CN115988459A - One-way road priority passing system and method based on V2X - Google Patents

Abstract

The invention provides a V2X-based one-way road priority passing system and a V2X-based one-way road priority passing method. The system comprises: the system comprises a cloud server and at least one vehicle end; the vehicle end is used for sending priority passing request information to the cloud server, wherein the priority passing request information comprises vehicle end related information and one-way road information needing priority passing; after receiving the passing authority, if the passing authority of the vehicle end is allowed to pass in a reverse direction, the vehicle end passes in the reverse direction on the one-way road 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 one-way road in a reverse way, and other roads are selected to pass by the vehicle end; and the cloud server is used for acquiring the passing permission of the vehicle end on the one-way road according to the priority passing request information of the vehicle end and returning the passing permission of the vehicle end to the vehicle end.

Description

One-way road priority passing system and method based on V2X

Technical Field

The invention relates to the technical field of vehicle networking, in particular to a V2X-based one-way road priority passing 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 low 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. The special vehicle for executing the task can not be limited by the driving speed, the driving route, the driving direction and the signal of the command lamp, and can move backwards on the one-way road under the condition of ensuring the safety, but because the prior vehicle and road, other vehicles, pedestrians and other traffic participants do not have good communication and coordination mechanisms, 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

In order to realize safe and rapid reverse running of special vehicles for executing tasks on a one-way road under the background of great development of the current Internet of vehicles technology, the invention provides a V2X-based one-way road priority passing system and a V2X-based one-way road priority passing method, which are safe, reliable, simple and efficient by applying a digital public key certificate authentication technology and combining the Internet of vehicles technology.

In one aspect, the present invention provides a V2X-based one-way preferential passing system, including: the system comprises a cloud server and at least one vehicle end;

the vehicle end is used for sending priority passing request information to the cloud server, wherein the priority passing request information comprises vehicle end related information and one-way road information needing priority passing; and after receiving the passing authority, if the passing authority of the vehicle end is allowed to pass in a reverse direction, the vehicle end passes in a reverse direction on the one-way road 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 one-way road in a reverse way, and other roads are selected to pass by the vehicle end;

and the cloud server is used for acquiring the passing permission of the vehicle end on the one-way road according to the priority passing request information of the vehicle end and returning the passing permission of the vehicle end to the vehicle end.

Further, the system also comprises at least one road side end;

correspondingly, the cloud server is further configured to send the vehicle end related information of the vehicle end to the road side end corresponding to the one-way road when the right of the vehicle end to pass is reverse passing;

and the road side end is used for reflecting the vehicle side related information.

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

the cloud storage module is used for prestoring vehicle-side related information and the passing permission corresponding to the vehicle-side related information so as to be inquired by the cloud server;

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

Furthermore, the roadside end comprises at least one of a priority information display board, a voice prompt module, a marking projection module and an intelligent spike, and a roadside end safety module;

the priority information display board is used for displaying the vehicle end related information of the vehicle end;

the voice prompt module is used for broadcasting the vehicle end related information of the vehicle end;

the marking projection module is used for projecting reverse traffic information in a road surface area of a one-way road where the vehicle end needs to pass in a reverse priority mode;

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 reverse preferential traffic;

the roadside end safety module is used for storing a roadside end number, geographical position information of a roadside end corresponding to the roadside end number and geographical position information of a one-way road corresponding to the roadside end.

On the other hand, the invention provides a V2X-based one-way road priority passing method, which comprises the following steps:

the vehicle end sends priority passing request information to a cloud server; the priority passing request information comprises vehicle end related information and one-way road information needing priority passing; the vehicle end related information comprises a vehicle number plate and/or a vehicle identification code;

the cloud server obtains 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; 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 searches the vehicle number plate and/or the vehicle identification code of the vehicle end in the vehicle number plate and/or the vehicle identification code which are pre-stored locally, and if the 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 inquired; if the vehicle end is not found, directly returning a passing authority which does not allow reverse passing to the vehicle end;

after a vehicle end receives a passing authority, if the passing authority of the vehicle end is that reverse passing is allowed, the vehicle end passes through the one-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 one-way road in the reverse direction, and other roads are automatically selected to pass by in a bypassing way.

