CN116153116A

CN116153116A - V2I-based priority passing system and method

Info

Publication number: CN116153116A
Application number: CN202211478998.7A
Authority: CN
Inventors: 李鑫; 刘长河; 廖正赟; 李平; 王佳; 周小欠
Original assignee: Zhengzhou Xinda Jiean Information Technology Co Ltd
Current assignee: Zhengzhou Xinda Jiean Information Technology Co Ltd
Priority date: 2022-11-23
Filing date: 2022-11-23
Publication date: 2023-05-23

Abstract

The invention discloses a V2I-based priority passing system and a V2I-based priority passing method, wherein the system comprises a cloud server, a road side end and a vehicle end; the cloud server is used for storing and/or verifying the passing authority of the vehicle end based on the vehicle end related information; the distance between the geographic position of the vehicle end and the geographic position of the ending point of the single-way road is calculated; identifying the image of the vehicle number plate, identifying and extracting the vehicle number plate information from the image, and sending the vehicle number plate information to the road side end; the vehicle end is used for sending vehicle end related information to the cloud server, then sending geographic position information of the vehicle end to the cloud server in real time and continuously, and when receiving the information allowing reverse traffic sent by the cloud server, allowing the vehicle end to pass through in a reverse way on a single way; the road side end comprises a road side end digital watermark identification module, a road side end camera module, a traffic signal controller, a priority information display board and a marking projection module. The invention ensures that the V2I-based one-way road reverse priority traffic is safe and reliable.

Description

V2I-based priority passing system and method

Technical Field

The invention relates to the technical field of vehicle priority passing and internet of vehicles, in particular to a V2I-based priority passing system and method.

Background

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

Something will always have its disadvantages while being beneficial. For example, if the destination to be reached is opposite to the direction in which the one-way road is allowed to travel, the vehicle may need to detour further roads, which may cause some inconvenience to the vehicle. For common social vehicles, more time and energy consumption costs are acceptable, but actions of special vehicles (such as ambulances, fire-fighting vehicles, police vehicles, engineering emergency vehicles and the like) which are necessary for carrying out tasks in the minute and the second can have a certain influence. Although the special vehicle for executing the task can not be limited by the running speed, the running route, the running direction and the command lamp signals according to the related laws and regulations, the special vehicle for executing the task can go backward on a single-way road under the condition of ensuring safety, and the special vehicle for executing the task can easily cause traffic jam and/or accidents when going backward on the single-way road due to no good communication and coordination mechanism between the current vehicle and traffic participants such as roads, other vehicles and pedestrians.

Under the background of the great development of the current Internet of vehicles technology, the problem of realizing the safe and rapid retrograde movement of special vehicles for executing tasks on a single-way road by combining with the digital watermarking technology is urgently needed to be solved.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a V2I-based priority passing system and a V2I-based priority passing method, which are safe, reliable, simple and efficient in performing V2I-based priority passing on a single-way road by applying a digital watermarking technology to a vehicle license plate and combining a digital public key certificate authentication technology and a vehicle networking technology.

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

the invention provides a V2I-based priority traffic system, which 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 cloud server is used for storing and/or verifying the traffic rights of the vehicle end, wherein the traffic rights comprise permission for reverse traffic and non-permission for reverse traffic; when the vehicle end is a special vehicle which needs to go backwards in a one-way road due to task execution, the corresponding passing authority is to allow reverse passing; when the vehicle end is not a special vehicle which needs to travel in a reverse way in a one-way road due to task execution, the corresponding passing authority is not allowed to pass in the reverse way; the method is also used for calculating the distance between the geographic position of the vehicle end and the geographic position of the ending point of the one-way road; identifying the image of the vehicle number plate, identifying and extracting the vehicle number plate information from the image, and sending the vehicle number plate information to the road side end;

The vehicle end is used for sending vehicle end related information to the cloud server, then sending geographic position information of the vehicle end to the cloud server in real time and continuously, and when receiving information which is sent by the cloud server and allows reverse traffic, allowing the vehicle to pass through in a one-way street in a reverse way, or not allowing the vehicle to pass through in a reverse way in the one-way street; the vehicle end related information comprises a vehicle number plate, a vehicle identification code, a traffic direction of the vehicle end and/or geographic position information of the vehicle end;

the road side end comprises a road side end digital watermark identification module, a road side end camera module, a traffic signal controller, a priority information display board and a marking projection module;

the road side digital watermark identification module is used for identifying and/or extracting digital watermarks embedded in the vehicle license plates;

the road side end camera module is used for collecting images of the vehicle license plate;

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

the priority information display board is used for displaying vehicle-end related information which needs to pass through reversely and preferentially on a single-way road, and the vehicle-end related information comprises the running direction and speed of the vehicle end and the distance from the current priority information display board;

The marking projection module is used for projecting reverse traffic information to a pavement area of a single-way road requiring reverse preferential traffic at the vehicle end, and the reverse traffic information comprises reverse direction indication marking and vehicle end related information opposite to the traffic direction of the original single-way road.

