Automatic driving travel method and system

Abstract

The invention discloses an automatic driving travel method and system. The method comprises the steps that a block chain service platform receives a travel demand sent by a user terminal, generates a scheduling instruction according to the travel demand, sends the scheduling instruction to a block chain vehicle node, receives data information of the vehicle node, and sends the data information of the vehicle node to the user terminal; the vehicle node determines a driving route, time and a destination according to the scheduling instruction; wherein the scheduling instruction and the data information of the vehicle node are both carried in the block chain, and each block comprises a block head and a block body; the block head comprises a timestamp and a chain structure element; the timestamps are used for recording the specific time of block generation and verifying the sequence of the blocks; the chain structure element comprises a hash value of a previous block and is used for forming a link of the block chain; and the block body is used for storing the scheduling instruction and / or the data information of the vehicle node. According to the invention, the safety of automatic driving travel is improved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to an autonomous driving travel method and system. Background Art

[0002] Traditional autonomous driving travel system architecture Figure 1 As shown in the figure, it mainly includes the vehicle side, the cloud center service platform, and the user app. In this structure, the vehicle side and the user app interact with the cloud center service platform server in real time. The cloud center service platform stores user and vehicle data, including important vehicle information such as vehicle number, vehicle speed, and vehicle location, as well as sensitive user travel data such as user location and destination.

[0003] However, the central server is prone to single point failure, which can disrupt the entire system's services. Furthermore, all data is stored in one place, so if the central server is attacked or damaged, all data may be leaked or maliciously modified.

[0004] After unauthorized third parties obtain user information, they may violate the user's privacy rights and even use this data to commit illegal acts, such as directing users to the wrong destination or dispatching vehicles that do not meet user needs.

[0005] At the same time, the autonomous driving travel system will contain multiple dispatch instructions issued to the vehicle, including information such as the vehicle's global path planning, driving destination, intermediate stops, etc. Once these dispatch instructions are tampered with or attacked, it will cause serious security risks. Summary of the Invention

[0006] The object of the present invention is to provide an autonomous driving travel method and system to overcome or at least alleviate at least one of the above-mentioned deficiencies of the prior art.

[0007] To achieve the above objectives, the present invention provides an autonomous driving travel method, comprising:

[0008] The blockchain service platform receives travel demands sent by user terminals;

[0009] The blockchain service platform generates dispatch instructions based on travel demand, sends dispatch instructions to the blockchain vehicle node, receives data information from the vehicle node, and sends the data information of the vehicle node to the user terminal;

[0010] The vehicle node determines the driving route, time and destination according to the dispatch instruction;

[0011] Among them, the dispatching instructions and vehicle node data information are all carried in the blockchain. Each block includes a block header and a block body; the block header includes a timestamp and a chain structure element; the timestamp is used to record the specific time of block generation and to verify the order of blocks; the chain structure element includes the hash value of the previous block, which is used to form a link in the blockchain; the block body is used to store dispatching instructions and / or vehicle node data information.

[0012] Preferably, the data information of the vehicle node stored in the block body includes at least one of the following: vehicle number, vehicle current position, vehicle speed, vehicle usage status, and vehicle heading angle.

[0013] Preferably, the data information of the dispatch instruction stored in the block body includes at least one of the following: vehicle number, destination, vehicle travel route, and parking point.

[0014] Preferably, the blockchain service platform receives the data information of the vehicle node, including: the blockchain service platform obtains the block carrying the data information of the vehicle node, verifies the legitimacy of the timestamp in the block header, and verifies whether the hash value of the previous block contained in the block is correct; if the verification is successful, the blockchain service platform obtains the data information of the vehicle node stored in the block body;

[0015] Before the vehicle node determines the driving route, time and destination according to the dispatch instruction, it also includes: the vehicle node obtains the block carrying the dispatch instruction, verifies the legitimacy of the timestamp in the block header, and verifies whether the hash value of the previous block contained in the block is correct; if the verification is successful, the dispatch instruction stored in the block body is obtained.

