Safety service system in highway vehicle-road cloud environment

Abstract

The invention discloses a safety service system in a highway vehicle-road cloud environment. The safety service system comprises a central cloud platform, an edge computing unit, a vehicle-mounted terminal and a road inspection system, through cooperation of the central cloud platform, the edge computing unit, the vehicle-mounted terminal and the road inspection system, effective transmission between highway sign information and event information and vehicles is realized, and meanwhile, the system can broadcast road side sensing data in a PC5 direct connection communication mode, so that the traffic safety of the highway is improved. Therefore, real-time sensing and safety monitoring of blind areas and accident black spots of the expressway are achieved, comprehensive support is provided for safe driving of drivers through efficient information safeguard measures and the system, driving safety is enhanced, accident risks are reduced, safety and smoothness of each driver in the driving process are guaranteed, and the driving safety is improved. According to the invention, the full-coverage communication capability of highway safety accidents is realized, the active safety of the highway is improved, the road safety is guaranteed, and accidents are reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of highway vehicle-road-cloud systems, and in particular relates to a safety service system in a highway vehicle-road-cloud environment. Background Art

[0002] With the continuous development of information technology and the application of advanced equipment, more and more information equipment has begun to participate in road safety management. Through the monitoring, management, operation and maintenance and timely response of the vehicle-road-cloud system, the service level of highways can be improved and road traffic accidents can be reduced.

[0003] The existing advanced driver assistance system (ADAS) can realize single-vehicle intelligent assisted driving, such as lane keeping, lane change assistance, forward collision warning, etc., and can achieve good active safety warnings within a short range, reducing vehicle scratches, rear-end collisions and other accidents. However, in complex environments at long distances, the disadvantages of ADAS are more obvious, and it is impossible to sense the environment in the blind spot through its own perception information. The vehicle networking (V2X, Vehicle to X) technology can greatly improve the vehicle's perception range, obtain the road environment in front of the highway in advance, and provide drivers with sufficient response time to avoid collision risks by selecting lanes in advance or parking on the side of the road. The real-time road status information interaction puts extremely high demands on the road perception ability. Sufficient density coverage is required to achieve effective communication distance range through direct communication (PC5) to smoothly receive broadcast information. When the density is insufficient or there is occlusion, V2X communication may fail and the abnormal road status information cannot be accurately obtained; but if it is necessary to build sufficient coverage density, it has full coverage capability, but it will lead to a sharp increase in construction costs and unnecessary waste;

[0004] In order to solve the above problems, we need to propose a safety service system in the highway vehicle-road-cloud environment, so that it can effectively solve the problem of insufficient coverage of roadside communication equipment and the problem of highway accident information broadcast communication. It can also achieve full coverage of highway safety accidents, improve the active safety of highways, ensure road safety, and reduce accidents. Summary of the invention

[0005] The purpose of the present invention is to provide a safety service system in a highway vehicle-road cloud environment, which can effectively solve the problem of insufficient coverage of roadside communication equipment and the problem of broadcast communication of highway accident information. It can also achieve full coverage of communication capabilities for highway safety accidents, improve the active safety of highways, ensure road safety, reduce accidents, and solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A safety service system in a highway vehicle-road cloud environment comprises: a central cloud platform, the central cloud platform is used for information aggregation and distribution processing, and performs automatic processing or manual review of reported safety event information to achieve rapid synchronization and push of information;

[0008] An edge computing unit, wherein the edge computing unit uses a visual recognition algorithm to detect target information and identify events in a coverage area in real time, wherein the edge computing unit includes a roadside sensing device, an event analysis module, and a V2X antenna, wherein the roadside sensing device is electrically connected to the event analysis module and the V2X antenna, respectively;

[0009] The vehicle terminal is used to display the early warning information on the highway to the user in a timely manner, and report the current accident information to the cloud platform, which is then sent to other vehicles in the surrounding area after review to ensure the timely transmission and sharing of information;

[0010] Road inspection system, which provides an information reporting channel, can quickly report abnormal events and the absence or damage of road traffic signs, and determine whether it needs to be broadcast to surrounding vehicles based on the type of information;

[0011] The vehicle-mounted terminal and the road inspection system are both connected to the central cloud platform through 5GUU, the central cloud platform is connected to the edge computing unit through Ethernet, and the edge computing unit is connected to the vehicle-mounted terminal through PC5.

