CN115955661A - Single-lane priority passing system and method based on V2X - Google Patents

Abstract

The invention discloses a V2X-based one-way road priority passing system and a V2X-based one-way road priority passing method, wherein the system comprises a cloud server, a road side end and a vehicle end; the cloud server is in communication connection with the roadside end; the cloud server is in wireless communication connection with the vehicle end; the cloud server is used for storing and/or verifying the passing authority of the vehicle end; the vehicle end is used for sending priority traffic request information to the cloud server, carrying out corresponding operation according to feedback of the cloud server, identifying a one-way road sign image, identifying and extracting geographical position information of the one-way road, and calculating the distance between the geographical position of the vehicle end and the geographical position of a termination point of the one-way road in real time to judge when the priority traffic request information is sent to the cloud server; the roadside end comprises a traffic signal controller, a priority information display board and a marking line projection module. The invention ensures that the preferential passage of the one-way road based on V2X is safe and reliable by applying the digital public key certificate authentication technology and combining the Internet of vehicles technology.

Description

V2X-based one-way road priority passing system and method

Technical Field

The invention belongs to the technical field of vehicle priority traffic and Internet of vehicles, and particularly relates to a V2X-based one-way road priority traffic system and method.

Background

A one-way lane is a lane that allows travel in only one direction. One-way traffic is widely adopted in western developed countries as a traffic management measure with less investment, quick response and simple and convenient operation. In recent years, many cities in China also actively adopt one-way traffic, and part of two-way roads are directly changed into one-way roads, so that the traffic pressure of the roads is relieved to a great extent, and the congestion situation is reduced. The one-way road is the most direct, effective and economical method for solving the urban traffic jam and increasing the traffic capacity, and the global smoothness is guaranteed by local limitation.

Things always have their own benefits while they have their own disadvantages. For example, if the destination to be reached is opposite to the direction allowed for a one-way road, the vehicle may need to detour around other roads that are relatively far away, which may cause some inconvenience to the vehicle. For ordinary social vehicles, much time and energy consumption cost is acceptable, but certain influence can be caused on the actions of special vehicles (such as ambulances, fire trucks, police cars, engineering emergency vehicles and the like) which have to meet the demands of minutes and seconds for performing tasks. Although the special vehicle for executing the task can move backwards on the one-way road without being limited by the driving speed, the driving route, the driving direction and the signal of the command lamp under the condition of ensuring the safety according to the related laws and regulations, the special vehicle for executing the task does not have a good communication and coordination mechanism between the current vehicle and the road, other vehicles, pedestrians and other traffic participants, and the like, so that the special vehicle for executing the task can move backwards on the one-way road to easily cause traffic jam and/or accidents.

How to realize safe and rapid retrograde motion of special vehicles executing tasks on a one-way road under the background of great development of the current Internet of vehicles technology is a problem which needs to be solved urgently.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a V2X-based one-way road priority passing system and a V2X-based one-way road priority passing method, and the V2X-based one-way road priority passing system and the V2X-based one-way road priority passing method are safe, reliable, simple and efficient by applying a digital public key certificate authentication technology and combining an Internet of vehicles technology.

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

the invention provides a V2X-based one-way priority passing system, which comprises a cloud server, at least one road side end and at least one vehicle end, wherein the cloud server is connected with the vehicle end through a network; the cloud server is in communication connection with the road side end; the cloud server is in wireless communication connection with the vehicle end;

the cloud server is used for storing and/or verifying the passing authority of the vehicle end, wherein the passing authority comprises the permission of reverse passing and the non-permission of reverse passing; when the vehicle end is a special vehicle which needs to run in the wrong direction on a one-way road due to task execution, the corresponding passing authority is to allow reverse passing; when the vehicle end is not a special vehicle which needs to run backwards on a one-way road due to task execution, the corresponding passing authority is that reverse passing is not allowed;

the vehicle end is used for sending priority traffic request information to the cloud server and carrying out corresponding operation according to feedback of the cloud server, when receiving information which is sent by the cloud server and allows reverse traffic, the vehicle end passes through the one-way road in a reverse direction, otherwise, the vehicle end does not allow reverse traffic on the one-way road; the vehicle end is also used for identifying the single-lane signboard image, and identifying and extracting the geographical position information of the single-lane; the vehicle end is also used for calculating the distance between the geographic position of the vehicle end and the geographic position of the end point of the one-way road in real time so as to judge when to send the prior passing request information to the cloud server;

the roadside end comprises a traffic signal controller, a priority information display board and a marking projection module;

the traffic signal controller is used for changing the sequence of the road traffic signals, adjusting the timing and controlling the operation of the road traffic signal lamps;

the priority information display board is used for displaying the vehicle end related information needing reverse priority passing on the one-way road, and the vehicle end related information comprises the driving direction and speed of the vehicle end and the distance from the current priority information display board;

the marking projection module is used for projecting reverse traffic information to a road surface area of a one-way road where a vehicle end needs to pass in a reverse priority mode, and the reverse traffic information comprises a reverse direction indicating marking opposite to the traffic direction of an original one-way road and vehicle end related information.

Furthermore, the vehicle end comprises a vehicle end safety module, a vehicle end camera module and a vehicle end positioning module;

the vehicle-side security module is used for providing a password service function and a security storage function for the vehicle side, wherein the password service function comprises random number generation, digital signature operation, digital signature verification operation, encryption and decryption operation, session key generation, digital abstract generation, digital certificate verification and digital certificate revocation list query;

the vehicle-end camera module is used for acquiring a one-way road sign image;

the vehicle end positioning module is used for acquiring real-time geographic position information of the vehicle end.

Furthermore, the roadside end also comprises a roadside end safety module, an intelligent spike and a voice prompt module;

the road side end security module is used for providing a password service function and a security storage function for the road side end;

the intelligent spike is used for indicating the reverse preferential traffic direction of the vehicle end in the road surface and/or roadside area of the one-way road where the vehicle end needs to pass in the reverse preferential traffic direction according to the vehicle end related information;

the voice prompt module is used for broadcasting vehicle end related information of the vehicle end so that social vehicles and pedestrians can know the current and upcoming conditions of the vehicle end, wherein the social vehicles are vehicles except the vehicle end needing to pass through a one-way road in a reverse direction.

