Vehicle digital twin data interaction method, device and equipment based on contract theory and storage medium

Abstract

The invention discloses a contract theory-based vehicle digital twin data interaction method, device and equipment and a storage medium, and the method comprises the steps: a central service unit receives a travel purpose sent by a target vehicle; acquiring a data interaction contract between the road traffic system and the target vehicle; and the central service unit plans an optimal travel path according to a data interaction contract between the road traffic system and the target vehicle and sends the optimal travel path to the target vehicle. According to the method provided by the invention, the problem of conflict between privacy protection and data utility in digital twin network data transaction can be solved.

Description

Technical Field

[0001] The present invention relates to the field of digital twin technology, and in particular to a vehicle digital twin data interaction method, device, equipment and storage medium based on contract theory. Background Art

[0002] Digital Twin (DT) refers to the establishment of a digital twin corresponding to a physical entity in a virtual space. In addition to facilitating the management, traceability and transmission of data, digital twin technology can also break the time and space limitations between physical entities. By simulating vehicle interactions in different time and space dimensions, more training samples can be obtained. Digital twins can also achieve intelligent decision-making through traffic simulation, model deduction, data analysis, iterative optimization and other methods, providing new directions for traffic perception, road warning, emergency rescue and assisted driving, and providing more efficient, convenient and comprehensive services for intelligent transportation.

[0003] With the development of intelligent transportation, applications based on smart device data have made people's lives more convenient, but have also brought about the problem of easy leakage of user privacy data, especially in the growing smart car networking environment. With the development of smart networked vehicles and the popularization of vehicle-mounted positioning terminal devices, smart networked vehicles have generated a large amount of real-time trajectory data and traffic habit data. These real-time trajectory data collected from vehicle terminals have extremely high commercial value. Once these data are exposed to third parties, data collectors will suffer losses to varying degrees. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a vehicle digital twin data interaction method, device, equipment and storage medium based on contract theory in response to the shortcomings of the prior art. The method can solve the problem of conflict between privacy protection and data utility in digital twin network data transactions.

[0005] To achieve the above-mentioned purpose, according to one aspect of the present invention, a vehicle digital twin data interaction method based on contract theory is provided, and the vehicle digital twin data interaction method based on contract theory is applied to a central service unit in a vehicle digital twin data interaction system based on contract theory, and the vehicle digital twin data interaction system based on contract theory also includes a roadside unit and a road traffic system, wherein the road traffic system includes a plurality of physical vehicles and digital twins corresponding to the physical vehicles, each of the physical vehicles is provided with an on-board unit, and the central service unit, the on-board unit, and the roadside unit can establish connections with each other; the vehicle digital twin data interaction method based on contract theory includes:

[0006] After receiving the travel purpose sent by the target vehicle, the central service unit obtains the data interaction contract between the road traffic system and the target vehicle;

[0007] The central service unit plans an optimal travel path according to the data interaction contract between the road traffic system and the target vehicle and sends it to the target vehicle.

[0008] In the above solution, the specific method of obtaining the data interaction contract between the road traffic system and the vehicle includes:

[0009] After receiving the travel purpose sent by the target vehicle, the central service unit establishes the utility function of the road traffic system and the utility function of the target vehicle, and obtains the data interaction contract between the road traffic system and the vehicle based on the utility function of the road traffic system and the utility function of the target vehicle.

[0010] In the above solution, the data interaction contract also includes:

[0011] The central service unit receives the data submitted by the road traffic system through the roadside unit, performs privacy valuation on the data, and sets a deposit for the data interaction contract;

[0012] The central service unit establishes a utility function of the road traffic system according to the deposit;

[0013] The central service unit establishes a utility function of the target vehicle according to the deposit.

[0014] In the above solution, the data is fully identifiable data or encrypted data; wherein the encrypted data is data into which noise is injected by a data provider.

[0015] In the above solution, the data providers are multiple physical vehicles in the road traffic system.

