A synaesthesia-integrated intelligent roadside system based on random dynamic encryption algorithm

Abstract

The present invention provides a synaesthesia integrated intelligent roadside system based on a random dynamic encryption algorithm, comprising multiple radar antennas and a synaesthesia integrated host. The radar antenna obtains radar point cloud data and encrypts it using a random dynamic encryption algorithm to generate a radar point cloud ciphertext message and transmit it to the synaesthesia integrated host; the synaesthesia integrated host receives the radar point cloud ciphertext message and performs real-time decryption and fusion calculation to generate holographic intersection structured data with target ID, target type, target speed, target longitude and latitude, and target heading angle, broadcasts it to the vehicle-mounted LTE-V2X communication unit, and uploads it to the cloud platform for holographic intersection visualization display. The present invention solves the problems of complex system integration, low data exchange efficiency, poor scalability, high cost, etc. of existing discrete equipment through the pioneering system architecture of multiple radar antennas sending point cloud data, synaesthesia host fusion calculation processing and real-time release, and random dynamic encryption algorithm with low computational complexity and short occupancy time, and solves the communication security problem between radar antenna and synaesthesia integrated host at the same time.

Description

Technical Field

[0001] The present invention relates to the field of vehicle networking and network security technology, and specifically but not limited to a synesthesia-integrated intelligent roadside system based on a random dynamic encryption algorithm. Background Art

[0002] With the development of modern transportation, Internet of Vehicles and autonomous driving technologies are making significant progress. Driven by these technologies, vehicle-road cooperative systems are becoming increasingly important. Vehicle-road cooperative systems deploy intelligent roadside equipment at the edge of the road to interact with on-board equipment and cloud platforms to achieve environmental perception and vehicle-road information exchange, thereby improving road safety and traffic efficiency.

[0003] However, in the prior art, intelligent roadside equipment usually sets up sensing equipment (such as millimeter wave radar, laser radar, camera, etc.) and communication equipment (such as roadside communication unit RSU) separately, and the two work independently. This type of discrete intelligent roadside equipment has problems such as complex system integration, low data exchange efficiency, poor scalability, and high cost when performing environmental perception and information interaction.

[0004] In view of this, it is necessary to provide a new structure to solve at least part of the above problems. Summary of the invention

[0005] In view of one or more problems in the prior art, the present invention proposes a synaesthesia integrated intelligent roadside system based on a random dynamic encryption algorithm.

[0006] The technical solution to achieve the purpose of the present invention is:

[0007] A synaesthesia integrated intelligent roadside system based on a random dynamic encryption algorithm, comprising:

[0008] A plurality of radar antennas, one radar antenna is installed for each driving direction of the road; the radar antenna comprises a radar signal transceiver unit and a first UWB communication unit, the radar signal transceiver unit is used to detect motor vehicles, non-motor vehicles and pedestrians on the road, obtain radar point cloud data, and encrypt the radar point cloud data in real time using a random dynamic encryption algorithm to generate a radar point cloud ciphertext message, and transmit it to the synesthesia integrated host through the first UWB communication unit;

[0009] A synesthesia integrated host is installed on a roadside pole in any driving direction of the road. The synesthesia integrated host includes a second UWB communication unit, an LTE-V2X communication unit, a 5G communication unit and a synesthesia computing unit. The second UWB communication unit receives radar point cloud ciphertext messages sent by multiple radar antennas and transmits them to the synesthesia computing unit. The synesthesia computing unit decrypts and fuses the radar point cloud ciphertext messages in real time, generates holographic intersection structured data with target ID, target type, target speed, target longitude and latitude, and target heading angle, and transmits them to the LTE-V2X communication unit and the 5G communication unit. The LTE-V2X communication unit broadcasts the data to the vehicle-mounted LTE-V2X communication unit near the intersection for assisted driving reminders, and the 5G communication unit uploads the data to the cloud platform for visual display of the holographic intersection.

