CN108536147B - Automatic driving automobile control method and system based on block chain and intelligent contract - Google Patents
Automatic driving automobile control method and system based on block chain and intelligent contract Download PDFInfo
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- 238000004364 calculation method Methods 0.000 claims description 12
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
Abstract
The invention provides an automatic driving automobile control method and system based on a block chain and an intelligent contract, which adopt a transaction mode of the block chain and the intelligent contract to realize the transaction between machines, and control an automatic driving automobile through a decentralized random computing node.
Description
Technical Field
The invention relates to the technical fields of image recognition, distributed computation, automatic driving, artificial intelligence and the like, in particular to an automatic driving automobile control method and system based on a block chain and an intelligent contract.
Background
The automatic driving technology has been developed for a long time, and the safety of the existing automatic driving technology is overtaken and surpassed the manual driving.
However, the number of vehicle-mounted sensors of an auto-driven vehicle is limited, and misjudgment often occurs in road condition judgment, thereby causing serious traffic accidents.
Meanwhile, only one data processing module of the automatic driving automobile is provided, and once the data processing module is remotely controlled by a hacker or breaks down, the road safety is greatly damaged. Some car manufacturers can provide remote control of the vehicle by the cloud server in order to solve the above problems, but the cloud server is more dangerous if being invaded by hackers.
Disclosure of Invention
In order to solve the problems, the invention provides an automatic driving automobile control method and system based on a block chain and an intelligent contract.
An automatic driving automobile control method based on a block chain and an intelligent contract comprises the following steps:
1, an automatic driving vehicle sends a service request to a background server;
2, the background server dynamically distributes the automatic driving vehicles into different sub-network groups;
autonomous vehicles issue control tasks and reward methods within the sub-network groupings using intelligent contracts that run in a blockchain network.
After receiving the control task, the idle computing node computes a control method of the automatic driving vehicle according to the driving data of the automatic driving vehicle and the surrounding road condition data provided by the background server and outputs the control method to the intelligent contract to obtain rewards;
5, the intelligent contract outputs the calculated control method to the automatic driving automobile;
and 6, controlling the vehicle by the automatic driving vehicle according to the received control method.
Furthermore, the method for dynamically allocating the autonomous vehicles to different sub-network groups by the background server is that the background server reasonably allocates the autonomous vehicles to different sub-network groups according to the actual geographic position of the autonomous vehicles, the operator information, the vehicle brand, the user ID, the sub-network group load condition and other information.
Further, the intelligent contract issues a control task of the vehicle in the sub-network grouping every N seconds, after receiving the control task, an idle computing node in the sub-network grouping calculates a real-time latest control method according to the control method before N seconds and the driving data of the automatically-driven vehicle and the surrounding road condition data provided by the background server, outputs the method to the intelligent contract to obtain reward, and the intelligent contract sends the real-time control method to the automatically-driven vehicle.
Furthermore, the intelligent contract issues a speed control task which needs M nodes to provide calculation results in the sub-network group, after receiving the control task, idle nodes in the sub-network group calculate a speed control method for the automatic driving vehicle according to the driving data of the automatic driving vehicle and surrounding road condition data provided by a background server and output the method to the intelligent contract, the intelligent contract receives M speed control methods for the automatic driving vehicle and sorts all speed values, and each calculation node providing 25% to 75% of sorted values obtains rewards; and the intelligent contract averages the M speed values and outputs the M speed values to the automatic driving vehicle.
Furthermore, the intelligent contract issues a behavior control task which needs K nodes to provide calculation results in the sub-network group, after idle nodes in the sub-network group receive the control task, a behavior control method for the automatic driving vehicle is calculated and output to the intelligent contract according to the driving data of the automatic driving vehicle and surrounding road condition data provided by a background server, the intelligent contract receives K behavior control methods for the automatic driving vehicle and groups all the behavior control methods, and each calculation node with the largest ticket number of the provided behavior control methods obtains rewards; the intelligent contract outputs the behavior control method with the largest ticket number to the automatic driving automobile.
Further, the check server randomly extracts whether the control method provided by the computing node is an ideal value under the conditions of the vehicle driving data and the surrounding road condition data, and if the control method is not an ideal value, the check server replaces the computing node from the sub-network group by a new computing node.
