CN108492550B - Blockchain-based V2X high-speed fleet self-organization system - Google Patents

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

Blockchain-based V2X high-speed fleet self-organization system

technical field

The invention relates to the technical fields of blockchain, smart contracts, collaborative driving, Internet of Things and V2X, in particular to a blockchain-based V2X high-speed fleet self-organization system.

Background technique

Blockchain technology, also known as distributed ledger technology, is a technical solution for decentralized trust and collective maintenance of distributed ledgers. It uses a blockchain data structure to verify and store data. Collective participation realizes a distributed database system in which data cannot be tampered with and calculation results are credible through multi-party storage and multi-party computing. Blockchain is not a single technology, but the result of the fusion of multiple technologies. Using blockchain technology to maintain a reliable and hard-to-tamper ledger record can reduce the risk of trust and effectively reduce the number of participants. Collaborative maintenance costs. The development of blockchain technology has made smart contracts possible. A smart contract is a piece of code that is automatically executed by a computer or computer network in accordance with the rights and obligations of signing the contract. The execution of the contract does not need to be controlled by a central node, and is realized through automated script code. Program and manipulate data. Due to the way smart contracts use code, the enforceability of contract terms is guaranteed; the smart contract is combined with the blockchain, so that once the terms of the contract are set, no third party can tamper with it. The disruptive technology of smart contracts is an important feature of the blockchain and will bring about major changes in the structure of human society.

V2X is a general term for V2V (Vehicle to Vehicle), V2I (Vehicle to Infrastructure), and V2P (Vehicle to Pedestrian). Integrate modern communication and network technologies to realize the exchange and sharing of intelligent information between vehicles and X (people, vehicles, roads, backgrounds, etc.), and obtain a series of traffic data such as real-time road conditions, roads, pedestrians, etc. At the same time, it can interact with surrounding infrastructure such as traffic lights and road signs, and has complex environmental perception, intelligent decision-making, collaborative control and execution functions, and provides a safer, more energy-saving, more environmentally friendly and more comfortable travel mode. Important applications in vehicle driving scenarios.

The high-speed collaborative fleet based on V2X combines multiple commercial large-scale vehicles into a fleet, and realizes perception collaboration through V2X radio wave propagation, which greatly shortens the necessary reaction time required for rear-vehicle braking, and eliminates personnel response and equipment perception time. , which greatly reduces the safe distance of the following vehicle, thereby reducing the air resistance of the fleet of vehicles, reducing the fuel consumption of the vehicle, thereby reducing pollution emissions, and enhancing driving safety. Most of the traditional collaborative driving fleets belong to private fleets, which cannot be scaled and are limited by the area. In this case, how to effectively use blockchain technology to self-organize into a temporary fleet in an open environment to solve the problem between fleet vehicles. It is an urgent problem to solve the problem of mutual trust and realize the reasonable distribution of cost-saving and benefits.

SUMMARY OF THE INVENTION

Aiming at the needs and deficiencies of current technology development, the present invention provides a blockchain-based V2X high-speed fleet self-organization system.

The blockchain-based V2X high-speed fleet self-organization system of the present invention adopts the following technical solutions to solve the above technical problems: the blockchain-based V2X high-speed fleet self-organization system includes blockchain infrastructure and fleets; The blockchain infrastructure described above is established in a P2P consensus network by participating in the node car enterprise system, supervision platform, roadbed, and financial payment system; at the same time, the P2P consensus network sets up management nodes, endorsement nodes and accounting nodes to work together to achieve intelligent The execution of contracts and the generation of new blocks in the blockchain; each participating node jointly maintains a ledger, which records the results of smart contract execution during the collaborative driving process of the fleet; each participating node completes the process of self-organizing the fleet with vehicles. The connection of various related systems;

The vehicle behind the fleet collects data from the vehicle in front in real time, maintains V2V real-time communication with the vehicle in front, and performs collaborative automatic driving. The event of vehicle departure and arrival at the destination will trigger a smart contract, collect relevant vehicle data, and use the edge of roadbed facilities. The computing power is released into the blockchain;

The vehicle-to-vehicle and V2X communication devices are used to complete the communication between V2V vehicles and between vehicles and V2I roadbeds to form a vehicle-centric V2X network data exchange. Fleet formation smart contract; through blockchain and smart contract technology, the temporary fleet formation process is written into the blockchain using the blockchain infrastructure, and the decentralized and trustworthy features of the blockchain distributed ledger technology are used. The entire process of the organization and driving of the collaborative driving fleet is automatically executed through smart contracts and recorded in the blockchain.

