A method and device for establishing dynamic trusted relationship of vehicles in a vehicle-road cooperative environment

Abstract

The present application discloses a method and device for establishing dynamic trusted relationships between vehicles in a vehicle-road collaborative environment. The embodiments of the present application are universal and can still establish and manage trust relationships between vehicles when there are no roadside devices on the road. Moreover, the dynamic trusted relationships between vehicles established with vehicles as the center enable each vehicle to manage the trust relationships of trusted vehicles within a certain communication range of itself, and flexibly achieve the establishment of trusted relationships between vehicles without relying on roadside devices. Furthermore, in the embodiments of the present application, by periodically updating the established trust relationship, the established trust relationship is dynamically updated according to the actual situation, ensuring the authenticity and reliability of the established trust relationship.

Description

Technical Field

[0001] The present application relates to but is not limited to intelligent transportation technology, and in particular to a method and device for establishing dynamic trusted relationships between vehicles in a vehicle-road collaborative environment. Background Art

[0002] The intelligent vehicle-road cooperative system adopts advanced wireless communication and new generation Internet technologies to realize all-round dynamic real-time information interaction between vehicles and roads, and carries out vehicle-road cooperative safety and active road control based on the collection and integration of dynamic traffic information in all time and space, fully realizing the effective coordination of people, vehicles and roads, ensuring traffic safety, improving traffic efficiency, and thus forming a safe, efficient and environmentally friendly road traffic system.

[0003] Autonomous driving based on the vehicle-road cooperative system is a brand-new technical route. With the assistance of the vehicle-road cooperative system, the requirements for sensor accuracy and algorithm performance can be greatly reduced. It is a low-cost, high-precision, real-time autonomous driving solution.

[0004] Trusted interaction of vehicle driving information is an important foundation and prerequisite for realizing collaborative perception, collaborative decision-making, and collaborative control of autonomous driving vehicles in a vehicle-road collaborative environment. Trusted interaction of information based on vehicle-road collaboration can ensure the security and reliability of information transmitted by autonomous driving vehicles. The establishment of a trusted relationship is an important part of the trusted interaction of vehicle information. At the same time, the establishment of a trust relationship between vehicles is a prerequisite for completing trusted information interaction. Furthermore, the update of the trust relationship between vehicles can also provide security for the trusted interaction of information. In related technologies, the methods for maintaining vehicle trusted relationships are mostly centered on roadside equipment. Such solutions are too dependent on roadside equipment and are not universal; moreover, the methods for establishing and managing vehicle trust relationships are not transferable. Summary of the invention

[0005] The present application provides a method and device for establishing dynamic trusted relationships between vehicles in a vehicle-road collaborative environment, which can establish trusted relationships between vehicles without relying on roadside equipment.

[0006] An embodiment of the present invention provides a method for establishing a dynamic trusted relationship between vehicles in a vehicle-road collaborative environment, comprising:

[0007] The target vehicle detects that there is a vehicle with which a trust relationship can be established within the communication range, and determines whether the target vehicle is a first-time cascade vehicle;

[0008] If the target vehicle is a first-cascade vehicle, the trust value of the target vehicle and the trust value of the detected vehicle are obtained, and a trust relationship between the target vehicle and the detected vehicle is established based on the obtained trust value; if the target vehicle is not a first-cascade vehicle, the trust value of the detected vehicle is obtained, and a trust relationship between the target vehicle and the detected vehicle is established based on the obtained trust value, and the relevant trust relationships between other vehicles that have established trust relationships with the target vehicle and the detected vehicle are updated.

[0009] In an exemplary embodiment, it also includes:

[0010] The trust relationship is detected periodically to achieve dynamic update of the trust relationship.

[0011] In an exemplary embodiment, the trusted vehicle that has established the trust relationship leaves the communication range of the vehicle control, further comprising:

[0012] The trust relationship of the trusted vehicle enters the decay stage;

[0013] When the trust value representing the trust relationship decays to a preset tolerance threshold, the trusted vehicle is determined to be an irrelevant vehicle, and the corresponding trust relationship information is deleted.

[0014] In an exemplary embodiment, the trust relationship is stored in a dynamic trusted chain table.

