CN113436456B - Safe and efficient long-range autonomous parking reservation service method based on block chain - Google Patents

Safe and efficient long-range autonomous parking reservation service method based on block chain Download PDF

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CN113436456B
CN113436456B CN202110635988.9A CN202110635988A CN113436456B CN 113436456 B CN113436456 B CN 113436456B CN 202110635988 A CN202110635988 A CN 202110635988A CN 113436456 B CN113436456 B CN 113436456B
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曹越
王迪
胡紫依
赵波
严飞
张立强
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Wuhan University WHU
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Abstract

The invention provides a safe and efficient long-range autonomous parking reservation service method based on a block chain. The public trip station authenticates the registered passenger sending the bus taking request based on the biological characteristics, the password and the smart card. After passing the authentication, the public trip platform matches the optimal unloading public trip platform, the parking lot and the automatic driving automobile for the passenger according to the trip time length of the passenger, the waiting time length of the available parking space and the waiting time length of the available automatic driving automobile. And the matched automatic driving automobile drives to the passenger carrying public trip platform for authentication and passenger carrying, and the passenger is sent to the passenger unloading public trip platform and authenticated. After the passenger walks to the destination after the authentication is successful, the passenger drives the automobile to drive to the parking lot for verification and parking, and the public trip platform stores the transaction information on the block chain for tracing and tracing. The invention improves the safety of the long-range autonomous parking reservation service and reduces the communication overhead and the calculation overhead.

Description

Safe and efficient long-range autonomous parking reservation service method based on block chain
Technical Field
The invention belongs to the technical field of long-range autonomous parking reservation services, and particularly relates to a safe and efficient long-range autonomous parking reservation service method based on a block chain.
Background
Due to the rapid growth of automobile holding capacity and unbalanced parking lot distribution, parking difficulty becomes a ubiquitous and disturbing problem in urban life. Finding an idle parking space introduces problems such as traffic accidents and air pollution. Although navigation systems such as a Baidu map and GPS Beidou positioning guide a driver to go to a parking lot, the problem that the parking lot is occupied is still faced after the driver arrives at the parking lot in a rush hour. Furthermore, statistics show that 30% of traffic congestion is caused by drivers looking for parking spaces.
The rapid development of the internet of things and the prosperity of artificial intelligence promote the prosperity of the automatic driving technology. Therefore, an emerging technology, namely, autonomous parking (AVP), is provided, the AVP completes automatic parking according to the requirements of users, the emission of tail gas can be reduced, the driving experience of the users in the last kilometer can be improved, the problems that parking spaces are difficult to find, the time cost for cruising the parking spaces is high, the fuel consumption is high and the like are effectively solved, and therefore the AVP is widely concerned by researchers. AVPs can be classified into short-range autonomous parking (SAVP) and long-range autonomous parking (LAVP). SAVP requires a user to stop an auto drive vehicle (AV) at the entrance of a parking lot, achieving only "semi-autonomous parking". While LAVP allows the driver to stop the AV at a designated area near the destination, and then the passenger walks to the destination, and the AV automatically travels to a nearby parking lot to complete the parking.
The autonomous parking service brings convenient and comfortable experience to users and also introduces a plurality of problems, thereby attracting a great deal of research of researchers and scholars on the autonomous parking service. Maximian Kneissl et al, in IEEE Transactions on Intelligent Transportation Systems 2020, "A Multi-Vehicle Control Framework With application automated Valet park" propose a distributed Control method for coordination of Parking spaces and paths in autonomous Parking. Kyoung-Wook Min et al propose an autonomous parking service suitable for low-speed restricted parking areas in 201510th asset Control Conference (ASCC) 2015, "Design and implementation of an interactive vehicle system for autonomous parking service". Julian Timpner et al, in IEEE Transactions on Intelligent transfer Systems 2014,15(2) "Design and Evaluation of Charging Station Scheduling protocols for Electric Vehicles" propose a backend and communication module for V-Charge project that supports both AVP and Charging Scheduling services.
The research of the scheme focuses on the resource scheduling and optimization of the SAVP, and does not consider privacy disclosure existing in autonomous parking and security threats of illegal enjoyment of parking reservation services by malicious nodes. Therefore, Cheng Huang et al, in IEEE Transactions on Vehicular Technology 2018,67(11) "Secure Automated Valet park: A Privacy-Preserving Reservation Scheme for Autonomous Vehicles" proposed a Reservation Scheme for protecting user Privacy, which uses zero knowledge proof and proxy re-signature techniques to protect the Privacy and confidentiality of Reservation information, and applies confusion techniques to protect user location Privacy. Jianbing Ni et al, in IEEE Transactions on Vehicular Technology 2019, 68(3) "heated Privacy-presering Valet park in Autonomous Driving Era", propose that password and smartphone based two-factor authentication can be used to achieve remote security control AV, BBS + signature and Cuckoo filter, respectively, to protect AV location Privacy and locate AV. Pokhrel et al propose an Experience-Driven enhanced learning algorithm to improve Parking reservation rate in IEEE Transactions on Intelligent transfer Systems 2020, Towards expert drive Approach, and combine differential Privacy and zero knowledge to prove that the safety and Privacy of users are improved.
The scheme improves the safety of the long-range autonomous parking service, but the data needs to be processed and analyzed by the central controller, and the single-point attack threat is faced. Most of the existing researches are applicable to short-range Autonomous Parking scenes, but the attention on long-range Autonomous Parking is little, and only 'reserve Enhanced Autonomous Valet Parking compliance Issues' published in IEEE Systems Journal 2020 by Xu Zhang et al is currently researched for a long-range Autonomous Parking Reservation service. In addition, the existing research only considers the performance or security threat of the scheduling algorithm singly, and how to improve the performance of the scheduling algorithm and reduce the calculation cost and the communication cost on the basis of ensuring the security is urgent.
Disclosure of Invention
The invention aims to provide a safe and efficient long-range autonomous parking reservation service method based on a block chain technology, which ensures the safety and identity anonymity of information in the LAVP parking reservation service process by using identity authentication, improves the efficiency of parking reservation service by matching optimal passenger-unloading public travel platforms, parking lots and automatic driving automobiles, and utilizes a block chain to store transaction records of the parking reservation service process in a centralized manner to generate source tracing and liability tracing in disputes.
