CN110969833B

CN110969833B - Fixed path service system of intelligent network traffic system

Info

Publication number: CN110969833B
Application number: CN201811154219.1A
Authority: CN
Inventors: 金璟; 冉斌; 谭华春; 姚振兴; 芮一康; 陈天怡; 张恬亚; 姜敩闻; 何赏璐
Original assignee: Shanghai Fengbao Business Consulting Co ltd
Current assignee: Shanghai Fengbao Business Consulting Co.,Ltd.
Priority date: 2018-09-30
Filing date: 2018-09-30
Publication date: 2021-11-19
Anticipated expiration: 2038-09-30
Also published as: CN110969833A

Abstract

The invention discloses a fixed path service system of an intelligent internet traffic system, which is based on users, vehicles, infrastructure, networks and computing components, and achieves the purposes of calibration, planning before trip, navigation, operation in trip and after trip, safety and privacy protection; the method specifically comprises the following steps: a module for training, analyzing and calibrating services for vehicle navigation, management, control and optimization using historical travel profiles; before, during and after the travel of the intelligent network traffic system, a module for making and executing a travel path and a ride-sharing plan; a human-computer interaction module; a module for physical security of the network against attacks on the service system, and a module for privacy protection to avoid exposure of the user's home and destination information. The invention can be used for trip chain operation before, during and after trip, and provides network physical security and privacy protection for users and participating vehicles.

Description

Fixed path service system of intelligent network traffic system

Technical Field

The patent provides a fixed path service system of an intelligent internet traffic system (CAVH). In some embodiments, the CAVH fixed path service and its interaction with the CAVH system components may provide a range of system functions including, but not limited to, communication, awareness, control, planning, maintenance, security, and privacy protection.

Background

The CAVH fixed path service system provided by the invention is directed to a CAVH system under a fixed path. The present invention includes, among other things, CAVH systems and methods, in part in U.S. patent application 15/628,331 filed 2017, 6/20, in part in U.S. provisional patent applications No. 62/626,862 and 62/627,005 filed 2018, 2/6, in part No. 62/655,651 filed 2018, 4/10, and in part No. 62/669,215 filed 2018, 5/9, the contents of which are incorporated herein by reference.

Disclosure of Invention

The invention aims to provide a fixed path service system of an intelligent networked transportation system, which comprises users, vehicles, infrastructure, a network and a computing component, so as to support calibration, planning before trip, navigation, operation in trip and after trip, safety and privacy protection.

In order to achieve the purpose, the invention adopts the technical scheme that:

a fixed path service system of an intelligent networked transportation system is based on users, vehicles, infrastructure, networks and computing components, so as to achieve the purposes of calibration, planning before trip, navigation, operation in trip and after trip, safety and privacy protection; the method specifically comprises the following steps: a module for training, analyzing and calibrating services for vehicle navigation, management, control and optimization using historical travel profiles; before, during and after the travel of the intelligent network traffic system, a module for making and executing a travel path and a ride-sharing plan; a human-computer interaction module; a module for physical security of the network against attacks on the service system, and a module for privacy protection to avoid exposure of the user's home and destination information.

The module for training, analyzing and calibrating the services of vehicle navigation, management, control and optimization using historical travel profiles comprises:

trip data acquisition module based on sensing device for collect trip archival data and detailed driving data, include: cruise, navigation and control data, obtained from:

the mobile terminal comprises a mobile application program of a mobile phone, a vehicle-mounted unit, a gyroscope and an acceleration sensing device;

the road side unit is arranged along a road and used for the intelligent network traffic system;

input user survey data, including travel preferences;

the detected data are integrated and used for describing a complete travel environment scene;

the travel preference data comprises the sensitivity degree to time, driving comfort, route selection and detour preference, and can be collected by a text or visual user preference investigation method, including a visual simulator and active data input; the data provides basis for making personalized fixed path service before travel;

the data sharing and exchanging module of the travel file is used for sharing the travel file data of users with similar travel characteristics, so that the optimal travel plan can be determined in a centralized manner, wherein the travel characteristics comprise behavior and preference characteristics, similar travel paths, similar origin-destination points, approximate departure time and arrival time;

the system comprises a route driving archive training module, a route driving archive training module and a route driving archive training module, wherein the route driving archive training module is used for identifying the travel characteristics of a user by utilizing a travel data acquisition method based on a sensor so as to make a real-time travel plan of vehicles in the intelligent transportation system, and the travel characteristics of the user comprise route selection, destination/parking/entrance positions, driving and control strategies, driving behaviors and styles;

a route infrastructure file establishing module, which utilizes historical travel files and travel characteristics to identify conventional traffic infrastructures, infrastructures in an intelligent road infrastructure system of the intelligent internet traffic system and starting sequences of the facilities, wherein the established route infrastructure files can be used for optimizing road loads to provide travel services of fixed routes;

the training module for the path safety, mobility and energy consumption files integrates user preference data and user strategy data by acquiring traffic safety levels of different paths, conventional traffic states and infrastructure positions and running states of an intelligent internet traffic system, and further provides analysis on vehicle control and driving behavior distribution;

the fixed path service parameter calibration module is used for calibrating a data service parameter before travel, a data service parameter during travel, a data service parameter for emergency management and parameters used by other services by utilizing the collected path archive data; the calibrated service parameters are used for meeting the trip preference of the user; safety, mobility and energy consumption requirements of fixed route services of the intelligent internet traffic system are optimized, so that the intelligent internet traffic system can not only serve general trips, but also serve traffic operation to deal with different traffic states and trip conditions.

