A vehicle-road cooperative communication method, system and device

Abstract

Embodiments of the present application disclose a vehicle-road cooperation communication method, system and device, taking a physical OBU as a main OBU, taking a software OBU as a function enhanced main OBU, and logically binding the software OBU and the main OBU. Since there is a physical binding relationship between the main OBU and the vehicle, the logical binding of the software OBU and the vehicle is indirectly realized, the processing capability information and the notification capability information of the physical OBU and the software OBU are acquired and stored through an OBU capability storage server, specifically, the OBU capability storage server communicates with the software OBU to realize OBU capability reporting. Similarly, since the physical OBU cannot directly interact with the OBU capability storage server, the processing capability information and the notification capability information of the physical OBU are reported to the OBU issuance server by the software OBU.

Description

[0001] The application is a divisional application, the parent application of which has a national application number of 202110182305.9 and an application date of February 10, 2021, and an invention title of "a vehicle-road cooperative communication method, system and device". TECHNICAL FIELD

[0002] Embodiments of the application relate to the technical field of vehicle-road cooperation, in particular to a vehicle-road cooperative communication method, system and device. BACKGROUND

[0003] Vehicle-road cooperation is an important means to improve the environmental protection, safety, efficiency and comfort of road traffic. Road facilities need to send road, traffic, environmental and other vehicle-road cooperative information to vehicles and travelers. Vehicles and travelers also need to send vehicle status, perception state and other information to road facilities. Therefore, vehicles and travelers need to support the ability of vehicle-road cooperative information transmission and reception, and the ability to effectively remind travelers or effectively control vehicles.

[0004] Existing solution one: vehicle-road cooperative information communication between physical OBU and road side unit RSU bound to vehicles through physical means. For example, existing ETC rear-mounted OBU, ETC front-mounted OBU supporting OBD interface, etc. For physical OBU, RSU sends the same vehicle-road cooperative message, and OBU itself decides how to remind travelers and how to control vehicles. For example, OBU directly broadcasts voice to remind according to its own ability. Usually, the communication mode between RSU and OBU adopts wireless direct connection, such as ETC DSRC, LTE-V, 5G NR-V, etc.

[0005] Existing solution two: traffic service platform sends and receives vehicle-road cooperative information to travelers or vehicles through mobile terminal APP. Mobile terminal can include traveler's smart phone, vehicle-mounted T-Box, road maintenance dedicated terminal and other devices. After receiving the vehicle-road cooperative message, the mobile terminal APP reminds the user through sound, picture and other ways. The mobile terminal can also send information to the traffic service platform. Its communication mode usually adopts long-distance transmission network (such as wireless cellular network access to the Internet), but does not exclude other transmission networks (such as short-range wireless communication).

[0006] The above solutions all have multiple defects, as follows:

[0007] Defect 1 of the existing solution 1: The capability of the vehicle terminal OBU is greatly different, and a relatively large number of OBUs (for example, the existing rear-mounted ETC OBU) have no effective means to effectively prompt the user of the received vehicle-road cooperation information, and can only prompt through a simple buzzer sound. This leads to a considerable number of users who cannot timely and effectively obtain necessary traffic information, which may have a relatively serious impact on the safety and efficiency of traffic.

[0008] Defect 2 of the existing solution 1: The vehicle terminal OBU is usually fixed on the vehicle in the form of a hardware device, which usually lacks effective software upgrade means or has limited hardware capability, and has little possibility of hardware upgrade, and cannot meet the needs of the continuously developing vehicle-road cooperation business in the future.

[0009] Defect 1 of the existing solution 2: Although the mobile terminal APP can better prompt the user of the vehicle-road cooperation information received from the traffic service platform, the APP and the vehicle have no logical binding relationship, which leads to the fact that the traffic platform cannot timely and accurately push the necessary vehicle-road cooperation information to the user according to the current vehicle state.

[0010] Defect 2 of the existing solution 2: Since the mobile terminal APP and the vehicle have no physical binding relationship (that is, the mobile terminal is not fixedly installed on the vehicle), this leads to the fact that it cannot be used for vehicle automatic deduction business. For example, the charging standards of large vehicles and small vehicles are different, and if the mobile terminal APP is used for vehicle automatic deduction, it will lead to incorrect vehicle automatic deduction when it is moved on different types of vehicles. SUMMARY

[0011] To this end, the embodiments of the present application provide a vehicle-road cooperation communication method, system and device to solve the technical problem that the existing vehicle-road cooperation technology cannot meet the current vehicle-road cooperation business requirements.

[0012] In order to achieve the above-mentioned purpose, the embodiments of the present application provide the following technical solutions:

[0013] According to a first aspect of the embodiments of the present application, a vehicle-road cooperation communication method is provided, which is applied to an OBU issuing server, the OBU issuing server communicates with a software OBU, generates a software OBU system key, and binds the software OBU with a physical OBU, the physical OBU is bound to a vehicle in a physical manner, and the method comprises the following steps: obtaining a physical OBU contract number and a software OBU identifier from the software OBU; taking the physical OBU contract number as a first dispersion factor, performing dispersion algorithm operation by using the first dispersion factor and a provincial business master key to generate a physical OBU system key; and taking the software OBU identifier as a second dispersion factor, performing dispersion algorithm operation by using the second dispersion factor and the physical OBU system key to generate a software OBU system key.

[0014] According to a second aspect of the present invention, a method is provided applied to an OBU issuance server, the OBU issuance server communicating and interacting with a software OBU to enable the software OBU to obtain a software OBU key file, comprising: receiving an OBU issuance request; performing the steps in the vehicle-road cooperative communication method described above to generate the software OBU system key; storing the software OBU system key in the software OBU key file; encrypting and calculating the MAC value of the software OBU key file; sending an OBU issuance response message to the software OBU, the OBU issuance response message including: the encrypted software OBU key file and the MAC value; and verifying the OBU issuance response message in the software OBU, and if the verification is successful, storing the software OBU key file in a virtual ESAM in a security domain.

[0015] Furthermore, the OBU issuance request includes a public key, a physical OBU contract number, a software OBU identifier, and software OBU verification materials; the software OBU verification materials include: a picture of the vehicle owner's ID card and a picture of the vehicle registration certificate.

[0016] Furthermore, before receiving the OBU issuance request, the method further includes: requesting a public key from the security domain by the application domain of the software OBU; generating a public key and private key pair in the security domain and sending the public key to the application domain; and having the application domain place the public key into the OBU issuance request and send it.

