Data interaction method and system in vehicle-road cooperative system

Abstract

The present application is applicable to the field of intelligent transportation technology, and provides a data interaction method and system in a vehicle-road cooperative system, including: receiving a first beacon service table BST sent by a first roadside unit RSU, the first BST including a transmission type, a first verification information and a first data packet, wherein the transmission type is any one of the following: a first transmission type, a second transmission type and a third transmission type; using the second security information and the data content in the first data packet to generate the second verification information, the second security information is the security information stored by the OBU; if it is determined that the second verification information is the same as the first verification information, the first data packet is stored; and according to the transmission type included in the first BST, it is selected whether to reply to the vehicle service table VST to the first RSU. Through the above method, the endurance of the OBU can be improved.

Description

Technical Field

[0001] The present application belongs to the field of intelligent transportation technology, and in particular, relates to a data interaction method, system, electronic device and computer-readable storage medium in a vehicle-road cooperative system. Background Art

[0002] Dedicated Short Range Communication (DSRC) is a technology in the field of Intelligent Transportation Systems (ITS) that is specifically used for motor vehicles to realize automatic toll collection (Electronic Fee Collection, EFC) without stopping at toll points such as highways.

[0003] In the existing ITS, after the Road Side Unit (RSU) sends a Beacon Service Table (BST), if the On Board Unit (OBU) receives the BST, it will reply with a Vehicle Service Table (VST) to report the corresponding data to the RSU. Since each reply to the VST consumes the power of the OBU, and the power of the OBU is limited, the existing communication method between the RSU and the OBU results in poor endurance of the OBU. In addition, there is also a problem of low security when the existing RSU and OBU communicate. Summary of the invention

[0004] The embodiments of the present application provide a data interaction method and system in a vehicle-road cooperative system, which can solve the problem of poor endurance of the existing OBU caused by the need to return VST after receiving BST, as well as the problem of low security when the OBU communicates with the RSU.

[0005] In a first aspect, an embodiment of the present application provides a data interaction method in a vehicle-road cooperative system, which is applied to an on-board unit OBU, including:

[0006] Receive a first beacon service table BST sent by a first roadside unit RSU, the first BST including a transmission type, first verification information and a first data packet, wherein the transmission type is any one of the following: a first transmission type, a second transmission type and a third transmission type, and the first transmission type is used to indicate that the OBU must respond, the second transmission type is used to indicate that the OBU optionally responds, and the third transmission type is used to indicate that the OBU does not need to respond, the first verification information is determined according to the first security information and the data content in the first data packet, and the first security information is the security information used by the first RSU for this communication;

[0007] Generate second verification information using second security information and data content in the first data packet, wherein the second security information is security information stored in the OBU;

[0008] If it is determined that the second verification information is the same as the first verification information, storing the first data packet;

[0009] Whether to reply the vehicle service table VST to the first RSU is selected according to the transmission type included in the first BST.

[0010] In a second aspect, an embodiment of the present application provides a data interaction method in a vehicle-road cooperative system, which is applied to a roadside unit, including:

[0011] Broadcasting a first beacon service table BST, the first BST includes a transmission type, first verification information and a first data packet, wherein the transmission type is any one of the following: a first transmission type, a second transmission type and a third transmission type, and the first transmission type is used to indicate that the on-board unit OBU must respond, the second transmission type is used to indicate that the OBU optionally responds, and the third transmission type is used to indicate that the OBU does not need to respond, the first verification information is determined according to the security information of the first RSU and the data content in the first data packet, and the security information of the first RSU is the security information adopted by the RSU for this communication;

[0012] If the transmission type included in the first BST is the first transmission type, or if the transmission type included in the first BST is the second transmission type and the OBU has data that needs to be reported to the RSU, the vehicle service table VST replied by the OBU is received.

[0013] In the third aspect, an embodiment of the present application provides a data interaction system in a vehicle-road cooperative system, including a vehicle-mounted unit and a roadside unit, wherein the vehicle-mounted unit executes the steps of the data interaction method in the vehicle-road cooperative system as described in the first aspect, and the roadside unit executes the steps of the data interaction method in the vehicle-road cooperative system as described in the second aspect.

[0014] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the computer program, or implements the method described in the second aspect when executing the computer program.

[0015] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect or the second aspect is implemented.

[0016] In a sixth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes any one of the methods in the first or second aspect above.

[0017] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0018] In the embodiment of the present application, since the first BST sent by the first RSU includes any of the following transmission types: the first transmission type, the second transmission type and the third transmission type, and the first transmission type is used to indicate that the OBU must respond, the second transmission type is used to indicate that the OBU optionally responds, and the third transmission type is used to indicate that the OBU does not need to respond, and when the transmission type is the third transmission type, or when the transmission type is the second transmission type and the OBU does not have data to be reported, the OBU will not need to reply to the first RSU VST, and when the OBU does not reply to the VST, the power consumption of the OBU can be reduced. Therefore, the data interaction method in the vehicle-road cooperative system provided by the embodiment of the present application can effectively save the power of the OBU, thereby improving the endurance of the OBU. In addition, since the first BST also includes the first verification information, and the OBU stores the first data packet included in the first BST only after determining that the second verification information calculated by it is the same as the first verification information, the security of the information stored can be guaranteed, that is, the security of the communication between the RSU and the OBU is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0020] Figure 1 is a flow chart of a data interaction method in a vehicle-road cooperative system provided by an embodiment of the present application;

[0021] Figure 2It is an interactive flow chart of an RSU broadcasting abnormal weather warning to an OBU provided by an embodiment of the present application;

[0022] Figure 3 This is an interactive flow chart of an OBU reporting data provided by an embodiment of the present application;

[0023] Figure 4 is a flow chart of another data interaction method in a vehicle-road cooperative system provided by an embodiment of the present application;

[0024] Figure 5 is a structural diagram of a data interaction system in a vehicle-road cooperative system provided by another embodiment of the present application;

[0025] Figure 6 It is a structural schematic diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0026] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0027] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0028] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0029] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0030] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways.

[0031] Abbreviations

[0032] BST (Beacon Service Table), Beacon Service Table

[0033] VST (Vehicle Service Table), vehicle service table

[0034] OBU (On Board Unit), vehicle-mounted unit

[0035] RSU (Road Side Unit), road side unit

[0036] RIS (Roadside Intelligent Station), roadside intelligent station

[0037] PSAM (Point of Service Security Control Module) terminal security control module

[0038] Embodiment 1:

[0039] In the national standards for electronic toll collection (such as GB / T 20851.3), each time the OBU receives a BST broadcast by the RSU, the OBU will reply with a VST. Since the VST carries the basic information of the OBU and other information, each reply to the VST will consume a certain amount of power of the OBU, resulting in poor endurance of the OBU.