[0016] Preferably, each vehicle node corresponds to a pair of secret keys, and each scheduling node of the blockchain service platform corresponds to a pair of secret keys. Each pair of secret keys includes a public key and a private key. The public key is used to encrypt the information to be transmitted, and the private key is used to decrypt the received information and generate a digital signature.

[0017] Preferably, the blockchain service platform receives the travel demand sent by the user terminal including:

[0018] The blockchain service platform receives travel demand information sent by the user terminal and stored in the blockchain. The user terminal divides the travel demand information into blocks according to the AES algorithm, applies the AES encryption algorithm to each block, encrypts it with the same key k, generates ciphertext blocks, combines all ciphertext blocks into a complete ciphertext, and stores it in the blockchain.

[0019] The blockchain service platform decomposes the ciphertext into blocks, decrypts each ciphertext using the same key k and AES decryption algorithm, recovers the plaintext block, combines all the plaintext blocks, and recovers the user's travel demand information.

[0020] The present invention also provides an autonomous driving travel system, including a user terminal, a blockchain service platform and a vehicle; wherein,

[0021] User terminal, used to send travel requirements to the blockchain service platform;

[0022] The blockchain service platform is used to receive travel demands sent by user terminals; generate dispatch instructions based on travel demands, send dispatch instructions to blockchain vehicle nodes, receive data information from vehicle nodes, and send the data information from vehicle nodes to user terminals;

[0023] Vehicle nodes, used to determine the driving route, time and destination according to the dispatch instructions;

[0024] Among them, the dispatching instructions and vehicle node data information are all carried in the blockchain. Each block includes a block header and a block body; the block header includes a timestamp and a chain structure element; the timestamp is used to record the specific time of block generation and to verify the order of blocks; the chain structure element includes the hash value of the previous block, which is used to form a link in the blockchain; the block body is used to store dispatching instructions and / or vehicle node data information.

[0025] Preferably, the data information of the vehicle node stored in the block body includes at least one of the following: vehicle number, vehicle current position, vehicle speed, vehicle usage status, and vehicle heading angle.

[0026] Preferably, the data information of the dispatch instruction stored in the block body includes at least one of the following: vehicle number, destination, vehicle travel route, and parking point.

[0027] Preferably,

[0028] The blockchain service platform is used to: obtain the block carrying the data information of the vehicle node, verify the legitimacy of the timestamp in the block header, and verify whether the hash value of the previous block contained in the block is correct; if the verification is successful, obtain the data information of the vehicle node stored in the block body;

[0029] The vehicle node is used to obtain the block carrying the scheduling instruction, verify the legitimacy of the timestamp in the block header, and verify whether the hash value of the previous block contained in the block is correct; if the verification is successful, the vehicle node obtains the scheduling instruction stored in the block body.

[0030] The present invention has the following advantages due to the adoption of the above technical solution:

[0031] Incorporating the dispatching service platform and vehicle nodes into the blockchain ensures that the dispatching service platform and vehicle nodes have unique identities in the network, prevents the addition of malicious nodes, improves the safety of autonomous driving travel, and records data on the blockchain to ensure data security, integrity and transparency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic flow chart of an autonomous driving travel method provided in an embodiment of the present invention.

[0033] Figure 2 A schematic diagram of the structure of a block in a blockchain provided by an embodiment of the present invention.

[0034] Figure 3 A schematic flow chart of an autonomous driving travel method provided in accordance with another embodiment of the present invention.

[0035] Figure 4 A schematic structural diagram of an autonomous driving travel system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In the accompanying drawings, the same or similar reference numerals are used to represent the same or similar elements or elements with the same or similar functions. The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0037] In the description of the present invention, the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the scope of protection of the present invention.

[0038] In the absence of conflict, the technical features in the various embodiments and implementations of the present invention may be combined with each other and are not limited to the embodiments or implementations to which the technical features belong.

[0039] The present invention is further described below with reference to the accompanying drawings and specific embodiments. It should be pointed out that the technical solution and design principle of the present invention are described in detail below only with an optimized technical solution, but the protection scope of the present invention is not limited to this.

