CN116386359A - One-way priority traffic system and method based on V2I - Google Patents

Abstract

The invention discloses a V2I-based single-way road priority passing system and a method, wherein the system comprises a cloud server, a road side end and a vehicle end; the cloud server is in communication connection with the road side end: the cloud server is used for storing and/or verifying the traffic rights of the vehicle end; the vehicle end is used for sending out preferential passing request information to the road side end, carrying out corresponding operation according to feedback of the road side end, and when receiving the information which is returned by the road side end and allows reverse passing, allowing the vehicle end to pass through in a reverse way on the one-way road under the condition of ensuring safety, otherwise not allowing the vehicle end to pass through in a reverse way on the one-way road; the road side end comprises a traffic signal controller, a priority information display board and a marking projection module. According to the invention, by applying the Internet of vehicles and the network technology, the safe information transmission is realized, and meanwhile, social vehicles and pedestrians can timely adjust the positions, directions and/or avoid the social vehicles and pedestrians through the road side end, so that the vehicle end can safely and smoothly realize preferential traffic.

Description

One-way priority traffic system and method based on V2I

technical field

The invention belongs to the technical field of vehicle priority and Internet of Vehicles, and in particular relates to a V2I-based one-way priority system and method.

Background technique

A one-way street is a lane that only allows traffic in one direction. As a traffic management measure with low investment, quick effect and easy operation, one-way traffic has been widely adopted in western developed countries. In recent years, many cities in my country have also actively adopted one-way traffic, and directly changed some two-way roads into one-way lanes, which greatly relieved road traffic pressure and reduced congestion. One-way street is the most direct, effective and economical way to solve urban traffic congestion and increase traffic capacity. It uses local restrictions to ensure overall smooth flow.

Things always have their advantages and disadvantages. For example, if the destination to be reached is opposite to the direction allowed by the one-way street, the vehicle may need to detour to other roads that are farther away, which will bring some inconvenience to the vehicle. For ordinary social vehicles, it is acceptable to spend more time and energy consumption costs, but for special vehicles (such as ambulances, fire trucks, police cars, engineering emergency vehicles, etc.) Influence. Although according to the relevant laws and regulations, the above-mentioned special vehicles for carrying out the tasks are not restricted by the driving speed, driving route, driving direction and signal of the command light, and can go against the road on the one-way street under the condition of ensuring safety, but due to the current situation that vehicles and roads, other Traffic participants such as vehicles and pedestrians do not have a good communication and coordination mechanism, and special vehicles performing tasks in the wrong direction on a one-way street can easily cause traffic jams and/or accidents.

How to realize the safe and rapid retrograde operation of special vehicles performing tasks on the one-way street under the background of the current development of Internet of Vehicles technology is an urgent problem to be solved.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art, thereby providing a V2I-based one-way priority traffic system and method, through the use of digital public key certificate authentication technology, combined with Internet of Vehicles technology, so that the V2I-based one-way priority Traffic is safe, reliable, simple and efficient.

In order to achieve the above object, the present invention adopts the following technical solutions:

One aspect of the present invention proposes a V2I-based one-way priority traffic system, including a cloud server, at least one roadside terminal, and at least one vehicle terminal; the cloud server is connected to the roadside terminal in communication:

The cloud server is used to store and/or verify the access authority of the vehicle end, the access authority includes allowing reverse traffic and not allowing reverse traffic; , the corresponding traffic authority is to allow reverse traffic; when the vehicle end is not a special vehicle that needs to go retrograde on a one-way street due to performing tasks, the corresponding traffic authority is not to allow reverse traffic;

The car end is used to send priority traffic request information to the roadside end, and perform corresponding operations according to the feedback from the roadside end. When receiving the information of allowing reverse traffic returned by the roadside end, the car end is ensuring safety. Passing in the reverse direction on the one-way street under certain circumstances, otherwise it is not allowed to pass in the reverse direction on the one-way street;

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

The traffic signal controller is used to change the sequence of road traffic signals, adjust timing and control the operation of road traffic lights;

The priority information display board is used to display the relevant information of the vehicle end that needs to pass in reverse on the one-way street, and the relevant information of the vehicle end includes the driving direction and speed of the vehicle end, and the distance from the current priority information display board;

The marking projection module is used to project reverse traffic information to the road surface area of the one-way street where the vehicle end needs reverse priority traffic, and the reverse traffic information includes the reverse direction indicating marking line opposite to the original one-way traffic direction and the relevant information of the vehicle end.

Further, the vehicle end includes a vehicle end security module, a vehicle end short-distance direct communication module and a vehicle end positioning module;

The vehicle end security module is used to provide cryptographic service functions and secure storage functions for the vehicle end, and the cryptographic service functions include generating random numbers, digital signature operations, digital signature verification operations, encryption and decryption operations, and session key generation , Generate digital abstracts, digital certificate verification and digital certificate revocation list query;

The vehicle-end positioning module is used to acquire real-time geographic location information of the vehicle-end.