[0015] In an exemplary embodiment, the trusted chained list unit of the trusted chained list includes:

[0016] The head unit that the vehicle to which the trusted chain list belongs owns;

[0017] A main chain unit that directly establishes a trusted relationship with the vehicle belonging to the trusted chain list at the physical level;

[0018] A chaining unit for transmitting the relevant trust information of a vehicle that has established a trust relationship with the trusted vehicle, which is transmitted by the trusted vehicle that has established the trust relationship.

[0019] The present application also discloses a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute any of the above-mentioned methods for establishing dynamic trusted relationships between vehicles in a vehicle-road collaborative environment.

[0020] The present application also discloses a device for implementing the establishment of dynamic trusted relationships between vehicles in a vehicle-road collaborative environment, including a memory and a processor, wherein the memory stores the following instructions executable by the processor: used to execute the steps of the method for establishing dynamic trusted relationships between vehicles in a vehicle-road collaborative environment as described in any of the above items.

[0021] The present application further discloses a vehicle dynamic trusted relationship establishment device in a vehicle-road cooperative environment, comprising: a judgment unit and a processing unit; wherein:

[0022] A judgment unit, used to detect that there is a vehicle with which a trust relationship can be established within the communication range of the target vehicle to which the target vehicle belongs, and determine whether the target vehicle to which the target vehicle belongs is a first-time cascade vehicle;

[0023] A processing unit is used to obtain the trust value of the target vehicle to which it belongs and the trust value of the detected vehicle when it is determined that the target vehicle to which it belongs is a first-cascade vehicle, and to establish a trust relationship between the target vehicle to which it belongs and the detected vehicle based on the obtained trust value; when it is determined that the target vehicle to which it belongs is not a first-cascade vehicle, obtain the trust value of the detected vehicle, establish a trust relationship between the target vehicle to which it belongs and the detected vehicle based on the obtained trust value, and update the relevant trust relationship between other vehicles that have established a trust relationship with the target vehicle to which it belongs and the detected vehicle.

[0024] In an exemplary embodiment, the processing unit is further configured to:

[0025] The trust relationship is periodically detected to achieve dynamic update of the trust relationship.

[0026] In an exemplary embodiment, the processing unit is further configured to:

[0027] When the trusted vehicle with which the trust relationship has been established leaves the communication range of the vehicle control, the trust relationship of the trusted vehicle enters the decay stage; when the trust value decays to a preset tolerance threshold, the trusted vehicle is determined to be an irrelevant vehicle and the corresponding trust relationship information is deleted.

[0028] The method for establishing dynamic trusted relationships between vehicles in a vehicle-road collaborative environment provided in the embodiment of the present application is universal. When there is no roadside equipment on the road, trust relationships between vehicles can still be established and managed. Moreover, the dynamic trusted relationship between vehicles established with the vehicle as the center enables each vehicle to manage the trust relationships of trusted vehicles within a certain communication range of itself, and flexibly realizes the establishment of trusted relationships between vehicles without relying on roadside equipment.

[0029] Furthermore, in the embodiment of the present application, by periodically updating the established trust relationship, the established trust relationship is dynamically updated according to the actual situation, thereby ensuring the authenticity and reliability of the established trust relationship.

[0030] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are used to provide further understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0032] Figure 1 A flowchart of a method for establishing a dynamic trusted relationship between vehicles in a vehicle-road collaborative environment in an embodiment of the present application;

[0033] Figure 2 This is a schematic diagram of the first cascading process between vehicles in an embodiment of the present application;

[0034] Figure 3 This is a schematic diagram of a cascading process scenario between a cascaded vehicle and a first-cascaded vehicle in an embodiment of the present application;

[0035] Figure 4 This is a schematic diagram of a cascading process scenario between cascaded vehicles in an embodiment of the present application;

[0036] Figure 5 This is another schematic diagram of a cascading process scenario between cascaded vehicles in an embodiment of the present application;

[0037] Figure 6 This is an example schematic diagram of a trusted chain table in an embodiment of the present application;

[0038] FIG. 7( a ) is a schematic diagram of an example in which the main chain unit disappears in an embodiment of the present application;

[0039] FIG. 7( b ) is a schematic diagram of an example in which the chain splitting unit disappears in an embodiment of the present application;

[0040] Figure 8 This is a schematic diagram of the composition structure of a device for establishing a dynamic trusted relationship between vehicles in a vehicle-road collaborative environment in an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present application more clear, the embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily without conflict.

[0042] In a typical configuration of the present application, a computing device includes one or more processors (CPU), an input / output interface, a network interface, and a memory.