[0040] The inventors of the present application have found through analysis that the OBU may not reply to certain BSTs broadcast by the RSU, and in this case, the purpose of saving the power of the OBU can be achieved.

[0041] In order to improve the endurance of the OBU and the security of the communication between the OBU and the RSU, the embodiment of the present application provides a data interaction method in a vehicle-road cooperative system. In this method, the original BST is expanded so that the expanded BST includes information such as transmission type and verification information.

[0042] Since the transmission type is any one of the first transmission type, the second transmission type and the third transmission type, and the first transmission type is used to indicate that the OBU must respond, the second transmission type is used to indicate that the OBU optionally responds, and the third transmission type is used to indicate that the OBU does not need to respond, the OBU can choose whether to feed back the VST to the RSU according to the transmission type included in the received BST, thereby effectively saving the power of the OBU. At the same time, since the verification information included in the BST is conducive to the OBU to verify the identity of the RSU, the security of the communication between the OBU and the RSU is improved.

[0043] The data interaction method in the vehicle-road cooperative system provided in an embodiment of the present application is described below with reference to the accompanying drawings.

[0044] Figure 1 A flow chart of a data interaction method in a vehicle-road cooperative system provided by an embodiment of the present application is shown. The data interaction method is applied to an OBU, and is described in detail as follows:

[0045] Step S11, receiving the first BST sent by the first RSU, the first BST including a transmission type, first verification information and a first data packet, wherein the transmission type is any one of the following: a first transmission type, a second transmission type and a third transmission type, and the first transmission type is used to indicate that the OBU must respond, the second transmission type is used to indicate that the OBU optionally responds, and the third transmission type is used to indicate that the OBU does not need to respond, the first verification information is determined according to the first security information and the data content in the first data packet, and the first security information is the security information adopted by the first RSU for this communication.

[0046] It should be noted that the BSTs mentioned in the embodiments of the present application are all BSTs obtained by expanding the original BST primitives in GB / T 20851.3. For example, the first BST mentioned above is also a BST obtained by expanding the original BST in GB / T20851.3.

[0047] In an embodiment of the present application, the first security information may be a dynamic random number, such as a 4-byte dynamic random number.

[0048] In some embodiments, a hash algorithm is used to calculate the first security information and the data content in the first data packet to obtain the above-mentioned first verification information.

[0049] Step S12: Generate second verification information using second security information and the data content in the first data packet, where the second security information is the security information stored in the OBU.

[0050] In an embodiment of the present application, the OBU pre-acquires and stores a second security information. If the second security information is the same as the first security information, the second verification information generated based on the second security information and the data content of the first data packet should also be the same as the first verification information included in the BST.

[0051] Step S13: If it is determined that the second verification information is the same as the first verification information, the first data packet is stored.

[0052] In an embodiment of the present application, when the OBU determines that the second verification information is the same as the first verification information, it indicates that the RSU has passed the authentication of the OBU, that is, the first data packet sent by the RSU is safe. At this time, the first data packet is stored, which can improve the security of the stored information.

[0053] Step S14: selecting whether to reply VST to the first RSU according to the transmission type included in the first BST.

[0054] In the embodiment of the present application, (1) if the transmission type included in the first BST is the first transmission type, since the first transmission type is used to indicate that the OBU must respond, the OBU will reply VST to the first RSU. (2) If the transmission type included in the first BST is the second transmission type, since the second transmission type is used to indicate that the above-mentioned OBU optionally responds, when the OBU has data that needs to be reported, the OBU will reply VST to the first RSU, and when the OBU does not have data that needs to be reported, the OBU will not need to reply VST to the first RSU. (3) If the transmission type included in the first BST is the third transmission type, and the third transmission type is used to indicate that the above-mentioned OBU does not need to respond, the OBU will not need to reply VST to the first RSU. For example, Figure 2 As shown, when the roadside intelligent station (RIS) detects abnormal weather through a meteorological sensor, a real-time abnormal weather warning is issued to the vehicle through the first RSU.

[0055] In the embodiment of the present application, since the first BST sent by the first RSU includes any of the following transmission types: the first transmission type, the second transmission type and the third transmission type, and the first transmission type is used to indicate that the OBU must respond, the second transmission type is used to indicate that the OBU optionally responds, and the third transmission type is used to indicate that the OBU does not need to respond, and when the transmission type is the third transmission type, or when the transmission type is the second transmission type and the OBU does not have data to be reported, the OBU will not need to reply to the first RSU VST, and when the OBU does not reply to the VST, the power consumption of the OBU can be reduced. Therefore, the data interaction method in the vehicle-road cooperative system provided by the embodiment of the present application can effectively save the power of the OBU, thereby improving the endurance of the OBU. In addition, since the first BST also includes the first verification information, and the OBU stores the first data packet included in the first BST only after determining that the second verification information calculated by it is the same as the first verification information, the security of the information stored can be guaranteed, that is, the security of the communication between the RSU and the OBU is improved.

[0056] In some embodiments, the first safety information is generated by a roadside intelligent station (Roadside Intelligent Station, RIS), that is, the first safety information can reflect the identity of the RIS. Among them, one RIS can communicate with multiple RSUs. At this time, the RIS sends the first safety information generated by it to each RSU communicating with it. At this time, the safety information corresponding to each RSU communicating with the same RIS is the same, that is, all are first safety information.

[0057] In some embodiments, if the first safety information is generated by a control center that controls multiple RISs, then the safety information corresponding to multiple RISs on the same road section (one road section corresponds to a control center of a RIS, and one RIS control center controls multiple RISs) are all the same, and the safety information on each RSU on the same road section is also the same, that is, they are all first safety information.

[0058] Of course, the first security information of the embodiment of the present application may be a dynamic random number. For example, corresponding first security information may be generated according to different times to improve the security of the first security information.

[0059] In some embodiments, in order to verify the identity of the RSU, the OBU needs to store the second security information first, that is, before the above step S11, it also includes:

[0060] A1. Receive a second BST sent by a second RSU, where the second BST includes a transmission type and the transmission type is the first transmission type.

[0061] In the embodiment of the present application, a BST of the first transmission type sent before the first BST is called the second BST to distinguish it from the first BST. In some scenarios, if the number of OBUs (or vehicles) in the area covered by the signal of the RSU is greater than the number of authenticated OBUs (or vehicles) stored in it, the RSU will broadcast the second BST.