Further, the roadside terminal also includes a roadside terminal safety module, a roadside terminal short-distance direct communication module, a smart road stud, and a voice prompt module;

The roadside end and the vehicle end are communicatively connected through the short-distance direct communication module of the roadside end and the short-distance direct communication module of the vehicle end;

The roadside terminal security module is used to provide the roadside terminal with a password service function and a secure storage function;

The smart road stud is used to indicate the direction of the vehicle end's reverse priority traffic on the road surface and/or roadside area of the one-way street where the vehicle end requires reverse priority traffic according to the relevant information of the vehicle end;

The voice prompt module is used to broadcast the relevant information of the vehicle terminal, so that social vehicles and pedestrians can understand the current and upcoming situation of the vehicle terminal. Other vehicles other than the one mentioned above.

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

The digital certificate module is used to generate and save the public key certificate for the cloud server, roadside terminal and vehicle terminal respectively; it is also used to write the public key certificate of the roadside terminal and the root certificate of the cloud server to the roadside through offline or online mode In the terminal security module, write the public key certificate of the car terminal and the root certificate of the cloud server into the vehicle terminal security module; the public key certificates of the roadside terminal and the vehicle terminal are issued by the root certificate of the cloud server; The cloud server, the roadside terminal and the vehicle terminal respectively store the private key corresponding to the public key in the corresponding public key certificate;

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

The cloud storage module is used to preset and store the vehicle license plate and/or vehicle identification code of the vehicle end, the traffic authority of the vehicle end on the one-way street, the roadside end number, and the roadside end number corresponding to the roadside end number. Geographical location information, geographical location information of the one-way street corresponding to the roadside end, and the correspondence between the geographical location information of the starting point and/or the ending point of the one-way street and the geographical location information of the roadside end and the number of the roadside end relation.

Further, the one-way street includes at least two lanes, and the leftmost lane in the original traffic direction of the one-way street is set as a variable traffic direction lane; The side lane keeps the same traffic direction as the other lanes; when there is a vehicle end that needs to pass in the reverse direction, the leftmost lane becomes the lane opposite to the original traffic direction, and the leftmost lane is changed to the required The special reverse lane at the vehicle end of reverse priority traffic, social vehicles continue to pass in the original direction through the other lanes.

On the other hand, the present invention also proposes a V2I-based one-way priority traffic method, including:

After the vehicle end communicates with the roadside terminal, the vehicle end sends priority traffic request information to the roadside terminal, and the priority traffic request information includes vehicle terminal related information;

The roadside end sends the priority traffic request information to the cloud server, and the cloud server obtains the traffic permission of the vehicle end on the one-way street according to the priority traffic request information; then returns the traffic permission of the vehicle terminal to the road side;

The roadside terminal forwards the traffic authority of the vehicle terminal returned by the cloud server to the vehicle terminal; if the traffic authority of the vehicle terminal is to allow reverse traffic, the roadside terminal also controls the traffic signal control machine, the priority information display board and the marking projection module, In order to reflect the relevant information on the vehicle end, prompt social vehicles and pedestrians to take avoidance measures;

After the car end receives the traffic authority of the car end forwarded by the roadside end, if the traffic authority of the car end is to allow reverse traffic, the car end will pass in the reverse direction on the one-way street under the condition of ensuring safety; The authority is that reverse traffic is not allowed, so the vehicle end cannot pass in the reverse direction on the one-way street.

Further, after the vehicle terminal and the roadside terminal are connected by communication, the vehicle terminal obtains the geographical location information of the vehicle terminal through the vehicle terminal positioning module, and obtains the geographical location information of the roadside terminal or the location where the roadside terminal is located from the roadside terminal. Geographic location information of the end point of the one-way street; the vehicle end calculates the distance between it and the end point of the one-way street where the roadside end or the roadside end is located, when the distance between the two is getting closer and reaches or falls below the set When the threshold value is set, the vehicle end sends a priority traffic request message to the roadside end.

Further, the cloud server obtains the traffic authority of the vehicle terminal on the one-way street according to the priority traffic request information, which specifically includes: the cloud server obtains the vehicle license plate and/or or vehicle identification code, compared with the vehicle number plate and/or vehicle identification code preset and stored in the cloud storage module, if the relevant vehicle number plate and/or vehicle identification code is found, then search for the vehicle number corresponding to the vehicle number license plate and/or vehicle identification code corresponding to the vehicle terminal on the one-way street; if the relevant vehicle license plate and/or vehicle identification code is not found in the cloud storage module, the cloud server directly returns to the vehicle terminal. Permission to allow reverse traffic.

Further, after the vehicle terminal and the roadside terminal are connected in communication, the vehicle terminal also collects the geographic location information of the vehicle terminal acquired from the vehicle terminal positioning module and the time information when the vehicle terminal collects the geographic location information of the vehicle terminal, and Send the geographic location information and the time information of the vehicle end to the roadside terminal; when multiple vehicle terminals send priority traffic request information to the cloud server, the roadside terminal The distance of the geographical location of the point and the sequence relationship of the time in the time information are used to queue the priority traffic request information of the vehicle end, and then, the roadside terminal determines the location of the vehicle end on the one-way street according to the order of queuing. Inquiry order of access authority; the said priority traffic request information of the vehicle end is queued up according to the distance between the geographical position of each vehicle end and the geographical position of the termination point of the one-way street, and the ones with the shortest distance are arranged in the front ; If the distances are the same, queue up according to the time when each vehicle end sends the request information, and the one with the earliest time is in the front.