Further, the vehicle end comprises a vehicle end safety module, a vehicle number plate and a vehicle end positioning module;

the vehicle-end safety module is used for providing a password service function and a safety storage function for the vehicle-end, wherein the password service function comprises the steps of generating a random number, carrying out digital signature operation, carrying out digital signature verification operation, carrying out encryption and decryption operation, generating a session key, generating a digital abstract, carrying out digital certificate verification and carrying out digital certificate revocation list inquiry;

the vehicle license plate is divided into a common vehicle license plate and a safety vehicle license plate, wherein the safety vehicle license plate is generated by embedding digital watermarks in the common vehicle license plate;

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

Further, the road side end also comprises a road side end safety module, an intelligent spike and a voice prompt module;

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

The intelligent spike is used for indicating the direction of the reverse preferential traffic of the vehicle end on the pavement and/or roadside area of the one-way road requiring the reverse preferential traffic of the vehicle end according to the vehicle end related information;

the voice prompt module is used for broadcasting the vehicle-end related information of the vehicle end so as to facilitate social vehicles and pedestrians to know the current and the condition of the vehicle end to be driven in, wherein the social vehicles refer to other vehicles except the vehicle end which needs to travel back through a single-way road.

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

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

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

the cloud digital watermark generation module is used for generating a digital watermark and embedding the digital watermark into a common vehicle license plate image to form a safe vehicle license plate image;

the cloud storage module is used for presetting and storing vehicle numbers and/or vehicle identification codes of vehicle ends, traffic rights of the vehicle ends on the single-way road, road side end numbers, geographic position information of the road side ends, geographic position information of the single-way road corresponding to the road side ends, and corresponding relations between geographic position information of starting points and/or ending points of the single-way road and the geographic position information of the road side ends and the road side end numbers.

Further, the one-way road at least comprises two lanes, and the leftmost lane in the original traffic direction of the one-way road is set as a lane with a variable traffic direction; when no vehicle end needing reverse preferential traffic needs to pass through in a reverse way, the leftmost lane and other lanes keep the consistent traffic direction; when the vehicle end needing reverse preferential traffic needs to pass through in a reverse way, the leftmost lane is changed into a lane opposite to the original traffic direction, at the moment, the leftmost lane is changed into a special reverse lane of the vehicle end needing reverse preferential traffic, and social vehicles continue to pass through the other lanes in the original direction.

Another aspect of the present invention provides a V2I-based priority traffic method, including:

after the vehicle end is in wireless communication connection with the cloud server, the vehicle end sends vehicle end related information to the cloud server; then, the vehicle end sends geographic position information of the vehicle end to the cloud server in real time and continuously; the cloud server grasps the running track of the vehicle end according to the geographic position information of the vehicle end;

when the vehicle end enters the shooting range of the road side end shooting module at the road side end, the road side end shooting module shoots an image of a vehicle license plate at the vehicle end;

the road side end identifies and extracts vehicle number plate information from the image of the vehicle number plate, and then the road side end sends the vehicle number plate information and the road side end number to the cloud server;

the cloud server compares the vehicle license plate information with the vehicle license plates preset and stored in the cloud storage module, and if the relevant vehicle license plates are not found in the cloud storage module, the cloud server returns the passing permission which does not allow reverse passing to the vehicle end and the road side end; if the related vehicle license plate is found, the cloud server encrypts the digital watermark key by using the private key and sends the encrypted digital watermark key to the road side end; decrypting by the road side end with the public key of the cloud server to obtain a digital watermark key; then, the road side end uses the digital watermark key to identify the digital watermark contained in the vehicle license plate image acquired by the road side end camera module;

If the digital watermark identification fails, the road side end judges that the vehicle license plate corresponding to the vehicle license plate image is an illegal vehicle license plate, and then the road side end sends a digital watermark identification failure message to the cloud server; after receiving the digital watermark identification failure message, the cloud server returns a pass right which does not allow reverse pass to the vehicle end and the road side end;

if the digital watermark identification is successful, the road side end extracts the digital watermark information contained in the vehicle license plate image to obtain the number information of the vehicle license plate and the digital signature of the vehicle license plate; the road side end carries out signature verification on the digital signature of the vehicle number plate according to the number information of the vehicle number plate;

if the signature verification fails, the road side end judges that the vehicle number plate corresponding to the vehicle number plate image is an illegal vehicle number plate, and then the road side end sends a digital watermark signature verification failure message to the cloud server; after receiving the digital watermark signing failure verification message, the cloud server returns a passing authority which does not allow reverse passing to the vehicle end and the road side end;

if the signature verification is successful, the road side end judges that the vehicle license plate image is complete, is not tampered and is a legal safe vehicle license plate issued by the cloud server; then, the road side end sends a digital watermark signing verification success message to the cloud server; after receiving the digital watermark signing verification success message, the cloud server searches the passing authority of the vehicle end corresponding to the vehicle license plate in the one-way road;

If the traffic permission of the vehicle end is that the reverse traffic is not allowed, the cloud server sends the traffic permission which is not allowed to pass reversely to the vehicle end and the road side end;

after receiving the passing authority which does not allow the reverse passing, the vehicle end cannot pass through the one-way road in a reverse way;

if the traffic permission of the vehicle end is that the reverse traffic is allowed, the cloud server searches the geographic position information of the one-way road corresponding to the road side end according to the road side end number; then, calculating the distance between the geographic position of the vehicle end and the geographic position of the ending point of the single-way road;

when the distance reaches or is lower than a set threshold value, the cloud server sends the passing authority allowing reverse passing to the vehicle end, and the vehicle end passes through in a reverse way on a one-way road under the condition of ensuring safety; the cloud server also transmits the vehicle-end related information to the road side end corresponding to the one-way road, and then the road side end controls the traffic signal controller, the priority information display board and the marking projection module according to the vehicle-end related information so as to reflect the vehicle-end related information and prompt social vehicles and pedestrians to take avoidance measures;

when the distance is not up to or higher than a set threshold value, the vehicle end continuously collects the geographic position of the vehicle end in real time and sends the geographic position to the cloud server; and after receiving the geographic position information of the vehicle end, the cloud server calculates the distance between the geographic position of the vehicle end and the geographic position of the termination point of the one-way road in real time, and stops collecting and calculating until the distance reaches or is lower than a set threshold value.