[0062] In the embodiment of the present application, considering that when the transmission type is the third transmission type, the OBU does not need to respond, and when the transmission type is the second transmission type, the OBU may not respond. Therefore, in order to enable the OBU to store the corresponding security information, it is necessary to set the transmission type of the second BST to the first transmission type. At this time, the OBU that receives the second BST must respond to the RSU, so that the RSU can communicate with the OBU, and then make it possible for the RSU to subsequently perform a two-way authentication process with the OBU, which also makes it possible for the OBU to store the corresponding security information.

[0063] A2. Perform two-way authentication with the second RSU to obtain and store corresponding security information after the two-way authentication is passed, and obtain the second security information, wherein if the second RSU and the first RSU both communicate with the roadside intelligent station belonging to the same road section, the second security information is the same as the first security information; if the second RSU and the first RSU respectively communicate with the roadside intelligent stations belonging to different road sections, the second security information is different from the first security information.

[0064] Among them, two-way authentication refers to the authentication in which both parties of the communication authenticate each other. For example, when the OBU communicates with the RSU, the OBU authenticates the RSU, and the RSU also authenticates the OBU. During the authentication process, the RSU will send its corresponding security information to the OBU, and the OBU will store the received security information after the two-way authentication is passed.

[0065] Of course, the OBU may also receive the second BST sent by the first RSU, that is, the OBU performs two-way authentication with the first RSU. At this time, the second security information stored by the OBU is the above-mentioned first security information, that is, before step S11, the data interaction method in the vehicle-road cooperative system of the embodiment of the present application also includes:

[0066] A3. Receive a second BST sent by the first RSU, where the second BST includes a transmission type and the transmission type is the first transmission type.

[0067] A4. Perform bidirectional authentication with the first RSU to obtain and store corresponding security information after the bidirectional authentication is passed, thereby obtaining the second security information.

[0068] It should be noted that, when the security information of the first RSU has not changed, the second security information in step A4 is the first security information.

[0069] In the embodiment of the present application, since the transmission type of the second BST is the first transmission type, after receiving the second BST, the OBU will establish a communication link with the second RSU (or the first RSU) and perform a two-way authentication process with the second RSU (or the first RSU), so that the corresponding security information can be obtained during the two-way authentication process.

[0070] In some embodiments, the step A4 of performing bidirectional authentication with the first RSU includes:

[0071] A41. Reply VST to the first RSU.

[0072] The VST includes the basic information of the OBU, including the OBU's identification, service provider, validity date, etc. Of course, the VST may also include a reporting indication bit for indicating whether the OBU needs to report data.

[0073] It should be pointed out that the VST of the embodiment of the present application is obtained by expanding the original VST primitive in GB / T 20851.3. For example, when the VST also includes a reporting indication bit for indicating whether the above-mentioned OBU needs to report data, the VST of the embodiment of the present application is compared with the original VST in GB / T 20851.3, at least adding a reporting indication bit.

[0074] A42. Receive a vehicle information acquisition request sent by the first RSU based on the VST, where the vehicle information acquisition request carries a random number of a first specified byte.

[0075] Specifically, after the first RSU receives the VST fed back by the OBU, it parses the VST to obtain the basic information of the OBU carried by the VST, queries the historical authentication information of the vehicle corresponding to the OBU according to the basic information of the OBU, and sends a vehicle information acquisition request to the OBU if the historical authentication information is not found. The vehicle information acquisition request carries a random number of the first specified byte, for example, carries an 8-byte random number.

[0076] Of course, if the first RSU inquires about the historical authentication information of the vehicle corresponding to the OBU, the historical authentication information is transmitted to the RSU downstream of the first RSU, such as the RSU adjacent to and downstream of the first RSU.

[0077] A43. Replace the random number at the specified position in the random number of the first specified byte with the first target random number to obtain a random number of the second specified byte.

[0078] The first target random number may be generated autonomously by the OBU, or may be obtained by the OBU from other devices.

[0079] In the embodiment of the present application, assuming that the random number of the first designated byte is an 8-byte random number and the first target random number is a 4-byte random number, the first target random number can be used to replace the value of the last 4 bytes of the 8-byte random number to generate the random number of the second designated byte, and the random number of the second designated byte is still an 8-byte random number. That is, the value of the first 4 bytes of the random number of the second designated byte is the value of the first 4 bytes of the first designated byte, and the value of the last 4 bytes of the random number of the second designated byte is the value corresponding to the first target random number.

[0080] A44. Encrypt the random number of the second designated byte and the vehicle information to obtain a first ciphertext.

[0081] In some embodiments, the effective start time and end time of the random number of the second specified byte can be set. In this case, step A44 specifically includes: encrypting the random number of the second specified byte, the effective start time and end time of the random number of the second specified byte, and the vehicle information to obtain a first ciphertext. Since the effective start time and end time are set, the security of the information transmitted by the random number of the second specified byte can be further improved.

[0082] A45. Send the first ciphertext to the first RSU.

[0083] Specifically, after the first RSU receives the first ciphertext, it will use the agreed decryption method to decrypt the first ciphertext. For example, the agreed decryption method includes using a terminal security control module (Point of Service Security Control Module, PSAM) card to decrypt the first ciphertext. If the first RSU can successfully decrypt the first ciphertext, the first RSU will obtain the vehicle information and the first target random number. At this time, it indicates that the first RSU has passed the authentication of the OBU. Afterwards, the first target random number is used to encrypt the first target random number and the second security information to obtain the second ciphertext. Of course, if the first RSU fails to decrypt the first ciphertext, the random number it obtains will not be the first target random number.

[0084] In some embodiments, if the first ciphertext further includes a valid start time and an end time, the first RSU also obtains the valid start time and the end time after decrypting the first ciphertext.

[0085] A46. Receive the second ciphertext sent by the first RSU. The plaintext corresponding to the second ciphertext includes the second target random number and the security information adopted by the first RSU for this communication. The encryption key corresponding to the second ciphertext is the second target random number. The second target random number is the random number obtained by the first RSU after decrypting the designated position of the first ciphertext.

[0086] A47. Use the first target random number to decrypt the second ciphertext. If the second target random number obtained by decryption is the same as the first target random number, it is determined that the RSU has passed the authentication.

[0087] In an embodiment of the present application, the OBU uses the first target random number to decrypt the second ciphertext to obtain a random number (i.e., the second target random number), and compares the second target random number with the first target random number. If the two are the same, it is determined that the first RSU has passed the authentication, and the security information obtained by decrypting the second ciphertext is used as the second security information.