Further, the priority traffic request information sent by the car end to the roadside end also includes the digital signature information of the car end to the relevant information of the car end with the private key of the car end;

Before the cloud server compares the vehicle number plate and/or vehicle identification code in the vehicle-side related information in the priority traffic request information with the vehicle number plate and/or vehicle identification code preset and stored in the cloud storage module, the cloud The server uses the public key in the public key certificate of the vehicle terminal to verify the digital signature information of the relevant information of the vehicle terminal; if the signature verification fails, it returns to the roadside terminal the traffic authority that does not allow reverse traffic;

Before the cloud server returns the access authority to the vehicle end, the cloud server digitally signs the access authority with its own private key to generate a digital signature of the access authority, and then returns the access authority and the access authority digital signature to the vehicle. side end;

After the said roadside end receives said access authority and said access authority digital signature, it first uses the public key in the public key certificate of the cloud server to verify the said access authority digital signature; if the verification is unsuccessful, Then the roadside end sends to the cloud server a request to regenerate and send the access authority and the access authority digital signature; if the verification is successful, then the roadside end sends the access authority and the access authority digital signature Forward to the vehicle end;

After the vehicle end receives the access authority and the access authority digital signature, it uses the public key in the public key certificate of the cloud server to verify the access authority digital signature; if the verification is unsuccessful, then The car end sends a request to the roadside end requesting the cloud server to regenerate and send the access authority and the digital signature of the access authority; if the verification is successful, the vehicle end performs corresponding operations according to the access authority of the vehicle end;

When the car terminal, cloud server and roadside terminal send information to each other, time stamps and random numbers can also be added, and corresponding verification is performed on the receiving side to prevent information from being replayed.

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

First, the cloud server, the roadside terminal and the vehicle terminal of the present invention ensure the identity of the information sender and the authenticity and integrity of the information sent by verifying the public key certificate and digital signature, preventing the information from being illegally tampered with. Timestamps and random numbers are applied to sent information to prevent information from being replayed and ensure information security.

Second, through the application of Internet of Vehicles and network technology, while realizing the safe transmission of information, it is possible to pass traffic signal controllers, priority information display boards, marking projection modules, smart road studs, voice prompt modules and other modules on one-way streets. , so that social vehicles and pedestrians understand the current and/or the situation of the vehicle that is about to enter, and adjust their position, direction and/or avoidance in time, so that the vehicle can achieve priority traffic safely and smoothly.

Third, the roadside terminal can better and intelligently determine the priority service vehicle terminal according to the positioning information and time information reported by the vehicle terminal, which further improves the priority traffic efficiency.

Description of drawings

FIG. 1 is a schematic diagram of the architecture of a V2I-based one-way priority passing system according to an embodiment of the present invention.

Detailed ways

The present invention will be further explained below in conjunction with accompanying drawing and specific embodiment:

As shown in FIG. 1 , a V2I-based one-way priority traffic system includes a cloud server, at least one roadside terminal and at least one vehicle terminal; the cloud server communicates with the roadside terminal.

The cloud server is used to store and/or verify the access authority of the vehicle end; the access authority means that the vehicle end has no right to go against the direction of the one-way street, and when the vehicle end specifically refers to the execution of For special vehicles that need to go in reverse on a one-way street due to missions, the corresponding traffic authority is to allow reverse traffic; .

The car end is used to send priority traffic request information to the roadside end, and perform corresponding operations according to the feedback from the roadside end; , then the vehicle end can pass in the reverse direction on the one-way street under the condition of ensuring safety; if the vehicle end receives the information that reverse traffic is not allowed from the roadside Pass in the wrong direction on a one-way street, but choose other roads to bypass by yourself.

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

Specifically, the roadside terminal has a roadside terminal number; the roadside terminal number is used to uniquely identify the roadside terminal; the roadside terminal number is stored in the security module of the roadside terminal security module of the roadside terminal. In the storage area; the roadside terminal also stores the geographic location information of the roadside terminal and the geographic location information of the one-way street where the roadside terminal is located;

The traffic signal control machine is used to change the sequence of road traffic signals, adjust timing and control the operation of road traffic signal lights; the traffic signal control machine is the core component of the traffic signal control system, and is an execution unit located on the road site in the traffic signal control system , whose core function is to realize road traffic signal control, and has functions such as traffic information collection, communication, and intersection monitoring; the traffic signal control machine controls traffic lights; the traffic lights are arranged at the exit and/or entrance of a one-way street, The entire road section of one-way street can also be provided with more traffic lights according to actual needs, such as the position where there is a crosswalk in the middle of the road section can be provided with traffic lights; said traffic lights include but are not limited to traffic lights for indicating social vehicles and pedestrians and for indicating A traffic light with priority in the reverse direction; the social vehicle refers to other vehicles other than the vehicle end that needs to pass through the one-way street in the reverse direction;

The priority information display board is used to display the vehicle-related information of the vehicle, so that social vehicles and pedestrians can understand the current and/or the situation of the vehicle that is about to enter, and adjust their position, direction and/or avoidance in time. The information may include the driving direction and speed of the vehicle end, the distance from the priority information display board, etc.; the priority information display board is set at the exit and/or entrance of the one-way street, and the entire road section of the one-way street can also be set according to actual needs More priority information display boards, for example, priority information display boards can be set at the position where there is a crosswalk in the middle of the road section;