Further, the vehicle end sends real-time geographic position information of the vehicle end to the cloud server and also sends time information of the vehicle end when the real-time geographic position information is acquired; when a plurality of vehicle ends need to pass through the one-way street reversely and preferentially, the cloud server queues the vehicle ends according to the distance between the geographic position of each vehicle end and the geographic position of the ending point of the one-way street and the time sequence in the time information, and then the cloud server determines the query sequence of the traffic rights of the vehicle ends in the one-way street according to the queuing sequence; the queuing of the vehicle ends is carried out according to the distance between the geographic position of each vehicle end and the geographic position of the ending point of the single-way road, and the row with the near distance is arranged in front; and if the distances are the same, queuing according to the time sequence in the time information, and queuing in front of the time sequence.

Further, the vehicle end sends the vehicle end related information to the cloud server and simultaneously sends digital signature information of the vehicle end related information by using a private key of the vehicle end;

after receiving the vehicle-end related information and the digital signature information of the vehicle-end related information, the cloud server carries out signature verification on the digital signature information of the vehicle-end related information by using a public key in a public key certificate of the vehicle-end; if the signature verification fails, the pass authority which does not allow reverse pass is directly returned to the vehicle end.

Further, the road side end sends the vehicle number plate information and the road side end number to the cloud server and simultaneously sends digital signature information of the road side end for the vehicle number plate information and the road side end number by using a private key of the road side end;

after receiving the vehicle number plate information, the road side end number, the digital signature information of the vehicle number plate information and the road side end number, the cloud server carries out signature verification on the digital signature information of the vehicle number plate information and the road side end number by using a public key in a public key certificate of the road side end; if the signature verification fails, the access permission which does not allow reverse access is directly returned to the road side end and the vehicle end.

Furthermore, when the vehicle end, the cloud server and the road side end mutually send information, a time stamp and a random number can be added, and corresponding verification is carried out on the receiver so as to prevent the information from being attacked by replay.

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

firstly, the cloud server, the road side end and the vehicle end verify 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 prevent the information from being replay attacked and ensure the safety of the information by applying the time stamp and the random number in the sent information.

Secondly, through the application of the internet of vehicles and network technology, the information safety transmission is realized, and meanwhile, the modules such as a traffic signal controller, a priority information display board, a marking projection module, an intelligent spike, a voice prompt module and the like can be realized on a single-way road, so that social vehicles and pedestrians can know the current and/or to-be-driven vehicle end condition, and the position, the direction and/or the avoidance of the vehicle end can be timely adjusted, so that the vehicle end can safely and smoothly realize priority traffic.

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

Fourth, the present invention embeds digital watermark information in an image of a vehicle license plate to thereby generate a secure vehicle license plate. The method can determine whether the image content of the safety vehicle license plate is complete and tampered or not through extraction and corresponding verification of the digital watermark, and can confirm whether the safety vehicle license plate is issued by the cloud server or not, so that the vehicle license plate needing to pass reversely and preferentially is specially checked, issued and manufactured and belongs to a special vehicle for executing tasks.

Drawings

FIG. 1 is a schematic diagram of a V2I-based single-way traffic priority system according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a digital watermark extraction process according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a safety vehicle license plate generation process according to an embodiment of the present invention.

Detailed Description

The invention is further illustrated by the following description of specific embodiments in conjunction with the accompanying drawings:

as shown in fig. 1, a V2I-based one-way traffic priority traffic system includes a cloud server, at least one road side end, and at least one vehicle end; the cloud server is in communication connection with the road side end; the cloud server is in wireless communication connection with the vehicle end.

The cloud server is used for storing and/or verifying the passing authority of the vehicle end; the traffic permission refers to that the vehicle end does not have the permission of retrograde traveling on the one-way road, wherein when the vehicle end specifically refers to a special vehicle which needs retrograde traveling on the one-way road due to task execution, the corresponding traffic permission is to allow retrograde traveling; when the vehicle end is not a special vehicle which needs to travel in a reverse way in a one-way road due to task execution, the corresponding passing authority is not allowed to pass in the reverse way; the cloud server is further used for calculating the distance between the geographic position of the vehicle end and the geographic position of the termination point of the one-way road; the cloud server is also used for identifying images of the vehicle license plates and identifying and extracting vehicle license plate information from the images.

