CN114827955A

CN114827955A - Vehicle-road cooperation system and method and road side equipment

Info

Publication number: CN114827955A
Application number: CN202210396338.8A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shenzhen Huichen Software Co ltd
Current assignee: Shenzhen Chenggu Technology Co ltd
Priority date: 2022-04-15
Filing date: 2022-04-15
Publication date: 2022-07-29

Abstract

The application is applicable to the technical field of vehicle-road cooperation, and provides a vehicle-road cooperation system, a vehicle-road cooperation method and road side equipment, wherein the vehicle-road cooperation system comprises a road side unit, a road side intelligent station and a portal control station; the road side unit is used for receiving feedback information sent by the vehicle-mounted unit and sending the feedback information to the first road side intelligent station; the first road side intelligent station is used for judging whether business data corresponding to the issuer identification and the vehicle identification are stored locally or not, and if not, sending a first access request to a corresponding portal control station; the portal control station is used for inquiring the service data corresponding to the issuer identification and the vehicle identification and sending the service data to the first road side intelligent station; the first road side intelligent station is also used for sending the feedback information and the service data to the second road side intelligent station for storage. Through the vehicle-road cooperative system, the time required by the subsequent access process can be reduced, and the travel experience of the user is improved.

Description

Vehicle-road cooperation system and method and road side equipment

Technical Field

The application belongs to the technical field of vehicle-road cooperation, and particularly relates to a vehicle-road cooperation system, method and device, road side equipment and a computer readable storage medium.

Background

With the development of economy and the improvement of road network construction, automobiles become more and more traffic travel tools selected by multiple people. Compared with other vehicles, the automobile has higher flexibility and convenience in both medium-short distance passenger transportation and long-distance cargo transportation.

However, the safety importance of automobiles is more prominent with the increase of the running amount of automobiles. In order to solve the contradiction between frequent automobile road accidents and people's desire to travel safely, a plurality of technical schemes of a vehicle road cooperative system are provided.

However, the conventional vehicle-road coordination system usually can only collect vehicle information, has limited capability, and cannot efficiently manage vehicle access.

Disclosure of Invention

The embodiment of the application provides a vehicle-road cooperative system, a vehicle-road cooperative method and road side equipment, and can solve the problems that the existing vehicle-road cooperative system is limited in capacity and low in efficiency, and therefore the trip experience of a user is poor.

In a first aspect, an embodiment of the present application provides a vehicle-road coordination system, including: the system comprises a road side unit, a road side intelligent station and a gantry control station;

the road side unit is used for receiving feedback information sent by the vehicle-mounted unit and sending the feedback information to a first road side intelligent station, wherein the first road side intelligent station is a preset road side intelligent station communicated with the road side unit, and the feedback information comprises a vehicle identifier and an issuer identifier of the vehicle-mounted unit;

the first road side intelligent station is used for judging whether business data corresponding to the issuer identification and the vehicle identification are stored locally or not, and sending a first access request to a portal control station corresponding to the first road side intelligent station when the business data corresponding to the issuer identification and the vehicle identification are not stored locally, wherein the first access request comprises the vehicle identification and the issuer identification;

the portal control station is used for inquiring the service data corresponding to the issuer identification and the vehicle identification and sending the service data to the first road side intelligent station;

the first road side intelligent station is further configured to send the feedback information and the service data to a second road side intelligent station for storage, where the second road side intelligent station is a road side intelligent station downstream of the first road side intelligent station.

In a second aspect, an embodiment of the present application provides a vehicle-road cooperation method, which is applied to a roadside intelligent station, and includes:

receiving feedback information sent by a road side unit, wherein the feedback information comprises a vehicle identifier and an issuer identifier of an on-board unit;

judging whether business data corresponding to the issuer identification and the vehicle identification are stored locally or not, and sending a first access request to a portal control station corresponding to the issuer identification and the vehicle identification when the business data corresponding to the issuer identification and the vehicle identification are not stored locally, wherein the first access request comprises the vehicle identification and the issuer identification;

receiving service data which is sent by a portal control station and corresponds to the vehicle identification and the issuer identification;

and sending the feedback information and the service data to a roadside intelligent station at the downstream of the feedback information for storage.

In a third aspect, an embodiment of the present application provides a vehicle-road coordination method, applied to a portal control station, including:

receiving a first access request sent by a first road side intelligent station, wherein the first access request comprises the vehicle identifier and the issuer identifier, and the first road side intelligent station is a road side intelligent station corresponding to the portal control station;

and inquiring service data corresponding to the issuer identification and the vehicle identification, and sending the service data to the first road side intelligent station.

In a fourth aspect, an embodiment of the present application provides a vehicle-road cooperation apparatus, which is applied to a roadside intelligent station, and includes:

the feedback information receiving module is used for receiving feedback information sent by the road side unit, and the feedback information comprises a vehicle identifier and an issuer identifier of the vehicle-mounted unit;

the access management module is used for judging whether business data corresponding to the issuer identification and the vehicle identification are stored locally or not, and sending a first access request to a portal control station corresponding to the issuer identification and the vehicle identification when the business data corresponding to the issuer identification and the vehicle identification are not stored locally, wherein the first access request comprises the vehicle identification and the issuer identification;

the service data receiving module is used for receiving service data which are sent by a portal control station and correspond to the vehicle identifier and the issuer identifier;

and the service data sending module is used for sending the feedback information and the service data to a roadside intelligent station at the downstream of the service data sending module for storage.

In a fifth aspect, embodiments of the present application provide a roadside apparatus including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the method according to the second aspect when executing the computer program.

In a sixth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method according to the second aspect or the third aspect.

In a seventh aspect, the present application provides a computer program product, which when run on a road side device, causes the road side device to execute the method of the second aspect or the third aspect.