The marking line projection module is used to project reverse traffic information to the road surface area of the one-way street where the vehicle end needs reverse priority traffic; the reverse traffic information includes, but is not limited to, the reverse direction indication marking line opposite to the original one-way traffic direction and the Vehicle-end related information; the retrograde direction indicator line is used to temporarily cover or replace the original one-way traffic direction indicator line on the original one-way road surface; the vehicle-end related information is projected on the retrograde direction indicator Next to the line, so that social vehicles and pedestrians can keep abreast of the relevant information of the vehicle end that is and/or will be passing in the opposite direction through the reverse traffic information, and adjust its position, direction and/or avoidance in time; the marking line projection module Set at the exit and/or entrance of the one-way street, the entire section of the one-way street can also be provided with more marking projection modules according to actual needs, such as a marking projection module can be set near a position where there is a crosswalk in the middle of the road section; the marking projection module Including but not limited to projection lamps; the projection lamps can be laser projection lamps and/or LED projection lamps; the marking projection module is mainly used for projecting the reverse traffic information on the road surface at night or under natural conditions of weak light during the day; The retrograde direction indicator line is projected by the projection lamp with appropriate brightness and color, and its brightness and size must be sufficient to cover or replace the original one-way direction indicator line, so as to facilitate the vehicles that need to pass the one-way street in the reverse direction. Indicate the lane and the reverse direction that it should pass, and at the same time, it can also remind other social vehicles and pedestrians that there will be vehicles to go against the lane and direction indicated by the reverse direction indicator line, which is convenient for social vehicles and pedestrians. Pedestrians adjust their position and direction in real time, and avoid in time;

Specifically, the roadside terminal is used to confirm the traffic authority of the vehicle terminal to the cloud server, and perform corresponding operations according to the feedback from the cloud server; if the feedback from the cloud server is to allow reverse traffic, then the The roadside end returns the information that reverse traffic is allowed to the vehicle end, and at the same time, the roadside end controls the traffic signal controller, the priority information display board and the marking projection module to reflect the relevant information of the vehicle end and remind the society Vehicles and pedestrians take avoidance measures, and the avoidance measures include but are not limited to waiting in place, giving way and/or bypassing; The terminal returns information that reverse traffic is not allowed.

The vehicle end includes a vehicle end security module, a vehicle end short-distance direct communication module and a vehicle end positioning module;

The vehicle end security module is used to provide the vehicle end with a password service function and a secure storage function;

The vehicle end positioning module is used to obtain the geographic location information of the vehicle end;

Specifically, the vehicle end has a vehicle identification code; the vehicle identification code is built into the safe storage area of the vehicle end security module of the vehicle end by the vehicle manufacturer before the vehicle leaves the factory, and the vehicle identification code is stored in the built-in After being stored in the safe storage area of the vehicle-end security module, only a read-only function is provided, and the vehicle user cannot change the vehicle identification code built in the safety storage area of the vehicle-end security module; the vehicle identification code (Vehicle Identification Number, or vehicle frame number, referred to as VIN), is a set of letters and/or numbers, a unique set of numbers used on a car, which can identify the car's manufacturer, engine, chassis number and others performance etc.

Specifically, the car end also has a vehicle number plate; the vehicle number plate, commonly known as a license plate or a license plate, is a plate that is hung on the front and rear of the car respectively, usually made of aluminum, iron sheet, plastic or paper, on which the Vehicle registration number, registration area or other relevant information.

Specifically, the vehicle end has vehicle-related information; the vehicle-related information includes information such as the vehicle license plate of the vehicle, the vehicle identification code, the direction of travel of the vehicle, and/or the geographic location information of the vehicle; the vehicle The terminal-related information may also include information such as the vehicle body color, vehicle type, and vehicle speed of the vehicle terminal.

Further, the roadside terminal also includes a roadside terminal security module and a roadside terminal short-distance direct communication module;

The roadside end and the vehicle end are communicatively connected through the short-distance direct communication module of the roadside end and the short-distance direct communication module of the vehicle end;

The roadside terminal security module is used to provide the roadside terminal with a password service function and a secure storage function.

Further, the roadside end also includes smart road studs; the smart road studs are used for the road surface and/or roadside area of the one-way street where the vehicle end requires reverse priority traffic according to the vehicle end-related information of the vehicle end Indicate the direction of the reverse priority traffic of the vehicle end, for example, the direction of the reverse priority traffic of the vehicle end may be indicated with a luminous color or a luminous colored arrow, and the color may be red, green or other colors; the smart The road stud may include a light-emitting component; the light-emitting component may be a colored LED light-emitting material.

Further, the roadside terminal also includes a voice prompt module; the voice prompt module is used to broadcast the relevant information of the vehicle terminal, so that social vehicles and pedestrians can understand the current and upcoming situation of the vehicle terminal; The voice prompt module is arranged at the exit and/or entrance of the one-way street, and more voice prompt modules can be set in the whole section of the one-way street according to actual needs, for example, a voice prompt module can be set at a position where there is a crosswalk in the middle of the road section.