[0012] Preferably, the information aggregation processing performed by the central cloud platform includes obtaining all vehicle-mounted terminals registered with the highway vehicle-road cloud information service system, regularly obtaining the location information of the vehicle, and determining whether it is within the corresponding highway service range through map matching, wherein the location information of the vehicle includes the vehicle's latitude and longitude, heading angle, timestamp, speed and vehicle type, and map matching must cover all map information and corresponding signboard information within the entire highway service section.

[0013] Preferably, the process of determining whether a vehicle is within the corresponding highway service range by map matching is as follows:

[0014] A1. Collect the latitude and longitude point sequence of the vehicle and the map data of the highway management area;

[0015] A2. De-noising and smoothing the collected vehicle longitude and latitude point sequence, filtering the map data, and obtaining effective highway vector lane information data, which includes road centerline, lane and section information;

[0016] A3. Calculate the vertical distance from the latest position to the center line of each road section, preliminarily screen the candidate lanes through the calculated vertical distance, and determine whether the vehicle's driving direction is consistent with the road's driving direction from the candidate lanes. If the vehicle's driving direction is consistent with the road's driving direction, then the vehicle's trajectory point movement direction is determined to be consistent with the road's driving direction, and the vehicle is within the corresponding expressway service range; if the vehicle's driving direction is inconsistent with the road's driving direction, then the vehicle's trajectory point movement direction is determined to be inconsistent with the road's driving direction, and the vehicle is not within the corresponding expressway service range.

[0017] Preferably, the information aggregation and processing performed by the central cloud platform also includes target information and event information detected by all edge computing units in the highway service section. The detected target information is desensitized into a specific format and sent to the vehicle-side user. At the same time, the traffic event information is sent to the corresponding vehicles in the surrounding service areas.

[0018] Preferably, the information aggregation and processing performed by the central cloud platform also includes receiving inspection vehicle information and reporting information from highway service companies, and reporting the relevant information to the management center, which will organize and repair it, while also receiving dangerous hidden danger information reported by inspection vehicles.

[0019] Preferably, the roadside perception device realizes real-time perception and monitoring of the surrounding environment through connected cameras and radar sensors. The cameras and radar sensors each capture information in different ways, and the perception coordinate conversion is performed on the data from two different sources, and the data of each sensor is mapped to the same coordinate system. After the coordinate conversion is completed, the data from different sensors are aggregated, and the data from different sources are fused and processed to obtain information on the type, position and motion state of the surrounding targets;

[0020] The event analysis module monitors the road conditions within the camera coverage area in real time, and uses image recognition to monitor whether a safety incident occurs in the monitoring area. At the same time, the monitored traffic safety incident information is broadcast to the surrounding area through PC5, and reported to the central cloud platform through Ethernet, and the central cloud platform responds to the incident;

[0021] The V2X antenna broadcasts the traffic participant targets and event information detected by the roadside sensing device to surrounding vehicles in real time through the V2X direct communication PC5.

[0022] Preferably, the vehicle terminal includes an early warning HMI unit, an accident reporting unit and a positioning data unit, wherein the accident reporting unit is used to receive safety event information and fixed electronic signage information in the expressway service section sent by the central cloud platform via UU, and receive target information and traffic event information detected on the roadside sent by the edge computing unit via PC5 direct communication;

[0023] The positioning data unit is used to record the detected vehicle ID and analyze the historical trajectory of the vehicle according to the vehicle ID, so as to determine the short-term movement state of the vehicle;

[0024] The warning HMI unit is used to provide vehicles with overspeed warning and underspeed warning, service area distance reminder, ramp exit reminder services in combination with the speed limit sign information on the road, as well as a one-key alarm service for the vehicle terminal.

[0025] Preferably, when the accident reporting unit receives the safety event information and fixed electronic sign information within the highway service section sent by the central cloud platform through UU, when the vehicle enters the highway service section, the vehicle will report the vehicle's location information and motion status information. The vehicle performs map matching based on its location information to obtain the current position of the vehicle in the map, and simultaneously obtains corresponding service information from the central cloud platform. The service information includes highway sign service information and accident information occurring ahead. The electronic sign information obtained through the service information is parsed, and based on the map matching results obtained by the current vehicle, valid electronic sign information is screened, and the parsed valid data is reasonably displayed.

