A highway vehicle-road cloud environment-based safety service system

Abstract

The application discloses a kind of highway car road cloud environment under safety service system, comprising: center cloud platform, edge computing unit, vehicle terminal, road inspection system;Through the cooperation of center cloud platform, edge computing unit, vehicle terminal and road inspection system, the effective transmission between highway sign information, event information and vehicle is realized, simultaneously, using PC5 direct connection communication mode, system can broadcast roadside perception data, and then realize the real-time perception and safety monitoring to highway blind area and accident black spots, through efficient information guarantee measures, system provides comprehensive support for the safe driving of driver, helps to enhance driving safety, reduce accident risk, ensure the safety and smooth of every driver in the process of driving, realize highway safety accident full coverage communication capability, improve the initiative safety of highway, guarantee road safety, reduce accident.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of highway vehicle-road cloud system, and particularly relates to a safety service system in a highway vehicle-road cloud environment. BACKGROUND

[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, and through the monitoring, management, operation and maintenance and timely response of the vehicle-road cloud system, the service level of the highway is improved, and the road traffic accidents are reduced.

[0003] The existing advanced driving assistance system (ADAS) can realize single-vehicle intelligent auxiliary driving, such as lane keeping, lane changing assistance, forward collision warning, etc., and can realize good active safety warning in a short distance range, reducing accidents such as scratching and rear-end collision of vehicles. However, in a complex environment at a long distance, the disadvantages of ADAS are more obvious, and it is impossible to sense the environment in the blind area through its own sensing information. The vehicle-to-everything (V2X) technology can greatly improve the sensing range of the vehicle, and obtain the road environment in front of the highway in advance, so as to provide sufficient response time for the driver to choose a lane or park on the side to avoid collision risks. Real-time road state information interaction puts high requirements on the sensing ability of the road, and sufficient density coverage is needed to realize effective communication distance range through the communication direct connection (PC5) mode. When the density is insufficient or there is shielding, V2X communication may fail, and the road abnormal state information cannot be accurately obtained. However, if sufficient coverage density needs to be constructed, full coverage capability is provided, but it will lead to a sharp increase in construction cost and unnecessary waste.

[0004] In order to solve the above problems, we need to propose a safety service system in a highway vehicle-road cloud environment, which can effectively solve the problem of insufficient coverage of roadside communication equipment, solve the problem of highway accident information broadcast communication, and also realize the communication capability of full coverage of highway safety accidents, improve the active safety of the highway, guarantee the road safety, and reduce the accidents. SUMMARY

[0005] The purpose of the present application 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, solve the problem of highway accident information broadcast communication, and also realize the communication capability of full coverage of highway safety accidents, improve the active safety of the highway, guarantee the road safety, and reduce the accidents, so as to solve the problems proposed in the above background.

[0006] To achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0007] A highway vehicle-road cloud environment safety service system, comprising: a center cloud platform, which is used for information aggregation processing and distribution processing, and automatically processes or manually audits reported safety event information to realize rapid synchronization and push of information;

[0008] An edge computing unit, which detects and identifies target information in a coverage area in real time by using a visual recognition algorithm, and comprises a roadside perception device, an event analysis module and a V2X antenna, wherein the roadside perception device is electrically connected with the event analysis module and the V2X antenna respectively;

[0009] A vehicle terminal, which is used for timely showing early warning information in a highway to a user, and reporting current accident information to the cloud platform, and then issuing the current accident information to other vehicles in the surrounding after the current accident information is audited, so as to ensure timely transmission and sharing of information;

[0010] A road inspection system, which provides an information reporting channel, and can rapidly report abnormal events and missing or damaged road traffic signs, and determines whether to broadcast to surrounding vehicles according to the type of information;

[0011] The vehicle terminal and the road inspection system are both in communication connection with the center cloud platform through 5GUU, the center cloud platform is in communication connection with the edge computing unit through Ethernet, and the edge computing unit is in communication connection with the vehicle terminal through PC5.