The safe and efficient long-range autonomous parking reservation service method based on the block chain comprises a public trip platform, an automatic driving automobile, a parking lot and passengers. The public trip station authenticates the registered passenger who sent the request for taking a bus based on the biometric feature, the password and the smart card.
After passing the authentication, the public trip platform matches the optimal unloading public trip platform, parking lot and automatic driving automobile for the passenger according to the trip time length of the passenger, the waiting time length of the available parking space and the waiting time length of the available automatic driving automobile.
And the matched automatic driving automobile drives to the public trip platform for carrying passengers for authentication and carrying the passengers, and then the passengers are sent to the public trip platform for unloading the passengers and the authentication is completed. After the passenger walks to the destination after the authentication is successful, the passenger drives the automobile to drive to the parking lot for verification and parking, and the public trip platform stores the transaction information on the block chain for tracing and tracing.
The invention not only meets the safety requirement of the long-range autonomous parking reservation service, reduces the communication overhead and the calculation overhead, but also improves the scheduling performance.
The technical scheme of the system comprises the following steps: the system comprises a plurality of platform wireless servers, a plurality of passenger mobile phone terminals, a plurality of wireless intelligent cards, a plurality of automatic driving automobiles and a plurality of parking lot wireless servers;
the system comprises a plurality of platform wireless servers, a plurality of passenger mobile phone terminals, a plurality of wireless intelligent cards, a plurality of automatic driving automobiles and a plurality of parking lot wireless servers;
each station wireless server is deployed at each public trip station; each parking lot wireless server is deployed in each parking lot;
each platform wireless server can be in wireless communication with a plurality of automatic driving automobiles, a plurality of passenger mobile phone terminals and a plurality of parking lot wireless servers, and the platform wireless servers can be in wireless communication; each automatic driving automobile can be in wireless communication with a plurality of platform wireless servers, a plurality of passenger mobile phone terminals and a plurality of parking lot wireless servers; each wireless intelligent card can be in wireless communication with a corresponding mobile phone terminal and can also be in wireless communication with a plurality of platform wireless servers.
The technical scheme of the method is a safe and efficient long-range autonomous parking reservation service method based on a block chain, and the method comprises the following steps:
step 1: the passenger obtains the adjacent public trip platform through the mobile phone positioning system, the automatic driving automobile obtains the adjacent public trip platform through the positioning system, and then the automatic driving automobile IDAVk(k ═ 1, 2.., L) and passenger Pi(i 1, 2.., N) performing identity registration with an adjacent public travel platform, L and N being the number of autonomous cars and the number of passengers, respectively;
preferably, the identity registration in step 1 comprises the following steps:
step 1.1, system initialization:
public trip platform DPj(j 1, 2.. times.m) an addition cyclic group G is selected with an order of a large prime number p3M is the number of public trip stations, P is G3Of (2), DPjSelecting random numbers
Figure BDA0003105732090000041
As a private key and computing a public key
Figure BDA0003105732090000042
Then DPjPreservation of
Figure BDA0003105732090000043
Wherein
Figure BDA0003105732090000044
Is DPjThe identity of (2); in addition, DPjAssigning a unique identity to a neighboring autonomous vehicle, autonomous vehicle and DPjStoring the identity of the automatic driving automobile;
step 1.2, registration:
the registration process is divided into two processes of automatic driving automobile registration and passenger registration:
the automatic driving automobile registration:
suppose an autonomous vehicle AVk(k ∈ {1, 2...., L }) the neighboring public travel station acquired by the positioning system is DPq(q ∈ j), then the auto-driving car AVkTo DPqSending an identity
Figure BDA0003105732090000045
And a registration request
Figure BDA0003105732090000046
DPqAV after receiving registration requestkComputing private keys
Figure BDA0003105732090000047
Then DPqWill be provided with
Figure BDA0003105732090000048
Is sent to AVk，AVkPreservation of
Figure BDA0003105732090000049
The passenger registration:
suppose that the passenger's neighboring public trip station calculated by the mobile phone terminal is DPd(d e j), then passenger Pi(i ═ 1, 2.., N) is selected by the handset terminal
Figure BDA00031057320900000410
As an identity, self-defined
Figure BDA00031057320900000411
Is a password; the passenger then utilizes the biometric
Figure BDA00031057320900000412
Calculating the biological characteristic key by the mobile phone terminal through the biological characteristic key and the public parameter generating function KPGen ()
Figure BDA00031057320900000413
And common parameters
Figure BDA00031057320900000414
Namely, it is
Figure BDA00031057320900000415
Finally, the passenger selects a random number
Figure BDA00031057320900000416
Computing through mobile phone terminal
Figure BDA00031057320900000417
And will be
Figure BDA00031057320900000418
And sent to the adjacent public trip platform DPd(d∈j)；
DPdReceive from
Figure BDA00031057320900000419
Then, firstly, the local database is searched whether the data exists or not
Figure BDA00031057320900000420
Requesting passenger P if already presentiReselecting the identity mark; otherwise calculate
Figure BDA00031057320900000421
Figure BDA00031057320900000422
Wherein T is0Is a time stamp; then DPdCreating a list L to count the times of password input errors of a user, setting the initial state of the L to be 0, setting the threshold value to be 5, and freezing the smart card for 30 minutes when the L is more than 5; finally, DPdStoring
Figure BDA00031057320900000423
And L, will
Figure BDA00031057320900000424
Write in smart card and send smart card to passenger PiP is an addition cyclic group G3A generator of (2);
passenger PiSelecting a random value
Figure BDA0003105732090000051
And n calculation
Figure BDA0003105732090000052
Figure BDA0003105732090000053
And
Figure BDA0003105732090000054
smart card SC storage
Figure BDA0003105732090000055
Step 2: passenger PiTo adjacent public trip station DPdSending a message containing an identity
Figure BDA0003105732090000056
Destination coordinate (u)i,vi) Stop time TParkingTime of parking tParkingTime stamp T1Request for taking a car
Figure BDA0003105732090000057
Adjacent public trip platform DPdCarrying out identity authentication on the passenger sending the riding request;
preferably, the riding request authentication in step 2 includes the following steps:
step 2.1, the passenger inputs the identification
Figure BDA0003105732090000058
Password
Figure BDA0003105732090000059
And biological characteristics
Figure BDA00031057320900000510
The smart card calculates a biometric key using a biometric retrieval function KeyRet ()
Figure BDA00031057320900000511
Then the smart card calculates
Figure BDA00031057320900000512
And
Figure BDA00031057320900000513
smart card judgment equation
Figure BDA00031057320900000514
If yes, turning to step 2.2 if the equation is true, otherwise terminating the authentication process;
step 2.2, the smart card SC (Smart card) selects a random number y1Calculating Y1＝y1P，
Figure BDA00031057320900000515
Figure BDA00031057320900000516
Passenger PiWill Y1，M1And M2Packing generation information MSG1And mixing the MSG1Send to a neighboring public outletPlatform DPd；
Step 2.3, neighboring public trip station DPdReceiving MSG1Then, first, calculate
Figure BDA00031057320900000517
Figure BDA00031057320900000518
And
Figure BDA00031057320900000519
then using Y1，
Figure BDA00031057320900000520
Is calculated to obtain
Figure BDA00031057320900000521
Last DPdJudgment equation
Figure BDA00031057320900000522
And if the number of times of freezing of the passenger smart card exceeds 3, the passenger needs to register again.