Further, still include: and if the passing authority of the vehicle end is that reverse passing is allowed, the cloud server further sends the vehicle end related information of the vehicle end to a road side end corresponding to the one-way road so that the road side end can reflect the vehicle end related information.

Further, when there are a plurality of vehicle ends, the priority traffic request information further includes: geographical position information of a vehicle end and time information for acquiring the geographical position information;

correspondingly, the method further comprises: the cloud server queues the priority traffic request information of the plurality of vehicle ends according to the geographic position information of each vehicle end and the time information for collecting the geographic position information; the closer the geographical position of the vehicle end is to a one-way road needing preferential passage, the closer the queuing is; the earlier the time for collecting the geographic position information is, the earlier the queuing is; and then the cloud server sequentially obtains the passing permission of each vehicle end on the one-way road according to the sequence of queuing and the priority of the respective prior passing request information.

Furthermore, the priority traffic request information also comprises digital signature information, and the digital signature information is obtained by digitally signing the vehicle-end related information and the one-way road information needing to be passed by the vehicle end by using a private key of the vehicle end;

correspondingly, before the cloud server obtains the passing permission of the vehicle end on the one-way road according to the priority passing request information, the method further comprises the following steps: and the cloud server adopts the public key of the vehicle end to check the signature of the digital signature information, and if the signature check fails, the public key directly returns a passing authority which does not allow reverse passing to the vehicle end.

Further, before the cloud server returns the passing authority of the vehicle end to the vehicle end, the method further comprises the following steps: the cloud server adopts a private key of the cloud server to digitally sign the passing authority of the vehicle end to generate a passing authority digital signature;

correspondingly, the cloud server returns the passing authority of the vehicle end and the digital signature of the passing authority to the vehicle end together;

correspondingly, after receiving the digital signature of the passage authority and the passage authority, the vehicle end adopts the public key of the cloud server to check the digital signature of the passage authority, and if the check fails, a request for regenerating and sending the digital signature of the passage authority and the passage authority is sent to the cloud server; and if the signature verification is successful, the vehicle end executes corresponding operation according to the passing authority.

Further, if the right of the vehicle end to pass is to allow reverse passing, the cloud server further includes, before sending the vehicle end related information of the vehicle end to the roadside end corresponding to the one-way road:

the cloud server carries out digital signature on the vehicle-end related information by adopting a private key of the cloud server to generate a vehicle-end related information digital signature;

correspondingly, the cloud server returns the vehicle-end related information and the vehicle-end related information digital signature to the road side end corresponding to the one-way road;

correspondingly, after receiving the vehicle-end related information and the vehicle-end related information digital signature, the roadside side checks the vehicle-end related information digital signature by using the public key of the cloud server, and if the check fails, 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 reflects the vehicle end related information.

The invention has the beneficial effects that:

(1) By applying the internet of vehicles and the network technology and information transmission between the cloud server and the vehicle end, the vehicle end meeting the requirements can preferentially pass in the reverse direction on the one-way road;

(2) By applying the car networking and network technology, when the car end preferentially passes through the reverse direction on the one-way road, social cars and pedestrians can know the current and/or coming-in car end condition by passing through the side end of the road on the one-way road, and the position, direction and/or avoidance of the social cars and the pedestrians can be adjusted in time, so that the car end can safely and smoothly realize the preferential passing;

(3) The cloud server can better and more intelligently determine which vehicle end or vehicle ends are served by priority according to the positioning information and the time information reported by the vehicle ends, so that the priority passing efficiency is further improved;

(4) The cloud server, the road side end and the vehicle end verify the public key certificate and the digital signature to ensure the identity of the information sender and the authenticity and integrity of the sent information, prevent the information from being illegally tampered, and also prevent the information from being attacked by replay by applying a timestamp and a random number in the sent information to ensure the safety of the information.