Further, the cloud server comprises a digital certificate module, a cloud security module and a cloud storage module;

the digital certificate module is used for generating and storing public key certificates for the cloud server, the road side end and the vehicle end respectively; the system is also used for writing the public key certificate of the roadside end and the root certificate of the cloud server into the roadside end safety module and writing the public key certificate of the vehicle end and the root certificate of the cloud server into the vehicle end safety module in an off-line or on-line mode; public key certificates of the road side end and the vehicle side are signed and issued by a root certificate of the cloud server; the cloud server, the road side end and the vehicle end respectively store private keys corresponding to public keys in corresponding public key certificates;

the cloud security module is used for providing a password service function and a secure storage function for the cloud server;

the cloud storage module is used for presetting and storing a vehicle number plate and/or a vehicle identification code of a vehicle end, the vehicle end is in the passing authority of the one-way road, the number of the roadside end, the geographical position information of the roadside end corresponding to the roadside end number, the geographical position information of the one-way road corresponding to the roadside end, and the corresponding relation between the geographical position information of the starting point and/or the ending point of the one-way road and the geographical position information of the roadside end and the number of the roadside end.

Furthermore, the one-way road at least comprises two lanes, and the left-most lane of the original passing direction of the one-way road is set as a lane with a variable passing direction; when no vehicle end needing reverse priority passing needs to pass in the reverse direction, the leftmost lane and other lanes keep the same passing direction; when a vehicle end needing reverse priority passing needs to pass in the reverse direction, the leftmost lane is changed into a lane opposite to the original passing direction, the leftmost lane is changed into a special reverse lane of the vehicle end needing reverse priority passing, and social vehicles pass through other lanes continuously and pass in the original direction.

The invention also provides a priority passing method of the one-way road based on the V2X, which comprises the following steps:

after the vehicle end obtains the one-way road sign image through the vehicle end camera module, performing image recognition on the one-way road sign image, and extracting the geographical position information of the one-way road from the image recognition;

the method comprises the steps that a vehicle end obtains geographical position information of the vehicle end in real time through a vehicle end positioning module, and calculates the distance between the vehicle end and the geographical position of a stop point of a one-way road;

when the distance reaches or is lower than a set threshold value, the vehicle end sends priority passing request information to the cloud server; the priority traffic request information comprises vehicle end related information and geographical position information of a termination point of the one-way road;

when the distance does not reach or is higher than a set threshold value, the vehicle end continuously acquires the geographical position information of the vehicle end in real time, continuously calculates the distance between the vehicle end and the geographical position of the ending point of the one-way road in real time, and stops acquiring and calculating until the distance reaches or is lower than the threshold value;

the cloud server acquires the passing authority of the vehicle end on the one-way road according to the priority passing request information and returns the passing authority of the vehicle end to the vehicle end;

if the passing authority of the vehicle end is that reverse passing is allowed, the vehicle end passes through the single-way road in a reverse way under the condition of ensuring safety; if the passing authority of the vehicle end is that reverse passing is not allowed, the vehicle end cannot pass through the one-way road in a reverse way;

if the passing authority of the vehicle end is that reverse passing is allowed, the cloud server sends the relevant information of the vehicle end to a roadside end corresponding to the one-way road, and then the roadside end controls a traffic signal controller, a priority information display board and a marking projection module according to the relevant information of the vehicle end to reflect the relevant information of the vehicle end and prompt social vehicles and pedestrians to take avoidance measures.

Further, the cloud server obtains the passing authority of the vehicle end on the one-way road according to the priority passing request information, and the method specifically comprises the following steps: the cloud server compares the vehicle number plate and/or the vehicle identification code with the vehicle number plate and/or the vehicle identification code preset and stored in the cloud storage module according to the vehicle number plate and/or the vehicle identification code in the vehicle end related information in the priority passing request information, and if the related vehicle number plate and/or the vehicle identification code are found, the passing authority of the vehicle end corresponding to the vehicle number plate and/or the vehicle identification code on the one-way road is found; if the related vehicle number plate and/or vehicle identification code is not found in the cloud storage module, the cloud server directly returns the passing permission which is not allowed to pass reversely to the vehicle end.

Furthermore, the prior passing request information sent by the vehicle end to the cloud server also comprises geographic position information of the vehicle end and time information of the vehicle end when the geographic position information of the vehicle end is collected; when a plurality of vehicle ends send priority passing request information to the cloud server, the cloud server queues the priority passing request information of the vehicle ends according to the distance between the geographic position of each vehicle end and the geographic position of the termination point of the one-way road and the time precedence relationship of the time in the time information, and then the cloud server determines the query sequence of the passing permission of the vehicle ends in the one-way road according to the queuing precedence sequence; the queuing of the priority traffic request information of the vehicle ends is firstly queued according to the distance between the geographical position of each vehicle end and the geographical position of the termination point of the one-way road, and the distance is arranged in front; if the distances are the same, the vehicles are queued according to the time of sending the request information in each vehicle, and the time is queued earlier.