After the cloud server is in wireless communication connection with the cloud server, the vehicle terminal immediately sends vehicle terminal related information to the cloud server; then, the vehicle end sends the geographic position information of the vehicle end to the cloud server in real time and continuously; the cloud server can master the driving track of the vehicle end according to the geographic position information of the vehicle end; if the vehicle end receives the information allowing reverse traffic sent by the cloud server, the vehicle end passes through in a reverse way on the one-way road under the condition of ensuring safety; if the vehicle end receives the information which is sent by the cloud server and does not allow reverse traffic, the vehicle end cannot pass through in a reverse way on the one-way road but automatically selects other roads to bypass; specifically, the vehicle end related information comprises information such as a vehicle number plate, a vehicle identification code, a traffic direction of the vehicle end, geographical position information of the vehicle end and the like of the vehicle end; the vehicle-end related information may further include information of a vehicle body color, a vehicle type, a vehicle speed, and the like of the vehicle end.

The roadside digital watermark identifying module is shown in fig. 2, and is used for identifying and/or extracting the digital watermark embedded in the vehicle license plate.

the traffic signal controller is used for changing the sequence of road traffic signals, adjusting timing and controlling the running of road traffic signal lamps; the traffic signal controller is a core component of a traffic signal control system and is an execution unit positioned on a road site in the traffic signal control system, and the core function of the traffic signal controller is to realize road traffic signal control and has the functions of traffic information acquisition, communication, intersection monitoring and the like; the traffic signal controller controls the traffic signal lamp; the traffic signal lamps are arranged at the outlet and/or the inlet of the single-way road, more traffic signal lamps can be arranged on the whole road section of the single-way road according to actual needs, for example, the traffic signal lamps can be arranged at the position where a crosswalk exists in the middle of the road section; the traffic lights include, but are not limited to, traffic lights for indicating social vehicles and pedestrians and traffic lights for indicating reverse preferential traffic; the social vehicle means other vehicles than the vehicle end which needs to travel back through a one-way road;

The priority information display board is used for displaying the vehicle end related information of the vehicle end, so that social vehicles and pedestrians can know the current and/or the condition of the vehicle end to be driven in, the position, the direction and/or the avoidance of the vehicle end can be timely adjusted, and specific information can comprise the driving direction and the speed of the vehicle end, the distance from the priority information display board and the like; the priority information display cards are arranged at the outlet and/or the inlet of the single-way road, more priority information display cards can be arranged on the whole road section of the single-way road according to actual needs, for example, the priority information display cards can be arranged at the position where a pedestrian crosswalk is arranged in the middle of the road section;

the marking projection module is used for projecting reverse traffic information to a pavement area of a single-way road requiring reverse preferential traffic at a vehicle end; the reverse traffic information includes, but is not limited to, reverse direction indication marks opposite to the original single-way traffic direction and vehicle end related information of the vehicle end; the retrograde direction indication mark line is used for temporarily covering or replacing the indication mark line of the passing direction of the original single-way road on the road surface of the original single-way road; the vehicle end related information is projected beside the reverse direction indication marking line, so that social vehicles and pedestrians can timely know the related information of the vehicle end which is going and/or is going to pass reversely through the reverse passing information, and the position, the direction and/or the avoidance of the vehicle end are timely adjusted; the marking projection modules are arranged at the outlet and/or the inlet of the single-way road, more marking projection modules can be arranged on the whole road section of the single-way road according to actual needs, for example, marking projection modules can be arranged near the position where the pedestrian crosswalk exists in the middle of the road section; 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 daytime; the reverse direction indication mark line is projected by the projection lamp with proper brightness and color, and the brightness and the size of the reverse direction indication mark line are enough to cover or replace the indication mark line of the passing direction of the original single-way road so as to indicate the lane and the reverse direction which the vehicle end of the original single-way road should pass for the vehicle end needing to pass through reversely and preferentially, and simultaneously, the reverse direction indication mark line can play a role in prompting other social vehicles and pedestrians that the vehicle end is required to reverse in the lane and the direction indicated by the reverse direction indication mark line, thereby being convenient for the social vehicles and the pedestrians to adjust the position and the direction of the vehicle in time and avoiding in time.

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

the vehicle end safety module is used for providing a password service function and a safety storage function for the vehicle end; a safety storage area is arranged in the vehicle end safety module; the secure storage area may be used to store digital certificates, private keys, and other important information and data; the other important information and data include, but are not limited to, a vehicle identification code; the cryptographic service functions include, but are not limited to, generating random numbers, digital signature operations, digital signature verification operations, encryption and decryption operations, generating session keys, generating digital digests, digital certificate verification, and digital certificate revocation list queries; specifically, the vehicle identification code is built in the safety storage area of the vehicle-end safety module of the vehicle end by a vehicle producer before leaving the factory of the vehicle, and after being built in the safety storage area of the vehicle-end safety module, the vehicle identification code only provides a read-only function, and a vehicle user cannot change the vehicle identification code built in the safety storage area of the vehicle-end safety module; the vehicle identification code (Vehicle Identification Number, or called frame number, VIN for short) is a group of unique numbers which are formed by a plurality of letters and/or numbers and are used on the automobile, and can be used for identifying the manufacturer, engine, chassis serial number, other performance and other data of the automobile.