[0043] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0044] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory media such as modulated data signals and carrier waves.

[0045] The steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions. Also, although a logical sequence is shown in the flowchart, in some cases, the steps shown or described can be performed in a sequence different from that shown here.

[0046] Figure 1 FIG. 1 is a flow chart of a method for establishing a dynamic trusted relationship between vehicles in a vehicle-road collaborative environment in an embodiment of the present application. Figure 1 As shown, including:

[0047] Step 100: The target vehicle detects that there is a vehicle with which a trust relationship can be established within the communication range, and determines whether the target vehicle is a first-time cascade vehicle. If the target vehicle is a first-time cascade vehicle, proceed to step 101; if the target vehicle is a cascaded vehicle, proceed to step 102.

[0048] The first cascade vehicle refers to a vehicle that has not established a trust relationship with other vehicles before the current trust relationship is established. The cascaded vehicle refers to a vehicle that has established a trust relationship with other vehicles before the current trust relationship is established.

[0049] In an exemplary embodiment, whether the target vehicle is a first-time cascade vehicle can be determined based on whether the target vehicle stores a trust relationship. If the target vehicle stores a trust relationship, the target vehicle is a cascaded vehicle; if the target vehicle does not store a trust relationship, the target vehicle is a first-time cascade vehicle.

[0050] Step 101: Obtain a trust value of a target vehicle and a trust value of a detected vehicle, and establish a trust relationship between the target vehicle and the detected vehicle according to the obtained trust values.

[0051] In an exemplary embodiment, obtaining the trust value of the target vehicle in step 101 may include:

[0052] The data content carried by the data packet to be sent by the target vehicle itself is detected. If the data content is correct, the data packet is a credible data packet. Otherwise, the data packet is an untrustworthy data packet.

[0053] The ratio of the number of trusted data packets to the number of data packets to be sent is the trust value of the target vehicle.

[0054] In an exemplary embodiment, the trust value of the detected vehicle is obtained in step 101, and the trust value of the other vehicle, i.e., vehicle B, can be obtained through a trust determination method. In one embodiment, the target vehicle receives a series of data packets sent by the detected vehicle, and the content of the data packets may include location information, observation information such as accident information occurring in the surrounding area, traffic warning information, etc. The target vehicle will determine whether the data content carried by each received data packet is correct based on its own detection results of the surrounding information. If the data content is correct, the data packet is a trusted data packet, otherwise, the data packet is an untrusted data packet. Therefore, the trust value Trust can be calculated according to the following formula:

[0055] Among them, N H (m) refers to the number of trusted data packets sent, N S (m) refers to the total number of packets sent. As can be seen from the above formula, the trust value Trust is obtained by calculating the proportion of trusted packets. In the embodiment of the present application, the trust value of vehicle B can be calculated by calculating the proportion of trusted packets sent by vehicle B to the total packets.

[0056] Figure 2 Schematic diagram of the first cascading process between vehicles in the embodiment of the present application, such as Figure 2 As shown, it is assumed that both vehicle A and vehicle B are first-time cascade vehicles. In this embodiment, it is assumed that vehicle A detects that there is a vehicle B with which a trust relationship can be established within the communication range, and obtains the trust value of the other vehicle, namely vehicle B, through a trust judgment method, and uses the obtained trust value to represent the trust relationship between itself and vehicle B. In an exemplary embodiment, vehicle A can establish a trusted linked list in a storage area, and the trusted linked list is used to store information related to the trust value. Table 1 shows the content of the information storage table related to the trust value of vehicle A in this embodiment. As shown in Table 1, the first row stores the self-trust value T calculated by vehicle A. A, the second line stores the trust relationship T with vehicle B B→A In this paper, trust value is a quantitative reflection of trust relationship, and the trust relationship is proportional to the size of trust value.

[0057] Vehicle ID Trust Value First row A <![CDATA[T A ]]> Second row B <![CDATA[T B→A ]]>

[0058] Table 1

[0059] Step 102: Obtain the trust value of the detected vehicle, establish a trust relationship between the target vehicle and the detected vehicle based on the obtained trust value, and update the relevant trust relationship between other vehicles that have established a trust relationship with the target vehicle and the detected vehicle.

[0060] Among them, the vehicles that establish relevant trust relationships do not actually establish trust relationships between each other, but only indicate that there is a possibility of forming a trust relationship between the vehicles that establish relevant trust relationships.