Before, during, after the trip of intelligent internet traffic system, the module of formulating and carrying out trip route and ride plan includes trip plan planning and notice module before the trip, specifically includes:

the trip-ahead travel file planning module is used for customizing or adjusting a travel file according to real-time weather, traffic conditions, frequent congestion or construction events, user activities from historical data analysis, the current schedule state and user preference data; the travel files comprise main and standby routes, departure time, travel chains, multi-mode travel, coordinated fleet, positions for entering and exiting the intelligent networked transportation system and emergency plans of emergency events;

the trip front-trip travel plan generating module is used for initializing and customizing a detailed automatic driving control plan of the intelligent networked transportation system, and comprises turning points, confluence points, entering/exiting positions of the intelligent networked transportation system, driving speed, lane selection, preference of advance/delay, alternative route plans and related safety/mobility/economic driving control configuration;

a pre-trip notification module notifying and providing events at various time points of the trip plan, including a departure time, a destination and a trip path, a planned fixed route trip mode of the intelligent internet transportation system, or notifying temporary change of the trip plan due to events such as accidents, construction and other special events, using the pre-trip plan generated by the above module;

the pre-trip data exchange and feedback module comprises: data input from the intelligent networked transportation system to the current trip for plan generation and notification; and feeding back data from the current journey to the intelligent networked traffic system, wherein the data comprises a plan before the journey and a user state of the intelligent networked traffic system, so as to plan and coordinate the journey and control resources of the related intelligent networked traffic system.

Before, during, after the trip of intelligent networking transportation system, the module of formulating and carrying out trip route and ride plan still includes dynamic management and execution module in the trip, includes: the intelligent internet traffic system comprises a management module for driving in and out of the intelligent internet traffic system, a communication module of a non-CAVH infrastructure, a communication module of an IRIS infrastructure, a travel execution module, a travel induction module, an emergency management module, travel data and an information feedback module, wherein:

the intelligent networked traffic system selects the entering and exiting positions of the intelligent networked traffic system in the travel file by maximizing safety, reliability and efficiency; before entering a road section controlled by the intelligent network connection traffic system, the intelligent network connection traffic system informs the vehicle and the user whether to take over control, after entering the road section controlled by the intelligent network connection traffic system, the intelligent network connection traffic system can take over control at any time and send recommended instructions and surrounding information to the vehicle, and when the intelligent network connection traffic system exits the system, the intelligent network connection traffic system informs the user or the vehicle to prepare to take over control of the vehicle;

the communication module of the non-intelligent network traffic system infrastructure is used for sharing or extracting useful information, and the useful information comprises sensing data and traffic signal timing; calculating a real-time vehicle control plan, an alternative route and a travel route change plan; and the intelligent network traffic system performs communication interaction to ensure safe, efficient and environment-friendly vehicle control during travel;

the intelligent network communication system is communicated and interacted with the infrastructure of the intelligent road facility system through the following two modes:

planned interactions: the intelligent road facility system acquires the position and the travel route of the vehicle by using the intelligent internet traffic system and the vehicle, and realizes travel plan, ride-sharing plan and travel optimization through detection, plan, control and prediction;

unplanned interaction: the intelligent road facility system calculates real-time alternative routes and time plans, communicates with other services and platforms, and sends instructions to the vehicle when the user/vehicle has an accident;

the journey execution module is three main driving tasks executed by the intelligent internet traffic system:

cruising: adjusting and planning a route, namely planning a path according to the key road section nodes, the user travel files and the dynamic flow conditions;

navigation: generating vehicle/road following, merging/shunting operations based on the intelligent networked traffic system user profile, the infrastructure map, the unexpected hazards, and the physical environment;

controlling: seamlessly coordinating or remotely controlling at a location along the fixed path according to the user profile;

the travel guidance module is used for analyzing two types of optimal travel guidance plans by the intelligent internet traffic system based on the current conditions, the training of user files and historical travel information and the user input; the method comprises the following steps:

historical induction program: selecting an inducement plan based on the historical data, including an alternative optimal route under traffic conditions such as congestion, a recorded driver driving route, and an inducement plan selected most previously;

real-time induction planning: calculating a new guidance plan according to the current state, wherein the current state comprises sensed data, event data and prediction data;

the emergency management module is used for the intelligent network traffic system to manage three different emergency scenes, and comprises:

the user is urgent: when abnormal behaviors of a user are detected through a vehicle-mounted detector or user input, the intelligent network connection traffic system executes a user emergency mode, automatically controls or guides the vehicle to apply basic driving operation in the emergency mode, and connects a necessary third party for subsequent processing;

vehicle emergency: when the driving control characteristics are detected to be significantly deviated from 90-95% bits or to be close to an expected unsafe or unreliable driving state, the intelligent networked transportation system executes an active emergency plan according to a historical state or experience of CAVH vehicles on the path in advance, when the vehicles meet the abnormal condition, a reaction time is firstly reserved for a user to take over control to ensure safety, and the system guides the user to follow a specific emergency treatment plan;

emergency of the system: when the vehicle cannot be controlled due to system faults, the vehicle or a user can take over the control seamlessly, and meanwhile, the intelligent internet traffic system finds a standby channel to communicate or control the vehicle;

the trip data and information feedback module is used for evaluating real-time intelligent road facility system sensing data by using safety, mobility and energy consumption parameters in the fixed path service of the intelligent internet transportation system, and feeding back the real-time performance data to the fixed path service system of the intelligent internet transportation system so as to help system optimization and control optimization in other CAVH (computer aided variable speed) routes.

The module for making and executing the travel route and the ride-sharing plan before, during and after the travel of the intelligent networked transportation system comprises a travel chain module, and is used for generating and managing the travel chain plan in the CAVH fixed route based on a user request or historical travel data; the method specifically comprises the following steps: the system comprises a trip chain position and route planning module, a trip chain optimization module and a trip chain planning module for multi-mode trip and group trip;

wherein the travel chain location and route planning module plans temporary waypoints other than the destination and/or a detour route in the predetermined path for satisfying a user-specific travel purpose, based on the following information:

a user profile including preferred routes, frequently visited locations, driving style;

real-time traffic conditions, including vehicle conditions, traffic conditions;

a user periodically or temporarily needs for a specific trip;

the trip chain optimization module optimizes the sequence of temporary waypoints reaching a plan and corresponding detour routes before and during trip, and is based on the following information:

an initially planned travel route;

user profiles including driving style, preferred path, time/distance/comfort sensitivity;

road network topology, updated real-time traffic conditions;

the trip chain planning module for the multi-mode and group trip plans the positions and routes of other transportation modes, joining/quitting the coordinated fleet, sharing passengers to get on or off and the like according to the preference of the user, the availability of the service and the historical periodic traffic conditions.