Furthermore, the prior passing request information sent by the vehicle end to the cloud server also comprises digital signature information of the private key of the vehicle end used by the vehicle end to the relevant information of the vehicle end;

before the cloud server compares the vehicle number plate and/or the vehicle identification code in the vehicle-end related information in the priority passing request information with the vehicle number plate and/or the vehicle identification code preset and stored in the cloud storage module, the cloud server checks the digital signature information of the vehicle-end related information by using a public key in a public key certificate of the vehicle end; if the check label fails, returning a passing authority which does not allow reverse passing to the vehicle end;

before the cloud server returns the passage authority to the vehicle end, the cloud server carries out digital signature on the passage authority by using a private key of the cloud server to generate a passage authority digital signature, and then the passage authority and the passage authority digital signature are returned to the vehicle end together;

after the vehicle end receives the passage authority and the digital signature of the passage authority, the public key in the public key certificate of the cloud server is used for checking the digital signature of the passage authority; if the verification is unsuccessful, the vehicle end sends a request for regenerating and sending the pass authority and the pass authority digital signature to a cloud server; if the signature is successfully checked, the vehicle end carries out corresponding operation according to the passing authority;

before the cloud server sends the vehicle-end related information to the road side end corresponding to the one-way road, the cloud server carries out digital signature on the vehicle-end related information by using a private key of the cloud server to generate a vehicle-end related information digital signature, and then the vehicle-end related information and the vehicle-end related information digital signature are sent to the road side end together;

after receiving the vehicle-side related information and the vehicle-side related information digital signature, the road-side end firstly uses a public key in a public key certificate of a cloud server to verify the vehicle-side related information digital signature; if the vehicle-side related information and the vehicle-side related information are not successfully checked, the roadside terminal sends a request for re-generating and sending the vehicle-side related information and the digital signature of the vehicle-side related information to a cloud server; and if the signature verification is successful, the roadside end performs corresponding operation according to the vehicle end related information.

Furthermore, when the vehicle side, the cloud server and the road side send information to each other, a timestamp and a random number can be added, and corresponding verification is carried out on a receiving party, so that the information is prevented from being attacked by replay.

Compared with the prior art, the invention has the following beneficial effects:

firstly, the cloud server, the road side end and the vehicle end ensure the identity of an information sender and the authenticity and integrity of the sent information by verifying a public key certificate and a digital signature, prevent the information from being illegally tampered, prevent the information from being replayed and attacked by applying a timestamp and a random number in the sent information and ensure the safety of the information.

Secondly, by applying the internet of vehicles and the network technology, the safe information transmission can be realized, and the social vehicles and the pedestrians can know the current and/or upcoming situation of the vehicle end and adjust the position, direction and/or avoidance of the social vehicles and the pedestrians in time through modules such as a traffic signal controller, a priority information display board, a marking line projection module, an intelligent spike and a voice prompt module on a one-way road, so that the vehicle end can safely and smoothly realize the priority traffic.

And thirdly, the cloud server can better and more intelligently determine the vehicle end with the priority service according to the positioning information and the time information reported by the vehicle end, and the priority passing efficiency is further improved.

Drawings

Fig. 1 is a schematic diagram of a V2X-based one-way preferential passage system according to an embodiment of the present invention.

Detailed Description

The invention is further illustrated by the following examples in conjunction with the drawings and the accompanying drawings:

as shown in fig. 1, the V2X-based one-way preferential passage system includes a cloud server, at least one roadside end and at least one vehicle end; the cloud server is in communication connection with the road side end; the cloud server is in wireless communication connection with the vehicle end.

The cloud server is used for storing and/or verifying the passing authority of the vehicle end; the passing authority refers to the authority that the vehicle end does not have the reverse running on the one-way road, wherein when the vehicle end specifically refers to a special vehicle which needs to run in the reverse running on the one-way road due to the execution of a task, the corresponding passing authority is to allow the reverse running; and when the vehicle end is not a special vehicle which needs to run backwards on a one-way road due to the execution of tasks, the corresponding passing authority is that the reverse passing is not allowed.

The vehicle end is used for sending priority traffic request information to the cloud server and carrying out corresponding operation according to feedback of the cloud server; if the vehicle end receives the information which is returned by the cloud server and allows reverse traffic, the vehicle end passes through the one-way road in a reverse traffic way under the condition of ensuring safety; if the vehicle end receives the information which is returned by the cloud server and does not allow reverse traffic, the vehicle end cannot pass through the one-way road in the reverse direction, and automatically selects other roads to bypass the one-way road; the vehicle end is also used for identifying the single-lane signboard image, and identifying and extracting the geographical position information of the single-lane signboard image; the vehicle end is further used for calculating the distance between the geographic position of the vehicle end and the geographic position of the end point of the one-way road in real time so as to judge when to send the priority traffic request information to the cloud server.

The road side end comprises a traffic signal controller, a priority information display board and a marking projection module;

specifically, the roadside end has a roadside end number; the road side end number is used for uniquely identifying the road side end; the road side end number is stored in a safety storage area of a road side end safety module of the road side end; the roadside end also stores the geographical position information of the roadside end and the geographical position information of the one-way road where the roadside end is located;

the traffic signal controller is used for changing the sequence of road traffic signals, adjusting timing and controlling the operation of road traffic signal lamps; the traffic signal controller is a core component of the traffic signal control system, is an execution unit positioned on a road site in the traffic signal control system, and has the core functions of realizing road traffic signal control, and having the functions of traffic information acquisition, communication, intersection monitoring and the like; the traffic signal controller controls traffic signal lamps; the traffic signal lamps are arranged at the exit and/or entrance of the one-way road, more traffic signal lamps can be arranged on the whole section of the one-way road according to actual needs, for example, the traffic signal lamps can be arranged at the positions of pedestrian crossings in the middle of the section; the traffic lights include, but are not limited to, traffic lights for indicating social vehicles and pedestrians and traffic lights for indicating reverse priority traffic; the social vehicles are vehicles except the vehicle end which needs to go backwards through the one-way road;

the priority information display board is used for displaying vehicle end related information of the vehicle end so that social vehicles and pedestrians can know the current and/or upcoming vehicle end condition and timely adjust the position, direction and/or avoidance of the social vehicles and pedestrians, and specific information can include the driving direction and speed of the vehicle end, the distance from the priority information display board and the like; the priority information display board is arranged at the exit and/or entrance of the one-way road, more priority information display boards can be arranged on the whole road section of the one-way road according to actual needs, for example, the priority information display board can be arranged at the position of a pedestrian crossing in the middle of the road section;