Drawings

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

fig. 2 is a second schematic structural diagram of a V2X-based one-way preferential passage system according to an embodiment of the present invention;

fig. 3 is a third schematic structural diagram of a V2X-based one-way preferential passage system according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be described clearly below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

Example 1

As shown in fig. 1, an embodiment of the present invention provides a V2X-based one-way preferential passage system, including a cloud server and at least one vehicle end; the cloud server is in wireless communication connection with the vehicle end;

the vehicle end is used for sending priority passing request information to the cloud server, wherein the priority passing request information comprises vehicle end related information and one-way road information needing priority passing; and after receiving the passing authority, if the passing authority of the vehicle end is allowed to pass in a reverse direction, the vehicle end passes in a reverse direction on the one-way road 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 one-way road in the reverse direction, and other roads are automatically selected to pass by in a bypassing way.

And the cloud server is used for acquiring the passing permission of the vehicle end on the one-way road according to the priority passing request information of the vehicle end and returning the passing permission of the vehicle end to the vehicle end.

Specifically, if the cloud server learns that the vehicle end is a special vehicle which needs to run in the wrong direction on a one-way road due to task execution according to the vehicle end related information of the vehicle end, the corresponding traffic authority of the vehicle end is to allow reverse traffic; on the contrary, when the vehicle end is not a special vehicle which needs to run in the reverse direction on the one-way road due to the task execution, the corresponding passing authority is that the reverse passing is not allowed.

As an implementation manner, the cloud server includes a cloud storage module, and the cloud storage module is configured to pre-store the vehicle-side related information and the passage permission corresponding to the vehicle-side related information, so that the cloud server can query the passage permission.

Specifically, the vehicle-end related information includes a vehicle number plate and/or a vehicle identification code of the vehicle end, and in addition, may also include a passing direction of the vehicle end and/or geographic position information of the vehicle end; besides, the information of the body color, the vehicle type, the vehicle speed and the like of the vehicle end can be included. The vehicle license plate is a plate material which is hung at the front and the rear of the vehicle respectively, and the commonly used material is aluminum, iron sheet, plastic or paper, and the registration number, the registration area or other related information of the vehicle is marked on the plate material. The Vehicle Identification Number (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.

Example 2

On the basis of the foregoing embodiment 1, as shown in fig. 2, the one-way preferential passing system based on V2X provided in the embodiment of the present invention further includes at least one road side end; the cloud server is in communication connection with the road side end;

correspondingly, the cloud server is further configured to send the vehicle end related information of the vehicle end to the road side end corresponding to the one-way road when the right of the vehicle end to pass is reverse passing; and the road side end is used for reflecting the vehicle side related information.

Specifically, in order to realize the communication between the cloud server and the required roadside end, in practical application, a roadside end number may be set for each roadside end, and the roadside end number is used for uniquely identifying the roadside end. Furthermore, in order to enable the cloud server to find the corresponding road side end according to the information of the single-way road, or find the corresponding single-way road according to the information of the road side end, the cloud storage module in the cloud server can store the number of the road side end, the geographical position information of the road side end corresponding to the number of the road side end, and the geographical position information of the single-way road corresponding to the road side end.

It should be noted that the one-way lane may be determined by the geographic location information, the number of the one-way lane, and/or the name of the one-way lane. The geographical location information of the one-way road includes, but is not limited to, geographical location information of a start point and/or an end point of the one-way road. The geographic location information includes, but is not limited to, geographic coordinates. In this way, the cloud server is preset and maintained with the corresponding relationship 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.

In addition, in the embodiment of the present invention, the purpose of reflecting the vehicle-end related information by using the roadside end is: the social vehicles and pedestrians can know the current and/or upcoming situation of the vehicle end and timely adjust the position, direction and/or avoidance of the social vehicles and pedestrians, and avoidance measures include but are not limited to waiting in place, giving way and/or bypassing. By social vehicle is meant a vehicle other than the end of the vehicle that requires retrograde motion to preferentially traverse a one-way road.