[0088] In the embodiment of the present application, during the two-way authentication process between the OBU and the first RSU, the OBU obtains the random number of the second designated byte by replacing the random number at the designated position in the random number of the first designated byte sent by the first RSU with the target random number. In this way, the first RSU only needs to identify the value at the position that has not been replaced in the random number of the second designated byte for authentication of the OBU, without the need to identify the values ​​at all positions. Therefore, the authentication speed of the two-way authentication between the OBU and the first RSU is improved.

[0089] In some embodiments, considering that BST in GB / T 20851.3 can only transmit message packets with a small amount of data, the inventor of the present application has added fields for packet number and packet indication information based on BST in GB / T 20851.3. The packet number is used to uniquely identify a message packet, and the packet indication information is used to indicate whether a data packet is the first data packet of a divided message packet, and is also used to indicate how many data packets belonging to the same message packet are left to be transmitted after the data packet is transmitted. In this way, when a message packet with a large amount of data needs to be transmitted, the message packet with a large amount of data can be divided into multiple data packets with smaller data amounts, and then the obtained data packets are transmitted one by one. It should be noted that the packet numbers corresponding to the data packets divided from the same message packet are the same.

[0090] In some embodiments, the above-mentioned first BST also includes a first packet number and a first packet indication information, the above-mentioned first packet number is a unique identifier of the first message packet, the above-mentioned first packet indication information is used to indicate whether the above-mentioned first data packet is the first data packet obtained after packetizing the above-mentioned first message packet, and is used to indicate the number of remaining data packets of the above-mentioned first message packet.

[0091] If the first packet indication information indicates that the number of remaining data packets of the first message packet is greater than 1, then after the step S13, the method further includes:

[0092] B1. Continue to receive other BSTs sent by the first RSU after sending the first BST, until all remaining data packets of the first message packet are obtained from the other BSTs.

[0093] B2. Sequentially splice the first data packet and all remaining data packets of the first message packet obtained into a complete first message packet.

[0094] In an embodiment of the present application, a preset field at a specified position can be designated to represent the first packet indication information. In the preset field, the value of the highest bit can be set to indicate whether the current data packet is the first data packet (for example, when the highest bit is 1, it indicates that the data packet currently being transmitted is the first data packet, and when the highest bit is 0, it indicates that the data packet currently being transmitted is not the first data packet), and the values ​​of the remaining bits are used to indicate the number of remaining data packets. When the OBU determines from the first packet indication information that there are still unreceived data packets (for example, the value of the non-highest bit on the preset field is greater than 0), the OBU continues to receive other BSTs broadcast by the first RSU (i.e., the BST after the first BST). After receiving each BST, the OBU determines whether the packet number in the BST is the first packet number. If so, it indicates that the data packet in the currently received BST belongs to the first message packet, and then obtains a remaining data packet of the first message packet from the BST until the value of the non-highest bit on the preset field is equal to 0, indicating that the OBU has received all the data packets of the first message packet. After that, the arrangement order of each data packet in the first message packet can be determined according to the packet indication corresponding to each data packet (for example, assuming that the packet indication corresponding to data packet X indicates that the remaining data packets are 5, and the packet indication corresponding to data packet Y indicates that the remaining data packets are 4, it means that data packet X is sorted before data packet Y), and the data packets are combined according to the determined arrangement order to obtain a complete first message packet. Since the first BST of the embodiment of the present application also includes a first packet number and a first packet indication information, when the individual data packets divided from the first message packet are transmitted through multiple first BSTs, it is possible to determine whether the currently transmitted data packet belongs to the first message packet based on the first packet number and the first packet indication information, and whether there are still data packets belonging to the first message packet that have not been transmitted after the data packet is transmitted, thereby ensuring that message packets with large amounts of data can be transmitted from the first RSU to the OBU.

[0095] In some embodiments, the above step S14 includes:

[0096] If the transmission type included in the above-mentioned first BST is the above-mentioned first transmission type, then VST is replied to the above-mentioned first RSU; or, if the transmission type included in the above-mentioned first BST is the above-mentioned second transmission type, and the above-mentioned OBU has data that needs to be reported to the above-mentioned first RSU, then VST is replied to the above-mentioned first RSU, and the above-mentioned VST includes the basic information of the above-mentioned OBU and a reporting indication bit used to indicate that the above-mentioned OBU needs to report data.

[0097] Among them, the VST of this embodiment has expanded the reporting indication bit to indicate whether the OBU has data that needs to be reported through the reporting indication bit. For example, when the reporting indication bit is true, it indicates that the OBU has data that needs to be reported, and when the reporting indication bit is false, it indicates that the OBU does not have data that needs to be reported. Since the OBU needs to respond when the transmission type included in the first BST is the first transmission type, the OBU needs to respond, therefore, the reporting indication bit of the VST fed back by the OBU indicates that the OBU has data that needs to be reported, which can trigger the first RSU and the OBU to smoothly carry out subsequent communication. Similarly, when the transmission type included in the first BST is the second transmission type and the above-mentioned OBU has data that needs to be reported to the above-mentioned first RSU, the reporting indication bit of the VST fed back by the OBU also indicates that the OBU has data that needs to be reported, so as to trigger the first RSU and the OBU to smoothly carry out subsequent communication.

[0098] In the embodiment of the present application, when the OBU has data that needs to be reported, the following process can be used:

[0099] 1): RSU periodically broadcasts BST, and the transmission type included in the BST can be the first transmission type (assuming it is represented by responsetype) or the second transmission type (assuming it is represented by gettype).

[0100] 2): OBU replies to VST and sets the report indication bit to true, indicating that there is data to be reported.

[0101] 3): RSU parses VST and performs a two-way authentication process (i.e., steps A41 to A47 above). After the two-way authentication is passed, the data reporting indicator is parsed. If it is True, a transmission traffic information request (assuming it is represented by TransTrafficInfo.rq) is issued to request OBU data. It should be pointed out that the descriptions of the various transmission traffic information requests and the like that appear in the embodiments of the present application are the same, except that the values ​​of different transmission traffic information requests under the same attribute may be different.

[0102] The application data packet field (assuming it is represented by ApplicationPackage) in TransTrafficInfo.rq is described as follows:

[0103] --Transfer type using GetType

[0104] --The first request for the packet number is all 0

[0105] --Packet indication information, the highest bit is 1 to represent the first packet, and the remaining bits indicate the number of remaining packets.

[0106] 4): After receiving TransTrafficInfo.rq, OBU recognizes that the transmission type is GetType and identifies it as the first packet request, parses the request content, and reports the transmission traffic information response (assuming it is represented by TransTrafficInfo.rs).