[0040] The following terms are used herein, and their meanings are explained below for ease of understanding. Those skilled in the art will appreciate that the following terms may have other names, but any other names should be considered consistent with the terms listed herein without departing from their meanings.

[0041] Example 1

[0042] The embodiment of the present invention provides an automatic driving travel method, such as Figure 1 As shown, including:

[0043] Step S101: The blockchain service platform receives travel demands sent by the user terminal;

[0044] Step S102: The blockchain service platform generates a dispatch instruction based on travel demand, sends the dispatch instruction to the blockchain vehicle node, receives data information from the vehicle node, and sends the data information of the vehicle node to the user terminal;

[0045] Step S103: The vehicle node determines the driving route, time and destination according to the dispatch instruction;

[0046] Among them, the dispatching instructions and vehicle node data information are all carried in the blockchain. Each block includes a block header and a block body; the block header includes a timestamp and a chain structure element; the timestamp is used to record the specific time of block generation and to verify the order of blocks; the chain structure element includes the hash value of the previous block, which is used to form a link in the blockchain; the block body is used to store dispatching instructions and / or vehicle node data information.

[0047] In one embodiment, the data information of the vehicle node stored in the block body includes at least one of the following: vehicle number, vehicle current location, vehicle speed, vehicle usage status, and vehicle heading angle.

[0048] In one embodiment, the data information of the dispatch instruction stored in the block includes at least one of the following: vehicle number, destination, vehicle travel route, and parking point.

[0049] In one embodiment, the blockchain service platform receives the data information of the vehicle node, including: the blockchain service platform obtains the block carrying the data information of the vehicle node, verifies the legitimacy of the timestamp in the block header, and verifies whether the hash value of the previous block contained in the block is correct; if the verification is successful, the blockchain service platform obtains the data information of the vehicle node stored in the block body;

[0050] Before the vehicle node determines the driving route, time and destination according to the dispatch instruction, it also includes: the vehicle node obtains the block carrying the dispatch instruction, verifies the legitimacy of the timestamp in the block header, and verifies whether the hash value of the previous block contained in the block is correct; if the verification is successful, the dispatch instruction stored in the block body is obtained.

[0051] In one embodiment, each vehicle node corresponds to a pair of secret keys, and each scheduling node of the blockchain service platform corresponds to a pair of secret keys. Each pair of secret keys includes a public key and a private key. The public key is used to encrypt the information to be transmitted, and the private key is used to decrypt the received information and generate a digital signature.

[0052] In one embodiment, the blockchain service platform receives the travel demand sent by the user terminal, including:

[0053] The blockchain service platform receives travel demand information sent by the user terminal and stored in the blockchain. The user terminal divides the travel demand information into blocks according to the AES algorithm, applies the AES encryption algorithm to each block, encrypts it with the same key k, generates ciphertext blocks, combines all ciphertext blocks into a complete ciphertext, and stores it in the blockchain.

[0054] The blockchain service platform decomposes the ciphertext into blocks, decrypts each ciphertext using the same key k and AES decryption algorithm, recovers the plaintext block, combines all the plaintext blocks, and recovers the user's travel demand information.

[0055] In one embodiment, blocks in a blockchain can be Figure 2 The structure shown is easy to understand. Figure 2 The structure shown is only an example, and the block design can also be implemented in other ways. For example, a data block can only undergo one hash operation.

[0056] exist Figure 2 The block structure shown includes the block header design and block body design:

[0057] (1) Block header design

[0058] Timestamp: records the specific time when the block is generated, used to verify the order of blocks and prevent reordering of blocks.

[0059] Version number: Indicates the version of the blockchain protocol, used for compatibility and software upgrades.

[0060] Chain structure elements include the Previous Block Hash, which stores the hash value of the previous block. This value is included in the current block's header to form a chain link. The Target Hash is set to control the block generation rate, ensuring the security and stability of the blockchain network. This chain structure ensures the blockchain's immutability.

[0061] (2) Block design

[0062] Stored data content:

[0063] The data stored in the block is the transaction data of travel services.

[0064] Table 1 shows the data that the vehicle node needs to store in the blockchain, including the vehicle number and the corresponding timestamp, current location, driving speed, heading angle, current vehicle status and other information.