The privacy protection module for avoiding the exposure of the family and destination information of the user specifically comprises a user data access and clustering grade module, an anonymization module and a randomization and segmentation module of the travel data;

in the user data access and clustering grade module, fixed path travel data adopts a graded encryption/user authorization and integration method, the travel data comprises user files, travel tracks, preference and the like, and the method comprises the following steps:

confidential data: data which needs to be strictly protected is encrypted for multiple times or highly integrated and then is externally published, so that a user account, driving preference and historical travel track are protected;

user consent to data shared with friends: strictly protected and encrypted data are only opened to friends agreed by the user, and comprise a trip plan, a trip origin and destination and a real-time trip position;

data the user agrees to share with the public: privacy protection data which are opened to the public after encryption, desensitization or integration under the consent of the users comprise user photos, telephone numbers and co-product-based origin-destination points;

and (3) public route data of the intelligent networked transportation system are logged in: data collected and statistically processed by the intelligent network traffic system can be opened to the public, including road section traffic capacity, road section driving speed and traffic conditions;

wherein the anonymization module is to reduce leakage of origin-destination information, increase difficulty of location identification by integrating location data into a sufficiently large area, and dynamically randomize user ID or location ID;

the randomization and segmentation module of the travel data is shared with an intelligent internet transportation system or other CAVH driving service providers to ensure that a complete travel track cannot be reconstructed from public data, and specifically comprises the following steps:

travel route randomization/fuzzy decomposition;

CAVH travel/link randomization utilizes different random user IDs, travel IDs, link IDs.

The cyber-physical security module for resisting attacks on the service system is used for protecting the network and physical components of the CAVH fixed route service system, and specifically comprises a user intervention module, a journey abnormity detection and mitigation module, a security exposure module and a mitigation module;

the user intervention module requests user intervention under the emergency condition of a network-physical environment, so that a user takes over vehicle control and closes all CAVH functions to physically protect a system; meanwhile, a temporary communication isolation environment is created for the user vehicle system to prevent any type of network attack;

the travel abnormity detection and mitigation module detects abnormal deviation of a vehicle state and a travel track from a travel file and a travel plan; identifying malicious intrusion of a CAVH fixed route service system or a remote driving control system; calling a user intervention method to protect the system;

wherein the security exposure analysis and mitigation module detects and analyzes malicious attacks or illicit snooping attempts, and assesses the potential for such malicious attempts, determines the risks of cyber/physical security exposure, wherein these said risks may occur on regular fixed routes and mitigate such risks by: physical network protection devices, such as hardware firewalls; network protection solutions such as network security software; and adding a path selection random factor and a user intervention method in the regular fixed travel route.

The man-machine interaction module specifically comprises a user input providing/feedback module, a user vehicle switching module and an emergency management interface;

wherein, in the user input providing/feedback module, the requirements, preferences and feedback from the user interface of the user are obtained to calculate the proper route plan ranking, notification and selection of alternative plans, CAVH operation service such as motorcade, ride-sharing and in/out of the intelligent internet traffic system;

wherein in the user vehicle switching module, the user takes over control of the vehicle at any time during the trip, when an error is detected, control is returned to the vehicle and the vehicle will activate an emergency management program, if the user vehicle switching delays or fails, the system will activate emergency stops such as buffer stops, shoulder stops;

wherein, in the emergency management interface, the CAVH system has different interaction methods with human in emergency, as follows:

and (3) voice: interacting with a user through a voice detection and recognition device of the on-board unit or on-board detector, or remotely performing an emergency function, or activating an emergency program through user input;

hot bonding: a CAVH vehicle requires a hot button device to be installed in the vehicle, and a user can immediately stop the vehicle or activate an emergency program by turning on;

body motion detection and interaction: the system detects abnormal or unsafe physical behaviors of the user such as eye closure, switches wheels through the on-board detector, and executes emergency programs including steering wheel vibration and light warning.

The fixed path service system also comprises a user charging and rewarding module, in particular a user charging service module, a user payment discount module and a data input/shared user rewarding module;

the user charging service module provides services of various charging and payment modes, and provides discounts and convenience for CAVH users of fixed routes, including pay-per-time, pay-per-mileage, pay-per-day rents and pay-per-month rents;

the user payment discount module comprises a multi-use cashable, a member discount, a data sharing discount and a multi-consumption multi-discount;

the data input/sharing user reward module is used for optimizing a CAVH path planning system by an input and sharing reward method of manual driving or intelligent networked vehicle driving experience data based on data quality such as safety, mobility, environmental protection ranking, journey integrity and the like, the reward system is encrypted by using a block chain technology, and the contribution degree of each piece of data used for CAVH system optimization is still identified to determine reward strength.

The fixed path service system also comprises a ride share/motorcade forming module, in particular comprising a route and schedule document matching module, a ride share service coordination and reservation module and a motorcade forming module,

in the route and schedule document matching module, the intelligent networked transportation system groups and matches users according to the privacy protection level, path notification and authorization, receiving and sending points, travel time, energy consumption and emission of user files and whether the users travel on duty or not, so that a more convenient, economic and proper ride-sharing travel route plan is optimized; then, the intelligent internet traffic system recommends using a special route or a specific route with higher intelligent road facility coverage rate in the intelligent road facility system so as to realize safe, efficient and green travel;

in the carpooling service coordination and reservation module, a carph fixed-path riding sharing service is matched into a carph trip by matching schedules, route similarity and matching preference of participating users, and the service also comprises trip date notification and confirmation, and dynamic getting-on and getting-off routes so as to execute an actual carpooling plan;

in the motorcade forming module, a CAVH fixed route motorcade forming service coordinates and establishes a motorcade by vehicles sharing similar routes or road sections, and the control method comprises the following steps:

optimizing route matching, including deployment of departure and waiting time and connection travel plan control;

on-road fleet formation, forming a fleet of vehicles in transit with similar paths based on membership user profiles and coordination at the site, including pre-path matching, notification, and on-road coordination based on user requests and current status.