[0107] The ApplicationPackage description in TransTrafficInfo.rs is as follows:

[0108] --Transmission type uses ResponseType

[0109] --Packet indication information, the highest bit is 1 to represent the first packet, and the remaining bits indicate the number of remaining packets.

[0110] It should be pointed out that the descriptions of various traffic information transmission responses appearing in other embodiments of the embodiment of the present application are the same, the difference being that different traffic information transmission responses may have different values ​​under the same attribute.

[0111] 5): After receiving TransTrafficInfo.rs, RSU recognizes that the transmission type is ResponseType and identifies it as the first OBU response packet. It receives the response data and determines whether there are any remaining packet requests. If there are, it continues to send TransTrafficInfo.rq.

[0112] The ApplicationPackage description in TransTrafficInfo.rq is as follows:

[0113] --Transfer type using GetType

[0114] --The packet number is the packet number of the message packet that the OBU needs to report to continue the request

[0115] --Packet indication information, the highest bit is 0 to represent a request for remaining packets, the remaining bits indicate the number of remaining packets, and the last packet is 0.

[0116] 6): After receiving TransTrafficInfo.rq, OBU recognizes that the transmission type is GetType, and recognizes it as a rest packet request, parses the request content, and reports TransTrafficInfo.rs.

[0117] 7): Repeat steps 5) and 6) until the RSU receives the last packet response and sends an event end request (assuming it is represented by Eventreport.rq). The Eventreport.rq is used to indicate that all data packets have been received. The OBU does not need to respond after receiving the Eventreport.rq.

[0118] 8): RSU combines the received data packets into a complete message packet.

[0119] In order to more clearly describe the process of OBU reporting data to RSU, the following is combined with the attached Figure 3 Give a description.

[0120] See also Figure 3 When a vehicle is driving on the road, if the tire pressure, component temperature and other indicators of the vehicle exceed the preset threshold, the OBU on the vehicle will obtain dangerous vehicle condition information and warn the driver. After the OBU communicates with the RSU, it will send the relevant information to the RSU (such as the first RSU), and the RSU will send the received information to the roadside intelligent station, which will report it to the extended service business system to facilitate users to query from the extended service business system. Specifically, the RSU broadcasts the BST obtained from the roadside intelligent station to wake up the OBU within the signal coverage of the RSU. The OBU determines whether it needs to respond to the VST based on the transmission type carried by the BST. If necessary, it returns the VST to the RSU. The RSU parses the basic information of the OBU from the VST and reports the basic information of the OBU to the roadside intelligent station. The roadside intelligent station sends a vehicle information acquisition request to the RSU based on the basic information, so that the RSU forwards the vehicle information acquisition request to the OBU and obtains the corresponding vehicle information from the OBU through the RSU.

[0121] After receiving the vehicle information, the roadside intelligent station determines that the OBU has data that needs to be reported based on the reporting indication bit, and then sends the corresponding service information request to the OBU through the RSU to obtain the traffic event information from the OBU through the RSU.

[0122] In some embodiments, if the transmission type included in the first BST is the first transmission type, or if the transmission type included in the first BST is the second transmission type, and the OBU has data that needs to be reported to the first RSU, the OBU will feedback VST to the first RSU to establish a dedicated link with the first RSU. On this basis, if the first RSU needs to transmit a data packet to the OBU, the data interaction method in the vehicle-road cooperative system of the embodiment of the present application also includes:

[0123] C1. Receive a traffic information transmission request sent by the first RSU, wherein the traffic information transmission request includes a second packet number, second packet indication information, a second data packet, and a transmission type whose value is the third transmission type, wherein the second packet number is a unique identifier of the second message packet, and the second packet indication information is used to indicate whether the second data packet is the first data packet obtained after packetizing the second message packet, and is used to indicate the number of remaining data packets of the second message packet.

[0124] Specifically, the OBU may perform bidirectional authentication with the first RSU, and the first RSU receives the traffic information transmission request sent by the first RSU after passing the bidirectional authentication, so as to improve the security of the transmitted information.

[0125] C2. Store the second data packet, and send a traffic information transmission response to the first RSU, where the traffic information transmission response includes the second packet number and the second packet indication information.

[0126] C3. If the second packet indication information indicates that the number of remaining data packets of the second message packet is greater than 0, a new traffic information transmission request sent by the first RSU is received, and data packets obtained from the new traffic information transmission request are stored.

[0127] The new traffic information transmission request includes field information such as packet number, packet indication information and data packet. The packet number is the second packet number mentioned above. The packet indication information is used to indicate whether the data packet included in the new traffic information transmission request is the first data packet obtained after the second message packet is subpacketized, and is used to indicate the number of remaining data packets of the second message packet. The data packet included in the new traffic information transmission request is a data packet belonging to the second message packet, and the data packet is sorted after the data packet belonging to the second message packet sent by the first RSU to the OBU last time. For example, assuming that the data packet sent by the first RSU to the OBU last time is the 4th data packet belonging to the second message packet, and the packet indication information indicates that the number of remaining data packets of the second message packet is 3, then the data packet currently sent by the first RSU to the OBU is the 5th data packet belonging to the second message packet, and the packet indication information indicates that the number of remaining data packets of the second message packet is 2.

[0128] Of course, if the second packet indication information indicates that the number of remaining data packets of the second message packet is equal to 0, it means that the second message packet has only one data packet, that is, there is only one second data packet. At this time, there is no need to obtain data packets related to the second message packet from the first RSU.

[0129] C4. Send a new transmission traffic information response to the first RSU, where the new transmission traffic information response includes the second packet number and packet indication information that is the same as the packet indication information in the new transmission traffic information request.

[0130] C5. If the packet indication information in the above-mentioned new transmission traffic information request indicates that the number of remaining data packets of the above-mentioned second message packet is equal to 0, then the above-mentioned second data packet and the data packets obtained from each of the above-mentioned new transmission traffic information requests are sequentially spliced ​​into the complete above-mentioned second message packet; otherwise, return to the above-mentioned step of receiving the new transmission traffic information request sent by the above-mentioned first RSU and subsequent steps.

[0131] Specifically, the first RSU sends each data packet belonging to the second message packet to the OBU through each transmission traffic information request. The OBU determines whether there are still unreceived data packets belonging to the second message packet according to the packet indication information included in the currently received transmission traffic information request. If so, a transmission traffic information response is sent to the first RSU. The first RSU obtains the corresponding packet indication information and packet number by parsing the received transmission traffic information response, and determines whether the message packet corresponding to the packet number (i.e., the second message packet) still has data packets that have not been sent by the first RSU according to the packet indication information and packet number. If the OBU determines that there are no unreceived data packets belonging to the second message packet according to the packet indication information included in the currently received transmission traffic information request, it indicates that all data packets of the second message packet have been received. At this time, the OBU can send a successful reception message to the first RSU, and combine the received data packets into a complete second message packet in sequence, and parse the second message packet.