[0026] Preferably, when the accident reporting unit is in the process of receiving the target information and traffic event information detected by the roadside perception device and sent by the edge computing unit through PC5 direct communication, when the vehicle enters the PC5 communication coverage area, the on-board terminal can obtain the RSM message broadcast by the roadside and the RSI message of the event detected in real time, so that it can quickly transmit the target perception and event monitoring information, so that the surrounding vehicles can obtain the movement status of all vehicles in the field of vision and blind spots in real time and accurately, and the driver can make reasonable advance predictions based on the movement status of the surrounding vehicles and take corresponding braking measures to ensure driving safety.

[0027] Preferably, the road inspection system includes an accident information reporting unit and a road abnormality inspection unit. The road abnormality inspection unit is responsible for monitoring the overall road condition of the expressway through regular and irregular inspections by inspection vehicles; the inspection vehicles are equipped with perception monitoring equipment, which can detect the road surface status and find records in real time and upload them, and report the relevant information to the management center; the accident information reporting unit performs manual reporting through a special APP or hotline.

[0028] The safety service system for highway vehicle-road cloud environment proposed by the present invention has the following advantages compared with the prior art:

[0029] 1. The present invention realizes the effective transmission between highway sign information, event information and vehicles through the cooperation of the central cloud platform, edge computing unit, vehicle-mounted terminal and road inspection system. At the same time, by using the PC5 direct communication method, the system can broadcast the roadside perception data, thereby realizing real-time perception and safety monitoring of highway blind spots and accident black spots. In the vehicle-mounted terminal, the system integrates and displays the acquired highway electronic sign information, event information and target information perceived by video and radar, and provides drivers with rich road safety information reminder services. This information integration ensures that drivers can accurately obtain road guidance information and quickly understand road safety events, thereby effectively avoiding the occurrence of secondary accidents and improving the safety management and control capabilities of accident black spots. Through efficient information security measures, the system provides comprehensive support for drivers' safe driving, helps to enhance driving safety, reduce accident risks, ensure the safety and smoothness of each driver during driving, realize the communication capability of full coverage of highway safety accidents, improve the active safety of highways, ensure road safety, and reduce accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a system block diagram of the present invention;

[0031] Figure 2 This is a flowchart of the map matching process of the present invention for determining whether a vehicle is within the corresponding highway service range. DETAILED DESCRIPTION

[0032] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] The present invention provides Figure 1-2 A safety service system in a highway vehicle-road cloud environment is shown, comprising a central cloud platform, an edge computing unit, a vehicle terminal and a road inspection system, wherein the vehicle terminal and the road inspection system are both connected to the central cloud platform through 5GUU, the central cloud platform is connected to the edge computing unit through Ethernet, and the edge computing unit is connected to the vehicle terminal through PC5;

[0034] The central cloud platform is used for information aggregation and distribution, and performs automated processing or manual review of reported security incident information to achieve rapid synchronization and push of information;

[0035] The information aggregation and processing performed by the central cloud platform includes obtaining all vehicle-mounted terminals registered with the highway vehicle-road cloud information service system, regularly obtaining the location information of the vehicle, and determining whether it is within the corresponding highway service range through map matching. The location information of the vehicle includes the vehicle's latitude and longitude, heading angle, timestamp, speed and vehicle type. The vehicle positioning accuracy is required to reach the sub-meter positioning level. Map matching must cover all map information and corresponding signboard information within the entire highway service section. These map information will be used for vehicle map matching. By analyzing the vehicle's historical trajectory and current trajectory, it is determined whether the vehicle is within the highway service section, thereby ensuring that the highway safety service system can provide accurate directional services.

[0036] The process of map matching to determine whether a vehicle is within the corresponding highway service range is as follows:

[0037] A1. Collect the latitude and longitude point sequence of the vehicle and the map data of the highway management area;

[0038] A2. De-noising and smoothing the collected vehicle longitude and latitude point sequence, filtering the map data, and obtaining effective highway vector lane information data, which includes road centerline, lane and section information;

[0039] A3. Calculate the vertical distance from the latest position to the center line of each road section, preliminarily screen the candidate lanes through the calculated vertical distance, and determine whether the vehicle's driving direction is consistent with the road's driving direction from the candidate lanes. If the vehicle's driving direction is consistent with the road's driving direction, then the vehicle's trajectory point movement direction is determined to be consistent with the road's driving direction, and the vehicle is within the corresponding expressway service range; if the vehicle's driving direction is inconsistent with the road's driving direction, then the vehicle's trajectory point movement direction is determined to be inconsistent with the road's driving direction, and the vehicle is not within the corresponding expressway service range.