[0012] Preferably, the content of the information aggregation processing of the center cloud platform comprises obtaining all vehicle terminals registered for the highway vehicle-road cloud information service system, periodically obtaining location information of the vehicle, and determining whether the vehicle is in the corresponding highway service range by map matching, wherein the location information of the vehicle comprises latitude, longitude, heading angle, time stamp, speed and vehicle type, and the map matching needs to cover all map information and corresponding signboard information in the entire highway service section.

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

[0014] A1, collecting a latitude and longitude point sequence of the vehicle and map data of a highway management range;

[0015] A2, denoising and smoothing the collected vehicle latitude and longitude point sequence, and screening the map data to obtain effective highway vector lane information data, wherein the highway vector lane information data comprises road center line, lane and section information;

[0016] A3, calculate the vertical distance from the latest time position to the center line of each road section, preliminarily screen the candidate lane through the calculated vertical distance, judge whether the vehicle driving direction is consistent with the road driving direction from the candidate lane, if the vehicle driving direction is consistent with the road driving direction, it is determined that the vehicle trajectory point motion direction is consistent with the road driving direction, and the vehicle is in the corresponding high-speed service range; if the vehicle driving direction is not consistent with the road driving direction, it is determined that the vehicle trajectory point motion direction is not consistent with the road driving direction, and the vehicle is not in the corresponding high-speed service range.

[0017] Preferably, the content of the information aggregation processing of the center cloud platform further includes target information and event information detected by all edge computing units in the highway service section, the detected target information is desensitized and sent to the vehicle end user in a specific format, and the traffic event information is sent to the corresponding vehicles in the surrounding service area.

[0018] Preferably, the content of the information aggregation processing of the center cloud platform further includes receiving inspection vehicle information and reporting information of high-speed service enterprises, and reporting the related information to the management center, and organizing and repairing by the management center, and receiving the dangerous hidden danger information reported by the inspection vehicle.

[0019] Preferably, the roadside sensing device realizes real-time sensing and monitoring of the surrounding environment through the access of the camera and the radar sensor, the camera and the radar sensor respectively capture information in different ways, perceive the coordinate conversion of the data from two different sources, map the data of each sensor to the same coordinate system, after completing the coordinate conversion, aggregate the data from different sensors, fuse the data from different sources, and obtain the type, position and motion state information of the surrounding target;

[0020] The event analysis module monitors the road conditions in the camera coverage range in real time, monitors whether a safety event occurs in the monitoring area through image recognition, simultaneously broadcasts the monitored traffic safety event information to the surrounding through PC5, reports to the center cloud platform through Ethernet, and the center cloud platform responds to the event;

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

[0022] Preferably, the vehicle-mounted terminal includes a pre-warning HMI unit, an accident reporting unit and a positioning data unit, the accident reporting unit is used for receiving the safety event information in the highway service section sent by the center cloud platform through UU, the fixed electronic sign information, and receiving the target information and traffic event information detected by the roadside sensing device sent by the edge computing unit through the PC5 direct communication;

[0023] The positioning data unit is used for recording the detected vehicle ID, and analyzing the historical trajectory of the vehicle according to the vehicle ID, so as to judge the short-term motion state of the vehicle;

[0024] The early warning HMI unit is used for providing overspeed early warning and low-speed early warning, service area distance reminding, ramp exit reminding services for the vehicle in combination with the speed limit sign information of the road, and providing one-key alarm services for the vehicle terminal.

[0025] Preferably, in the process that the accident reporting unit receives the safety event information in the highway service section and the fixed electronic sign information sent by the center cloud platform through UU, when the vehicle drives into the range of the highway service section, the vehicle will report the position information and the motion state information of the vehicle, the vehicle performs map matching according to the position information to obtain the position of the current vehicle in the map, and the corresponding service information is obtained from the center cloud platform, the service information includes the sign and sign service information of the highway and the accident information appearing in front, the electronic sign information obtained through the service information is analyzed, the effective electronic sign information is screened according to the map matching result of the current vehicle, and the effective data obtained through the analysis is reasonably displayed.