[0132] In the embodiment of the present application, since the traffic information transmission request and the traffic information transmission response include a packet number for uniquely identifying a message packet, and packet indication information for indicating whether the data packet currently being transmitted is the first packet and the number of remaining data packets, the OBU and the first RSU interact through the traffic information transmission request and the traffic information transmission response, and during the interaction process, the message packet with a large amount of data is divided into multiple data packets with a smaller amount of data, and then transmitted from the first RSU to the OBU.

[0133] In some embodiments, the process of transmitting a data packet from the first RSU to the OBU may adopt the following process:

[0134] (1): The first RSU sends a BST to wake up the OBU, wherein the transmission type included in the BST is the first transmission type, or if the transmission type included in the first BST is the second transmission type, and the OBU has data that needs to be reported to the first RSU.

[0135] (2): The OBU is awakened and responds to the VST, establishing a dedicated link with the first RSU.

[0136] (3): The first RSU performs a two-way authentication process. After the two-way authentication is passed, it sends TransTrafficInfo.rq to the OBU for roadside message push, with ApplicationPackage

[0137] ApplicationPackage is described as follows:

[0138] --Transfer type using SetType

[0139] --The packet number is generated by the roadside intelligent station and identifies the unique message packet

[0140] --Packet indication information, the highest bit is 1 to represent the first packet, and the remaining bits represent the number of remaining packets.

[0141] (4): After receiving TransTrafficInfo.rq, OBU identifies that the transmission type is SetType, and identifies that the roadside message is sent as a packet, and reports TransTrafficInfo.rs, which includes a packet number and packet indication information. The packet indication information is the same as the packet indication information of the TransTrafficInfo.rq received last time.

[0142] (5): After receiving TransTrafficInfo.rs, the first RSU identifies the first OBU response packet and determines whether there are remaining packets to be sent. If there are, it continues to send TransTrafficInfo.rq.

[0143] The ApplicationPackage description is as follows:

[0144] --Transfer type using SetType

[0145] --The packet number is generated by the roadside intelligent station and identifies the unique message packet

[0146] --Packet indication information, the highest bit is 0 to indicate that it is not the first packet, and the remaining bits indicate the number of remaining packets. The remaining bits of the last data packet are 0.

[0147] (6): After receiving TransTrafficInfo.rq, OBU recognizes that the transmission type is SetType, and recognizes the remaining packets to be sent, reports TransTrafficInfo.rs, and informs the first RSU of successful reception after the last packet is received.

[0148] (7)7: OBU assembles the message packet into a complete message packet and then parses it.

[0149] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0150] Embodiment 2:

[0151] Figure 4 A flow chart of another data interaction method in a vehicle-road cooperative system provided in an embodiment of the present application is shown. The data interaction method is applied to a roadside unit, that is, to the first RSU or the second RSU in Embodiment 1.

[0152] The data interaction method in the vehicle-road cooperative system provided by the embodiment of the present application is described in detail as follows:

[0153] Step S41, broadcast the first beacon service table BST, the above-mentioned first BST includes a transmission type, a first verification information and a first data packet, wherein the above-mentioned transmission type is any one of the following: a first transmission type, a second transmission type and a third transmission type, and the above-mentioned first transmission type is used to indicate that the on-board unit OBU must respond, the above-mentioned second transmission type is used to indicate that the above-mentioned OBU optionally responds, and the above-mentioned third transmission type is used to indicate that the above-mentioned OBU does not need to respond, and the above-mentioned first verification information is determined according to the security information of the first RSU and the data content in the above-mentioned first data packet, and the security information of the above-mentioned first RSU is the security information adopted by the above-mentioned RSU for this communication.

[0154] Step S42, if the transmission type included in the first BST is the first transmission type, or if the transmission type included in the first BST is the second transmission type and the OBU has data that needs to be reported to the RSU, the vehicle service table VST replied by the OBU will be received.

[0155] In the embodiment of the present application, since the transmission type included in the first BST is any one of the following: the first transmission type, the second transmission type and the third transmission type, and the first transmission type is used to indicate that the OBU must respond, the second transmission type is used to indicate that the OBU optionally responds, and the third transmission type is used to indicate that the OBU does not need to respond, and when the transmission type is the third transmission type, or when the transmission type is the second transmission type and the OBU does not have data that needs to be reported, the OBU will not need to reply to the VST, and when the OBU does not reply to the VST, the power consumption of the OBU can be reduced. Therefore, the data interaction method in the vehicle-road cooperative system provided by the embodiment of the present application can effectively save the power of the OBU, thereby improving the endurance of the OBU. In addition, since the first BST also includes the first verification information, and the OBU stores the first data packet included in the first BST only after determining that the second verification information calculated by it is the same as the first verification information, the security of the information stored by it can be guaranteed.

[0156] In some embodiments, after receiving the VST replied by the OBU, the RSU (such as the first RSU) of the embodiment of the present application further performs two-way authentication with the OBU, that is, the data interaction method in the vehicle-road cooperative system provided by the embodiment of the present application further includes:

[0157] D1. Send a vehicle information acquisition request to the OBU based on the VST, where the vehicle information acquisition request carries a random number of a first designated byte.

[0158] In the embodiment of the present application, after the first RSU receives the VST sent by the OBU, it parses the basic information of the OBU from the VST, and then searches for the historical authentication information of the corresponding vehicle according to the basic information of the OBU. If the historical authentication information exists, the historical authentication information of the vehicle is passed to the downstream RSU. Of course, if the historical authentication information still has a valid time, after determining that the vehicle has historical authentication information, it is necessary to further determine whether the historical authentication information is within the valid time. If so, the historical authentication information of the vehicle is passed to the downstream RSU.

[0159] D2, receiving the first ciphertext sent by the above-mentioned OBU, the above-mentioned first ciphertext is obtained by the above-mentioned OBU encrypting the random number of the second designated byte and the vehicle information, and the above-mentioned random number of the second designated byte is obtained by the above-mentioned OBU replacing the random number at a designated position in the random number of the above-mentioned first designated byte received with the first target random number.

[0160] The number of bytes of the random number of the second designated byte is equal to the number of bytes of the random number of the first designated byte. For example, assuming that the number of bytes of the random number of the first designated byte is 8, the number of bytes of the random number of the second designated byte is also 8.