The cloud server includes a digital certificate module, a cloud security module and a cloud storage module;

The digital certificate module generates and saves public key certificates for the cloud server, the roadside terminal, and the vehicle terminal respectively; the digital certificate module converts the public key certificate of the roadside terminal and the The root certificate of the cloud server is written into the roadside security module of the roadside end; the digital certificate module writes the public key certificate of the vehicle end and the root certificate of the cloud server into the In the car-end security module of the car end; the public key certificates of the roadside end and the car end are issued by the root certificate of the cloud server;

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

The cloud storage module is used to preset and store the vehicle license plate and/or vehicle identification code at the vehicle end, and the one-way traffic permission corresponding to the vehicle license plate and/or vehicle identification code at the vehicle end, for the The cloud server queries and calls; the one-way is determined by the geographic location information, the one-way number and/or the one-way name of the one-way; the cloud storage module is also used to store the road side number; the cloud storage The module is also used to store the geographic location information of the roadside terminal corresponding to the roadside terminal number; the cloud storage module is also used to store the geographic location information of the one-way street corresponding to the roadside terminal; The geographic location information includes but not limited to the geographic location information of the starting point and/or the termination point of the one-way street; the geographic location information includes but not limited to geographic coordinates; the cloud server presets and maintains the location information of the one-way street The corresponding relationship between the geographical location information of the starting point and/or the ending point, the geographical location information of the roadside end and the number of the roadside end makes it possible to find the information of the other party through the geographical location information and/or number of one party.

Further, secure storage areas are respectively set in the cloud security module, the roadside terminal security module and the vehicle terminal security module; the secure storage areas can 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, vehicle identification codes and/or roadside terminal numbers; the cryptographic service functions include, but are not limited to, generating random numbers, digital signature operations, digital signature verification operations, encryption and decryption operations, and generation of session keys. keys, generating digital digests, digital certificate verification, and digital certificate revocation list queries; digital certificates are also known as public key certificates.

Further, the cloud server, the roadside end and the vehicle end each store a private key corresponding to the public key in its corresponding public key certificate; the private key of the cloud server is stored in the digital certificate module or In the safe storage area of the cloud security module; the private key of the roadside end is stored in the safe storage area of the roadside security module; the private key of the car end is stored in the safe storage area of the car end security module area.

Further, the corresponding relationship between the roadside terminal number and the public key certificate of the roadside terminal is preset in the cloud server, so that the public key certificate of the roadside terminal can be retrieved and obtained through the roadside terminal number.

Further, the corresponding relationship 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 terminal can be retrieved and obtained through the vehicle identification code, and the vehicle license plate information of the vehicle terminal can also be retrieved and obtained through the vehicle license plate. Identification code information; the corresponding relationship between the vehicle identification code and/or vehicle number plate and the public key certificate of the vehicle end is also preset in the cloud server, so that the vehicle identification code and/or vehicle number plate can be retrieved and obtained. end public key certificate.

As a possible implementation mode, the cloud security module, the roadside terminal security module and the vehicle terminal security module are all security smart chips, and the commercial encryption algorithms supported by the security smart chip include but are not limited to SM1, SM2 , one or more of SM3, SM4 and SM9, supported internationally commonly used cryptographic algorithms include but not limited to one or more of 3DES, AES, RSA, SHA-1 and SHA-256; the secure smart chip Supports storage of digital certificates; the secure smart chip provides a safe storage area and supports safe storage of important information; the secure smart chip supports the generation of random numbers; the digital certificate module also maintains a certificate revocation list and provides a certificate revocation list query function .

As a possible implementation, the short-distance direct communication module at the roadside end and the short-distance direct communication module at the vehicle end are both C-V2X PC5 short-distance direct communication modules, and the short-distance direct communication module at the roadside end and the short-distance direct communication module at the vehicle end The vehicle-end short-distance direct communication modules are connected within the communication range of the C-V2X PC5 short-distance direct communication interface; the C in the C-V2X refers to cellular (Cellular), and the C-V2X is based on The wireless communication technology for vehicles formed by the evolution of cellular network communication technologies such as 3G/4G/5G includes two communication interfaces: one is a short-distance direct communication interface (PC5) between vehicles, people, and roads, and the other is a The communication interface (Uu) between the terminal and the base station, which enables reliable communication over long distances and wider ranges. C-V2X is a communication technology based on the 3GPP global unified standard, including LTE-V2X and 5G-V2X. From the perspective of technological evolution, LTE-V2X supports smooth evolution to 5G-V2X; the communication range is controlled by C-V2X PC5 short-distance It is determined by factors such as the characteristics of the direct communication interface itself, design indicators and/or the influence of the communication environment on the communication signal.

As a possible implementation, the one-way street includes at least two lanes, and the leftmost lane in the original traffic direction of the one-way street is set as a variable traffic direction lane; The leftmost lane maintains the same traffic direction as other lanes; when there is a vehicle end that needs to pass in the reverse direction, the leftmost lane becomes a lane opposite to the original traffic direction. At this time, the leftmost lane Driveway is changed into the special-purpose reverse lane of the car end that needs reverse priority to pass through, and social vehicle then continues to pass by original direction through described other lanes.