[0065] Vehicle number Storage content 1001 Timestamp, current location, driving speed, heading angle, current vehicle status, etc. 1002 Timestamp, current location, driving speed, heading angle, current vehicle status, etc.

[0066] Table 1

[0067] Table 2 shows the data stored in the blockchain for vehicle nodes. Block P stores the timestamp, vehicle ID, and corresponding information such as current location, speed, heading angle, and vehicle status. Except for the timestamp, which is stored in the block header, all other information can be stored within the block body. The data storage methods for vehicle nodes in blocks P+N and P+N+M are similar and will not be further described.

[0068]

[0069]

[0070] Table 2

[0071] Table 3 shows the data that the dispatch service node needs to store in the blockchain, including the vehicle number and the corresponding instruction issuance timestamp, travel destination, travel route, parking point information, etc.

[0072] Vehicle number Storage content 1001 The command is issued with timestamp, travel destination, travel route, and parking point information. 1002 Command issuance timestamp, travel destination, travel route, and parking point information

[0073] Table 3

[0074] Table 4 shows the dispatch instruction data stored in the blockchain. Block P stores the timestamp, vehicle ID, and corresponding destination, route, and parking information. Except for the timestamp, which is stored in the block header, all other information can be stored within the block body. The dispatch instruction data storage methods for blocks P+N and P+N+M are similar and will not be further described.

[0075]

[0076]

[0077] Table 4

[0078] Hash Algorithm:

[0079] In one embodiment, SHA-256 (Secure Hash Algorithm 256 bits) may be used on the vehicle node data and the dispatch instruction data to calculate a hash value of the current block.

[0080] Its mathematical formula is as follows:

[0081] H(M)=SHA-256(M) (1)

[0082] Here, H(M) represents a hash operation on data M, and SHA-256 refers to the SHA-256 algorithm.

[0083] As mentioned above, the chain structure element of the block header contains the hash value of the previous block, and the hash value of the current block can be saved in the block body to form a link of the blockchain.

[0084] Encryption algorithm:

[0085] In one embodiment, an asymmetric encryption algorithm is used to encrypt data using a pair of keys, which include a public key and a private key. Each vehicle node and each dispatch service node will have a corresponding pair of keys, including a public key (Kpub) and a private key (Kpri). The data encryption process is as follows:

[0086] C=EKpub(P) (2)

[0087] Among them, C is the encrypted ciphertext, EKpub is the function encrypted using the public key, and P is the vehicle node data or scheduling instruction data to be encrypted.

[0088] Combined with Table 2 and Table 4, the data of the vehicle node and the dispatch instruction data are stored in the block in ciphertext form, which increases the security and privacy of communication.

[0089] Merkle Tree:

[0090] For the vehicle node data and dispatch instruction data in each block, a Merkle tree is used to verify the integrity of the data. The hash values ​​of the vehicle node data and dispatch instruction data corresponding to a vehicle node are constructed into a Merkle tree, and the root hash value is calculated to ensure that the vehicle data and dispatch instruction data will not be tampered with during transmission and storage.

[0091] Preferably, the vehicle node data or scheduling instruction data corresponding to one vehicle node is transmitted in one block.

[0092] In the present invention, user terminals, vehicle nodes and the dispatching service platform can communicate with each other using a P2P (Peer-to-Peer) network.

[0093] In a P2P network, every participant has equal status and can communicate and exchange data directly with other participants without going through a centralized server. In a P2P network, each node can act as both a client and a server, providing and requesting services, enabling direct peer-to-peer communication. In this case, the P2P network serves as the communication infrastructure between dispatch service nodes and vehicle nodes, enabling direct connections and data transmission between nodes. Dispatch service nodes and vehicle nodes can discover each other through the P2P network, establish connections, and conduct data transmission. Nodes transmit data in real time via the P2P network, including vehicle node real-time location and speed data, as well as dispatch instruction data.