Compared with the prior art, the embodiment of the application has the advantages that:

in this embodiment of the application, in the communication process between the RSU and the OBU, the RSU can obtain feedback information including the vehicle identifier and the issuer identifier of the OBU from the OBU, and therefore, the roadside intelligent station corresponding to the RSU can obtain service data corresponding to the vehicle identifier and the issuer identifier from the corresponding portal control station, and send the service data to the roadside intelligent station (i.e., the second roadside intelligent station) downstream of the first roadside intelligent station. The service data is related to the vehicle identifier and the issuer identifier, so that the vehicle-road cooperation system provided by the embodiment of the application can enable the second road-side intelligent station to acquire personalized service data, so that a subsequent vehicle-mounted unit or road-side unit can acquire the vehicle-road cooperation information related to the personalized service data from the corresponding road-side intelligent station, and the travel experience of a user is effectively improved. In addition, the roadside intelligent station also sends the feedback information and the service data to the roadside intelligent station at the downstream for storage, so that when the OBU reaches the communication range of the roadside intelligent station at the downstream, the roadside intelligent station at the downstream has the capability of sending the service data locally stored by the roadside intelligent station to the corresponding RSU, namely the roadside intelligent station at the downstream does not need to acquire the corresponding service data from the portal control station, thereby greatly shortening the time for acquiring the service data by the roadside intelligent station at the downstream, namely being beneficial to shortening the time for accessing a subsequent vehicle-mounted unit or a roadside unit to the roadside intelligent station at the downstream and acquiring the vehicle-road cooperative information related to the personalized service data from the roadside intelligent station at the downstream, and further improving the traveling experience of users.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below.

Fig. 1 is a schematic overall architecture diagram of a vehicle-road coordination system according to an embodiment of the present application;

fig. 2 is a schematic deployment diagram of a first road-side intelligent station and a second road-side intelligent station on a road provided by an embodiment of the present application;

fig. 3 is an interaction flowchart illustrating that a first roadside intelligent station initiates a first access request to a portal control station 13 according to an embodiment of the present application;

fig. 4 is an interaction flowchart of a first roadside intelligent station initiating a subsequent access request to a portal control station 13 according to an embodiment of the present application;

fig. 5 is a flowchart of a vehicle-road coordination method according to another embodiment of the present application;

fig. 6 is a block diagram illustrating a structure of a vehicle-road coordination device according to an embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of a roadside apparatus according to another embodiment of the present application;

fig. 8 is a flowchart of another vehicle-road coordination method according to another embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.

Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise.

The first embodiment is as follows:

in the vehicle-road cooperative system, if only vehicle information can be collected and personalized vehicle cooperative service cannot be provided for the vehicle, the travel experience of the user cannot be effectively improved.

In order to effectively improve the travel experience of a user, the embodiment of the application provides a vehicle road coordination system.

In the system, feedback information including a vehicle identifier and an issuer identifier of an On Board Unit (OBU) sent by the OBU is obtained through a Road Side Unit (RSU), and the feedback information is sent to a first Road Side intelligent Station, so that when the first Road Side intelligent Station does not locally store service data corresponding to the vehicle identifier and the issuer identifier, the corresponding service data can be obtained from a portal Control Station (GCS). And then, the first road side intelligent station sends the service data to the second road side intelligent station.

The service data is not only related to the vehicle identification but also related to the issuer identification, so that the second roadside intelligent station can acquire personalized service data, and a subsequent vehicle-mounted unit or roadside unit can acquire the vehicle-road cooperative information related to the personalized service data from the corresponding roadside intelligent station, thereby effectively improving the travel experience of the user.

The following describes a vehicle-road coordination system provided in an embodiment of the present application with reference to the drawings.

Fig. 1 shows an overall architecture schematic diagram of a vehicle-road coordination system provided in an embodiment of the present application, in the vehicle-road coordination system, one portal control station 13 manages a plurality of roadside intelligent stations 12, and one roadside intelligent station manages a plurality of RSUs 11. As shown in fig. 1, the RSU 11 may communicate with a roadside intelligent station 12 corresponding to the RSU 11, and the roadside intelligent station 12 may communicate with the gantry control station 13, and may also communicate with other roadside intelligent stations 12. In practice, the RSU 11 is also capable of communicating with one or more OBUs within its wireless communication range.

In this embodiment of the application, the RSU 11 obtains feedback information sent by the OBU through extended service wireless link communication, and sends the feedback information to a first roadside intelligent station, where the first roadside intelligent station is a preset roadside intelligent station that communicates with the RSU, and the feedback information includes a vehicle identifier and an issuer identifier of the OBU.

Specifically, the RSU 11 is disposed on both sides of the portal and the road, and is an intelligent device having two communication modes with the OBU (one is to obtain extended service wireless link communication of extended service, and the other is ETC dedicated short-range communication for providing an Electronic Toll Collection (ETC) function).

In an embodiment of the present application, the vehicle identification includes a license plate number and/or an identification of an OBU whose issuer is used to indicate the issuer of the OBU. Since services which can be provided to the driver and the passenger in different issuing places are usually different, and services subscribed by different users in the same issuing place are not necessarily the same, in order to accurately provide personalized services to the driver and the passenger, besides the vehicle identifier, the issuer identifier of the OBU needs to be acquired.

In this embodiment of the application, after receiving the feedback information, the first roadside intelligent station determines whether the issuer identifier included in the feedback information and the service data corresponding to the vehicle identifier are locally stored according to the feedback information, and sends a first access request to the portal control station 13 corresponding to the issuer identifier and the vehicle identifier when the service data corresponding to the issuer identifier and the vehicle identifier are not locally stored, where the first access request includes the vehicle identifier and the issuer identifier.

The first access request is used for vehicle registration.

