous Block abstract value, and a present Block abstract value (identifier), where the transaction structure records intelligent contracts including a vehicle authentication intelligent contract, a token recharging intelligent contract, and a fleet cooperative driving intelligent contract. The intelligent contract for team cooperative driving can specify the charging rule, the income distribution, the related fee deduction for early exit and the like of the vehicle, and the specific intelligent contract can determine the driving route of the vehicle. In this embodiment, for convenience of description, SHA256 is used as a digest algorithm, SHA256WithRSA is used as a signature algorithm, a digital certificate adopts an X509 format, and a digital envelope adopts a PKCS7 format.
In the block chain-based V2X high-speed fleet self-organization system, a vehicle enterprise system is responsible for managing relevant conditions of vehicles, such as whether the vehicle enterprise system contains data such as a V2X module or not is identified, a roadbed comprises a network, a calculation and storage resource gathering point which is distributed on two sides of a road, bidirectional communication with the vehicles can be achieved through V2I (vehicle-to-network and vehicle-to-infrastructure communication system), the vehicles gather data and broadcast messages to nodes in a block chain according to a preset rule to trigger execution of intelligent contracts, a financial payment system is responsible for token exchange and issuing of relevant intelligent contracts, and a monitoring platform is responsible for authentication of vehicle identities.
In the block chain-based V2X high-speed fleet self-organization system, a management node is responsible for access of participating nodes, an endorsement node is selected from nodes of a block chain P2P consensus network and is responsible for execution confirmation of an intelligent contract, consensus is achieved among accounting nodes, a new block is generated, the new block is broadcast to the whole P2P consensus network, and each participating node completes confirmation and updates a local account book.
The technical characteristics and technical characteristics of the high-speed motorcade self-organization system are known in detail through the process when the block chain-based V2X high-speed motorcade self-organization system is adopted to carry out high-speed motorcade self-organization cooperative driving, and the implementation process of the high-speed motorcade self-organization cooperative driving is shown in the attached figure 3 and comprises the following specific steps:
step 1, provided by a blockchain infrastructure operator, building blockchain infrastructures in P2P consensus networks by each participating node vehicle-enterprise system, roadbed, financial payment system and supervision platform to form a P2P consensus network;
step 2, selecting a management node, an endorsement node and an accounting node in the blockchain consensus network, and issuing a digital certificate by a third-party digital certificate authentication center to realize mutual trust between the nodes;
step 3, disclosing high-speed fleet collaborative driving intelligent contract codes executed in the block chain infrastructure, and putting the intelligent contract codes into an intelligent contract developer community for code examination of each participating node and developer;
step 4, the vehicle generates an asymmetric key pair through the vehicle-mounted device, encrypts basic vehicle information of the vehicle by using a public key of the supervision platform, signs and sends the information to the supervision platform;
step 5, the supervision platform receives the data, verifies the validity of the data, authenticates the data through a vehicle supervision authentication system of the supervision platform, issues a digital certificate through a third-party digital certificate authentication center if the data passes the authentication, calculates and signs a plurality of authentication results, and initiates a vehicle authentication intelligent contract;
step 6, the endorsement node executes an intelligent contract and sends the result to the accounting node, the accounting node achieves consensus, a new block is generated, and vehicle authentication is completed;
step 7, issuing tokens by a system through a financial payment system by using a block chain infrastructure, completing exchange of legal currency and tokens, calculating and signing a plurality of token exchange data, and initiating a token exchange intelligent contract;
step 8, the endorsement node executes an intelligent contract and sends the result to the accounting node, the accounting node achieves consensus, a new block is generated, and token exchange is completed;
9, the vehicle sends basic information, a driving route and a fleet formation requirement of the vehicle through a V2X communication ad hoc network, and meanwhile, a local private key of the vehicle is used for carrying out digital signature;
step 10, collecting data by a roadbed in the V2X network, generating an intelligent contract according to a rule preset by a high-speed fleet cooperative driving intelligent contract, and broadcasting the intelligent contract in the V2X network ;
step 11, vehicles in the V2X network receive intelligent contracts from other vehicles and roadbeds, comprehensively receive data, local vehicle conditions and team formation requirements, and send intelligent contract confirmation information;
12, the roadbed in the V2X network receives enough confirmation information and issues a fleet cooperative driving intelligent contract in the P2P consensus network;
step 13, forming a fleet of vehicles, and triggering the fleet of vehicles to cooperatively drive an intelligent contract by the vehicles;
step 14, automatically checking the balance of the token of the motorcade vehicle by the cooperative driving intelligent contract, and stopping the contract if the balance is insufficient;
step 15, realizing cooperative driving of the fleet through V2X, collecting quantity of vehicles by intelligent sensing equipment of the vehicles when the vehicles leave in the driving process, collecting the driving data of the vehicles to a roadbed, triggering and executing an intelligent contract for cooperative driving of the fleet through the intelligent sensing equipment, and jumping to step 17;
step 16, if the motorcade arrives at the destination, the motorcade vehicle confirms that the journey is finished, and sends confirmation information to the roadbed, and the confirmation information is triggered to execute a motorcade cooperative driving intelligent contract;
step 17, the cooperative driving intelligent contract is automatically executed according to contract content, the endorsement node executes the motorcade cooperative driving intelligent contract, the result is sent to the accounting node after enough endorsements are collected, the accounting node achieves consensus, a new block is generated, and token deduction is completed according to a preset charging rule;
and step 18, the blockchain participating nodes acquire the latest blockchain data through the P2P consensus network, and update the local account book records of the blockchain participating nodes.
