Vehicle positioning method, system and terminal device for Internet of Vehicles

Abstract

The present invention provides a method, system and terminal device for positioning a vehicle in an Internet of Vehicles. The method includes: determining regional vehicles based on vehicle captured images; determining a target cooperative vehicle based on status information of the vehicle to be positioned, driving information of regional vehicles and the number of collaborative positioning times; generating a key pair based on the vehicle information of the remaining regional vehicles to obtain a public key and a private key, and sending the public key to the vehicle to be positioned; instructing the vehicle to be positioned to encrypt the location information based on the public key to obtain encrypted location data, and sending the encrypted location data to the target cooperative vehicle for collaborative forwarding; when the road test base station receives the encrypted location data forwarded by the target cooperative vehicle, the encrypted location data is decrypted based on the private key to obtain the vehicle positioning result. In the embodiment of the present invention, by sending the encrypted location data to the target cooperative vehicle for collaborative forwarding, the leakage of the encrypted location data is effectively prevented, thereby improving the security of vehicle positioning in the Internet of Vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle networking, and in particular to a vehicle networking vehicle positioning method, system and terminal equipment. Background Art

[0002] With the development of computer, data communication, intelligent sensor and other technologies and the ubiquitous use of mobile intelligent terminals, technologies such as big data, cloud computing, Internet of Things, social network and artificial intelligence are further integrated into the entire ground traffic management system such as transportation, service recommendation and vehicle management. The Internet of Vehicles is an important part of the Internet of Things. It effectively combines vehicles, roads, people and other buildings through the information center, and realizes the extraction and effective use of attribute information and static / dynamic information of all vehicles (i.e. intelligent vehicles) on the information network platform. As a computable, controllable, manageable, guideable and trustworthy open and integrated network system that coordinates multiple people, multiple vehicles, multiple roadside units and an open environment, the Internet of Vehicles provides new ideas and approaches for the intelligent management and control of vehicles.

[0003] In the existing vehicle positioning process of the Internet of Vehicles, the target vehicle directly sends its location information to the road test base station to obtain the vehicle positioning result of the Internet of Vehicles. However, since the target vehicle is vulnerable to signal attacks during the process of sending its location information, the location information of the target vehicle is leaked, reducing the security of the vehicle positioning of the Internet of Vehicles. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a method, system and terminal device for positioning a vehicle in an Internet of Vehicles network, aiming to solve the problem that the location information of a target vehicle is easily leaked during the existing positioning process of a vehicle in an Internet of Vehicles network.

[0005] The embodiment of the present invention is implemented as follows: a method for positioning a vehicle in a vehicle network, the method comprising:

[0006] Capturing images of the vehicle to be located to obtain a captured vehicle image, and determining the vehicles in the area based on the captured vehicle image;

[0007] Acquire driving information and the number of collaborative positioning of vehicles in the area within a preset time period, and determine the target collaborative vehicle among the vehicles in the area according to the state information of the vehicle to be positioned, the driving information and the number of collaborative positioning, wherein the driving information includes the average vehicle speed, the number of lane changes, the number of overtaking and the number of sudden acceleration and deceleration;

[0008] Generate a key pair according to the vehicle information of the remaining vehicles in the area to obtain a public key and a private key, and send the public key to the vehicle to be located;

[0009] Instructing the vehicle to be located to encrypt the location information according to the public key to obtain encrypted location data, and sending the encrypted location data to the target cooperative vehicle for cooperative forwarding;

[0010] When the road test base station receives the encrypted position data forwarded by the target cooperative vehicle, it decrypts the encrypted position data according to the private key to obtain the vehicle positioning result of the vehicle to be positioned.

[0011] Preferably, determining the target cooperative vehicle among the vehicles in the area according to the state information of the vehicle to be positioned, the driving information and the number of cooperative positioning comprises:

[0012] Calculating a vehicle speed difference between the vehicle speed in the state information and the average vehicle speed, and determining a first coordination score according to the vehicle speed difference;

[0013] performing a weighted calculation on the number of lane changes, the number of overtaking, and the number of sudden acceleration and deceleration to obtain a driving score, and determining a second coordination score according to the driving score;

[0014] A weighted operation is performed on the first cooperation score, the second cooperation score, and the number of cooperation positioning times to obtain a total cooperation score, and the vehicle in the area corresponding to the maximum total cooperation score is determined as the target cooperation vehicle.