Specifically, the blockchain infrastructure creates a token and assigns mobile value to it as the payment currency for the self-organized fleet, and at the same time discloses the smart contract program to be executed in the blockchain for each participating node to check and calls, all smart contract execution results will be recorded in the blockchain.

Specifically, the data recorded in the blockchain is the smart contract execution result, and its block block structure includes version number, timestamp, contract Merkle tree root summary, contract execution result, previous block summary value and this block summary value, in which the transaction structure records smart contracts, including vehicle authentication smart contracts, token recharge smart contracts, and fleet collaborative driving smart contracts.

Specifically, the digest algorithm adopts SHA256, the signature algorithm adopts SHA256WithRSA, the digital certificate adopts X509 format, and the digital envelope adopts PKCS7 format.

Specifically, the vehicle is positioned by a GPS position sensor, and a V2X communication device is installed to realize the two-way communication between the vehicle and the vehicle, and the vehicle and the roadbed in the V2X coverage area, complete the team negotiation of the temporary fleet, and send the negotiation result to the roadbed .

Specifically, the car company system is responsible for managing the relevant conditions of its vehicles; the roadbed is a resource convergence point including network, computing, and storage, distributed on both sides of the road, and realizes two-way communication with vehicles through V2I, and collects data from vehicles. , according to pre-established rules, broadcast messages to nodes in the blockchain to trigger the execution of smart contracts; the financial payment system is responsible for token exchange and the release of related smart contracts; the monitoring platform is responsible for vehicle identity authentication.

Specifically, the management node is responsible for the admission of participating nodes; the endorsement node is selected by the nodes of the blockchain P2P consensus network, and is responsible for the execution and confirmation of the smart contract; the accounting nodes reach a consensus to generate a new zone The block is broadcast to the entire P2P consensus network, and then each participating node completes the confirmation and updates the local ledger.

Specifically, vehicles and roadbed facilities are audited through the supervision platform, and digital certificates are issued to them through a third-party digital certificate certification center.

Specifically, the third-party digital certificate authentication center is responsible for issuing digital certificates, issuing identity certificates and communication certificates for the construction of blockchain infrastructure, and realizing secure communication and identity authentication among participating nodes.

Compared with the prior art, the blockchain-based V2X high-speed fleet self-organization system of the present invention has the following beneficial effects: the present invention effectively utilizes the V2X technology to form a Mesh network in a local area centered on the vehicle; And smart contract technology, the temporary fleet formation process is written into the blockchain using the blockchain infrastructure, and the entire process of the organization and driving of the collaborative driving fleet is integrated by using the decentralized trust feature of the blockchain distributed ledger technology. It is automatically executed through smart contracts and recorded in the blockchain; compared with the traditional method, through a unified and decentralized method, the mutual trust problem of all parties involved is effectively solved, and the mutual trust between temporary fleet vehicles is realized and guaranteed. the integrity and immutability of the temporary fleet behavior;

Effective use of on-board intelligent sensing devices and V2I roadside resources enables the collaborative driving of high-speed fleets, clarifies the benefits of all parties in the temporary fleet, and realizes a reasonable distribution of cost-saving benefits. The vehicle-centered localized fleet management method improves the efficiency of temporary fleet formation and user experience, saves fleet management costs, thereby reducing vehicle operating costs, reducing environmental pollution and emissions, and at the same time, to a certain extent, avoids The safety hazards brought by uncivilized driving of vehicles have improved the driving safety of the entire fleet.

Description of drawings

In order to more clearly describe the technical content of the embodiments of the present invention or the prior art, the following briefly introduces the drawings required in the embodiments of the present invention or the prior art. Obviously, the drawings described below are only a part of the embodiments of the present invention. For those skilled in the art, other drawings can also be obtained based on these drawings without creative efforts, but all of them are included in the present invention. within the scope of protection of the invention.

Figure 1 is a schematic diagram of a blockchain-based V2X high-speed fleet self-organization system;

Accompanying drawing 2 is the block chain structure schematic diagram;

FIG. 3 is a flow chart of the self-organized cooperative driving of a high-speed fleet.

Detailed ways

In order to make the technical solutions of the present invention, the technical problems to be solved and the technical effects more clearly understood, the technical solutions of the present invention will be checked and fully described below in conjunction with specific embodiments. Obviously, the described embodiments are only a part of the present invention. examples, but not all examples. Based on the embodiments of the present invention, all embodiments obtained by those skilled in the art without creative work are within the protection scope of the present invention.