[0017] Furthermore, in the software OBU, the verification of the OBU issuance response message includes: the application domain transmitting the encrypted key file and MAC value to the security domain; the security domain verifying the OBU issuance response message based on the MAC value using the private key; wherein, based on the public key and a preset encryption algorithm, the software OBU key file is encrypted and MAC is calculated to generate the encrypted software OBU key file and the MAC value, respectively.

[0018] According to a third aspect of the present invention, a vehicle-road cooperative communication method is provided. The method is applied to an OBU capability storage server, which communicates and interacts with a software OBU to achieve OBU capability reporting. The method includes: receiving and storing OBU capability notifications from the software OBU; sending capability reporting confirmation / response to the application domain of the software OBU; the OBU capability notification includes: a physical OBU contract number, a software OBU identifier, physical OBU capability information, and software OBU capability information; the physical OBU capability information / software OBU capability information includes: OBU notification capability information and OBU processing capability information; the OBU notification capability information includes at least one of no notification capability information, information supporting beeping notification, information supporting voice broadcast, information supporting image notification, and information supporting vehicle bus notification; the OBU processing capability information includes at least one of: no processing capability information, ETC toll collection capability information, vehicle-road cooperative business specification version number, high-precision map processing capability information, and positioning accuracy capability information.

[0019] Preferably, the method further includes: before receiving and storing the OBU capability notification from the software OBU, performing the steps of a vehicle-road cooperative communication method as described in any of the preceding claims, so that the software OBU obtains the software OBU key file.

[0020] According to a fourth aspect of the present invention, a vehicle-road cooperative communication method is provided. The method is applied to an OBU information server, which communicates and interacts with a software OBU, an RSU, and an OBU capability storage server to determine service message paths. The method includes: receiving a V2X message push query request from the RSU, the V2X message push query request carrying at least the physical OBU contract number bound to the vehicle to be pushed; acquiring and storing the corresponding bound physical OBU contract number, the online status of the software OBU, and its IP address; instructing the OBU capability storage server to execute the steps of the vehicle-road cooperative communication method described above to achieve OBU capability reporting, and querying the corresponding OBU capability notification from the OBU capability storage server; and having the OBU information server / RSU determine the service message path based on the online status of the software OBU and the OBU capability notification.

[0021] Further, the OBU information server / RSU determines the service message path based on the online status of the software OBU and the OBU capability notification, including: determining whether the software OBU is online based on its online status; if the software OBU is online, querying the corresponding software OBU capability information based on the physical OBU contract number, and determining whether the software OBU capability information matches the V2X message; if the software OBU capability information matches the V2X message, selecting the software OBU as the V2X message receiver, and selecting the OBU capability information matching the V2X message as the notification instruction and / or processing instruction of the V2X message.

[0022] Furthermore, the process of determining the service message path by the OBU information server / RSU based on the online status of the software OBU and the OBU capability notification also includes: if the software OBU is online, simultaneously querying the corresponding physical OBU capability information and software OBU capability information based on the physical OBU contract number, and determining whether the physical OBU capability information and the software OBU capability information match the V2X message; if both the physical OBU capability information and the software OBU capability information match the V2X message, selecting the software OBU and / or the physical OBU as the V2X message receiver, and selecting the OBU capability information matching the V2X message as the notification instruction and / or processing instruction of the V2X message.

[0023] Furthermore, the process of determining the service message path by the OBU information server / RSU based on the online status of the software OBU and the OBU capability notification also includes: if the software OBU is offline, querying the corresponding physical OBU capability information based on the physical OBU contract number, and determining whether the physical OBU capability information matches the V2X message; if the physical OBU capability information matches the V2X message, selecting the physical OBU as the V2X message receiver, and selecting the OBU capability information matching the V2X message as the notification instruction and / or processing instruction of the V2X message.

[0024] Furthermore, obtaining and storing the online status and IP address of the software OBU from the software OBU includes: receiving startup reporting information from the application domain of the software OBU, the startup reporting information including: physical OBU contract number, software OBU identifier and software OBU IP address; storing the online status and IP address of the software OBU; and detecting the online status of the software OBU in real time through a heartbeat detection mechanism, and modifying and storing the online status of the software OBU when the software OBU is offline.

[0025] According to a fifth aspect of the present invention, a vehicle-road cooperative communication method is provided. The method is applied to an OBU information server, which communicates and interacts with a software OBU, an RSU, and an OBU capability storage server to realize the sending and receiving of vehicle-road cooperative service messages. The method includes: performing the steps of any of the preceding vehicle-road cooperative communication methods to realize service message path determination; the RSU obtaining the determined service message path; the RSU obtaining the IP address of a selected software OBU and / or the contract number of a physical OBU; the RSU sending at least one V2X push message to the software OBU and / or the physical OBU; the software OBU and / or the physical OBU reminding the user according to a selected V2X message notification instruction, and / or controlling the vehicle according to a selected V2X message processing instruction; and after completing the secure sending and receiving of V2X messages, the RSU sending a release message to the software OBU to release the secure link between the RSU and the software OBU and / or the physical OBU.

[0026] Furthermore, before the RSU sends at least one V2X push message to the software OBU and / or the physical OBU, the method further includes: performing parameter interaction verification between the RSU and the software OBU based on the software OBU system key and the corresponding encryption algorithm; if the interaction verification is successful, a secure communication link is established between the RSU and the software OBU; and the RSU sends at least one V2X push message to the software OBU based on the secure communication link.

[0027] Furthermore, the formats of the V2X messages, the release messages, and the messages in the parameter interaction verification refer to the GB / T 20851.4-2019 standard and are carried on top of an IP-based transport layer protocol.

[0028] According to a sixth aspect of the present invention, a vehicle-road cooperative communication system is provided. The system includes: a physical On-Board Unit (OBU), a software OBU, and an OBU issuance server. The OBU issuance server communicates and interacts with the software OBU to generate a software OBU system key and binds the software OBU to the physical OBU, wherein the physical OBU is physically bound to the vehicle. The OBU issuance server obtains a physical OBU contract number and a software OBU identifier from the software OBU. The physical OBU contract number is used as a first dispersion factor, and a dispersion algorithm is performed using the first dispersion factor and a provincial business master key to generate a physical OBU system key. The software OBU identifier is used as a second dispersion factor, and a dispersion algorithm is performed using the second dispersion factor and the physical OBU system key to generate a software OBU system key.

[0029] Preferably, the OBU issuing server is also used to communicate and interact with the software OBU, enabling the software OBU to obtain the software OBU key file.

[0030] Preferably, the system further includes an OBU capability storage server for communicating and interacting with the software OBU to report OBU capabilities.

[0031] Preferably, the system further includes an OBU information server and an RSU, used to communicate and interact with the software OBU, the RSU, and the OBU capability storage server to realize business message path determination.