[0010] Furthermore, the present invention provides a synaesthesia integrated intelligent roadside system based on a random dynamic encryption algorithm, wherein the random dynamic encryption algorithm includes:

[0011] a) defining a message format, wherein the message format includes a message header, time, data length, data content and a check value in sequence; the second UWB communication unit sends a clock information plaintext message to the first UWB communication unit at specific intervals to synchronize the time of the radar antenna with the time of the telepathic host;

[0012] b) The radar signal transceiver unit calculates the dynamic encryption factors m and n according to the current time T0; the number of seconds of the current time is multiplied by 1000 to obtain the number of milliseconds, which is then divided by 50 and rounded to the nearest integer, recorded as t, where t is an integer, and the value range of t is [0, 1999], m=t / 256, the value range of m is [0, 7], n=t%256, and the value range of n is [0, 255];

[0013] c) Encapsulating the radar point cloud data in the above message format to obtain an original message sequence A, performing XOR bitwise encryption on each byte of the original message sequence A to obtain an encrypted sequence B;

[0014] d) Encrypt the encrypted sequence B in random order to obtain the ciphertext message C, that is, the radar point cloud ciphertext message.

[0015] Furthermore, in the synaesthesia integrated intelligent roadside system based on the random dynamic encryption algorithm of the present invention, the XOR bit operation on each byte of the original message sequence A specifically includes: the total number of bytes of the original message is L, and the encryption formula is b x =a x ^n, where ^ is the exclusive OR operator, a x is the message content of the xth byte in the original message, b x is the encrypted message content of the xth byte, where x is in the range of [1, L].

[0016] Further, in the synaesthesia integrated intelligent roadside system based on the random dynamic encryption algorithm of the present invention, the random encryption of the primary encryption sequence B specifically includes: denoting k=m / 2, k is an integer, and the value range of k is [0, 3]. If k=0, the primary encryption sequence B is cyclically shifted to the left and encrypted, and the encryption formula is C=(B<<m)|(B> >(Lm)), where << is the left shift operator in the programming language, >> is the right shift operator, and | is the OR operator; if k = 1, the encrypted sequence B is encrypted by cyclic right shift, and the encryption formula is C = (B>>m)|(B<<(Lm)); if k = 2, the encrypted sequence B is encrypted in reverse order, and the encryption formula is C x =B L-x ; If k=3, the sequence order is maintained and C=B.

[0017] Furthermore, in the synaesthesia integrated intelligent roadside system based on the random dynamic encryption algorithm of the present invention, in the message format, the message header is 4 bytes, which can be customized as needed and kept consistent in the same encryption system;

[0018] The time is 5 bytes, each byte is 8 bits wide, and the 24-hour system is actually used, which is represented by: hours, minutes, seconds, and hexadecimal milliseconds.

[0019] The data length is 2 bytes, and the range of the data length is [1, 65535], with the high eight bits in front and the low eight bits in the back;

[0020] The data content is N bytes;

[0021] The last byte is the XOR checksum of time, data length, and data content;

[0022] The total data sequence is represented as: message header, time, data length, data content, and XOR check value.

[0023] Furthermore, in the synaesthesia integrated intelligent roadside system based on the random dynamic encryption algorithm of the present invention, the synaesthesia computing unit performs real-time decryption and fusion calculation on the radar point cloud ciphertext message, including:

[0024] a) After receiving the ciphertext message C, the synaesthesia computing unit calculates the dynamic encryption factors m and n according to the current time T1; the number of seconds of the current time is multiplied by 1000 to obtain the number of milliseconds, which is then divided by 50 and rounded to the integer, recorded as t, where t is an integer, and the value range of t is [0, 1999], m = t / 256, the value range of m is [0, 7], n = t% 256, and the value range of n is [0, 255];

[0025] b) Perform XOR bitwise operation on each byte of the ciphertext message C, the formula is d x =cx ^n, get a decryption sequence D;

[0026] c) restore the sequence order of the decrypted sequence D to obtain the plaintext message E;

[0027] d) Check whether the first 4 bytes of plaintext message E are the preset message header. If so, it means that the decryption is correct and the plaintext message E is the original message A. If not, it may be caused by transmission delay. Subtract 50 milliseconds from the current time T1 and go to the above step a) to recalculate. If the first 4 bytes of plaintext message E do not match the message header after two calculations, it means that the data delay is large or it is dirty data and is discarded.