the marking projection module is used for projecting reverse traffic information to a road surface area of a one-way road needing reverse priority traffic at a vehicle end; the reverse traffic information comprises but is not limited to a reverse direction indication marking line which is opposite to the traffic direction of the original one-way road and vehicle end related information of the vehicle end; the reverse direction indicating marked line is used for temporarily covering or replacing the indicating marked line of the original one-way road passing direction on the original one-way road surface; the relevant information of the vehicle end is projected beside the reverse direction indicating marking line, so that social vehicles and pedestrians can timely know the relevant information of the vehicle end which is passing and/or is about to pass in the reverse direction through the reverse passing information, and the position, the direction and/or the avoidance of the social vehicles and the pedestrians can be timely adjusted; the reticle projection module is arranged at an exit and/or an entrance of the one-way road, more reticle projection modules can be arranged on the whole section of the one-way road according to actual needs, for example, the reticle projection module can be arranged near the position of a pedestrian crossing in the middle of the section of the road; the reticle projection module includes, but is not limited to, a projection lamp; the projection lamp can be a laser projection lamp and/or an LED projection lamp; the marking projection module is mainly used for projecting the reverse traffic information to the road surface under the natural condition of weak light at night or in the daytime; the reverse direction indicating marking line is projected by the projection lamp with proper brightness and color, the brightness and the size of the reverse direction indicating marking line are enough to cover or replace the original single-lane traffic direction indicating marking line, so that the lane and the reverse direction which the vehicle end needs to reversely and preferentially pass through the single-lane can be indicated, meanwhile, the reverse direction indicating marking line can play a role in prompting other social vehicles and pedestrians that the vehicle end needs to reversely run on the lane and the direction indicated by the reverse direction indicating marking line, and the social vehicles and the pedestrians can conveniently adjust the position and the direction of the social vehicles and the pedestrians in real time and avoid the vehicles and the pedestrians in time;

specifically, the road side end controls a traffic signal control machine, a priority information display board and a marking projection module according to the vehicle-end related information sent by the cloud server to reflect the vehicle-end related information and prompt social vehicles and pedestrians to take avoidance measures, wherein the avoidance measures include but are not limited to in-situ waiting, passing and/or detouring.

Specifically, the one-way road has a one-way road sign; the one-way sign is a traffic sign; the one-way street sign includes, but is not limited to, a one-way street name and geographical location information of the one-way street; the single-track road sign is arranged near the starting point and/or the ending point of the single-track road; the traffic sign is a road facility for transmitting guidance, restriction, warning or indication information by using characters or symbols, and is also called a road sign or a road traffic sign, and the traffic sign is an important measure for implementing traffic management and ensuring the safety and smoothness of road traffic.

Furthermore, the vehicle end comprises a vehicle end safety module, a vehicle end camera module and a vehicle end positioning module;

the vehicle end safety module is used for providing a password service function and a safety storage function for the vehicle end;

the vehicle end positioning module is used for acquiring the geographic position information of the vehicle end;

and the vehicle-end camera module is used for collecting the image of the single-way road sign.

Specifically, the vehicle end is provided with a vehicle identification code; the vehicle identification code is arranged in a safe storage area of the vehicle end safety module of the vehicle end before the vehicle leaves a factory by a vehicle production party, and only provides a read-only function after being arranged in the safe storage area of the vehicle end safety module, so that the vehicle identification code arranged in the safe storage area of the vehicle end safety module cannot be changed by a vehicle using party; the Vehicle Identification Number (or called frame Number, abbreviated as VIN) is a group consisting of a plurality of letters and/or numbers, is used for a group of unique numbers on the automobile, and can identify the manufacturer, the engine, the chassis serial Number, other performance data and the like of the automobile.

Specifically, the vehicle end is also provided with a vehicle number plate; the vehicle license plate, commonly called license plate and license plate, is a plate material respectively hung in front of and behind the vehicle, and the commonly used material is aluminum, iron sheet, plastic or paper, on which the registration number, registration area or other relevant information of the vehicle is engraved.

Specifically, the vehicle end has vehicle end related information; the vehicle end related information comprises information such as a vehicle number plate, a vehicle identification code, a passing direction of the vehicle end and/or geographical position information of the vehicle end; the vehicle-end related information may further include information such as a vehicle body color, a vehicle type, a vehicle speed, and the like of the vehicle end.

Further, the roadside end also comprises a roadside end safety module;

the road side end security module is used for providing a password service function and a security storage function for the road side end.

Further, the roadside end also comprises an intelligent spike; the intelligent spike is used for indicating the reverse preferential passing direction of the vehicle end in the road surface and/or roadside area of the one-way road where the vehicle end needs to pass in reverse preferential manner according to the vehicle end related information of the vehicle end, for example, the reverse preferential passing direction of the vehicle end can be indicated by a luminous color or a luminous arrow with a color, and the color can be red, green or other colors; the smart spike may include a light emitting part; the light emitting components may be colored LED light emitting materials.

Furthermore, the road side end also comprises a voice prompt module; the voice prompt module is used for broadcasting the vehicle end related information of the vehicle end so as to facilitate social vehicles and pedestrians to know the current and upcoming conditions of the vehicle end; the voice prompt module is arranged at an outlet and/or an inlet of the one-way road, more voice prompt modules can be arranged on the whole section of the one-way road according to actual needs, and for example, the voice prompt module can be arranged at the position of a pedestrian crossing in the middle of the section of the road.

Further, the cloud server comprises a digital certificate module, a cloud security module and a cloud storage module;

the digital certificate module respectively generates and stores public key certificates for the cloud server, the road side end and the vehicle end; the digital certificate module writes a public key certificate of the road side end and a root certificate of the cloud server into a road side end safety module of the road side end in an off-line or on-line mode; the digital certificate module writes the public key certificate of the vehicle end and the root certificate of the cloud server into a vehicle end safety module of the vehicle end in an off-line or on-line mode; public key certificates of the road side end and the vehicle side are issued by a root certificate of the cloud server;

the cloud security module is used for providing a password service function and a secure storage function for the cloud server;

the cloud storage module is used for presetting and storing a vehicle number plate and/or a vehicle identification code of a vehicle end and the passing permission of a one-way road corresponding to the vehicle number plate and/or the vehicle identification code of the vehicle end, so as to be inquired and called by the cloud server; the one-way road is determined by the geographical position information, the number and/or the name of the one-way road; the cloud storage module is also used for storing the road side serial number; the cloud storage module is further used for storing the geographical position information of the roadside end corresponding to the roadside end number; the cloud storage module is also used for storing the geographical position information of the one-way road corresponding to the road side end; the geographical position information of the one-way road comprises but is not limited to geographical position information of a starting point and/or an end point of the one-way road; the geographic location information includes, but is not limited to, geographic coordinates; the cloud server is preset and maintained with the corresponding relation between the geographical position information of the starting point and/or the ending point of the one-way road and the geographical position information of the roadside end and the roadside end number, so that the information of one party can be found out through the geographical position information and/or the number of the other party.