[0040] The information aggregation and processing performed by the central cloud platform also includes target information and event information detected by all edge computing units in the highway service section. The detected target information is desensitized into a specific format and sent to the vehicle-side user, and the traffic event information is sent to the corresponding vehicles in the surrounding service area.

[0041] The specific format refers to the desensitized information of the latitude and longitude, speed, and heading angle of the detected target, and a dedicated encryption algorithm is used to process these data before transmission to ensure that the information will not be stolen or tampered with by unauthorized third parties during transmission. After the vehicle receives the encrypted data, it uses the built-in security module to authenticate the identity and confirm the legitimacy and security of the data source. The decryption system then uses the corresponding decryption algorithm to convert the encrypted data into readable content for display or safety warning to surrounding vehicles on the on-board terminal. The encryption algorithm includes the symmetric encryption SM4 algorithm or the asymmetric encryption algorithm SM2 algorithm, but is not limited to the above encryption algorithms.

[0042] The content of information aggregation and processing by the central cloud platform also includes receiving inspection vehicle information and reporting information from highway service companies. The content of the reported information includes road damage, unclear signs, and damaged traffic safety facilities. The relevant information is reported to the management center, which organizes and repairs it. At the same time, the dangerous hidden danger information reported by the inspection vehicles is received. The dangerous hidden danger information includes road damage, water accumulation, collision accidents and road safety incident information; road safety incident information includes the location and type of the incident, the corresponding road sections and lanes affected, the size of the affected area, the severity of the incident and the duration of the incident.

[0043] The information aggregation and processing performed by the central cloud platform also includes integrating highway service signs and signboards, road facility information, weather, real-time traffic conditions and other highway service information. The service information can be linked with the on-board terminal to achieve a high level of service capability that is safe, friendly, open and transparent for highway vehicles. Among them, highway service signs and signboards include information such as the type of signboard, location, and the road section where the signboard is effective.

[0044] The distribution and processing of the central cloud platform includes sending the aggregated road safety incident information and the built-in electronic sign information to the designated vehicle at a fixed frequency through UU, and displaying the road conditions, wherein the designated vehicle includes all vehicles within the designated service section; the display of the road conditions includes displaying all road conditions within the service range of the expressway, accessing all cameras within the service range for viewing, and displaying the safety incidents occurring on the road, including the location of the incident, the processing status, the duration, the type of incident, etc., in real time, finding nearby cameras through the location of the incident, and timely obtaining the real-time situation of the on-site incident, as well as the ability to review manually reported incidents and automatically report or manually review and process edge computing unit inspection incidents; users can intuitively understand the real-time situation of the road, and have a clear view of information such as traffic flow, road conditions and weather changes, so that users can grasp the dynamics of the incident in a timely manner. In addition, administrator users can quickly find nearby cameras by viewing the location of the incident, obtain the real-time situation of the on-site incident, and the response speed of road safety, to ensure that relevant personnel can respond quickly to deal with emergencies.

[0045] Through the equipment of the central cloud platform, it has the function of reviewing manually reported events to ensure the authenticity and accuracy of the reported events. At the same time, for the inspection events of the edge computing unit, the system also supports automatic reporting and manual review and processing capabilities. This dual review mechanism not only improves the efficiency of event processing, but also ensures the accuracy of information, providing strong guarantees for the safe operation of highways. Through these comprehensive functions, information display capabilities have become an important tool for improving highway management levels and road safety.

[0046] The edge computing unit uses a visual recognition algorithm to detect target information and identify events in the coverage area in real time;

[0047] The edge computing unit includes a roadside perception device, an event analysis module and a V2X antenna. The roadside perception device is electrically connected to the event analysis module and the V2X antenna respectively. The roadside perception device realizes real-time perception and monitoring of the surrounding environment through the connected camera and radar sensor. The camera and the radar sensor each capture information in different ways. The camera is mainly responsible for acquiring image data, identifying objects, pedestrians and traffic signs, while the radar sensor measures the distance and speed of the object by transmitting and receiving electromagnetic waves. The data from two different sources are perceived and converted into coordinates, and the data of each sensor is mapped into the same coordinate system to ensure the consistency of the information. After completing the coordinate conversion, the data from different sensors are aggregated, and the data from different sources are fused and processed to obtain the type, position and motion state of the surrounding targets, thereby providing a reliable basis for the vehicle's decision-making.