Further, after the computing node calculates the latest control method, the computing node judges the control method received by the vehicle last time, and if the vehicle driving data and surrounding road conditions of the last control method at that time are not the optimal control method, the communication detection server performs safety detection on the computing node providing the non-optimal control method.
Furthermore, after the computing nodes receive the control task, the intelligent contract II is used for issuing the tasks of the driving data of the automatic driving vehicle and the data of the surrounding road conditions, which need to be acquired by J road sensor nodes, in the corresponding road sensor sub-network according to the actual geographic position of the user, and each road sensor node providing the data obtains rewards.
An autonomous vehicle control system based on blockchains and smart contracts, comprising:
the automatic driving automobile is used for issuing a control demand by using an intelligent contract and controlling the automobile according to a vehicle control method provided by the intelligent contract;
the background server is used for dynamically distributing the automatic driving automobile to different computing node sub-network groups and simultaneously providing the driving data of the automatic driving automobile and the surrounding road condition data required by the computing nodes;
and the computing node is used for computing the control method of the automatic driving vehicle according to the driving data of the automatic driving vehicle and the surrounding road condition data.
And the checking server is used for randomly checking the control method of the computing node, and if the control method provided by the computing node is a non-ideal control method, the checking server replaces the computing node from the sub-network group by using a new computing node.
Further, the automatic driving automobile control system also comprises a road sensor node, and the road sensor node provides the driving data of the automatic driving automobile and the surrounding road condition data for a computing node of the computing control method.
The invention provides an automatic driving automobile control method and system based on a block chain and an intelligent contract, which adopt a transaction mode of the block chain and the intelligent contract to realize the transaction between machines, and control an automatic driving automobile through a decentralized random computing node.
Drawings
FIG. 1 is a schematic flow diagram of a method for controlling an autonomous vehicle based on a blockchain and a smart contract;
FIG. 2 is a schematic diagram of an autonomous vehicle control system based on a blockchain and a smart contract;
FIG. 3 is a schematic structural diagram of an autopilot vehicle control system according to a first embodiment of the invention;
FIG. 4 is a schematic structural diagram of an autopilot vehicle control system according to a second embodiment of the invention;
FIG. 5 is a schematic diagram of the structure of an autopilot control system according to a third embodiment of the invention;
fig. 6 is a schematic configuration diagram of an automated driving vehicle control system according to a fourth embodiment of the present invention.
Detailed description of the invention
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic flowchart of an automatic driving vehicle control method based on a blockchain and a smart contract, as shown in fig. 1, the automatic driving vehicle control method includes the following 6 steps:
s1: the autonomous vehicle sends a service request to a backend server.
S2: the backend server dynamically allocates autonomous vehicles into different sub-network groupings.
The specific method for grouping different automatic driving automobiles by the background server is that the automatic driving automobiles are grouped according to the brand and model of the automatic driving automobile, the user ID, the actual geographic position, the operator information and the grouping load condition of each sub-network.
S3: autonomous vehicles issue control demands and reward methods within the sub-network groupings using intelligent contracts that run in a blockchain network.
In this step, the intelligent contract is used for realizing the transaction between machines, and the blockchain is used for confirming the transaction.
S4: and after receiving the task, the computing node computes a control method of the automatic driving vehicle according to the driving data of the automatic driving vehicle and the surrounding road condition data provided by the background server and outputs the control method to the intelligent contract to obtain the reward.
And quantitative excitation means are provided to prompt idle computing nodes to receive control tasks.
S5: the intelligent contract outputs the calculated control method to the automatic driving automobile.
S6: the autonomous vehicle controls the vehicle according to the received control method.
As shown in fig. 2, fig. 2 is a schematic structural diagram of an automatic driving automobile control system based on a blockchain and an intelligent contract, where a11 is an automatic driving vehicle, B11 is a background server, B12 is a check server, C11 is a sub-network group, and C11 includes 9 idle computing nodes: c11, c12, c13, c14, c15, c16, c17, c18 and c19, D11 is a smart contract, and E11 is a block chain.