Furthermore, a safety storage area is respectively arranged in the cloud end safety module, the road side end safety module and the vehicle end safety module; the secure storage area may be used to store digital certificates, private keys, and other important information and data; the other important information and data includes, but is not limited to, a vehicle identification number and/or a roadside end number; the cryptographic service functions include, but are not limited to, generating random numbers, digital signature operations, digital signature verification operations, encryption and decryption operations, generating session keys, generating digital digests, digital certificate verification, and digital certificate revocation list querying; digital certificates are also known as public key certificates.

Further, the cloud server, the road side end and the vehicle end respectively store private keys corresponding to public keys in corresponding public key certificates; the private key of the cloud server is stored in the digital certificate module or the safe storage area of the cloud security module; the private key of the roadside end is stored in a security storage area of the roadside end security module; and the private key of the vehicle end is stored in the safe storage area of the vehicle end safety module.

Specifically, the cloud server is preset with a corresponding relationship between the road side end number and the public key certificate of the road side end, so that the public key certificate of the road side end can be retrieved and obtained through the road side end number.

Specifically, the cloud server is internally preset with a corresponding relation between a vehicle identification code and a vehicle number plate, so that the vehicle identification code can be used for retrieving and obtaining the vehicle number plate information of a vehicle end, and the vehicle identification code information of the vehicle end can be retrieved and obtained through the vehicle number plate; the cloud server is also internally preset with a corresponding relation between the vehicle identification code and/or the vehicle number plate and the public key certificate of the vehicle end, so that the public key certificate of the vehicle end can be retrieved and obtained through the vehicle identification code and/or the vehicle number plate.

As an implementable embodiment, the cloud security module, the roadside side security module and the vehicle side security module are all security intelligent chips, and commercial cryptographic algorithms supported by the security intelligent chips include but are not limited to one or more of SM1, SM2, SM3, SM4 and SM9, and international common cryptographic algorithms supported by the security intelligent chips include but are not limited to one or more of 3DES, AES, RSA, SHA-1 and SHA-256; the security intelligent chip supports storing a digital certificate; the safety intelligent chip provides a safety storage area and supports the safety storage of important information; the safety intelligent chip supports generation of random numbers; the digital certificate module also maintains a certificate revocation list and provides a certificate revocation list query function.

As an implementation mode, the vehicle-end camera module comprises a first camera, a second camera, a one-way road sign identification module, a light sensing module and a light supplementing module; the first camera is used for collecting video information when the vehicle end drives; the second camera is used for photographing the single-lane signboard to obtain a single-lane signboard image; the one-way road sign identification module identifies the video information acquired by the first camera in real time, and if the video information of the one-way road sign is identified in the video information, the second camera is called to take a special picture of the one-way road sign identification module; the light sensing module is used for sensing whether the intensity of light is proper or not when the second camera takes a picture, and calling the light supplementing module to supplement light according to needs; the light supplementing module is used for supplementing light when the second camera shoots.

As an implementation mode, the one-way road at least comprises two lanes, and the left-most lane of the original passing direction of the one-way road is set as a lane with a variable passing direction; when no vehicle end needing reverse priority passing needs to pass in the reverse direction, the leftmost lane and other lanes keep the same passing direction; when a vehicle end needing reverse priority passing needs to pass in the reverse direction, the leftmost lane is changed into a lane opposite to the original passing direction, the leftmost lane is changed into a special reverse lane of the vehicle end needing reverse priority passing, and social vehicles pass through other lanes continuously in the original direction;

the leftmost lane corresponds to a traffic light for indicating reverse priority passing, the other lanes correspond to traffic lights for indicating social vehicles and pedestrians, and when no vehicle end needing reverse priority passing needs to pass in a reverse direction, the traffic signal sequence and the adjusting timing of the traffic lights are consistent with those of the traffic lights for indicating the social vehicles and the pedestrians; when a vehicle end needing reverse priority passing needs to pass in a reverse direction, the traffic signal sequence of the traffic light is adjusted to match the vehicle end needing reverse priority passing in the reverse direction to pass in the reverse direction, specifically, the traffic light used for indicating the reverse priority passing can display a green light for the vehicle end needing reverse priority passing and display a red light for social vehicles and pedestrians in the original passing direction;

when a vehicle end needing reverse preferential passage needs to pass in a reverse direction, the marking line projection module projects reverse passage information to the leftmost lane.

As an implementation mode, an indication marking line for indicating the passing direction of the one-way road is not preset on the leftmost lane in advance; the preset indication marked line representing the passing direction of the one-way road refers to a road marked line formed by directly spraying on the pavement of the one-way road in a hot melting mode; when no vehicle end needing reverse priority passing needs to pass in a reverse direction, the marking projection module projects an indication marking in the original one-way passage direction to the leftmost lane in a light and shadow mode, and at the moment, the direction indicated by the indication marking in the one-way passage direction is consistent with the direction indicated by the indication marking which is preset in advance and represents the one-way passage direction on the other lane; when a vehicle end needing reverse preferential passage needs to pass through in a reverse direction, the marking projection module projects reverse passage information to the leftmost lane, and at the moment, the direction indicated by the indication marking of the passage direction projected by the marking projection module on the one-way lane is opposite to the direction indicated by the indication marking which is preset in advance and represents the passage direction of the one-way lane on the other lane.