[0028] Furthermore, in the synesthesia integrated intelligent roadside system based on the disordered dynamic encryption algorithm of the present invention, the sequence order recovery of the decrypted sequence D specifically includes: calculating the value of k according to the formula k=m / 2, if k=0, then cyclically shifting D to the right by m bytes, the formula is E=(D>>m)|(D<<(Lm)); if k=1, then cyclically shifting D to the left by m bytes, the formula is E=(D<<m)|(D> >(Lm)); if k=2, reverse the order of D, and the formula is E x =D L-x ; If k = 3, the sequence order is maintained, E = D;

[0029] Furthermore, in the synaesthesia integrated intelligent roadside system based on the random dynamic encryption algorithm of the present invention, the radar signal transceiver unit adopts a pure solid-state transceiver component with an operating frequency of 79 to 81 GHz and an operating bandwidth of 500 MHz.

[0030] Furthermore, in the synaesthesia integrated intelligent roadside system based on the random dynamic encryption algorithm of the present invention, the first UWB communication unit and the second UWB communication unit both adopt the IEEE802.15.4-2011 protocol standard, and the operating frequency is 3.5 to 6.5 GHz.

[0031] Furthermore, in the synesthesia integrated intelligent roadside system based on the random dynamic encryption algorithm of the present invention, the LTE-V2X communication unit adopts the 3GPP R14 LTE-V2X standard and has an operating frequency of 5905 to 5925 MHz.

[0032] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects:

[0033] 1. The synesthesia integrated intelligent roadside system based on the random dynamic encryption algorithm of the present invention adopts a novel idea of ​​the random dynamic encryption algorithm, has low computational complexity and short occupancy time, solves the communication security problem between the radar antenna and the synesthesia integrated host, and has strong real-time performance.

[0034] 2. The synesthesia integrated intelligent roadside system based on the random dynamic encryption algorithm of the present invention solves the problems of complex system integration of existing discrete equipment, low data exchange efficiency, poor scalability and high cost through the first system architecture of multiple radar antennas sending point cloud data, synesthesia host integrating calculation and processing and publishing in real time, and the random dynamic encryption algorithm with novel ideas and low computational complexity.

[0035] 3. The integrated intelligent roadside system based on the random dynamic encryption algorithm of the present invention has the advantages of strong anti-interference ability, high speed, low cost, etc. It can provide reliable environmental perception and data exchange functions in the vehicle-road cooperative system. In addition, it has the potential to be applied in other fields such as Internet of Things sensors. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are used to provide a further understanding of the present invention and are used together with the description to explain the embodiments of the present invention, but do not constitute a limitation of the present invention. In the accompanying drawings:

[0037] Figure 1 The principle block diagram of the synaesthesia integrated intelligent roadside system based on the random dynamic encryption algorithm of the present invention is shown.

[0038] Figure 2 A schematic diagram of the intersection layout of the synaesthesia-integrated intelligent roadside system based on the random dynamic encryption algorithm of the present invention is shown.

[0039] Figure 3 The block diagram of the radar point cloud data fusion calculation principle of the synaesthesia integrated intelligent roadside system based on the random dynamic encryption algorithm of the present invention is shown.