The autonomous vehicle a11 transmits a service request to the backend server B11, and the backend server B11 allocates the autonomous vehicle a11 to the sub-network group C11 based on data information such as the brand and model of the autonomous vehicle a11, the user ID, the operator information, the actual position of the vehicle, and the packet load condition of each sub-network.
The autonomous vehicle a11 issues control tasks and reward conditions in the sub-network group C11 using the smart contract D11, the smart contract D11 running in the blockchain E11.
And the idle node c13 receives the control task, calls the real-time driving data of the automatic driving automobile A11 and the road condition data information around the automatic driving automobile A11, which are stored in the background server B11, calculates a real-time control method of the automatic driving automobile A11, and sends the control method to the intelligent contract D11 to obtain the reward.
The intelligent contract D11 sends the control method to the autonomous automobile a11, and the autonomous automobile a11 controls the vehicle according to the received control method.
And checking whether the control method provided by the server B12 random spot check calculation node is the optimal control method under the current vehicle driving data and road condition data, if not, reminding the vehicle driver of switching to manual driving in time, and replacing the problem node c13 from the sub-network group by using a new node.
To more specifically describe the present invention, the present invention is described in 4 specific embodiments, and it should be noted that the 4 specific embodiments are not limited to the present invention, and the 4 specific embodiments can be arbitrarily combined into a new embodiment.
The autonomous vehicle a21 transmits a service request to the background server B21, and the background server B21 allocates the autonomous vehicle a21 to the sub-network group C21 based on data information such as the brand and model number of the autonomous vehicle a21, the user ID, the operator information, the actual position of the vehicle, and the packet load condition of each sub-network.
The autonomous vehicle a21 issues control tasks in the sub-network grouping C21 every N seconds using the smart contract D21 and provides corresponding reward conditions, assuming here that N =0.3 seconds, which runs in the blockchain E21.
And c21, receiving the control task, calculating a real-time control method according to the control method provided by c24 before 0.3 second, the real-time driving data of the automatic driving automobile A21 provided by the background server B21 and the road condition information around the A21, checking the control method provided by c24, and obtaining a correct calculation result for the control method provided by c 24.
c21 sends the real-time control method and the check result of the c24 control method to the intelligent contract D21 to obtain the reward, the intelligent contract D21 sends the real-time control method to the automatic driving automobile A21, and the A21 controls the automobile according to the received real-time control method.
After 0.3 second, c25 receives the control task, calculates the real-time control method according to the control method of c21 before 0.3 second, the real-time driving data of the automatic driving vehicle A21 provided by the background server B21 and the road condition information around the A21, checks the control method provided by c21, and obtains the result that the control method provided by c21 is wrong.
The computing node c25 sends the real-time control method and the check result of the c21 control method to the intelligent contract D21 to obtain reward, the intelligent contract sends the real-time control method to the automatic driving automobile A21, and the A21 controls the automobile according to the received real-time control method; meanwhile, the intelligent contract sends the control method of the problem node C21 and the current driving data and road condition data to the check server B22, and the B22 replaces the C21 from the sub-network group C21 by a new computing node after checking that the control method of the C21 is wrong.
And checking whether the control method provided by the server B22 randomly and randomly spot-checking the computing node is the optimal control method under the current vehicle driving data and road condition data, and if the control method is not the optimal control method, replacing the problem node c21 from the sub-network grouping by using a new node.
The autonomous vehicle a31 transmits a service request to the background server B31, and the background server B31 assigns the autonomous vehicle a31 to the sub-network group C31 based on data information such as the brand and model of the autonomous vehicle a31, the user ID, the operator information, the actual position of the vehicle, and the packet load condition of each sub-network.
The autonomous vehicle a31 issues speed control tasks and reward conditions requiring M nodes to provide calculation results in the sub-network group C31 using the smart contract D31, assuming that M =4, the smart contract D31 runs in the blockchain E31.
After the four nodes C31, C32, C35 and C36 in the sub-network group C31 receive the control task, the speed control method is calculated according to the driving data of the autonomous vehicle a31 and the surrounding road condition information provided by the background server B31, and the speed control method is sent to the intelligent contract D31.