The invention has the beneficial effects that: the invention provides a fixed path service system and a fixed path service method of an intelligent internet traffic system, which are used for realizing control and travel optimization service of an automatic driving vehicle with a fixed travel path in a CAVH system.

Drawings

Fig. 1 is an exemplary diagram of a CAVH fixed path service method.

Fig. 2 is an exemplary diagram of a CAVH fixed path service historical trip analysis method.

Fig. 3 is an exemplary diagram of a CAVH fixed path service trip planning and notification method.

Fig. 4a is a basic scenario diagram of path dynamic management and execution of the CAVH fixed path service.

Fig. 4b is a flow diagram of dynamic trip execution and management for a CAVH fixed path service.

Fig. 5 is an exemplary diagram of a CAVH fixed path service travel chain service.

Fig. 6 is an exemplary diagram of a fixed path service privacy protection method.

Fig. 7 is an example diagram of the physical security of a CAVH fixed path serving network.

FIG. 8 is an exemplary diagram of a CAVH fixed path service human machine interface.

Fig. 9 is an exemplary diagram of a CAVH fixed path service user charging and rewarding system.

Fig. 10 is a schematic illustration of a CAVH fixed path service pool and fleet formation.

Detailed Description

The invention relates to a fixed path service system of an intelligent networked transportation system, which is based on users, vehicles, infrastructure, networks and computing components, and achieves the purposes of calibration, planning before trip, navigation, operation in trip and after trip, safety and privacy protection; the method specifically comprises the following steps: a module for training, analyzing and calibrating services for vehicle navigation, management, control and optimization using historical travel profiles; before, during and after the travel of the intelligent network traffic system, a module for making and executing a travel path and a ride-sharing plan; a human-computer interaction module; a module for physical security of the network against attacks on the service system, and a module for privacy protection to avoid exposure of the user's home and destination information.

Wherein, the module for training, analyzing and calibrating the services of vehicle navigation, management, control and optimization by using the historical travel profile comprises:

input user survey data, including travel preferences;

the data sharing and exchanging module of the travel file enables users with similar travel characteristics to share travel file data with each other, so that an optimal travel plan can be determined centrally, for example: historical travel rule analysis is carried out on users with similar travel preference, travel route, origin-destination point, departure time and arrival time, so that a travel plan most suitable for the type of clients is obtained, such as the optimal travel route, the recommendation of departure time, road congestion avoidance and the like; the travel characteristics comprise behavior and preference characteristics, similar travel paths, similar origin-destination points, and approximate departure and arrival times;

Before, during and after the trip of the intelligent internet transportation system, the module for formulating and executing the trip path and the ride-sharing plan comprises a trip plan planning module and a trip front notification module, and specifically comprises:

Before, during and after the trip of the intelligent internet transportation system, the module for formulating and executing the trip path and the ride-sharing plan further comprises a dynamic management and execution module in the trip, and comprises: the intelligent internet traffic system comprises a management module for driving in and out of the intelligent internet traffic system, a communication module of a non-CAVH infrastructure, a communication module of an IRIS infrastructure, a travel execution module, a travel induction module, an emergency management module, travel data and an information feedback module, wherein:

The module for making and executing the travel route and the ride-sharing plan comprises a travel chain module and a data processing module, wherein the travel chain module is used for generating and managing the travel chain plan in the CAVH fixed route based on a user request or historical travel data before, during and after travel of the intelligent networked transportation system; the method specifically comprises the following steps: the system comprises a trip chain position and route planning module, a trip chain optimization module and a trip chain planning module for multi-mode trip and group trip;

real-time traffic conditions, including vehicle conditions, traffic conditions;

a user periodically or temporarily needs for a specific trip;

an initially planned travel route;

road network topology, updated real-time traffic conditions;

The privacy protection module for avoiding the exposure of the family and destination information of the user specifically comprises a user data access and clustering grade module, an anonymization module and a stroke data randomization and segmentation module;

travel route randomization/fuzzy decomposition;

The system comprises a network physical security module for resisting attacks on a service system, a network and physical components for protecting a fixed route service system of the CAVH, a user intervention module, a journey abnormity detection and mitigation module, a security exposure module and a mitigation module, wherein the network physical security module is used for resisting attacks on the service system;

Further, the fixed path service system also comprises a user charging and rewarding module, specifically comprising a user charging service module, a user payment discount module and a data input/shared user rewarding module;

Further, the fixed path service system also comprises a riding share/motorcade forming module, in particular comprising a route and schedule document matching module, a riding share service coordination and reservation module and a motorcade forming module,

wherein, the special route with higher intelligent road facility coverage rate refers to the automatic driving level of more than three levels. The american society of automotive engineers proposes 5 levels of autopilot:

level 0: the automatic driving is not available, and a human driver operates the automobile in full authority to obtain the assistance of a warning or intervention system;

level 1: driving support, which provides driving support for one operation of a steering wheel and acceleration/deceleration through a driving environment, and other driving actions are operated by a human driver;

and 2, stage: the method is partially automated, provides driving support for multiple operations in a steering wheel and acceleration and deceleration through a driving environment, and other driving actions are operated by a human driver.

And 3, level: and (4) conditional automation is realized, and all driving operations are completed by an automatic driving system. Depending on the system requirements, the human driver needs to provide a response at the appropriate time.