Example

This embodiment proposes a blockchain-based V2X high-speed fleet self-organization system. Communication between vehicles, vehicles and V2I roadbed, realize the vehicle-centric V2X network data exchange, complete the team formation negotiation of the temporary fleet through data exchange, and issue the temporary fleet team formation smart contract;

The blockchain infrastructure is established in a P2P consensus network by participating in the node car company system, supervision platform, roadbed, and financial payment system; at the same time, the P2P consensus network is set up with management nodes, endorsement nodes and accounting nodes, which are jointly realized. The execution of smart contracts and the generation of new blocks in the blockchain; each participating node maintains a ledger together, and the ledger records the smart contract execution results during the collaborative driving process of the fleet; each participating node completes the process of self-organizing the fleet of vehicles. Interfacing with various related systems;

The vehicles behind the fleet collect data from the vehicles in real time, maintain V2V real-time communication with the vehicles in front, and perform collaborative automatic driving. Events such as vehicle departure and arrival at the destination will trigger smart contracts to collect relevant vehicle data and effectively utilize the edge computing of roadbed facilities. capabilities, published in the blockchain.

In addition, this embodiment is based on the blockchain-based V2X high-speed fleet self-organization system, and there is a supervision platform to review vehicles and roadbed facilities, and issue digital certificates for them through a third-party digital certificate certification center, as shown in Figure 1; and the third The three-party digital certificate certification center issues identity certificates and communication certificates for the construction of blockchain infrastructure.

In the blockchain-based V2X high-speed fleet self-organization system in this embodiment, the vehicle is positioned by the GPS position sensor, and the V2X communication device is installed to realize the two-way communication between the vehicle and the vehicle, the vehicle and the roadbed in the V2X coverage area, and complete the temporary fleet. Team up to negotiate and send the negotiation result to the roadbed. The third-party digital certificate certification center is responsible for issuing digital certificates to realize secure 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 their identities.

In the blockchain-based V2X high-speed fleet self-organization system in this embodiment, the blockchain infrastructure is provided by the blockchain infrastructure operator, and the blockchain infrastructure is established in a P2P consensus network. By creating a token , and assign mobile value to it as the payment currency of the self-organized fleet, and at the same time, the smart contract program to be executed in the blockchain is made public for each participating node to check and call, and all smart contract execution results will be recorded in the block In the chain; the P2P consensus network is a network system that does not have a central node and exchanges messages between nodes.

Figure 2 is a schematic diagram of the block chain structure. As shown in Figure 2, the data recorded in the block chain is the execution result of the smart contract, and its Block block structure includes version number, timestamp, contract Merkle tree root summary, The contract execution result, the summary value of the previous block and the summary value of this block (identification), in which the transaction structure records the smart contract, including the vehicle authentication smart contract, the token recharge smart contract and the fleet cooperative driving smart contract. Among them, the fleet collaborative driving smart contract will stipulate the billing rules of the vehicle, income distribution and related deductions for early exit, etc. The specific smart contract will determine the driving route of the vehicle. In this embodiment, for the convenience of description, SHA256 is used as the digest algorithm, SHA256WithRSA is used as the signature algorithm, the digital certificate is in X509 format, and the digital envelope is in PKCS7 format.

In the blockchain-based V2X high-speed fleet self-organization system in this embodiment, the car enterprise system is responsible for managing the relevant conditions of their vehicles, such as identifying whether they contain V2X modules and other data; the roadbed is a resource convergence point including network, computing, and storage. Distributed on both sides of the road, two-way communication with vehicles can be realized through V2I (vehicle-to-network, vehicle-to-infrastructure communication system), the data of vehicles is collected, and messages are broadcast to nodes in the blockchain according to pre-established rules, triggering The execution of smart contracts; the financial payment system is responsible for token exchange and the release of related smart contracts; the monitoring platform is responsible for the authentication of vehicle identity.

In the blockchain-based V2X high-speed fleet self-organization system in this embodiment, the management node is responsible for the admission of participating nodes; the endorsement node is selected by the nodes of the blockchain P2P consensus network, and is responsible for the execution and confirmation of the smart contract; A consensus is reached, a new block is generated, and broadcast to the entire P2P consensus network, and then each participating node completes the confirmation and updates the local ledger.