Specifically, the roadside intelligent Station (i.e., the first and second roadside intelligent stations) (RSI) 12 is an intelligent device deployed at a portal, a service area, a Toll gate and/or both sides of a Road, and the roadside intelligent Station supports access management of roadside devices (such as RSUs, various sensors (radar sensors, crosswind sensors, etc.)), supports vehicle access management, management of service data, and the like, further supports information exchange between the roadside intelligent stations 12, and supports Electronic Toll Collection (ETC) access when deployed at the portal.

In some embodiments, the roadside intelligent station 12 is further configured to receive sensor data sent by each sensor in its jurisdiction and analyze the received sensor data to obtain vehicle-road coordination information corresponding to the traffic data. For example, a crosswind sensor may be disposed on a road segment corresponding to the roadside intelligent station 12, and after receiving sensor data corresponding to the crosswind sensor, the roadside intelligent station 12 may analyze the sensor data to obtain a wind power value corresponding to the road segment, so as to provide a service of wind power information to a user.

In this embodiment, after receiving the first access request sent by the first road-side intelligent station, the portal control station 13 queries the issuer identifier and the service data corresponding to the vehicle identifier according to the vehicle-road registration request, and sends the service data to the first road-side intelligent station.

Specifically, the portal control station 13 is a computing control device deployed according to a road section manager, that is, at least one portal control station 13 is set on a road section corresponding to different managers, for example, one portal control station 13 is set in the center of a road section managed by a certain manager. In some embodiments, a gantry control station 13 is typically provided at the intersection of the different provinces, taking into account the difference in the managers of the road sections between the provinces. In the embodiment of the present application, the portal control station 13 supports vehicle registration management, and supports storage, update, query, and delivery of vehicle user data and service data.

In this embodiment, the first roadside intelligent station sends the feedback information and the service data to the second roadside intelligent station for storage.

The second road side intelligent station is a road side intelligent station at the downstream of the first road side intelligent station. For example, assuming that the vehicle-road coordination system provided in the embodiment of the present application is applied to an expressway scene, since an expressway has characteristics of closeness, independence, and the like, a roadside intelligent station downstream of a first roadside intelligent station refers to a roadside intelligent station in front of the first roadside intelligent station in a legal driving direction of the expressway. In the vehicle driving process, the vehicle firstly passes through the first roadside intelligent station and then passes through the second roadside intelligent station.

It should be noted that the number of the second roadside intelligent stations is greater than or equal to 1, that is, the second roadside intelligent stations at least include roadside intelligent stations adjacent to and downstream of the first roadside intelligent station. That is, the second road side intelligent station may be a road side intelligent station adjacent to the first road side intelligent station and located at the downstream of the first road side intelligent station, or may be a road side intelligent station adjacent to the first road side intelligent station and located at the downstream of the first road side intelligent station, and a road side intelligent station not adjacent to the first road side intelligent station and located at the downstream of the first road side intelligent station. For example, as shown in fig. 2, assuming that the traveling direction of a road is from east to west, 4 roadside intelligent stations, namely, a roadside intelligent station 21, a roadside intelligent station 22, a roadside intelligent station 23, and a roadside intelligent station 24, are deployed on the road. In fig. 2, it is assumed that the roadside intelligent station 21 is the first roadside intelligent station, the second roadside intelligent station may be the roadside intelligent station 22 and the roadside intelligent station 24, or may be the roadside intelligent station 22, the roadside intelligent station 23 and the roadside intelligent station 24. That is, the roadside intelligent station 21 may transmit only the feedback information and the service data to the roadside intelligent station 22 and the roadside intelligent station 24, or may transmit the feedback information and the service data to the roadside intelligent station 22, the roadside intelligent station 23, and the roadside intelligent station 24. In fig. 2, the road is shown to have a bifurcation, at this time, the number of the second roadside intelligent stations adjacent to the first roadside intelligent station is greater than 1, and if the road has no bifurcation, the number of the second roadside intelligent stations adjacent to the first roadside intelligent station is 1.

In this embodiment of the application, in the communication process between the RSU and the OBU, the RSU can obtain the feedback information including the vehicle identifier and the issuer identifier of the OBU from the OBU, so that the roadside intelligent station corresponding to the RSU can obtain the service data corresponding to the vehicle identifier and the issuer identifier from the portal control station corresponding to the RSU, and send the service data to the roadside intelligent station (i.e., the second roadside intelligent station) downstream of the first roadside intelligent station. The service data is related to the vehicle identifier and the issuer identifier, so that the vehicle-road cooperation system provided by the embodiment of the application can enable the second road-side intelligent station to acquire personalized service data, so that a subsequent vehicle-mounted unit or road-side unit can acquire the vehicle-road cooperation information related to the personalized service data from the corresponding road-side intelligent station, and the travel experience of a user is effectively improved. In addition, the roadside intelligent station also sends the feedback information and the service data to the roadside intelligent station at the downstream for storage, so that when the OBU reaches the communication range of the roadside intelligent station at the downstream, the roadside intelligent station at the downstream has the capability of sending the service data locally stored by the roadside intelligent station to the corresponding RSU, namely the roadside intelligent station at the downstream does not need to acquire the corresponding service data from the portal control station, thereby greatly shortening the time for acquiring the service data by the roadside intelligent station at the downstream, namely being beneficial to shortening the time for accessing a subsequent vehicle-mounted unit or a roadside unit to the roadside intelligent station at the downstream, acquiring the vehicle-road cooperative information related to the personalized service data from the roadside intelligent station at the downstream, and further improving the traveling experience of users.

In some embodiments, the first roadside intelligent station is further configured to send vehicle-road coordination information obtained based on the service data to the roadside unit 11, so that the roadside unit 11 forwards the vehicle-road coordination information to the vehicle-mounted unit.