The vehicle license plate is commonly called as license plate and license plate, is a plate which is hung on the front and rear of the vehicle, and is made of aluminum, iron sheet, plastic or paper, and the registration number, registration area or other relevant information of the vehicle are marked on the plate; the vehicle license plate is divided into a common vehicle license plate and a safe vehicle license plate; the common vehicle license plate comprises one or more of a large-sized vehicle license plate, a small-sized vehicle license plate, a hall vehicle license plate, a Nameway vehicle license plate, a port and Australian in-out vehicle license plate, a coach vehicle license plate, an police vehicle license plate and a temporary driving vehicle license plate; the safety vehicle license plate is generated after the digital watermark is embedded in the common vehicle license plate;

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

the road side end safety module is used for providing a password service function and a safe storage function for the road side end; a safe storage area is arranged in the road side end safety module; the secure storage area may be used to store digital certificates, private keys, and other important information and data; the other important information and data include, but are not limited to, a roadside end number, which is used for uniquely identifying the roadside end; the cryptographic service functions include, but are not limited to, generating random numbers, digital signature operations, digital signature verification operations, encryption and decryption operations, generating session keys, generating digital digests, digital certificate verification, and digital certificate revocation list queries; digital certificates are also known as public key certificates; the safety storage area of the road side safety module also stores the geographic position information of the road side and the geographic position information of a single-way road where the road side is located.

Further, the road side end further comprises an intelligent spike; the intelligent spike is used for indicating the direction of the reverse preferential traffic of the vehicle end on the pavement and/or roadside area of the single-way road requiring the reverse preferential traffic of the vehicle end according to the vehicle end related information of the vehicle end, for example, the direction of the reverse preferential traffic of the vehicle end can be indicated by a luminous color or a luminous arrow with a color, and the color can be red, green or other colors; the intelligent spike may include a light emitting component; the light emitting component may be a color LED light emitting material.

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

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

the cloud security module is used for providing a password service function and a secure storage function for the cloud server; a safe storage area is arranged in the cloud security module; the secure storage area may be used to store digital certificates, private keys; the cryptographic service functions include, but are not limited to, generating random numbers, digital signature operations, digital signature verification operations, encryption and decryption operations, generating session keys, generating digital digests, digital certificate verification, and digital certificate revocation list queries;

the cloud digital watermark generation module is shown in fig. 3, and is used for generating a digital watermark and embedding the digital watermark into a common vehicle license plate image to form a safe vehicle license plate image;

The cloud storage module is used for presetting and storing vehicle numbers and/or vehicle identification codes of vehicle ends and the passing authorities of one-way channels corresponding to the vehicle numbers and/or the vehicle identification codes of the vehicle ends so as to be inquired and called by the cloud server; the single-way is determined by geographic location information, single-way number and/or single-way name of the single-way; the cloud storage module is also used for storing the road side end number; the cloud storage module is also used for storing geographic position information of the road side end corresponding to the road side end number; the cloud storage module is also used for storing geographic position information of a single-way road corresponding to the road side end; the geographic location information of the one-way street includes, but is not limited to, geographic location information of a starting point and/or an ending point of the one-way street; the geographic location information includes, but is not limited to, geographic coordinates; the cloud server presets and maintains the corresponding relation between the geographic position information of the starting point and/or the ending point of the single-way road and the geographic position information of the road side end and the road side end number, so that the information of the other party can be found through the geographic position information and/or the number of the one party.

Further, the corresponding relation between the road side end number and the public key certificate of the road side end is preset in the cloud server, so that the public key certificate of the road side end can be retrieved and obtained through the road side end number.

Further, the corresponding relation between the vehicle identification code and the vehicle license plate is preset in the cloud server, so that the vehicle license 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 license plate; the cloud server is also preset with a corresponding relation between the vehicle identification code and/or the vehicle license plate and the public key certificate of the vehicle end, so that the public key certificate of the vehicle end can be searched and obtained through the vehicle identification code and/or the vehicle license plate.

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

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

As an implementation manner, the roadside end camera module specifically comprises a first camera, a second camera, a third camera, a vehicle number plate identification module, a vehicle number plate synthesis module, a light sensing module and a light supplementing module; the first camera is used for collecting real-time video information of the vehicle end and has an infrared camera shooting function; the second camera is a long-focus camera and is used for photographing the vehicle license plate at the vehicle end; the third camera is a wide-angle camera and is used for photographing the vehicle license plate at the vehicle end; the vehicle license plate identification module is used for identifying the video information acquired by the first camera in real time, and if the vehicle license plate image information is identified in the video information, the second camera and the third camera are called to take a picture of the vehicle license plate; the second camera and the third camera can dynamically change shooting angles to aim at the vehicle end under the dispatching of the vehicle license plate recognition module, and then can automatically adjust focal length to provide better shooting quality; the vehicle license plate synthesizing module is used for calculating and synthesizing the vehicle license plate images shot by the second camera and the third camera respectively so as to obtain clear and high-quality vehicle license plate images; the light sensing module is used for sensing whether the intensity of light is proper or not when the second camera and the third camera take pictures, and calling the light supplementing module to supplement light according to the requirement; the light supplementing module is used for supplementing light when the second camera and the third camera take pictures.

As an implementation manner, the first camera adopts an ultra-high definition camera or a full-high definition camera, and the resolution reaches or exceeds 1080P (1920×1080) or more, and is mainly used for shooting videos in the driving process so as to provide the videos for the vehicle license plate recognition module to recognize the vehicle license plate; the first camera can also adopt a binocular camera; the second camera and the third camera adopt ultra-high resolution lenses (such as 4500 ten thousand pixels and above) and are used for shooting pictures of the vehicle license plates and generating image information of the vehicle license plates.