As an implementation manner, the roadside end includes at least one of a priority information display board, a voice prompt module, a marking line projection module and an intelligent spike, so that the vehicle end related information is reflected through the at least one of the priority information display board, the voice prompt module, the marking line projection module and the intelligent spike. The priority information display board is used for displaying vehicle-end related information of the vehicle end, such as the driving direction and speed of the vehicle end, the distance from the priority information display board and the like; the voice prompt module is used for broadcasting the vehicle-end related information of the vehicle end. The marking projection module is used for projecting reverse traffic information in a road surface area of a one-way road where the vehicle end needs to pass in a reverse priority mode. 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 reverse preferential traffic.

Specifically, the reverse traffic information includes, but is not limited to, a reverse direction indication marking opposite to the traffic direction of the original one-way road and the 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 vehicle-end related information may then be projected next to the retrograde direction indicator markings. The reticle projection module includes, but is not limited to, a projection lamp; the projection lamp may 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.

The intelligent spike can indicate the direction of reverse priority traffic of the vehicle end with a luminous color or a luminous colored arrow, wherein 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.

It should be noted that, regarding the setting positions of the priority information display board, the voice prompt module, the marking projection module and the intelligent spike, the setting rules are as follows: the method can be arranged at the exit and/or entrance of the one-way road, and more whole sections of the one-way road can be arranged according to actual needs, for example, the whole sections are arranged near the position of the pedestrian crossing in the middle of the section.

Example 3

On the basis of the above embodiments, the V2X-based one-way priority passing system provided in the embodiments of the present invention further includes at least one road side end, and the road side end further includes a traffic signal controller. Therefore, the roadside side controls the traffic signal controller to reflect the vehicle side related information according to the vehicle side related information sent by the cloud server.

Specifically, the traffic signal controller is a core component of the traffic signal control system, and is an execution unit located on a road site in the traffic signal control system. The core function of the system is to realize road traffic signal control (namely, the system is used for changing the sequence of road traffic signals, adjusting timing and controlling the running of road traffic signal lamps), and has 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.

Example 4

On the basis of the foregoing embodiments, as shown in fig. 3, in the one-way preferential passage system based on V2X provided in the embodiments of the present invention, the cloud server includes a cloud security module; the vehicle end comprises a vehicle end safety module; the roadside end comprises a roadside end safety module; the security modules are respectively used for providing a password service function and a security storage function for the respective terminals.

In particular, cryptographic service functions include, but are not limited to, generating random numbers, digital signature operations, digital signature verification operations, encryption/decryption operations, generating session keys, generating digital digests, digital certificate verification, and digital certificate revocation list queries; digital certificates are also known as public key certificates. The safety modules are internally provided with safety storage areas so as to provide a safety storage function; 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. For the vehicle end safety module, the vehicle identification code is arranged in a safety storage area of the vehicle end safety module of the vehicle end by a vehicle production party before the vehicle leaves a factory, the vehicle identification code only provides a read-only function after being arranged in the safety storage area of the vehicle end safety module, and a vehicle user can not change the vehicle identification code arranged in the safety storage area of the vehicle end safety module. For the roadside end safety module, the roadside end number is stored in a safety storage area of the roadside end safety module at the roadside 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.

As an implementation manner, the cloud security module, the roadside-side security module and the vehicle-side security module are all security smart chips, and the commercial cryptographic algorithms supported by the security smart chips include but are not limited to one or more of SM1, SM2, SM3, SM4 and SM 9; the supported international common cryptographic algorithms include but are not limited to one or more of 3DES, AES, RSA, SHA-1 and SHA-256; the secure 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.