[0016] In the above solution, the data contains privacy information to varying degrees. The less privacy information the data contains, the lower the privacy valuation of the data.

[0017] In the above solution, the specific method for the central service unit to obtain the optimal travel path according to the data interaction contract between the road traffic system and the vehicle includes:

[0018] The central service unit plans an optimal travel route using game theory and genetic algorithm according to the data interaction contract between the road traffic system and the vehicle.

[0019] In the above scheme, the genetic algorithm includes a parallel genetic algorithm.

[0020] In addition, to achieve the above purpose, the present invention also proposes a vehicle digital twin data interaction device based on contract theory, comprising:

[0021] An acquisition module, used for acquiring a data interaction contract between the road traffic system and the target vehicle after the central service unit receives the travel purpose sent by the target vehicle;

[0022] A planning module is used for the central service unit to plan an optimal travel path according to the data interaction contract between the road traffic system and the target vehicle and send it to the target vehicle.

[0023] In addition, to achieve the above-mentioned purpose, the present invention also proposes a vehicle digital twin data interaction device based on contract theory, and the vehicle digital twin data interaction device based on contract theory includes: a memory, a processor, and a vehicle digital twin data interaction program based on contract theory stored in the memory and executable on the processor, and the vehicle digital twin data interaction program based on contract theory is configured to implement the vehicle digital twin data interaction method based on contract theory.

[0024] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a vehicle digital twin data interaction program based on contract theory is stored. When the vehicle digital twin data interaction program based on contract theory is executed by a processor, the vehicle digital twin data interaction method based on contract theory is implemented.

[0025] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0026] The present invention provides a vehicle digital twin data interaction method based on contract theory. The data interaction method utilizes a privacy protection method based on a deposit. The data interaction contract of the provided vehicle can enable the data provider to self-expose the privacy valuation of the sent data. The data requester can pledge sufficient deposit to reduce the noise of the data provided by the data provider, solve the information asymmetry between the data provider and the data recipient, and solve the problem of conflict between privacy protection and data utility in digital twin network data transactions. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Also, throughout the accompanying drawings, the same reference figures are used to represent the same components. In the drawings:

[0028] Figure 1This is a flow chart of a vehicle digital twin data interaction method based on contract theory in Embodiment 1 of the present invention.

[0029] Figure 2 This is a diagram of the intelligent transportation digital twin network scenario model in Example 1 of the present invention.

[0030] Figure 3 This is a schematic diagram of the functional modules of a vehicle digital twin data interaction device based on contract theory in Example 2 of the present invention. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions 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. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0032] It should be understood that the size of the serial numbers of the steps in the embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0033] It should be noted that the execution subject of the embodiment of the present application can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a vehicle digital twin data interaction device based on contract theory, etc. The following takes the vehicle digital twin data interaction device based on contract theory as an example to illustrate this embodiment and the following embodiments.

[0034] Embodiment 1

[0035] The embodiment of the present application provides a vehicle digital twin data interaction method based on contract theory. The vehicle digital twin data interaction method based on contract theory is applied to the central service unit in the vehicle digital twin data interaction system based on contract theory. The vehicle digital twin data interaction system based on contract theory also includes a roadside unit and a road traffic system, wherein the road traffic system includes multiple physical vehicles and digital twins corresponding to the physical vehicles. Each physical vehicle is provided with an on-board unit. The central service unit, the on-board unit, and the roadside unit can establish connections with each other. Please refer to Figure 1 , Figure 1 The figure is a flow chart of a vehicle digital twin data interaction method based on contract theory in an embodiment of the present application. A vehicle digital twin data interaction method based on contract theory in an embodiment of the present application includes:

[0036] In the embodiment of the present application, it should be noted that the target vehicle is a vehicle whose on-board unit OBU can establish a connection with the central service unit CSU and the roadside unit RSU; its roadside unit RSU can establish a connection with multiple physical vehicles in the road traffic system.