[0161] D3. Decrypt the first ciphertext and verify whether the random number at the target position in the random number of the third specified byte obtained by decryption is equal to the random number at the same position in the random number of the first specified byte, wherein the number of bytes of the random number of the third specified byte is equal to the number of bytes of the random number of the first specified byte, and the target position is the position in the random number of the first specified byte excluding the specified position.

[0162] Specifically, the first RSU decrypts the first ciphertext according to the decryption algorithm agreed with the OBU, and extracts a random number whose byte number is equal to the byte number of the random number of the second designated byte from the decryption result as the random number of the third designated byte. For example, if the byte number of the random number of the first designated byte (or the random number of the second designated byte) is 8 bytes, and the value of the first 4 bits of the random number of the first designated byte is not replaced, then after extracting the 8-byte random number from the corresponding field as the random number of the third designated byte, the value of the first 4 bits of the random number of the third designated byte is determined, and the value of the first 4 bits of the random number of the third designated byte is compared with the value of the first 4 bits of the random number of the first designated byte.

[0163] D4. If the random number at the target position in the random number of the third designated byte is equal to the random number at the same position in the random number of the first designated byte, the random number extracted from the designated position in the random number of the third designated byte is used as the second target random number.

[0164] For example, if the value of the first 4 digits of the random number of the third designated byte is equal to the value of the first 4 digits of the random number of the first designated byte, the value of the first 4 digits of the random number of the third designated byte is used as the second target random number.

[0165] D5. Use the second target random number to encrypt the security information used in this communication and the second target random number to obtain a second ciphertext.

[0166] The security information used by the first RSU for this communication is obtained from the roadside intelligent station corresponding to the first RSU. Of course, if the security information also has a corresponding validity period, when the validity period expires, the security information will become invalid, and the OBU and the first RSU need to re-perform two-way authentication.

[0167] D6. Send the second ciphertext to the OBU, and the OBU determines whether the first RSU is authenticated based on the decryption result of the second ciphertext.

[0168] The specific authentication process of the OBU to the first RSU can be found in Embodiment 1, which will not be described in detail here.

[0169] D7. Receive the authentication result sent by the OBU, where the authentication result is used to indicate whether the first RSU has passed the authentication of the OBU.

[0170] Specifically, if the authentication result indicates that the above-mentioned first RSU has passed the authentication of the above-mentioned OBU, the first RSU can exchange messages with the OBU. During the interaction, the first RSU and the OBU can both send messages containing verification information to each other. The party receiving the message generates another verification information based on the security information stored by itself and the data content of the data packet in the received message, and compares the other verification information generated by it with the verification information in the received message. If the two are the same, the received message is considered reliable and can be responded to. Since the first RSU and the OBU have performed two-way authentication, the security of the communication between the two is further improved. Furthermore, if the first RSU carries the corresponding verification information during the communication process with the OBU, it is beneficial for the other party to judge whether the currently received message is reliable based on the verification information, and it is also beneficial to improve the accuracy of subsequent responses.

[0171] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0172] Embodiment three:

[0173] Figure 5 A structural schematic diagram of a data interaction system in a vehicle-road cooperative system provided in an embodiment of the present application is shown. The data interaction system 5 includes a vehicle-mounted unit 51 and a roadside unit 52. The vehicle-mounted unit 51 executes the steps of the data interaction method in the vehicle-road cooperative system as described in Example 1, and the roadside unit 52 executes the steps of the data interaction method in the vehicle-road cooperative system as described in Example 2. For details, see Example 1 and Example 2, which will not be repeated here.

[0174] Embodiment 4:

[0175] Figure 6 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Figure 6 As shown, the electronic device 6 of this embodiment includes: at least one processor 60 ( Figure 6 Only one processor is shown in the figure), a memory 61, and a computer program 62 stored in the above-mentioned memory 61 and executable on the above-mentioned at least one processor 60, wherein the above-mentioned processor 60 implements the steps in any of the above-mentioned method embodiments when executing the above-mentioned computer program 62.

[0176] The electronic device 6 may be a computing device such as a roadside unit or a vehicle-mounted unit. The electronic device may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will appreciate that Figure 6 It is only an example of the electronic device 6 and does not constitute a limitation on the electronic device 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0177] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0178] In some embodiments, the memory 61 may be an internal storage unit of the electronic device 6, such as a hard disk or memory of the electronic device 6. In other embodiments, the memory 61 may also be an external storage device of the electronic device 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 6. Further, the memory 61 may include both an internal storage unit and an external storage device of the electronic device 6. The memory 61 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0179] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the above-mentioned device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0180] An embodiment of the present application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps of any of the above method embodiments when executing the computer program.

[0181] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0182] An embodiment of the present application provides a computer program product. When the computer program product runs on an electronic device, the electronic device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0183] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The above-mentioned computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the above-mentioned computer program includes computer program code, and the above-mentioned computer program code can be in source code form, object code form, executable file or some intermediate form. The above-mentioned computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / electronic device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0184] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0185] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0186] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the above modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0187] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0188] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A data interaction method in a vehicle-road cooperative system, characterized in that: Applied to on-board unit OBU, including: Receive a first beacon service table BST sent by a first roadside unit RSU, the first BST including a transmission type, first verification information and a first data packet, wherein the transmission type is any one of the following: a first transmission type, a second transmission type and a third transmission type, and the first transmission type is used to indicate that the OBU must respond, the second transmission type is used to indicate that the OBU optionally responds, and the third transmission type is used to indicate that the OBU does not need to respond, the first verification information is determined according to the first security information and the data content in the first data packet, and the first security information is the security information used by the first RSU for this communication; Generate second verification information using second security information and data content in the first data packet, wherein the second security information is security information stored in the OBU; If it is determined that the second verification information is the same as the first verification information, storing the first data packet; Whether to reply the vehicle service table VST to the first RSU is selected according to the transmission type included in the first BST.

2. The data interaction method in the vehicle-road cooperative system according to claim 1, characterized in that: Before receiving the first beacon service table BST sent by the first roadside unit RSU, the method further includes: receiving a second BST sent by a second RSU, where the second BST includes a transmission type and the transmission type is the first transmission type; Performing bidirectional authentication with the second RSU to obtain and store corresponding security information after the bidirectional authentication is passed, and obtaining the second security information, wherein if the second RSU and the first RSU both communicate with the roadside intelligent station belonging to the same road section, the second security information is the same as the first security information; if the second RSU and the first RSU respectively communicate with the roadside intelligent stations belonging to different road sections, the second security information is different from the first security information; or, receiving a second BST sent by the first RSU, where the second BST includes a transmission type and the transmission type is the first transmission type; Perform two-way authentication with the first RSU to obtain and store corresponding security information after the two-way authentication passes, and obtain the second security information.

