Information sharing method and system in vehicle-to-everything network

Abstract

The application discloses a kind of information sharing method and system in Internet of Vehicles, belong to Internet of Vehicles technical field, the method includes: when current information providing vehicle enters new area, request initialization parameter to the central roadside unit in current area and update the current area code of the vehicle;Collect road traffic information and search whether the same road traffic information has existed, realize the filtering of redundant information and reduce unnecessary communication resources;Find out the distance of multiple information evaluation cars and transmit the result to the nearest RSU a Communication distance can be reduced to improve communication efficiency and improve evaluation accuracy;RSU a Retrieval of the index of evaluation result can reduce the transmission of information redundancy, and the index of scoring result is packaged and uploaded to the coordination RSU node to realize node consensus;Finally solve the problem of low consensus efficiency and waste of network resources caused by massive vehicle data and repeated traffic report transmission in existing Internet of Vehicles.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of Internet of Vehicles, and more particularly relates to an information sharing method and system in Internet of Vehicles. BACKGROUND

[0002] With the rapid rise of intelligent sensing devices and built-in sensors, various types of information interaction are accompanied in Internet of Vehicles. Transmission of massive information often leads to network congestion, and a large number of repeated traffic event reports further consume valuable network resources.

[0003] At present, there are various schemes for reducing network congestion in Internet of Vehicles, such as assigning different priorities to different types of data. Among them, emergency messages (such as collision warnings) have the highest priority, and ordinary messages (such as navigation updates) have lower priority to ensure the transmission of critical information. However, when there are too many high-priority messages, low-priority messages may be delayed for a long time or even discarded. Network pressure can also be alleviated by dynamically adjusting the frequency or size of data transmission, such as reducing the transmission frequency of unnecessary data or limiting the transmission rate of single nodes. However, reducing data transmission frequency may result in delayed information updates, affecting the reliability of navigation or auxiliary driving systems.

[0004] In summary, the transmission of massive vehicle data and repeated traffic reports in existing Internet of Vehicles causes the problems of low consensus efficiency of alliance chain and waste of network resources. SUMMARY

[0005] In view of the above defects or improvement needs of the prior art, the present application provides an information sharing method and system in Internet of Vehicles, which aims to solve the technical problems of low consensus efficiency of alliance chain and waste of network resources caused by the transmission of massive vehicle data and repeated traffic reports in existing Internet of Vehicles.

[0006] To achieve the above-mentioned purpose, according to one aspect of the present application, an information sharing method in Internet of Vehicles is provided, comprising:

[0007] S1: When a current information providing vehicle which establishes communication with Internet of Vehicles exits from a previous area area k-1 in Internet of Vehicles and enters a current area area k , requests initialization parameters from a central roadside unit in the current area, and updates the current area code of the current information providing vehicle, the initialization parameters including: an area code total table and a data filter; the area code total table records the current area codes of all vehicles and roadside units; the data filter records the index of all stored information;

[0008] S2: controlling the current information providing vehicle to collect road traffic information in the current area, searching in the data filter whether the same road traffic information has existed; if yes, deleting the corresponding information and entering S3; if not, directly entering S3;

[0009] S3: finding out a plurality of information evaluation vehicles with the Hamming distance of the current area code of the current information providing vehicle in a preset range from the area code total table; using the plurality of information evaluation vehicles to perform a trust score on the road traffic information obtained in S2; each information evaluation vehicle transmits the scoring result to the nearest road side unit RSU a ;

[0010] S4: controlling the RSU a to search in the data filter whether the evaluation result identical with the evaluation result of the current information providing vehicle has existed, if yes, deleting the corresponding evaluation result, if not, packing and storing to the RSU a locally and writing the index of the evaluation result into the data filter, and then packing and uploading the index of the scoring result to the coordination RSU node;

[0011] S5: when the coordination RSU node receives the index of the scoring result, selecting a node set participating in consensus to perform consensus and executing a consensus algorithm to obtain a consensus result.

[0012] Further, the current area code of the current information providing vehicle is updated, comprising: using the formula to update the current area code code area of the current information providing vehicle;

[0013] wherein, α' is the current driving angle, which is the included angle between the current information providing vehicle and the central road side unit when the input area area k is input, m is the total number of areas, and represents the upward rounding.