And step 3: after passing the passenger identity authentication, the adjacent public trip platform DPdFor passenger PiMatch best public trip platform, parking lot and autonomous vehicle, assuming DPdThe best public travel platform matched for passengers to unload passengers is identified as
Figure BDA0003105732090000061
The best parking lot identification is
Figure BDA0003105732090000062
S is the number of parking lots, with the best autopilot identification as
Figure BDA0003105732090000063
(ub,vb) And (o)r,pr) Optimal public trip platform DP for unloading passengers respectivelyb(b ∈ j) position coordinate and optimal parking lot PLr(r ═ 1, 2.., S) position coordinates, then DPdPreservation of
Figure BDA0003105732090000064
For automatically driving cars AVkSending a parking request and searching an optimal unloading public trip platform and an optimal parking lot when parking is reserved;
preferably, the process of matching the optimal unloading public trip platform, the parking lot and the automatic driving car in the step 3 comprises the following steps:
step 3.1, unloading passenger's public trip platform matching
Matching of public travel platforms for unloading passengers should minimize passenger travel duration
Figure BDA0003105732090000065
In view of (1), namely satisfying the following formula
Figure BDA0003105732090000066
Wherein
Figure BDA0003105732090000067
Representing the time period from getting on to the public trip platform for unloading,
Figure BDA0003105732090000068
representing the length of time a passenger walks from a common trip platform unloading passengers to a destination, DPdIs a matched public travel platform for unloading passengers, ΛDPA set of public travel stations DP (drop-off/pick-up-point) in the network;
step 3.2, matching the parking lot
According to the time length of driving the automatic driven automobile to the parking lot from the public trip platform for unloading passengers
Figure BDA0003105732090000069
And length of waiting time of parking space
Figure BDA00031057320900000610
Cost of selection time
Figure BDA00031057320900000611
The smallest parking lot PL is the matching result, that is, the following formula is satisfied
Figure BDA00031057320900000612
Wherein PLmatchingFor matched parking lots, ΛPLFor the collection of PL (parkglots) parking lots in the network, the waiting time of the parking lots
Figure BDA00031057320900000613
Available time and parking time t of parking spaceParkingAnd the time when the automatic driving vehicle AV (Autonomous vehicles) arrives at the parking lot
Figure BDA00031057320900000614
Are closely related;
step 3.3, auto-drive vehicle matching
Matching of autonomous vehicles to minimize passenger waiting periods
Figure BDA00031057320900000615
In view of (1), namely satisfying the following formula
Figure BDA00031057320900000616
Wherein the duration for which the passenger waits for the available autonomous vehicle is
Figure BDA0003105732090000071
The length of time that the automatic driving automobile drives to the public trip platform carrying passengers is
Figure BDA0003105732090000072
AVmatchingFor matched autonomous vehicles, lambdaAVIs a collection of autonomous cars AV in the network.
And 4, step 4: DPdMatching automated driving vehicle AVcIdentification of
Figure BDA0003105732090000073
Is sent to passenger PiAnd to AVcSending acknowledgement information ACK, AVcGo to DPdCarrying passenger and carrying passenger authentication, AVcDP ensuring that passengers are pickup usersdIs a public trip platform for carrying passengers, and the passengers need to authenticate DPdPublic trip platform and AV for carrying passengercWhether it is a matched autonomous vehicle;
preferably, the identification of the passenger in step 4 comprises the following steps:
step 4.1, passenger PiMatching received automatic driving automobile identity
Figure BDA0003105732090000074
Smart card SC to PiQuery acquisition
Figure BDA0003105732090000075
And calculate
Figure BDA0003105732090000076
Then the passenger will
Figure BDA0003105732090000077
Is sent to DPd；
Step 4.2, automatic driving of the vehicle AVcTo public travel platform DP carrying passengersdThen to DPdSending acknowledgement information ACK, DPdSelecting a random number y upon receipt of ACK2Calculate matched auto-drive vehicle AVcIdentification of
Figure BDA0003105732090000078
And
Figure BDA0003105732090000079
then DPdComputing
Figure BDA00031057320900000710
And
Figure BDA00031057320900000711
finally, DPdWill Y1、M3、M4And
Figure BDA00031057320900000712
packing to generate MSG2AV sent to matched autonomous vehiclesc；
Step 4.3, AVcReceiving MSG2Post-calculation
Figure BDA00031057320900000713
And
Figure BDA00031057320900000714
then AVcJudgment equation
Figure BDA00031057320900000715
If true, indicating DPjIs AVcPlace to carry passenger and turn to d); otherwise, terminating the authentication process;
step 4.4, AVcSelecting a random number y3Calculating Y3＝y3P，Y4＝y3Y1，
Figure BDA00031057320900000716
And
Figure BDA00031057320900000717
then AVcPacking Y3And M5Generating MSG3And mixing the MSG3Is sent to DPd；
Step 4.5, DPdReceiving MSG3Then, calculate
Figure BDA00031057320900000718
Then determine the equation
Figure BDA00031057320900000719
If true, it indicates AVcIf the vehicle is a matched autonomous vehicle, otherwise, terminating the authentication process; DPdComputing
Figure BDA0003105732090000081
And
Figure BDA0003105732090000082
then M is added6、Y3And
Figure BDA0003105732090000083
packing to generate MSG4Finally, MSG is processed4Is sent to passenger Pi；
Step 4.6, passenger PiReceiving MSG4Post-decryption to get DPdIdentification of
Figure BDA0003105732090000084
And calculate
Figure BDA0003105732090000085
Then passenger PiJudgment equation
Figure BDA0003105732090000086
If true, DP is indicateddThe passenger gets on the bus and goes to step 4.7, otherwise the session is ended;
step 4.7, passenger PiConfirmation of DPdCalculating after public trip station for carrying passenger
Figure BDA0003105732090000087
Figure BDA0003105732090000088
And
Figure BDA0003105732090000089
Pito AVcSending
Figure BDA00031057320900000810
AViAfter decryption is carried out on
Figure BDA00031057320900000811
Verification is carried out, and AV is carried out after the verification is passedcPassengers are carried to the destination.