[0026] Preferably, in the process that the accident reporting unit receives the target information and the traffic event information detected by the road side sensing device sent by the edge computing unit through the PC5 direct connection communication mode, when the vehicle drives into the PC5 communication coverage range, the vehicle terminal can obtain the RSM message broadcasted by the road side and the event RSI message detected in real time, so that the target sensing and event monitoring information can be rapidly transmitted, and the motion states of all vehicles in the visual range and the blind area can be obtained in real time and accurately by the surrounding vehicles, the driver can reasonably make a pre-judgment according to the motion states of the surrounding vehicles, and corresponding braking measures are taken, so that the driving safety is ensured.

[0027] Preferably, the road inspection system comprises an accident information reporting unit and a road anomaly inspection unit, the road anomaly inspection unit is responsible for monitoring the overall road working condition of the highway through regular and irregular inspection of the inspection vehicle, the inspection vehicle is equipped with a sensing monitoring device, can detect the road surface state in real time, find, record and upload, and report the related information to the management center, and the accident information reporting unit is manually reported through a special APP or a hotline.

[0028] Compared with the prior art, the safety service system in the highway vehicle-road cloud environment has the following advantages:

[0029] 1. This invention, through the cooperation of a central cloud platform, edge computing units, vehicle-mounted terminals, and a road inspection system, achieves effective transmission of highway sign information, event information, and vehicles. Simultaneously, utilizing PC5 direct communication, the system can broadcast roadside sensing data, enabling real-time perception and safety monitoring of highway blind spots and accident hotspots. In the vehicle-mounted terminal, the system integrates and displays acquired highway electronic sign information, event information, and target information perceived through video and radar, providing drivers with rich road safety information alerts. This information integration ensures drivers can accurately obtain road guidance information and quickly understand road safety events, effectively preventing secondary accidents and improving the safety management capabilities of accident hotspots. Through efficient information protection measures, the system provides comprehensive support for safe driving, helping to enhance driving safety, reduce accident risks, ensure the safety and smoothness of every driver's journey, achieve full coverage of highway safety accidents, improve highway proactive safety, protect road safety, and reduce accidents. Attached Figure Description

[0030] Fig. 1 This is a system block diagram of the present invention;

[0031] Fig. 2 This is a flowchart illustrating the process of map matching in this invention to determine whether a vehicle is within the corresponding highway service area. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] This invention provides, for example Figs. 1-2 The safety service system shown in the highway vehicle-road-cloud environment includes a central cloud platform, an edge computing unit, an in-vehicle terminal, and a road inspection system. The in-vehicle terminal and the road inspection system are both connected to the central cloud platform via 5G UU. The central cloud platform is connected to the edge computing unit via Ethernet. The edge computing unit is connected to the in-vehicle terminal via PC5.

[0034] The central cloud platform is used for information aggregation, processing, and distribution. It automatically processes or manually reviews reported security incident information to achieve rapid information synchronization and push.

[0035] The content of the information aggregation processing of the center cloud platform includes obtaining all registered vehicle terminals of the expressway vehicle-road cloud information service system, periodically obtaining the location information of the vehicle, and determining whether it is within the corresponding expressway service range through map matching, wherein the location information of the vehicle includes the latitude, longitude, heading angle, time stamp, speed and vehicle type of the vehicle, the positioning accuracy of the vehicle is required to reach the sub-meter level, and the map matching needs to cover all map information and corresponding sign information in the entire expressway service section. These map information will be used for map matching of the vehicle. By analyzing the historical trajectory and current trajectory of the vehicle, it is determined whether the vehicle is located within the expressway service section range, so as to ensure that the expressway safety service system can provide accurate directional services.