In summary, the V2X high-speed fleet self-organizing system based on the block chain fully considers the limitation of vehicles on computing resources, effectively utilizes roadside resources in a V2X network, realizes vehicle consensus and intelligent contract related operation of a V2X local network, and the intelligent contract defines the profits of each party of a temporary fleet, realizes reasonable distribution of cost-saving profits, and adopts a local regional fleet management mode taking vehicles as centers, so that the fleet can be formed at any time and any place, time cost caused by certain vehicle late points in the traditional fleet is eliminated, and cooperative driving of the high-speed fleet is realized, thereby improving the efficiency of forming the temporary fleet and the experience of forming the fleet by users, saving the management cost of the fleet, further reducing the operation cost, reducing environmental pollution emission, and simultaneously avoiding potential safety hazards caused by undeveloped driving of the vehicles at a certain degree of , improving the driving safety of the whole fleet.
The principle and embodiments of the present invention are described in detail by using specific examples, which are only used to help understanding the core technical content of the present invention, and are not used to limit the protection scope of the present invention, and the technical solution of the present invention is not limited to the specific embodiments described above. Based on the above embodiments of the present invention, those skilled in the art should make any improvements and modifications to the present invention without departing from the principle of the present invention, and therefore, the present invention should fall into the protection scope of the present invention.
Claims (1)
1. The V2X high-speed fleet self-organization system based on the block chain is characterized by comprising a block chain infrastructure and a fleet, wherein the block chain infrastructure is established in P2P consensus networks by a participating node vehicle enterprise system, a supervision platform, a roadbed and a financial payment system, the P2P consensus network is provided with a management node, an endorsement node and an accounting node which cooperate with one another to realize the execution of an intelligent contract and the generation of a new block area of the block chain;
the rear vehicle of the motorcade collects data from the front vehicle in real time, keeps V2V real-time communication with the front vehicle, and performs coordinated automatic driving, and the events of vehicle departure and destination arrival trigger intelligent contracts, collect relevant vehicle data, and release the data into a block chain by using the edge computing capacity of roadbed facilities;
the communication between the V2V vehicles and the communication between the vehicles and the V2I roadbed is completed through the vehicle-mounted intelligent sensing device and the V2X communication device, V2X network data exchange taking the vehicles as the center is formed, the group negotiation of the temporary fleet is completed through the data exchange, and the intelligent contract of the temporary fleet group is issued; the temporary fleet building process is written into a block chain by using a block chain infrastructure through a block chain and intelligent contract technology, and the whole process of organization and driving of the cooperative driving fleet is automatically executed through an intelligent contract and recorded into the block chain by using the characteristic of decentralized trusting of the block chain distributed book technology;
the block chain infrastructure is used for creating tokens and distributing mobile value to the tokens to serve as payment currency of the self-organizing fleet, meanwhile, intelligent contract programs to be executed in the block chain are disclosed to be checked and called by each participating node, and all intelligent contract execution results are recorded in the block chain;
the data recorded in the Block chain is an intelligent contract execution result, and the Block Block structure of the data comprises a version number, a timestamp, a contract Merkle root abstract, a contract execution result, a front Block abstract value and a local Block abstract value, wherein the transaction structure records intelligent contracts comprising vehicle authentication intelligent contracts, token recharging intelligent contracts and motorcade cooperative driving intelligent contracts;
the abstract algorithm adopts SHA256, the signature algorithm is SHA256WithRSA, the digital certificate adopts an X509 format, and the digital envelope adopts a PKCS7 format;
the vehicle is positioned by a GPS position sensor, a V2X communication device is installed, bidirectional communication between the vehicle and the vehicle in the V2X coverage area and between the vehicle and the roadbed is realized, group negotiation of a temporary vehicle team is completed, and a negotiation result is sent to the roadbed;
the vehicle-enterprise system is responsible for managing relevant conditions of vehicles, the roadbed comprises resource gathering points of network, calculation and storage, is distributed on two sides of a road, realizes two-way communication with the vehicles through V2I, gathers data of the vehicles, broadcasts messages to nodes in a block chain according to a preset rule, and triggers the execution of intelligent contracts;