And 5: AV (Audio video)cUsing shared secret key ADSK to public travel station DP nearby in passenger carrying processa(a e j) sending a message containing identity information
Figure BDA00031057320900000812
Public trip platform identity for carrying passengers
Figure BDA00031057320900000813
Time stamp T2And a parking request ReqparkingIs encrypted to
Figure BDA00031057320900000814
To obtain the matched position coordinates (u) of the unloading public trip platformb,vb)；AVcPublic trip platform DP for arriving at passenger unloadingbThen, DPbFor AVcCarrying out unloading passenger authentication, allowing the passenger to get off after the authentication is passed, and walking to a destination after the passenger gets off;
preferably, the unloading passenger authentication in step 5 comprises the following steps:
step 5.1, DPbReceive from
Figure BDA00031057320900000815
Then will
Figure BDA00031057320900000816
Forward to public trip platform DP carrying passengersd，DPdTo pair
Figure BDA00031057320900000817
Decrypt and verify T2The verification is passed, and whether the core pair exists in the local database or not is checked
Figure BDA00031057320900000818
If present, indicates AVcIs a legal node; then, a public trip platform DP for carrying passengersdTo autodrive automobile AVcAdjacent public trip platform DPaTransmitting MSG6＝EADSK((ub,vb)||T3)，DPaMixing MSG6Forward to AVc，AVcVerification T3After verification, the MSG is decrypted by using the shared secret key ADSK6Obtaining matched public trip platform DP for unloading passengersbPosition coordinates (u)b,vb)；
Step 5.2, AVcReply DPaAcknowledgement messages
Figure BDA0003105732090000091
Indicates homologism in DPbGet off, DPaReceive from
Figure BDA0003105732090000092
Post-generation of random strings
Figure BDA0003105732090000093
And sign the obtained
Figure BDA0003105732090000094
Then DPaWill be provided with
Figure BDA0003105732090000095
Is sent to AVc；
Step 5.3, AVcTo DPbThen will
Figure BDA0003105732090000096
Is sent to DPb，DPbVerification equation
Figure BDA0003105732090000097
And if the equation is established, unloading the passengers.
Step 6: passenger PiAfter getting off the vehicle, AVcTo DPbTransmitting parking reservations to obtain matching parking lots PLrPosition coordinates (o)r,pr) The parking reservation including an identity
Figure BDA0003105732090000098
Public trip platform identity for carrying passengers
Figure BDA0003105732090000099
Time stamp T4And a reservation request ReqresIs encrypted to
Figure BDA00031057320900000910
And 7: AV (Audio video)cObtaining matching parking lot PLrPosition coordinates (o)r,pr) PL to parking lotr，PLrFor AVcPerforming parking check, AV after the check is passedcPL capable of driving into parking lotr；
Preferably, the parking verification in step 7 comprises the following steps:
step 7.1, matched public trip station DP for optimal passenger unloadingbReceiving MSG7Then, will
Figure BDA00031057320900000911
Forward to DPd，DPdTo pair
Figure BDA00031057320900000912
Decrypt and verify T4Validity of (1), verifying DP after passingdChecking for presence
Figure BDA00031057320900000913
If present, it indicatesAVcIs a legal node;
step 7.2, DPdTo DPbTransmitting MSG8＝EADSK((or,pr)||T5)，DPbMixing MSG8Forward to AVc，AVcVerification T5After verification, the MSG is decrypted by using the shared secret key ADSK8Obtaining matched parking lot PLrPosition coordinates (o)r,pr)，AVcReply DPbAcknowledgement messages
Figure BDA00031057320900000914
Indicates homologism in PLrGetting off the vehicle;
step 7.3, DPbReceive from
Figure BDA00031057320900000915
Post-generation parking CodeParkingAnd signature Sig*＝xDPkh(CodeParking) Then will be (Code)Parking,Sig*) Is sent to AVc，CodeParkingIs sent to PLrAnd store
Step 7.4, AVcReach PLrBackward direction PLrTransmitting (Code)Parking,Sig*)，PLrFirstly, whether a Code exists or not is searched in a local databaseParkingIf not, the AV is prohibitedcDrive in PLrOtherwise, by equation e (Sig)*,P)＝e(h(CodeParking),XDPb) Verifying the signature Sig*Validity of (1), allowing AV if the equation holdscPL for driving into parking lotrThen PLrDeleting CodeParking。
And 8: AV (Audio video)cAfter stopping, the station goes to the adjacent public trip station DPf(f e j) sending transaction information
Figure BDA0003105732090000101
DPfWill be provided with
Figure BDA0003105732090000102
Stored locally, DPfCarrying out consensus on the packaged transactions every 2 minutes, connecting the blocks to a block chain for permanent storage after the consensus is passed, and when passengers dispute with the automatic driving automobile, DPfHistorical information is traced from the blockchain to arbitrate disputes.