[0094] The use of a P2P network ensures timely data transmission and reception, enabling data exchange between the dispatch service node and vehicle nodes. Vehicle nodes broadcast their own data, such as location and speed, through the P2P network, allowing other nodes to obtain real-time information. The dispatch service node also sends dispatch instructions to specific vehicle nodes via the P2P network, ensuring timely transmission and execution of these instructions.

[0095] In one embodiment, an automated script function is used to form a smart contract to implement the operations of the user terminal, the dispatch service platform, and the vehicle node in the above method. The automated script function includes information related to the vehicle, dispatch instructions, travel requirements, and registration nodes.

[0096] For example, automated script functions can be written using the Solidity programming language, a high-level language specifically designed for writing smart contracts that is widely used on Ethereum and other Ethereum Virtual Machine (EVM)-compatible blockchain platforms.

[0097] The data structure and function description of each function are as follows:

[0098] (1) Vehicle data structure:

[0099] Specifically, Table 5 is shown below, which defines the vehicle number, position, speed, state, and heading angle.

[0100]

[0101] Table 5

[0102] Update vehicle data function UpdateVehicle():

[0103] The vehicle node uses this function to obtain the vehicle ID and new vehicle information data, encrypts the updated data, and writes the encrypted data into the block.

[0104] QueryVehicle() function to query vehicle data:

[0105] The dispatch service platform queries vehicle data through this function. If a vehicle number parameter is received, the function determines whether the vehicle number exists. If so, it queries the vehicle data corresponding to the number. If not, it queries all vehicle data. This function also includes the process of decrypting the received data:

[0106] P=DKpri(C)=C d modn (3)

[0107] Where P is the decrypted plaintext data, DKpri is the function decrypted using the private key, C is the encrypted ciphertext data, e is the exponent of the public key, d is the exponent of the private key, and n is the modulus of the public and private keys. Both the public and private keys are pre-generated and distributed by the system. For example, the dispatch service platform can generate public and private keys for each vehicle node.

[0108] (2) Travel demand data structure:

[0109] As shown in Table 6, the data structure includes user ID, starting point location, end point location, travel time, and travel status. For example, the travel status uses 0 to indicate not traveling, 1 to indicate traveling, and 2 to indicate the end of the trip.

[0110]

[0111] Table 6

[0112] Generate travel demand function GenTravel():

[0113] The user terminal uses this function to generate travel demand. After the user selects a travel plan, the function is triggered and the travel data is written to the blockchain network. When writing data, the AES symmetric encryption algorithm is used. First, a 128-bit key K is generated. The data packet is divided into blocks according to the requirements of the AES algorithm. The AES encryption algorithm is applied to each block, encrypted with the key k, and the corresponding ciphertext block is generated. Finally, all ciphertext blocks are combined into the complete ciphertext c. The following formula is used

[0114] m=Dk(c) (4)

[0115] Where D is the AES encryption algorithm, k is the key, and c is the ciphertext.

[0116] The encrypted data is written into the blockchain network for storage. The data is encrypted during storage and transmission, and the content of the original data will not be exposed. This can prevent the data from being stolen and tampered with, while also protecting the user's privacy rights.

[0117] Query travel demand function QueryTravel():

[0118] The dispatch service platform uses this function to query user travel needs. Because the travel demand data uses the AES symmetric encryption algorithm, AES decryption is used here. First, the ciphertext c is broken down into blocks. Each ciphertext is decrypted using the same key k and the AES decryption algorithm to recover the plaintext blocks. All plaintext blocks are then combined to recover the complete plaintext m.

[0119] This function can also be defined to receive a travel status identifier, only query data for non-travel status, and return travel demand data.

[0120] (3) Scheduling instruction data structure:

[0121] As shown in Table 7, the dispatch instruction data structure includes vehicle number, destination, travel route, and parking point.

[0122]

[0123] Table 7

[0124] Generate dispatch instruction function SendDispath():

[0125] The dispatch service platform first calls the QueryVehicle() function to retrieve all autonomous vehicle data, then calls the QueryTravel() function to obtain travel requests. It then assigns vehicles based on user requests and generates dispatch instruction data. This dispatch instruction function takes no input parameters and returns the vehicle number, destination, travel route, and parking location information. The generated dispatch instruction data also needs to be encrypted and stored on the blockchain.