[0032] Preferably, the OBU information server is also used to communicate and interact with the software OBU, the RSU, and the OBU capability storage server respectively to realize the sending and receiving of vehicle-road cooperative service messages.

[0033] Furthermore, the software OBU includes an application domain and a security domain. The application domain includes an Android / iOS system framework to support Android / iOS systems, a first message sending / receiving module for sending and receiving messages, a V2X application module for implementing various V2X service processing, a security domain client API, and a security domain driver module. The first message sending / receiving module, the V2X application module, the security domain client API, and the security domain driver module are sequentially interconnected. The security domain includes a processing monitoring module, a security domain internal API, a secure storage module for secure storage, and a virtual ESAM for secure access. The security domain internal API is interconnected with the processing monitoring module, the secure storage module, and the virtual ESAM. The security domain driver module is interconnected with the processing monitoring module. The security domain client API is connected to the security domain internal API to enable communication between the application domain and the security domain.

[0034] Furthermore, the physical OBU includes: an MCU chip, a wireless integrated chip, an ESAM chip, and a preset interface chip. The MCU chip is interactively connected to the wireless integrated chip, the ESAM chip, and the preset interface chip respectively. The MCU chip is equipped with a second message transceiver module, an application processing module, and a hardware driver module. The second message transceiver module, the application processing module, and the hardware driver module are interactively connected in sequence.

[0035] According to a seventh aspect of the present invention, a vehicle-road cooperative communication device is provided, the device comprising: a processor and a memory;

[0036] The memory is used to store one or more program instructions;

[0037] The processor is configured to run one or more program instructions to perform the steps of a vehicle-road cooperative communication method as described in any of the preceding claims.

[0038] According to an eighth aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, wherein when executed by a processor, the computer program implements the steps of the vehicle-road cooperative communication method as described in any of the preceding claims.

[0039] The embodiments of the present invention have the following advantages:

[0040] This invention uses a physical On-Board Unit (OBU) as the primary OBU and a software OBU as a functional enhancement of the primary OBU, logically and securely binding the software OBU and the primary OBU. Since there is a physical binding relationship between the primary OBU and the vehicle, this indirectly achieves the logical binding between the software OBU and the vehicle. The processing and notification capability information of both the physical and software OBUs is obtained and stored through an OBU capability storage server. Specifically, the OBU capability storage server communicates and interacts with the software OBU to achieve OBU capability reporting. Similarly, since the physical OBU cannot directly interact with the OBU capability storage server, the processing and notification capability information of the physical OBU is reported by the software OBU to the OBU issuing server. Attached Figure Description

[0041] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0042] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0043] Figure 1 A schematic diagram of the logical interaction of a vehicle-road cooperative communication system provided in an embodiment of the present invention;

[0044] Figure 2 A schematic diagram of the logical structure of a physical OBU provided in an embodiment of the present invention;

[0045] Figure 3 A schematic diagram of the logical structure of the software OBU provided in an embodiment of the present invention;

[0046] Figure 4 This is a flowchart illustrating a vehicle-road cooperative communication method according to an embodiment of the present invention.

[0047] Figure 5 An interactive schematic diagram of a vehicle-road cooperative communication method provided in another embodiment of the present invention;

[0048] Figure 6 An interactive schematic diagram of a vehicle-road cooperative communication method provided in another embodiment of the present invention;

[0049] Figure 7 An interactive schematic diagram of a vehicle-road cooperative communication method provided in another embodiment of the present invention;

[0050] Figure 8 This is an interactive schematic diagram of a vehicle-road cooperative communication method provided in another embodiment of the present invention. Detailed Implementation

[0051] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] The abbreviations and key terms used in the embodiments of this invention are defined as follows: OBU: On Board Unit; RSU: Road Side Unit; ESAM: Embedded Security Access Module; BST: Beacon Service Table; VST: Vehicle Service Table; DSRC: Dedicated Short Range Communications; MAC: Message Authentication Code; NR: New Radio; OBD: OnBoard Diagnostics; PC5: Short-range wireless direct communication interface between 4G / 5G terminals; PSAM: Purchase Security Application Module; RSA: An asymmetric encryption algorithm designed by Rivest, Shamir, and Adleman; SM2: A domestic asymmetric elliptic cryptography algorithm; SM4: A domestic symmetric cryptographic algorithm; T-Box: Telematics Box.

[0053] To achieve the objectives of this invention, the following technical problems need to be addressed: (1) Implementing the ESAM function in the software OBU and ensuring the access security of ESAM; (2) Securely binding the software OBU and the physical OBU (primary OBU); (3) The software OBU issuance mechanism, which is as compatible as possible with existing OBU issuance mechanisms; (4) Intelligent decision-making regarding the RSU's ability to acquire capabilities from the physical OBU (primary OBU) and the software OBU, and the message path; (5) Secure message transmission between the RSU and the software OBU. The specific technical problems to be solved are described below:

[0054] First, the functional entities involved in the embodiments of the present invention will be described as follows. These functional entities can be physical functional entities or logical functional entities. A single functional entity can be an independent device, or multiple functional entities can be combined into a single device. This technical solution does not limit this.

[0055] refer to Figure 1 This invention discloses a vehicle-road cooperative communication system, which includes a physical OBU 1, a software OBU 2, and an OBU issuing server 4. The OBU issuing server 4 communicates and interacts with the software OBU 2 to generate a software OBU system key and bind the software OBU 2 to the physical OBU 1. The physical OBU 1 is physically bound to the vehicle.

[0056] In this embodiment of the invention, a physical OBU is used as the main OBU, which is typically fixed to the vehicle and bound to it. For example, an aftermarket ETC OBU that is affixed to the windshield of the vehicle, or a pre-installed OBU that is installed when the vehicle leaves the factory, etc.

[0057] Further, refer to Figure 2 Taking ETC OBU as an example, the main modules of physical OBU 1 include: MCU chip 11, wireless integrated chip 12, ESAM chip 13, and preset interface chip 14. MCU chip 11 is interconnected with wireless integrated chip 12, ESAM chip 13, and preset interface chip 14. MCU chip 11 is equipped with a second message transceiver module 111, an application processing module 112, and a hardware driver module 113, which are interconnected sequentially. Specifically, the second message transceiver module 111 is interconnected with wireless integrated chip 12, and the hardware driver module 113 is interconnected with ESAM chip 13 and preset interface chip 14.

[0058] Software OBU: This serves as a functional enhancement device for the main OBU and is logically bound to it. The software OBU in this technical solution is not limited to a specific form; it can be implemented in various physical entities in different ways. For example, it can be an application in a user's mobile handheld terminal, an application in a vehicle-mounted T-Box terminal, another dedicated physical device, or even another physical OBU (such as a 5G NR-V OBU acting as a software OBU for ETC OBU), etc.