Further, the cloud server further comprises a digital certificate module; and the digital certificate module generates and stores public key certificates for the cloud server, the road side end and the vehicle end respectively. Specifically, the digital certificate module writes the public key certificate of the roadside end and the root certificate of the cloud server into a roadside end security module of the roadside end in an off-line or on-line manner; the digital certificate module writes a public key certificate of the vehicle end and a 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.

Correspondingly, 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.

Correspondingly, the cloud server is preset with the corresponding relation 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.

Correspondingly, the cloud server is internally preset with a corresponding relation between the vehicle identification code and the vehicle number plate, so that the vehicle number plate information of the vehicle end can be retrieved and obtained through the vehicle identification code, and the vehicle identification code information of the vehicle end can also 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.

Furthermore, the vehicle end also comprises a vehicle end positioning module; the vehicle end positioning module is used for acquiring the geographic position information of the vehicle end.

Example 5

On the basis of the foregoing embodiments, in the one-way lane priority passing system based on V2X provided in the embodiments of the present invention, a restriction is further made on the one-way lane, which specifically includes: 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.

Specifically, 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.

In the above one embodiment, when the traffic signal lamp further comprises a traffic light for indicating reverse priority traffic, the leftmost lane corresponds to the traffic light for indicating reverse priority traffic, the other lanes correspond to the traffic lights for indicating social vehicles and pedestrians, and the traffic light for indicating reverse priority traffic is consistent with the traffic light for indicating social vehicles and pedestrians in traffic signal sequence and adjustment timing when no vehicle end requiring reverse priority traffic needs to pass in reverse traffic; when a vehicle end needing reverse preferential passage needs to pass in a reverse direction, the traffic signal sequence of the traffic light is adjusted to match the vehicle end needing reverse preferential passage to pass in the reverse direction when the traffic light for indicating reverse preferential passage needs to pass in the reverse direction, specifically, the green light is displayed for the vehicle end needing reverse preferential passage, and the red light is displayed for social vehicles and pedestrians in the original passing direction.

In the above-mentioned embodiment, when the road side end includes the marking projection module, correspondingly, when the vehicle end needing reverse priority traffic needs to pass in reverse, the marking projection module projects reverse traffic information to the leftmost lane. Preferably, 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 in a reverse direction, the marking line projection module projects reverse passage information to the leftmost lane, and at the moment, the direction indicated by the indication marking line of the passage direction projected by the marking line projection module on the one-way lane is opposite to the direction indicated by the indication marking line which is preset in advance and represents the passage direction of the one-way lane on the other lane.

Example 6

Corresponding to the above one-way road priority passing system based on V2X, an embodiment of the present invention provides a one-way road priority passing method based on V2X, including the following steps:

the vehicle end sends priority passing request information to the cloud server; the priority passing request information comprises vehicle end related information and one-way road information (such as geographical position information of the one-way road) needing priority passing;

specifically, in practical application, a vehicle end is provided with traveling path information, where the traveling path information includes position information of a departure point and a destination point of the vehicle end, and information of a road to be passed on a traveling path of the vehicle end; the road information comprises the geographical position information of the one-way road needing reverse priority passing. Therefore, when the vehicle end approaches the one-way road needing reverse preferential passage, the vehicle end sends preferential passage request information to the cloud server.

The vehicle end approaches the one-way road needing reverse priority passing, and the following judgment method can be adopted: the vehicle end obtains position information of the vehicle end in real time through the vehicle end positioning module, calculates a distance between the vehicle end and a geographic position of the one-way road (for example, the geographic position of a termination point of the one-way road), and when the distance reaches or is lower than a threshold value, the vehicle end is considered to be close to the one-way road needing reverse preferential passage, and at the moment, the vehicle end sends preferential passage request information to the cloud server. It should be noted that the threshold is specified or designated in advance by the relevant department and is set in the vehicle end; the relevant departments include, but are not limited to, traffic management; by way of example, the threshold may be 500 meters, 300 meters, 200 meters, or other distances.