[0037] In the embodiment of the present application, it can be understood that after the target vehicle is started, the on-board unit OBU of the target vehicle can establish a connection with the central service unit CSU and the roadside unit RSU, and the central service unit CSU can also establish a connection with the roadside unit RSU to obtain relevant information of multiple physical vehicles in the road traffic system.

[0038] S1, after receiving the travel purpose sent by the target vehicle, the central service unit obtains the data interaction contract between the road traffic system and the target vehicle.

[0039] In an embodiment of the present application, a specific method for obtaining a data interaction contract between a road traffic system and a target vehicle includes:

[0040] After the central service unit receives the travel purpose sent by the target vehicle, it receives the data submitted by the road traffic system through the roadside unit, performs privacy valuation on the data, and sets a deposit for the data interaction contract;

[0041] The central service unit establishes the utility function of the road traffic system based on the deposit;

[0042] The central service unit establishes the utility function of the target vehicle based on the deposit.

[0043] The central service unit obtains the data interaction contract between the road traffic system and the vehicle according to the utility function of the road traffic system and the utility function of the target vehicle.

[0044] In an embodiment of the present application, multiple physical vehicles in a road traffic system act as data providers and provide data to a central service unit CSU through a roadside unit RSU. These data are fully identifiable data or encrypted data (which may be data injected with noise by the data provider). The data contain privacy information to varying degrees. It can be understood that the less privacy information the data contains, the lower the privacy valuation of the representative data.

[0045] It should be noted that the embodiment of the present application simulates an application scenario of digital twin technology in intelligent transportation, such as Figure 2 As shown, Figure 2This is a model diagram of the intelligent transportation digital twin network scenario. In the context of urban intelligent transportation, fixed houses, roads, base stations, and mobile intelligent devices including vehicles and wearable intelligent terminal devices are mapped to the cloud server through digital twin technology. The digital twin is expanded to form a peer-to-peer network consistent with the real world for communication. Twins and entities can communicate one-to-one and bidirectionally, and the system continuously updates the real-time status of the network.

[0046] Specifically, in Figure 2 In the intelligent transportation digital twin network shown in the figure, there are several DT nodes, and the set of all DT nodes is represented by N dt ={1,2,…,i,…N}, where N is the number of DT nodes in the digital twin network. Assume that the set of DT nodes experiencing services in the digital twin network is represented as S dt = {1,2,…,s,…S}, S is the number of data requesters, who pay a certain amount of compensation in exchange for services; the set of DT nodes that provide data in the digital twin network is represented by P dt ={1,2,…,p,…P}, P is the number of data providers, and S dt ∪P dt =N dt , S dt ∩P dt =0.

[0047] In the data transaction process of digital twin networks, due to personal selfishness and privacy issues, there are usually conflicts when participating in transaction cooperation. For example, in digital twin networks, P dt Provide the collected data and S dt In transactions, the data content may contain the location information of the provider. Since location information is private information, if it is obtained by the other party, the other party may profit by selling privacy, which may lead to the leakage of private data at any time. This problem leads to the DT node being unwilling to participate in transactions in the digital twin network. The data provider provides data containing location information at key intersections for multiple times within a time T, as shown in formula (1):

[0048] (x1,y1,t1),(x2,y2,t2),…,(x n ,y n ,t n ) T=t n -t1 (1)

[0049] If P dt There is no privacy protection measure, (x n ,y n ,t n ) Such private set information (location, timestamp) will be exposed to S dt, then S dt It can be determined that P dt The exact trajectory direction, if S dt By selling privacy to a third party to gain benefits, the attacker can obtain P in the time through statistical attack. dt The driver’s trajectory can be reconstructed by using multiple key location information from the vehicle, and then the driver can be further identified from the trajectory information to obtain additional benefits. Therefore, the data provider needs to weigh whether to submit fully identifiable data or an encrypted privacy version (such as data injected with noise).

