A method for constructing interoperable link evolution in autonomous transportation systems

Abstract

The present invention discloses a method for constructing an evolutionary interoperability link of an autonomous transportation system, including modeling vehicles and roadside infrastructure in the autonomous transportation system as nodes, characterizing the motion attributes of the vehicle, the amount of information that the transportation subject can obtain and transmit outward through interoperation, the supported interoperability communication format and the key elements of the level of autonomy of the transportation subject through node attributes, calculating the probability of constructing a link between the design subjects according to the information satisfaction of the interoperability, the communication distance between the interoperability subjects, the subject interoperability capacity and the supported communication format factors, and constructing the interoperability link between the transportation subjects through a probabilistic evolution method. The present invention comprehensively considers the information transmission process of the interoperability process, introduces indicators such as information age to characterize the validity of the information, and can provide a model foundation for analyzing the trend and internal mechanism of the interoperability link state changing over time during the operation process of the autonomous transportation system.

Description

Technical Field

[0001] The present invention relates to the field of autonomous transportation technology, and in particular to a method for constructing an autonomous transportation system interoperability link evolution. Background Art

[0002] With the development of intelligent transportation systems, autonomous transportation systems (ATS) have become a research hotspot. They are a new generation of highly autonomous transportation systems characterized by self-perception, self-adaptation, self-learning, and self-organization. In existing autonomous transportation systems, the construction of interoperability links mainly relies on fixed communication protocols and standardized interface designs to ensure information exchange and collaborative operations between different transportation entities (such as vehicles, infrastructure, and traffic management systems). Among them, the more typical solution is to achieve the transmission and processing of traffic data through predefined message formats and communication processes.

[0003] Although existing technical solutions have achieved the interoperability of transportation systems to a certain extent, they have the following significant shortcomings: predefined communication protocols and interface designs are often difficult to adapt to the rapidly changing traffic environment and diverse traffic needs, resulting in limited system scalability and adaptability; fixed communication modes may lead to waste of communication resources, especially in low traffic or specific traffic scenarios, where unnecessary communication overhead increases the system burden; with the continuous emergence of new technologies and new equipment, existing solutions have shown limitations in cross-platform and cross-system interoperability, making it difficult to achieve seamless integration and efficient collaboration. Therefore, a method for building an evolutionary interoperability link for autonomous transportation systems is needed. Summary of the invention

[0004] In view of the existing technical defects, the purpose of the present invention is to provide a method for constructing the evolution of interoperability links of autonomous transportation systems, model the transportation system through network theory, simulate the interoperability process between transportation entities during transportation operation, and provide a model foundation for analyzing the trend and internal mechanism of the interoperability link status of the autonomous transportation system operation process over time.

[0005] The present invention includes modeling vehicles and roadside infrastructure in an autonomous traffic system as traffic entities participating in traffic operations as nodes, characterizing the movement attributes of vehicles, the amount of information that can be obtained by traffic entities and transmitted outward through interoperation, the supported interoperability communication formats and key elements of the level of autonomy of traffic entities through node attributes, calculating the probability of building links between design entities based on the information satisfaction of interoperability, the communication distance between interoperability entities, the interoperability capacity of entities and the supported communication formats, and building interoperability links between traffic entities through interoperability process evolution simulation.

[0006] Furthermore, the vehicle motion attributes include vehicle position, speed and heading angle.

[0007] Furthermore, the amount of information that the traffic subject can obtain and transmit to the outside through interoperation includes:

[0008] A collection of information that can be collected by traffic entities themselves;

[0009] The information set required for traffic entities to operate autonomously at the corresponding level of autonomy;

[0010] A collection of information that a traffic subject can provide to other traffic subjects through interoperability;

[0011] Traffic subjects forward information sets provided by other subjects;

[0012] For the information transmitted by each subject, the information age is introduced as an indicator to measure the effectiveness of the information. The information age of the information set that traffic subject i and traffic subject j interact with each other is calculated by formula (1):

[0013]

[0014] Among them, γ jk Represents the age of information that subjects j and subjects k interact with each other. It is only applicable to the information set forwarded by subject j to subject k when subject j interacts with subject i. Otherwise, it takes 0. ij represents the data rate of the interoperable link, ω ij Represents the data size of the information set, R i represents the maximum communication distance in the communication mode supported by traffic subject i, r ij represents the straight-line distance between entities i and j, represents the relative speed between subjects i and j, V represents the attenuation limit speed of wireless communication due to the Doppler effect, β represents the sensitivity coefficient, and τ represents the random delay of the information processing process.