[0015] Preferably, a key pair is generated according to the vehicle information of the remaining vehicles in the area to obtain a public key and a private key, including:

[0016] Sending heartbeat signals to the remaining vehicles in the area respectively, and obtaining feedback signals of the remaining vehicles in the area to the heartbeat signals;

[0017] Acquire signal strength and signal delay of each feedback signal, and construct a first matrix according to the signal strength and the signal delay;

[0018] Obtaining the vehicle types and vehicle colors of the remaining vehicles in the area, and constructing a second matrix according to the vehicle types and the vehicle colors;

[0019] The first matrix and the second matrix are serialized to obtain a first digital string and a second digital string, and the first digital string and the second digital string are asymmetrically encrypted to obtain the public key and the private key.

[0020] Preferably, after sending the encrypted position data to the target cooperative vehicle for cooperative forwarding, the method further includes:

[0021] Calculating the interval distance between the target cooperative vehicle and the road test base station;

[0022] If the interval distance is greater than the distance threshold, determining the remaining relay cooperative vehicles among the regional vehicles according to the state information of the target cooperative vehicle, the driving information and the number of cooperative positioning times;

[0023] The location encrypted data is sent to the relay cooperative vehicle for cooperative forwarding.

[0024] Preferably, instructing the vehicle to be located to encrypt the location information according to the public key to obtain encrypted location data includes:

[0025] Acquiring a bus signal of the vehicle to be located, and determining a driving state of the vehicle to be located according to the bus signal;

[0026] Determine a vehicle networking parameter list according to the driving state, and instruct the vehicle to be located to acquire data according to the vehicle networking parameter list to obtain vehicle networking data;

[0027] Instruct the vehicle to be located to perform GPS positioning to obtain the location information, and encrypt the location information and the Internet of Vehicles data according to the public key to obtain the location encrypted data.

[0028] Another object of an embodiment of the present invention is to provide a vehicle positioning system for an Internet of Vehicles, the system comprising:

[0029] The vehicle determination module is used to collect images of the vehicle to be located, obtain vehicle collection images, and determine the vehicles in the area according to the vehicle collection images;

[0030] A collaborative determination module is used to obtain driving information and collaborative positioning times of vehicles in the area within a preset time period, and determine a target collaborative vehicle among vehicles in the area according to the state information of the vehicle to be positioned, the driving information and the collaborative positioning times, wherein the driving information includes average vehicle speed, number of lane changes, number of overtaking and number of sudden acceleration and deceleration;

[0031] A key generation module, used to generate a key pair according to the vehicle information of the remaining vehicles in the area, obtain a public key and a private key, and send the public key to the vehicle to be located;

[0032] A collaborative forwarding module, used to instruct the vehicle to be located to encrypt the location information according to the public key to obtain encrypted location data, and send the encrypted location data to the target collaborative vehicle for collaborative forwarding;

[0033] The positioning decryption module is used to decrypt the position encrypted data according to the private key when the road test base station receives the position encrypted data forwarded by the target cooperative vehicle, so as to obtain the vehicle positioning result of the vehicle to be positioned.

[0034] Another object of an embodiment of the present invention is to provide a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0035] In an embodiment of the present invention, a vehicle captured image is obtained by performing image capture on the vehicle to be located, and regional vehicles can be effectively determined based on the vehicle captured image. By acquiring driving information and collaborative positioning times of regional vehicles within a preset time period, a target collaborative vehicle among regional vehicles can be effectively determined based on the status information, driving information and collaborative positioning times of the vehicle to be located. A key pair is generated based on the vehicle information of the remaining regional vehicles, and a public key and a private key can be effectively generated. Position encrypted data can be effectively obtained by instructing the vehicle to be located to encrypt the position information according to the public key. The position encrypted data is sent to the target collaborative vehicle for collaborative forwarding, which effectively prevents the leakage of the position encrypted data and improves the security of vehicle positioning in the Internet of Vehicles. When the road test base station receives the position encrypted data forwarded by the target collaborative vehicle, the position encrypted data is decrypted by the private key, and the vehicle positioning result of the vehicle to be located can be effectively obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a flow chart of a vehicle positioning method for an Internet of Vehicles provided by a first embodiment of the present invention;

[0037] Figure 2 is a schematic diagram of the structure of a vehicle positioning system for an Internet of Vehicles provided by a second embodiment of the present invention;

[0038] Figure 3 It is a schematic diagram of the structure of a terminal device provided in the third embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0040] In order to illustrate the technical solution of the present invention, a specific embodiment is provided below for illustration.