[0061] In an exemplary embodiment, this step also includes:

[0062] In a cascade manner, it is determined whether the detected vehicle is a first-time cascade vehicle or an existing cascade vehicle.

[0063] Figure 3 FIG. 1 is a schematic diagram of a cascading process between a cascaded vehicle and a first cascaded vehicle in an embodiment of the present application. Figure 3As shown, when multiple vehicles are traveling in the same direction and meet one after another, for the convenience of analysis, in this embodiment, it is assumed that a trust relationship has been established between vehicle A and vehicle B, and the trust relationship established between vehicle A and vehicle B is shown in Table 2 and part of Table 3. Subsequently, it is assumed that a trust relationship has been established between the cascaded vehicle, namely vehicle B, and the first cascaded vehicle, namely vehicle C, and a trust relationship has been established between vehicle C and vehicle B with which a trust relationship has been established, as shown in part of Table 3 and Table 4. At this time, vehicle B and vehicle C will update their respective stored trust relationship information, and then vehicle B will send the stored trust relationship information with vehicle A to vehicle C, and send the trust relationship information of vehicle C to vehicle A. In this way, the trust relationship stored in vehicle A will increase the relevant trust value of vehicle C that has established a trust relationship with vehicle B. As shown in Table 2, in the table of vehicle A, the relevant layer of vehicle B adds the relevant trust values ​​of other vehicles (vehicle C in this embodiment) stored by vehicle B, which is reflected as the trust information of other layers in the table of vehicle B itself. Similarly, in the table of vehicle C shown in Table 4, the relevant trust values ​​of other vehicles (vehicle A in this embodiment) stored in vehicle B will also be added to the relevant layer of vehicle B. Among them, β is a relevant parameter, indicating that the trust relationship sent by a third party will be weakened. This example is easy for technical personnel to understand, and the relevant parameter β can be used to find the value that best suits the traffic conditions through actual vehicle experiments. It should be noted that the relevant trust value of vehicle C obtained by sending through vehicle B in the table of vehicle A only indicates the potential trust relationship between vehicle A and vehicle C, and no trust relationship has been established between vehicle A and vehicle C; similarly, the relevant trust value of vehicle A obtained by sending through vehicle B in the table of vehicle C only indicates that there may be a trust relationship between vehicle C and vehicle A, and no trust relationship has been established between vehicle C and vehicle A.

[0064]

[0065]

[0066] Table 2

[0067]

[0068] Table 3

[0069]

[0070] Table 4

[0071] Figure 4 FIG. 1 is a schematic diagram of a cascading process scenario between cascaded vehicles in an embodiment of the present application, such as Figure 4 As shown, in this embodiment, it is assumed that vehicle A and vehicle B are vehicles that have established cascades, such as Figure 4As shown by the solid double arrow lines in , vehicle A has established a cascade with vehicle C, and vehicle B has established a cascade with vehicle D. In this embodiment, it is assumed that the vehicle that subsequently needs to establish a trust relationship does not store the relevant trust relationship with the other party, such as Figure 4 As shown, assuming that vehicle A and vehicle B have a need to establish a trust relationship and have established a trust relationship, then at this time, vehicle A and vehicle B will update their respective trust relationship information after cascading, and vehicle A will send the relevant trust relationship of vehicle C with which it has established a trust relationship to vehicle B, and vehicle A will also send the relevant trust relationship of vehicle B with which it has established a trust relationship to vehicle C. Similarly, vehicle D will obtain the relevant trust relationship with vehicle A from vehicle B, and vehicle A will obtain the relevant trust relationship of vehicle D from vehicle B.

[0072] Figure 5 FIG. 1 is another schematic diagram of a cascading process between cascaded vehicles in an embodiment of the present application. Figure 5 As shown, in this embodiment, it is assumed that a trust relationship has been established between vehicle A and vehicle C, and a trust relationship has been established between vehicle B and vehicle D, such as Figure 5 As shown by the solid double arrow line in Figure 5 As shown in FIG. 1 , it is assumed that vehicle A and vehicle B first need to establish a trust relationship. At this time, neither vehicle A nor vehicle B has stored the relevant trust relationship with each other. Then, according to Figure 4 In the manner shown, after vehicle A and vehicle B establish a trust relationship, vehicle A will update its own stored trust relationship and obtain the relevant trust relationship of vehicle D from vehicle B. Meanwhile, vehicle D will also obtain the relevant trust relationship of vehicle A from vehicle B. Assuming that in this embodiment, there is a need to establish a trust relationship between vehicle A and vehicle D later, at this time, since both vehicle A and vehicle D store the relevant trust relationship of each other, vehicle A and vehicle D can establish a trust relationship by quickly verifying the trust relationship with each other, and update the relevant trust relationship stored in themselves to a trust relationship, that is, a real trust relationship is established between vehicle A and vehicle D.