[0015] Furthermore, the probability of establishing a link between the design subjects takes into account the information satisfaction of the interoperability, the distance between the interoperability subjects, the subject interoperability capacity and the supported communication format factors, and calculates the probability calculation formula of the link disconnection between the interoperability subjects according to the relative distance between the interoperability subjects;

[0016] The probability of building a link between the design subjects Π ij , determined according to formula (2):

[0017]

[0018] Among them, ij represents the probability of building an interoperable link between traffic entities i and j, Φ Pj represents the information set that traffic subject j can provide, Φ Ri represents the information set required by traffic subject i, C irepresents the upper limit of the interoperability capacity of subject i, d i Represents the number of interoperability links that the current subject i has established;

[0019] The probability of the link between the entities being disconnected include:

[0020]

[0021] Among them, ζ represents the sensitivity coefficient.

[0022] Furthermore, the interoperability process evolution simulation includes:

[0023] S110, initializing the traffic road network, setting roadside infrastructure according to a certain layout interval, setting its node attributes, and establishing connections between roadside infrastructure;

[0024] S120, starting the simulation from simulation time t=0, judging whether a new vehicle node entering the road network is added at the starting point of the road section at this time according to the traffic flow, assuming that the given traffic flow is a vehicle flow rate q per hour, and the number of vehicles that have joined the road network is n, then if the value of the current time t is greater than 3600 / q*n, a new vehicle node is added to the road network;

[0025] S130, at each simulation moment, after completing the addition of vehicle nodes, updating the position of the vehicle according to the current speed of the vehicle;

[0026] S140, traversing all vehicle nodes in the road network at the current simulation time, for each vehicle node, first calculating the probability of establishing an interoperability link between it and other unconnected nodes, and judging whether to establish an interoperability link based on the probability, if it is determined to establish an interoperability link, then judging whether the degree of the node exceeds the interoperability capacity of the node; if it does not exceed the interoperability capacity, then establishing an edge between the two nodes;

[0027] Determine whether to establish / disconnect an interoperability link based on probability. If the interoperability link is disconnected, delete the edge between the two nodes.

[0028] S150. After establishing the interoperability link, the nodes begin to share information through interoperability. The validity of the information is calculated using the information age as an indicator. The calculation formula for the information age is as follows:

[0029]

[0030] Among them, γ jk Represents the age of information about the interaction between subject j and subject k, which is applicable only when subject j forwards the information set of subject k when interoperating with subject i, otherwise it is 0; S ij represents the data rate of the interoperable link, ωij Represents the data size of the information set, R i represents the maximum communication distance in the communication mode supported by traffic subject i, r ij represents the straight-line distance between entities i and j, represents the relative speed between subjects i and j, V represents the attenuation limit speed of wireless communication due to the Doppler effect, β represents the sensitivity coefficient, and τ represents the random delay of the information processing process;

[0031] For each vehicle node, all the information sets transmitted to this node by all other nodes through interoperation are used to calculate the information age corresponding to the set. If the information age is greater than 2000 milliseconds, it is considered invalid information. All valid information sets obtained through interoperation are combined, that is:

[0032]

[0033] In this way, the final information set Φ obtained by the traffic subject through interaction is formed Pi ; if Φ Pi Greater than the Φ of the traffic body Pi , then the traffic subject should be able to forward the information set, that is: Φ Pi =Φ Si ; When forwarding, the information age of the information must be accumulated, Φ Pi The information age of is the maximum value among the information ages of all sets participating in the union operation.

[0034] Furthermore, in step S130, if the vehicle has reached the end of the road section or has left the simulation area, the vehicle node is deleted, and all edges between other nodes and the node are deleted.