[0040] Figure 4 The flowchart of the random dynamic encryption algorithm of the synaesthesia integrated intelligent roadside system based on the random dynamic encryption algorithm of the present invention is shown. DETAILED DESCRIPTION

[0041] In order to further understand the present invention, preferred embodiments of the present invention are described below in conjunction with examples. However, it should be understood that these descriptions are only for further illustrating the features and advantages of the present invention, rather than limiting the claims of the present invention.

[0042] The description in this section is only for typical embodiments, and the present invention is not limited to the scope of the embodiments. The combination of different embodiments, the mutual replacement of some technical features in different embodiments, and the mutual replacement of the same or similar prior art means with some technical features in the embodiments are also within the scope of the description and protection of the present invention.

[0043] The present invention discloses a synaesthesia integrated intelligent roadside system based on a random dynamic encryption algorithm, such as Figure 1As shown, the system includes multiple radar antennas and a synesthesia integrated host, wherein the radar antenna includes a radar signal transceiver unit and a first UWB communication unit, and the synesthesia integrated host includes a second UWB communication unit, an LTE-V2X communication unit, a 5G communication unit and a synesthesia computing unit.

[0044] Radar antennas are usually installed on monitoring poles at intersections, such as Figure 2 , one radar antenna is installed in each driving direction to detect motor vehicles, non-motor vehicles, and pedestrians on the road and generate radar point cloud data. A crossroad is usually equipped with one synesthesia host and four radar antennas. The radar point cloud data is encrypted using a random dynamic encryption algorithm and transmitted to the synesthesia host through the first UWB communication unit. The synesthesia host is usually installed on the roadside pole in any driving direction of the road. The synesthesia host receives the radar point cloud data sent by multiple radar antennas, decrypts it, and performs fusion calculations, such as Figure 3 , generate a holographic intersection message with target ID, target type, target speed, target longitude and latitude, and target heading angle, broadcast it to vehicles with LTE-V2X communication units near the intersection through the LTE-V2X communication unit, provide assisted driving reminders, and upload it to the cloud platform through the 5G communication unit for holographic intersection visualization.

[0045] The radar signal transceiver unit adopts a pure solid-state transceiver component with a domestically designed operating frequency of 79 to 81 GHz and an operating bandwidth of 500 MHz. It is used to detect motor vehicles, non-motor vehicles, and pedestrians on the road and generate radar point cloud data.

[0046] The first and second UWB communication units use the Qorvo DW1000 low-power RF transceiver as the core chip, which complies with the IEEE802.15.4-2011 ultra-wideband protocol standard, operates at a frequency of 3.5 to 6.5 GHz, supports 6 RF bands, and is used for radar point cloud data transmission.

[0047] The LTE-V2X communication unit adopts the DMD3A module of CITIC Technology, which complies with the 3GPP R14 LTE-V2X standard, has an operating frequency of 5905~5925MHz and an operating bandwidth of 10 / 20MHz. It can communicate directly with the on-board LTE-V2X terminal and is used to send holographic intersection messages to the on-board LTE-V2X terminal for assisted driving reminders.

[0048] The 5G communication unit uses the Quectel RG200U communication module, which can provide 5G NR, LTE-FDD, LTE-TDD, HSDPA, HSUPA, HSPA+, and WCDMA network data connections, support a maximum downlink rate of 2.2Gbps and a maximum uplink rate of 575Mbps, and provide network services for intelligent roadside devices for updating configuration information and equipment management, as well as uploading holographic intersection messages to the cloud platform for visual display.

[0049] The synaesthesia computing unit adopts the Allwinner T3 high-performance quad-core processor, ARM Cortex-A7 architecture, industrial-grade temperature and wide bandwidth, uses the Linux operating system, and has a built-in self-developed LTE-V2X protocol stack, which can achieve interconnection with any LTE-V2X device; the built-in self-developed radar point cloud fusion algorithm can generate holographic intersection messages with target ID, target type, target speed, target longitude and latitude, and target heading angle.