[0126] Query dispatch instruction function QueryDispath():

[0127] Vehicle nodes use this function to decrypt encrypted dispatch instruction data. This function receives the vehicle ID, queries the dispatch instruction data based on the vehicle ID, and returns the dispatch instruction data. Vehicle nodes can use monitoring to query dispatch instructions and execute corresponding operations upon receiving their own dispatch instructions. For example, the dispatch service platform can broadcast dispatch instructions, which can be received by multiple vehicle nodes, but only the vehicle node corresponding to the vehicle ID carried in the dispatch instruction will execute the corresponding operation.

[0128] In one implementation, each vehicle node and dispatch service node generates a key pair upon registration, consisting of a public key and a private key. The public key is used for authentication and data encryption, is publicly visible, and can be securely shared. The private key is used for data decryption and digital signature generation and must be kept strictly confidential. Key generation can use either symmetric or asymmetric encryption algorithms, which are not specified here.

[0129] The RegisterNode() function includes two parts: registering the vehicle node and the dispatch service node. Node registration ensures that each vehicle node and dispatch service node has a unique identity on the blockchain. The registration process verifies the node's identity and prevents malicious nodes from joining. Node registration requires pre-generated public and private keys. The public key is provided during node registration, and the registration contract function uses the public key to verify the node's identity. Recording node registration information on the blockchain ensures that it cannot be tampered with, preventing unauthorized vehicle registration.

[0130] The user terminal can be a tablet or mobile app. The login interface can include login authentication, travel plan selection, and real-time vehicle information display. Login authentication is performed by the system's backend service. Only authorized and registered users can access the app, preventing unauthorized access and protecting user privacy. To select a travel plan, the user selects the starting point, destination, and travel time. The app then calls the GenTravel() function to write the data to the blockchain network.

[0131] Furthermore, the user terminal can also display vehicle information in real time, and the APP can call the QueryVehicle() function in real time, transmit the vehicle number, query the vehicle changes in real time, and display it on the APP.

[0132] Example 2

[0133] This embodiment provides an automatic driving travel method, such as Figure 3 As shown, this embodiment provides a specific example of the method based on Example 1, including:

[0134] In step S301, the user APP determines the travel plan and submits it to the scheduling service node; the scheduling service node calls the GenTravel() function to generate travel demand and writes the travel demand data into the blockchain.

[0135] Among them, the user APP S301 is used to interact with the system. Users can realize travel services through the APP, including but not limited to: user registration and login, autonomous driving vehicle reservation, riding experience, etc.

[0136] In step S302, the dispatch service node calls the QueryVehicle() function to obtain vehicle data, calls the QueryTravel() function to obtain user travel needs, assigns vehicles according to the dispatch algorithm, generates dispatch instructions, and then calls the SendDispath() function to write the dispatch instruction data into the blockchain.

[0137] Among them, the vehicle node calls the UpdateVehicle() function in real time to update the vehicle data in the vehicle node.

[0138] In step S303, the vehicle node calls the query dispatch instruction QueryDispath() function to obtain the dispatch instruction data and controls the vehicle driving according to the driving route, destination, and travel time in the dispatch instruction.

[0139] Step S304: The user APP calls the QueryVehicle() function to query vehicle data to obtain real-time vehicle data and update the APP interface display.

[0140] As described above, each dispatch service node and vehicle node is added to the blockchain, ensuring a unique identity within the network and preventing malicious nodes from joining. Public and private key encryption ensures the security and privacy of inter-node communications. Smart contract functions are implemented to manage node registration, authentication, and transactions, ensuring data validity and consistency. The system utilizes a distributed architecture, distributing dispatch service nodes and vehicle nodes across different servers, eliminating single points of failure that could impact overall system operation. Leveraging the blockchain's immutable nature, data is recorded on the blockchain, ensuring data integrity and transparency.