In the embodiment of the application, the first road side intelligent station determines the service subscribed by the user according to the service identifier included in the service data corresponding to the OBU, and acquires the vehicle-road cooperation information corresponding to the service, so as to send the vehicle-road cooperation information to the OBU. For example, if the first roadside intelligent station determines that the OBU subscribes to the service of the wind power information and a crosswind sensor is set within the range of the OBU, the first roadside intelligent station analyzes sensor data of the crosswind sensor to obtain an analysis result and sends the analysis result to the OBU.

In some embodiments, if the first road side intelligent station stores the received feedback information and service data, the first road side intelligent station and the second road side intelligent station select whether to delete the feedback information and the service data according to the stored feedback information and the duration of the service data. Specifically, if the storage time of the feedback information and the service data is greater than a preset time threshold, the stored feedback information and the stored service data are deleted. Due to the fact that the stored feedback information and the stored service data are deleted in time, the utilization rate of the storage space of the intelligent station at the road side can be improved.

In some embodiments, the preset time threshold may be a fixed value, or a value determined according to the congestion condition of the current road segment. For example, taking the first road-side intelligent station as an example, if there is no congestion condition in the road segment corresponding to the first road-side intelligent station, determining a duration according to the lowest speed limit of the road segment and the total length of the road segment, and using the duration as the preset duration threshold, or adding a certain value on the basis of the determined duration as the preset duration threshold. And if the road section corresponding to the first road side intelligent station has the congestion condition, estimating the running speed of the vehicle according to the congestion condition, estimating a time length according to the estimated running speed and the total length of the road section, and taking the estimated time length as the preset time length threshold value.

In some embodiments, the first access request sent by the first roadside smart station to the portal control station 13 also includes vehicle location information, considering that the service that the user wishes to enjoy is generally related to the location information of the vehicle on the road.

Correspondingly, the portal control station 13 is further configured to store the vehicle identifier and the vehicle position information correspondingly.

The vehicle position information is used for indicating the position of a vehicle where the OBU is located, and the vehicle position information can be actively sent to the first road side intelligent station by the OBU, or can be calculated by other information or substituted by position information of some equipment.

In the embodiment of the application, the first roadside intelligent station sends a first access request to the portal control station 13 which governs itself, and the portal control station 13 correspondingly stores the vehicle identifier and the vehicle position information in the first access request. By the method, the portal control station 13 can store the vehicle position information of the vehicles running on each road section in the jurisdiction range of the portal control station, so that complete vehicle position information under the road sections and accurate service under the road sections are provided for users, for example, the congestion condition in front is estimated according to the vehicle position information of the downstream road section, and the vehicle-road cooperation information of the congestion condition in front can be obtained according to the vehicle position information of the downstream road section.

In some embodiments, in order to ensure that the user enjoys more accurate service, the first roadside intelligent station in the vehicle-road coordination system provided in the embodiment of the present application is further configured to send a subsequent access request to the portal control station 13 corresponding thereto after determining that the service data corresponding to the issuer identifier and the vehicle identifier is locally stored, where the subsequent access request includes the vehicle identifier and corresponding vehicle location information.

Correspondingly, the portal control station 13 is further configured to update the stored corresponding vehicle position information according to the subsequent access request.

The subsequent access request is used for updating the vehicle position information.

In the embodiment of the present application, when the first roadside intelligent station stores the service data corresponding to the issuer identifier and the vehicle identifier, it indicates that other roadside intelligent stations have sent the location information corresponding to the vehicle identifier to the portal control station 13, so that the portal control station 13 only needs to update the location information stored by the first roadside intelligent station according to the first roadside intelligent station, that is, the first roadside intelligent station only needs to send a subsequent access request including the vehicle identifier and the corresponding vehicle location information to the portal control station, and the portal control station 13 can find the vehicle location information corresponding to the vehicle identifier stored by the first roadside intelligent station according to the vehicle identifier, and further replace the found vehicle location information with the vehicle location information included in the subsequent access request. Because portal control station 13 in time updates the positional information of corresponding vehicle according to the vehicle positional information that each roadside intelligence station sent, consequently, can guarantee that the user inquires accurate vehicle positional information from portal control station 13, and then be favorable to improving the precision of the service that provides.

In some embodiments, the portal control station 13 is further configured to receive a position information query request sent by the terminal device, query corresponding vehicle position information according to query range indication information carried in the position information query request, and send the queried vehicle position information to the terminal device.

In this embodiment of the Application, a user (e.g., a manager of a road section corresponding to the portal control station 13) may send a location information query request to the portal control station 13 through an Application (APP) of a terminal device. The query range indication information carried by the location information query request includes a vehicle identifier, such as a license plate number of a certain vehicle, and may also include a road section range, such as vehicle location information queried in the road section range.

In some embodiments, the position information of the roadside intelligent station corresponding to the current road section of the vehicle can be used to replace the vehicle position information of the vehicle, considering that the more information the OBU transmits, the slower the OBU transmits.

In the embodiment of the present application, in order to achieve balance between the deployment cost and the accuracy of the position information, the distance between two adjacent roadside intelligent stations that are deployed is smaller than a preset distance threshold, where the preset distance threshold may be 1 km or several km. Because the distance between two adjacent roadside intelligent stations is smaller, the error of using the position information of the first roadside intelligent station as the vehicle position information is smaller, and the vehicle position information of the corresponding vehicle does not need to be acquired from the OBU, so that the communication efficiency of the OBU and the RSU can be effectively improved.

In some embodiments, to facilitate management, the vehicle collaboration system of the embodiment of the present application further includes a service data center, where the service data center supports subscription management of a multi-channel user on service data, and the service data center and the portal control station 13 have a corresponding relationship, that is, information of one portal control station 13 is only stored in the same service data center, but one service data center can store information of multiple portal control stations 13.