[0050] Put the above problem into game theory for analysis. Data provider P dt and data requester S dt The data trading game between P is a sequential game, because dt First submit the data, S dt Later, when deciding whether to resell the data, both parties can take one of two actions: cooperate (C) or betray (D). If P dt If the original data is provided, action C is taken, and if the noisy data is provided, action D is taken; similarly, S dt In protecting data privacy, he is cooperative (C), and if he resells the data to a third party, he is uncooperative (D). In the embodiment of this application, it is assumed that S dt It is smart to add some noise to the data to interfere with the judgment of the data provider before leaking private data.

[0051] Table 1 summarizes the payoff matrix under the four states, where the data provider is denoted as P dt , the data requester is represented by S dt .n p ,n s ∈[0,1] is P dt and S dt The noise added, P dt Add noise n in the data p In order to protect data privacy, p To protect data privacy, P dt and S dt The income V p , V s With 1-n p Proportional; As for the data requester S dt , his noise n sIn order to conceal his malicious behavior, his strategy is unknown to the data provider. This scheme assumes that the malicious behavior of the data requester is observable. For example, if the data provider receives an advertisement based on the private data he submitted, then he knows that the data requester resold his data to a third party. This scheme expresses the probability that the malicious behavior of the data requester will not be detected as the noise n added by himself s The greater the noise, the harder it is for the data provider to detect his betrayal. Therefore, the probability of detecting the malicious behavior of the data requester is 1-n s , the hidden unit cost of the data requester is c0. When choosing to resell private data, S dt You will get L s Illegal profits, P dt Will lose L due to privacy leakage p , but when an illegal operation is detected S dt Need to compensate P dt Fine R.

[0052] Table 1 Noise game matrix

[0053]

[0054] It can be observed that when S dt When the C strategy is selected, P dt The benefits of choosing strategy C will definitely be greater than those of choosing strategy D. dt When the C strategy is selected, that is, P dt When sending raw data, in order to force S dt Also choose strategy C, S dt The income must satisfy L s <(1-n s )R+n s c0, that is, the data privacy value must be less than the penalty and hidden cost; when P dt When the D strategy is selected, noise is injected according to the privacy valuation of the sent data. At this time, P dt Prediction S dt The income (1-n p )L s <(1-n s )Rn s c0S dt To protect privacy, because I don't know S dt Honesty, P dt Will tend to superimpose data noise n p To protect their privacy; dt Observed P dt If you choose to resell privacy, the noise n will also be superimposed. sIn order to cover up their own dishonest behavior, too much noise will not only cover up the dishonest behavior of DT, but also greatly reduce the utility of the data.

[0055] In order to resolve the contradiction between data privacy and data utility, it is necessary to dt The privacy valuation of the submitted data adjusts the amount of the fine. Since data privacy is only valid for T time, the fine is pre-mortgaged on the smart contract in the form of a deposit. dt If the privacy protection rules are followed, the deposit can be returned after T time, otherwise the deposit will be compensated to P dt For this purpose, a data interaction contract of a target vehicle based on a deposit is designed in the embodiment of the present application.

[0056] (1) Setting a deposit for the data exchange contract: There are P types of data providers with noise reduction in the digital twin network. The noise reduction degree of each data provider is arranged in ascending order into P types:

[0057]

[0058] Low data noise P dt More popular with S dt The favor also requires more margin, because S dt I hope to receive data with higher data utility, so I can use the contract to reveal S dt The demand for a noisy version of the data and the incentive for P dt Active noise reduction.