[0073] The method for establishing dynamic trusted relationships between vehicles in a vehicle-road collaborative environment provided in the embodiment of the present application is universal. When there is no roadside equipment on the road, trust relationships between vehicles can still be established and managed. Moreover, the dynamic trusted relationship between vehicles established with the vehicle as the center enables each vehicle to manage the trust relationships of trusted vehicles within a certain communication range of itself, and flexibly realizes the establishment of trusted relationships between vehicles without relying on roadside equipment.

[0074] The inventor of the present application has found that due to the high-speed mobility of vehicles and the complexity of road traffic, the degree of trust between cascaded trusted vehicles is not permanent. That is to say, after the vehicle is cascaded with the trusted vehicle, it is necessary to periodically detect the trust relationship between each other during the trust relationship maintenance stage to achieve dynamic update of the trust relationship according to the actual situation. In an exemplary embodiment, after the trust link is completed between the vehicles, that is, the trust relationship is established, the method for establishing a dynamic trust relationship between vehicles in a vehicle-road collaborative environment provided by the embodiment of the present application may also include:

[0075] Periodic detection of established trust relationships. In the embodiment of the present application, by periodically updating the established trust relationships, the established trust relationships are dynamically updated according to actual conditions, thereby ensuring the authenticity and reliability of the established trust relationships.

[0076] In an exemplary embodiment, when a trusted vehicle with which a trust relationship has been established leaves the communication range controlled by the vehicle, the method for establishing a trusted relationship of a vehicle provided in the embodiment of the present application may further include:

[0077] The trust relationship of the trusted vehicle enters the decay stage, at which time the trust level will continue to decrease, and the decrease in trust level will be reflected in the trust value;

[0078] When the trust value representing the trust relationship decays to a preset tolerance threshold, the vehicle will determine the trusted vehicle as an irrelevant vehicle and update the corresponding trust relationship information, such as deleting the trust relationship information of the trusted vehicle.

[0079] In an exemplary embodiment, the information of the trust relationship established between vehicles can be stored in a dynamic trust chain table. As shown in the table above, it can be regarded as a simple embodiment of the trust chain table.

[0080] In the above embodiment, the table shows the information content stored by the vehicle during the cascading process and the connection method of storing the trusted vehicle content. The increasing number of rows in the table shows the time sequence of the vehicles encountered by the vehicle, and the related vehicle column shows the trust information of potential trusted vehicles (not yet cascaded).

[0081] In an exemplary embodiment, the trusted chain table can be used to dynamically store relevant trusted information obtained with the vehicle as the center. The dynamic trusted chain table can include: updating trust information or related trust information, recording changes in trust values, evolution of trust relationships, removing trust information or related trust of irrelevant vehicles, etc. At the same time, the vehicle can receive the trusted chain table information stored with the trusted vehicle as the center sent by the trusted vehicle, and then obtain the trust information or related trust information of more vehicles on the road, so as to achieve the purpose of quickly establishing a trust relationship.

[0082] In an exemplary embodiment, the trusted chain list units can be divided into three categories: the head unit that the vehicle to which the trusted chain list belongs owns, the main chain unit that directly establishes a trusted relationship with the vehicle to which the trusted chain list belongs at the physical level, and the branch chain unit that transmits the relevant trust information of the vehicle that has established a trust relationship with the trusted vehicle. Figure 6 As shown, the trusted chain table unit stores mainly, but is not limited to, header information, main chain information, subchain information, vehicle identity information, time information for establishing a trusted relationship (the time of the vehicle itself is 0), level information of the constituent unit, state information of the constituent unit, the current trust value of the vehicle (Authentication), fast cascade verification (Reputation) information, etc. Figure 6 In the example, Rank=0 indicates the main chain, and Rank=1 indicates the branch chain.

[0083] In the embodiment of the present application, by establishing a vehicle trusted list, it is possible to simply and conveniently store vehicle-centric trust relationships and trust-related information. Moreover, the trusted list can not only be dynamically updated according to changes in the trust relationship, but the trusted list can also be transmitted to other trusted vehicles, providing convenient conditions for other trusted vehicles to establish a trust relationship centered on the vehicle itself.

