CN115988460A - V2I-based one-way road priority passing system and method - Google Patents
V2I-based one-way road priority passing system and method Download PDFInfo
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Abstract
The invention provides a V2I-based one-way road priority passing system and a V2I-based one-way road priority passing method. The system comprises: the vehicle end is used for continuously sending the geographic position information of the vehicle end to the cloud server in real time; after the passing authority is received, if the reverse passing is allowed, the vehicle end passes through the single-way road in the reverse direction under the condition of ensuring the safety; the road side end is used for shooting the image of the vehicle number plate of the vehicle end after the vehicle end enters a shooting range, and then sending the image and the road side end number to the cloud server; the cloud server is used for identifying the image of the vehicle license plate and extracting the information of the vehicle license plate; searching the geographic position information of the one-way road corresponding to the roadside end according to the roadside end number, and further acquiring the passing authority of the vehicle end on the one-way road; if the reverse traffic is not allowed, the cloud server directly sends the traffic permission not allowed to be reversely passed to the vehicle end and the road side end; if the reverse passing is allowed, the cloud server sends the passing permission allowing the reverse passing to the vehicle end.
Description
Technical Field
The invention relates to the technical field of car networking, in particular to a V2I-based one-way road priority passing system and a V2I-based one-way road priority passing 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 problem of 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 according to the laws and regulations of the road traffic safety law of the people's republic of China and the like under the condition of ensuring the safety, the special vehicle for executing the task does not have a good communication and coordination mechanism among the current vehicles, roads, 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 easily to 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 vehicles on a one-way road in need under the background of great development of the current vehicle networking technology, the invention provides a V2I-based one-way road priority passing system and a V2I-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 vehicle networking technology.
On one hand, the one-way road priority traffic system based on V2I is characterized by comprising: the system comprises a cloud server, at least one road side end and at least one vehicle end;
the vehicle end is used for continuously sending the geographic position information of the vehicle end to the cloud server in real time so that the cloud server can master the running track of the vehicle end conveniently; 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 the reverse direction, and other roads are automatically selected to pass by in a bypassing way;
the roadside end is used for shooting the image of the vehicle number plate of the vehicle end after the vehicle end enters a shooting range, and then sending the image of the vehicle number plate and the roadside end number to the cloud server; after the passing authority is received, if the passing authority of the vehicle end is not allowed to pass reversely, the reverse passing requirement of the vehicle end is ignored; the road side end comprises a road side end safety module; the road side end safety module is used for storing road side end numbers, geographical position information of road side ends corresponding to the road side end numbers and geographical position information of one-way roads corresponding to the road side ends;
the cloud server is used for identifying the image of the vehicle license plate and extracting the information of the vehicle license plate; searching the geographic position information of the one-way road corresponding to the roadside end according to the roadside end number, and further obtaining the passing authority of the vehicle end on the one-way road according to the geographic position information of the one-way road and the vehicle license plate information; if the passing authority of the vehicle end does not allow reverse passing, the cloud server directly sends the passing authority which does not allow reverse passing to the vehicle end and the road side end; if the passing permission of the vehicle end is that reverse passing is allowed, the cloud server calculates the distance between the geographic position of the vehicle end and the geographic position of the one-way road, and when the distance reaches or is lower than a given threshold value, the cloud server sends the passing permission allowing the reverse passing to the vehicle end.
Further, the vehicle end is also used for sending vehicle end related information to the cloud server;
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 also used for reflecting the vehicle side related information.
Further, the cloud server comprises a cloud storage module and a cloud security module; the vehicle end comprises a vehicle end safety module;
the cloud storage module is used for prestoring a road side end number, geographical position information of a road side end corresponding to the road side end number, geographical position information of a single-way road corresponding to the road side end, a vehicle number plate and/or a vehicle identification code, and a passing authority corresponding to the vehicle number plate and/or the vehicle identification code, so as to be inquired by the cloud server;
the cloud end safety module, the vehicle end safety module and the road side end safety module are respectively used for providing a password service function and a safety storage function for respective terminals.