[0059] Δn i =ω×log2(1+α i ) (3)

[0060] Noise reduction Δn i Indicates P dt The noise that is willing to be reduced, ω is the noise reduction adjustment parameter. S dt I don't know dt However, from historical interactions, we know that there are P types of noise reduction. dt :{type -1 ,…,type -i ,…,type -P} and its probability μ i , μ i ∈[0,1]; use μ i Indicates different types of P dt The proportional distribution in the digital twin network is as follows:

[0061]

[0062] The data requester does not know the noise type of the data provided by the data provider in advance, so S dt A contract will be provided to P dt , let P dt Self-revealing noise reduction type. If the data requester obtains a less noisy version of the data, potential privacy issues will affect P dt Cause greater losses, S dt Must be P dt The reduced data noise provides sufficient margin. Therefore, the designed contract consists of two attributes: noise reduction and margin. The contract is formulated as a pair of functions, recorded as formula (5):

[0063] Γ={Δn,r(Δn)} (5)

[0064] Where r(Δn) represents the dt Committed deposit, type -i The noise reduction can be simplified as Δn i , type -i P dt The margin obtained can be simplified as r i . r i is Δn i is a strictly increasing function of . Intuitively, reducing more noise should provide more margin and vice versa, which is called incentive compatibility.

[0065] S dt According to P dt Different contract packages are available for each noise reduction type. dt You can freely accept or reject any type of contract based on your actual privacy valuation. dt If he refuses to accept any contract, he will adjust the noise reduction degree Δn to a minimum of 0, which means he is unwilling to compromise and reduce the noise of any size.

[0066] (2) Establish the utility function of the data provider: Based on the contract Γ = {Δn, r(Δn)}, type -i The utility function of the data provider in the transaction process is the satisfaction function of obtaining the margin and the difference in losses that may be caused by reducing noise:

[0067] U P (i)(Δn i ,r i )=α i ×ρ(r i )-cΔn i (6)

[0068] c>0, c is the unit loss of privacy due to reduced noise. To simplify the calculation, we assume c=1. In a given utility function, P dt Choose the contract package that maximizes its own profit. ρ(r) is the satisfaction function of the data provider regarding the margin, which is a concave function that strictly increases with the margin r, where for any r:

[0069]

[0070] It can be concluded that U P >0 must hold, which is called individual rationality, otherwise P dt No data will be provided to S dt .

[0071] (3) Establishing the utility function of the data requester: In the digital twin network, for S dt With type -i P dt When conducting data transactions, P dt The noise reduction degree selected is Δn i , S dt The utility function can be defined as the difference between the satisfaction function of the data service and the payment deposit:

[0072] U S (i)(Δn i ,r i )=X(Δn i )-r i (8)

[0073] X(Δn i ) indicates P dt Reduce noise to Δn i The improved data utility, r i is the corresponding security deposit. dt The satisfaction function is defined as:

[0074] X(Δn i )=λ i ×log2(1+Δn i ) (9)

[0075] λ i is the adjustment parameter of satisfaction, X(Δn i ) is as Δn i Non-negative and monotonically increasing function, since there are P types of P dt , so S dt The utility function can be expressed as:

[0076]

[0077] (4) Optimal contract design: The feasibility of the contract means that when data providers choose to provide data trading services to data requesters, they will choose a margin contract based on their noise reduction type. This example analyzes the problem from the perspective of discrete contracts, and the noise reduction type is a discrete (finite) type. This example first analyzes the feasibility conditions of the contract:

[0078] In order to ensure that data providers have an incentive to reduce noise, data providers must ensure that their utility will be greater than 0. The contract selected by the data provider needs to meet the following constraints:

[0079] ① The contract Γ(Δn i ,r i ) satisfies the data provider to obtain non-negative utility, which can be expressed as:

[0080] U DP (i)(Δn i ,r i )=α i ×ρ(r i )-Δn i ≥0, i∈{1,…,W}, i≠j (11)

[0081] ② Data providers prefer to choose contracts designed specifically for their type, reducing more noise should provide more margin, that is:

[0082] α i ×ρ(r i )-Δn i ≥α j ×ρ(r j )-Δn j , i∈{1,…,W}, i≠j (12)

[0083] ③ Monotonicity means that data providers with higher noise reduction types require more margin. Any feasible contract Γ(Δn i ,r i ), its margin will satisfy monotonicity:

[0084] 0≤r1≤r2≤…≤r P (13)

[0085] Due to information asymmetry, S dt The only information available is P dt Type α i The probability μ i In a discrete contract, P dt The denoising type is discrete, described as {α1,α2,…,α W}, P dtYou can choose the best contract according to your type, so this solution maximizes S under constraints. dt The optimal contract for both parties can be described as follows:

[0086]

[0087] To sum up, the shooting class is based on the data interaction contract of the target vehicle of the deposit; that is, when the road traffic system acts as the data provider and the target vehicle acts as the data requester, the data interaction contract between the road traffic system and the target vehicle can be obtained.

[0088] S2, the central service unit plans the optimal travel path according to the data interaction contract between the road traffic system and the target vehicle and sends it to the target vehicle.

[0089] Specifically, in this embodiment, after obtaining the data interaction contract between the road traffic system and the target vehicle, the central service unit CSU obtains the travel purpose of the target vehicle based on the relevant information of multiple physical vehicles in the road traffic system, and uses game theory and parallel genetic algorithm to plan the optimal travel path for the target vehicle and send it to the target vehicle.

[0090] In summary, the embodiments of the present application provide a vehicle digital twin data interaction method based on contract theory. The data interaction method utilizes a deposit-based privacy protection method. The data interaction contract of the provided vehicle can enable the data provider to self-expose the privacy valuation of the sent data. The data requester can pledge sufficient deposit to reduce the noise of the data provided by the data provider, solve the information asymmetry between the data provider and the data recipient, and solve the conflict between privacy protection and data utility in digital twin network data transactions.

[0091] Embodiment 2

[0092] The embodiment of the present application provides a vehicle digital twin data interaction device based on contract theory, such as Figure 3 As shown, including:

[0093] An acquisition module 10 is used for the central service unit to acquire the data interaction contract between the road traffic system and the target vehicle after receiving the travel purpose sent by the target vehicle;

[0094] The planning module 20 is used for the central service unit to plan the optimal travel path according to the data interaction contract between the road traffic system and the target vehicle and send it to the target vehicle.

[0095] Embodiment 3

[0096] The present application also provides a vehicle digital twin data interaction device based on contract theory, such as a smart phone, tablet computer, laptop computer, desktop computer, rack server, blade server, tower server or cabinet server (including an independent server, or a server cluster consisting of multiple servers) that can execute programs.

[0097] The vehicle digital twin data interaction device based on contract theory includes but is not limited to: a memory, a processor, and a vehicle digital twin data interaction program based on contract theory stored in the memory and executable on the processor. The vehicle digital twin data interaction program based on contract theory is configured to implement a vehicle digital twin data interaction method based on contract theory.

[0098] In this embodiment, the memory (i.e., readable storage medium) includes flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and programmable read-only memory (PROM); the memory can also be an external storage device of the vehicle digital twin data interaction device based on contract theory, such as a plug-in hard disk equipped on the data interaction device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Of course, the memory can also include both the internal storage unit of the vehicle digital twin data interaction device based on contract theory and its external storage device. In this embodiment, the memory is generally used to store the operating system and various application software installed on the vehicle digital twin data interaction device based on contract theory, such as the program code of the vehicle digital twin data interaction device based on contract theory in Example 2. In addition, the memory can also be used to temporarily store various types of data that have been output or are to be output.

[0099] The processor may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip in some embodiments. The processor is generally used to control the overall operation of the vehicle digital twin data interaction device based on contract theory. In this embodiment, the processor is used to run the program code stored in the memory or process data, such as running the vehicle digital twin data interaction device based on contract theory to implement the vehicle digital twin data interaction method based on contract theory in Example 1.