As a possible implementation, the leftmost lane corresponds to the traffic lights used to indicate reverse priority traffic, and the other lanes correspond to traffic lights used to indicate social vehicles and pedestrians, and the traffic lights used to indicate reverse priority traffic When there is no traffic light that needs to pass in the reverse direction, the traffic signal sequence and adjustment timing of the traffic lights are consistent with the traffic lights used to indicate social vehicles and pedestrians; the traffic lights used to indicate reverse priority traffic When there is a vehicle end that requires reverse priority traffic and needs to pass in the reverse direction, the traffic signal sequence and timing of the traffic lights are adjusted to match the vehicle end that requires reverse priority traffic. Specifically, it can be for the vehicle that requires reverse priority traffic. The green light is displayed at the end, and the red light is displayed for social vehicles and pedestrians in the original direction of traffic;

When there is a vehicle end that requires reverse traffic priority and needs to pass in the reverse direction, the marking projection module projects reverse traffic information to the leftmost lane.

As a possible implementation, the leftmost lane does not preset indicating markings indicating the direction of one-way traffic; the pre-setting indicating markings indicating the direction of one-way traffic refers to directly The road marking formed by spraying on the one-way road surface; when there is no vehicle end that needs to pass in the reverse direction and needs to pass in the reverse direction, the marking projection module projects the original one-way traffic direction in the form of light and shadow to the leftmost lane Indicating markings, at this time, the direction indicated by the indicating markings in the direction of one-way traffic is consistent with the direction indicated by the pre-set indicating markings indicating the direction of one-way traffic on other lanes; when there is a need to reverse When the vehicle end with priority traffic needs to pass in the reverse direction, the marking projection module projects reverse traffic information to the leftmost lane. The indicated direction is opposite to the direction indicated by the pre-set indicating markings indicating the direction of one-way traffic on the other lanes.

On the basis of the above embodiments, the present invention also proposes a V2I-based one-way priority passing method, including the following steps:

The vehicle terminal communicates with the roadside terminal;

The vehicle terminal sends priority traffic request information to the roadside terminal, and the priority traffic request information includes but not limited to vehicle terminal related information;

The roadside terminal sends the priority request information to the cloud server, and the cloud server obtains the traffic authority of the vehicle end on the one-way street according to the priority request information; The right of way is returned to the roadside;

The roadside end forwards the access authority of the vehicle end returned by the cloud server to the vehicle end; if the access authority of the vehicle end is to allow reverse traffic, the roadside end will also control the traffic signal control machine . The priority information display board and the marking line projection module to reflect the relevant information of the vehicle end and prompt social vehicles and pedestrians to take avoidance measures. The avoidance measures include but are not limited to waiting in place, giving way and/or bypassing;

After the car end receives the access authority of the vehicle end forwarded by the roadside end, if the access authority of the vehicle end is to allow reverse traffic, the vehicle end will travel in reverse on the one-way street under the condition of ensuring safety Pass; if the traffic authority of the vehicle end is not allowed to pass in the opposite direction, then the vehicle end cannot pass in the reverse direction on the one-way street, but chooses other roads to bypass by itself.

As a possible implementation mode, if the traffic authority of the vehicle terminal is to allow reverse traffic, the roadside terminal will also control the smart road stud and/or the voice prompt module to reflect the relevant information of the vehicle terminal and remind social vehicles and pedestrians to take avoidance measures, the avoidance measures include but not limited to waiting in place, giving way and/or bypassing.

In one embodiment of the above-mentioned V2I-based one-way priority traffic method, the communication connection between the vehicle end and the roadside end means that the short-distance direct communication module of the vehicle end at the vehicle end enters the road with the roadside end. Communication connection is carried out after the communication range of the side-end short-distance direct communication module;

After the vehicle terminal communicates with the roadside terminal, the vehicle terminal immediately obtains the specific geographical location information of the vehicle terminal through the vehicle terminal positioning module, and obtains the geographical location information of the roadside terminal from the roadside terminal or The geographic location information of the end point of the one-way street where the roadside end is located; the car end calculates the distance between it and the end point of the one-way street where the roadside end or the roadside end is located; when the distance between the two is getting closer When the distance is closer and reaches or falls below a threshold, the vehicle terminal sends priority traffic request information to the roadside terminal. Specifically, the threshold is specified or designated by the relevant department in advance, and is set in the vehicle end; the relevant department includes but is not limited to the traffic management department; as an implementable manner, the threshold can be 500 meters, 300 meters, 200 meters or other distances.

Further, the cloud server obtains the traffic authority of the vehicle terminal on the one-way street according to the priority traffic request information, which specifically includes: the cloud server obtains the vehicle terminal related information contained in the priority traffic request information. The vehicle number plate and/or vehicle identification code in the information is compared with the vehicle number plate and/or vehicle identification code preset and stored in the cloud storage module, and if the relevant vehicle number plate and/or vehicle identification code is found Identification code, and then search for the vehicle end corresponding to the vehicle number plate and/or vehicle identification code on the one-way street; if no relevant vehicle number plate and/or When the vehicle identification code is used, the cloud server directly returns the traffic authority that does not allow reverse traffic to the roadside terminal.

Preferably, when the roadside terminal sends the priority traffic request information to the cloud server, it also sends the roadside terminal number of the roadside terminal to the cloud server, so that the cloud server can further determine The exact information of the roadside end, such as the geographical location of the roadside end, etc.