[0035] Furthermore, in step S140, the method for determining whether to establish / disconnect an interoperability link based on probability is implemented as follows: considering the establishment / disconnection of an interoperability link as a random event, generating a random number between 0 and 1 that follows a uniform distribution through a computer program, and determining whether the random number is less than or equal to the probability. If the condition is met, it means that the random event occurs, otherwise it means that the random event does not occur.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] The present invention comprehensively considers the information transmission process of the interoperability process, introduces indicators such as information age to characterize the validity of information, and can provide a model foundation for analyzing the trend and internal mechanism of the interoperability link status over time during the operation of the autonomous transportation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1It is a flow chart of an autonomous transportation system interoperability link evolution construction method provided by an embodiment of the present invention;

[0039] Figure 2 It is a flow chart of establishing and disconnecting an interoperability link provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0041] In the description of the present invention, it should be noted that the term "traffic subject" should be understood in a broad sense, including but not limited to vehicles in the road traffic system, roadside infrastructure and other objects participating in the interoperation, only for the convenience of describing the present invention and simplifying the description. In addition, the terms "first", "second" and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0042] An embodiment of the present invention provides a method for constructing an autonomous transportation system interoperability link evolution. In order to illustrate the method, the modeling of the autonomous transportation system interoperability process for executing the method is first introduced.

[0043] The interoperability process modeling first requires that the traffic entities such as vehicles and roadside infrastructure in the road traffic system be modeled as nodes in the graph theory. In addition, the attributes of each node are set, and the node should contain at least the following attributes:

[0044] 1. Kinematic properties of traffic entities

[0045] The kinematic properties of the traffic subject include the current longitude and latitude coordinates, speed, heading angle, etc. If the traffic subject is a type of roadside infrastructure that cannot be moved, its speed and heading angle are both 0.

[0046] 2. Information collection that can be collected by traffic entities themselves

[0047] The information set that can be collected by traffic subjects represents the information that traffic subjects can obtain through their own perception ability. The required information types are expressed in the form of a set, denoted as Φ Ci .

[0048] 3. Traffic entities can provide information collection to other traffic entities through interoperability

[0049] The amount of information that can be interoperable between traffic entities represents the information that traffic entities can transmit to the outside, expressed in the form of a set, denoted by Φ Pi .

[0050] 4. The information set required for traffic entities to operate autonomously at the corresponding level of autonomy

[0051] The information collected by the traffic subject may not fully meet its operation at the corresponding level of autonomy, and it is necessary to supplement the information source through interoperability and other means. Therefore, the information required by the traffic subject to meet the corresponding level of autonomy is expressed in a set form, denoted as Φ Ri .

[0052] 5. Traffic entities forward information sets provided by other entities

[0053] If other traffic entities can provide more information, the traffic entity can forward the information set obtained from other entities through interoperation, expressed in the form of a set, denoted as Φ Si .

[0054] 6. Level of autonomy of traffic entities

[0055] The autonomy level of a traffic subject represents the degree of autonomy of the traffic subject. The higher the degree of autonomy of the traffic subject, the more information it needs to provide for interoperability.

[0056] 7. Interoperability Capacity Limit

[0057] The interoperability of traffic entities is generally achieved through wireless communication. Due to the constraints of channel capacity, communication equipment throughput, and the concurrent request processing capability of the traffic entity itself, there is an upper limit to the interoperability link established by a traffic entity with other traffic entities. i Represents the upper limit of the interoperability capacity of subject i.

[0058] 8. Number of interoperable links established by traffic entities

[0059] The degree in graph theory, that is, the total number of connections established between a node and other nodes, is used to represent the number of interoperable links established by a traffic entity, denoted by d. i Represents the number of interoperability links that the current subject i has established

[0060] Based on the above autonomous transportation system interoperability process modeling, the probability formula for establishing and disconnecting the interoperability link can be calculated.

[0061] The calculation formula for the probability of establishing and disconnecting an interoperable link is divided into the probability of establishing an interoperable link and the probability of disconnecting an interoperable link. The probability of establishing an interoperable link is calculated using the following formula:

[0062]

[0063] Among them, ij Represents the probability of building an interoperable link between traffic agents i and j.

[0064] In the specific implementation process, within each simulation step, each traffic agent needs to calculate the probability with the traffic agents that are not currently connected, so as to gradually form an interoperable network through evolution.

[0065] At the same time, since wireless network communications may be interfered with and unstable, the interoperability link may be disconnected. The probability of interoperability link disconnection is calculated using the following formula:

[0066]

[0067] Among them, ζ represents the sensitivity coefficient.