[0014] Further, the initialization parameter further comprises an initial driving angle α of the current information providing vehicle; the expression of the current driving angle α' is: α'=(α+ω×β+360)mod 360; wherein, ω is the driving direction of the vehicle, ω=1 when the clockwise direction, ω=-1 when the counterclockwise direction, and β is the difference between the angle of the current information providing vehicle entering the previous area area k-1 and the angle of entering the current area area k .

[0015] Further, the vehicle networking has N=3F+h+1 roadside units (RSU) nodes, all of which are divided into consensus nodes and backup consensus nodes, wherein the number of Byzantine nodes is not more than F, the number of coordinating RSU nodes is one, the consensus nodes are divided into three types of master RSU nodes and following RSU nodes, and h is the number of backup consensus nodes; the S5 comprises:

[0016] When the coordinating RSU node receives the index of the score result, a node set participating in consensus is selected for consensus and a consensus algorithm is executed; in the process of executing the consensus algorithm, the master RSU node generates a block, the following RSU node participates in the accounting process in the alliance chain consensus mechanism, and the backup consensus node does not participate in the consensus operation to obtain a consensus result;

[0017] In each round of the consensus algorithm, the credit score of each consensus node in the round is determined first, and the consensus node set Z of the next round is selected according to the credit score of each consensus node in descending order r and the coordinating RSU node, and replaces the consensus node set Z r-1 and the coordinating RSU node in the next round of calculation, the coordinating RSU node selects y master RSU nodes from the consensus node set Z r to generate blocks in a pipeline manner.

[0018] Further, in the next round of calculation, the coordinating RSU node selects y master RSU nodes from the consensus node set Z r to generate blocks in a pipeline manner, which comprises that the coordinating RSU node monitors the information upload volume in the round, and if the information upload volume is greater than a threshold value, the number of consensus master RSU nodes is increased and the number of consensus following RSU nodes is reduced; if the information upload volume is less than the threshold value, the number of consensus master RSU nodes is reduced and the number of consensus following RSU nodes is increased.

[0019] Further, the number of master RSU nodes in the next round is |M r+1 |: Wherein, D r is the information volume in the round, D r-1 is the information volume in the last round, and |M r | is the number of master RSU nodes in the master RSU node set M r in the view.

[0020] Further, the number of following RSU nodes in the next round is |F r+1 |: Wherein, D r is the information volume in the round, D r-1 is the information volume in the last round, |M r | is the number of master RSU nodes in the master RSU node set M r in the view, and |Fr | is a consensus node set F r The number of RSU nodes followed in the current information providing vehicle.

[0021] Further, the credit score of each consensus node in each round of the consensus algorithm is determined first, including: if the consensus result identifies that the consensus node set in the current round successfully generates a block, the credit score of each consensus node in the next round is calculated using the credit score of the current round and formula

[0022] Wherein, c true represents the number of successful participation in consensus and block generation, V is a coefficient for judging whether the consensus node successfully participates in the consensus, V=1 when the consensus node successfully participates in the consensus, otherwise V=0, ∑T x / |Z r represents the average credit score of all consensus nodes, and alpha is the node credit score adjustment factor.

[0023] Further, the credit score of each consensus node in each round of the consensus algorithm is determined first, including: if the consensus result identifies that the consensus node set in the current round successfully generates a block, the credit score of each consensus node in the next round is calculated using the credit score of the current round and formula Wherein, c fail represents the number of successful participation in consensus and block generation, V is a coefficient for judging whether the consensus node successfully participates in the consensus, V=1 when the consensus node successfully participates in the consensus, otherwise V=0, ∑T

[0024] According to another aspect of the present application, an information sharing system in a vehicle Internet of Things is provided, comprising: a plurality of information providing vehicles, a plurality of information evaluation vehicles, a central roadside unit, and a roadside unit node in the same area; further comprising a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0025] Overall, compared with the prior art, the above technical solutions conceived by the present application can achieve the following beneficial effects:

[0026] (1) The present application provides an information sharing method in a vehicle Internet of Things, when the current information providing vehicle enters a new area, the central roadside unit in the current area is requested to initialize the parameters, and the current area code of the current information providing vehicle is updated; then the road traffic information is collected, and whether the same road traffic information exists in the data filter is searched, to realize redundant information filtering and reduce unnecessary communication resources; further, a plurality of information evaluation vehicles with close distance are found to perform trusted scoring and transmit the result to the nearest RSU a ​​On the one hand, the communication distance can be reduced to improve the communication efficiency; on the other hand, multiple information evaluation vehicles can improve the evaluation accuracy; and then, the RSU a The index of the evaluation result is retrieved again, which can reduce the redundant transmission of information and save communication resources; the index of the score result is packaged and uploaded to the coordination RSU node to realize node consensus; and finally, the problem of low consensus efficiency of the alliance chain and waste of network resources caused by massive vehicle data and repeated traffic report transmission in the existing vehicle networking is solved.

[0027] (2) In the scheme, the formula The current area code code of the current information providing vehicle is updated area In this way, the rapid movement of the vehicle in the driving process is considered, so that the vehicle networking topology changes rapidly, the vehicle can be positioned and connected to the nearest ISV and RSU in real time, the communication range is optimized, the efficiency and stability of data transmission are finally improved, and the network congestion problem is alleviated, ensuring the timeliness and reliability of information exchange.

[0028] (3) In the scheme, the expression of the current driving angle a' is: a'=(a+ω×β+360)mod 360; in this way, the map is considered as a circle and is evenly divided into m sectors of the same size, so that the vehicle can realize real-time perception of the change of its own angle, and finally the vehicle can quickly update its own area code when driving into a new area.

[0029] (4) Considering that the performance bottleneck problem that may occur in the existing Byzantine fault-tolerant consensus scheme will lead to high information interaction delay in the Internet of Vehicles, and often ignores the detection of malicious nodes, and fails to timely eliminate the security risks of malicious nodes destroying the Internet of Vehicles system; In the scheme, the Internet of Vehicles has N = 3F+h+1 roadside units RSU nodes, all RSU nodes are divided into consensus nodes and backup consensus nodes, the number of Byzantine nodes does not exceed F, the coordination RSU node is one, the consensus node is divided into three types of nodes: main RSU node, following RSU node and backup RSU node, and h is the number of backup consensus nodes; When the coordination RSU node receives the index of the score result, the node set participating in the consensus is selected for consensus and the consensus algorithm is executed; In the process of executing the consensus algorithm, the main RSU node generates a block, the following RSU node participates in the accounting process in the alliance chain consensus mechanism, and the backup consensus node does not participate in the consensus operation to obtain the consensus result; Such design considers that multiple main nodes execute the consensus algorithm in a pipeline manner to generate blocks in parallel, and in the case that the main node is abnormal, the abnormal main node can be quickly replaced by a suitable node from the backup RSU node set to participate in the consensus, and finally the consensus algorithm in the scheme can quickly select a replacement node when the main node is abnormal, ensuring the continuity and stability of the consensus process.

[0030] (5) In the scheme, the coordination RSU node will monitor the information upload amount of the current round, and if the information upload amount is greater than the threshold, the main RSU node will be increased and the following RSU node will be reduced; If the information upload amount is less than the threshold, the main RSU node will be reduced and the following RSU node will be increased; Such design considers the dynamic balance of system load and efficient use of resources, realizes rapid response and adaptive adjustment to network traffic changes, and finally optimizes network performance, improves system throughput, and reduces communication delay.

[0031] (6) In the scheme, the number of main RSU nodes in the next round is |M r+1 |: Such design considers that the communication complexity required by the main RSU node in the consensus process is high, realizes that the number of main RSU nodes required can be quickly calculated according to the amount of information upload, and finally the number of main RSU nodes can be quickly and dynamically adjusted to realize efficient use of resources and improvement of system throughput.

[0032] (7) In the scheme, the number of following RSU nodes in the next round is |F r+1 | is: In this way, the cooperative change mechanism of the following RSU nodes is considered, the system can dynamically adjust the number of the following RSU nodes, the number of the following RSU nodes can be synchronized with the change of the master RSU node, the efficient cooperation of the master-slave nodes is realized, the resource utilization is further optimized, and the stability and efficiency of the system under different load conditions are ensured.