As an implementation manner, the one-way road at least comprises two lanes, and the leftmost lane of the original traffic direction of the one-way road is set as a lane with a variable traffic direction; when no vehicle end needing reverse preferential traffic needs to pass through in a reverse way, the leftmost lane and other lanes keep the consistent traffic direction; when a vehicle end needing reverse preferential traffic needs to pass through in a reverse way, the leftmost lane is changed into a lane opposite to the original traffic direction, at the moment, the leftmost lane is changed into a special reverse lane of the vehicle end needing reverse preferential traffic, and social vehicles continue to pass through the other lanes in the original direction;

The leftmost lane corresponds to traffic lights for indicating reverse preferential traffic, the other lanes correspond to traffic lights for indicating social vehicles and pedestrians, and the traffic lights for indicating the reverse preferential traffic are consistent with the traffic lights for indicating the social vehicles and pedestrians in the sequence and adjustment of traffic signals of the traffic lights when no traffic ends requiring the reverse preferential traffic need to pass; when the traffic light for indicating the reverse preferential traffic needs to pass through in a reverse way, the traffic signal sequence of the traffic light is matched with the traffic light for the reverse preferential traffic to pass through in a reverse way during adjustment, and the traffic light for indicating the reverse preferential traffic can be particularly used for displaying green lights for the traffic light for the reverse preferential traffic and red lights for social vehicles and pedestrians in the original traffic direction;

when a vehicle end needing reverse preferential traffic needs to pass through in a reverse way, the marking projection module projects reverse traffic information to the leftmost lane.

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

On the basis of the embodiment, the invention also discloses a V2I-based single-way traffic priority passing method, which comprises the following steps:

after the vehicle end is in wireless communication connection with the cloud server, the vehicle end immediately sends vehicle end related information to the cloud server; then, the vehicle end sends the geographic position information of the vehicle end to the cloud server in real time and continuously; the cloud server can master the driving track of the vehicle end according to the geographic position information of the vehicle end;

when the vehicle end enters the shooting range of a road side end shooting module at the road side end, the road side end shooting module shoots an image of a vehicle license plate at the vehicle end;

the road side end identifies and extracts vehicle number plate information from the image of the vehicle number plate, and then the road side end sends the vehicle number plate information and road side end numbers to a cloud server;

the cloud server compares the vehicle license plate information with the vehicle license plates preset and stored in the cloud storage module according to the vehicle license plate information, and if the relevant vehicle license plates are not found in the cloud storage module, the cloud server directly returns the passing permission which does not allow reverse passing to the vehicle end and the road side end; if the related vehicle license plate is found, the cloud server encrypts the digital watermark key by using a private key of the cloud server and sends the encrypted digital watermark key to the road side end; the road side end decrypts the public key of the cloud server to obtain the digital watermark key; then, the road side end uses the digital watermark key to try to identify the digital watermark contained in the vehicle license plate image of the vehicle end acquired by the road side end camera module;

If the digital watermark identification fails, the road side end judges that the vehicle license plate corresponding to the image of the vehicle license plate is an illegal vehicle license plate, and then the road side end sends a digital watermark identification failure message to the cloud server; after receiving the digital watermark identification failure message, the cloud server returns a pass right which does not allow reverse pass to the vehicle end and the road side end; specifically, if the digital watermark identification fails, the fact that the image of the vehicle license plate does not contain digital watermark information or the digital watermark information is damaged and cannot be identified is indicated;

if the digital watermark identification is successful, the road side end extracts the digital watermark information contained in the vehicle number plate image to obtain the specific number information of the vehicle number plate and the digital signature of the vehicle number plate; the road side end carries out signature verification on the digital signature of the vehicle number plate according to the specific number information of the vehicle number plate;

if the signature verification fails, the road side end judges that the vehicle number plate corresponding to the vehicle number plate image is an illegal vehicle number plate, and then the road side end sends a digital watermark signature verification failure message to the cloud server; after receiving the digital watermark signing failure verification message, the cloud server returns a pass right which does not allow reverse pass to the vehicle end and the road side end;

If the signature verification is successful, the road side end judges that the vehicle license plate image is complete, is not tampered and is a legal safe vehicle license plate issued by the cloud server; then, the road side end sends a digital watermark verification success message to the cloud server; after receiving the digital watermark signing verification success message, the cloud server searches the passing authority of the vehicle end corresponding to the vehicle license plate in the one-way road;

if the traffic right of the vehicle end does not allow reverse traffic, the cloud server sends the traffic right which does not allow reverse traffic to the vehicle end and the road side end;

when the distance reaches or is lower than a threshold value, the cloud server sends the passing authority allowing reverse passing to the vehicle end, and the vehicle end passes through in a reverse way on the one-way road under the condition of ensuring safety; the cloud server also transmits the vehicle-end related information to a road side end corresponding to the one-way road, and then the road side end controls a traffic signal controller, a priority information display board and a marking projection module according to the vehicle-end related information so as to reflect the vehicle-end related information and prompt social vehicles and pedestrians to take avoidance measures, wherein the avoidance measures comprise but are not limited to in-situ waiting, yielding and/or detouring; preferably, the road side end also controls an intelligent spike and/or a voice prompt module to reflect the vehicle end related information and prompt social vehicles and pedestrians to take avoidance measures, wherein the avoidance measures comprise, but are not limited to, in-situ waiting, yielding and/or detouring;