Furthermore, the roadside end comprises at least one of a priority information display board, a voice prompt module, a marking line projection module and an intelligent spike; the roadside end camera module is arranged on the road side;
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 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.
On the other hand, the invention provides a V2I-based one-way road priority passing method, which comprises the following steps:
the vehicle end is in wireless communication connection with a cloud server, and then the geographic position information of the vehicle end is continuously sent to the cloud server in real time, so that the cloud server can master the driving track of the vehicle end;
after the vehicle end enters a shooting range, the roadside end shoots an image of the vehicle number plate of the vehicle end, and then the image of the vehicle number plate and the roadside end number are sent to a cloud server;
the cloud server identifies the image of the vehicle number plate and extracts the information of the vehicle number plate; searching the geographical position information of the one-way road corresponding to the roadside end according to the roadside end number, and further obtaining the passing authority of the vehicle end on the one-way road according to the geographical position information of the one-way road and the vehicle license plate information;
if the passing authority of the vehicle end does not allow reverse passing, the cloud server sends the passing authority which does not allow reverse passing to the vehicle end and the road side end, and the vehicle end cannot pass in the reverse direction on the one-way road after receiving the passing authority and automatically selects other roads to bypass to pass; after the road side end receives the passing authority, the reverse passing requirement of the vehicle end is ignored;
if the passing authority of the vehicle end is allowed to pass in a reverse direction, the cloud server calculates the distance between the geographic position of the vehicle end and the geographic position of the one-way road, when the distance reaches or is lower than a given threshold value, the cloud server sends the passing authority allowed to pass in the reverse direction to the vehicle end, and the vehicle end passes in the reverse direction on the one-way road under the condition of ensuring safety after receiving the passing authority;
when a plurality of vehicle ends exist, the vehicle ends send geographic position information of the vehicle ends to the cloud server and also send time information of the vehicle ends when the geographic position information of the vehicle ends is collected;
correspondingly, when a plurality of vehicle ends need to pass through the one-way road in a reverse priority mode, the method further comprises the following steps:
the cloud server queues a 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.
Further, still include: after the vehicle end is in wireless communication connection with the cloud server, the vehicle end related information is sent to the cloud server;
correspondingly, if the passing authority of the vehicle end is to allow reverse passing, the cloud server further sends the vehicle end related information of the vehicle end to the road side end corresponding to the one-way road so that the road side end can reflect the vehicle end related information.
Further, still include: the vehicle end carries out digital signature on the vehicle end related information by using a private key of the vehicle end to generate a vehicle end related information digital signature;
correspondingly, the vehicle end sends the vehicle end related information and the vehicle end related information digital signature to the cloud server together;
correspondingly, after receiving the vehicle-end related information and the vehicle-end related information digital signature, the cloud server adopts a public key of the vehicle end to verify the vehicle-end related information digital signature; and if the signature verification fails, directly returning a passing authority which does not allow reverse passing to the vehicle end.
Further, the roadside end sends the image of the vehicle number plate and the roadside end number to the cloud server and also sends digital signature information; the digital signature information is obtained by digitally signing the image of the vehicle license plate and the road side end number by using a private key of the road side end;
correspondingly, after receiving the image of the vehicle license plate, the road side end number and the digital signature information, the cloud server adopts a public key of a road side 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 road side end.
Further, before the cloud server returns the passing authority to the vehicle end and/or the road side end, the method further comprises the following steps: the cloud server adopts a private key of the cloud server to digitally sign the passage authority to generate a passage authority digital signature;
correspondingly, the cloud server returns the passage authority and the passage authority digital signature to the vehicle side and/or the road side together;
correspondingly, after receiving the passage authority and the passage authority digital signature, the vehicle end and/or the road side end checks the passage authority digital signature by using a public key of the cloud server, and if the check fails, the vehicle end and/or the road side end sends a request for regenerating and sending the passage authority and the passage authority digital signature to the cloud server; and if the signature verification is successful, the vehicle end and/or the road side end performs corresponding operation according to the passing authority.