In one embodiment of the above-mentioned V2I-based one-way priority method, after the vehicle terminal communicates with the roadside terminal, the vehicle terminal also collects the geographical location of the vehicle terminal acquired from the vehicle terminal positioning module. Location information and time information when the car end collects the geographical location information of the car end, and send the geographical location information and the time information of the car end to the roadside end; when there are multiple car ends , when multiple vehicle ends send priority traffic request information to the roadside terminal, the roadside terminal can be based on the distance between the geographic location of each vehicle terminal and the terminal point of the roadside terminal or the one-way street where the roadside terminal is located The distance of the geographic location and the sequence relationship of the time in the time information queue up the priority traffic request information of the vehicle terminal, and then, the roadside terminal determines which vehicle terminal to forward to the cloud server first according to the order of queuing. Priority traffic request information; the said priority traffic request information of the vehicle end is queued according to the distance of the geographical location of each vehicle terminal and the geographical position of the end point of the one-way street where the roadside terminal or the roadside terminal is located If the distance is the same, the queue will be queued according to the time when each vehicle terminal sends the request information, and the one with the earlier time will be queued at the front.

In one embodiment of the above-mentioned V2I-based one-way priority method, the priority request information sent by the vehicle to the roadside terminal also includes the private key of the vehicle to the relevant information of the vehicle. digital signature information;

As a possible implementation, the cloud server is based on the vehicle license plate and/or vehicle identification code in the vehicle-end related information contained in the priority traffic request information, and the preset in the cloud storage module Before comparing with the stored vehicle license plate and/or vehicle identification code, the cloud server uses the public key in the public key certificate of the vehicle terminal to compare the private key of the vehicle terminal with the vehicle terminal and the relevant information of the vehicle terminal. The digital signature information is verified; if the above-mentioned verification and verification fail, the traffic authority that does not allow reverse traffic is directly returned to the roadside end.

In one embodiment of the above V2I-based one-way priority method, before the cloud server returns the access authority to the roadside end, the cloud server digitally signs the access authority with its own private key, Generate a digital signature for access rights, and then return the access rights and the digital signature for access rights to the roadside end together;

As a possible implementation mode, after receiving the access authority and the digital signature of the access authority, the roadside terminal first uses the public key in the public key certificate of the cloud server to digitally sign the access authority Check the signature; if the signature check is unsuccessful, then the roadside terminal sends a request to the cloud server to regenerate and send the access authority and the digital signature of the access authority; if the signature check is successful, the roadside terminal sends the The access authority and the digital signature of the access authority are forwarded to the vehicle end together;

After the vehicle end receives the access authority and the access authority digital signature, it uses the public key in the public key certificate of the cloud server to verify the access authority digital signature; if the verification is unsuccessful , the car end sends a request to the roadside end requesting the cloud server to regenerate and send the access authority and the digital signature of the access authority; if the verification is successful, the vehicle end performs corresponding operation.

Preferably, when the cloud server, the roadside terminal, and the vehicle terminal send information to each other, time stamps and random numbers can be added, and corresponding verification is performed on the receiving side, so as to prevent information from being replayed.

To sum up, the cloud server, the roadside terminal and the vehicle terminal of the present invention ensure the identity of the sender of the information and the authenticity and integrity of the information sent by verifying the public key certificate and the digital signature, and prevent the information from being illegally tampered with. Timestamps and random numbers are applied to sent information to prevent information from being replayed and ensure information security. Through the application of Internet of Vehicles and network technology, the present invention realizes safe transmission of information, and at the same time realizes the passing of traffic signal controllers, priority information display boards, marking projection modules, intelligent road studs, voice prompt modules and other modules on a one-way street. Make social vehicles and pedestrians understand the situation of the current and/or upcoming vehicles, adjust their position, direction and/or avoid in time, so that the vehicles can safely and smoothly achieve priority traffic. Based on the location information and time information reported by the vehicle terminal, the roadside terminal can better and more intelligently determine which vehicle terminal or vehicles to serve preferentially, further improving the efficiency of priority traffic.

What is shown above is only a preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art, some improvements and modifications can also be made without departing from the principles of the present invention. It should be regarded as the protection scope of the present invention.

Claims (10)

1. The V2I-based single-way road 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 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 vehicle end is used for sending out preferential passing request information to the road side end, carrying out corresponding operation according to feedback of the road side end, and when receiving the information which is returned by the road side end and allows reverse passing, allowing the vehicle end to pass through in a reverse way on the one-way road under the condition of ensuring safety, otherwise not allowing the vehicle end to pass through in a reverse way on the one-way road;

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

the traffic signal controller is used for changing the sequence of 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.

2. The V2I-based one-way traffic priority system of claim 1, wherein the vehicle end comprises a vehicle end security module, a vehicle end short-range direct communication module, and a vehicle end positioning module;

the vehicle-end safety module is used for providing a password service function and a safety storage function for the vehicle-end, 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 end positioning module is used for acquiring real-time geographic position information of the vehicle end.

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

The road side end is in communication connection with the vehicle end through the road side end short-distance direct communication module and the vehicle end short-distance direct communication 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.