Preferably, the consensus process in step 8 comprises the following steps:
step 8.1, selecting accounting nodes: DPfReceiving transactions sent by autodrive vehicles
Figure BDA0003105732090000103
Then, will
Figure BDA0003105732090000104
Packaging the data into blocks, taking 2 minutes as a period, selecting the public trip platform with the largest transaction quantity packaged in the blocks in each period as an accounting node, and using other public trip platforms as verification nodes, wherein the accounting node is mainly responsible for uplink storage of the blocks passing verification, and the verification nodes are mainly responsible for verifying the validity of transaction information;
step 8.2, a pre-preparation stage: the public trip station selected as the accounting node broadcasts the block to other verification nodes in the network, and the verification nodes receive the block and analyze the transaction information stored in the block;
step 8.3, preparation phase: the verification node verifies the validity of the transaction information, firstly, the equation is verified
Figure BDA0003105732090000105
And if the information is established, the integrity of the public trip platform information is ensured. Then verify equation e (Sig)*,P)＝e(h(CodeParking),XDPb) And if the verification result is true, ensuring the integrity of the AV parking code, generating a verification result true after the verification is passed, otherwise, generating a signature rho of the verification result SigDP(result), the verification node broadcasts { result, rho } to other verification nodes, the other verification nodes verify the validity of the signature by using the public key of the sender, and the verification is passedComparing whether the verification result of the local counter is the same as that of other verification nodes, and if so, adding 1 to the local counter;
step 8.4, confirm block: if the local counter is accumulated to the number of the verification nodes minus 1, which indicates that the legality of the transaction in the block is consistent in the whole network, the verification nodes send a confirmation message inf to the accounting nodeComAfter the block is confirmed, the verification node clears the local counter to be convenient for confirming the block in the next round;
step 8.5, uplink storage: the accounting node receives the confirmation information inf sent by the verification nodeComAnd then, automatically adding 1 to the local counter, if the local counter is added to the number of the verification nodes, and the block is stored to the block chain if the block is identified in the whole network, otherwise, discarding the current block.
The identity authentication mechanism provided by the invention not only protects identity anonymity and the safety of the information interaction process, but also can resist multiple reservation attacks. The method efficiently matches the optimal public trip platform, parking lot and automatic driving automobile for unloading passengers according to the data of information interaction, improves the driving experience of the user in the last kilometer, and constructs a system model of safe and efficient autonomous parking reservation service by applying a block chain technology for generating arbitration basis in dispute. The safety analysis and performance evaluation show that the method has obvious advantages in the aspects of safety, communication overhead, calculation overhead and scheduling performance.
Drawings
Fig. 1 is a system model diagram of a safe and efficient parking reservation service.
Fig. 2 is a specific implementation diagram of the safe and efficient parking reservation service.
Fig. 3 is a comparison diagram of communication overhead of the safe and efficient parking reservation service of the present invention.
Fig. 4 is a comparison diagram of the calculation cost of the DP in the safe and efficient parking reservation service of the present invention.
Fig. 5 is a comparison diagram of the calculation overhead of the AV in the safe and efficient parking reservation service according to the present invention.
Fig. 6 is a graph comparing the waiting time of the AV in the parking lot in the safe and efficient parking reservation service according to the present invention.
Fig. 7 is a comparison diagram of passenger travel time in the safe and efficient parking reservation service of the present invention.
Fig. 8 is a comparison diagram of AV driving times in the safe and efficient parking reservation service according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention, as the invention will be described in detail, with reference to the following detailed description. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
The technical scheme of the system comprises the following steps: the system comprises a plurality of platform wireless servers, a plurality of passenger mobile phone terminals, a plurality of wireless intelligent cards, a plurality of automatic driving automobiles and a plurality of parking lot wireless servers;
the system comprises a plurality of platform wireless servers, a plurality of passenger mobile phone terminals, a plurality of wireless intelligent cards, a plurality of automatic driving automobiles and a plurality of parking lot wireless servers;
each station wireless server is deployed at each public trip station; each parking lot wireless server is deployed in each parking lot;
each platform wireless server can be in wireless communication with a plurality of automatic driving automobiles, a plurality of passenger mobile phone terminals and a plurality of parking lot wireless servers, and the platform wireless servers can be in wireless communication; each automatic driving automobile can be in wireless communication with a plurality of platform wireless servers, a plurality of passenger mobile phone terminals and a plurality of parking lot wireless servers; each wireless intelligent card can be in wireless communication with a corresponding mobile phone terminal and can also be in wireless communication with a plurality of platform wireless servers.
1. The model structure layout of the invention.
Fig. 1 shows the overall structure of the present invention, and the specific parameters are defined as follows:
public trip station (Drop-off/Pick-up Point, DP): the DP only allows short-term unloading or loading, does not allow the automatic driving automobile to stay for a long time, and is mainly responsible for registering the passengers and the automatic driving automobile and authenticating the identity legality of the passenger sending the riding request. The DP can monitor the service condition of the automatic driving automobile in real time, and the service condition of the parking space is fed back to the DP by the parking lot. In addition, the DP may also handle parking reservations, where the DP locally stores { (u) the set of location coordinates Δ a of the public travel platform1,v1),(u2,v2),...,(uM,vM) And a parking lot position coordinate set Δ B { (o)1,p1),(o2,p2),...,(oS,pS) And M is the number of public trip platforms, and S is the number of parking lots, so that the optimal unloading public trip platforms, parking lots and automatic driving automobiles can be matched for passengers.
Auto drive Automobile (AV): the AV is equipped with sensors and communication devices for sensing the environment and communicating with other devices. Before the AV provides the LAVP service for the passenger, the DP must be registered, the matched AV goes to the public trip platform to pick up the passenger, authenticate the identity of the passenger with the aid of the public trip platform, and then send the passenger to the matched unloading public trip platform.
Parking Lot (park Lot, PL): the parking lot is provided with a camera, a sensor and communication equipment, and the parking lot detects the service condition of the parking space in real time and feeds back related data to the DPs.
A passenger: in order to enjoy the long-distance autonomous parking service, the passenger registers in the DP by using the smart phone, and acquires the smart card after the registration is passed. And the passenger sends a riding request to the adjacent public trip platform, the DP sends the matched AV to the passenger passing the identity authentication, and the passenger walks to the adjacent public trip platform to wait for the AV to take over. After the AV arrives at the public trip platform, the passenger authenticates the identity of the AV with the assistance of the public trip platform, after the authentication is passed, the AV sends the passenger to the matched public trip platform, and the passenger walks to the destination after getting off the bus.