Specifically, the service data center is used for storing service data corresponding to the vehicle identifier and the issuer identifier of the portal control station corresponding to the service data center.

Correspondingly, the portal control station 13 is configured to query whether the service data corresponding to the issuer identifier and the vehicle identifier is stored in the corresponding service data center, if the service data corresponding to the issuer identifier and the vehicle identifier is stored in the corresponding service data center, the portal control station 13 sends the queried service data to the first roadside intelligent station, and if the service data corresponding to the issuer identifier and the vehicle identifier is not stored in the corresponding service data center, sends a service data roaming request to the service data center corresponding to the issuer identifier to obtain the service data corresponding to the issuer identifier and the vehicle identifier from the service data center corresponding to the issuer identifier, where the service data roaming request includes the identifier of the portal control station, and the service data roaming request includes the identifier of the portal control station, The vehicle identifier and the issuer identifier.

In the embodiment of the present application, each service data center stores the corresponding relationship between different issuer identifiers and service data centers, so that, after the portal control station 13 determines that the service data center corresponding to the portal control station does not store the service data corresponding to the issuer identifier and the vehicle identifier, the service data center corresponding to the issuer identifier can be determined from the corresponding service data center, and a service data roaming request is sent to the determined service data center. Since the service data center is not deployed in the gantry control station 13, the coupling between the service data center and the gantry control station 13 can be reduced, thereby facilitating the management of the gantry control station 13 and the service data center.

In some embodiments, when receiving the feedback information sent by the OBU, the RSU 11 is specifically configured to:

and broadcasting a wakeup message periodically, and receiving feedback information sent by the awakened vehicle-mounted unit based on the wakeup message, wherein the wakeup message is used for awakening the vehicle-mounted unit in the wireless communication range of the road side unit, and the wakeup message comprises an identifier used for indicating the information which needs to be fed back by the awakened vehicle-mounted unit.

In the embodiment of the present application, it is considered that the OBU may periodically enter the sleep state, and the RSU may only wake up the OBU that is not in the sleep state within the wireless communication range, so that the RSU periodically broadcasts the wake-up message in order to wake up the OBU within the wireless communication range in time. Since the wake-up message includes an identifier indicating information to be fed back by the OBU, the OBU can send feedback information corresponding to the identifier to the RSU after being woken up.

In some embodiments, in order to improve the security of communications between the OBU and the RSU 11, the feedback information further includes authentication information of the on-board unit, and when determining whether the service data corresponding to the issuer identifier and the vehicle identifier is stored locally, the first roadside intelligent station is specifically configured to:

and verifying the legality of the vehicle-mounted unit according to the authentication information of the vehicle-mounted unit, and if the vehicle-mounted unit is legal, judging whether business data corresponding to the issuer identification and the vehicle identification are stored locally.

In this embodiment, the authentication information of the OBU may be encrypted data. At this time, the first road side intelligent station decrypts the encrypted data, and if the obtained decrypted data is the same as the pre-stored information, the OBU is considered to be a legal OBU. Of course, the authentication information of the OBU may be data that is not encrypted, and only needs to indicate whether the OBU is a legitimate OBU.

In some embodiments, the OBU may also authenticate the RSU when sending feedback information to the RSU. Certainly, in order to improve the reliability of the authentication, the authentication of the OBU on the RSU 11 and the authentication of the roadside intelligent station 12 on the OBU may be authenticated based on bidirectional authentication of a pos Secure Access Module-Embedded Secure Access Module (PSAM-ESAM).

In some embodiments, if the first roadside intelligent station authenticates that the OBU is an illegal OBU, the service data corresponding to the issuer identifier and the vehicle identifier is not acquired, and the service data is not sent to the second roadside intelligent station. The first road side intelligent station can send the received feedback information and the result that the authentication of the first road side intelligent station is not passed to the second road side intelligent station, and therefore the second road side intelligent station can acquire the authentication result of the OBU in advance, when the OBU reaches the wireless communication range of the OBU, the OBU does not need to be authenticated, and resources required by authentication are saved.

In order to more clearly describe the interaction process of the vehicle-road coordination system provided in the embodiment of the present application, the following description is made with reference to fig. 3 and 4.

Fig. 3 is an interaction flowchart illustrating that the first roadside intelligent station initiates a first access request to the portal control station 13.

In fig. 3:

1. and accessing an RSU (remote subscriber unit) of the roadside intelligent station to periodically broadcast a Beacon Service Table (BST) so as to awaken the OBU which is not in a dormant state in a wireless communication range. The BST includes information to be fed back by the waked on-board unit, and may further include information such as a timestamp.

2. The awakened OBU sends a VST response to the RSU, where the response includes feedback information carrying vehicle identification (e.g., license plate number, OBU ID) and issuer identification, and may also carry information such as vehicle type, body color, etc.

3. And the RSU forwards the received feedback information to the first road side intelligent station.

4. The first road side intelligent station authenticates the identity of the vehicle according to the received feedback information, the vehicle authenticates the credible identity of the RSU in the process, the authentication modes include but are not limited to various authentication modes such as PSAM-ESAM-based bidirectional authentication, and the process is ended if the authentication fails.

5. The first road side intelligent station checks whether the local area has acquired the service data corresponding to the vehicle identification and the issuer identification, and selects to send a first access request or a subsequent access request of the vehicle to the portal control station according to the judgment result.

6. If the service data is not acquired locally, the first road side intelligent station sends a first access request to the portal control station managing the road section, wherein the first access request carries the equipment ID (the first road side intelligent station identifier, which can indicate the current position of the vehicle and is stored as vehicle position information) and feedback information of the first road side intelligent station.