[0059] Further, refer to Figure 3 The main modules of the software OBU 2 include: application domain 21 and security domain 22; among them, application domain 21 mainly implements V2X service processing and message sending and receiving functions, and security domain 22 mainly implements virtual ESAM functions.

[0060] Specifically, the application domain 21 includes an Android / iOS system framework 211 for supporting Android / iOS systems, a first message sending and receiving module 212 for sending and receiving messages externally, a V2X application module 213 for implementing various V2X business processes, a security domain client API 214, and a security domain driver module 215; the first message sending and receiving module 212, the V2X application module 213, the security domain client API 214, and the security domain driver module 215 interact and communicate with each other in sequence.

[0061] Security domain 22 is equipped with a processing and monitoring module 221, a security domain internal API 222, a security storage module 223 for implementing secure storage, and a virtual ESAM 224 for implementing secure access. The security domain internal API 222 is interconnected with the processing and monitoring module 221, the security storage module 223, and the virtual ESAM 224. The security domain driver module 215 is interconnected with the processing and monitoring module 221. The security domain client API 214 is connected to the security domain internal API 222 to realize interactive communication between application domain 21 and security domain 22.

[0062] A virtual ESAM 224 is built within security domain 22 of the software OBU 2 to support various security functions required by the software OBU 2. For example:

[0063] (1) Supports multiple applications, each of which is independent of the others;

[0064] (2) Supports multiple security protection mechanisms (confidentiality and integrity protection of information) during communication;

[0065] (3) Supports multiple secure access methods and permissions;

[0066] (4) Supports one or more symmetric encryption algorithms (e.g., SM4);

[0067] (5) Support one or more asymmetric encryption algorithms (e.g., RSA, SM2).

[0068] The specific implementation of a virtual ESAM can be built based on the specific hardware platform on which it resides. For example... Figure 3 As shown, for example, it can be built based on ARM TrustZone (ARM system).

[0069] Specifically, the OBU issuing server 4 obtains the physical OBU contract number and software OBU identifier from the software OBU 2. Using the physical OBU contract number as the first dispersion factor, it performs a dispersion algorithm using the first dispersion factor and the provincial business master key to generate the physical OBU system key. Using the software OBU identifier as the second dispersion factor, it performs a dispersion algorithm using the second dispersion factor and the physical OBU system key to generate the software OBU system key. In this embodiment of the invention, since the physical OBU 1 cannot directly interact with the OBU issuing server 4, the physical OBU contract number is forwarded from the software OBU 2 to the OBU issuing server 4.

[0070] In this embodiment of the invention, the OBU issuing server calculates and generates the software OBU system key. In existing physical ETC OBU implementations, the OBU issuing server uses the physical ETC OBU contract number as a dispersion factor, performs a dispersion algorithm operation on the provincial business master key and the dispersion factor, generates the physical OBU system key for the physical ETC OBU, and writes it into the physical ETC OBU. This embodiment of the invention goes a step further than the aforementioned generation of the physical OBU system key for the physical ETC OBU (master OBU), using the software OBU identifier as a dispersion factor, performing a dispersion algorithm operation on the physical OBU system key and the dispersion factor, generating the software OBU system key, and securely writing it into the software OBU.

[0071] This process not only generates the software OBU system key but also binds the software OBU to the physical OBU. Since other software OBUs cannot obtain the physical OBU system key, counterfeit software OBUs cannot forge the correct software OBU system key, thus ensuring the security of the binding between the physical and software OBUs.

[0072] The key diversification algorithm used in this stage, abbreviated as Diversify, refers to processing a two-length key MK with a diversification factor to derive a two-length key DK. This technical solution does not provide a detailed description of the diversification algorithm used.

[0073] OBU Distribution Server 4 primarily implements the distribution function of software OBUs. (Refer to...) Figure 1 The OBU distribution server 4 is also used to communicate and interact with the software OBU 2, enabling the software OBU 2 to obtain the software OBU key file. This function is the software OBU distribution function.

[0074] Preferably, refer to Figure 1 The vehicle-road cooperative communication system disclosed in this embodiment of the invention also includes an OBU capability storage server 5. The OBU capability storage server 5 is mainly used to acquire and store the processing capability information and notification capability information of physical OBUs and software OBUs. Specifically, the OBU capability storage server 5 communicates and interacts with the software OBU 2 to realize OBU capability reporting. Similarly, since the physical OBU 1 cannot directly interact with the OBU capability storage server 5, the processing capability information and notification capability information of the physical OBU are reported by the software OBU 2 to the OBU issuing server 4.

[0075] refer to Figure 1The vehicle-road cooperative communication system disclosed in this embodiment of the invention also includes an OBU information server 6 and an RSU 3. The OBU information server 6 is mainly used to store the online status and online IP addresses of physical OBUs and software OBUs, and can obtain OBU capability information from the OBU capability storage server 5. Specifically, the OBU information server 6 communicates and interacts with software OBU 2, RSU 3, and OBU capability storage server 5 respectively to realize service message path determination. Further, the OBU information server 6 is also used to communicate and interact with software OBU 2, RSU 3, and OBU capability storage server 5 respectively to realize the sending and receiving of vehicle-road cooperative service messages.

[0076] This invention uses a physical On-Board Unit (OBU) as the primary OBU and a software OBU 2 as a functional enhancement of the primary OBU, with a logically secure binding between the software OBU and the primary OBU. The functionality of the software OBU can be flexibly expanded through software upgrades to support future vehicle-road cooperative services. When vehicle-road cooperative messages need to be pushed to users, the roadside unit (RSU) can acquire the processing and notification capabilities of both the primary OBU and the software OBU, intelligently and accurately pushing messages to the software OBU and / or the primary OBU. The primary OBU and / or the software OBU can also send vehicle-road cooperative information to the RSU. Communication between the software OBU and the RSU is typically based on long-distance transmission networks (e.g., cellular wireless networks + the Internet), but other transmission networks, such as short-range wireless communication, are not excluded.

[0077] Corresponding to the vehicle-road cooperative communication system disclosed above, this invention also discloses a vehicle-road cooperative communication method. The following details a vehicle-road cooperative communication method disclosed in this invention, in conjunction with the vehicle-road cooperative communication system described above.

[0078] refer to Figure 1 This invention discloses a vehicle-road cooperative communication method. The method is applied to an OBU issuing server 4. The OBU issuing server 4 communicates and interacts with a software OBU 2 to generate a software OBU system key and bind the software OBU 2 to a physical OBU 1. The physical OBU 1 is physically bound to the vehicle.