The cloud server obtains 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;

as an implementation manner, the vehicle-end related information includes a vehicle number plate and/or a vehicle identification code; the cloud server searches the vehicle number plate and/or the vehicle identification code of the vehicle end in the vehicle number plate and/or the vehicle identification code which are pre-stored locally, and if the 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 inquired; and if the vehicle end is not found, directly returning a passing authority which does not allow reverse passing to the vehicle end.

After a vehicle end receives a passing authority, if the passing authority of the vehicle end is that reverse passing is allowed, the vehicle end passes through the one-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 one-way road in the reverse direction, and other roads are automatically selected to pass by in a bypassing way.

Example 7

On the basis of the above embodiment, the one-way preferential passage method based on V2X provided in the embodiment of the present invention further includes the following steps:

and if the passing authority of the vehicle end is that reverse passing is allowed, the cloud server further sends the vehicle end related information of the vehicle end to a road side end corresponding to the one-way road so that the road side end can reflect the vehicle end related information.

Specifically, the road side end controls at least one of a traffic signal controller, a priority information display board, a marking line projection module, an intelligent spike and a voice prompt 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 detouring.

Preferably, if the right of the vehicle end to pass is to allow reverse passing, the cloud server further includes, before sending the vehicle end related information of the vehicle end to the roadside end corresponding to the one-way road:

the cloud server carries out digital signature on the vehicle-end related information by adopting a private key of the cloud server to generate a vehicle-end related information digital signature;

correspondingly, the cloud server returns the vehicle-end related information and the vehicle-end related information digital signature to the road side end corresponding to the one-way road; correspondingly, after the roadside side receives the vehicle side related information and the vehicle side related information digital signature, the public key of the cloud server (namely the public key in the public key certificate) is adopted to check the vehicle side related information digital signature, and if the check fails, a request for regenerating and sending the vehicle side related information and the vehicle side related information digital signature is sent to the cloud server; and if the signature verification is successful, the roadside end reflects the vehicle end related information.

Example 8

On the basis of the above embodiments, the V2X-based one-way preferential passage method according to the embodiments of the present invention is suitable for a situation where a plurality of train ends exist.

When a plurality of vehicle ends exist, the priority passing request information comprises vehicle end related information and one-way road information needing priority passing, and also comprises the following steps: geographical position information of a vehicle end and time information for acquiring the geographical position information;

correspondingly, when a plurality of vehicle terminals send priority passing request information which requires reverse priority passing on the one-way road to the cloud server, the cloud server executes the following operations:

firstly, queuing priority traffic request information of a plurality of vehicle ends according to geographical position information of each vehicle end and time information for collecting the geographical position information; the closer the geographical position of the vehicle end is to a one-way road needing preferential passage, the closer the queuing is; the earlier the time for collecting the geographic position information is, the earlier the queuing is;

as an implementation mode, queuing is carried out according to the distance between the geographic position of each vehicle end and the geographic position of the one-way road, and the distance is arranged in front; if the distances are the same, queuing is performed according to the time of sending the request information in each vehicle end, and the time is arranged in front earlier.

And then, sequentially obtaining the passing permission of each vehicle end on the one-way road according to the sequence of queuing and the priority of the respective priority passing request information.

Example 9

In order to improve the communication safety and reliability of the whole method, in the V2X-based one-way priority passing method provided by the embodiment of the invention, the priority passing request information further comprises digital signature information, and the digital signature information is obtained by digitally signing the vehicle-end related information and the one-way information needing to pass by using a private key of the vehicle end;

correspondingly, after receiving the prior passing request information, the cloud server firstly adopts the public key of the vehicle end to check the signature of the digital signature information, and if the signature check fails, the cloud server directly returns a passing authority which does not allow reverse passing to the vehicle end.