3. The data interaction method in the vehicle-road cooperative system according to claim 2, characterized in that: The performing two-way authentication with the first RSU includes: Reply VST to the first RSU; receiving a vehicle information acquisition request sent by the first RSU based on the VST, wherein the vehicle information acquisition request carries a random number of a first specified byte; Replacing the random number at the specified position in the random number of the first specified byte with the first target random number to obtain a random number of a second specified byte; Encrypting the random number of the second designated byte and the vehicle information to obtain a first ciphertext; Sending the first ciphertext to the first RSU; receiving a second ciphertext sent by the first RSU, where the plaintext corresponding to the second ciphertext includes a second target random number and security information adopted by the first RSU for this communication, where the encryption key corresponding to the second ciphertext is the second target random number, and the second target random number is a random number obtained by the first RSU decrypting a specified position of the first ciphertext; The second ciphertext is decrypted using the first target random number. If the second target random number obtained by decryption is the same as the first target random number, it is determined that the first RSU has passed the authentication.

4. The data interaction method in the vehicle-road cooperative system according to claim 1, characterized in that: The first BST also includes a first packet number and first packet indication information, wherein the first packet number is a unique identifier of the first message packet, and the first packet indication information is used to indicate whether the first data packet is the first data packet obtained after the first message packet is subpacketized, and is used to indicate the number of remaining data packets of the first message packet; If the first packet indication information indicates that the number of remaining data packets of the first message packet is greater than 1, then after storing the first data packet, the method further includes: Continue to receive other BSTs sent by the first RSU after sending the first BST, until all remaining data packets of the first message packet are obtained from the other BSTs; The first data packet and all remaining data packets of the acquired first message packet are sequentially spliced ​​into a complete first message packet.

5. The data interaction method in the vehicle-road cooperative system according to any one of claims 1 to 4, characterized in that: The selecting whether to reply the vehicle service table VST to the first RSU according to the transmission type included in the first BST comprises: If the transmission type included in the first BST is the first transmission type, a VST is replied to the first RSU; or, if the transmission type included in the first BST is the second transmission type and the OBU has data that needs to be reported to the first RSU, a VST is replied to the first RSU, and the VST includes the basic information of the OBU and a reporting indication bit for indicating that the OBU needs to report data.

6. The data interaction method in a vehicle-road cooperative system according to any one of claims 1 to 4, characterized in that: If the transmission type included in the first BST is the first transmission type, or if the transmission type included in the first BST is the second transmission type, and the OBU has data that needs to be reported to the first RSU, the data interaction method in the vehicle-road cooperative system further includes: receiving a traffic information transmission request sent by the first RSU, wherein the traffic information transmission request includes a second packet number, second packet indication information, a second data packet, and a transmission type whose value is the third transmission type, wherein the second packet number is a unique identifier of the second message packet, and the second packet indication information is used to indicate whether the second data packet is the first data packet obtained after packetizing the second message packet, and is used to indicate the number of remaining data packets of the second message packet; storing the second data packet, and sending a traffic information transmission response to the first RSU, wherein the traffic information transmission response includes the second packet number and the second packet indication information; If the second packet indication information indicates that the number of remaining data packets of the second message packet is greater than 0, a new transmission traffic information request sent by the first RSU is received, and data packets obtained from the new transmission traffic information request are stored; Sending a new traffic information transmission response to the first RSU, wherein the new traffic information transmission response includes the second packet number and packet indication information that is the same as the packet indication information in the new traffic information transmission request; If the packet indication information in the new transmission traffic information request indicates that the number of remaining data packets of the second message packet is equal to 0, then the second data packet and the data packets obtained from the new transmission traffic information request are sequentially spliced ​​into a complete second message packet; otherwise, return to the step of receiving the new transmission traffic information request sent by the first RSU and subsequent steps.

7. A data interaction method in a vehicle-road cooperative system, characterized in that: Applied to roadside units, including: Broadcasting a first beacon service table BST, the first BST includes a transmission type, first verification information and a first data packet, wherein the transmission type is any one of the following: a first transmission type, a second transmission type and a third transmission type, and the first transmission type is used to indicate that the on-board unit OBU must respond, the second transmission type is used to indicate that the OBU optionally responds, and the third transmission type is used to indicate that the OBU does not need to respond, the first verification information is determined according to the security information of the first RSU and the data content in the first data packet, and the security information of the first RSU is the security information adopted by the RSU for this communication; If the transmission type included in the first BST is the first transmission type, or if the transmission type included in the first BST is the second transmission type and the OBU has data that needs to be reported to the RSU, the vehicle service table VST replied by the OBU is received.

8. The data interaction method in the vehicle-road cooperative system according to claim 7, characterized in that: After receiving the vehicle service table VST replied by the OBU, it includes: Sending a vehicle information acquisition request to the OBU based on the VST, wherein the vehicle information acquisition request carries a random number of a first specified byte; Receive a first ciphertext sent by the OBU, the first ciphertext is obtained by the OBU encrypting a random number of a second designated byte and vehicle information, and the random number of the second designated byte is obtained by the OBU replacing a random number at a designated position in the random number of the first designated byte received with a first target random number; Decrypting the first ciphertext, and verifying whether the random number at a target position in the random number of the third designated byte obtained by decryption is equal to the random number at the same position in the random number of the first designated byte, wherein the number of bytes of the random number of the third designated byte is equal to the number of bytes of the random number of the first designated byte, and the target position is the position in the random number of the first designated byte excluding the designated position; If the random number at the target position in the random number of the third designated byte is equal to the random number at the same position in the random number of the first designated byte, the random number extracted from the designated position in the random number of the third designated byte is used as the second target random number; The second target random number is used to encrypt the security information used in this communication and the second target random number to obtain a second ciphertext; Sending the second ciphertext to the OBU, and the OBU judging whether the first RSU is authenticated according to the decryption result of the second ciphertext; Receive an authentication result sent by the OBU, where the authentication result is used to indicate whether the first RSU has passed the authentication of the OBU.

9. A data interaction system in a vehicle-road cooperative system, characterized in that: It includes a vehicle-mounted unit and a roadside unit, the vehicle-mounted unit executes the steps of the data interaction method in the vehicle-road cooperative system as described in any one of claims 1 to 6, and the roadside unit executes the steps of the data interaction method in the vehicle-road cooperative system as described in claim 7.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented; or, when the processor executes the computer program, the method according to claim 7 or 8 is implemented.

11. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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