On the basis of the above embodiment, the present invention further provides a V2X-based one-way preferential passage method, including the following steps:

after a vehicle end obtains a one-way road sign image through a vehicle end camera module, performing image recognition on the one-way road sign image, and extracting geographical position information of the one-way road from the image recognition;

the vehicle end obtains the geographical position information of the vehicle end in real time through the vehicle end positioning module, and calculates the distance between the vehicle end and the geographical position of the stop point of the one-way road;

when the distance reaches or is lower than a threshold value, the vehicle end sends priority passing request information to the cloud server; the priority traffic request information comprises but is not limited to vehicle end related information and geographical position information of a termination point of the one-way road; specifically, the threshold is prescribed or specified in advance by the relevant department and is set in the vehicle end; the relevant departments include, but are not limited to, traffic management; as an implementable manner, the threshold may be 200 meters, 100 meters, 50 meters, or other distances;

when the distance does not reach or is higher than the threshold value, the vehicle end continuously acquires the geographical position information of the vehicle end in real time, continuously calculates the distance between the vehicle end and the geographical position of the ending point of the one-way road in real time, and stops acquiring and calculating until the distance reaches or is lower than the threshold value; when the distance reaches or is lower than the threshold value, the vehicle end executes the operation when the distance reaches or is lower than the threshold value and sends priority passing request information to the cloud server;

the cloud server obtains the passing permission of the vehicle end on the one-way road according to the priority passing request information; the cloud server returns the passing authority of the vehicle end to the vehicle end;

if the passing authority of the vehicle end is that reverse passing is allowed, the vehicle end passes through the single-way road in a reverse way under the condition of ensuring safety; if the passing authority of the vehicle end does not allow reverse passing, the vehicle end cannot pass through the single-way road in a reverse way, and other roads are selected to pass by the vehicle end;

if the passing authority of the vehicle end is that reverse passing is allowed, the cloud server further sends the vehicle end related information to a roadside end corresponding to the one-way road, and then the roadside end controls a traffic signal controller, a priority information display board and a marking line projection module according to the vehicle end related information to reflect the vehicle end related information and prompt social vehicles and pedestrians to take avoidance measures, wherein the avoidance measures include but are not limited to in-situ waiting, passing and/or bypassing. Preferably, the roadside end further controls an intelligent spike and/or a voice prompt module to reflect the vehicle end related information and prompt social vehicles and pedestrians to take avoidance measures, wherein the avoidance measures include but are not limited to waiting in place, yielding and/or detouring.

Further, the cloud server obtains the passing permission of the vehicle end on the one-way road according to the priority passing request information, and the method specifically comprises the following steps: the cloud server compares the vehicle number plate and/or the vehicle identification code in the vehicle end related information contained in the priority passing request information with the vehicle number plate and/or the vehicle identification code preset and stored in the cloud storage module, and if the related vehicle number plate and/or the vehicle identification code are found, the passing permission of the vehicle end corresponding to the vehicle number plate and/or the vehicle identification code on the single-way road is found; and if the related vehicle number plate and/or vehicle identification code is not found in the cloud storage module, the cloud server directly returns the passing permission which does not allow reverse passing to the vehicle end.

In an embodiment of the one-way priority passing method based on V2X, the priority passing request information sent by the vehicle end to the cloud server further includes geographic position information of the vehicle end obtained by the vehicle end from the vehicle end positioning module and time information of the vehicle end when acquiring the geographic position information of the vehicle end; when a plurality of vehicle ends are provided, when the plurality of vehicle ends send priority passing request information to be passed preferentially in the reverse direction of the one-way road to the cloud server, the cloud server can queue the priority passing request information of the vehicle ends according to the distance between the geographic position of each vehicle end and the geographic position of the termination point of the one-way road and the time sequence relation of the time in the time information, and then the cloud server determines which vehicle end is to be inquired for the passing authority of the one-way road according to the sequence of the queue; the queuing of the priority traffic request information of the vehicle ends is firstly queued according to the distance between the geographical position of each vehicle end and the geographical position of the termination point of the one-way road, and the distance is arranged in front; if the distances are the same, the vehicles are queued according to the time of sending the request information in each vehicle, and the time is queued earlier.

In an embodiment of the one-way preferential passage method based on V2X, the preferential passage request information sent by the vehicle end to the cloud server further includes digital signature information of the vehicle end related information by a private key of the vehicle end used by the vehicle end;

as an implementable embodiment, before the cloud server compares the vehicle number plate and/or the vehicle identification code in the vehicle-end related information included in the priority pass request information with the vehicle number plate and/or the vehicle identification code preset and stored in the cloud storage module, the cloud server verifies and signs the digital signature information of the vehicle-end related information by using a public key in a public key certificate of the vehicle end; and if the verification fails, directly returning the passing authority which does not allow reverse passing to the vehicle end.

In an embodiment of the one-way preferential passage method based on V2X, before the cloud server returns the passage right to the vehicle end, the cloud server digitally signs the passage right with its own private key to generate a passage right digital signature, and then returns the passage right and the passage right digital signature to the vehicle end;

as an implementable embodiment, after receiving the right of passage and the digital signature of the right of passage, the vehicle end checks and signs the digital signature of the right of passage by using a public key in a public key certificate of the cloud server; if the pass right is not successfully checked, the vehicle end sends a request for regenerating and sending the pass right and the pass right digital signature to the cloud server; and if the signature verification is successful, the vehicle end performs corresponding operation according to the passing authority of the vehicle end.

In an embodiment of the V2X-based one-way priority passing method, before the cloud server further sends the vehicle-end related information to the roadside end corresponding to the one-way road, the cloud server performs digital signature on the vehicle-end related information by using its own private key to generate a vehicle-end related information digital signature, and then sends the vehicle-end related information and the vehicle-end related information digital signature to the roadside end;

as an implementable manner, after receiving the vehicle-side related information and the vehicle-side related information digital signature, the roadside side firstly uses a public key in a public key certificate of the cloud server to verify the vehicle-side related information digital signature; if the signature verification is unsuccessful, the roadside end sends a request for regenerating and sending the vehicle-end related information and the vehicle-end related information digital signature to the cloud server; and if the signature verification is successful, the roadside end performs corresponding operation according to the vehicle end related information.