Specifically, before the cloud server compares the vehicle-end related information (such as a vehicle number plate and/or a vehicle identification code) contained in the priority passage request information with vehicle-end related information (such as a vehicle number plate and/or a vehicle identification code) preset and stored in the cloud storage module, the cloud server checks the vehicle-end related information and the digital signature information of the geographic position information of the one-way lane by using a public key in a public key certificate of a vehicle end; and if the verification fails, directly returning the passing authority which does not allow reverse passing to the vehicle end.

Preferably, before the cloud server returns the right of passage of the vehicle end to the vehicle end, the method further includes: the cloud server adopts a private key of the cloud server to digitally sign the passing authority of the vehicle end to generate a passing authority digital signature;

correspondingly, the cloud server returns the passing authority of the vehicle end and the digital signature of the passing authority to the vehicle end together; correspondingly, after receiving the digital signature of the passage authority and the digital signature of the passage authority, the vehicle end adopts a public key (namely a public key in a public key certificate) of the cloud server to check the digital signature of the passage authority, and if the check fails, a request for regenerating and sending the digital signature of the passage authority and the passage authority is sent to the cloud server; and if the signature verification is successful, the vehicle end executes corresponding operation according to the passing authority.

Preferably, if the right of the vehicle end to pass is to allow reverse passing, the cloud server further includes, before sending the vehicle end related information of the vehicle end to the roadside end corresponding to the one-way road: the cloud server carries out digital signature on the vehicle-end related information by adopting a private key of the cloud server to generate a vehicle-end related information digital signature;

correspondingly, the cloud server returns the vehicle-end related information and the vehicle-end related information digital signature to the road side end corresponding to the one-way road; correspondingly, after receiving the vehicle-end related information and the vehicle-end related information digital signature, the road side end adopts a public key of the cloud server to check the vehicle-end related information digital signature, and if the check fails, a request for regenerating and sending the vehicle-end related information and the vehicle-end related information digital signature is sent to the cloud server; and if the check label is successful, the road side end reflects the vehicle side related information.

In each of the above embodiments, preferably, when the vehicle end, the cloud server, and the road end send information to each other, a timestamp and a random number may be added, and corresponding verification is performed on the receiver, so as to prevent information from being attacked by replay.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A V2X-based one-way preferential passage system, comprising: the system comprises a cloud server and at least one vehicle end;

the vehicle end is used for sending priority passing request information to the cloud server, wherein the priority passing request information comprises vehicle end related information and one-way road information needing priority passing; and after receiving the passing authority, if the passing authority of the vehicle end is allowed to pass in a reverse direction, the vehicle end passes in a reverse direction on the one-way road 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 one-way road in the reverse direction, and other roads are automatically selected to pass by in a bypassing way;

and the cloud server is used for acquiring the passing permission of the vehicle end on the one-way road according to the priority passing request information of the vehicle end and returning the passing permission of the vehicle end to the vehicle end.

2. The V2X-based one-way preferential passage system according to claim 1, further comprising at least one roadside end;

correspondingly, the cloud server is further configured to send the vehicle end related information of the vehicle end to the road side end corresponding to the one-way road when the passing authority of the vehicle end is to allow reverse passing;

and the road side end is used for reflecting the vehicle side related information.

3. The V2X-based one-way priority passing system according to claim 1, wherein the cloud server comprises a cloud storage module and a cloud security module;

the cloud storage module is used for prestoring vehicle-end related information and the passing permission corresponding to the vehicle-end related information so as to be inquired by the cloud server;

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

4. The V2X-based one-way road priority passing system according to claim 2, wherein the roadside end comprises at least one of a priority information display board, a voice prompt module, a reticle projection module and an intelligent spike, and a roadside end safety module;

the priority information display board is used for displaying the vehicle end related information of the vehicle end;

the voice prompt module is used for broadcasting the vehicle end related information of the vehicle end;

the marking projection module is used for projecting reverse traffic information in a road surface area of a one-way road where the vehicle end needs to pass in a reverse priority mode;

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 reverse preferential traffic;

the roadside end safety module is used for storing a roadside end number, geographical position information of a roadside end corresponding to the roadside end number and geographical position information of a one-way road corresponding to the roadside end.