Further, still include: 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;
correspondingly, the cloud server sends the vehicle-side related information and the vehicle-side related information digital signature to the roadside side together;
correspondingly, after receiving the vehicle-end related information and the vehicle-end related information digital signature, the road-side end firstly uses the public key of the cloud server to check the vehicle-end related information digital signature, and if the check fails, the road-side 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.
The invention has the beneficial effects that:
(1) By applying the internet of vehicles and the network technology, the number plate image of the vehicle end is obtained through information transmission between the vehicle end and the roadside end, and then the vehicle end which meets the requirement preferentially passes in the reverse direction on the one-way road through the information transmission between the cloud server and the roadside end;
(2) By applying the internet of vehicles and the network technology, when the vehicle end preferentially passes through the single-lane in the reverse direction, 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 the pedestrians so that the vehicle end can safely and smoothly achieve the preferential passage;
(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 an information sender and the authenticity and integrity of the sent information, prevent the information from being illegally tampered, and also can prevent the information from being replayed and attacked 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 V2I-based one-way preferential passage system according to an embodiment of the present invention;
fig. 2 is a second schematic structural diagram of a V2I-based one-way preferential passage system according to an embodiment of the present invention;
fig. 3 is a third schematic structural diagram of a V2I-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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1, an embodiment of the present invention provides a V2I-based one-way preferential passage system, including: the system comprises 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 vehicle end is used for continuously sending the geographic position information of the vehicle end to the cloud server in real time so that the cloud server can master the running track of the vehicle end conveniently; 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 the reverse direction, and other roads are automatically selected to pass by in a bypassing way;
the roadside end is used for shooting the image of the vehicle number plate of the vehicle end after the vehicle end enters a shooting range, and then sending the image of the vehicle number plate and the roadside end number to the cloud server; after the passing authority is received, if the passing authority of the vehicle end is not allowed to pass reversely, the reverse passing requirement of the vehicle end is ignored;
specifically, in practical applications, a road side end number may be set for each road side end, and the road side end number is used to uniquely identify the road side end.
As an implementation manner, the roadside end includes a roadside end camera module for collecting an image of the vehicle number plate. Preferably, the roadside end camera module comprises a first camera, a second camera, a vehicle number plate identification module, a light induction module and a light supplement module; the first camera is used for collecting video information when the vehicle end drives; the second camera is used for photographing the vehicle license plate to obtain a vehicle license plate image; the vehicle license plate identification module identifies the video information acquired by the first camera in real time, and if the video information of the vehicle license plate is identified in the video information, the second camera is called to take a special picture of the vehicle license plate 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 takes a picture.
The cloud server is used for identifying the image of the vehicle license plate and extracting the information of the vehicle license plate; searching the geographic position information of the one-way road corresponding to the roadside end according to the roadside end number, and further obtaining the passing authority of the vehicle end on the one-way road according to the geographic position information of the one-way road and the vehicle license plate information; if the passing permission of the vehicle end is that reverse passing is not allowed, the cloud server directly sends the passing permission that the reverse passing is not allowed to the vehicle end and the road side end; if the passing permission of the vehicle end is that reverse passing is allowed, the cloud server calculates the distance between the geographic position of the vehicle end and the geographic position of the one-way road, and when the distance reaches or is lower than a given threshold value, the cloud server sends the passing permission allowing the reverse passing 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, configured to pre-store a road side end number, geographical location information of a road side end corresponding to the road side end number, geographical location information of a one-way road corresponding to the road side end, a vehicle number plate and/or a vehicle identification code, and a passage right corresponding to the vehicle number plate and/or the vehicle identification code, so as to be queried by the cloud server.
Example 2
On the basis of the foregoing embodiment 1, as shown in fig. 2, in the one-way priority passing system based on V2I provided in the embodiment of the present invention, the vehicle end is further configured to send vehicle end related information to the cloud server; 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 also used for reflecting the vehicle side related information.