4. The V2I-based one-way traffic priority system of claim 3, wherein the cloud server comprises a digital certificate module, a cloud security module, and a cloud storage module;

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

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

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

5. A V2I-based one-way street priority traffic system as claimed in claim 1, wherein the one-way street comprises at least two lanes, the leftmost lane of the original traffic direction of the one-way street 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 one-way traffic priority passing method based on a V2I-based one-way traffic priority passing system as claimed in any one of claims 1 to 5, comprising:

after the vehicle end is in communication connection with the road side end, the vehicle end sends out priority passing request information to the road side end, wherein the priority passing request information comprises vehicle end related information;

the road side end sends the priority passing request information to a cloud server, and the cloud server obtains the passing authority of the vehicle end in the one-way road according to the priority passing request information; then returning the passing authority of the vehicle end to the road side end;

the road side end forwards the passing permission of the vehicle end returned by the cloud server to the vehicle end; if the traffic permission of the vehicle end is that the reverse traffic is allowed, the road side end also controls a traffic signal controller, a priority information display board and a marking projection module to reflect the related information of the vehicle end and prompt the social vehicles and pedestrians to take avoidance measures;

after the traffic rights of the traffic ends forwarded by the road side end are received by the traffic ends, if the traffic rights of the traffic ends are the permission of reverse traffic, the traffic ends pass through the one-way road in a reverse way under the condition of ensuring safety; if the traffic right of the vehicle end is that the vehicle end is not allowed to pass reversely, the vehicle end cannot pass reversely on the one-way road.

7. The V2I-based one-way traffic priority method according to claim 6, wherein after the vehicle end is communicatively connected with the road side end, the vehicle end obtains geographic position information of the vehicle end through the vehicle end positioning module, and obtains geographic position information of the road side end or geographic position information of a termination point of the one-way traffic where the road side end is located from the road side end; the vehicle end calculates the distance between the vehicle end and the road side end or the ending point of the single-way road where the road side end is located, and when the distance between the vehicle end and the road side end is more and more close and reaches or is lower than a set threshold value, the vehicle end sends out preferential passing request information to the road side end.

8. The V2I-based one-way traffic priority method of claim 6, wherein the cloud server obtains the traffic right of the vehicle end on the one-way traffic according to the priority traffic request information, and specifically comprises: the cloud server compares the vehicle license plate and/or the vehicle identification code in the vehicle end related information in the priority passing request information with the vehicle license plate and/or the vehicle identification code preset and stored in the cloud storage module, and if the related vehicle license plate and/or the vehicle identification code is found, the passing authority of the vehicle end corresponding to the vehicle license plate and/or the vehicle identification code in the one-way road is found; if the relevant vehicle license plate and/or vehicle identification code is not found in the cloud storage module, the cloud server directly returns the passing authority which does not allow reverse passing to the vehicle end.

9. The V2I-based one-way traffic priority method according to claim 6, wherein after the vehicle end is communicatively connected with the road side end, the vehicle end further collects the geographic position information of the vehicle end and the time information of the vehicle end when the geographic position information of the vehicle end is collected, and sends the geographic position information of the vehicle end and the time information to the road side end; when a plurality of vehicle ends send out priority passing request information to the cloud server, a road side end queues the priority passing request information of the vehicle ends according to the distance between the geographic position of each vehicle end and the geographic position of the ending point of the one-way road and the time sequence in the time information, and then the road side end determines the inquiring sequence of the passing authority of the vehicle ends in the one-way road according to the queuing sequence; the queuing of the priority passing request information of the vehicle ends is firstly queuing 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; if the distances are the same, queuing is performed according to the time of sending the request information in each vehicle end, and the time is earlier.

10. The V2I-based one-way traffic priority method of claim 6, wherein the priority traffic request information sent by the vehicle end to the roadside end further comprises digital signature information of the vehicle end related information by the private key of the vehicle end;

before the cloud server compares the vehicle license plate and/or the vehicle identification code in the vehicle end related information in the priority passing request information with the vehicle license plate and/or the vehicle identification code preset and stored in the cloud storage module, the cloud server uses a public key in a public key certificate of the vehicle end to check the digital signature information of the vehicle end related information; if the signature verification fails, returning a pass authority which does not allow reverse pass to the road side end;

before the cloud server returns the pass right to the vehicle end, the cloud server digitally signs the pass right by using a private key of the cloud server to generate a pass right digital signature, and then the pass right and the pass right digital signature are returned to the road side end together;

after receiving the pass right and the pass right digital signature, the road side end firstly uses a public key in a public key certificate of a cloud server to check the pass right digital signature; if the signature verification is unsuccessful, the road side end sends 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 road side end forwards the passing right and the passing right digital signature to the vehicle end;

After the vehicle end receives the pass right and the pass right digital signature, the pass right digital signature is checked by a public key in a public key certificate of a cloud server; if the signature verification is unsuccessful, the vehicle end sends a request for requesting the cloud server to regenerate and send the pass right and the pass right digital signature to the road side end; if the signature verification is successful, the vehicle end performs corresponding operation according to the passing authority of the vehicle end;

the vehicle end, the cloud server and the road side end can also add a time stamp and a random number when mutually transmitting information, and perform corresponding verification on a receiver so as to prevent the information from being attacked by replay.

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