7. And the portal control station acquires and stores the feedback information and the vehicle position information sent by the first road side intelligent station, and locally inquires corresponding service data.

8. If the portal control station cannot inquire the corresponding service data locally, a vehicle service data request is sent to a service data center, and the vehicle service data request carries the equipment ID, the vehicle identifier and the issuer identifier of the portal control station.

9. And the service data center inquires corresponding service data and returns the inquiry result to the corresponding portal control station. If the issuer identification indicates that the issuing place of the OBU is not local, the service data center initiates a roaming process to request corresponding service data from the service data center of the issuing place.

10. And according to the flow execution condition, the portal control station returns the service data and the vehicle registration result to the first road side intelligent station.

11. And the first road side intelligent station stores the service data after receiving the service data, and provides the vehicle-road cooperative service for the vehicle according to the service data.

12. And finally, the first road side intelligent station sends the service data and the authentication information to a downstream road side intelligent station (namely, a second road side intelligent station) so as to reduce the time required by a subsequent vehicle to access the second road side intelligent station. Of course, the first roadside intelligent station may also directly send the authentication result to the second roadside intelligent station.

Fig. 4 is a schematic interaction flow diagram illustrating that the first roadside intelligent station initiates a vehicle subsequent access request to the portal control station 13.

In fig. 4:

1', the RSU of an access-side smart station periodically broadcasts BSTs to wake up OBUs that are not in a sleep state within its wireless communication range.

2', the awakened OBU sends a VST response to the RSU, the response including feedback information carrying the vehicle identification (e.g., license plate number, OBU ID) and issuer identification, and further carrying information such as vehicle type, body color, etc.

3' and the RSU forwards the received feedback information to the first road side intelligent station.

And 4' authenticating the identity of the vehicle by the first road side intelligent station according to the received feedback information, authenticating the credible identity of the road side unit by the vehicle in the process, wherein the authentication modes include but are not limited to various authentication modes such as PSAM-ESAM-based bidirectional authentication, and ending the process if the authentication fails.

And 5' the first road side intelligent station checks whether the local area has acquired the service data corresponding to the vehicle identification and the issuer identification, and selects to send a first access request or a subsequent access request of the vehicle to the portal control station according to the judgment result.

6', if the service data is locally acquired, the first road side intelligent station sends a vehicle subsequent access request to the portal control station managing the road section, and the vehicle subsequent access request carries the equipment ID of the first road side intelligent station (the first road side intelligent station identifier can indicate the current position of the vehicle and is stored as vehicle position information).

7' the portal control station acquires and stores the vehicle position information sent by the first road side intelligent station.

8', according to the execution condition of the process, the portal control station returns the vehicle position updating result to the first road side intelligent station.

And 9' and finally, the first roadside intelligent station sends the service data and the authentication information to a downstream roadside intelligent station (namely, a second roadside intelligent station) so as to reduce the time required by a subsequent vehicle to access the roadside intelligent station.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Example two:

fig. 5 is a flowchart illustrating a vehicle-road cooperation method provided in the first embodiment of the present application, where the method is applied to a roadside intelligent station in the first embodiment, and details are as follows:

and step S51, receiving feedback information sent by the road side unit, wherein the feedback information comprises a vehicle identifier and an issuer identifier of the vehicle-mounted unit.

The vehicle identification comprises a license plate number and/or an OBU identification, and the issuer identification of the OBU is used for indicating the issuing place of the OBU.

Step S52, determining whether the service data corresponding to the issuer id and the vehicle id are stored locally, and sending a first access request to a corresponding portal control station when the service data corresponding to the issuer id and the vehicle id are not stored locally, where the first access request includes the vehicle id and the issuer id.

In the embodiment of the application, the roadside intelligent station locally searches whether business data corresponding to the issuer identification and the vehicle identification exist or not according to the issuer identification and the vehicle identification in the feedback information, and if not, sends a first access request to a corresponding portal control station so as to obtain the needed business data from the portal control station.

And step S53, receiving the service data corresponding to the vehicle identifier and the issuer identifier sent by the portal control station.

In some embodiments, the roadside intelligent station stores the traffic data after receiving the traffic data.

And step S54, sending the feedback information and the service data to a roadside intelligent station downstream thereof for storage.

In this embodiment of the application, in the communication process between the roadside intelligent station and the RSU, the roadside intelligent station may obtain feedback information including the vehicle identifier and the issuer identifier of the OBU from the RSU, and the roadside intelligent station may not locally store service data corresponding to the vehicle identifier and the issuer identifier, and at this time, the roadside intelligent station may obtain the service data from the corresponding portal control station. The service data is related to the vehicle identifier and the issuer identifier, so that the roadside intelligent station can acquire personalized service data through the vehicle-road cooperation method provided by the embodiment of the application, so that a subsequent vehicle-mounted unit or roadside unit can acquire the vehicle-road cooperation information related to the personalized service data from the corresponding roadside intelligent station, and the travel experience of a user is effectively improved. In addition, the roadside intelligent station also sends the feedback information and the service data to the roadside intelligent station at the downstream for storage, so that when the OBU reaches the communication range of the roadside intelligent station at the downstream, the roadside intelligent station at the downstream has the capability of sending the service data locally stored by the roadside intelligent station to the corresponding RSU, namely the roadside intelligent station at the downstream does not need to acquire the corresponding service data from the portal control station, thereby greatly shortening the time for the roadside intelligent station at the downstream to acquire the service data, being beneficial to shortening the time for a subsequent vehicle-mounted unit or a roadside unit to acquire the vehicle-road cooperative information related to the personalized service data from the roadside intelligent station at the downstream, and further improving the travel experience of a user.

In some embodiments, the vehicle-road coordination method provided in the embodiment of the present application further includes:

and acquiring corresponding vehicle and road cooperation information according to the service data, and sending the vehicle cooperation information to the road side unit.