Block chains: the system is used for permanently storing transaction information such as parking reservation and the like, and once disputes occur, the DPs arbitrate accountability by using block chains.
2. The invention relates to a safe and efficient long-range autonomous parking appointment service scheme
The specific implementation process of the safe and efficient long-range autonomous parking reservation service scheme based on the block chain technology is shown in fig. 2, and the specific implementation process of the safety information interaction of the long-range autonomous parking reservation service is as follows:
(1) initializing a system:
public trip platform DPj(j 1, 2.. times.m) an addition cyclic group G is selected with an order of a large prime number p3M is the number of public trip stations, P is G3Of (2), DPjSelecting random numbers
Figure BDA0003105732090000131
As a private key and computing a public key
Figure BDA0003105732090000132
Then DPjPreservation of
Figure BDA0003105732090000133
Wherein
Figure BDA0003105732090000134
Is DPjThe identity of (2); in addition, DPjAssigning a unique identity to a neighboring autonomous vehicle, autonomous vehicle and DPjStoring the identity of the automatic driving automobile;
(2) registering:
the registration process is divided into two processes of automatic driving automobile registration and passenger registration:
1) automatic driving automobile registration:
suppose an autonomous vehicle AVk(k ∈ {1, 2...., L }) the neighboring public travel station acquired by the positioning system is DPq(q ∈ j), then the auto-driving car AVkTo DPqSending an identity
Figure BDA0003105732090000135
And a registration request
Figure BDA0003105732090000136
DPqAV after receiving registration requestkComputing private keys
Figure BDA0003105732090000137
Then DPqWill be provided with
Figure BDA0003105732090000138
Is sent to AVk，AVkPreservation of
Figure BDA0003105732090000139
2) Passenger registration:
a) suppose that the passenger's neighboring public trip station calculated by the mobile phone terminal is DPd(d e j), then passenger Pi(i ═ 1, 2.., N) is selected by the handset terminal
Figure BDA00031057320900001310
As an identity, self-defined
Figure BDA00031057320900001311
Is a password; the passenger then utilizes the biometric
Figure BDA00031057320900001312
Calculating the biological characteristic key by the mobile phone terminal through the biological characteristic key and the public parameter generating function KPGen ()
Figure BDA00031057320900001313
And common parameters
Figure BDA00031057320900001314
Namely, it is
Figure BDA00031057320900001315
Finally, the passenger selects a random number
Figure BDA00031057320900001316
Computing through mobile phone terminal
Figure BDA00031057320900001317
And will be
Figure BDA00031057320900001318
And sent to the adjacent public trip platform DPd(d∈j)；
b)DPdReceive from
Figure BDA00031057320900001319
Then, firstly, the local database is searched whether the data exists or not
Figure BDA00031057320900001320
Requesting passenger P if already presentiReselecting the identity mark; otherwise calculate
Figure BDA00031057320900001321
Figure BDA00031057320900001322
Wherein T is0Is a time stamp; then DPdCreating a list L to count the times of password input errors of a user, setting the initial state of the L to be 0, setting the threshold value to be 5, and freezing the smart card for 30 minutes when the L is more than 5; finally, DPdStoring
Figure BDA00031057320900001323
And L, will
Figure BDA00031057320900001324
Write in smart card and send smart card to passenger PiP is an addition cyclic group G3A generator of (2);
c) passenger PiSelecting a random value
Figure BDA0003105732090000141
And n calculation
Figure BDA0003105732090000142
Figure BDA0003105732090000143
And
Figure BDA0003105732090000144
smart card SC storage
Figure BDA0003105732090000145
(3) Ride request authentication
a) Passenger input identification
Figure BDA0003105732090000146
Password
Figure BDA0003105732090000147
And biological characteristics
Figure BDA0003105732090000148
The smart card calculates a biometric key using a biometric retrieval function KeyRet ()
Figure BDA0003105732090000149
Then the smart card calculates
Figure BDA00031057320900001410
And
Figure BDA00031057320900001411
modn, smart card judgment equation
Figure BDA00031057320900001412
If yes, turning to b) if no, otherwise terminating the authentication process;
b) the smart card SC (Smart card) selects a random number y1Calculating Y1＝y1P，
Figure BDA00031057320900001413
Figure BDA00031057320900001414
Passenger PiWill Y1，M1And M2Packing generation information MSG1And mixing the MSG1To adjacent public travel platforms DPd；
c) Adjacent public trip platform DPdReceiving MSG1Then, first, calculate
Figure BDA00031057320900001415
Figure BDA00031057320900001416
Then using Y1，
Figure BDA00031057320900001417
Is calculated to obtain
Figure BDA00031057320900001418
Last DPdJudgment equation
Figure BDA00031057320900001419
And if the number of times of freezing of the passenger smart card exceeds 3, the passenger needs to register again.
(4) Carrying passengers
a) Passenger PiMatching received automatic driving automobile identity
Figure BDA00031057320900001420
Smart card SC to PiQuery acquisition
Figure BDA00031057320900001421
And calculate
Figure BDA00031057320900001422
Then the passenger will
Figure BDA00031057320900001423
Is sent to DPd；
b) Automatic driving automobile AVcTo public travel platform DP carrying passengersdThen to DPdSending acknowledgement information ACK, DPdSelecting a random number y upon receipt of ACK2Calculate matched auto-drive vehicle AVcIdentification of
Figure BDA0003105732090000151
And
Figure BDA0003105732090000152
then DPdComputing
Figure BDA0003105732090000153
And
Figure BDA0003105732090000154
finally, DPdWill Y1、M3、M4And
Figure BDA0003105732090000155
packing to generate MSG2AV sent to matched autonomous vehiclesc；
c)AVcReceiving MSG2Post-calculation
Figure BDA0003105732090000156
And
Figure BDA0003105732090000157
then AVcJudgment equation
Figure BDA0003105732090000158
If true, indicating DPjIs AVcPlace to carry passenger and turn to d); otherwise, terminating the authentication process;
d)AVcselecting a random number y3Calculating Y3＝y3P，Y4＝y3Y1，
Figure BDA0003105732090000159
And
Figure BDA00031057320900001510
then AVcPacking Y3And M5Generating MSG3And mixing the MSG3Is sent to DPd；
e)DPdReceiving MSG3Then, calculate
Figure BDA00031057320900001511
Then determine the equation
Figure BDA00031057320900001512
If true, it indicates AVcIf the vehicle is a matched autonomous vehicle, otherwise, terminating the authentication process; DPdComputing
Figure BDA00031057320900001513
And
Figure BDA00031057320900001514
then M is added6、Y3And
Figure BDA00031057320900001515
packing to generate MSG4Finally, MSG is processed4Is sent to passenger Pi；
f) Passenger PiReceiving MSG4Post-decryption to get DPdIdentification of
Figure BDA00031057320900001516
And calculate
Figure BDA00031057320900001517
Then passenger PiJudgment equation
Figure BDA00031057320900001518
If true, DP is indicateddFor passengersTurning to the point and turning to the direction g), otherwise ending the conversation;
g) passenger PiConfirmation of DPdCalculating after public trip station for carrying passenger
Figure BDA00031057320900001519
Figure BDA00031057320900001520
And
Figure BDA00031057320900001521
Pito AVcSending
Figure BDA00031057320900001522
AViAfter decryption is carried out on
Figure BDA00031057320900001523
Verification is carried out, and AV is carried out after the verification is passedcPassengers are carried to the destination.