the endorsement nodes are selected from the nodes of the block chain P2P consensus network and are responsible for the execution confirmation of the intelligent contract, the agreement is achieved among the accounting nodes, a new block is generated and is broadcast to the whole P2P consensus network, and then each participating node completes the confirmation and updates the local account book;
the vehicle and roadbed facilities are checked through the supervision platform, and a digital certificate is issued to the vehicle and roadbed facilities through a third-party digital certificate authentication center;
the third-party digital certificate authentication center is responsible for issuing a digital certificate, and an identity certificate and a communication certificate are established and issued for the blockchain infrastructure, so that the security communication and the identity authentication among the participating nodes are realized;
the implementation process of the high-speed fleet self-organizing cooperative driving comprises the following steps:
step 1, building block chain infrastructures in P2P consensus networks by each participating node vehicle-enterprise system, a roadbed, a financial payment system and a supervision platform to form a P2P consensus network;
step 2, selecting a management node, an endorsement node and an accounting node in the P2P consensus network, and issuing a digital certificate by a third-party digital certificate authentication center to realize mutual trust between the nodes;
step 3, disclosing high-speed fleet collaborative driving intelligent contract codes executed in the block chain infrastructure, and putting the intelligent contract codes into an intelligent contract developer community for code examination of each participating node and developer;
step 4, the vehicle generates an asymmetric key pair through the vehicle-mounted device, encrypts basic vehicle information by using a public key of the supervision platform, signs and sends the basic vehicle information to the supervision platform;
step 5, the supervision platform receives the data, verifies the validity of the data, authenticates the data through a vehicle supervision authentication system of the supervision platform, issues a digital certificate through a third-party digital certificate authentication center if the data passes the authentication, calculates a plurality of authentication results into an abstract and signs the abstract, and initiates a vehicle authentication intelligent contract;
step 6, the endorsement node executes an intelligent contract and sends the result to the accounting node, the accounting node achieves consensus, a new block is generated, and vehicle authentication is completed;
step 7, issuing tokens by a system through the financial payment system by using a block chain infrastructure, completing the exchange of legal currency and tokens, calculating and signing a plurality of token exchange data, and initiating a token exchange intelligent contract;
step 8, the endorsement node executes an intelligent contract and sends a result to the accounting node, the accounting node achieves consensus, a new block is generated, and token exchange is completed;
9, the vehicle sends basic information, a driving route and a fleet formation requirement of the vehicle through a V2X communication ad hoc network, and meanwhile, a local private key of the vehicle is used for carrying out digital signature;
step 10, collecting data by a roadbed in the V2X network, generating an intelligent contract according to a rule preset by a high-speed fleet cooperative driving intelligent contract, and broadcasting the intelligent contract in the V2X network ;
step 11, vehicles in the V2X network receive intelligent contracts from other vehicles and roadbeds, comprehensively receive data, local vehicle conditions and team formation requirements, and send intelligent contract confirmation information;
12, the roadbed in the V2X network receives enough confirmation information and issues a fleet cooperative driving intelligent contract in the P2P consensus network;
step 13, forming a fleet of vehicles, and triggering the fleet of vehicles to cooperatively drive an intelligent contract by the vehicles;
step 14, automatically checking the balance of the token of the motorcade vehicle by the cooperative driving intelligent contract, and stopping the contract if the balance is insufficient;
step 15, realizing cooperative driving of the fleet through V2X, collecting quantity of vehicles by intelligent sensing equipment of the vehicles when the vehicles leave in the driving process, collecting the driving data of the vehicles to a roadbed, triggering and executing an intelligent contract for cooperative driving of the fleet through the intelligent sensing equipment, and jumping to step 17;
step 16, if the motorcade arrives at the destination, the motorcade vehicle confirms that the journey is finished, and sends confirmation information to the roadbed, and the confirmation information is triggered to execute a motorcade cooperative driving intelligent contract;
step 17, the cooperative driving intelligent contract is automatically executed according to contract content, the endorsement node executes the motorcade cooperative driving intelligent contract, the result is sent to the accounting node after enough endorsements are collected, the accounting node achieves consensus, a new block is generated, and token deduction is completed according to a preset charging rule;
and step 18, the blockchain participating nodes acquire the latest blockchain data through the P2P consensus network, and update the local account book records of the blockchain participating nodes.
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