[0084] In an exemplary embodiment, taking the use of a trusted chain list to store the trust relationship as an example, deleting the stored information of the trusted vehicle may include:

[0085] The trusted linked list is updated to remove the linked list unit storing the information of the trusted vehicle, thereby completing an update of the dynamic trusted linked list.

[0086] In the embodiment of the present application, the target vehicle will be cascaded with the vehicles within the communication range, and the stored trusted linked list will be passed to the trusted vehicle. In the embodiment of the present application, the vehicle is defined as the center, and the vehicles directly cascaded with the vehicle constitute the main chain of the trusted linked list, and the trusted information transmitted by the vehicles constituting the main chain constitutes the branch chain unit of the vehicle. The linked list unit is based on the information of the trusted vehicle, and the order of the linked list is constructed based on the time of establishing trust between vehicles. Figure 6As shown in the figure, the smallest dotted box is the head unit, which stores the self-vehicle information, that is, the trusted information of the target vehicle itself; the horizontal large dotted box is the main chain list, and the vehicle derived from the head unit main chain (Next) is the vehicle unit that currently maintains the earliest trust status of the target vehicle, and then the main chain list content is constructed according to the time sequence of establishing a trust relationship with the head vehicle, that is, the target vehicle. The two vertical dotted boxes are sub-chain lists, and the main chain unit constitutes the head unit of the sub-chain list, which is derived from the sub-chain (Subchain) to point to the next sub-chain unit.

[0087] In one embodiment, when vehicles are cascaded, only two-hop vehicles within the communication range are considered, which is reflected in the trusted chain list as follows: the vehicle constituting a sub-chain will not lead to another sub-chain. That is to say, when a vehicle establishes a trusted relationship with other vehicles, the main chain of the trusted chain list stored in the vehicle will be transferred to the other vehicle for processing and become a sub-chain of the other vehicle, but the sub-chain chain list of the vehicle will not be transferred to the other vehicle. For example, suppose that vehicle A and vehicle B have established a trust relationship, and at the same time, vehicle B stores the trusted information of vehicle C, and vehicle C stores the trusted information of vehicle D. In vehicle B, vehicle C constitutes a main chain unit, and the trusted information of vehicle D constitutes a sub-chain unit of vehicle B. Then, in vehicle A, the trusted information of vehicle B constitutes a main chain unit, and the trusted information of vehicle C is transmitted to vehicle A through vehicle B, forming a sub-chain unit in the chain list of vehicle A, and the sub-chain unit stored in vehicle B, that is, the trusted information of vehicle D, will not be transmitted from vehicle B to vehicle A.

[0088] Due to the high-speed mobility of vehicles and the complexity of road traffic, the units that make up the linked list and the degree of trust in the vehicles need to be constantly tested and evaluated. When a linked list unit does not meet its position, the linked list unit will disappear.

[0089] The disappearance of the main chain unit is mainly due to the fact that the vehicle constituting the main chain unit is judged to be unrelated to the target vehicle, that is, the trust relationship between the vehicles enters the decay stage and ends. When the vehicle of the main chain unit no longer maintains a trust relationship with the vehicle, the pointer pointing to its Head will be disconnected and point to the Head of the next main chain unit, and the pointer issued by its Next will be disconnected and terminated. Obviously, when the main chain unit is no longer trustworthy, the branch chain part it points to is also no longer trustworthy. Therefore, the branch chain unit pointed to will also disappear, as shown in the light gray part of Figure 7(a). The main chain unit and the branch chain part it points to will be removed from the linked list.

[0090] There are two situations where a sub-chain unit disappears. One is shown in Figure 7(a). When the main chain unit to which the sub-chain belongs disappears, the attached sub-chain unit disappears as well. The other is shown in Figure 7(b). The vehicle contacts the entity that constitutes the sub-chain unit within the communication range and establishes a trusted relationship with it. At this time, the sub-chain unit will be detached from the sub-chain and connected to the main chain unit. At the same time, the pointer pointing to the sub-chain unit is disconnected, and the Next of the last main chain unit will point to the Head of the sub-chain unit.

[0091] The present application also provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute any of the above-mentioned methods for establishing dynamic trusted relationships between vehicles in a vehicle-road collaborative environment.