In the embodiment of the application, the roadside intelligent station sends the vehicle cooperation information to the roadside unit, so that the roadside unit can send the corresponding OBU, and a driver and a passenger can obtain personalized services according to the OBU.

and after judging that the service data corresponding to the issuer identification and the vehicle identification are locally stored, sending a subsequent access request to a corresponding portal control station, wherein the subsequent access request comprises the vehicle identification and corresponding vehicle position information.

In the embodiment of the application, after receiving a subsequent access request, the portal control station searches the vehicle position information stored in the subsequent access request according to the vehicle identifier in the subsequent access request, and updates the searched vehicle position information by using the vehicle position information included in the subsequent access request. The portal control station updates the position of the vehicle in time, so that when a user inquires the position information of the vehicle through the portal control station or needs to acquire personalized services related to the position information of the vehicle, the accuracy of the obtained information can be improved.

In some embodiments, the vehicle location information is location information of a roadside intelligent station that sends a subsequent access request.

In some embodiments, the feedback information further includes authentication information of the vehicle-mounted unit, and when determining whether the service data corresponding to the issuer identifier and the vehicle identifier is stored locally in step S52, the method is specifically configured to:

In the embodiment of the application, the roadside intelligent station prestores information for verifying whether the OBU is legal, and after the roadside intelligent station acquires the verification information of the OBU, whether the OBU is legal is judged according to the verification information and the information prestored by the roadside intelligent station for verifying whether the OBU is legal. For example, the verification information is compared with information for verifying whether the OBU is legitimate, and if the verification information and the information are equal, the OBU is determined to be legitimate. Of course, in practical cases, other determination methods can be adopted, and are not limited herein.

In some embodiments, if the roadside intelligent station authenticates the OBU as an illegal OBU, the service data corresponding to the issuer identifier and the vehicle identifier is not acquired, and is not transmitted to the roadside intelligent station downstream thereof. The roadside intelligent station can send the received feedback information and the result that the authentication of the roadside intelligent station fails to pass to the roadside intelligent station at the downstream of the roadside intelligent station, so that the roadside intelligent station at the downstream can acquire the authentication result of the OBU in advance, and when the OBU reaches the wireless communication range of the OBU, the OBU does not need to be authenticated, and resources required by authentication are saved.

Of course, if the roadside intelligent station passes the authentication of the OBU, the roadside intelligent station may send the feedback information of the OBU, the corresponding service data and the information that the OBU passes the authentication to the roadside intelligent station downstream of the roadside intelligent station. Like this, its roadside intelligent station of low reaches can need not to authenticate this OBU once more, and can be directly to the corresponding ground service data that this OBU provided to improve the efficiency that provides service data to this OBU, and then greatly promoted user's good experience.

Example three:

fig. 6 shows a block diagram of a vehicle-road coordination device provided in the embodiment of the present application, which corresponds to the vehicle-road coordination method in the second embodiment, and only shows the relevant parts in the embodiment of the present application for convenience of description.

Referring to fig. 6, the vehicle-road cooperation apparatus 6 includes: a feedback information receiving module 61, an access management module 62, a service data receiving module 63, and a service data transmitting module 64. Wherein:

and the feedback information receiving module 61 is used for receiving feedback information sent by the road side unit, wherein the feedback information comprises a vehicle identifier and an issuer identifier of the vehicle-mounted unit.

In the embodiment of the application, the roadside intelligent station locally searches whether the service data corresponding to the issuer identification and the vehicle identification exist according to the issuer identification and the vehicle identification in the feedback information, if so, the searched service data is sent to the RSU, and if not, a first access request is sent to the corresponding portal control station so as to obtain the required service data from the portal control station.

And an access management module 62, configured to determine whether service data corresponding to the issuer identifier and the vehicle identifier are stored locally, and send a first access request to a portal control station corresponding to the issuer identifier and the vehicle identifier when the service data corresponding to the issuer identifier and the vehicle identifier are not stored locally, where the first access request includes the vehicle identifier and the issuer identifier.

And a service data receiving module 63, configured to receive service data sent by the portal control station and corresponding to the vehicle identifier and the issuer identifier.

And a service data sending module 64, configured to send the feedback information and the service data to a roadside intelligent station downstream of the feedback information and store the feedback information and the service data.

In some embodiments, the vehicle-road coordination device 6 provided in the embodiments of the present application further includes:

and the vehicle-road cooperation information sending module is used for acquiring corresponding vehicle-road cooperation information according to the service data and sending the vehicle cooperation information to the road side unit.

In some embodiments, the access management module 62 provided in the embodiments of the present application is further configured to:

In some embodiments, the feedback information further includes authentication information of the vehicle-mounted unit, and the access management module 62 is specifically configured to, when determining whether the service data corresponding to the issuer identifier and the vehicle identifier is stored locally:

In some embodiments, if the roadside intelligent station authenticates the OBU as an illegal OBU, the service data corresponding to the issuer identifier and the vehicle identifier is not acquired, and is not transmitted to the roadside intelligent station downstream thereof. The roadside intelligent station may send the received feedback information and the result that the authentication thereof fails to pass to the roadside intelligent station at the downstream thereof, that is, the vehicle-road cooperation apparatus 6 further includes:

and the authentication result sending module is used for sending the received feedback information and the result of failed authentication to a downstream roadside intelligent station.

Therefore, the roadside intelligent station at the downstream can acquire the authentication result of the OBU in advance, so that when the OBU reaches the wireless communication range, the OBU does not need to be authenticated, and resources required by authentication are saved.