[0033] (8) In the scheme, if the consensus result identifies that the consensus node set in the round successfully generates a block, the credit score of each consensus node in the next round is calculated by using the credit score of the round and the formula (8) In the scheme, if the consensus result identifies that the consensus node set in the round successfully generates a block, the credit score of each consensus node in the next round is calculated by using the credit score of the round and the formula In this way, the nodes actively participating in the consensus are rewarded, an economic incentive-based consensus node incentive mechanism is designed, the positive guidance and dynamic management of the node behavior are realized. The mechanism can not only effectively improve the participation enthusiasm of the nodes, but also can combine the reward and punishment, so that the system can quickly identify the benign nodes and malicious nodes, and the safety, reliability and operation efficiency of the system are enhanced.

[0034] (9) In the scheme, if the consensus result identifies that the consensus node set in the round does not successfully generate a block, the credit score of each consensus node in the next round is calculated by using the credit score of the round and the formula (9) In the scheme, if the consensus result identifies that the consensus node set in the round does not successfully generate a block, the credit score of each consensus node in the next round is calculated by using the credit score of the round and the formula In this way, the nodes actively participating in the consensus are rewarded, an economic incentive-based consensus node incentive mechanism is designed, the positive guidance and dynamic management of the node behavior are realized. The mechanism can not only effectively improve the participation enthusiasm of the nodes, but also can combine the reward and punishment, so that the system can quickly identify the benign nodes and malicious nodes, and the safety, reliability and operation efficiency of the system are enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 is a flowchart of an information sharing method in a vehicle networking provided by an embodiment 1 of the application;

[0036] Figure 2 is an environment schematic view of an information sharing method in a vehicle networking provided by an embodiment 1 of the application;

[0037] Figure 3 is a flowchart of an RSU node consensus algorithm provided by an embodiment 1 of the application. DETAILED DESCRIPTION

[0038] ​​In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in details below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as they do not conflict with each other.

[0039] Embodiment 1

[0040] As shown in Figure 1 and Figure 2 , the present embodiment provides an information sharing method in a vehicle Internet, comprising: S1-S5.

[0041] S1: When a current information providing vehicle which establishes communication with the vehicle Internet drives out of a previous area area k-1 in the vehicle Internet and drives into a current area area k , a central roadside unit in the current area is requested for initialization parameters, and a current area code of the current information providing vehicle is updated, the initialization parameters comprising: an area code total table and a data filter; the area code total table recording current area codes of all vehicles and roadside units; the data filter recording indexes of all stored information.

[0042] Wherein, each area has a plurality of vehicles, assuming that there are n small vehicles on the road, denoted as v i (i=1, 2, 3...n). Vehicles or RSUs in different areas are assigned a string of binary codes, which represents the identity information of the vehicle or RSU, and each binary string is composed of an area code and a vehicle code (or RSU code). At the same time, each vehicle or RSU holds a certificate issued by a certificate authority CA. A piece of geographical position is divided into m areas, wherein the kth area can be represented by area k (k=1, 2, 3...m). In the system initialization phase, each vehicle and RSU has an area code total table and a data filter, and each coding tail in the area code total table has an active flag. If a small vehicle newly enters the area, the small vehicle will request the initialization parameters from the central RSU of the area, and the central RSU will respond to the initial angle a and the vehicle code. The vehicle constantly updates the area code according to the angle difference β between the initial angle. After the vehicle updates the area code, it can be transmitted to the nearest and active RSU to update the area code total table and broadcast the updated list to other RSUs.

[0043] S2: Control the current information providing vehicle to collect road traffic information in the current area, and search in the data filter whether the same road traffic information already exists; if it exists, delete the corresponding information and enter S3; if it does not exist, directly enter S3.

[0044] wherein the total area code table stores real-time vehicle coding information, facilitating IPV to find ISV and sharing information. The data filter stores hash mapping bits of existing information, so that vehicles can efficiently determine whether the information collected by themselves has been uploaded to the RSU by other vehicles. Due to the dense vehicles and similar moving trajectories, different IPV may repeatedly upload the same information, which inevitably increases the burden of network communication and the overhead of system operation. Therefore, when the IPV collects information, it will first search in the data filter whether the same information exists (the corresponding bits are all 1 after mapping by different hash functions), and if it exists, it will be deleted and then other information will be packaged and uploaded to the RSU a When the RSU receives information from the IPV, it will search the information in the local data filter. If it detects that the information is repeated, the information will not be packaged and stored, otherwise, the information will be packaged and stored in the local RSU, and the index of the evaluation result will be uploaded to the coordinating RSU node for consensus.