[0068] In the specific implementation process, the disconnection probability will be calculated between each connected traffic entity in each simulation step, and an interoperable network will be gradually formed through evolution.

[0069] Based on the above embodiments, Figure 1 It is a flow chart of the interoperability process evolution simulation provided by an embodiment of the present invention.

[0070] S110, initializing the traffic road network, this embodiment takes a straight highway with a length of 2km as an example. After the road network is initialized, roadside infrastructure is set according to a certain layout interval, its node attributes are set, and connections are established between roadside infrastructure.

[0071] S120, start the simulation from simulation time t=0, and determine whether to add a new vehicle node entering the road network at the starting point of the road section at this time according to the given traffic flow. Assuming that the given traffic flow is the vehicle flow per hour q, and the number of vehicles that have joined the road network is n, if the value of the current time t is greater than 3600 / q*n, add a new vehicle node to the road network. The longitude and latitude coordinates of the newly added vehicle node are the coordinates of the starting point of the road section, and the initial speed is set to 50km / h.

[0072] S130, at each simulation moment, after the vehicle node is added, the position of the vehicle is updated according to the current speed of the vehicle. If the vehicle has reached the end of the road section or has left the simulation area, the vehicle node is deleted, and all edges between other nodes and the node are deleted.

[0073] S140, traverse all vehicle nodes in the road network at the current simulation time, for each vehicle node, first calculate the probability of establishing an interoperability link between it and other unconnected nodes, and use the probability as the basis to determine whether to establish an interoperability link. If it is determined that an interoperability link is established, then determine whether the degree of the node exceeds the interoperability capacity of the node. If it does not exceed the interoperability capacity, establish an edge between the two nodes. The probability of establishing an interoperability link is calculated by formula (2).

[0074] Then, the probability of disconnection of the interoperability link between the vehicle node and other connected nodes (excluding the nodes connected at this moment) is calculated, and similarly, it is determined whether to disconnect the interoperability link. If the interoperability link is disconnected, the edge between the two nodes is deleted.

[0075] The method for determining whether to establish / disconnect an interoperability link based on probability is implemented as follows: the establishment / disconnection of an interoperability link is regarded as a random event, a random number between 0 and 1 that follows a uniform distribution is generated through a computer program, and it is determined whether the random number is less than or equal to the probability. If the condition is met, it means that the random event occurs, otherwise it means that the random event does not occur.

[0076] S150, after establishing the interoperability link, the nodes begin to share information through interoperability. The validity of the information is calculated using the information age as an indicator. The calculation formula for the information age is as follows:

[0077]

[0078] Among them, γ jk Represents the age of information about the interaction between subject j and subject k. It is applicable only when subject j forwards the information set of subject k when interoperating with subject i. Otherwise, it is 0. ij represents the data rate of the interoperable link, ω ij Represents the data size of the information set, R i represents the maximum communication distance in the communication mode supported by traffic subject i, r ij represents the straight-line distance between entities i and j, represents the relative speed between subjects i and j, V represents the attenuation limit speed of wireless communication due to the Doppler effect, β represents the sensitivity coefficient, and τ represents the random delay of the information processing process.

[0079] For each vehicle node, all the information sets transmitted to this node by all other nodes through interoperation calculate the information age of the set. If the information age is greater than 2000 milliseconds, it is considered invalid information. Take the union of all valid information sets obtained through interoperation, that is:

[0080]

[0081] In this way, the final information set Φ obtained by the traffic subject through interaction is formed Pi If Φ Pi Greater than the Φ of the traffic body Pi , then the traffic subject should be able to forward the information set, that is: Φ Pi =Φ Si When forwarding, the information age of the information must be accumulated, Φ Pi The information age of is the maximum value among the information ages of all sets participating in the union operation.

[0082] This embodiment Figure 1 The proposed method for constructing the evolution of interoperability links in autonomous traffic systems first abstracts the vehicles and roadside infrastructure in the road traffic system into nodes in graph theory, and uses the edges between nodes to represent the interoperability links, simplifying the interoperability problem into a graph theory model problem. Based on this model, the evolution of the interoperability links over time can be deduced, that is, the interoperability links between traffic entities evolve repeatedly between the connected and disconnected states and finally converge to a steady state.