When the distance is not up to or higher than the threshold value, the cloud server sends a request for continuously providing the geographic position information of the vehicle end in real time to the vehicle end; after the vehicle end receives the request, continuously acquiring the geographic position of the vehicle end in real time and sending the geographic position to the cloud server in real time; after receiving the geographic position information of the vehicle end, the cloud server also calculates the distance between the geographic position of the vehicle end and the geographic position of the ending point of the one-way road in real time, and the acquisition and calculation are stopped until the distance reaches or is lower than the threshold value; when the distance reaches or is lower than the threshold value, the cloud server executes the operation when the distance reaches the threshold value and sends corresponding information as described above to the vehicle end and the road side end respectively; specifically, the threshold is specified or designated in advance by the relevant department and is set in the vehicle end; including but not limited to traffic management; as an alternative embodiment, the threshold value may be 200 meters, 100 meters, 50 meters or other distances;

after the vehicle end receives the passing authority which does not allow reverse passing, the vehicle end cannot pass through in a reverse way on the one-way road, but automatically selects other roads to pass around; and after receiving the passing permission which does not allow the reverse passing, the road side end ignores the reverse passing requirement of the vehicle end.

In one embodiment of the V2I-based one-way traffic priority method, before the priority traffic is performed based on the safety vehicle license plate of the present invention, the safety vehicle license plate is generated and installed at the vehicle end; before a safe vehicle license plate is installed at a vehicle end, vehicle information of the vehicle end is submitted to a vehicle management department and registered; the vehicle information includes, but is not limited to, a vehicle identification code; the vehicle management department refers to public security traffic management departments, and a specific responsible department is in control of corresponding legal regulations; the vehicle management department stores the vehicle license plate and the vehicle identification code corresponding to the vehicle license plate when the vehicle management department registers in the cloud server for future reference.

Further, the specific steps of generating the safety vehicle license plate are as follows:

planning in advance and designing an image pattern of a common vehicle license plate by a vehicle management department; the vehicle user submits vehicle information of a vehicle end to be marked to a vehicle management department, and selects a specific number of a vehicle number plate for registration; the vehicle information of the vehicle end to be marked comprises a vehicle identification code; the vehicle management department refers to public security traffic management departments, and a specific responsible department is in control of corresponding legal regulations;

The cloud server generates a common vehicle license plate image according to the information; then, the cloud server carries out digital signature on the specific number information of the vehicle number plate to generate a digital signature of the vehicle number plate; the cloud server generates a digital watermark key; the digital watermark key is used as a parameter during digital watermark insertion and extraction;

the cloud server takes the specific number information of the vehicle license plate and the digital signature of the vehicle license plate as parameters to generate a digital watermark of the vehicle license plate, then combines the digital watermark keys, embeds the digital watermark of the vehicle license plate into the common vehicle license plate image and generates the safe vehicle license plate image;

the vehicle management department generates the safety vehicle license plate according to the printing and manufacturing specifications of the vehicle license plate; then, the vehicle end installs the safety vehicle license plate.

In one embodiment of the V2I-based one-way traffic priority method, the vehicle end sends the geographic position information of the vehicle end to the cloud server, and simultaneously sends time information of the vehicle end when the geographic position information of the vehicle end is acquired; when a plurality of vehicle ends are needed to pass through in the one-way street reversely and preferentially, the cloud server can queue the vehicle ends according to the distance between the geographic position of each vehicle end and the geographic position of the termination point of the one-way street and the time sequence relationship in the time information, and then the cloud server determines which vehicle end is queried for the passing authority of the one-way street according to the queuing sequence; the queuing of the vehicle ends is carried out according to the distance between the geographic position of each vehicle end and the geographic position of the ending point of the single-way road, and the row with the near distance is arranged in front; and if the distances are the same, queuing according to the time sequence in the time information, and queuing in front of the time sequence.

In one embodiment of the above V2I-based one-way traffic priority method, the vehicle end sends vehicle-end related information to the cloud server, and simultaneously sends digital signature information of the vehicle-end related information to the vehicle-end with a private key of the vehicle-end;

as an implementation manner, after receiving the vehicle-end related information and the digital signature information of the vehicle-end related information, the cloud server uses a public key in a public key certificate of the vehicle-end to check and sign the digital signature information of the vehicle-end related information; if the signature verification fails, the pass authority which does not allow reverse pass is directly returned to the vehicle end.

In one embodiment of the above V2I-based single-way traffic priority method, the roadside terminal sends the vehicle license plate information and the roadside terminal number to the cloud server, and simultaneously sends digital signature information of the roadside terminal to the vehicle license plate information and the roadside terminal number by using a private key of the roadside terminal;

as an implementation manner, after the cloud server receives the vehicle license plate information and the road side end number and the digital signature information of the vehicle license plate information and the road side end number, the digital signature information of the vehicle license plate information and the road side end number is checked by using a public key in a public key certificate of the road side end; if the signature verification fails, the access permission which does not allow reverse access is directly returned to the road side end and the vehicle end.