[0045] S3: finding multiple information evaluation vehicles with a Hamming distance within a preset range from the current area code of the current information providing vehicle from the total area code table; using the multiple information evaluation vehicles to perform a trusted score on the road traffic information obtained in S2; and each information evaluation vehicle transmits the score result to the nearest road side unit (RSU) a .

[0046] wherein the IPV sends the collected information to multiple ISVs for scoring, the ISVs upload the evaluation results to the RSU, the RSU converts the evaluation results into the credit score of the ISVs and saves them on the alliance chain, and when a vehicle needs to request related information, it can selectively request the RSU according to the evaluation results on the alliance chain. However, if the information sharing process is not controlled, it will bring a lot of load to the network communication. In order to effectively reduce this load and improve the efficiency of information sharing, the strategy adopted in this embodiment is that the IPV will only send the collected information to the ISVs with a distance within a threshold value, and the distance between vehicles is as follows: and respectively represent the area codes of v i and v j .

[0047] S4: controlling the RSU a to search in the data filter whether the evaluation result identical to the evaluation result of the current information providing vehicle exists, and if it exists, deleting the corresponding evaluation result, and if it does not exist, packaging and storing it in the local RSU a and writing the index of the evaluation result into the data filter, and then packaging and uploading the index of the score result to the coordinating RSU node.

[0048] S5: When the coordinating RSU node receives the index of the score result, the node set participating in consensus is selected to perform consensus and consensus algorithm to obtain the consensus result.

[0049] Further, updating the current area code of the current information providing vehicle includes: using the formula to update the current area code code of the current information providing vehicle area ; wherein α' is the current driving angle, which is the angle between the current information providing vehicle and the central roadside unit when the input area area k , m is the total number of areas, , and represents the upward rounding.

[0050] Further, the initialization parameters further include the initial entry angle α of the current information providing vehicle; the expression of the current driving angle α' is: α' = (α + ω × β + 360) mod 360; wherein ω is the vehicle driving direction, ω = 1 when clockwise, ω = -1 when counterclockwise, and β is the difference between the angle of the current information providing vehicle entering the previous area area k-1 and the angle of entering the current area area k .

[0051] Wherein, the vehicle area code updating method is: if the vehicle v i is in the area area1, after a period of time, it arrives at the area area2, and the distance v i travels in this period of time is s0, the vehicle v i will send a message to the road central RSU at a certain time interval to calculate the distance between the vehicle and the RSU at this time, and the distances calculated by the vehicle v i in area1 and area2 are s1 and s2, respectively, and the angle difference β is calculated using the following formula: β = arccos (cos β).

[0052] Further, as Figure 3As shown, the vehicle networking has N=3F+h+1 roadside units RSU nodes, all the RSU nodes are divided into consensus nodes and backup consensus nodes, the number of Byzantine nodes is not more than F, the coordination RSU node is one, the consensus nodes are divided into three types of nodes, i.e., the main RSU node and the following RSU node, and h is the number of backup consensus nodes. S5 includes: when the coordination RSU node receives the index of the score result, the node set participating in the consensus is selected for consensus and the consensus algorithm is executed; in the process of executing the consensus algorithm, the main RSU node generates a block through operation, the following RSU node participates in the accounting process in the consensus mechanism of the alliance chain, and the backup consensus node does not participate in the consensus operation to obtain a consensus result. In each round of the consensus algorithm, the credit score of each consensus node in the round is determined first, and the consensus node set Z r and the coordination RSU node in the next round is selected from the consensus node set Z r-1 and the coordination RSU node in the next round, and the coordination RSU node selects y main RSU nodes from the consensus node set Z r in the pipeline operation to generate a block.