In the embodiment of the invention, the purpose of reflecting the vehicle end related information by using the road side end is as follows: 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 vehicles are meant vehicles other than the end of the vehicle that needs to be driven in reverse to pass preferentially through 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 line 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 vehicle-end related information may then be projected next to the retrograde direction indicator marking. 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.
The vehicle end related information can comprise a vehicle number plate and/or a vehicle identification code of the vehicle end, and in addition, the vehicle end related information can also comprise the passing direction of the vehicle end and/or the geographical 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 hung at the front and the back of the vehicle, and is usually made of aluminum, iron sheet, plastic or paper, and the registration number, the registration area or other relevant information of the vehicle is engraved on the plate material. The vehicle number plate comprises one or more of a large-scale vehicle number plate, a small-scale vehicle number plate, a Shiyang vehicle number plate, a Lianqi vehicle number plate, a Hongkong-Macao-entry-exit vehicle number plate, a coach vehicle number plate, a police vehicle number plate and a temporary driving vehicle number plate. 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.
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 starting point and/or an ending point of the one-way road. The geographic location information includes, but is not limited to, geographic coordinates. In this way, the cloud server presets and maintains 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.
Example 3
On the basis of the above embodiments, in the one-way road priority passing system based on V2I provided in the embodiments of the present invention, 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 position of a crosswalk 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 the internet of vehicles provided by 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 querying; 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 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.
Further, the cloud server also 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 the 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 V2I provided in the embodiments of the present invention, the one-way lane is further defined, specifically: the single-way lane at least comprises two lanes, and the leftmost lane of the single-way lane in the original passing direction 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 other lanes continuously and pass in the original direction.
In one embodiment described above, when the traffic signal light further includes a traffic light for indicating reverse priority traffic, the leftmost lane corresponds to a traffic light for indicating reverse priority traffic, and the other lanes correspond to traffic lights for indicating social vehicles and pedestrians, and when no vehicle end requiring reverse priority traffic needs to pass in reverse traffic, the traffic signal sequence of the traffic lights and the adjustment timing are consistent with those of the traffic lights for indicating social vehicles and pedestrians; 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 representing 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 preferential passage needs to pass through 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 V2I, an embodiment of the present invention provides a one-way road priority passing method based on V2I, including the following steps:
the vehicle end is in wireless communication connection with a cloud server, and then the geographic position information of the vehicle end is continuously sent to the cloud server in real time, so that the cloud server can master the driving track of the vehicle end;
when a vehicle end enters a shooting range, a road side end shoots an image of a vehicle number plate of the vehicle end, and then the image of the vehicle number plate and a road side end number are sent to a cloud server;
the cloud server identifies the image of the vehicle number plate and extracts the information of the vehicle number plate; searching the geographical position information of the one-way road corresponding to the roadside end according to the roadside end number, and further obtaining the passing authority of the vehicle end on the one-way road according to the geographical position information of the one-way road and the vehicle license plate information;
if the passing authority of the vehicle end is that reverse passing is not allowed, the cloud server sends the passing authority that the reverse passing is not allowed to the vehicle end and the road side end, and the vehicle end cannot pass through the one-way road in the reverse direction after receiving the passing authority, and automatically selects other roads to pass by; after the road side end receives the passing authority, the reverse passing requirement of the vehicle end is ignored;
if the passing authority of the vehicle end is that reverse passing is allowed, the cloud server calculates the distance between the geographic position of the vehicle end and the geographic position of the one-way road, when the distance reaches or is lower than a given threshold value, the cloud server sends the passing authority allowing the reverse passing to the vehicle end, and the vehicle end receives the passing authority and then passes through the one-way road in a reverse way under the condition of ensuring safety.