In one embodiment of the above V2I-based one-way traffic priority passing method, before the cloud server returns the passing right to the vehicle end and/or the road side end, the cloud server digitally signs the passing right with its own private key to generate a passing right digital signature, and then returns the passing right and the passing right digital signature to the vehicle end and/or the road side end together;

as an implementation manner, after the vehicle end and/or the road side end receive the pass right and the pass right digital signature, the vehicle end and/or the road side end firstly uses a public key in a public key certificate of the cloud server to check the pass right digital signature; if the signature verification is unsuccessful, the vehicle end and/or the road side end send a request for regenerating and sending the pass right and the pass right digital signature to the cloud server; if the signature verification is successful, the vehicle end and/or the road side end perform corresponding operation according to the passing authority of the vehicle end.

In one embodiment of the above V2I-based one-way traffic priority method, before the cloud server simultaneously sends the vehicle-end related information to a road side end corresponding to the one-way traffic, the cloud server digitally signs the vehicle-end related information with its own private key to generate a vehicle-end related information digital signature, and then sends the vehicle-end related information and the vehicle-end related information digital signature together to the road side end;

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

In summary, the cloud server, the road side end and the vehicle end verify 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 prevent the information from being replay-attacked by applying the time stamp and the random number to the sent information to ensure the safety of the information. The invention realizes the safe information transmission by applying the internet of vehicles and the network technology, and simultaneously realizes the modules such as the traffic signal controller, the priority information display board, the marking projection module, the intelligent spike, the voice prompt module and the like on a single-way road, so that social vehicles and pedestrians can know the current and/or to-be-driven vehicle end condition, and the position, the direction and/or the avoidance of the vehicle end can be timely adjusted, thereby safely and smoothly realizing the priority traffic of the vehicle end. The cloud server can better and more intelligently determine which vehicle end or vehicle ends are preferentially served according to the positioning information and the time information reported by the vehicle ends, and the priority passing efficiency is further improved. The invention embeds digital watermark information in the image of the vehicle number plate to generate the safety vehicle number plate. The method can determine whether the image content of the safety vehicle license plate is complete and tampered or not through extraction and corresponding verification of the digital watermark, and can confirm whether the safety vehicle license plate is issued by the cloud server or not, so that the vehicle license plate needing to pass reversely and preferentially is specially checked, issued and manufactured and belongs to a special vehicle for executing tasks.

The foregoing is merely illustrative of the preferred embodiments of this invention, and it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of this invention, and it is intended to cover such modifications and changes as fall within the true scope of the invention.

Claims

1. The V2I-based priority traffic system is characterized by comprising a cloud server, at least one road side end and at least one vehicle end; the cloud server is in communication connection with the road side end; the cloud server is in wireless communication connection with the vehicle end;

2. The V2I-based priority traffic system of claim 1, wherein the vehicle end comprises a vehicle end security module, a vehicle number plate, and a vehicle end positioning module;

3. The V2I-based priority traffic system of claim 2, wherein the roadside end further comprises a roadside end safety module, an intelligent spike, and a voice prompt module;

4. The V2I-based preferential pass system of claim 3, wherein said cloud server comprises a digital certificate module, a cloud security module, a cloud digital watermark generation module, and a cloud storage module;

5. A V2I-based priority traffic system according to claim 1, wherein the one-way road comprises at least two lanes, the leftmost lane of the original traffic direction of the one-way road being set as the variable traffic direction lane; when no vehicle end needing reverse preferential traffic needs to pass through in a reverse way, the leftmost lane and other lanes keep the consistent traffic direction; when the vehicle end needing reverse preferential traffic needs to pass through in a reverse way, the leftmost lane is changed into a lane opposite to the original traffic direction, at the moment, the leftmost lane is changed into a special reverse lane of the vehicle end needing reverse preferential traffic, and social vehicles continue to pass through the other lanes in the original direction.

6. A V2I-based priority traffic method based on a V2I-based priority traffic system according to any one of claims 1-5, comprising:

7. The V2I-based preferential traffic method of claim 6, wherein the vehicle end transmits real-time geographic location information of the vehicle end to the cloud server, and also transmits time information of the vehicle end when the real-time geographic location information is acquired; when a plurality of vehicle ends need to pass through the one-way street reversely and preferentially, the cloud server queues the vehicle ends according to the distance between the geographic position of each vehicle end and the geographic position of the ending point of the one-way street and the time sequence in the time information, and then the cloud server determines the query sequence of the traffic rights of the vehicle ends in the one-way street according to the queuing sequence; the queuing of the vehicle ends is carried out according to the distance between the geographic position of each vehicle end and the geographic position of the ending point of the single-way road, and the row with the near distance is arranged in front; and if the distances are the same, queuing according to the time sequence in the time information, and queuing in front of the time sequence.

8. The V2I-based preferential traffic method of claim 6, wherein the vehicle end sends the vehicle-end related information to the cloud server and simultaneously sends digital signature information of the vehicle-end related information to the vehicle-end with a private key of the vehicle-end;

9. The V2I-based preferential traffic method of claim 6, wherein the roadside terminal transmits the vehicle number plate information and the roadside terminal number to the cloud server, and simultaneously transmits digital signature information of the roadside terminal to the vehicle number plate information and the roadside terminal number by using a private key of the roadside terminal;

10. The V2I-based preferential traffic method according to claim 8 or 9, wherein the vehicle end, the cloud server and the road side end may further add a time stamp and a random number when they mutually transmit information, and perform corresponding verification on the receiving side to prevent replay attack of the information.