(5) Request to park
AVcIn the process of carrying passengers, AVcDP to a neighboring public travel station using a shared key ADSKa(a e j) sending a message containing the identity
Figure BDA0003105732090000161
Public trip platform identity for carrying passengers
Figure BDA0003105732090000162
Time stamp T2And a parking request ReqparkingIs encrypted to
Figure BDA0003105732090000163
To obtain the matched position coordinates (u) of the unloading public trip platformb,vb)。DPaReceiving MSG5Then, will
Figure BDA0003105732090000164
Forward to DPd，DPdReceive from
Figure BDA0003105732090000165
Then decrypt it and verify it2The verification is passed, and whether the core pair exists in the local database or not is checked
Figure BDA0003105732090000166
If present, indicates AVcIs a legitimate node. Then, DPdTo DPaTransmitting MSG6＝EADSK((ub,vb)||T3)，DPaMixing MSG6Forward to AVc，AVcVerification T3After verification, the MSG is decrypted by using the shared secret key ADSK6Get public trip platform DP of unloading of matchingbPosition coordinates (u)b,vb)，AVcReply DPaAcknowledgement messages
Figure BDA0003105732090000167
Indicates homologism in DPbGetting off the vehicle. DPaReceive from
Figure BDA0003105732090000168
Post-generation of random strings
Figure BDA0003105732090000169
And to
Figure BDA00031057320900001610
Signature derivation
Figure BDA00031057320900001611
Then will be
Figure BDA00031057320900001612
Is sent to AVc。
(6) Unloading passengers
AVcTo DPbThen, DPbFor AVcAnd performing authentication, allowing the passenger to get off after the authentication is passed, and walking to the destination after the passenger gets off.
(7) Parking reservation
Passenger PiAfter getting off the vehicle, AVcTo DPbSending parking reservations, the parking reservations including identities
Figure BDA00031057320900001613
Public trip platform identity for unloading passengers
Figure BDA00031057320900001614
Time stamp T4And a reservation request ReqresIs encrypted to
Figure BDA00031057320900001615
To obtain the position coordinates (o) of the matching parking lotr,pr)。
(8) Parking check
a) Matched best passenger unloading public trip station DPbReceiving MSG7Then, will
Figure BDA00031057320900001616
Forward to DPd，DPdTo pair
Figure BDA00031057320900001617
Decrypt and verify T4Validity of (1), verifying DP after passingdChecking for presence
Figure BDA00031057320900001618
If present, indicates AVcIs a legal node;
b)DPdto DPbTransmitting MSG8＝EADSK((or,pr)||T5)，DPbMixing MSG8Forward to AVc，AVcVerification T5After verification, the MSG is decrypted by using the shared secret key ADSK8Obtaining matched parking lot PLrPosition coordinates (o)r,pr)，AVcReply DPbAcknowledgement messages
Figure BDA00031057320900001619
Indicates homologism in PLrGetting off the vehicle;
c)DPbreceive from
Figure BDA0003105732090000171
Post-generation parking CodeParkingAnd signature Sig*＝xDPkh(CodeParking) Then will be (Code)Parking,Sig*) Is sent to AVc，CodeParkingIs sent to PLrAnd storing;
d)AVcreach PLrBackward direction PLrTransmitting (Code)Parking,Sig*)，PLrFirstly, whether a Code exists or not is searched in a local databaseParkingIf not, the AV is prohibitedcDrive in PLrOtherwise, by equation e (Sig)*,P)＝e(h(CodeParking),XDPb) Verifying the signature Sig*Validity of (1), allowing AV if the equation holdscPL for driving into parking lotrThen PLrDe-CodeParking。
(9) Password and biometric updates
The passenger can locally update the password and the biometric, and the detailed process is as follows:
a) passenger inputting identity to smart card
Figure BDA0003105732090000172
Original password
Figure BDA0003105732090000173
Biological characteristics
Figure BDA0003105732090000174
And random number
Figure BDA0003105732090000175
Smart cards using common parameters
Figure BDA0003105732090000176
Biological characteristics
Figure BDA0003105732090000177
Computing a biometric key with a biometric retrieval function KeyRet
Figure BDA0003105732090000178
Then the smart card calculates
Figure BDA0003105732090000179
Figure BDA00031057320900001710
And
Figure BDA00031057320900001711
smart card judgment equation
Figure BDA00031057320900001712
If the equation is not satisfied, ending the updating process, otherwise calculating by the intelligent card
Figure BDA00031057320900001713
And
Figure BDA00031057320900001714
wherein
Figure BDA00031057320900001715
A random number selected for the passenger, and then prompting the passenger to enter an updated password
Figure BDA00031057320900001716
And updated biometrics
Figure BDA00031057320900001717
b) The passenger enters the updated password
Figure BDA00031057320900001718
And updated biometrics
Figure BDA00031057320900001719
After that, the air conditioner is started to work,smart card computing updated biometric keys
Figure BDA00031057320900001720
And common parameters
Figure BDA00031057320900001721
Namely, it is
Figure BDA00031057320900001722
Then, the smart card calculates
Figure BDA00031057320900001723
c)
Figure BDA00031057320900001724
Figure BDA00031057320900001725
And
d)
Figure BDA00031057320900001726
e) smart card parameter
Figure BDA00031057320900001727
Is updated to
Figure BDA00031057320900001728
(10) Smart card revocation
Once the passenger's smart card is stolen or lost, the passenger can reapply the smart card, and the detailed steps are as follows:
a) passenger to adjacent public trip platform DPe(e ∈ j) sending identity
Figure BDA0003105732090000181
And smart card revocation request, neighboring public trip station DPeLooking up presence or absence in local database
Figure BDA0003105732090000182
If not, stopping the withdrawal of the smart card, otherwise, DPeChecking whether L is less than or equal to 5, and calculating if L meets the condition
Figure BDA0003105732090000183
And
Figure BDA0003105732090000184
wherein T is7Is a time stamp.