[0092] The present application further provides a device for establishing dynamic trusted relationships between vehicles in a vehicle-road collaborative environment, including a memory and a processor, wherein the memory stores the following instructions that can be executed by the processor: used to execute the steps of the method for establishing dynamic trusted relationships between vehicles in a vehicle-road collaborative environment as described in any of the above items.

[0093] Figure 8 Schematic diagram of the structure of the vehicle dynamic trust relationship establishment device in the vehicle-road cooperative environment in the embodiment of the present application. Figure 8 As shown, it at least includes: a judgment unit and a processing unit; wherein,

[0094] A judgment unit, used to detect that there is a vehicle with which a trust relationship can be established within the communication range of the target vehicle to which the target vehicle belongs, and determine whether the target vehicle to which the target vehicle belongs is a first-time cascade vehicle;

[0095] A processing unit is used to obtain the trust value of the target vehicle to which it belongs and the trust value of the detected vehicle when it is determined that the target vehicle to which it belongs is a first-cascade vehicle, and to establish a trust relationship between the target vehicle to which it belongs and the detected vehicle based on the obtained trust value; when it is determined that the target vehicle to which it belongs is not a first-cascade vehicle, obtain the trust value of the detected vehicle, establish a trust relationship between the target vehicle to which it belongs and the detected vehicle based on the obtained trust value, and update the relevant trust relationship between other vehicles that have established a trust relationship with the target vehicle to which it belongs and the detected vehicle.

[0096] The first cascade vehicle refers to a vehicle that has not established a trust relationship with other vehicles before the current trust relationship is established. The cascaded vehicle refers to a vehicle that has established a trust relationship with other vehicles before the current trust relationship is established.

[0097] The device for establishing dynamic trusted relationships between vehicles in a vehicle-road collaborative environment provided in the embodiment of the present application is universal. When there is no roadside equipment on the road, trust relationships between vehicles can still be established and managed. Moreover, the dynamic trusted relationship between vehicles established with the vehicle as the center enables each vehicle to manage the trust relationships of trusted vehicles within a certain communication range of itself, and flexibly realizes the establishment of trusted relationships between vehicles without relying on roadside equipment.

[0098] In an exemplary embodiment, the processing unit is further configured to:

[0099] The established trust relationship is periodically detected to achieve dynamic update of the trust relationship.

[0100] In an exemplary embodiment, the processing unit is further configured to:

[0101] When a trusted vehicle leaves the communication range of the vehicle control, the trust relationship of the trusted vehicle enters the attenuation stage. At this time, the degree of trust will continue to decrease, for example, the value of the relevant parameter β will decrease according to the preset rules; when the trust value decays to the pre-set tolerance threshold, the vehicle will judge the trusted vehicle as an irrelevant vehicle and update the corresponding trust relationship information, such as deleting the trust relationship information of the trusted vehicle.

[0102] Although the embodiments disclosed in this application are as above, the contents described are only embodiments adopted to facilitate understanding of this application and are not intended to limit this application. Any technician in the field to which this application belongs can make any modifications and changes in the form and details of implementation without departing from the spirit and scope disclosed in this application, but the scope of patent protection of this application shall still be based on the scope defined in the attached claims.

Claims

1. A method for establishing a dynamic trust relationship between vehicles in a vehicle-road cooperative environment, comprising: The target vehicle detects that there is a vehicle with which a trust relationship can be established within the communication range, and determines whether the target vehicle is a first-time cascade vehicle; The target vehicle is the first cascade vehicle, the trust value of the target vehicle and the trust value of the detected vehicle are obtained, and a trust relationship between the target vehicle and the detected vehicle is established based on the obtained trust value; The target vehicle is not the first cascade vehicle, and the trust value of the detected vehicle is obtained. A trust relationship between the target vehicle and the detected vehicle is established based on the obtained trust value, and the relevant trust relationship between other vehicles that have established a trust relationship with the target vehicle and the detected vehicle is updated, so as to achieve mutual rapid verification of the trust relationship and then establish a trust relationship; Among them, the vehicles that have established relevant trust relationships have not really established a trust relationship, but only indicate that there is a possibility of forming a trust relationship between the vehicles that have established relevant trust relationships; Obtaining the trust value of the detected vehicle includes: after the target vehicle receives a series of data packets sent by the detected vehicle, the target vehicle determines whether the data content carried by each received data packet is correct based on its own detection results of surrounding information. If the data content is correct, the data packet is a trusted data packet; if the data content is incorrect, the data packet is an untrusted data packet; the trust value of the detected vehicle is calculated based on the proportion of trusted data packets to total data packets.