[0050] A random dynamic encryption algorithm is used when transmitting radar point cloud data. The radar antenna encrypts the radar point cloud data in real time and sends it to the synesthesia integrated host. After the synesthesia integrated host performs real-time decryption processing, it integrates calculations and outputs holographic intersection messages.

[0051] like Figure 4 As shown, the random dynamic encryption algorithm specifically includes:

[0052] First, define the message format. The message header occupies 4 bytes. In this embodiment, the message header is set to {53, 53, 53, 76}. The time occupies 5 bytes ((the bit width of 1 byte is 8)). The time adopts the 24-hour system. For example, 23:59:59.999 seconds is represented as {23, 59, 59, 3, 231}. The data length occupies 2 bytes and the range is [1, 65535]. The high eight bits are in front and the low eight bits are in the back. For example, 4 is represented by {0, 4}; the data is N bytes, and the data length in the above example is 4. Assume that the data content is {11, 12, 13, 14}; the last byte is the time, data length, and the total XOR check value of the data. The XOR check value in the above example is 243, so the total data sequence is {53, 53, 53, 76, 23, 59, 59, 3, 231, 0, 4, 11, 12, 13, 14, 243}.

[0053] Secondly, the synesthesia host sends a clock information plain text message to the radar antenna at specific intervals, so that the time of the radar antenna is synchronized with the time of the synesthesia host.

[0054] Then, the encryption calculation is performed, and the steps include:

[0055] Step 1, the radar antenna calculates the dynamic encryption factors m and n according to the current time T0; the number of seconds of the current time is multiplied by 1000 to get the number of milliseconds, and then divided by 50 and rounded, recorded as t, t is an integer, the value range is [0, 1999], m = t / 256, m value range is [0, 7], n = t%256, n value range is [0, 255].

[0056] Step 2: Encapsulate the radar point cloud data according to the above message format to obtain the original message sequence A, and encrypt each byte of the sequence A by XOR operation. The total number of bytes of the original message is L, and the password formula is b x =a x ^n(^ is the exclusive OR operator, a x is the message content of the xth byte in the original message, b x is the encrypted message content of the xth byte), x ranges from [1, L], and an encrypted sequence B is obtained.

[0057] Step 3: Encrypt the encrypted sequence B in random order to obtain the ciphertext message C. Let k = m / 2, k is an integer with a value range of [0, 3]. If k = 0, encrypt the encrypted sequence B by cyclic left shift, and the formula is C = (B <<m)|(B> >(Lm))(<< is the left shift operator in the programming language, >> is the right shift operator, and | is the OR operator); if k=1, the encrypted sequence B is encrypted by cyclic right shift, and the formula is C=(B>>m)|(B<<(Lm)); if k=2, the encrypted sequence B is encrypted in reverse order, and the formula is C x =B L-x ; If k=3, the sequence order is maintained, C=B.

[0058] After receiving the ciphertext message C, the synaesthesia host performs decryption calculation, the steps include:

[0059] Step 4: After receiving the ciphertext message C, the synesthesia host calculates the dynamic encryption factors m and n according to step 1 based on the current time T1.

[0060] Step 5: Perform XOR bitwise operation on each byte of the ciphertext message C. The formula is d x =c x ^n, and get a decryption sequence D.

[0061] Step 6: Restore the sequence order of the ciphertext message D to obtain the plaintext message E. Calculate the value of k by the formula k=m / 2. If k=0, shift D right by m bytes, and the formula is E=(D>>m)|(D<<(Lm)); if k=1, shift D left by m bytes, and the formula is E=(D<<m)|(D> >(Lm)); if k=2, reverse the order of D, the formula is E x =DL-x ; If k=3, the sequence order is maintained, E=D.