[0048] The event analysis module monitors the road conditions within the coverage area of ​​the camera in real time, and uses image recognition to monitor whether a safety incident occurs in the monitoring area. The safety incident includes the time, type, severity, scope of impact, section / lane where the incident occurred, etc. At the same time, the monitored traffic safety incident information is broadcast to the surrounding area through PC5 and reported to the central cloud platform through Ethernet, and the central cloud platform responds to the incident.

[0049] The V2X antenna broadcasts the traffic participant targets and event information detected by the roadside sensing device to the surrounding vehicles in real time through the V2X direct communication PC5, which can fully cover the accident-prone areas in the highway, realize the transparency of blind spots and black spots, and further reduce the accident rate.

[0050] The vehicle terminal is used to display early warning information on the highway to users in a timely manner, and report the current accident information to the cloud platform, which is then sent to other vehicles in the surrounding area after review to ensure timely transmission and sharing of information;

[0051] The vehicle terminal includes an early warning HMI unit, an accident reporting unit and a positioning data unit. The accident reporting unit is used to receive safety event information and fixed electronic signage information in the highway service section sent by the central cloud platform through UU, and receive target information and traffic event information detected by the roadside sent by the edge computing unit through PC5 direct communication;

[0052] When the accident reporting unit receives the safety event information and fixed electronic sign information within the highway service section sent by the central cloud platform through UU, when the vehicle enters the highway service section, the vehicle will report the vehicle's location information and motion status information. The vehicle performs map matching based on the location information to obtain the current position of the vehicle in the map, and at the same time obtains corresponding service information from the central cloud platform. The service information includes highway sign service information and accident information occurring ahead. The electronic sign information obtained through the service information is parsed, and at the same time, valid electronic sign information is screened based on the map matching results obtained by the current vehicle, and the parsed valid data is reasonably displayed to provide the driver with effective information services on signs and events.

[0053] The effective event information service includes a visual display of the current vehicle's location on the map, as well as electronic signs that will appear on the road sections that the vehicle will pass through in the future, such as signposts and road signs, the time and severity of the event, and the impact on travel time. Relevant reminder information will be displayed first based on the priority of the event. The display methods can be diverse, including but not limited to animation, voice, and text, so as to provide drivers with safety warning reminders in a reasonable and effective manner.

[0054] In the process of receiving the target information and traffic event information detected by the roadside perception device sent by the edge computing unit through the PC5 direct communication, when the vehicle enters the PC5 communication coverage, the on-board terminal can obtain the RSM (Road Side Message) message broadcast by the roadside and the RSI (Road Side Incident) message detected in real time, so that it can quickly transmit the target perception and event monitoring information, so that the surrounding vehicles can obtain the movement status of all vehicles in the field of vision and blind spots in real time and accurately, and the driver can make reasonable advance predictions based on the movement status of the surrounding vehicles and take corresponding braking measures to ensure driving safety;

[0055] The positioning data unit is used to record the detected vehicle ID and analyze the vehicle's historical trajectory based on the vehicle ID to determine the vehicle's short-term motion state; by predicting the motion state of surrounding vehicles, it can assess whether a threat will be posed to the vehicle's motion state in the future, and provide corresponding reminders or warnings based on the severity of the threat, thereby greatly improving the driver's safe driving ability and providing more comprehensive protection for driving safety.

[0056] The warning HMI unit is used to provide vehicles with overspeed warning and underspeed warning, service area distance reminder, ramp exit reminder services in combination with the speed limit sign information on the road, as well as a one-key alarm service for the vehicle terminal. It can directly connect to the highway backend service center, effectively improving the response capability of emergency events.

[0057] The road inspection system provides an information reporting channel, which can quickly report abnormal events and the absence or damage of road traffic signs, and determine whether it needs to be broadcast to surrounding vehicles based on the type of information;

[0058] The road inspection system includes an accident information reporting unit and a road abnormality inspection unit. The road abnormality inspection unit is responsible for monitoring the overall road condition of the expressway through regular and irregular inspections by inspection vehicles. The inspection vehicles are equipped with sensing monitoring equipment, which can detect the road surface status in real time and record and upload the findings, such as damaged road surface, unclear signs, damaged traffic safety facilities, etc., and report the relevant information to the management center. In addition, the inspection vehicles can also conduct rapid inspections of temporary situations, such as assessments of accident sites, reporting the location of the accident, the affected area and the time range, which helps to quickly respond to and resolve safety hazards on the road, ensure smooth and safe traffic, and provide corresponding safety reminder services for subsequent highway drivers.