[0141] Example 3

[0142] The embodiment of the present invention provides an autonomous driving travel system for implementing the method described in the above embodiment 1 or 2. The specific implementation details of the system can refer to the description of the above embodiment 1 or 2, such as Figure 4 As shown, the system includes a user terminal 41, a blockchain service platform 42 and a vehicle node 43; wherein,

[0143] User terminal 41, used to send travel requirements to the blockchain service platform;

[0144] The blockchain service platform 42 is configured to receive travel demands sent by user terminals; generate dispatch instructions based on the travel demands, send the dispatch instructions to blockchain vehicle nodes, receive data information from the vehicle nodes, and send the data information from the vehicle nodes to the user terminals;

[0145] Vehicle node 43, used to determine the driving route, time and destination according to the dispatch instruction;

[0146] Among them, the dispatching instructions and vehicle node data information are all carried in the blockchain. Each block includes a block header and a block body; the block header includes a timestamp and a chain structure element; the timestamp is used to record the specific time of block generation and to verify the order of blocks; the chain structure element includes the hash value of the previous block, which is used to form a link in the blockchain; the block body is used to store dispatching instructions and / or vehicle node data information.

[0147] In one embodiment, the data information of the vehicle node stored in the block body includes at least one of the following: vehicle number, vehicle current location, vehicle speed, vehicle usage status, and vehicle heading angle.

[0148] In one embodiment, the data information of the dispatch instruction stored in the block includes at least one of the following: vehicle number, destination, vehicle travel route, and parking point.

[0149] In one embodiment, the blockchain service platform 42 is used to: obtain a block carrying data information of a vehicle node, verify the legitimacy of a timestamp in a block header, and verify whether the hash value of a previous block contained in the block is correct; if the verification is successful, obtain the data information of the vehicle node stored in the block body;

[0150] The vehicle node 43 is used to obtain the block carrying the scheduling instruction, verify the legitimacy of the timestamp in the block header, and verify whether the hash value of the previous block contained in the block is correct; if the verification is successful, the vehicle node obtains the scheduling instruction stored in the block body.

[0151] By adopting the autonomous driving travel method or system provided by the present invention, the dispatching service platform and vehicle nodes are incorporated into the blockchain, ensuring that the dispatching service platform and vehicle nodes have unique identities in the network, preventing the addition of malicious nodes, improving the safety of autonomous driving travel, and recording data on the blockchain to ensure the security, integrity and transparency of the data.

[0152] The present invention ensures data validity and security through a verification mechanism, preventing data tampering and forgery. Vehicle and dispatch instruction data are verified based on the block header, along with the legitimacy of the timestamp. If the timestamp is earlier than the timestamp of the previous block, it indicates the block has been tampered with. The hash value of each block is verified to ensure it matches the hash value of the previous block. If they do not match, the block has been tampered with.

[0153] Moreover, the present invention can also use public key and private key encryption technology to encrypt the information exchanged between the user terminal, the scheduling service platform and the vehicle node to ensure the security and privacy of the communication between the nodes.

[0154] The scheduling service platform in the present invention can adopt a distributed architecture to distribute scheduling service nodes on different servers, thereby avoiding single point failure affecting the operation of the entire system.

[0155] The present invention also uses smart contract functions to manage node registration, identity authentication and transaction processes to ensure the validity and consistency of data.

[0156] Finally, it should be noted that the above embodiments are intended only to illustrate the technical solutions of the present invention and are not intended to limit them. Those skilled in the art will appreciate that the technical solutions described in the aforementioned embodiments may be modified, or some of the technical features thereof may be replaced with equivalents; such modifications or replacements do not deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An automatic driving travel method, characterized in that: include: The blockchain service platform receives travel demands sent by user terminals; The blockchain service platform generates dispatch instructions based on travel demand, sends dispatch instructions to blockchain vehicle nodes, receives data information from vehicle nodes, and sends the data information from vehicle nodes to user terminals; The vehicle node determines the driving route, time and destination according to the dispatch instruction; Among them, the data information of the dispatching instructions and vehicle nodes are all carried in the blockchain. Each block includes a block header and a block body; the block header includes a timestamp and a chain structure element; the timestamp is used to record the specific time when the block is generated and to verify the order of the blocks; the chain structure element includes the hash value of the previous block, which is used to form a link in the blockchain; the block body is used to store the dispatching instructions and / or the data information of the vehicle nodes.