[0062] Step 7, check whether the first 4 bytes of the plaintext sequence E are the preset {53, 53, 53, 76}. If so, it means that the decryption is correct and the plaintext message E is the original message A. If not, it may be caused by transmission delay. Subtract 50 milliseconds from T1 and recalculate according to steps 4, 5, and 6 to obtain plaintext message E. Check whether the first 4 bytes of the plaintext sequence E are {53, 53, 53, 76}. If so, it means that the decryption is correct and the plaintext message E is the original message A. If not, it means that the data delay is large or the data is dirty and it is discarded.

[0063] The description and application of the present invention here are illustrative, and it is not intended to limit the scope of the present invention to the above-mentioned embodiments. The effects or advantages involved in the specification may not be reflected in the actual experimental examples due to the uncertainty of specific condition parameters or other factors, and the effects or advantages are not used to limit the scope of the invention. The deformation and change of the embodiments disclosed here are possible, and the replacement of the embodiments and the various equivalent parts are well known to those of ordinary skill in the art. It should be clear to those skilled in the art that the present invention can be implemented in other forms, structures, arrangements, proportions, and with other components, materials and parts without departing from the spirit or essential features of the present invention. Other deformations and changes can be made to the embodiments disclosed here without departing from the scope and spirit of the present invention.

Claims

1. A synaesthesia integrated intelligent roadside system based on a random dynamic encryption algorithm, characterized in that: include: A plurality of radar antennas, one radar antenna is installed in each driving direction of the road; the radar antenna includes a radar signal transceiver unit and a first UWB communication unit, the radar signal transceiver unit is used to detect motor vehicles, non-motor vehicles and pedestrians on the road, obtain radar point cloud data, and use a random dynamic encryption algorithm to encrypt the radar point cloud data in real time, generate a radar point cloud ciphertext message, and transmit it to the synesthesia integrated host through the first UWB communication unit; the random dynamic encryption algorithm includes: a) defining a message format, wherein the message format includes a message header, time, data length, data content and a check value in sequence; the second UWB communication unit sends a clock information plaintext message to the first UWB communication unit at specific intervals to synchronize the time of the radar antenna with the time of the telepathic host; b) The radar signal transceiver unit calculates the dynamic encryption factors m and n according to the current time T0; the number of seconds of the current time is multiplied by 1000 to obtain the number of milliseconds, which is then divided by 50 and rounded to the nearest integer, recorded as t, where t is an integer, and the value range of t is [0, 1999], m=t / 256, the value range of m is [0, 7], n=t%256, and the value range of n is [0, 255]; c) Encapsulate the radar point cloud data according to the above message format to obtain the original message sequence A, perform XOR bit operation encryption on each byte of the original message sequence A, and obtain an encrypted sequence B; the XOR bit operation encryption specifically includes: let the total number of bytes of the original message be L, and the encryption formula is b x =a x ^n, where ^ is the exclusive OR operator, a x is the message content of the xth byte in the original message, b x is the encrypted message content of the xth byte, where x is in the range of [1, L]; d) The encrypted sequence B is encrypted in random order to obtain the ciphertext message C, that is, the radar point cloud ciphertext message; the random order encryption specifically includes: let k = m / 2, k is an integer, and the value range of k is [0, 3]. If k = 0, the encrypted sequence B is encrypted by cyclic left shift, and the encryption formula is C = (B <<m)|(B> >(Lm)), where << is the left shift operator in the programming language, >> is the right shift operator, and | is the OR operator; if k = 1, the encrypted sequence B is encrypted by cyclic right shift, and the encryption formula is C = (B>>m)|(B<<(Lm)); if k = 2, the encrypted sequence B is encrypted in reverse order, and the encryption formula is C x =B L-x ; If k = 3, the sequence order is maintained, C = B; A synesthesia integrated host is installed on a roadside pole in any driving direction of the road. The synesthesia integrated host includes a second UWB communication unit, an LTE-V2X communication unit, a 5G communication unit and a synesthesia computing unit. The second UWB communication unit receives radar point cloud ciphertext messages sent by multiple radar antennas and transmits them to the synesthesia computing unit. The synesthesia computing unit decrypts and fusion calculates the radar point cloud ciphertext messages in real time, generates holographic intersection structured data with target ID, target type, target speed, target longitude and latitude, and target heading angle, and transmits them to the LTE-V2X communication unit and the 5G communication unit. The LTE-V2X communication unit broadcasts the data to the vehicle-mounted LTE-V2X communication unit near the intersection for assisted driving reminders, and the 5G communication unit uploads the data to the cloud platform for visual display of the holographic intersection.