Specifically, after the vehicle end is in wireless communication connection with the cloud server, the vehicle end is real-time and continuously sends the geographic position information of the vehicle end to the cloud server, so that when the distance is not reached to or higher than the threshold value, the cloud server can continuously receive the geographic position information of the vehicle end in real time, then calculates the distance between the geographic position of the vehicle end and the geographic position of the one-way road in real time, stops collecting and calculating until the distance is reached to or lower than the threshold value, and then sends the passing permission to the vehicle end. 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; as an example, the threshold may be 200 meters, 100 meters, 50 meters, or other distances.
As an implementation manner, the cloud server obtains the passing permission of the vehicle end on the one-way road according to the geographic position information of the one-way road and the vehicle number plate information, and specifically includes: the cloud server searches the vehicle number plate of the vehicle end in vehicle number plates prestored locally, and if the vehicle number plate is found, the passing permission of the vehicle end corresponding to the vehicle number plate on the one-way road is searched; and if the vehicle end and the road side end are not found, directly returning the passing permission which does not allow reverse passing to the vehicle end and the road side end.
Example 7
On the basis of the above embodiment, the one-way road priority passing method based on V2I provided in the embodiment of the present invention further includes the following steps:
after the vehicle end is in wireless communication connection with the cloud server, the vehicle end related information is sent to the cloud server;
correspondingly, if the passing authority of the vehicle end is to allow reverse passing, the cloud server further sends the vehicle end related information of the vehicle end to the road side end corresponding to the one-way road so that the road side end can reflect the vehicle end related information.
Specifically, the roadside 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, yielding and/or detouring.
Example 8
On the basis of the above embodiments, the V2I-based one-way preferential passage method provided in the embodiments of the present invention is suitable for an occasion where a plurality of vehicle ends exist.
When a plurality of vehicle ends exist, the vehicle ends send geographic position information of the vehicle ends to the cloud server and also send time information of the vehicle ends when the geographic position information of the vehicle ends is collected;
correspondingly, when a plurality of vehicle ends need to pass through the one-way road in a reverse priority mode, the cloud server executes the following operations:
firstly, queuing 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 geographic position of the vehicle end is to a one-way road needing priority passing, 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; and if the distances are the same, queuing according to the time information for acquiring the geographical position information sent by each vehicle end, wherein the time is arranged in front of the time earlier.
And then sequentially obtaining the passing authority of each vehicle end on the one-way road according to the sequence of queuing.
Example 9
In order to improve the communication safety and reliability of the whole method, the V2I-based one-way priority passing method provided in the embodiment of the present invention further includes: the vehicle end carries out digital signature on the vehicle end related information by using a private key of the vehicle end to generate a vehicle end related information digital signature; correspondingly, the vehicle end sends the vehicle end related information and the vehicle end related information digital signature to the cloud server together;
correspondingly, after receiving the vehicle-end related information and the vehicle-end related information digital signature, the cloud server adopts a public key of the vehicle end to verify the vehicle-end related information digital signature; and if the signature verification fails, directly returning a passing authority which does not allow reverse passing to the vehicle end.
Preferably, the roadside end sends the image of the vehicle number plate and the roadside end number to the cloud server and also sends digital signature information; the digital signature information is obtained by digitally signing the image of the vehicle license plate and the road side end number by using a private key of the road side end;
correspondingly, after receiving the image of the vehicle license plate, the road side end number and the digital signature information, the cloud server adopts a public key of a road side end to check the signature of the digital signature information, and if the signature check fails, the cloud server directly returns a passing permission which does not allow reverse passing to the road side end.
Preferably, before the cloud server returns the right of passage to the vehicle end and/or the roadside end, the method further includes: the cloud server adopts a private key of the cloud server to digitally sign the passage authority to generate a passage authority digital signature;
correspondingly, the cloud server returns the passage authority and the passage authority digital signature to the vehicle side and/or the road side together; correspondingly, after receiving the passage authority and the passage authority digital signature, the vehicle end and/or the road side end checks the passage authority digital signature by using a public key of the cloud server, and if the check fails, the vehicle end and/or the road side end sends a request for regenerating and sending the passage authority and the passage authority digital signature to the cloud server; and if the signature verification is successful, the vehicle end and/or the road side end performs corresponding operation according to the passing authority.