4, level: the automatic driving system is highly automatic and can complete all driving operations. Depending on system requirements, the human driver does not necessarily need to respond to all system requests, including defining road and environmental conditions, etc.

And 5, stage: the automatic driving system is fully automatic, and all driving operations can be automatically completed by the automatic driving system under the road and environmental conditions which can be met by all human drivers.

The invention will be further described with reference to the following drawings and specific embodiments.

In the present invention, the related abbreviations correspond to the following technical terms:

CAV: connected and Automated Vehicles, intelligent networked Vehicles;

CAVH: connected automated vehicle highway, intelligent internet traffic;

TCU: traffic control unit, Traffic control unit;

TCC: traffic control center, Traffic control center;

RSU: road Side Units, Road Side Units;

an OBU: an on-board unit;

OD: a beginning-to-end point;

IRIS: intelligent road infrastructure system.

Examples

The characters in the drawings are first defined as follows:

in fig. 2:

201: user preference data input;

202: a data management center;

203: a travel data file sharing and exchanging method;

204: a fixed path parameter calibration method;

205: a fixed path infrastructure archive establishment method;

206: a sensor-based travel data acquisition method;

207: collecting trip preference data input by a user;

208: a Road Side Unit (RSU);

209: a traffic infrastructure;

210: an intelligent roadside infrastructure system IRIS comprising a Traffic Control Unit (TCU) and a Traffic Control Center (TCC);

211: a path travel file establishing method;

212: a method for establishing a file with safe path, maneuverability and energy consumption;

213: a user inputs preference data through a simulator, a questionnaire, offline training and other modes;

214: user input data is exchanged to the data management center;

215: the trip archive establishing method is optimized through parameter calibration;

216: the parameter calibration output result is used for optimizing CAVH fixed path service;

217: a user obtains travel archive data from a data management center;

218: the travel file of the user is used as the input of the travel file sharing and exchanging method;

219: taking travel files obtained from other users as input of a travel file sharing and exchanging method;

220: a Road Side Unit (RSU) sends data to a trip data acquisition module based on sensing;

221: inputting travel preference data by a user through a mobile phone;

222: travel data collection by IRIS based on sensing;

223: travel data collection by using an on-board unit (OBU) based on sensing;

224: a path infrastructure archive establishment method using the IRIS system;

225: a path infrastructure profile is built using infrastructure map information.

In fig. 3:

301: CAVH fixed path journey planning and notification method;

302: a method for planning a pre-trip travel file;

303: executing a planning method by the pre-trip travel file;

304: a pre-trip notification method;

305: pre-trip data exchange and feedback methods;

306: path preferences in the pre-trip travel profile;

307: a schedule in the pre-trip travel profile;

308: planning a travel chain in a pre-trip travel file;

309: multi-mode travel planning in a pre-trip travel file;

310: clustering strokes in stroke file before stroke (sharing motorcade and ride in coordination)

311: emergency solutions in pre-trip travel files;

312: the user travel demand affecting the travel file planning;

313: a user profile that affects travel profile planning;

314: the existing objective conditions affecting trip archive planning;

315: cruise planning in the execution planning of the fixed path travel archive;

316: the fixed path travel archive executes navigation planning in the planning;

317: the fixed path travel archive executes vehicle control planning in the planning;

318: a notification of an upcoming trip plan;

319: notification of a timeline event;

320: a temporary change notification of the trip profile;

321: data exchange from the CAVH fixed path service to the current trip execution;

322: data feedback from the current trip execution to the CAVH fixed path service.

In fig. 4 a:

401: a traffic infrastructure;

402: an intelligent roadside infrastructure system IRIS;

403: a traffic control unit TCU and a traffic control center TCC;

404: a Road Side Unit (RSU);

405: a vehicle under emergency management;

406: the vehicle executes the travel guidance instruction;

407: executing a travel execution instruction by the vehicle;

408: communication between the vehicle and the RSU to execute the trip;

409: communication between the traffic infrastructure and the RSU;

410: communication between the vehicle and the RSU is used for travel induction;

411: communication between the vehicle and the RSU is for emergency management;

412: an emergency area.

In fig. 5:

501: CAVH fixed route travel chain service;

502: a trip chain planning method;

503: a trip chain optimization method;

504: a multi-mode and group trip planning method;

505: planning a temporary waypoint in the trip chain planning;

506: route planning in trip chain planning;

507: user trip chain requirements that affect trip chain planning;

508: user profiles affecting trip chain planning;

509: current objective conditions affecting trip chain planning;

510: the planned trip chain plan output from 502;

511: optimized trip chain plans output from 503;

512: factors influencing trip chain plan optimization;

513: real-time traffic conditions;

514: trip chain requirements and route/trip chain preferences of the user;

515: planning in a multi-mode trip;

516: fleet planning

517: shared ride plan

In fig. 6:

602: a privacy hierarchy system;

603: a system where users agree to share levels with the public;

604: a system where the user agrees to share the hierarchy with friends;

605: a public route system for login (CAVH system);

606: a privacy protection method integration system;

607: a system for a method of location set counting to a cell;

608: a system of methods for randomizing a location ID;

609: a method system for randomizing a user ID;

610: a system of multiple encryption methods;

611: a method system for randomizing a trip ID;

612: a method system for randomizing link IDs;

613: a method system for random/fuzzy decomposition of travel paths;

614: a method integration system for reducing travel OD exposure;

615: a method integration system for avoiding travel track reconstruction;

616: fixed path privacy protection system to privacy tier communication;

617: a fixed path privacy protection system agrees to communicate with a public shared layer system by a user;

618: the fixed path privacy protection system agrees to communicate with the friend sharing layer system until the user agrees to communicate with the friend sharing layer system;

619: communication of a fixed path privacy protection system to a public path login (CAVH system) layer system;

620: communication from the privacy hierarchy system to the privacy protection method integration system;

621: the user agrees to the communication from the public sharing layer system to the privacy protection method integration system;

622: the user agrees to the communication from the friend sharing layer system to the privacy protection method integration system;

623: communication of a public path entry (CAVH system) layer system to a privacy protection method integration system;

624: communication from a location set to a cell method system to a method system for reducing travel origin-destination exposure;

625: randomizing the location ID method system to reduce communication of the travel origin-destination exposure method integrated system;

626: randomizing a user ID method system to reduce communication of a travel origin-destination exposure method integrated system;

627: the communication from the multiple encryption method system to the integrated system of the method for reducing the trip origin-destination exposure;

628: randomizing communication from a journey ID method system to a travel origin-destination exposure method integrated system;

629: communication from the randomized road section ID method system to the travel origin-destination exposure method integrated system;

630: and (4) communication from the travel path random/fuzzy decomposition method system to the travel origin-destination exposure method integrated system.