[0100] Embodiment 4

[0101] The present application also provides a storage medium, such as flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, CD, server, App application store, etc., on which a vehicle digital twin data interaction program based on contract theory is stored, and the vehicle digital twin data interaction program based on contract theory realizes corresponding functions when executed by a processor. The storage medium of this embodiment is used for a vehicle digital twin data interaction device based on contract theory, and realizes a vehicle digital twin data interaction method based on contract theory when executed by a processor.

[0102] It should be pointed out that, according to the needs of implementation, the various steps described in this application can be divided into more steps, or two or more steps or partial operations of the steps can be combined into a new step to achieve the purpose of the present invention.

[0103] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle digital twin data interaction method based on contract theory, characterized in that: The vehicle digital twin data interaction method based on contract theory is applied to a central service unit in a vehicle digital twin data interaction system based on contract theory. The vehicle digital twin data interaction system based on contract theory also includes a roadside unit and a road traffic system, wherein the road traffic system includes a plurality of physical vehicles and digital twins corresponding to the physical vehicles, each of the physical vehicles is provided with an on-board unit, and the central service unit, the on-board unit, and the roadside unit can establish connections with each other; the vehicle digital twin data interaction method based on contract theory includes: After receiving the travel purpose sent by the target vehicle, the central service unit obtains the data interaction contract between the road traffic system and the target vehicle; The central service unit plans an optimal travel path according to the data interaction contract between the road traffic system and the target vehicle and sends it to the target vehicle.

2. According to a vehicle digital twin data interaction method based on contract theory according to claim 1, it is characterized in that: The specific method of obtaining the data interaction contract between the road traffic system and the vehicle includes: After receiving the travel purpose sent by the target vehicle, the central service unit establishes the utility function of the road traffic system and the utility function of the target vehicle, and obtains the data interaction contract between the road traffic system and the vehicle based on the utility function of the road traffic system and the utility function of the target vehicle.

3. A vehicle digital twin data interaction method based on contract theory according to claim 2, characterized in that: The data interaction contract also includes: The central service unit receives the data submitted by the road traffic system through the roadside unit, performs privacy valuation on the data, and sets a deposit for the data interaction contract; The central service unit establishes a utility function of the road traffic system according to the deposit; The central service unit establishes a utility function of the target vehicle according to the deposit.

4. A vehicle digital twin data interaction method based on contract theory according to claim 3, characterized in that: The data is fully identifiable data or encrypted data.

5. The vehicle digital twin data interaction method based on contract theory according to claim 3 is characterized in that: The data are provided by a plurality of physical vehicles in the road traffic system.

6. A vehicle digital twin data interaction method based on contract theory according to claim 3, characterized in that: The data contains privacy information to varying degrees. The less privacy information the data contains, the lower the privacy valuation of the data.

7. The vehicle digital twin data interaction method based on contract theory according to claim 1 is characterized in that: The specific method for the central service unit to plan the optimal travel path according to the data interaction contract between the road traffic system and the vehicle includes: The central service unit plans an optimal travel route using game theory and genetic algorithm according to the data interaction contract between the road traffic system and the vehicle.

8. A vehicle digital twin data interaction device based on contract theory, characterized in that: include: An acquisition module, used for acquiring a data interaction contract between the road traffic system and the target vehicle after the central service unit receives the travel purpose sent by the target vehicle; A planning module is used for the central service unit to plan an optimal travel path according to the data interaction contract between the road traffic system and the target vehicle and send it to the target vehicle.

9. A vehicle digital twin data interaction device based on contract theory, characterized in that: The vehicle digital twin data interaction device based on contract theory includes: a memory, a processor, and a vehicle digital twin data interaction program based on contract theory stored in the memory and executable on the processor. The vehicle digital twin data interaction program based on contract theory is configured to implement the vehicle digital twin data interaction method based on contract theory as described in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores a vehicle digital twin data interaction program based on contract theory. When the vehicle digital twin data interaction program based on contract theory is executed by the processor, the vehicle digital twin data interaction method based on contract theory as described in any one of claims 1 to 7 is implemented.

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