[0059] The accident information reporting unit conducts manual reporting through a special APP or hotline, such as accidents, road construction, weather changes, etc.; manual reporting relies on the participation of the public and can quickly and intuitively feedback road conditions, thereby promoting good traffic management. Through the direction, location, affected lanes, specific circumstances and pictures provided by users, the traffic management department can intuitively understand the true situation of the incident; in addition, the manually reported information can also be cross-verified with other monitoring methods to improve the accuracy and reliability of the data, ensuring that the system is at the best time when responding to emergencies, thereby ensuring the driving safety of highway users.

[0060] By combining UU and PC5 communication technologies, comprehensive coverage of highway traffic incidents is achieved, and accident blind spots and black spots in highways are transparently managed, thereby providing drivers with adequate safety protection. Specifically, by providing rich service information and effective safety event information on the roadside, it can provide drivers with all-round safety protection throughout the entire highway, effectively perceive and control accident-prone areas and key supervision areas on highways. In addition, the system transmits perception information of surrounding target vehicles in real time, providing reliable protection for vehicle driving safety perception; through vehicle-cloud collaboration, the system can report event data and conduct closed-loop management of vehicle-directed data distribution, realizing coordinated event processing and safety reminders within the highway range. This comprehensive measure has greatly improved the safety of highway driving and provided more comprehensive protection for each driver.

[0061] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A safety service system in a highway vehicle-road cloud environment, characterized by: include: The central cloud platform is used for information aggregation and distribution, and performs automated processing or manual review of reported security incident information to achieve rapid synchronization and push of information; An edge computing unit, wherein the edge computing unit uses a visual recognition algorithm to detect target information and identify events in a coverage area in real time, wherein the edge computing unit includes a roadside sensing device, an event analysis module, and a V2X antenna, wherein the roadside sensing device is electrically connected to the event analysis module and the V2X antenna, respectively; The vehicle terminal is used to display the early warning information on the highway to the user in a timely manner, and report the current accident information to the cloud platform, which is then sent to other vehicles in the surrounding area after review to ensure the timely transmission and sharing of information; Road inspection system, which provides an information reporting channel, can quickly report abnormal events and the absence or damage of road traffic signs, and determine whether it needs to be broadcast to surrounding vehicles based on the type of information; The vehicle-mounted terminal and the road inspection system are both connected to the central cloud platform through 5GUU, the central cloud platform is connected to the edge computing unit through Ethernet, and the edge computing unit is connected to the vehicle-mounted terminal through PC5.

2. A highway vehicle-road cloud environment safety service system according to claim 1, characterized in that: The information aggregation and processing performed by the central cloud platform includes obtaining all vehicle-mounted terminals registered with the highway vehicle-road cloud information service system, regularly obtaining the location information of the vehicle, and determining whether it is within the corresponding highway service range through map matching. The location information of the vehicle includes the vehicle's latitude and longitude, heading angle, timestamp, speed and vehicle type. Map matching must cover all map information and corresponding signboard information within the entire highway service section.

3. A highway vehicle-road cloud environment safety service system according to claim 2, characterized in that: The process of map matching to determine whether a vehicle is within the corresponding highway service range is as follows: A1. Collect the latitude and longitude point sequence of the vehicle and the map data of the highway management area; A2. De-noising and smoothing the collected vehicle longitude and latitude point sequence, filtering the map data, and obtaining effective highway vector lane information data, which includes road centerline, lane and section information; A3. Calculate the vertical distance from the latest position to the center line of each road section, and preliminarily screen candidate lanes based on the calculated vertical distance. Determine whether the vehicle's driving direction is consistent with the road's driving direction from the candidate lanes. If the vehicle's driving direction is consistent with the road's driving direction, then determine that the vehicle's trajectory point's moving direction is consistent with the road's driving direction, and the vehicle is within the corresponding high-speed service range. If the vehicle's driving direction is inconsistent with the road's driving direction, it is determined that the vehicle's trajectory point's moving direction is inconsistent with the road's driving direction, and the vehicle is not within the corresponding high-speed service range.