In fig. 7:

701: a cyber physical security method of the CAVH fixed route service;

702: a user intervention method;

703: an attack detection method;

704: security risk analysis and mitigation methods;

705: network-physical attacks;

706: common network attacks;

707: network attacks directed specifically to fixed-route CAVH services;

708: physical attacks against fixed-route services;

709: physical intervention in a user intervention method;

710: network isolation in a user intervention method;

711: detecting abnormal activity;

712: detecting malicious intrusion;

713: analyzing network physical attack;

714: safety exposure risk analysis;

715: and safety risk is relieved.

In fig. 8:

801: a touch screen user interface;

802: a human eye detector;

803: a human motion camera;

804: performing voice recognition;

805: vibrating a steering wheel;

806: a hot bond;

807: a vehicle sensor;

808: an intelligent roadside facility system IRIS;

809: a CAVH cloud;

810: CAVH system

811: vehicle-mounted processor

In fig. 9:

901: a user charging and rewarding system;

902: a user charging service system;

903: a pay-per-use system;

904: a pay-per-mileage system;

905: a daily rental payment system;

906: a monthly rental payment system;

907: a payment discount service system;

908: the multi-use can be returned;

909: a member discount;

910: a data sharing discount;

911: multiple consumption and multiple discount;

912: a data entry/sharing reward mechanism;

913: a pay-per-view method;

914: a daily incremental reward method;

915: a specific mission reward method;

916: a data quality evaluation method system;

917: a data contribution degree evaluation method system;

918: the user charging and rewarding system communicates with the user charging service system;

919: communication of the user charging and reward system to the payment discount service system;

920: user charging and reward system to data input/share reward mechanism system communication;

921: communication of the user charging service system to the payment discount service system;

922: communication of the payment discount service system to the data entry/analysis rewards system;

923: communication of the data entry/sharing reward system to the data quality assessment method system;

924: communication of the data entry/sharing reward system to the data contribution assessment method system.

In fig. 10:

1001: a user;

1002: a Road Side Unit (RSU);

1003: the intelligent networked car CAV in the carpool service;

1004: communication between a user and a Road Side Unit (RSU);

1005: information interaction of the carpool service between CAVs and RSUs;

1006: intelligent networked CAV in a fleet formation service;

1007: the fleet of CAVs and RSUs form the information exchange of the service.

As shown in fig. 1, a basic CAVH fixed path service system flow diagram. The fixed path service starts with a user input mode that includes user preferences, behaviors, origin and destination information, and the like. If the user is a new user, the system will create a virtual anonymous account in the user profile and store the user's information, and his/her own historical travel, route will be stored to the historical travel document for further analysis and use. The historic travel document sends useful information to each step in the fixed route service, such as optimized routes, customized transfer plans, and the like. The system then asks the user whether the CAVH ride-share service is enabled. If the user wants to use the service, it will guide the user to the ride-sharing service. If not, the system will plan the trip based on the user input data and notify the user. After the journey is started, the system activates a dynamic journey execution and management mode in the way so as to realize safer, more economical and more efficient journey service. If the system detects or encounters an emergency, it will activate an emergency mode, for example, to control the vehicle to park in an emergency parking area. If no emergency is encountered during the trip, the system will control the vehicle to the destination and initiate post-trip modes such as user billing, feedback analysis, service rating, etc.

Fig. 2 illustrates how the travel profile establishing method establishes a full-route profile system from a starting point to an end point through different components of a CAVH fixed-route service system under the control of a traffic data management center. For individual user a, her/his profile data is obtained through user input 207 and sensor-based data acquisition method 206. Other user travel profiles can be obtained through the profile exchange and sharing method 203 to identify the best execution based on similar behavior and preference characteristics. The sensor-based data acquisition method 206 acquires data in three layers:

(1) cruise data, collected by recording sufficient continuous road reference points (latitude and longitude coordinates);

(2) navigation data, the time and place of taking lane change, overtaking and following by the CAVH vehicle;

(3) control data such as vehicle steering wheel turn and speed commands sent by an On Board Unit (OBU) and a Road Side Unit (RSU). The user input preference surveys 201 and 221 are obtained at the beginning of the fixed route service, and the system can provide personalized travel planning. The route driving profile creation method 211 can integrate various driving behavior information including straight, left, right, deceleration, acceleration, braking, and the like. The route infrastructure profile creation method 205 includes CAVH infrastructure data 209 and IRIS system 210, specifically including road geometry, lane canalization and usage, signal control data, intersection design, early warning information for merging/diverging, and the like. The infrastructure data will be updated by dynamic numbering and partitioning and real-time feedback. The objectives of optimization include minimizing system delays, increasing driver awareness, increasing system reliability and safety, etc. The control variables determine vehicle allocation, dispatch, start, idle, path planning and driving modes (eco, adventure, conservative, etc.)