5. A priority passing method of a single-way road based on V2X is characterized by comprising the following steps:

the vehicle end sends priority passing request information to a cloud server; the priority passing request information comprises vehicle end related information and one-way road information needing priority passing; the vehicle end related information comprises a vehicle number plate and/or a vehicle identification code;

the cloud server obtains 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; 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 searches the vehicle number plate and/or the vehicle identification code of the vehicle end in the vehicle number plate and/or the vehicle identification code which are pre-stored locally, and if the 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 inquired; if the vehicle end is not found, directly returning a passing authority which does not allow reverse passing to the vehicle end;

after a vehicle end receives a passing authority, if the passing authority of the vehicle end is that reverse passing is allowed, the vehicle end passes through the one-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 one-way road in the reverse direction, and other roads are automatically selected to pass by in a bypassing way.

6. The V2X-based one-way preferential passage method according to claim 5, further comprising:

and if the passing authority of the vehicle end is that reverse passing is allowed, the cloud server further sends the vehicle end related information of the vehicle end to a road side end corresponding to the one-way road so that the road side end can reflect the vehicle end related information.

7. The V2X-based one-way road priority passing method according to claim 6, wherein when a plurality of vehicle ends exist, the priority passing request information further comprises: geographical position information of a vehicle end and time information for acquiring the geographical position information;

correspondingly, the method further comprises:

the cloud server queues the priority traffic request information of the plurality of vehicle ends according to the geographic position information of each vehicle end and the time information for collecting the geographic position information; the closer the geographical position of the vehicle end is to a one-way road needing preferential passage, the closer the queuing is; the earlier the time for collecting the geographic position information is, the earlier the queuing is; and then the cloud server sequentially obtains the passing permission of each vehicle end on the one-way road according to the sequence of queuing and the priority of the respective prior passing request information.

8. The V2X-based one-way road priority passing method according to claim 5, wherein the priority passing request information further comprises digital signature information, and the digital signature information is obtained by a vehicle end by digitally signing the vehicle end related information and the one-way road information needing to pass by using a private key of the vehicle end;

correspondingly, before the cloud server obtains the passing permission of the vehicle end on the one-way road according to the priority passing request information, the method further comprises the following steps:

and the cloud server adopts the public key of the vehicle end to check the signature of the digital signature information, and if the signature check fails, the public key directly returns a passing authority which does not allow reverse passing to the vehicle end.

9. The V2X-based one-way road priority passage method according to claim 5, wherein before the cloud server returns the passage right of the vehicle end to the vehicle end, the method further comprises:

the cloud server adopts a private key of the cloud server to carry out digital signature on the passing authority of the vehicle end to generate a digital signature of the passing authority;

correspondingly, the cloud server returns the passing authority of the vehicle end and the digital signature of the passing authority to the vehicle end together;

correspondingly, after receiving the pass right and the pass right digital signature, the vehicle end adopts the public key of the cloud server to check the pass right digital signature, and if the check fails, the vehicle end sends a request for regenerating and sending the pass right and the pass right digital signature to the cloud server; if the check sign is successful, the vehicle end executes corresponding operation according to the passing authority.

10. The V2X-based one-way preferential passage method according to claim 6, wherein if the passage right of the vehicle end is to allow reverse passage, the cloud server further includes, before sending the vehicle end related information of the vehicle end to the roadside end corresponding to the one-way passage:

the cloud server carries out digital signature on the vehicle-end related information by adopting a private key of the cloud server to generate a vehicle-end related information digital signature;

correspondingly, the cloud server returns the vehicle-end related information and the vehicle-end related information digital signature to the road side end corresponding to the one-way road;

correspondingly, after receiving the vehicle-end related information and the vehicle-end related information digital signature, the roadside side checks the vehicle-end related information digital signature by using the public key of the cloud server, and if the check fails, 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 reflects the vehicle end related information.

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