[0079] refer to Figure 4In this embodiment of the invention, generating the software OBU system key specifically includes: the OBU issuing server 4 obtaining the physical OBU contract number and the software OBU identifier from the software OBU 2, using the physical OBU contract number as the first dispersion factor, and using the first dispersion factor and the provincial business master key to perform a dispersion algorithm operation to generate the physical OBU system key; and using the software OBU identifier as the second dispersion factor, and using the second dispersion factor and the physical OBU system key to perform a dispersion algorithm operation to generate the software OBU system key.

[0080] In this embodiment of the invention, the OBU issuing server calculates and generates the software OBU system key. In existing physical ETC OBU implementations, the OBU issuing server uses the physical ETC OBU contract number as a dispersion factor, performs a dispersion algorithm operation on the provincial business master key and the dispersion factor, generates the physical OBU system key for the physical ETC OBU, and writes it into the physical ETC OBU. This embodiment of the invention goes a step further than the aforementioned generation of the physical OBU system key for the ETC OBU (master OBU), using the software OBU identifier as a dispersion factor, performing a dispersion algorithm operation on the physical OBU system key and the dispersion factor, generating the software OBU system key, and securely writing it into the software OBU.

[0081] This process not only generates the software OBU system key but also binds the software OBU to the physical OBU. Since other software OBUs cannot obtain the physical OBU system key, counterfeit software OBUs cannot forge the correct software OBU system key, thus ensuring the security of the binding between the physical and software OBUs.

[0082] The key diversification algorithm used in this stage, abbreviated as Diversify, refers to processing a two-length key MK with a diversification factor to derive a two-length key DK. This technical solution does not provide a detailed description of the diversification algorithm used.

[0083] refer to Figure 1 The present invention also discloses a vehicle-road cooperative communication method, which is applied to an OBU issuing server 4. The OBU issuing server 4 communicates and interacts with the software OBU 2, enabling the software OBU 2 to obtain the software OBU key file.

[0084] refer to Figure 5The following describes in detail the implementation of enabling software OBU 2 to obtain software OBU key files, using the RSA asymmetric encryption algorithm as an example. Specifically, it includes: the application domain 21V2X application module 213 of software OBU 2 requests the RSA public key from security domain 22 via security domain client API 214; an RSA public and private key pair is generated in security domain 22, and the RSA public key is sent to application domain 21V2X application module 213; application domain 21V2X application module 213 places the RSA public key into an OBU issuance request and sends it to OBU issuance server 4 via the first message transceiver module 212; OBU issuance server 4 retrieves the key from software OBU 2... 2. Receives an OBU issuance request, which includes an RSA public key, a physical OBU contract number, a software OBU identifier, and software OBU verification materials. The software OBU verification materials include images of the vehicle owner's ID card and the vehicle registration certificate. Instructs the OBU issuance server 4 to perform the steps described above for generating the software OBU system key. The specific steps have been described in detail above and will not be repeated here. The OBU issuance server 4 stores the software OBU system key in a software OBU key file. Based on the RSA public key and RSA algorithm, the OBU issuance server 4 encrypts the software OBU key file and performs MAC calculation, generating an encrypted software OBU key file and a MAC value, respectively. The OBU issuance server 4 sends an OBU issuance response message to the software OBU 2, which includes the encrypted software OBU key file and the MAC value. The software OBU 2 verifies the OBU issuance response message; if the verification is successful, the software OBU key file is stored in the virtual ESAM 224 of security domain 22.

[0085] Furthermore, in software OBU 2, the OBU issuance response message is verified, including: the application domain 21 transmitting the encrypted key file and MAC value to the security domain 22; and the security domain 22 verifying the OBU issuance response message based on the MAC value using the RSA private key.

[0086] refer to Figure 1 The present invention also discloses a vehicle-road cooperative communication method, which is applied to an OBU capability storage server 5. The OBU capability storage server 5 communicates and interacts with the software OBU 2 to realize OBU capability reporting.

[0087] Further, refer to Figure 6The OBU capability reporting is implemented through the following steps: OBU capability storage server 5 receives and stores OBU capability notifications from software OBU 2; OBU capability storage server 5 sends capability reporting confirmation / response to application domain 21 of software OBU 2. The OBU capability notification includes: physical OBU contract number, software OBU identifier, physical OBU capability information, and software OBU capability information. The physical OBU capability information / software OBU capability information includes: OBU notification capability information and OBU processing capability information. The OBU notification capability information includes at least one of the following: no notification capability information, support for buzzer notification information, support for voice broadcast information, support for image notification information, and support for vehicle bus notification information. The OBU processing capability information includes at least one of the following: no processing capability information, ETC toll collection capability information, vehicle-road cooperative business specification version number, high-precision map processing capability information, and positioning accuracy capability information.

[0088] refer to Figure 1 In a vehicle-road cooperative communication method disclosed in this embodiment of the invention, before receiving and storing the OBU capability notification from the software OBU2, the step of enabling the software OBU2 to obtain the software OBU key file as described above is performed. That is, the step of communicating and interacting with the software OBU2 through the OBU capability storage server to realize OBU capability reporting is performed based on the aforementioned step of enabling the software OBU2 to obtain the software OBU key file. The specific steps of enabling the software OBU2 to obtain the software OBU key file have been described in detail above and will not be repeated here.

[0089] refer to Figure 1 The present invention also discloses a vehicle-road cooperative communication method, which is applied to an OBU information server 6. The OBU information server 6 communicates and interacts with software OBU 2, RSU 3, and OBU capability storage server 5 to realize business message path determination.

[0090] Further, refer to Figure 7 The process of determining the business message path includes: OBU information server 6 receiving a V2X message push query request from RSU 3, the V2X message push query request carrying at least the physical OBU contract number bound to the vehicle to be pushed; OBU information server 6 obtaining and storing the corresponding bound physical OBU contract number, the online status of the software OBU, and its IP address from software OBU 1; OBU information server 6 instructing OBU capability storage server 5 to perform the steps described above for implementing OBU capability reporting, and querying the corresponding OBU capability notification from OBU capability storage server 5; and OBU information server 6 / RSU 3 determining the business message path based on the online status of software OBU 2 and the OBU capability notification. Figure 7The example only shows how RSU 3 determines the business message path based on the online status of software OBU 2 and OBU capability notifications.

[0091] In this embodiment, the service message path determination can be implemented within the OBU information server 6. The OBU information server 6 determines the service message path based on the online status of the software OBU and the OBU capability notification, and then sends the determined service message path to the RSU 3. Alternatively, the service message path determination can be implemented within the RSU 3. In this case, the OBU information server 6 sends the queried OBU capability notification, the stored physical OBU contract number, the online status of the software OBU, and the IP address to the RSU 3; the RSU 3 then determines the service message path based on the online status of the software OBU and the OBU capability notification.