As shown in fig. 3, the pre-trip planning and notification method of the CAVH fixed path service (301) generates a pre-trip archive (302) for planning the CAVH fixed path. The pre-trip profile includes route selection (306), schedule (307), travel chain requirements (308), multi-modal traffic preferences (309), group travel traffic preferences (e.g., ride share, coordinated fleet) (310), CAVH service schedule (311), and emergency vacation solutions (312). The pre-trip profile is generated based on the primary objective conditions 314 (e.g., weather, traffic, frequent congestion, construction plans, IRIS high-definition maps, etc.) and user information, including immediate demand information (312) and user preference historical activity analysis (313). The generated CAVH fixed path trip plan is executed by initializing and executing control (303) of the CAVH vehicle in a map navigation 315 level (e.g., turning point, merge point, entry/exit point, route, etc.), driving guidance 316 (e.g., safe/efficient/eco-driving configuration in speed/lane, etc.) and control 317 (e.g., control of steering wheel, pedals, etc.) of the vehicle. The user will receive pre-trip notifications (304) from the CAVH fixed route service regarding upcoming trip profiles (318), key timeline notifications (319), and temporary plan changes (320) prior to departure. The CAVH fixed path service will send the user pre-trip profile and activity notification for the current trip 321 and collect data feedback from the current trip to the execution of the CAVH service through data exchange and feedback methods for further planning and notification.

As shown in fig. 4a, a basic scenario diagram for path dynamic management and execution of the CAVH fixed path service. On the trip, the vehicle 407 performs three primary driving tasks by communicating with the RSU 408: lateral and vertical control, heel, flow/shunt/pass, etc. If the vehicle encounters an emergency 412, including user, vehicle and system emergencies, the CAVH system will control the vehicle 405 to enter an emergency mode, such as parking to the road side 412 via the RSU 411. The system then controls the vehicle 406 to execute a trip alteration plan based on the historical data and the current conditions via communication between the vehicle and the RSU 410.

As shown in fig. 4b, a flow diagram for dynamic trip execution and management of the CAVH fixed path service. After the pre-trip planning and notification mode is completed, the fixed path service system selects an entrance and an exit of a CAVH control road according to a trip route selected by a user and starts a trip. When approaching the entrance, the system will notify the user/vehicle and ask if fixed path service is enabled. If the user wants to continue controlling the vehicle, he/she can still enable the fixed path service at any time, instead taking over control by the system until leaving the CAVH control exit. Similarly, during fixed path service, the user may cancel the system control at any time, switch to manual or vehicle autonomous driving. During travel, the system always sends a recommendation and surrounding information to the vehicle, regardless of who controls the vehicle. If the vehicle encounters an emergency, the system will initiate an emergency mode, and if no emergency is encountered, the system will notify the user when an exit point is approached and eventually go to a post-trip mode.

As shown in fig. 5, the travel chain method of the CAVH fixed-path service 501 generates a travel chain plan (502) and current objective conditions 509 (e.g., weather, traffic, frequent congestion, construction plan, etc.) from temporary waypoints (505) and routes (506) based on a user's request (507) and his history file (508). The route of the trip chain plan is optimized (503) based on the original trip chain plan 510. The user profile 514 includes driving style, preferred path, time/distance/comfort sensitivity, etc. The real-time objective conditions 513 include the topology of the road network involved, real-time traffic conditions and updated weather information, etc. The CAVH fixed route service will also consider taking multi-modal traffic and/or group trips to implement a trip chain plan, depending on current user needs and preferences, availability of services, and historical periodic traffic conditions/schedules. The multi-modal transportation and/or group travel plan 504 includes location and schedule changes to travel patterns 515, location and schedule additions/withdrawals to the coordinated fleet 516, and location and schedule shares for passengers and passengers in and out of the ride 517.

Fig. 6 shows a CAVH fixed-path privacy protection system. The fixed path privacy protection system 601 includes the following components: a confidential tier system 602, a user consent and public sharing tier system 603, a user consent and friend sharing tier system 604, and a public path entry (CAVH system) tier system 605. A fixed path privacy protection system controls communication between systems. The privacy preserving method integration system 606 includes the following method system components: a location set counting to cell method system 607, a randomized location ID method system 608, a randomized user ID method system 609, a multiple encryption method system 610, a randomized journey ID method system 611, a randomized road segment ID method system 612, a travel path random/fuzzy decomposition method system 613. Travel origin-destination system 614 reduces exposure of travel ODs, avoiding reconstructed travel path system 615.

A cyber-physical security method 701 of a CAVH fixed path service as shown in fig. 7 protects a CAVH customer vehicle system from cyber-physical attacks 705. Attacks include network attacks (e.g., common network attacks 706, such as malicious information fraud and network attacks, and network attacks against fixed path systems 707, such as multiple hacking of network systems, which may result in leakage of user personal information, leakage/illegal change of travel plans, loss of control of vehicles, etc.) and physical attacks 708 (e.g., physical illegal detection, which may result in privacy leakage). The cyber-physical security method detects the attack 703 by detecting irregularities in the trip activity 711 (e.g., abnormal deviations of the vehicle state and trip trajectory from its archives and plans) and identifying malicious intrusion 712 of the user vehicle system. Once an attack is detected, the user intervention method 702 will be invoked to take over vehicle control and turn off all CAVH functions to protect the user vehicle systems except for the necessary functions 709 (basic functions that can assist in manual driving such as path navigation, path selection, road condition information collection, vehicle road communications etc.) and create a network isolated environment to prevent all possible network intrusions 710. To prevent safety exposure 704, this risk is more dangerous during fixed path travel. Since an attacker may attempt to repeat an attack during the journey, the cyber-physical security method will detect and analyze potential attack attempts 713, identify cyber-physical security exposure 714, and reduce risk through cyber-protection 715. In addition, the fixed periodic path sets a random factor to mitigate potentially repeated attack attempts and to initiate user intervention methods when an attack occurs.

The basic man-machine interaction interface in the intelligent networked vehicle is shown in the figure 8. In this embodiment, for the user, the CAVH includes a touch screen User Interface (UI)801, a human eye detector 802, a body motion camera 803, speech recognition 804, a vibration wheel 806, hot keys 806, for the user to interact with the CAVH system. For the machine, vehicle sensors 807, IRIS 808, CAVH cloud 809, CAVH system 810 and onboard processor 811 will provide information for further operations and instructions for user and process user input, such as activating emergency mode, contacting third party services.