The intelligent contract D31 runs in the block chain E31, sorts the received 4 speed values, excludes one minimum and one maximum, awards the calculation nodes c31 and c36 providing the middle two speed values, averages the 4 speed values to obtain an average speed control method, and sends the method to the autonomous vehicle a31, and the autonomous vehicle a31 controls the vehicle speed according to the received average speed control method.
The check server B32 randomly checks the control method provided by the compute node and if not the best control method, replaces the problem node from the sub-network group with the new node.
Embodiment 3, please refer to fig. 5, fig. 5 is a schematic structural diagram of an autopilot vehicle control system according to a third embodiment of the present invention, as shown in the figure, wherein a41 is an autopilot vehicle, B41 is a background server, and B42 is a check server; c41 is a sub-network packet, the C41 packet comprising 6 idle nodes: c41, c42, c43, c44, c45 and c46; d41 is an intelligent contract, and E41 is a block chain.
The autonomous vehicle a41 transmits a service request to the backend server B41, and the backend server B41 allocates the autonomous vehicle a41 to the sub-network group C41 based on data information such as the brand and model of the autonomous vehicle a41, the user ID, the operator information, the actual position of the vehicle, and the packet load condition of each sub-network.
The autonomous vehicle a41 issues behaviour control tasks and reward conditions requiring K nodes to provide computational results in the sub-network grouping C41 using the smart contract D41, assuming that K =3, the smart contract D41 runs in the blockchain network E41.
After receiving the behavior control task, the idle computing nodes c41, c43, and c44 respectively compute the behavior control methods for the autonomous vehicle a41 according to the driving data of the autonomous vehicle a41 and the road condition data around the autonomous vehicle a41, which are provided by the background server B41, and send the respective computed behavior control methods to the intelligent contract D41, the intelligent contract D41 runs on the block chain E41, classifies and counts the received behavior control methods, the computing nodes providing the behavior control method with the largest number of tickets all obtain rewards, and output the behavior control method with the largest number of tickets to the autonomous vehicle a41, and the autonomous vehicle a41 performs behavior control on the vehicle according to the received behavior control method.
Specifically, the behavior control includes: vehicle lane changing, whistling, vehicle light prompting, etc.
Embodiment 4, please refer to fig. 6, and fig. 6 is a schematic structural diagram of data transaction between a computing node and a sensor node in a fourth embodiment of the present invention, as shown in the figure, where B51 is a background server, c51 is the computing node, D51 is an intelligent contract, E51 is a block chain, G51 is a sensor sub-network group, and G51 includes five sensor nodes G51, G52, G53, G54, and G55.
The computing node c51 sends a data request to the background server B51, and the background server B51 distributes the computing node c51 to the sensor sub-network group G51 according to the data information such as the autonomous driving vehicle ID, the actual geographic position, and the grouping load condition of each sensor sub-network provided by the computing node c 51.
The computation node c51 issues driving data and reward conditions requiring J sensor nodes to provide road condition data or the autonomous vehicle a51 in the sensor sub-network group G51 using the smart contract D51, assuming that J =3, the smart contract D51 operates in the block chain E51.
After receiving the data demand task, the sensor nodes g51, g53 and g55 send the acquired driving data of the automatically driven automobile A51 and the road condition data around the A51Z to the intelligent contract D51, the intelligent contract D51 operates on the block chain E51, after receiving the automobile condition and road condition data, the intelligent contract D51 rewards the sensor nodes g51, g53 and g55 which provide the data, and sends the automobile condition data and the road condition data to the computing node c51, and the computing node c51 computes the control method of the automatically driven automobile A51 according to the automobile condition data and the road condition data.
The above-mentioned embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; within the idea of the invention, also combinations between technical features in the above-described embodiments are possible, steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. An automatic driving automobile control method based on a block chain and an intelligent contract comprises the following steps:
the automatic driving automobile sends a control task to a background server;
the background server reasonably distributes the automatic driving automobile to different sub-network groups according to the actual geographic position of the automatic driving automobile, operator information, the vehicle brand, the user ID and the sub-network group load condition information;
the autonomous vehicle issues control tasks and reward methods within the sub-network groupings using intelligent contracts that run in a blockchain network;
after receiving the control task, the computing node computes a control method of the automatic driving automobile according to the driving data of the automatic driving automobile and the surrounding road condition data provided by the background server and outputs the control method to the intelligent contract to obtain the reward; the intelligent contract outputs the calculated control method to the automatic driving automobile;
the autonomous vehicle controls the vehicle according to the received control method.