[0092] Specifically, the OBU information server 6 / RSU 3 determines the business message path based on the online status of the software OBU and the OBU capability notification, including: determining whether the software OBU is online based on its online status; if the software OBU 2 is online, querying the corresponding software OBU capability information based on the physical OBU contract number, and determining whether the software OBU capability information matches the V2X message; if the software OBU capability information matches the V2X message, selecting the software OBU 2 as the V2X message receiver, and selecting the OBU capability information that matches the V2X message as the notification instruction and / or processing instruction for the V2X message.

[0093] In the above process, if the software OBU 2 is online, the corresponding physical OBU capability information and software OBU capability information are queried simultaneously based on the physical OBU contract number to determine whether the physical OBU capability information and software OBU capability information match the V2X message; if both the physical OBU capability information and software OBU capability information match the V2X message, the software OBU and / or physical OBU are selected as the V2X message receiver, and the OBU capability information that matches the V2X message is selected as the notification instruction and / or processing instruction of the V2X message.

[0094] In the above process, if the software OBU 2 is offline, the corresponding physical OBU capability information is queried based on the physical OBU contract number to determine whether the physical OBU capability information matches the V2X message; if the physical OBU capability information matches the V2X message, the physical OBU is selected as the V2X message receiver, and the OBU capability information that matches the V2X message is selected as the notification instruction and / or processing instruction of the V2X message.

[0095] Further, refer to Figure 7The system obtains and stores the online status and IP address of software OBU 2, including: receiving startup reporting information from application domain 21 of software OBU 2, which includes: physical OBU contract number, software OBU identifier and software OBU IP address; storing the online status and IP address of software OBU 2; and detecting the online status of software OBU 2 in real time through a heartbeat detection mechanism. When software OBU 2 is offline, the system modifies and stores the online status of software OBU 2.

[0096] In this embodiment of the invention, V2X messages can be divided into emergency messages, efficiency messages, and service messages according to their different uses and real-time requirements.

[0097] The method for selecting the sending path for emergency V2X messages is as follows:

[0098] If the physical OBU's notification capability only supports a simple beep tone, then based on the software OBU's processing capabilities (such as the vehicle-road cooperative service version number, positioning capabilities, etc.), a corresponding V2X message is constructed and sent to the software OBU, while simultaneously sending a beep tone playback command to the physical OBU.

[0099] If the physical OBU's notification capabilities support voice and image capabilities, then a corresponding V2X message is constructed based on the processing capabilities of the software OBU and sent to the software OBU, and a corresponding V2X message is constructed based on the processing capabilities of the physical OBU and sent to the physical OBU.

[0100] The method for selecting the V2X message sending path for efficiency purposes is as follows:

[0101] If the physical OBU's notification capability only supports a simple beep tone and the software OBU is offline, then send a beep tone playback command to the physical OBU.

[0102] If the physical OBU's notification capability only supports a simple beep tone, and the software OBU is online, then construct the corresponding V2X message based on the software OBU's processing capability and send it to the software OBU.

[0103] If the physical OBU's notification capabilities support voice, image, and other capabilities, then the corresponding V2X message is constructed based on the physical OBU's processing capabilities and sent to the master OBU.

[0104] The method for selecting the sending path for service-type V2X messages is as follows:

[0105] If the software OBU is online, then construct the corresponding V2X message based on the processing capacity of the software OBU and send it to the software OBU;

[0106] If the physical OBU's notification capability only supports a simple beep tone and the software OBU is offline, then no message will be sent.

[0107] If the physical OBU's notification capabilities support voice and image capabilities, and the software OBU is offline, then a corresponding V2X message is constructed based on the physical OBU's processing capabilities and sent to the physical OBU.

[0108] refer to Figure 1 The present invention also discloses a vehicle-road cooperative communication method, which is applied to an OBU information server 6. The OBU information server 6 communicates and interacts with software OBU 2, RSU 3, and OBU capability storage server 5 to realize the sending and receiving of vehicle-road cooperative service messages.

[0109] Further, refer to Figure 8 To achieve the transmission and reception of vehicle-road cooperative service messages, the following steps are implemented: the OBU information server 6 executes the steps described above for determining the service message path, and the RSU 3 obtains the determined service message path; the RSU 3 obtains the IP address of the selected software OBU and / or the contract number of the physical OBU; the RSU 3 sends at least one V2X push message to the software OBU 2 and / or the physical OBU 1; the software OBU 2 and / or the physical OBU 1 remind the user according to the selected V2X message notification instruction, and / or control the vehicle according to the selected V2X message processing instruction; and after completing the secure transmission and reception of V2X messages, the RSU 3 sends a release message to the software OBU 2 and / or the physical OBU 1 to release the secure link between the RSU 3 and the software OBU 2 and / or the physical OBU 1.

[0110] Before RSU 3 sends at least one V2X push message to the software OBU and / or the physical OBU, the above-mentioned implementation of vehicle-road cooperative service message sending and receiving also includes: RSU 3 and software OBU 2 performing parameter interaction verification based on the software OBU system key and the corresponding encryption algorithm; if the interaction verification is successful, a secure communication link is established between RSU 3 and software OBU 2; and RSU 3 sends at least one V2X push message to software OBU 2 based on the secure communication link.

[0111] Preferably, in the embodiments of the present invention, the formats of V2X messages, release messages, and messages in parameter interaction verification during the above process refer to the GB / T 20851.4-2019 standard and are carried on top of an IP-based transport layer protocol.

[0112] In the examples above in the embodiments of the present invention, the message format and message flow between the RSU and the software OBU / physical OBU follow the standard "GB / T 20851.4-2019 Electronic Toll Collection Dedicated Short-Range Communication Part 4: Equipment Application". This will ensure that the message format and message flow remain consistent when the RSU communicates with the physical OBU and the software OBU, achieving the goal that the upper-layer message format and flow are independent of the lower-layer communication path, and reducing the implementation complexity of RSU products and OBU products.

[0113] In the examples above in this embodiment of the invention, the difference from the GB / T 20851 series of standards is that the messages between the RSU and the software OBU / physical OBU are not carried on the dedicated short-range communication physical layer and data link layer defined by the GB / T 20851.1 and GB / T 20851.2 standards, but are carried on IP-based transport layer protocols (such as UDP, TCP, etc.).