[0053] In the vehicle networking, there are N=3F+h+1 RSU nodes in total, the number of Byzantine nodes is not more than F, all the RSU nodes are divided into consensus nodes and backup consensus nodes, the consensus nodes are divided into three types of nodes, i.e., the coordination RSU node, the main RSU node and the following RSU node, and h is the number of backup consensus nodes. The coordination RSU node is responsible for collecting and distributing the information sent by IPV and the selection of the consensus node set, the main RSU node generates a block through operation, the following RSU node participates in the accounting process in the consensus mechanism of the alliance chain, and the backup consensus node does not participate in the consensus operation temporarily. If there is a need to replace or increase the consensus nodes, the coordination RSU node will select the backup consensus node to join the consensus nodes. The consensus algorithm starts from the r=0 round, and in each round, the consensus node set Z r and the coordination RSU node in the next round is selected from the consensus node set Z r-1 and the coordination RSU node in the next round, and the coordination RSU node selects y main RSU nodes from the consensus node set Z r to generate a block through operation. The process is automatically completed by a coordination RSU node in each round of view, the nodes in the consensus node set can play multiple roles, and the main RSU node can also be the coordination RSU node. In this embodiment, the coordination RSU node is a consensus node with the highest credit score.

[0054] Further, in the next round of calculation, the coordination RSU node selects y main RSU nodes from the consensus node set Z rThe y main RSU nodes are selected in a pipeline operation to generate blocks, including: the coordinating RSU node will monitor the information upload amount of the current round, if the information upload amount is greater than the threshold, the consensus master RSU node is increased and the consensus follower RSU node is reduced; if the information upload amount is less than the threshold, the consensus master RSU node is reduced and the consensus follower RSU node is increased.

[0055] Wherein, when the consensus node is elected as the coordinating RSU node by the last round of coordinating RSU node, the coordinating RSU node sends a coordinating RSU node change message Nchange to all consensus nodes, and when the master RSU node receives the message, it signs the message, and when the coordinating RSU node collects N-F-h consensus node approval votes, it creates a view r When entering the rth round of view, the coordinating RSU node collects information sent from the consensus node, and then the coordinating RSU node divides the existing information into y non-overlapping partitions, assigns each partition an unused sequence number, and assigns these sequence numbers to y master RSU nodes, and sorts the sequence numbers according to their size to assign each master RSU node an index number index∈(0,1,2,3...y), the coordinating RSU node will distribute these information to each master RSU node according to the index, if there is information left over from the last round of view that has not completed consensus, then the remaining information is preferentially assigned to the master RSU node. The master RSU node will process these partitions in a pipeline, and each master RSU node will broadcast 4 rounds of messages to other master RSU nodes, namely the preparation stage, the pre-commit stage, the commit stage and the decision stage, in each stage, the master RSU node receives (|Z r |is the number of consensus nodes) consensus node approval votes, a signature is generated using threshold signature technology, and after entering the next stage, each master RSU node will first check the signature of the last stage, and then perform voting in the current stage, and after completing the voting in the 4 stages, the master RSU node can add the block to the alliance chain. When performing pipeline operation between different master RSU nodes, the master RSU node with a smaller index number must receive the last stage voting message from the master RSU node with an index number of one less than the current index number before performing the current stage voting of the master RSU node, except for the master RSU node with an index number of 0.

[0056] Since the number of master RSU nodes elected by each round of view is not fixed, the embodiment first gives an initial value, and then the coordinating RSU node monitors the information upload amount of each round. If the coordinating RSU node detects that the upload amount is greater than the threshold, the consensus master RSU node is increased and the consensus follower RSU node is reduced accordingly to speed up the consensus. First, the coordinating RSU node sends a message to the consensus node, and the consensus node requests to become a master RSU node after receiving the message. The coordinating RSU node will sort according to the integrity score to select the best follower RSU node to become a master RSU node. If the upload amount is less than the threshold, the consensus master RSU node is reduced and the consensus follower RSU node is increased to improve security. In this case, the coordinating RSU node sends a message to the master RSU node with a low integrity score to downgrade it to a follower RSU node.