[0041] Embodiment 1

[0042] See also Figure 1 , is a flow chart of a vehicle positioning method for an Internet of Vehicles provided by a first embodiment of the present invention. The vehicle positioning method for an Internet of Vehicles can be applied to any system. The vehicle positioning method for an Internet of Vehicles includes the following steps:

[0043] Step S10, performing image acquisition on the vehicle to be located to obtain a vehicle acquisition image, and determining the vehicle in the area according to the vehicle acquisition image;

[0044] Among them, vehicle recognition is performed on the vehicle collection images to obtain regional vehicles.

[0045] Step S20, obtaining driving information and the number of collaborative positioning of vehicles in the area within a preset time period, and determining a target collaborative vehicle among the vehicles in the area according to the state information of the vehicle to be positioned, the driving information and the number of collaborative positioning;

[0046] Among them, driving information includes average speed, number of lane changes, number of overtaking, and number of sudden acceleration and deceleration. The preset time can be set according to demand. By obtaining the license plate information of regional vehicles, the driving information and collaborative positioning times of regional vehicles are queried based on the license plate information. The collaborative positioning times are used to indicate the number of collaborative forwardings performed by vehicles in the corresponding area.

[0047] Optionally, determining a target cooperative vehicle among vehicles in the area according to the state information of the vehicle to be located, the driving information, and the number of cooperative positioning includes:

[0048] Calculating a vehicle speed difference between the vehicle speed in the state information and the average vehicle speed, and determining a first coordination score according to the vehicle speed difference; wherein the vehicle speed difference is matched with a score query table to obtain the first coordination score, and the score query table stores a correspondence between different vehicle speed differences and corresponding coordination scores;

[0049] A weighted calculation is performed on the number of lane changes, the number of overtaking and the number of sudden acceleration and deceleration to obtain a driving score, and a second coordination score is determined according to the driving score; wherein, in the weighted calculation process, the weighting coefficients of the number of lane changes, the number of overtaking and the number of sudden acceleration and deceleration can be set according to demand, and the driving score is matched with a score query table to obtain a second coordination score, and the score query table stores a correspondence between different driving scores and corresponding coordination scores;

[0050] A weighted operation is performed on the first collaborative score, the second collaborative score and the number of collaborative positioning times to obtain a total collaborative score, and the vehicle in the area corresponding to the maximum total collaborative score is determined as the target collaborative vehicle; wherein, during the weighted operation process, the weighting coefficients of the first collaborative score, the second collaborative score and the number of collaborative positioning times can be set according to needs.

[0051] Step S30, generating a key pair according to the vehicle information of the remaining vehicles in the area, obtaining a public key and a private key, and sending the public key to the vehicle to be located;

[0052] Optionally, a key pair is generated according to the vehicle information of the remaining vehicles in the area to obtain a public key and a private key, including:

[0053] Sending heartbeat signals to the remaining vehicles in the area respectively, and obtaining feedback signals of the remaining vehicles in the area to the heartbeat signals; wherein, the heartbeat signals are sent to the remaining vehicles in the area respectively to obtain feedback signals of the remaining vehicles in the area to the heartbeat signals;

[0054] Acquire the signal strength and signal delay of each feedback signal, and construct a first matrix according to the signal strength and the signal delay; wherein the signal strength and the signal delay are mapped to obtain a strength mapping and a delay mapping, and the strength mapping and the delay mapping are used as matrix elements to construct a matrix to obtain a first matrix;

[0055] Obtaining the vehicle types and vehicle colors of the remaining vehicles in the area, and constructing a second matrix according to the vehicle types and the vehicle colors; wherein the vehicle types and vehicle colors are mapped to obtain a type mapping and a color mapping, and the type mapping and the color mapping are used as matrix elements to construct a matrix to obtain a second matrix;

[0056] The first matrix and the second matrix are serialized to obtain a first digital string and a second digital string, and the first digital string and the second digital string are asymmetrically encrypted to obtain the public key and the private key; wherein, the matrix elements in the first matrix and the second matrix are binarized to obtain the first digital string and the second digital string, and the public key and the private key can be effectively obtained by asymmetrically encrypting the first digital string and the second digital string.