2. The method for establishing dynamic trusted relationships between vehicles in a vehicle-road cooperative environment according to claim 1, further comprising: The trust relationship is detected periodically to achieve dynamic update of the trust relationship.

3. The method for establishing a dynamic trusted relationship between vehicles in a vehicle-road cooperative environment according to claim 1, wherein the trusted vehicle with which the trusted relationship has been established leaves the communication range controlled by the vehicle further comprises: The trust relationship of the trusted vehicle enters the decay stage; When the trust value representing the trust relationship decays to a preset tolerance threshold, the trusted vehicle is determined to be an irrelevant vehicle, and the corresponding trust relationship information is deleted.

4. The method for establishing dynamic trusted relationship of vehicles in a vehicle-road cooperative environment according to claim 1, 2 or 3, wherein: The trust relationship is stored in a dynamic trusted chain table.

5. The method for establishing dynamic trusted relationship of vehicles in a vehicle-road cooperative environment according to claim 4, wherein: The trusted chained list unit of the trusted chained list includes: The head unit that the vehicle to which the trusted chain list belongs owns; A main chain unit that directly establishes a trusted relationship with the vehicle belonging to the trusted chain list at the physical level; A chaining unit for transmitting relevant trust information of vehicles with which a trust relationship has been established, which is transmitted by a trusted vehicle with which the trust relationship has been established.

6. A computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the method for establishing dynamic trusted relationships between vehicles in a vehicle-road collaborative environment as described in any one of claims 1 to 5.

7. A device for establishing a dynamic trusted relationship between vehicles in a vehicle-road collaborative environment, comprising a memory and a processor, wherein: The memory stores the following instructions that can be executed by the processor: used to execute the steps of the method for establishing a dynamic trusted relationship between vehicles in a vehicle-road collaborative environment as described in any one of claims 1 to 5.

8. A device for establishing dynamic trusted relationship of vehicles in a vehicle-road cooperative environment, comprising: A judgment unit and a processing unit; wherein, A judgment unit, used to detect that there is a vehicle with which a trust relationship can be established within the communication range of the target vehicle to which the target vehicle belongs, and determine whether the target vehicle to which the target vehicle belongs is a first-time cascade vehicle; A processing unit is used to obtain the trust value of the target vehicle to which it belongs and the trust value of the detected vehicle when it is determined that the target vehicle to which it belongs is a first-cascade vehicle, and establish a trust relationship between the target vehicle to which it belongs and the detected vehicle according to the obtained trust value; when it is determined that the target vehicle to which it belongs is not a first-cascade vehicle, obtain the trust value of the detected vehicle, establish a trust relationship between the target vehicle to which it belongs and the detected vehicle according to the obtained trust value, and update the relevant trust relationship between other vehicles that have established a trust relationship with the target vehicle to which it belongs and the detected vehicle, so as to establish a trust relationship after mutual rapid verification of the trust relationship; wherein, the vehicles that establish the relevant trust relationship do not really establish a trust relationship, but only indicate that there is a possibility of forming a trust relationship between the vehicles that establish the relevant trust relationship; obtaining the trust value of the detected vehicle, including: after the target vehicle receives a series of data packets sent by the detected vehicle, the target vehicle determines whether the data content carried by each received data packet is correct according to its own detection results of the surrounding information, if the data content is correct, the data packet is a trusted data packet, if the data content is incorrect, the data packet is an untrusted data packet; the trust value of the detected vehicle is calculated according to the proportion of the trusted data packet to the total data packets.

9. The device for establishing dynamic trusted relationship between vehicles in a vehicle-road cooperative environment according to claim 8, wherein the processing unit is further used for: The trust relationship is periodically detected to achieve dynamic update of the trust relationship.

10. The device for establishing dynamic trusted relationship between vehicles in a vehicle-road cooperative environment according to claim 8 or 9, wherein the processing unit is further used for: When the trusted vehicle with which the trust relationship has been established leaves the communication range of the vehicle control, the trust relationship of the trusted vehicle enters the decay stage; when the trust value decays to a preset tolerance threshold, the trusted vehicle is determined to be an irrelevant vehicle and the corresponding trust relationship information is deleted.

Images