[0057] The embodiment adopts a selection system based on integrity score to determine the consensus node set and which consensus node will act as a master RSU node and a coordinating RSU node. After each round of consensus, the system will adjust the integrity score of the node based on whether the node successfully cooperates with other nodes to reach consensus and effectively generate a block. Once the integrity score of a consensus node falls below a certain threshold, it will be determined to be unsuitable for continuing as a consensus node. At this time, the coordinating RSU node will intervene in the processing. First, the coordinating RSU node will send a message to the consensus node group to exclude consensus nodes with a low integrity score. Then, the coordinating RSU node sends a message to the candidate node group. After receiving the message, the candidate node sends an entry chain request to the coordinating RSU node. The coordinating RSU node selects nodes with higher integrity scores and stable performance from the pool of alternative consensus nodes to replace those with too low integrity scores, and encodes the removed RSU node as active position 0 and the new added RSU node as active position 1. Then, the updated table is broadcast to all vehicles and RSUs.

[0058] Further, the number of master RSU nodes in the next round is |M r+1 : where D r is the information amount of the current round, D r-1 is the information amount of the previous round, and |M r | is the number of master RSU nodes in the master RSU node set M r in the current view.

[0059] Further, the number of consensus nodes in the next round |F r+1 | is: where D r is the information amount of the current round, D r-1 is the information amount of the previous round, and |M r | is the number of master RSU nodes in the master RSU node set Mr |F r | is the number of consensus nodes in the view F r | is the number of consensus nodes in the view F

[0060] Further, if the consensus node set correctly produces a block, the consensus node RSU φ (φ=1,2,3...|Z r | is changed as follows:

[0061]

[0062] where c true represents the number of successful participation in consensus and block, V is the coefficient of judging whether the consensus node successfully participates in this consensus, V = 1 when the consensus node successfully participates in the consensus, otherwise V = 0, ∑T x / |Z r | represents the average of the credit score of all consensus nodes. Alpha is the node credit score adjustment factor, a = -0.4 when the consensus node is the main RSU node, and a = 0 when it is a normal consensus node. Its role is to avoid the problem of centralized nodes. When the consensus node becomes the main RSU node and successfully produces a block, its credit score will be reduced, so that the same main RSU node credit score will not continuously increase and remain the highest state. Other consensus following RSU nodes have the opportunity to become main RSU nodes as long as they continue to successfully participate in consensus.

[0063] Further, each round of the consensus algorithm first determines the credit score of each consensus node in the round, including: if the consensus result identifies that the consensus node set in the round has not successfully produced a block, the credit score and formula is used to calculate the credit score of each consensus node in the next round where c fail represents the number of successful participation in consensus and block, V is the coefficient of judging whether the consensus node successfully participates in this consensus, V = 1 when the consensus node successfully participates in the consensus, otherwise V = 0, ∑T

[0064] Embodiment 2

[0065] The embodiment provides an information sharing system in a vehicle-to-everything network, comprising: a plurality of information providing vehicles, a plurality of information evaluating vehicles, a central roadside unit, and roadside unit nodes in the same area; and a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0066] Those skilled in the art will easily understand that the above description is only a preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for information sharing within a vehicle network, characterized in that, include: S1: When establishing communication with the vehicle network, the current information provided indicates that the vehicle has moved from the previous area within the vehicle network. Drive out and enter the current area When the vehicle is in use, it requests initialization parameters from the central roadside unit in the current area and updates the current information to provide the current area code of the vehicle. The initialization parameters include: a total area code table and a data filter; the total area code table records the current area codes of all vehicles and roadside units; the data filter records the index of all currently stored information. S2: Control the current information providing vehicle to collect road traffic information in the current area, and search in the data filter whether the same road traffic information already exists; if it exists, delete the corresponding information and proceed to S3; if it does not exist, proceed directly to S3; S3: Find multiple information evaluation vehicles from the area code master table whose Hamming distance to the current area code of the current information providing vehicle is within a preset range; use the multiple information evaluation vehicles to perform a reliability score on the road traffic information obtained in S2; each of the information evaluation vehicles transmits the score result to the nearest roadside unit. ; S4: Control The data filter is searched to see if a matching evaluation result for the vehicle currently provided by the information already exists. If it does, the corresponding evaluation result is deleted; otherwise, it is packaged and stored. The local system writes the index of the evaluation result into the data filter, and then packages the index of the scoring result and uploads it to the coordinating RSU node. S5: When the coordinating RSU node receives the index of the scoring result, it selects the set of nodes participating in the consensus to reach a consensus and executes the consensus algorithm to obtain the consensus result.