[0057] Step S40, instructing the vehicle to be located to encrypt the location information according to the public key to obtain encrypted location data, and sending the encrypted location data to the target cooperative vehicle for cooperative forwarding;

[0058] Among them, by instructing the vehicle to be located to encrypt the location information according to the public key, the security of the location information of the vehicle to be located is effectively improved.

[0059] Optionally, after sending the encrypted position data to the target cooperative vehicle for cooperative forwarding, the method further includes:

[0060] Calculating the interval distance between the target cooperative vehicle and the road test base station;

[0061] If the interval distance is greater than the distance threshold, determining the remaining relay cooperative vehicles among the regional vehicles according to the state information of the target cooperative vehicle, the driving information and the number of cooperative positioning times;

[0062] Sending the encrypted location data to the relay cooperative vehicle for cooperative forwarding;

[0063] Among them, the distance threshold can be set according to needs. If the interval distance is greater than the distance threshold, it is determined that the signal of the position encrypted data collaboratively forwarded to the road test base station is weak. Therefore, the relay cooperative vehicle among the remaining regional vehicles is determined through the status information, driving information and number of collaborative positioning of the target cooperative vehicle, and the position encrypted data is collaboratively forwarded based on the relay cooperative vehicle to improve the signal strength of the position encrypted data received by the road test base station, thereby improving the accuracy of vehicle positioning in the Internet of Vehicles.

[0064] Further, instructing the vehicle to be located to encrypt the location information according to the public key to obtain encrypted location data, including:

[0065] Acquire the bus signal of the vehicle to be located, and determine the driving state of the vehicle to be located according to the bus signal; wherein the signal state in the bus signal is matched with a state query table to obtain the driving state, and the state query table stores the corresponding relationship between different signal state combinations and corresponding driving states;

[0066] Determine a vehicle networking parameter list according to the driving state, and instruct the vehicle to be located to acquire data according to the vehicle networking parameter list to obtain vehicle networking data; wherein the driving state is matched with a parameter list library to obtain a vehicle networking parameter list, and the parameter list library stores a correspondence between different driving states and corresponding vehicle networking parameter lists. According to the parameters to be acquired in the vehicle networking parameter list, instruct the vehicle to be located to acquire data to obtain vehicle networking data. For example, when the parameters to be acquired in the vehicle networking parameter list include parameters such as vehicle speed, steering angle, and destination, instruct the vehicle to be located to acquire parameter information such as vehicle speed, steering angle, and destination;

[0067] Instruct the vehicle to be located to perform GPS positioning to obtain the location information, and encrypt the location information and the Internet of Vehicles data according to the public key to obtain the location encrypted data.

[0068] Step S50: When the road test base station receives the encrypted position data forwarded by the target cooperative vehicle, the encrypted position data is decrypted according to the private key to obtain the vehicle positioning result of the vehicle to be positioned.

[0069] In this embodiment, by performing image capture on the vehicle to be located, a vehicle capture image is obtained, and the regional vehicles can be effectively determined based on the vehicle capture image. By acquiring the driving information and the number of collaborative positioning times of the regional vehicles within a preset time period, the target collaborative vehicle among the regional vehicles can be effectively determined based on the status information, driving information and the number of collaborative positioning times of the vehicle to be located. A key pair is generated based on the vehicle information of the remaining regional vehicles, and a public key and a private key can be effectively generated. By instructing the vehicle to be located to encrypt the location information according to the public key, the location encrypted data can be effectively obtained. By sending the location encrypted data to the target collaborative vehicle for collaborative forwarding, the leakage of the location encrypted data is effectively prevented, and the security of vehicle positioning in the Internet of Vehicles is improved. When the road test base station receives the location encrypted data forwarded by the target collaborative vehicle, the location encrypted data is decrypted by the private key, and the vehicle positioning result of the vehicle to be located can be effectively obtained.