[0083] like Figure 2 As shown in the figure, in a simplified application scenario of the interoperable link evolution construction method of an autonomous transportation system, there are 5 autonomous vehicles (V1, V2, V3, V4, V5) and 3 roadside infrastructure nodes (R1, R2, R3). These vehicles and infrastructure are distributed on a simulated straight highway with a length of 2 kilometers. Each vehicle and infrastructure is equipped with wireless communication equipment to exchange information with other nodes.

[0084] The initial positions and speeds of all vehicles and infrastructure are randomly set; the upper limit of the interoperability capacity of each vehicle and infrastructure is set to 4 links; the interoperability link establishment probability Π_ij and disconnection probability P_ij^out are preset according to factors such as the distance between vehicles and the communication quality; after the positions of all vehicles and infrastructure are initialized, starting from time t=0, each vehicle updates its position according to its speed. For each vehicle, the probability of establishing an interoperability link Π_ij with other unconnected nodes is calculated. If the random number k is less than Π_ij, the link is established. For each vehicle, the probability of disconnecting the interoperability link P_ij^out with other connected nodes is calculated. If the random number k is less than P_ij^out, the link is disconnected. Once the link is established, the nodes begin to share information. The information age is calculated. If it exceeds 2000 milliseconds, it is considered invalid. If the information set obtained by the vehicle through interoperation is larger than the information set required for its autonomous operation, the vehicle will forward the information.

[0085] At a certain moment in the simulation, the distance between vehicles V1 and V2 is relatively close, and the calculated probability of establishing an interoperable link Π_12 is 0.8. The generated random number k is 0.7, which is less than 0.8, so a link is established between V1 and V2. At another moment, the probability of link disconnection P_1R1^out between vehicles V1 and R1 is 0.2. The generated random number k is 0.1, which is less than 0.2, so the link between V1 and R1 is disconnected. In this way, the simulation can continue until a steady state is reached, that is, the establishment and disconnection of interoperable links are balanced and the network structure no longer changes significantly.

[0086] The present invention comprehensively considers the information transmission process of the interoperability process, introduces indicators such as information age to characterize the validity of information, and can provide a model foundation for analyzing the trend and internal mechanism of the interoperability link status over time during the operation of the autonomous transportation system.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. A method for constructing an evolutionary interoperability link for an autonomous transportation system, characterized in that: This includes modeling vehicles and roadside infrastructure in autonomous traffic systems as nodes, characterizing the motion attributes of vehicles, the amount of information that traffic entities can obtain and transmit through interoperation, the supported interoperability communication formats, and the key elements of the level of autonomy of traffic entities through node attributes, calculating the probability of building links between design entities based on the information satisfaction of interoperability, the communication distance between interoperability entities, the interoperability capacity of entities, and the supported communication formats, and building interoperability links between traffic entities through interoperability process evolution simulation; The probability of establishing a link between the design subjects takes into account the information satisfaction of the interoperability, the distance between the interoperability subjects, the subject interoperability capacity and the supported communication format factors, and calculates the probability calculation formula of the link disconnection between the interoperability subjects according to the relative distance between the interoperability subjects; The probability of building a link between the design subjects Π ij , determined according to formula (2): j∈V,j≠i Among them, ij represents the probability of building an interoperable link between traffic entities i and j, Φ Pj represents the information set that traffic subject j can provide, Φ Ri represents the information set required by traffic subject i, C i represents the upper limit of the interoperability capacity of subject i, d i Represents the number of interoperability links that the current subject i has established; The probability of the link between the entities being disconnected include: Among them, ζ represents the sensitivity coefficient, R i represents the maximum communication distance in the communication mode supported by traffic subject i, R j represents the maximum communication distance in the communication mode supported by traffic subject j, r ij Represents the straight-line distance between entities i and j.

2. The method for constructing an autonomous transportation system interoperability link evolution according to claim 1, characterized in that: The vehicle motion attributes include vehicle position, speed and heading angle.