Furthermore, when the vehicle side, the cloud server and the road side send information to each other, a timestamp and a random number can be added, and corresponding verification is performed on a receiving side so as to prevent the information from being attacked by replay.

In summary, the cloud server, the road side end and the vehicle end ensure the identity of the information sender and the authenticity and integrity of the sent information by verifying the public key certificate and the digital signature, prevent the information from being illegally tampered, and prevent the information from being attacked by replay by applying the timestamp and the random number in the sent information, thereby ensuring the safety of the information. By applying the internet of vehicles and network technology, the safe information transmission is realized, and meanwhile, social vehicles and pedestrians can know the current and/or coming-in vehicle end conditions and adjust the position, direction and/or avoidance of the social vehicles and the pedestrians in time through modules such as a traffic signal controller, a priority information display board, a marking projection module, an intelligent spike and a voice prompt module on a one-way road, so that the vehicle end can safely and smoothly realize the priority traffic. The cloud server can better and more intelligently determine which vehicle end or which vehicle ends are preferentially served according to the positioning information and the time information reported by the vehicle ends, and the preferential passing efficiency is further improved.

The above shows only the preferred embodiments of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.

Claims (10)

1. The V2X-based one-way road priority passing system is characterized by comprising a cloud server, at least one road side end and at least one vehicle end; the cloud server is in communication connection with the road side end; the cloud server is in wireless communication connection with the vehicle end;

the cloud server is used for storing and/or verifying the passing authority of the vehicle end, wherein the passing authority comprises an allowed reverse passing authority and a non-allowed reverse passing authority; when the vehicle end is a special vehicle which needs to run backwards on a one-way road due to the execution of a task, the corresponding passing authority is to allow reverse passing; when the vehicle end is not a special vehicle which needs to run backwards on a one-way road due to task execution, the corresponding passing authority is that reverse passing is not allowed;

the vehicle end is used for sending priority traffic request information to the cloud server and carrying out corresponding operation according to feedback of the cloud server, when receiving information which is sent by the cloud server and allows reverse traffic, the vehicle end passes through the one-way road in a reverse direction, otherwise, the vehicle end does not allow reverse traffic on the one-way road; the vehicle end is also used for identifying the single-lane signboard image, and identifying and extracting the geographical position information of the single-lane; the vehicle end is also used for calculating the distance between the geographic position of the vehicle end and the geographic position of the end point of the one-way road in real time so as to judge when to send the prior passing request information to the cloud server;

the roadside end comprises a traffic signal controller, a priority information display board and a marking projection module;

the traffic signal controller is used for changing the sequence of the road traffic signals, adjusting the timing and controlling the operation of the road traffic signal lamps;

the priority information display board is used for displaying the related information of the vehicle end needing reverse priority passing on the one-way road, and the related information of the vehicle end comprises the driving direction and speed of the vehicle end and the distance from the current priority information display board;

the marking projection module is used for projecting reverse traffic information to a road surface area of a one-way road where a vehicle end needs to pass in a reverse priority mode, and the reverse traffic information comprises a reverse direction indicating marking opposite to the traffic direction of an original one-way road and vehicle end related information.

2. The V2X-based one-way preferential passage system according to claim 1, wherein the vehicle end comprises a vehicle end safety module, a vehicle end camera module and a vehicle end positioning module;

the vehicle-side security module is used for providing a password service function and a security storage function for the vehicle side, wherein the password service function comprises random number generation, digital signature operation, digital signature verification operation, encryption and decryption operation, session key generation, digital abstract generation, digital certificate verification and digital certificate revocation list query;

the vehicle-end camera module is used for collecting a one-way road sign image;

the vehicle end positioning module is used for acquiring real-time geographic position information of the vehicle end.

3. The V2X-based one-way preferential passage system according to claim 2, wherein the roadside end further comprises a roadside end security module, an intelligent spike, a voice prompt module;

the road side end security module is used for providing a password service function and a security storage function for the road side end;

the intelligent spike is used for indicating the reverse preferential traffic direction of the vehicle end in the road surface and/or roadside area of the one-way road where the vehicle end needs to pass in the reverse preferential traffic direction according to the vehicle end related information;

the voice prompt module is used for broadcasting vehicle end related information of the vehicle end so that social vehicles and pedestrians can know the current and upcoming conditions of the vehicle end, wherein the social vehicles are vehicles except the vehicle end needing to pass through a one-way road in a reverse direction.

4. The V2X-based one-way preferential passage system according to claim 3, wherein the cloud server comprises a digital certificate module, a cloud security module and a cloud storage module;

the digital certificate module is used for generating and storing public key certificates for the cloud server, the road side end and the vehicle end respectively; the system is also used for writing the public key certificate of the roadside end and the root certificate of the cloud server into the roadside end safety module and writing the public key certificate of the vehicle end and the root certificate of the cloud server into the vehicle end safety module in an off-line or on-line mode; public key certificates of the road side end and the vehicle end are issued by a root certificate of the cloud server; the cloud server, the road side end and the vehicle end respectively store private keys corresponding to public keys in corresponding public key certificates;

the cloud security module is used for providing a password service function and a secure storage function for the cloud server;

the cloud storage module is used for presetting and storing a vehicle number plate and/or a vehicle identification code of a vehicle end, the vehicle end is in the passing authority of the one-way road, the number of the roadside end, the geographical position information of the roadside end corresponding to the number of the roadside end, the geographical position information of the one-way road corresponding to the roadside end, and the corresponding relation between the geographical position information of the starting point and/or the ending point of the one-way road and the geographical position information of the roadside end and the number of the roadside end.