Preferably, the method further comprises the following steps: 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;
correspondingly, the cloud server sends the vehicle-side related information and the vehicle-side related information digital signature to the roadside side together; correspondingly, after receiving the vehicle-end related information and the vehicle-end related information digital signature, the roadside end firstly uses the public key of the cloud server to check and sign the vehicle-end related information digital signature, and if the sign checking fails, 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.
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. Single-lane priority traffic system based on V2I, characterized by including: the system comprises a cloud server, at least one road side end and at least one vehicle end;
the vehicle end is used for continuously sending the geographic position information of the vehicle end to the cloud server in real time so that the cloud server can master the running track of the vehicle end conveniently; 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 the reverse direction, and other roads are automatically selected to pass by in a bypassing way;
the roadside end is used for shooting the image of the vehicle number plate of the vehicle end after the vehicle end enters a shooting range, and then sending the image of the vehicle number plate and the roadside end number to the cloud server; after the passing authority is received, if the passing authority of the vehicle end is not allowed to pass reversely, the reverse passing requirement of the vehicle end is ignored; the road side end comprises a road side end safety module; the road side end safety module is used for storing road side end numbers, geographical position information of road side ends corresponding to the road side end numbers and geographical position information of one-way roads corresponding to the road side ends;
the cloud server is used for identifying the image of the vehicle license plate and extracting the information of the vehicle license plate; searching the geographic position information of the one-way road corresponding to the roadside end according to the roadside end number, and further obtaining the passing authority of the vehicle end on the one-way road according to the geographic position information of the one-way road and the vehicle license plate information; if the passing permission of the vehicle end is that reverse passing is not allowed, the cloud server directly sends the passing permission that the reverse passing is not allowed to the vehicle end and the road side end; if the passing permission of the vehicle end is that reverse passing is allowed, the cloud server calculates the distance between the geographic position of the vehicle end and the geographic position of the one-way road, and when the distance reaches or is lower than a given threshold value, the cloud server sends the passing permission allowing the reverse passing to the vehicle end.
2. The V2I-based one-way priority passing system according to claim 1, wherein the vehicle end is further configured to send vehicle end related information to a cloud server;
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 also used for reflecting the vehicle side related information.
3. The V2I-based one-way preferential passage system according to claim 1, wherein the cloud server comprises a cloud storage module and a cloud security module; the vehicle end comprises a vehicle end safety module;
the cloud storage module is used for prestoring a road side end number, geographical position information of a road side end corresponding to the road side end number, geographical position information of a single-way road corresponding to the road side end, a vehicle number plate and/or a vehicle identification code, and a passing authority corresponding to the vehicle number plate and/or the vehicle identification code, so as to be inquired by the cloud server;
the cloud end safety module, the vehicle end safety module and the road end safety module are respectively used for providing a password service function and a safety storage function for respective ends.
4. The V2I-based one-way priority traffic system of claim 1, wherein the roadside end comprises at least one of a priority information display board, a voice prompt module, a reticle projection module, and intelligent spikes; the roadside end camera 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 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 pass in the reverse preferential traffic direction.