[0036] The flow of the map matching for determining whether the vehicle is within the corresponding expressway service range is as follows:

[0037] A1, collecting the latitude and longitude point sequence of the vehicle and the map data of the expressway management range;

[0038] A2, denoising and smoothing the collected vehicle latitude and longitude point sequence, and screening the map data to obtain effective expressway vector lane information data, wherein the expressway vector lane information data includes road center line, lane and section information;

[0039] A3, calculating the vertical distance from the latest time position to the center line of each section, preliminarily screening the candidate lane through the calculated vertical distance, determining whether the vehicle driving direction is consistent with the road driving direction from the candidate lane, if the vehicle driving direction is consistent with the road driving direction, then determining that the vehicle trajectory point motion direction is consistent with the road driving direction, and the vehicle is within the corresponding expressway service range; if the vehicle driving direction is not consistent with the road driving direction, then determining that the vehicle trajectory point motion direction is not consistent with the road driving direction, and the vehicle is not within the corresponding expressway service range.

[0040] The content of the information aggregation processing of the center cloud platform also includes target information and event information detected by all edge computing units in the expressway service section, desensitizing the detected target information into a specific format and sending it to the vehicle end user, and sending the traffic event information to the corresponding vehicles in the surrounding service area;

[0041] The specific format refers to the desensitization information of the latitude, longitude, speed and heading angle of the detection target, and the special encryption algorithm is used to process before the transmission of these data, to ensure that the information cannot be stolen or tampered with by unauthorized third parties during transmission. After the vehicle receives the encrypted data, it verifies the identity through the built-in security module, confirms the legality and security of the data source, and then uses the decryption system to enable the corresponding decryption algorithm to convert the encrypted data into readable content. The encrypted data is used for vehicle terminal display or safety warning around the vehicle. The encryption algorithm includes symmetric encryption SM4 algorithm or asymmetric encryption algorithm SM2 algorithm, but is not limited to the above encryption algorithms.

[0042] The content of the information aggregation processing of the center cloud platform also includes receiving the inspection vehicle information of the high-speed service enterprise and the reporting information. The content of the reporting information includes road damage, unclear identification, traffic safety facility damage, and related information is reported to the management center. The management center organizes and repairs, and at the same time receives the dangerous hidden danger information reported by the inspection vehicle. The dangerous hidden danger information includes road damage, water accumulation, collision accident and road safety event information. The road safety event information includes the location, type, corresponding road section and lane affected by the event, the size of the event affected area, the severity level of the event influence and the duration of the event, etc.

[0043] The content of the information aggregation processing of the center cloud platform also includes integrating the signboards of the highway service, road facility information, weather, real-time traffic conditions and other highway service information. The service information can be linked with the vehicle terminal to realize the safe, friendly, open and transparent high-level service capability of the highway vehicle. The signboards of the highway service include the type, position, road section corresponding to the signboard validity and other information of the signboard.

[0044] The content distributed by the center cloud platform includes sending the aggregated road safety event information and the built-in electronic sign information to the specified vehicles through the UU mode, and displaying the road conditions, wherein the specified vehicles include all vehicles in the specified service section; the content of the road condition display includes displaying all road conditions in the expressway service range, accessing all cameras in the service range for viewing, and displaying the safety events occurring on the road, including the location of the event, the handling condition, the duration, the type of the event, and the like in real time; the location of the event is used to find the nearby camera to timely obtain the real-time situation of the on-site event, and the artificial event reporting is audited, and the edge computing unit checks the event automatic reporting or manual auditing processing capability; the user can intuitively understand the real-time situation of the road, and the traffic flow, road condition and weather change information are clear at a glance, so that the user can timely master the dynamic of the event; in addition, the administrator user can quickly find the nearby camera by viewing the location of the event to obtain the real-time situation of the on-site event, the response speed of the road safety, and ensure that the relevant personnel can quickly respond to cope with the emergency situation.

[0045] The device of the center cloud platform has the function of auditing the artificial event reporting to ensure the authenticity and accuracy of the reported event, and the edge computing unit checks the event, and the system also supports the automatic reporting and manual auditing processing capability, the double auditing mechanism not only improves the efficiency of event processing, but also ensures the accuracy of the information, and provides strong guarantee for the safe operation of the expressway; through these comprehensive functions, the information display capability becomes an important tool for improving the management level of the expressway and the road safety.