A CAVH fixed path user charging and rewarding system is shown in figure 9. In this embodiment, the fixed path charging and rewarding system 901 includes the following components: a user charging service system 902, a payment discount service system 903, and a data entry/sharing rewards system 904. The user charging service system comprises the following contents: a pay-per-view service system 903, a pay-per-mileage service system 904, a daily rental billing service system 905, and a monthly rental billing service system 906. The payment discount service system includes the following: a multi-use cashback service system 908, a member discount service system 909, a shared data discount service system 910, and a multi-use multi-discount service system 911. The data entry/sharing reward system comprises the following contents: a pay-per-view reward method system 913, a daily incremental reward method system 914, and a mission-specific reward method system 915. The data quality based evaluation method system 916 and the data contribution based evaluation method system 917 are used to evaluate user input/shared data for reward evaluation.

As an example shown in fig. 10, a ride share/fleet formation service in a CAVH fixed path service system. For the ride share service, the system 1002 receives user 1001 input and groups them into a single CAVH itinerary by matching their schedules, origin destination information, route similarities, user preferences, priorities, etc. The system will then schedule the appropriate pick-and-place location and time for each user and communicate with a smart internet vehicle (CAV)1005 for dynamic assistance and control. The user then obtains a forward notice from the system 1004 and waits for the pickup of the CAV. Unlike ride sharing services, the fleet generation service focuses on scheduling and grouping vehicles 1006 with similar route plans by considering more efficient departure time control methods, waiting time deployments, and interfacing with travel plan controls.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims

1. The utility model provides an intelligence networking traffic system's fixed path service system which characterized in that: the system is based on users, vehicles, infrastructure, networks and computing components, so as to achieve the purposes of calibration, planning before trip, navigation, operation in trip and after trip, safety and privacy protection; the method specifically comprises the following steps: a module for training, analyzing and calibrating services for vehicle navigation, management, control and optimization using historical travel profiles; before, during and after the travel of the intelligent network traffic system, a module for making and executing a travel path and a ride-sharing plan; a human-computer interaction module; a module for cyber-physical security against attacks on the service system, and a module for privacy protection for avoiding exposure of user home and destination information;

input user survey data, including travel preferences;

the fixed path service parameter calibration module is used for calibrating a data service parameter before travel, a data service parameter during travel, a data service parameter for emergency management and parameters used by other services by utilizing the collected path archive data; the calibrated service parameters are used for meeting the trip preference of the user; safety, mobility and energy consumption requirements of fixed route service of the intelligent internet traffic system are optimized, so that the intelligent internet traffic system can serve not only general travel, but also traffic operation to deal with different traffic states and travel conditions;

the pre-trip data exchange and feedback module comprises: data input from the intelligent networked transportation system to the current trip for plan generation and notification; data feedback from the current journey to the intelligent networked traffic system comprises a plan before the journey of the intelligent networked traffic system and a user state so as to plan and coordinate the journey and control resources of the related intelligent networked traffic system;

the intelligent networked traffic system selects the entering and exiting positions of the intelligent networked traffic system in the travel file by maximizing safety, reliability and efficiency; before entering a road section controlled by the intelligent network connection traffic system, the intelligent network connection traffic system informs the vehicle and the user whether to take over the control, after entering the road section controlled by the intelligent network connection traffic system, the intelligent network connection traffic system can take over the control at any time and send a recommended instruction and surrounding information to the vehicle, and when the intelligent network connection traffic system exits the system, the intelligent network connection traffic system informs the user or the vehicle to prepare to take over the control of the vehicle;

2. The fixed path service system of the intelligent networked transportation system of claim 1, wherein: the module for making and executing the travel route and the ride-sharing plan before, during and after the travel of the intelligent networked transportation system comprises a travel chain module, and is used for generating and managing the travel chain plan in the CAVH fixed route based on a user request or historical travel data; the method specifically comprises the following steps: the system comprises a trip chain position and route planning module, a trip chain optimization module and a trip chain planning module for multi-mode trip and group trip;

real-time traffic conditions, including vehicle conditions, traffic conditions;

a user periodically or temporarily needs for a specific trip;

an initially planned travel route;

road network topology, updated real-time traffic conditions;

3. The fixed path service system of the intelligent networked transportation system of claim 1, wherein: the privacy protection module for avoiding the exposure of the family and destination information of the user specifically comprises a user data access and clustering grade module, an anonymization module and a randomization and segmentation module of the travel data;

travel route randomization/fuzzy decomposition;

4. The fixed path service system of the intelligent networked transportation system of claim 1, wherein: the cyber-physical security module for resisting attacks on the service system is used for protecting the network and physical components of the CAVH fixed route service system, and specifically comprises a user intervention module, a journey abnormity detection and mitigation module, a security exposure module and a mitigation module;

5. The fixed path service system of the intelligent networked transportation system of claim 1, wherein: the man-machine interaction module specifically comprises a user input providing/feedback module, a user vehicle switching module and an emergency management interface;

6. The fixed path service system of the intelligent networked transportation system of claim 1, wherein: the system comprises a user charging and rewarding module, specifically comprises a user charging service module, a user payment discount module and a data input/shared user rewarding module;

7. The fixed path service system of the intelligent networked transportation system of claim 1, wherein: comprises a riding sharing/motorcade forming module, in particular comprises a route and schedule document matching module, a riding sharing service coordination and reservation module and a motorcade forming module,

in the riding sharing service coordination and reservation module, a riding sharing service of a CAVH fixed path is matched into a CAVH trip by matching schedules, route similarity and matching preference of participating users, and the service also comprises trip date notification and confirmation, and dynamic getting-on and getting-off routes so as to execute an actual riding plan;