[0070] Embodiment 2

[0071] See also Figure 2 , is a schematic diagram of the structure of a vehicle positioning system 100 of an Internet of Vehicles provided by a second embodiment of the present invention, including:

[0072] The vehicle determination module 10 is used to collect images of the vehicle to be located, obtain vehicle collection images, and determine regional vehicles based on the vehicle collection images.

[0073] The collaborative determination module 11 is used to obtain the driving information and the number of collaborative positioning of the vehicles in the area within a preset time period, and determine the target collaborative vehicle among the vehicles in the area according to the state information of the vehicle to be positioned, the driving information and the number of collaborative positioning, wherein the driving information includes the average vehicle speed, the number of lane changes, the number of overtaking and the number of sudden acceleration and deceleration.

[0074] Optionally, the coordination determination module 11 is further used to: calculate a vehicle speed difference between the vehicle speed in the state information and the average vehicle speed, and determine a first coordination score according to the vehicle speed difference;

[0075] performing a weighted calculation on the number of lane changes, the number of overtaking, and the number of sudden acceleration and deceleration to obtain a driving score, and determining a second coordination score according to the driving score;

[0076] A weighted operation is performed on the first cooperation score, the second cooperation score, and the number of cooperation positioning times to obtain a total cooperation score, and the vehicle in the area corresponding to the maximum total cooperation score is determined as the target cooperation vehicle.

[0077] The key generation module 12 is used to generate a key pair according to the vehicle information of the remaining vehicles in the area, obtain a public key and a private key, and send the public key to the vehicle to be located.

[0078] Optionally, the key generation module 12 is further used to: send heartbeat signals to the remaining vehicles in the area respectively, and obtain feedback signals of the remaining vehicles in the area to the heartbeat signals;

[0079] Acquire signal strength and signal delay of each feedback signal, and construct a first matrix according to the signal strength and the signal delay;

[0080] Obtaining the vehicle types and vehicle colors of the remaining vehicles in the area, and constructing a second matrix according to the vehicle types and the vehicle colors;

[0081] The first matrix and the second matrix are serialized to obtain a first digital string and a second digital string, and the first digital string and the second digital string are asymmetrically encrypted to obtain the public key and the private key.

[0082] The collaborative forwarding module 13 is used to instruct the vehicle to be located to encrypt the location information according to the public key to obtain encrypted location data, and send the encrypted location data to the target collaborative vehicle for collaborative forwarding.

[0083] Optionally, the cooperative forwarding module 13 is further used to: calculate the interval distance between the target cooperative vehicle and the drive test base station;

[0084] If the interval distance is greater than the distance threshold, determining the remaining relay cooperative vehicles among the regional vehicles according to the state information of the target cooperative vehicle, the driving information and the number of cooperative positioning times;

[0085] The location encrypted data is sent to the relay cooperative vehicle for cooperative forwarding.

[0086] Furthermore, the coordinated forwarding module 13 is also used to: obtain the bus signal of the vehicle to be located, and determine the driving state of the vehicle to be located according to the bus signal;

[0087] Determine a vehicle networking parameter list according to the driving state, and instruct the vehicle to be located to acquire data according to the vehicle networking parameter list to obtain vehicle networking data;

[0088] Instruct the vehicle to be located to perform GPS positioning to obtain the location information, and encrypt the location information and the Internet of Vehicles data according to the public key to obtain the location encrypted data.

[0089] The positioning decryption module 14 is used to decrypt the position encrypted data according to the private key when the road test base station receives the position encrypted data forwarded by the target cooperative vehicle, so as to obtain the vehicle positioning result of the vehicle to be positioned.

[0090] In this embodiment, by performing image capture on the vehicle to be located, a vehicle capture image is obtained, and the regional vehicles can be effectively determined based on the vehicle capture image. By acquiring the driving information and the number of collaborative positioning times of the regional vehicles within a preset time period, the target collaborative vehicle among the regional vehicles can be effectively determined based on the status information, driving information and the number of collaborative positioning times of the vehicle to be located. A key pair is generated based on the vehicle information of the remaining regional vehicles, and a public key and a private key can be effectively generated. By instructing the vehicle to be located to encrypt the location information according to the public key, the location encrypted data can be effectively obtained. By sending the location encrypted data to the target collaborative vehicle for collaborative forwarding, the leakage of the location encrypted data is effectively prevented, and the security of vehicle positioning in the Internet of Vehicles is improved. When the road test base station receives the location encrypted data forwarded by the target collaborative vehicle, the location encrypted data is decrypted by the private key, and the vehicle positioning result of the vehicle to be located can be effectively obtained.