[0114] The embodiments of the present invention can make good use of existing ETC aftermarket OBUs to meet the needs of hundreds of millions of users. However, the message format and process between the RSU and the software OBU are not limited to the GB / T 20851.1 standard, and other vehicle-road interaction standards, such as the relevant standards of the European ITS-G5, can also be used.

[0115] The message transmission between the RSU and the software OBU is not limited to IP-based transport layer protocols; it can also be based on other communication protocols. For example, in the future, the 5G NR-V OBU can be logically and securely bound to the main OBU as a software OBU. Since the communication between the 5G NR-V OBU and the RSU can be based on the 5G PC5 communication standard, in this scenario, the message transmission between the RSU and the software OBU can be based on the 5G PC5 communication standard.

[0116] This invention addresses physical OBUs (such as existing aftermarket ETCOBUs) with limited processing and notification capabilities, enabling them to acquire necessary vehicle-road cooperative information in a timely and effective manner, thereby improving driving safety and efficiency.

[0117] Furthermore, upgrading physical OBUs is typically more difficult, while upgrading software OBUs is simpler. This embodiment of the invention does not impose requirements on the capabilities of physical OBUs; physical OBUs may not require software or hardware upgrades, only the software OBUs need to be upgraded when necessary. This can meet the needs of future evolving vehicle-road cooperative services.

[0118] This invention indirectly achieves the logical binding between the software OBU and the vehicle through the logical binding between the software OBU and the physical OBU, and the physical binding between the physical OBU and the vehicle. Therefore, the RSU can push the necessary vehicle-road cooperative information to the vehicle and the user in a timely and accurate manner according to the current vehicle status.

[0119] In this embodiment of the invention, both the physical OBU and the software OBU can directly obtain real-time road information from the RSU without the need for intermediate network elements to process and forward information, effectively reducing information transmission latency. Therefore, when a vehicle encounters a very urgent traffic situation and needs to receive real-time message notifications, the vehicle or user can obtain timely and accurate road information from the physical OBU and / or the software OBU.

[0120] In this embodiment of the invention, when the RSU communicates with the physical OBU and the software OBU, the message format and message flow remain consistent, achieving the goal that the upper-layer message format and flow are independent of the lower-layer communication path, which greatly reduces the implementation complexity of RSU and OBU products.

[0121] In addition, embodiments of the present invention also provide a vehicle-road cooperative communication device, the device comprising: a processor and a memory; the memory being used to store one or more program instructions; the processor being used to execute one or more program instructions to perform the steps of a vehicle-road cooperative communication method as described in any of the preceding embodiments.

[0122] In addition, embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of a vehicle-road cooperative communication method as described in any of the preceding claims.

[0123] In this embodiment of the invention, the processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0124] The various methods, steps, and logic diagrams disclosed in the embodiments of this invention can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The processor reads information from the storage medium and, in conjunction with its hardware, completes the steps of the above methods.

[0125] The storage medium can be memory, such as volatile memory or non-volatile memory, or may include both volatile and non-volatile memory.

[0126] Among them, non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory.

[0127] Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (Synchlink DRAM, SLDRAM), and direct memory bus RAM (DRRAM).

[0128] The storage media described in the embodiments of the present invention are intended to include, but are not limited to, these and any other suitable types of memory.

[0129] Those skilled in the art will recognize that, in one or more of the examples above, the functions described in this invention can be implemented using a combination of hardware and software. When applied as software, the corresponding functions can be stored in a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any medium that facilitates the transmission of computer programs from one place to another. Storage media can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0130] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A vehicle-road cooperative communication method, characterized in that, The method is applied to an OBU capability storage server, which communicates and interacts with the software OBU to realize OBU capability reporting, including: Receive and store OBU capability notifications from the software OBU; Send capability reporting confirmation / response to the application domain of the software OBU; The OBU capability notification includes: physical OBU contract number, software OBU identifier, physical OBU capability information, and software OBU capability information; The physical OBU capability information / the software OBU capability information includes: OBU notification capability information and OBU processing capability information. The OBU notification capability information includes at least one of the following: no notification capability information, support for buzzer notification information, support for voice broadcast information, support for image notification information, and support for vehicle bus notification information. The OBU processing capability information includes at least one of the following: no processing capability information, ETC toll collection capability information, vehicle-road cooperative business specification version number, high-precision map processing capability information, and positioning accuracy capability information. Before receiving and storing the OBU capability notification from the software OBU, the OBU issuance server communicates and interacts with the software OBU to enable the software OBU to obtain the software OBU key file, which includes: Receive OBU distribution request; Obtain the physical OBU contract number and software OBU identifier from the software OBU; Using the physical OBU contract number as the first dispersion factor, and employing the first dispersion factor and the provincial business master key, a dispersion algorithm is used to generate the physical OBU system key; and The software OBU identifier is used as the second dispersion factor. The software OBU system key is generated by performing a dispersion algorithm operation using the second dispersion factor and the physical OBU system key. Store the software OBU system key into the software OBU key file; The software OBU key file is encrypted and MAC calculated; An OBU issuance response message is sent to the software OBU, the OBU issuance response message including: an encrypted software OBU key file and a MAC value; and In the software OBU, the OBU issuance response message is verified. If the verification is successful, the software OBU key file is stored in the virtual ESAM of the security domain.

2. A vehicle-road cooperative communication method, characterized in that, The method is applied to an OBU information server, which communicates and interacts with software OBU, RSU, and OBU capability storage server respectively to realize business message path determination, including: Receive a V2X message push query request from the RSU, wherein the V2X message push query request carries at least the physical OBU contract number bound to the vehicle to be pushed; Obtain and store the corresponding bound physical OBU contract number, software OBU online status, and IP address; The OBU capability storage server is instructed to perform the steps in the vehicle-road cooperative communication method as described in claim 1, and to query the corresponding OBU capability notification from the OBU capability storage server. The OBU information server / RSU determines the service message path based on the online status of the software OBU and the OBU capability notification.

3. The vehicle-road cooperative communication method as described in claim 2, characterized in that, The OBU information server / RSU determines the service message path based on the online status of the software OBU and the OBU capability notification, including: Determine whether the software OBU is online based on its online status; If the software OBU is online, query the corresponding software OBU capability information based on the physical OBU contract number, and determine whether the software OBU capability information matches the V2X message; If the software OBU capability information matches the V2X message, the software OBU is selected as the V2X message receiver, and the OBU capability information matching the V2X message is selected as the notification instruction and / or processing instruction of the V2X message.