2. The information sharing method within the vehicle network as described in claim 1, characterized in that, The process of updating the current information to provide the vehicle's current area code includes: using a formula The updated current information provides the vehicle's current area code. ; in, The current driving angle is the input area. The current information provides the angle between the vehicle and the central roadside unit. This represents the total number of regions. This indicates rounding up to the nearest integer.

3. The information sharing method within the vehicle network as described in claim 2, characterized in that, The initialization parameters also include the initial approach angle of the vehicle provided by the current information. The current driving angle The expression is: ;in, It refers to the direction of vehicle travel; when it is clockwise... When it is counterclockwise , The current information provides information about the vehicle entering the previous area. Angle and entering the current area The difference in angles.

4. The information sharing method within the vehicle network as described in claim 1, characterized in that, The vehicle network has Each roadside unit (RSU) node is divided into consensus nodes and candidate consensus nodes, with the number of Byzantine nodes not exceeding [a certain number]. F There is one coordinating RSU node, and consensus nodes are divided into three types: coordinating RSU nodes, master RSU nodes, and follower RSU nodes. h It refers to the number of candidate consensus nodes; S5 includes: When the coordinating RSU node receives the index of the scoring result, it selects a set of nodes to participate in the consensus and executes the consensus algorithm. During the execution of the consensus algorithm, the main RSU node generates blocks and follows the RSU nodes to participate in the accounting process in the consortium blockchain consensus mechanism. The alternate consensus nodes do not participate in the consensus operation to obtain the consensus result. In each round of the consensus algorithm, the credibility score of each consensus node in that round is determined first, and the consensus node set for the next round is selected according to the credibility scores of each consensus node. And coordinate RSU nodes, and replace the consensus node set for this round. And coordinate RSU nodes, in the next round of computation, to coordinate RSU nodes from the consensus node set. Selected Each master RSU node generates blocks in a pipelined manner.

5. The information sharing method within the vehicle network as described in claim 4, characterized in that, The next round of computation coordinates the RSU nodes from the consensus node set. Selected Each primary RSU node generates blocks in a pipelined manner, including: the coordinating RSU node monitors the amount of information uploaded in this round; if the amount of information uploaded is greater than a threshold, it increases the number of primary consensus RSU nodes and decreases the number of consensus follower RSU nodes; if the amount of information uploaded is less than the threshold, it decreases the number of primary consensus RSU nodes and increases the number of consensus follower RSU nodes.

6. The information sharing method within the vehicle network as described in claim 5, characterized in that, The number of primary RSU nodes in the next round is : ,in, This is the amount of information in this round. It's the amount of information from the previous round. This is the set of main RSU nodes in this view. Number of primary RSU nodes.

7. The information sharing method within the vehicle network as described in claim 5, characterized in that, The number of nodes following RSU in the next round for: ;in, This is the amount of information in this round. It's the amount of information from the previous round. This is the set of main RSU nodes in this view. Number of primary RSU nodes It is the set of consensus nodes in this view. The number of RSU nodes follows.

8. The information sharing method within the vehicle network as described in claim 4, characterized in that, Each round of the consensus algorithm first determines the integrity score of each consensus node in that round, including: If the consensus result indicates that the consensus node set has successfully produced a block in this round, then the integrity score of this round is used. and formula Calculate the integrity score of each consensus node in the next round. ; in, This represents the number of times a user has successfully participated in consensus and produced a block. V It is a coefficient used to determine whether a consensus node has successfully participated in the consensus process. ,on the contrary , The average integrity score representing all consensus nodes. It is a node integrity score adjustment factor.

9. The information sharing method within the vehicle network as described in claim 4, characterized in that, Each round of the consensus algorithm first determines the integrity score of each consensus node in that round, including: If the consensus result indicates that the consensus node set failed to produce a block in this round, then the integrity score of this round will be used. and formula Calculate the integrity score of each consensus node in the next round. ;in, This represents the number of times a participant failed to successfully participate in the consensus.

10. An information sharing system within a vehicle network, comprising: The system includes multiple information-providing vehicles, multiple information-evaluating vehicles, a central roadside unit, and roadside unit nodes within the same area; it also includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the information sharing method within the vehicle network according to any one of claims 1 to 9.

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