5. The V2X-based one-way priority traffic system according to claim 1, wherein the one-way lane comprises at least two lanes, and a left-most lane of an original traffic direction of the one-way lane is set as a variable traffic direction lane; when no vehicle end needing reverse priority passing needs to pass in the reverse direction, the leftmost lane and other lanes keep the same passing direction; when a vehicle end needing reverse priority passing needs to pass in the reverse direction, the leftmost lane is changed into a lane opposite to the original passing direction, the leftmost lane is changed into a special reverse lane of the vehicle end needing reverse priority passing, and social vehicles pass through the other lanes continuously in the original direction.

6. The V2X-based one-way preferential traffic method based on the V2X-based one-way preferential traffic system of any one of claims 1 to 5, characterized by comprising the following steps:

after the vehicle end obtains the one-way road sign image through the vehicle end camera module, performing image recognition on the one-way road sign image, and extracting the geographical position information of the one-way road from the image recognition;

the method comprises the steps that a vehicle end obtains geographical position information of the vehicle end in real time through a vehicle end positioning module, and calculates the distance between the vehicle end and the geographical position of a stop point of a one-way road;

when the distance reaches or is lower than a set threshold value, the vehicle end sends priority passing request information to the cloud server; the priority passing request information comprises vehicle end related information and geographical position information of a termination point of the one-way road;

when the distance does not reach or is higher than a set threshold value, the vehicle end continuously acquires the geographical position information of the vehicle end in real time, continuously calculates the distance between the vehicle end and the geographical position of the ending point of the one-way road in real time, and stops acquiring and calculating until the distance reaches or is lower than the threshold value;

the cloud server acquires the passing authority of the vehicle end on the one-way road according to the priority passing request information and returns the passing authority of the vehicle end to the vehicle end;

if the passing authority of the vehicle end is to allow reverse passing, the vehicle end passes through the single-way road in a reverse way under the condition of ensuring safety; if the passing authority of the vehicle end is that reverse passing is not allowed, the vehicle end cannot pass through the one-way road in a reverse way;

if the passing authority of the vehicle end is that reverse passing is allowed, the cloud server sends the relevant information of the vehicle end to a roadside end corresponding to the one-way road, and then the roadside end controls a traffic signal controller, a priority information display board and a marking line projection module according to the relevant information of the vehicle end so as to reflect the relevant information of the vehicle end and prompt social vehicles and pedestrians to take avoidance measures.

7. The V2X-based one-way priority passage method according to claim 6, wherein the cloud server obtains the passage permission of the vehicle end on the one-way passage according to the priority passage request information, and specifically comprises: the cloud server compares the vehicle number plate and/or the vehicle identification code with the vehicle number plate and/or the vehicle identification code preset and stored in the cloud storage module according to the vehicle number plate and/or the vehicle identification code in the vehicle end related information in the priority passing request information, and if the related vehicle number plate and/or the vehicle identification code are found, the passing permission of the vehicle end corresponding to the vehicle number plate and/or the vehicle identification code on the one-way road is found; if the related vehicle number plate and/or vehicle identification code is not found in the cloud storage module, the cloud server directly returns the passing permission which is not allowed to pass reversely to the vehicle end.

8. The V2X-based one-way preferential passage method according to claim 6, wherein the preferential passage request information sent by the vehicle end to the cloud server further includes geographic position information of the vehicle end and time information of the vehicle end when the geographic position information of the vehicle end is collected; when a plurality of vehicle ends send priority traffic request information to the cloud server, the cloud server queues the priority traffic request information of the vehicle ends according to the distance between the geographic position of each vehicle end and the geographic position of the termination point of the one-way channel and the time sequence relation of the time information, and then the cloud server determines the query sequence of the traffic permission of the vehicle ends on the one-way channel according to the sequence of queuing; the queuing of the priority traffic request information of the vehicle ends is firstly queued according to the distance between the geographical position of each vehicle end and the geographical position of the termination point of the one-way road, and the distance is arranged in front; if the distances are the same, the vehicles are queued according to the time of sending the request information in each vehicle, and the time is queued earlier.

9. The V2X-based one-way preferential passage method according to claim 7, wherein the preferential passage request information sent by the vehicle end to the cloud server further includes digital signature information of the vehicle end related information by a private key of the vehicle end used by the vehicle end;

before the cloud server compares the vehicle number plate and/or the vehicle identification code in the vehicle-end related information in the priority traffic request information with the vehicle number plate and/or the vehicle identification code preset and stored in the cloud storage module, the cloud server checks the digital signature information of the vehicle-end related information by using a public key in a public key certificate of the vehicle end; if the check label fails, returning a passing authority which does not allow reverse passing to the vehicle end;

before the cloud server returns the passage authority to the vehicle end, the cloud server carries out digital signature on the passage authority by using a private key of the cloud server to generate a passage authority digital signature, and then the passage authority and the passage authority digital signature are returned to the vehicle end together;

after the vehicle end receives the pass right and the pass right digital signature, a public key in a public key certificate of a cloud server is used for checking the pass right digital signature; if the verification is unsuccessful, the vehicle end sends a request for regenerating and sending the pass authority and the pass authority digital signature to a cloud server; if the signature is successfully checked, the vehicle end carries out corresponding operation according to the passing authority;

before the cloud server sends the vehicle-end related information to the road side end corresponding to the one-way road, the cloud server carries out digital signature on the vehicle-end related information by using a private key of the cloud server to generate a vehicle-end related information digital signature, and then the vehicle-end related information and the vehicle-end related information digital signature are sent to the road side end together;

after receiving the vehicle-side related information and the vehicle-side related information digital signature, the road-side end firstly uses a public key in a public key certificate of a cloud server to verify the vehicle-side related information digital signature; if the signature verification is unsuccessful, the roadside end sends a request for regenerating and sending the vehicle end related information and the vehicle end related information digital signature to a cloud server; and if the signature verification is successful, the roadside end performs corresponding operation according to the vehicle end related information.

10. The V2X-based one-way priority traffic method according to claim 9, wherein a timestamp and a random number are further added when the vehicle side, the cloud server and the road side send information to each other, and corresponding authentication is performed on a receiving side, so as to prevent information from being attacked by replay.

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