4. The vehicle-road cooperative communication method as described in claim 2, characterized in that, The OBU information server / RSU determines the service message path based on the online status of the software OBU and the OBU capability notification, and also includes: If the software OBU is online, simultaneously query the corresponding physical OBU capability information and software OBU capability information based on the physical OBU contract number, and determine whether the physical OBU capability information and software OBU capability information match the V2X message; If both the physical OBU capability information and the software OBU capability information match the V2X message, the software OBU and / or the physical OBU are selected as the V2X message receiver, and the OBU capability information that matches the V2X message is selected as the notification instruction and / or processing instruction of the V2X message.

5. The vehicle-road cooperative communication method as described in claim 2, characterized in that, The OBU information server / RSU determines the service message path based on the online status of the software OBU and the OBU capability notification, and also includes: If the software OBU is offline, query the corresponding physical OBU capability information based on the physical OBU contract number, and determine whether the physical OBU capability information matches the V2X message; If the physical OBU capability information matches the V2X message, the physical OBU is selected as the V2X message receiver, and the OBU capability information matching the V2X message is selected as the notification instruction and / or processing instruction of the V2X message.

6. A vehicle-road cooperative communication method as described in any one of claims 3 to 5, characterized in that, Obtaining and storing the online status and IP address of the software OBU from the software OBU, including: Receive startup reporting information from the application domain of the software OBU. The startup reporting information includes: physical OBU contract number, software OBU identifier, and software OBU IP address. Store the online status and IP address of the software OBU; The online status of the software OBU is monitored in real time through a heartbeat detection mechanism. When the software OBU is offline, its online status is modified and stored.

7. A vehicle-road cooperative communication method, characterized in that, The method is applied to an OBU information server, which communicates and interacts with software OBUs, RSUs, and OBU capability storage servers to realize the sending and receiving of vehicle-road cooperative service messages, including: Perform the steps in the vehicle-road cooperative communication method as described in any one of claims 2 to 6, wherein the RSU obtains the determined service message path; The IP address and / or contract number of the selected software OBU are obtained from the RSU. The RSU sends at least one V2X push message to the software OBU and / or the physical OBU; The software OBU and / or the physical OBU, based on the selected V2X message notification instruction, remind the user, and / or based on the selected V2X message processing instruction, perform control operations on the vehicle; and After completing the secure transmission and reception of V2X messages, the RSU sends a release message to the software OBU to release the secure link between the RSU and the software OBU and / or the physical OBU.

8. The vehicle-road cooperative communication method as described in claim 7, characterized in that, Before the RSU sends at least one V2X push message to the software OBU and / or the physical OBU, the method further includes: Based on the software OBU system key and the corresponding encryption algorithm, the RSU and the software OBU perform parameter interaction verification. If the interactive verification is successful, a secure communication link is established between the RSU and the software OBU; The RSU sends at least one V2X push message to the software OBU based on the secure communication link.

9. A vehicle-road cooperative communication system, characterized in that, The system includes: a physical OBU, a software OBU, and an OBU issuance server. The OBU issuance server communicates and interacts with the software OBU to generate a software OBU system key and binds the software OBU to the physical OBU. The physical OBU is physically bound to the vehicle. The system also includes an OBU capability storage server for communicating and interacting with the software OBU to report OBU capabilities. This includes: receiving and storing OBU capability notifications from the software OBU; sending capability reporting confirmation / response to the application domain of the software OBU; the OBU capability notification includes: physical OBU contract number, software OBU identifier, physical OBU capability information, and software OBU capability information; the physical OBU capability information / software OBU capability information includes: OBU notification capability information and OBU processing capability information. The OBU notification capability information includes at least one of the following: no notification capability information, support for buzzer notification information, support for voice broadcast information, support for image notification information, and support for vehicle bus notification information. The OBU processing capability information includes at least one of the following: no processing capability information, ETC toll collection capability information, vehicle-road cooperative business specification version number, high-precision map processing capability information, and positioning accuracy capability information; before receiving and storing the OBU capability notifications from the software OBU, the OBU issuing server communicates and interacts with the software OBU to enable the software OBU to obtain the software OBU key file, which includes: Receive OBU distribution request; Obtain the physical OBU contract number and software OBU identifier from the software OBU; Using the physical OBU contract number as the first dispersion factor, and employing the first dispersion factor and the provincial business master key, a dispersion algorithm is used to generate the physical OBU system key; and The software OBU identifier is used as the second dispersion factor. The software OBU system key is generated by performing a dispersion algorithm operation using the second dispersion factor and the physical OBU system key. Store the software OBU system key into the software OBU key file; The software OBU key file is encrypted and MAC calculated; An OBU issuance response message is sent to the software OBU, the OBU issuance response message including: an encrypted software OBU key file and a MAC value; and In the software OBU, the OBU issuance response message is verified. If the verification is successful, the software OBU key file is stored in the virtual ESAM of the security domain.

10. A vehicle-road cooperative communication system as described in claim 9, characterized in that, The system also includes an OBU information server and an RSU, which are used to communicate and interact with the software OBU, the RSU, and the OBU capability storage server to realize business message path determination.

11. A vehicle-road cooperative communication system as described in claim 10, characterized in that, The OBU information server is also used to communicate and interact with the software OBU, the RSU, and the OBU capability storage server respectively to realize the sending and receiving of vehicle-road cooperative service messages.

12. A vehicle-road cooperative communication system as described in any one of claims 9 to 11, characterized in that, The software OBU includes: an application domain and a security domain; The application domain includes an Android / iOS system framework to support Android / iOS systems, a first message sending and receiving module for sending and receiving messages, a V2X application module for implementing various V2X business processes, a security domain client API, and a security domain driver module; the first message sending and receiving module, the V2X application module, the security domain client API, and the security domain driver module are sequentially interconnected and communicate with each other. The security domain is equipped with a processing and monitoring module, an internal security domain API, a secure storage module for secure storage, and a virtual ESAM for secure access; the internal security domain API is interactively connected to the processing and monitoring module, the secure storage module, and the virtual ESAM respectively; the security domain driver module is interactively connected to the processing and monitoring module. The security domain client API is connected to the corresponding security domain internal API to realize interactive communication between the application domain and the security domain.

13. A vehicle-road cooperative communication system as described in any one of claims 9 to 11, characterized in that, The physical OBU includes: an MCU chip, a wireless integrated chip, an ESAM chip, and a preset interface chip. The MCU chip is interactively and communicatively connected with the wireless integrated chip, the ESAM chip, and the preset interface chip, respectively. The MCU chip is equipped with a second message transceiver module, an application processing module, and a hardware driver module, which are sequentially interconnected and communicate with each other.

14. A vehicle-road cooperative communication device, characterized in that, The device includes: a processor and a memory; The memory is used to store one or more program instructions; The processor is configured to run one or more program instructions to perform the steps of a vehicle-road cooperative communication method as described in any one of claims 1 to 8.

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