The blockchain-based V2X high-speed fleet self-organization system in this embodiment is used to carry out high-speed fleet self-organized cooperative driving. Through this process, the technical characteristics and technical characteristics of the fleet self-organization system can be learned in detail. The realization process of self-organized cooperative driving of high-speed fleet is shown in Figure 3, and the specific steps include:

Step 1. Provided by the blockchain infrastructure operator, each participating node vehicle enterprise system, roadbed, financial payment system, and supervision platform establish a blockchain infrastructure in a P2P consensus network to form a P2P consensus network;

Step 2. Select management nodes, endorsement nodes and accounting nodes in the blockchain consensus network, and issue digital certificates by a third-party digital certificate certification center to achieve mutual trust between nodes;

Step 3. Disclose the smart contract code for high-speed fleet collaborative driving executed in the blockchain infrastructure, and put it into the smart contract developer community for code review by participating nodes and developers;

Step 4. The vehicle generates an asymmetric key pair through its on-board device, encrypts its basic vehicle information with the public key of the supervision platform, signs it, and sends it to the supervision platform;

Step 5. The supervision platform receives the data, verifies its legitimacy, and certifies it through its own vehicle supervision and certification system. If the certification is passed, a digital certificate is issued by a third-party digital certificate certification center, and at the same time, the summary of multiple certification results is calculated and signed. , initiate a vehicle authentication smart contract;

Step 6. The endorsement node executes the smart contract and sends the result to the accounting node, and the accounting node reaches a consensus, generates a new block, and completes the vehicle certification;

Step 7. Use the blockchain infrastructure through the financial payment system to uniformly issue tokens, complete the exchange of legal currency and tokens, and calculate and sign the summary of multiple token exchange data, and initiate a token exchange smart contract;

Step 8. The endorsement node executes the smart contract and sends the result to the accounting node, and the accounting node reaches a consensus, generates a new block, and completes the token exchange;

Step 9. The vehicle sends its basic vehicle information, driving route and team formation requirements through the V2X communication ad hoc network, and uses the vehicle's local private key to digitally sign;

Step 10. The roadbed in the V2X network collects the data, generates a smart contract according to the rules preset by the high-speed fleet cooperative driving smart contract, and broadcasts it on the V2X network;

Step 11. Vehicles in the V2X network receive smart contracts from other vehicles and roadbeds, comprehensively receive data, local vehicle conditions and team requirements, and send smart contract confirmation information;

Step 12. The roadbed in the V2X network receives enough confirmation information, and publishes the fleet cooperative driving smart contract in the P2P consensus network;

Step 13. The vehicle forms a fleet, and the vehicle triggers the fleet collaborative driving smart contract;

Step 14. The collaborative driving smart contract will automatically check the token balance of the fleet vehicles. If the balance is insufficient, the contract will be terminated;

Step 15. The team realizes cooperative driving through V2X. During the driving process, the vehicle leaves, collects the quantity through the intelligent sensing device of the vehicle, collects the driving data of the vehicle to the roadbed, and triggers the execution of the team cooperative driving smart contract, and jumps to the step 17;

Step 16. When the fleet arrives at the destination, the fleet vehicle confirms the end of the trip, and sends the confirmation information to the roadbed, which triggers the execution of the fleet cooperative driving smart contract;

Step 17. The collaborative driving smart contract will be automatically executed according to the contract content. The endorsement node executes the fleet collaborative driving smart contract. After collecting enough endorsements, the result will be sent to the accounting node, and the accounting node will reach a consensus and generate a new block. , complete the token deduction according to the pre-set billing rules;

Step 18: The blockchain participating nodes obtain the latest blockchain data through the P2P consensus network, and update their local ledger records.

To sum up, the V2X high-speed fleet self-organization system based on the blockchain in this embodiment fully takes into account the limitation of vehicles on computing resources, effectively utilizes the roadside resources in the V2X network, and realizes the vehicle consensus of the V2X local network and related smart contracts. Operation; The smart contract clarifies the benefits of all parties in the temporary fleet, and realizes a reasonable distribution of cost-saving benefits. The vehicle-centered localized fleet management method enables it to form a fleet anytime and anywhere, eliminating the need for traditional fleets due to certain vehicles. The time cost caused by delay, and the collaborative driving of high-speed fleets is realized, which improves the efficiency of temporary fleet formation and user team formation experience, saves fleet management costs, thereby reduces vehicle operating costs, and reduces environmental pollution emissions. At the same time, to a certain extent It avoids the potential safety hazards caused by uncivilized driving of vehicles and improves the driving safety of the entire fleet. In addition, fleet driving involves security issues. The addition of the supervision platform effectively solves the problem of identity authentication. The execution process of the smart contract is stored in the blockchain with the digest signature value, which ensures the integrity and authenticity of its data. It also effectively protects customer privacy.

The principles and implementations of the present invention have been described in detail using specific examples above. These examples are only used to help understand the core technical content of the present invention, and are not intended to limit the protection scope of the present invention. The technical solutions of the present invention are not limited to in the above-mentioned specific embodiments. Based on the above-mentioned specific embodiments of the present invention, any improvements and modifications made to the present invention by those skilled in the art without departing from the principles of the present invention shall fall within the scope of patent protection 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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