Of course, if the roadside intelligent station passes the authentication of the OBU, the roadside intelligent station may send the feedback information of the OBU, the corresponding service data and the information that the OBU passes the authentication to the roadside intelligent station downstream of the roadside intelligent station. The authentication result sending module is further configured to send the feedback information of the OBU, the corresponding service data, and the information that the OBU passes the authentication to the roadside intelligent station downstream.

Like this, its roadside intelligent station of low reaches can need not to authenticate this OBU once more, and can be directly to the corresponding ground service data that this OBU provided to improve the efficiency that provides service data to this OBU, and then greatly promoted user's good experience.

It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.

Example four:

fig. 7 is a schematic structural diagram of a roadside apparatus according to an embodiment of the present application. As shown in fig. 7, the roadside apparatus 7 of this embodiment includes: at least one processor 70 (only one processor is shown in fig. 7), a memory 71, and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, wherein the processor 70 implements the steps of the second embodiment of the method for vehicle-road coordination when executing the computer program 72.

The roadside device 7 may be a device with computing capability provided on a road, such as a roadside intelligent station communicating with a roadside unit. The roadside apparatus may include, but is not limited to, a processor 70, a memory 71. Those skilled in the art will appreciate that fig. 7 is merely an example of the roadside apparatus 7, and does not constitute a limitation of the roadside apparatus 7, and may include more or less components than those shown, or combine some of the components, or different components, such as input and output devices, network access devices, and the like.

The Processor 70 may be a Central Processing Unit (CPU), and the Processor 70 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 71 may be an internal storage unit of the roadside apparatus 7 in some embodiments, for example, a hard disk or a memory of the roadside apparatus 7. In other embodiments, the memory 71 may also be an external storage device of the roadside device 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the roadside device 7. Further, the memory 71 may include both an internal storage unit and an external storage device of the roadside device 7. The memory 71 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer programs. The above-mentioned memory 71 may also be used to temporarily store data that has been output or is to be output.

Example five:

fig. 8 is a flowchart illustrating another vehicle-road coordination method provided in the embodiment of the present application, where the method is applied to a gantry control station in the first embodiment, and details are as follows:

step S81, receiving a first access request sent by a first roadside intelligent station, where the first access request includes the vehicle identifier and the issuer identifier, and the first roadside intelligent station is a roadside intelligent station corresponding to the portal control station.

And step S82, querying service data corresponding to the issuer id and the vehicle id, and sending the service data to the first roadside intelligent station.

In the embodiment of the application, the portal control station sends the service data to the first road side intelligent station, so that the first road side intelligent station can acquire corresponding vehicle-road cooperative information based on the service data, and the first road side intelligent station is favorable for providing personalized service for the OBU.

In some embodiments, the first access request further includes vehicle location information;

correspondingly, the vehicle-road cooperation method in the embodiment of the application further includes:

and correspondingly storing the vehicle identification and the vehicle position information.

In some embodiments, the vehicle-road coordination method in the embodiments of the present application further includes:

a1, receiving a subsequent access request sent by the first road side intelligent station, wherein the subsequent access request comprises the vehicle identification and the corresponding vehicle position information.

And A2, updating the corresponding vehicle position information stored in the database according to the subsequent access request.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

An embodiment of the present application further provides a network device, where the network device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor implementing the steps of any of the various method embodiments described above when executing the computer program.

The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.

The embodiment of the application provides a computer program product, and when the computer program product runs on a road side device, the steps in the above method embodiments can be realized when the road side device executes the computer program product.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should 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; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A vehicle-road coordination system, comprising: the system comprises a road side unit, a road side intelligent station and a gantry control station;

2. The vehicle-road coordination system according to claim 1, wherein the first roadside intelligent station is further configured to send vehicle-road coordination information obtained based on the service data to the roadside unit, so that the roadside unit forwards the vehicle-road coordination information to the on-board unit.

3. The vehicle road coordination system of claim 2,

the first access request further comprises vehicle position information;

the portal control station is also used for correspondingly storing the vehicle identification and the vehicle position information.

4. The vehicle-road coordination system according to claim 3, wherein the first roadside intelligent station is further configured to send a subsequent access request to a portal control station corresponding thereto after determining that service data corresponding to the issuer identifier and the vehicle identifier are locally stored, where the subsequent access request includes the vehicle identifier and corresponding vehicle location information;

and the portal control station is also used for updating the corresponding vehicle position information stored in the portal control station according to the subsequent access request.

5. The vehicle-road cooperative system according to claim 3 or 4, wherein a distance between two adjacent roadside intelligent stations is smaller than a preset distance threshold, and the vehicle position information is position information of the first roadside intelligent station.

6. The vehicle-road coordination system according to claim 1, wherein said vehicle coordination system further comprises a service data center;

the service data center is used for storing service data corresponding to the vehicle identification and the issuer identification of the corresponding portal control station;

the portal control station is used for inquiring whether the service data corresponding to the issuer identification and the vehicle identification are stored in the corresponding service data center, if the service data center corresponding to the portal control station stores the service data corresponding to the issuer identification and the vehicle identification, sending the inquired service data to the first road side intelligent station for storage, if the service data center corresponding to the first road side intelligent station does not store the service data corresponding to the issuer identification and the vehicle identification, sending a service data roaming request to a service data center corresponding to the issuer identification to acquire service data corresponding to the issuer identification and the vehicle identification from the service data center corresponding to the issuer identification, wherein the service data roaming request comprises an identifier of the portal control station, the vehicle identifier and the issuer identifier.

7. A vehicle-road cooperation method is characterized by being applied to a roadside intelligent station and comprising the following steps:

8. A vehicle-road cooperation method is characterized by being applied to a portal control station and comprising the following steps:

9. The utility model provides a car road is device in coordination which characterized in that is applied to trackside intelligence station, includes:

10. A roadside apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method of claim 7 when executing the computer program.

11. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to claim 7 or 8.