4. A highway vehicle-road cloud environment safety service system according to claim 3, characterized in that: The information aggregation and processing performed by the central cloud platform also includes target information and event information detected by all edge computing units in the highway service section. The detected target information is desensitized into a specific format and sent to the vehicle-side user. At the same time, the traffic event information is sent to the corresponding vehicles in the surrounding service areas.

5. A highway vehicle-road cloud environment safety service system according to claim 4, characterized in that: The information aggregation and processing performed by the central cloud platform also includes receiving inspection vehicle information and reporting information from highway service companies, and reporting the relevant information to the management center, which will organize and repair it, and at the same time receive dangerous hidden danger information reported by inspection vehicles.

6. A highway vehicle-road cloud environment safety service system according to claim 5, characterized in that: The roadside perception device realizes real-time perception and monitoring of the surrounding environment through connected cameras and radar sensors. The cameras and radar sensors each capture information in different ways, and the perception coordinate conversion is performed on the data from two different sources, and the data of each sensor is mapped to the same coordinate system. After the coordinate conversion is completed, the data from different sensors are aggregated, and the data from different sources are fused and processed to obtain information on the type, position and motion state of the surrounding targets; The event analysis module monitors the road conditions within the camera coverage area in real time, and uses image recognition to monitor whether a safety incident occurs in the monitoring area. At the same time, the monitored traffic safety incident information is broadcast to the surrounding area through PC5, and reported to the central cloud platform through Ethernet, and the central cloud platform responds to the incident; The V2X antenna broadcasts the traffic participant targets and event information detected by the roadside sensing device to surrounding vehicles in real time through the V2X direct communication PC5.

7. A highway vehicle-road cloud environment safety service system according to claim 6, characterized in that: The vehicle terminal includes an early warning HMI unit, an accident reporting unit and a positioning data unit. The accident reporting unit is used to receive safety event information and fixed electronic signage information in the highway service section sent by the central cloud platform through UU, and receive target information and traffic event information detected by the roadside sent by the edge computing unit through PC5 direct communication; The positioning data unit is used to record the detected vehicle ID and analyze the historical trajectory of the vehicle according to the vehicle ID, so as to determine the short-term movement state of the vehicle; The warning HMI unit is used to provide vehicles with overspeed warning and underspeed warning, service area distance reminder, ramp exit reminder services in combination with the speed limit sign information on the road, as well as a one-key alarm service for the vehicle terminal.

8. A highway vehicle-road cloud environment safety service system according to claim 7, characterized in that: When the accident reporting unit receives the safety event information and fixed electronic sign information within the highway service section sent by the central cloud platform through UU, when the vehicle enters the highway service section, the vehicle will report the vehicle's location information and motion status information. The vehicle performs map matching based on the location information to obtain the current position of the vehicle in the map, and at the same time obtains corresponding service information from the central cloud platform. The service information includes highway sign service information and accident information occurring ahead. The electronic sign information obtained through the service information is parsed, and based on the map matching results obtained by the current vehicle, the valid electronic sign information is screened and the parsed valid data is reasonably displayed.

9. A highway vehicle-road cloud environment safety service system according to claim 8, characterized in that: When the accident reporting unit receives the target information and traffic event information detected by the roadside perception device and sent by the edge computing unit through PC5 direct communication, when the vehicle enters the PC5 communication coverage area, the on-board terminal can obtain the RSM message broadcast by the roadside and the RSI message of the event detected in real time, so that it can quickly transmit the target perception and event monitoring information, so that the surrounding vehicles can obtain the movement status of all vehicles in the field of vision and blind spots in real time and accurately, and the driver can make reasonable advance predictions based on the movement status of the surrounding vehicles and take corresponding braking measures to ensure driving safety.

10. A highway vehicle-road cloud environment safety service system according to claim 9, characterized in that: The road inspection system includes an accident information reporting unit and a road abnormality inspection unit. The road abnormality inspection unit is responsible for monitoring the overall road conditions of the expressway through regular and irregular inspections by inspection vehicles. The inspection vehicles are equipped with sensing monitoring equipment that can detect the road surface status and find and upload records in real time, and report relevant information to the management center. The accident information reporting unit performs manual reporting via a dedicated APP or hotline.

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