2. The synaesthesia integrated intelligent roadside system based on the random dynamic encryption algorithm according to claim 1 is characterized in that: In the message format, the message header is 4 bytes, which can be customized as needed and kept consistent in the same encryption system; The time is 5 bytes, each byte is 8 bits wide, and the 24-hour system is actually used, which is represented by: hours, minutes, seconds, and hexadecimal milliseconds. The data length is 2 bytes, and the data length range is [1, 65535], with the high eight bits in front and the low eight bits in the back; The data content is N bytes; The last byte is the XOR checksum of time, data length, and data content; The total data sequence is represented as: message header, time, data length, data content, and XOR check value.

3. The synaesthesia integrated intelligent roadside system based on the random dynamic encryption algorithm according to claim 1 is characterized in that: The synaesthesia computing unit performs real-time decryption and fusion calculation on the radar point cloud ciphertext message, including: a) After receiving the ciphertext message C, the synaesthesia computing unit calculates the dynamic encryption factors m' and n' according to the current time T1; the number of seconds of the current time is multiplied by 1000 to obtain the number of milliseconds, which is then divided by 50 and rounded to the integer, recorded as t', where t' is an integer, and the value range of t' is [0, 1999], m'=t' / 256, the value range of m' is [0, 7], n'=t'%256, and the value range of n' is [0, 255]; b) Perform XOR bitwise operation on each byte of the ciphertext message C, the formula is D x =C x ^n', get a decryption sequence D; c) restore the sequence order of the decrypted sequence D to obtain the plaintext message E; d) Check whether the first 4 bytes of plaintext message E are the preset message header. If so, it means that the decryption is correct and the plaintext message E is the original message A. If not, it may be caused by transmission delay. Subtract 50 milliseconds from the current time T1 and go to the above step a) to recalculate. If the first 4 bytes of plaintext message E do not match the message header after two calculations, it means that the data delay is large or it is dirty data and is discarded.

4. The synaesthesia integrated intelligent roadside system based on the random dynamic encryption algorithm according to claim 3 is characterized in that: The sequence order recovery of the decrypted sequence D specifically includes: calculating the value of k' according to the formula k'=m' / 2; if k'=0, then cyclically shifting D to the right by m' bytes, the formula is E=(D>>m')|(D<<(L-m')); if k'=1, then cyclically shifting D to the left by m' bytes, the formula is E=(D<<(L-m')).<m')|(D> >(L-m')); if k'=2, reverse the order of D, and the formula is E x =D L-x ; If k'=3, the sequence order is maintained and E=D.

5. The synaesthesia integrated intelligent roadside system based on the random dynamic encryption algorithm according to claim 1 is characterized in that: The radar signal transceiver unit adopts a pure solid-state transceiver component with an operating frequency of 79 to 81 GHz and an operating bandwidth of 500 MHz.

6. The synaesthesia integrated intelligent roadside system based on the random dynamic encryption algorithm according to claim 1 is characterized in that: The first UWB communication unit and the second UWB communication unit both adopt the IEEE802.15.4-2011 protocol standard, and the operating frequency is 3.5 to 6.5 GHz.

7. The synaesthesia integrated intelligent roadside system based on the random dynamic encryption algorithm according to claim 1 is characterized in that: The LTE-V2X communication unit adopts the 3GPP R14 LTE-V2X standard and has an operating frequency of 5905 to 5925 MHz.

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