[0091] Embodiment 3

[0092] Figure 3 2 is a block diagram of a terminal device 2 provided in the third embodiment of the present application. Figure 3 As shown, the terminal device 2 of this embodiment includes: a processor 20, a memory 21, and a computer program 22 stored in the memory 21 and executable on the processor 20, such as a program of a vehicle network vehicle positioning method. When the processor 20 executes the computer program 22, the steps in each embodiment of the vehicle network vehicle positioning method described above are implemented.

[0093] Exemplarily, the computer program 22 may be divided into one or more modules, which are stored in the memory 21 and executed by the processor 20 to complete the present application. The one or more modules may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 22 in the terminal device 2. The terminal device may include, but is not limited to, a processor 20 and a memory 21.

[0094] The processor 20 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0095] The memory 21 may be an internal storage unit of the terminal device 2, such as a hard disk or memory of the terminal device 2. The memory 21 may also be an external storage device of the terminal device 2, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 2. Further, the memory 21 may also include both an internal storage unit and an external storage device of the terminal device 2. The memory 21 is used to store the computer program and other programs and data required by the terminal device. The memory 21 may also be used to temporarily store data that has been output or is to be output.

[0096] In addition, each functional module in each embodiment of the present application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional unit.

[0097] If the integrated module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Among them, the computer-readable storage medium can be non-volatile or volatile. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in computer-readable storage media can be appropriately increased or decreased according to the requirements of legislation and patent practices in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practices, computer-readable storage media do not include electrical carrier signals and telecommunication signals.

[0098] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle positioning method for an Internet of Vehicles, characterized in that: The method comprises: Capturing images of the vehicle to be located to obtain a captured vehicle image, and determining the vehicles in the area based on the captured vehicle image; Acquire driving information and the number of collaborative positioning of vehicles in the area within a preset time period, and determine the target collaborative vehicle among the vehicles in the area according to the state information of the vehicle to be positioned, the driving information and the number of collaborative positioning, wherein the driving information includes the average vehicle speed, the number of lane changes, the number of overtaking and the number of sudden acceleration and deceleration; Generate a key pair according to the vehicle information of the remaining vehicles in the area to obtain a public key and a private key, and send the public key to the vehicle to be located; Instructing the vehicle to be located to encrypt the location information according to the public key to obtain encrypted location data, and sending the encrypted location data to the target cooperative vehicle for cooperative forwarding; When the drive test base station receives the encrypted position data forwarded by the target cooperative vehicle, the encrypted position data is decrypted according to the private key to obtain the vehicle positioning result of the vehicle to be positioned; Generate a key pair based on the remaining vehicle information of the vehicles in the area to obtain a public key and a private key, including: Sending heartbeat signals to the remaining vehicles in the area respectively, and obtaining feedback signals of the remaining vehicles in the area to the heartbeat signals; Acquire signal strength and signal delay of each feedback signal, and construct a first matrix according to the signal strength and the signal delay; Obtaining the vehicle types and vehicle colors of the remaining vehicles in the area, and constructing a second matrix according to the vehicle types and the vehicle colors; The first matrix and the second matrix are serialized to obtain a first digital string and a second digital string, and the first digital string and the second digital string are asymmetrically encrypted to obtain the public key and the private key.

2. The vehicle positioning method of the Internet of Vehicles according to claim 1, characterized in that: Determining a target cooperative vehicle among vehicles in the area according to the state information of the vehicle to be positioned, the driving information, and the number of cooperative positioning times includes: Calculating a vehicle speed difference between the vehicle speed in the state information and the average vehicle speed, and determining a first coordination score according to the vehicle speed difference; performing a weighted calculation on the number of lane changes, the number of overtaking, and the number of sudden acceleration and deceleration to obtain a driving score, and determining a second coordination score according to the driving score; A weighted operation is performed on the first cooperation score, the second cooperation score, and the number of cooperation positioning times to obtain a total cooperation score, and the vehicle in the area corresponding to the maximum total cooperation score is determined as the target cooperation vehicle.