[0046] The edge computing unit uses a visual recognition algorithm to detect and identify target information 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, and the roadside perception device is electrically connected with the event analysis module and the V2X antenna; the roadside perception device realizes real-time perception and monitoring of the surrounding environment through the accessed camera and radar sensor, the camera and the radar sensor capture information in different ways, the camera is mainly responsible for acquiring image data, identifying objects, pedestrians and traffic signs, and the radar sensor measures the distance and speed of the object by emitting and receiving electromagnetic waves; the perception coordinate conversion is performed on the two different sources of data, the data of each sensor is mapped to the same coordinate system to ensure the consistency of the information; after completing the coordinate conversion, the data from different sensors is aggregated, the data from different sources is fused, the type, position and motion state of the surrounding target are obtained, and reliable basis is provided for the decision of the vehicle;

[0048] The event analysis module monitors the road conditions within the camera coverage range in real time, monitors whether a safety event occurs in the monitoring area through image recognition, and the safety event includes the time, type, severity, impact range, and road segment / lane where the event occurs. The monitored traffic safety event information is broadcast to the surrounding area through PC5 and reported to the central cloud platform through Ethernet. The central cloud platform responds to the event.

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

[0050] The vehicle terminal is used to timely show the warning information on the highway to the user, and report the current accident information to the cloud platform, which is then issued to other vehicles in the surrounding area after being audited, to ensure timely transmission and sharing of information.

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

[0052] When the vehicle enters the highway service section range, the vehicle reports the location information and motion state information of the vehicle, and the vehicle performs map matching according to the location information to obtain the current position of the vehicle in the map, and obtains the corresponding service information from the central cloud platform, including highway sign service information and accident information in front. The electronic sign information obtained through the service information is analyzed, and the valid electronic sign information is selected according to the map matching result of the current vehicle, and the valid data obtained by analysis is reasonably displayed to provide sign and event effective information services for drivers.

[0053] The event effective information service includes visual display of the current vehicle position in the map, electronic signs such as indication signs and directional signs to be appeared in the road section to be passed by the vehicle in the future, time and severity of the event, and impact on the passing time. According to the priority of the event, the relevant reminder information is displayed first, and the display method can be diversified, including animation, voice, and text, to reasonably and effectively provide safety warning reminders for drivers.

[0054] The accident reporting unit receives the target information and traffic event information detected by the roadside sensing device sent by the edge computing unit through the PC5 direct communication mode, and when the vehicle enters the PC5 communication coverage range, the vehicle terminal can obtain the RSM (Road Side Message) message broadcast by the roadside and the real-time detected event RSI (Road Side Incident) message, so that it can quickly deliver target sensing and event monitoring information, so that the surrounding vehicles can obtain the motion state of all vehicles in the visual range and the blind area in real time and accurately, the driver can make reasonable pre-judgment according to the motion state 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 historical trajectory of the vehicle according to the vehicle ID, so as to judge the short-term motion state of the vehicle; through the prediction of the motion state of the surrounding vehicles, it can evaluate whether it will threaten the motion state of the vehicle in the future period of time, and give corresponding reminders or warnings according to the severity of the threat, greatly improving the safety driving ability of the driver and providing more comprehensive protection for driving safety.

[0056] The pre-warning HMI unit is used to provide over-speed pre-warning and low-speed pre-warning, service area distance reminder, ramp exit reminder services for vehicles in combination with the speed limit sign information of the road, and provide one-key alarm service for the vehicle terminal, which can be directly connected to the highway background service center, and effectively improve the response ability 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 judge whether it needs to broadcast to surrounding vehicles according to the type of information;

[0058] The road inspection system includes an accident information reporting unit and a road anomaly inspection unit, the road anomaly inspection unit is responsible for monitoring the overall road working condition of the highway through regular and irregular inspection of the inspection vehicle; the inspection vehicle is equipped with sensing monitoring equipment, which can detect the road surface state in real time and find, record and upload, such as road surface damage, unclear identification, traffic safety facility damage and other problems, and report the related information to the management center; in addition, the inspection vehicle can also conduct rapid inspection of temporary conditions, such as evaluation of the accident scene, reporting of the accident location, affected area and time range, which is helpful to quickly respond to solve the safety hidden danger of the road, ensure the smoothness and safety of traffic, and provide corresponding safety reminder service for subsequent highway drivers;