3. The method for constructing an autonomous transportation system interoperability link evolution according to claim 1, characterized in that: The amount of information that the traffic subject can obtain and transmit to the outside through interoperation includes: A collection of information that can be collected by traffic entities themselves; The information set required for traffic entities to operate autonomously at the corresponding level of autonomy; A collection of information that a traffic subject can provide to other traffic subjects through interoperability; Traffic subjects forward information sets provided by other subjects; For the information transmitted by each subject, the information age is introduced as an indicator to measure the effectiveness of the information. The information age of the information set that traffic subject i and traffic subject j interact with each other is calculated by formula (1): Among them, γ jk Represents the age of information that subjects j and subjects k interact with each other. It is only applicable to the information set forwarded by subject j to subject k when subject j interacts with subject i. Otherwise, it takes 0. ij represents the data rate of the interoperable link, ω ij Represents the data size of the information set, R i represents the maximum communication distance in the communication mode supported by traffic subject i, r ij represents the straight-line distance between entities i and j, represents the relative speed between subjects i and j, V represents the attenuation limit speed of wireless communication due to the Doppler effect, β represents the sensitivity coefficient, and τ represents the random delay of the information processing process.

4. The method for constructing an autonomous transportation system interoperability link evolution according to claim 1, characterized in that: The interoperability process evolution simulation includes: S110, initializing the traffic road network, setting roadside infrastructure according to a certain layout interval, setting its node attributes, and establishing connections between roadside infrastructure; S120, starting the simulation from simulation time t=0, judging whether a new vehicle node entering the road network is added at the starting point of the road section at this time according to the traffic flow, assuming that the given traffic flow is a vehicle flow rate q per hour, and the number of vehicles that have joined the road network is n, then if the value of the current time t is greater than 3600 / q*n, a new vehicle node is added to the road network; S130, at each simulation moment, after completing the addition of vehicle nodes, updating the position of the vehicle according to the current speed of the vehicle; S140, traversing all vehicle nodes in the road network at the current simulation time, for each vehicle node, first calculating the probability of establishing an interoperability link between it and other unconnected nodes, and judging whether to establish an interoperability link based on the probability, if it is determined to establish an interoperability link, then judging whether the degree of the node exceeds the interoperability capacity of the node; if it does not exceed the interoperability capacity, then establishing an edge between the two nodes; Determine whether to establish / disconnect an interoperability link based on probability. If the interoperability link is disconnected, delete the edge between the two nodes. S150. After establishing the interoperability link, the nodes begin to share information through interoperability. The validity of the information is calculated using the information age as an indicator. The calculation formula for the information age is as follows: Among them, γ jk Represents the age of information about the interaction between subject j and subject k, which is applicable only when subject j forwards the information set of subject k when interoperating with subject i, otherwise it is 0; S ij represents the data rate of the interoperable link, ω ij Represents the data size of the information set, R i represents the maximum communication distance in the communication mode supported by traffic subject i, r ij represents the straight-line distance between entities i and j, represents the relative speed between subjects i and j, V represents the attenuation limit speed of wireless communication due to the Doppler effect, β represents the sensitivity coefficient, and τ represents the random delay of the information processing process; For each vehicle node, all the information sets transmitted to this node by all other nodes through interoperation are used to calculate the information age corresponding to the set. If the information age is greater than 2000 milliseconds, it is considered invalid information. All valid information sets obtained through interoperation are combined, that is: In this way, the final information set obtained by the traffic subject through interaction is formed if Greater than the Φ of the traffic body Pi , then the traffic subject should be able to forward the information set, that is: When forwarding, the age of the information must be accumulated. The information age of is the maximum value among the information ages of all sets participating in the union operation.

5. The method for constructing an autonomous transportation system interoperability link evolution according to claim 4, characterized in that: In step S130 , if the vehicle has reached the end of the road section or has left the simulation area, the vehicle node is deleted, and all edges between other nodes and the node are deleted.

6. The method for constructing an autonomous transportation system interoperability link evolution according to claim 4, characterized in that: In step S140, the method for determining whether to establish / disconnect an interoperable link based on probability is implemented by treating the establishment / disconnection of an interoperable link as a random event, generating a random number between 0 and 1 that follows a uniform distribution through a computer program, and determining whether the interoperable link is established / disconnected. Determine whether the random number is less than or equal to the probability. If the condition is met, it means that the random event has occurred. Otherwise, the random event does not occur.

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