3. The vehicle positioning method of the Internet of Vehicles according to claim 1, characterized in that: After sending the encrypted position data to the target cooperative vehicle for cooperative forwarding, the method further includes: Calculating the interval distance between the target cooperative vehicle and the road test base station; If the interval distance is greater than the distance threshold, determining the remaining relay cooperative vehicles among the regional vehicles according to the state information of the target cooperative vehicle, the driving information and the number of cooperative positioning times; The location encrypted data is sent to the relay cooperative vehicle for cooperative forwarding.

4. The vehicle positioning method of the Internet of Vehicles according to claim 1, characterized in that: Instructing the vehicle to be located to encrypt the location information according to the public key to obtain encrypted location data, including: Acquiring a bus signal of the vehicle to be located, and determining a driving state of the vehicle to be located according to the bus signal; Determine a vehicle networking parameter list according to the driving state, and instruct the vehicle to be located to acquire data according to the vehicle networking parameter list to obtain vehicle networking data; Instruct the vehicle to be located to perform GPS positioning to obtain the location information, and encrypt the location information and the Internet of Vehicles data according to the public key to obtain the location encrypted data.

5. A vehicle positioning system for an Internet of Vehicles, characterized in that: The system comprises: The vehicle determination module is used to collect images of the vehicle to be located, obtain vehicle collection images, and determine the vehicles in the area according to the vehicle collection images; A collaborative determination module is used to obtain driving information and collaborative positioning times of vehicles in the area within a preset time period, and determine a target collaborative vehicle among vehicles in the area according to the state information of the vehicle to be positioned, the driving information and the collaborative positioning times, wherein the driving information includes average vehicle speed, number of lane changes, number of overtaking and number of sudden acceleration and deceleration; A key generation module, used to generate a key pair according to the vehicle information of the remaining vehicles in the area, obtain a public key and a private key, and send the public key to the vehicle to be located; A collaborative forwarding module, used to instruct the vehicle to be located to encrypt the location information according to the public key to obtain encrypted location data, and send the encrypted location data to the target collaborative vehicle for collaborative forwarding; A positioning decryption module, used for decrypting the position encrypted data forwarded by the target cooperative vehicle according to the private key when the road test base station receives the position encrypted data, so as to obtain the vehicle positioning result of the vehicle to be positioned; The key generation module is also used for: Sending heartbeat signals to the remaining vehicles in the area respectively, and obtaining feedback signals of the remaining vehicles in the area to the heartbeat signals; Acquire signal strength and signal delay of each feedback signal, and construct a first matrix according to the signal strength and the signal delay; Obtaining the vehicle types and vehicle colors of the remaining vehicles in the area, and constructing a second matrix according to the vehicle types and the vehicle colors; The first matrix and the second matrix are serialized to obtain a first digital string and a second digital string, and the first digital string and the second digital string are asymmetrically encrypted to obtain the public key and the private key.

6. The vehicle positioning system for Internet of Vehicles according to claim 5, characterized in that: The coordination determination module is also used for: Calculating a vehicle speed difference between the vehicle speed in the state information and the average vehicle speed, and determining a first coordination score according to the vehicle speed difference; performing a weighted calculation on the number of lane changes, the number of overtaking, and the number of sudden acceleration and deceleration to obtain a driving score, and determining a second coordination score according to the driving score; A weighted operation is performed on the first cooperation score, the second cooperation score, and the number of cooperation positioning times to obtain a total cooperation score, and the vehicle in the area corresponding to the maximum total cooperation score is determined as the target cooperation vehicle.

7. The vehicle positioning system of the Internet of Vehicles as claimed in claim 5, characterized in that: The coordinated forwarding module is also used for: Calculating the interval distance between the target cooperative vehicle and the road test base station; If the interval distance is greater than the distance threshold, determining the remaining relay cooperative vehicles among the regional vehicles according to the state information of the target cooperative vehicle, the driving information and the number of cooperative positioning times; The location encrypted data is sent to the relay cooperative vehicle for cooperative forwarding.

8. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

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