[0059] The accident information reporting unit reports manually through a special APP or hotline, such as accidents, road construction, weather changes and the like; manual reporting relies on the participation of the public, which can quickly and intuitively feedback road condition information, thereby promoting traffic management, through the direction, location, affected lane, specific situation and picture information provided by the user, the traffic management department can intuitively understand the real situation of the event; 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 in the best position to respond to emergencies, thereby ensuring the driving safety of highway users.

[0060] By combining UU and PC5 communication technologies, comprehensive coverage of highway traffic events is achieved, and transparent management of accident blind spots and black spots on the highway is achieved, thereby providing sufficient safety protection for drivers, specifically, by providing rich service information and effective safety event information at the roadside, the system can provide full safety protection for drivers within the entire highway range, effectively sense and control high-risk areas and key supervision areas, in addition, the system can real-time transmit the sensing information of surrounding target vehicles, providing reliable protection for the safety perception of vehicle driving; through vehicle-cloud cooperation, the system can report event data and perform closed-loop management of vehicle directional data delivery, realizing coordinated processing and safety reminders of events within the highway range, this comprehensive measure greatly improves the safety of highway driving, and provides more comprehensive protection for each driver.

[0061] Finally, it should be noted that: the above only describes the preferred embodiments of the present application, and is not used to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced, any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A highway vehicle-road cloud environment-based safety service system, characterized in that: Comprise: A central cloud platform for information aggregation processing and distribution processing, automatically processing or manually auditing reported security event information to realize rapid synchronization and push of information; The content of the information aggregation processing of the central cloud platform includes obtaining all vehicle-mounted terminals registered in the expressway cloud information service system, periodically obtaining the location information of the vehicle, and determining whether it is within the corresponding expressway service range through map matching, wherein the location information of the vehicle includes the latitude, longitude, heading angle, time stamp, speed and vehicle type of the vehicle, and the map matching needs to cover all map information and corresponding sign information in the entire expressway service section; The flow of the map matching to determine whether the vehicle is within the corresponding expressway service range is as follows: A1, collect the latitude and longitude point sequence of the vehicle and the map data of the expressway management range; A2, denoising and smoothing processing is performed on the collected vehicle latitude and longitude point sequence, and the map data is screened to obtain effective expressway vector lane information data, which includes road center line, lane and section information; A3, calculate the vertical distance from the latest time position to the center line of each section, preliminarily screen the candidate lanes through the calculated vertical distance, and determine whether the vehicle driving direction is consistent with the road driving direction from the candidate lanes. If the vehicle driving direction is consistent with the road driving direction, it is determined that the vehicle trajectory point motion direction is consistent with the road driving direction, and the vehicle is within the corresponding expressway service range; if the vehicle driving direction is not consistent with the road driving direction, it is determined that the vehicle trajectory point motion direction is not consistent with the road driving direction, and the vehicle is not within the corresponding expressway service range; An edge computing unit for real-time detection and event recognition of target information in the coverage area using visual recognition algorithms, the edge computing unit comprising a roadside perception device, an event analysis module and a V2X antenna, the roadside perception device being electrically connected with the event analysis module and the V2X antenna respectively; A vehicle-mounted terminal for timely displaying early warning information in the expressway to the user, and reporting the current accident information to the cloud platform, and then issuing it to other vehicles in the surrounding area after being audited, to ensure timely transmission and sharing of information; The vehicle-mounted terminal comprises a pre-warning HMI unit, an accident reporting unit and a positioning data unit, the accident reporting unit being used for receiving the safety event information in the expressway service section sent by the central cloud platform through UU, the fixed electronic sign information, and receiving the target information and traffic event information detected by the roadside through the PC5 direct communication mode of the edge computing unit; 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 motion state of the vehicle; The pre-warning HMI unit is used to provide overspeed warning and low-speed warning, service area distance reminder, ramp exit reminder and one-key alarm service of the vehicle-mounted terminal for the vehicle in combination with the speed limit sign information of the road. The road inspection system provides an information reporting channel, can quickly report abnormal events and missing or damaged road traffic signs, and determines whether to broadcast to surrounding vehicles according to the type of information; The vehicle terminal and the road inspection system are both connected to the center cloud platform through 5GUU, the center cloud platform is connected to the edge computing unit through Ethernet, and the edge computing unit is connected to the vehicle terminal through PC5. 