5. The V2I-based one-way road priority passing method is characterized by comprising the following steps:
the vehicle end is in wireless communication connection with a cloud server, and then the geographic position information of the vehicle end is continuously sent to the cloud server in real time, so that the cloud server can master the driving track of the vehicle end;
after the vehicle end enters a shooting range, the roadside end shoots an image of the vehicle number plate of the vehicle end, and then the image of the vehicle number plate and the roadside end number are sent to a cloud server;
the cloud server identifies the image of the vehicle number plate and extracts the information of the vehicle number plate; searching the geographic position information of the one-way road corresponding to the roadside end according to the roadside end number, and further obtaining the passing authority of the vehicle end on the one-way road according to the geographic position information of the one-way road and the vehicle license plate information;
if the passing authority of the vehicle end is that reverse passing is not allowed, the cloud server sends the passing authority that the reverse passing is not allowed to the vehicle end and the road side end, and the vehicle end cannot pass through the one-way road in the reverse direction after receiving the passing authority, and automatically selects other roads to pass by; after the road side end receives the passing authority, the reverse passing requirement of the vehicle end is ignored;
if the passing authority of the vehicle end is allowed to pass in a reverse direction, the cloud server calculates the distance between the geographic position of the vehicle end and the geographic position of the one-way road, when the distance reaches or is lower than a given threshold value, the cloud server sends the passing authority allowed to pass in the reverse direction to the vehicle end, and the vehicle end passes in the reverse direction on the one-way road under the condition of ensuring safety after receiving the passing authority;
when a plurality of vehicle ends exist, the vehicle ends send geographic position information of the vehicle ends to the cloud server and also send time information of the vehicle ends when the geographic position information of the vehicle ends is collected;
correspondingly, when a plurality of vehicle ends need to pass through the one-way road in a reverse priority mode, the method further comprises the following steps:
the cloud server queues a plurality of vehicle ends according to the geographic position information of each vehicle end and the time information for acquiring 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.
6. The V2I-based one-way preferential passage method according to claim 5, further comprising: after the vehicle end is in wireless communication connection with the cloud server, the vehicle end related information is sent to the cloud server;
correspondingly, if the passing authority of the vehicle end is to allow reverse passing, the cloud server further sends the vehicle end related information of the vehicle end to the road side end corresponding to the one-way road so that the road side end can reflect the vehicle end related information.
7. The V2I-based one-way preferential passage method according to claim 6, further comprising: the vehicle end carries out digital signature on the vehicle end related information by using a private key of the vehicle end to generate a vehicle end related information digital signature;
correspondingly, the vehicle end sends the vehicle end related information and the vehicle end related information digital signature to the cloud server together;
correspondingly, after receiving the vehicle-end related information and the vehicle-end related information digital signature, the cloud server adopts a public key of the vehicle end to verify the vehicle-end related information digital signature; and if the signature checking fails, directly returning a passing authority which does not allow reverse passing to the vehicle end.
8. The V2I-based one-way road priority passage method according to claim 5, wherein the roadside end sends the image of the vehicle number plate and the roadside end number to the cloud server and simultaneously sends digital signature information; the digital signature information is obtained by digitally signing the image of the vehicle license plate and the road side end number by using a private key of the road side end;
correspondingly, after receiving the image of the vehicle license plate, the road side end number and the digital signature information, the cloud server adopts a public key of a road side end to check the signature of the digital signature information, and if the signature check fails, the cloud server directly returns a passing permission which does not allow reverse passing to the road side end.
9. The V2I-based one-way road priority passage method according to claim 5, wherein before the cloud server returns the passage authority to the vehicle end and/or the roadside end, the method further comprises:
the cloud server adopts a private key of the cloud server to digitally sign the passage authority to generate a passage authority digital signature;
correspondingly, the cloud server returns the passage authority and the passage authority digital signature to the vehicle side and/or the road side together;
correspondingly, after receiving the passage authority and the passage authority digital signature, the vehicle end and/or the road side end checks the passage authority digital signature by using a public key of the cloud server, and if the check fails, the vehicle end and/or the road side end sends a request for regenerating and sending the passage authority and the passage authority digital signature to the cloud server; and if the signature verification is successful, the vehicle end and/or the road side end performs corresponding operation according to the passing authority.
10. The V2I-based one-way preferential passage method according to claim 6, further comprising: 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;
correspondingly, the cloud server sends the vehicle-side related information and the vehicle-side related information digital signature to the roadside side together;
correspondingly, after receiving the vehicle-end related information and the vehicle-end related information digital signature, the roadside end firstly uses the public key of the cloud server to check and sign the vehicle-end related information digital signature, and if the sign checking fails, 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.
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