2. The method according to claim 1, wherein the intelligent contract issues the control task of the vehicle in the sub-network group once every N seconds, after receiving the control task, the idle computing nodes in the sub-network group compute a real-time latest control method according to the control method before N seconds and the driving data of the autonomous vehicle and the surrounding road condition data provided by the background server and output the method to the intelligent contract for obtaining the reward, and the intelligence sends the real-time control method to the autonomous vehicle.
3. The method according to claim 1, wherein the intelligent contract issues speed control tasks in the sub-network group that require M nodes to provide calculation results, after receiving the control tasks, the idle nodes in the sub-network group calculate and output the method for controlling the speed of the autonomous vehicle to the intelligent contract according to the autonomous vehicle driving data and surrounding road condition data provided by the background server, the intelligent contract receives M methods for controlling the speed of the autonomous vehicle and sorts all the speed values, and each calculation node providing 25% to 75% of the sorted value obtains a reward; and the intelligent contract averages M speed values and outputs the average value to the automatic driving automobile.
4. The method according to claim 1, wherein the intelligent contract issues behavior control tasks requiring K nodes to provide calculation results in the sub-network group, after idle nodes in the sub-network group receive the control tasks, the behavior control methods for the autonomous vehicle are calculated and output to the intelligent contract according to the driving data of the autonomous vehicle and the surrounding road condition data provided by a background server, the intelligent contract receives K behavior control methods for the autonomous vehicle and groups all the behavior control methods, and each calculation node with the largest number of tickets for the provided behavior control methods obtains rewards; the intelligent contract outputs the behavior control method with the largest ticket number to the automatic driving automobile.
5. The method according to claim 1, wherein the checking server randomly extracts whether the control method provided by the computing node is an ideal value under the conditions of the vehicle driving data and the surrounding road condition data, and if the control method is not an ideal value, the checking server replaces the computing node from the sub-network group by a new computing node.
6. The method according to claim 1, wherein the computing node determines the control method that the vehicle received last time after calculating the latest control method, and if the vehicle driving data and surrounding road conditions of the last control method at that time are not the optimal control method, the communication detection server performs security detection on the computing node providing the non-optimal control method.
7. The method of claim 1, wherein after receiving the control task, the computing node issues the tasks of the driving data of the autonomous vehicle and the data of the surrounding road conditions, which need to be collected by J road sensor nodes, in the corresponding road sensor sub-network by using a second intelligent contract according to the geographic position of the vehicle, and each road sensor node providing the data obtains a reward.
8. An autonomous vehicle control system based on a blockchain and a smart contract, comprising:
the automatic driving automobile is used for issuing a control demand by using an intelligent contract and controlling the automobile according to an automobile control method provided by the intelligent contract;
the background server is used for reasonably distributing the automatic driving automobile to different sub-network groups according to the actual geographic position of the automatic driving automobile, operator information, a vehicle brand, a user ID and sub-network group load condition information, and simultaneously providing the automatic driving automobile driving data and surrounding road condition data required by a computing node;
the computing node is used for computing a control method for the automatic driving automobile according to the driving data of the automatic driving automobile and the surrounding road condition data;
and the checking server is used for randomly checking the control method of the computing node, and if the control method provided by the computing node is a non-ideal control method, the checking server replaces the computing node from the sub-network group by using a new computing node.
9. The system of claim 8, wherein the autonomous vehicle control system further comprises a road sensor node, wherein the road sensor node provides the autonomous vehicle driving data and the surrounding road condition data to a computing node of a computational control method.
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| CN109308808A (en) * | 2018-09-26 | 2019-02-05 | 上海华章信息科技有限公司 | Region-type Automotive Information Transmission method |
| CN109660538B (en) * | 2018-12-20 | 2022-06-03 | 众安信息技术服务有限公司 | Vehicle communication method and device based on block chain |
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