2. The autonomous driving travel method according to claim 1, characterized in that: The data information of the vehicle node stored in the block body includes at least one of the following: vehicle number, vehicle current position, vehicle speed, vehicle usage status, and vehicle heading angle.

3. The automatic driving travel method according to claim 1 or 2, characterized in that: The data information of the dispatch instruction stored in the block body includes at least one of the following: vehicle number, destination, vehicle travel route, and parking point.

4. The automatic driving travel method according to claim 1, characterized in that: The blockchain service platform receives the data information of the vehicle node, including: the blockchain service platform obtains the block carrying the data information of the vehicle node, verifies the legitimacy of the timestamp in the block header, and verifies whether the hash value of the previous block contained in the block is correct; if the verification is successful, the blockchain service platform obtains the data information of the vehicle node stored in the block body; Before the vehicle node determines the driving route, time and destination according to the dispatch instruction, it also includes: the vehicle node obtains the block carrying the dispatch instruction, verifies the legitimacy of the timestamp in the block header, and verifies whether the hash value of the previous block contained in the block is correct; if the verification passes, the dispatch instruction stored in the block body is obtained.

5. The automatic driving travel method according to claim 1, characterized in that: Each vehicle node corresponds to a pair of secret keys, and each scheduling node of the blockchain service platform corresponds to a pair of secret keys. Each pair of secret keys includes a public key and a private key. The public key is used to encrypt the information to be transmitted, and the private key is used to decrypt the received information and generate a digital signature.

6. The automatic driving travel method according to claim 1, characterized in that: The blockchain service platform receives travel demands sent by user terminals, including: The blockchain service platform receives the travel demand carried in the blockchain sent by the user terminal; wherein the user terminal divides the travel demand information into blocks according to the AES algorithm, applies the AES encryption algorithm to each block, encrypts it with the same key k, generates each ciphertext block, combines all the ciphertext blocks into a complete ciphertext, and stores it in the blockchain; The blockchain service platform decomposes the ciphertext into blocks, decrypts each ciphertext using the same key k and AES decryption algorithm, restores the plaintext block, combines all the plaintext blocks, and restores the user's travel demand information.

7. An automatic driving travel system, characterized in that: Including user terminals, blockchain service platforms and vehicles; among them, User terminal, used to send travel requirements to the blockchain service platform; The blockchain service platform is used to receive travel demands sent by user terminals; generate dispatch instructions according to travel demands, send dispatch instructions to blockchain vehicle nodes, receive data information of vehicle nodes, and send data information of vehicle nodes to user terminals; Vehicle nodes, used to determine the driving route, time and destination according to the dispatch instructions; Among them, the data information of the dispatching instructions and vehicle nodes are all carried in the blockchain. Each block includes a block header and a block body; the block header includes a timestamp and a chain structure element; the timestamp is used to record the specific time when the block is generated and to verify the order of the blocks; the chain structure element includes the hash value of the previous block, which is used to form a link in the blockchain; the block body is used to store the dispatching instructions and / or the data information of the vehicle nodes.

8. The automatic driving travel system according to claim 7, characterized in that: The data information of the vehicle node stored in the block body includes at least one of the following: vehicle number, vehicle current position, vehicle speed, vehicle usage status, and vehicle heading angle.

9. The automatic driving travel system according to claim 7 or 8, characterized in that: The data information of the dispatch instruction stored in the block body includes at least one of the following: vehicle number, destination, vehicle travel route, and parking point.

10. The automatic driving travel system according to claim 7, characterized in that: The blockchain service platform is used to: obtain the block carrying the data information of the vehicle node, verify the legitimacy of the timestamp in the block header, and verify whether the hash value of the previous block contained in the block is correct; if the verification is successful, obtain the data information of the vehicle node stored in the block body; The vehicle node is used to: obtain the block carrying the scheduling instructions, verify the legitimacy of the timestamp in the block header, and verify whether the hash value of the previous block contained in the block is correct; if the verification is successful, the vehicle node obtains the scheduling instructions stored in the block body.

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