2.The safety service system in a highway vehicle-to-road cloud environment according to claim 1, wherein: The content of the information aggregation processing of the center cloud platform also includes target information and event information detected by all edge computing units in the highway service section, desensitizes the detected target information into a specific format and sends it to the vehicle user, and sends the traffic event information to the corresponding vehicles in the surrounding service area. 3.The safety service system in a highway vehicle-to-road cloud environment according to claim 2, characterized in that: The content of the information aggregation processing of the center cloud platform also includes receiving inspection vehicle information and reporting information of highway service enterprises, and reporting relevant information to the management center, organizing and repairing by the management center, and receiving dangerous hidden danger information reported by the inspection vehicle. 4.The safety service system in a highway vehicle-to-road cloud environment according to claim 3, wherein: The roadside sensing device realizes real-time sensing and monitoring of the surrounding environment through the access of the camera and radar sensor, the camera and radar sensor respectively capture information in different ways, perceive coordinate conversion of two different sources of data, map data of each sensor to the same coordinate system, after completing coordinate conversion, aggregate data from different sensors, fuse different sources of data, and obtain the type, position and motion state information of the surrounding target; The event analysis module monitors the road conditions in the camera coverage range in real time, monitors whether a safety event occurs in the monitoring area through image recognition, broadcasts the monitored traffic safety event information to the surrounding area through PC5, and reports to the center cloud platform through Ethernet, and the center cloud platform responds to the event; The V2X antenna broadcasts the traffic participant target and event information detected by the roadside sensing device to the surrounding vehicles in real time through the V2X direct communication PC5. 5.The safety service system in a highway vehicle-to-road cloud environment according to claim 4, characterized in that: The accident reporting unit receives the safety event information and fixed electronic sign information in the highway service section sent by the center cloud platform through UU, when the vehicle enters the highway service section, the vehicle reports the position information and motion state information of the vehicle, the vehicle performs map matching according to the position information to obtain the position of the vehicle in the map, and obtains the corresponding service information from the center cloud platform, the service information includes highway sign service information and accident information in front, analyzes the electronic sign information obtained through the service information, and simultaneously filters the effective electronic sign information according to the map matching result of the current vehicle, and reasonably displays the effective data obtained by analysis. 6.The safety service system in a highway vehicle-to-road cloud environment according to claim 5, characterized in that: In the process that the accident reporting unit receives the target information and traffic event information detected by the roadside sensing device sent by the edge computing unit in the mode of PC5 direct connection communication, when the vehicle enters the PC5 communication coverage range, the vehicle terminal can obtain the RSM message broadcast by the roadside and the event RSI message detected in real time, so that it can quickly deliver target sensing and event monitoring information, so that the surrounding vehicles can obtain the motion state of all vehicles in the visual range and the blind area in real time and accurately, the driver can make reasonable pre-judgment according to the motion state of the surrounding vehicles, and take corresponding braking measures to ensure driving safety. 7.The safety service system in a highway vehicle-to-road cloud environment according to claim 6, characterized in that: The road inspection system comprises an accident information reporting unit and a road anomaly inspection unit, the road anomaly inspection unit is responsible for monitoring the overall road working condition of the expressway through regular and irregular inspection of the inspection vehicle; the inspection vehicle is equipped with sensing monitoring equipment, which can detect, record and upload the road surface state in real time, and report the related information to the management center; The accident information reporting unit is manually reported through a special APP or a hotline.

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