b) Adjacent public trip platform DPeCreating a list LnewCounting the number of password input errors of the user, setting the initial state to be 0 and the threshold value to be 5, and then, carrying out DP on the adjacent public trip platformseTo be stored locally
Figure BDA0003105732090000185
Is updated to
Figure BDA0003105732090000186
Finally, the adjacent public trip station DPeWill be provided with
Figure BDA0003105732090000187
Write in smart card and send smart card to passenger PiWherein
Figure BDA0003105732090000188
And P is respectively DPeA public key and a generator.
c) As in step c) of the passenger registration process, it will not be described in detail here.
3. Security assessment of the invention
Table 1 evaluates the safety of the safe, Efficient, long-range autonomous parking reservation Scheme designed by the present invention, and compares the safety of the safe, Efficient, long-range autonomous parking reservation Scheme with the existing research schemes (Rifaqatlai et al, Future Generation Computer Systems 2018,84 "A Secure User Authentication and Key-acquisition Scheme Using Wireless Sensor Networks for acquiring Monitoring"; Xiong Li et al, IEEE Internet of reasons Journal 2018,5(3) "A Robust and Energy efficiency Authentication Protocol for Industrial Internet of Things"; Jiang et al, IEEE on vehicle Technology 69, 69(9) "field biological variability service-thread restriction and software Authentication, and the distributed reservation and anti-attack rules 2020, which can be used for anonymous attacks and anonymous attacks).
(1) Anonymity
Identity ID of passengerPiCan be composed of Y1，Y2And M2Is calculated to obtain wherein Y1And M2From MSG1Is available, but calculates
Figure BDA0003105732090000189
Must know the public trip station DPdPrivate key of
Figure BDA00031057320900001810
While
Figure BDA00031057320900001811
Only public trip platform DPdKnowing, therefore, the attacker cannot obtain the identity information of the passenger. In addition, due to Y in each round of conversation1，Y2And M2Dynamic update, attacker cannot exploit M2Eavesdropping on the session, the present invention satisfies anonymity.
(2) Two-way authentication
Public trip platform DPdAnd passengers using Y2And
Figure BDA0003105732090000191
and realizing bidirectional authentication. In particular, DPdUsing Y2And
Figure BDA0003105732090000192
computing
Figure BDA0003105732090000193
Then the
TABLE 1 evaluation of safety
Figure BDA0003105732090000194
Judgment of
Figure BDA0003105732090000195
Whether or not to equal received M1If the passenger identity is equal to the passenger identity, the passenger identity passes authentication; similarly, the passenger utilizes Y2And xpiComputing
Figure BDA0003105732090000196
Then, judge
Figure BDA0003105732090000197
Whether or not to equal received M6Equal then DPdAnd the identity authentication is passed. Then, DPdAnd AVkBy using
Figure BDA0003105732090000198
And y2And realizing bidirectional authentication. In particular, DPdBy using
Figure BDA0003105732090000199
And y2Computing
Figure BDA00031057320900001910
Then, judge
Figure BDA00031057320900001911
Whether or not to equal received M5Equal then AVkThe identity authentication is passed; similarly, AVkBy using
Figure BDA00031057320900001912
And y2Computing
Figure BDA00031057320900001913
Then, judge
Figure BDA00031057320900001914
Whether or not to equal received M3Equal then DPdAnd the identity authentication is passed. Finally, the passenger and AVkBy DPdAnd completing the bidirectional authentication.
(3) Multiple subscription attack resistance
The internal attack means that the public trip platform can guess the password of the passenger, and if the public trip platform obtains the registration information of the passenger
Figure BDA00031057320900001915
Biological characteristics
Figure BDA00031057320900001916
And smart card parameters
Figure BDA00031057320900001917
Due to the inability of public trip platforms to acquire
Figure BDA00031057320900001918
Cannot calculate
Figure BDA00031057320900001919
Therefore, the public trip station cannot confirm whether the guessed passenger password is correct, and the invention can resist internal attack.
(4) Distributed type
The present invention does not use a central node to provide LAVP services to passengers, but uses distributed DP to share information. The DP matches public trip platforms, parking lots and automatic driving automobiles according to the use conditions of parking spaces and AV, and carries out verification, consensus and accounting on reservation information, and the distributed architecture effectively prevents single-point breakdown caused by a centralized structure.
(5) Traceability
When a passenger and a public trip platform generate a dispute, if the passenger does not reach the public trip platform according to a convention, the AV does not go to the public trip platform to carry passengers or the AV does not unload the passengers at the matched public trip platform, the public trip platform utilizes the historical information and the chain structure stored on the block chain to trace to the source and ask for blame.
4. Communication overhead analysis of the present invention
The communication overhead generated in the safe and efficient long-distance autonomous parking reservation service process is mainly Messages (MSG) sent in the processes of passengers, public trip platforms and AV authentication1～MSG4). Table 2 shows the results of comparing the communication overhead of the safe, Efficient, long-range autonomous parking reservation service of the present invention with the results of random identification of the identity of the existing solutions (Rifaqat Ali et al in "Future Generation Computer Systems" 2018,84 "A Secure User Authentication and Key-aggregation Scheme Using Wireless sensor networks for aggregation Monitoring"; Xiong Li et al in "IEEE Internet reasons Journal" 2018,5(3) "A Robust and energy efficiency Authentication protocols for Industrial Internet services"; Qi Jiang et al in "IEEE Transactions on vehicle Technology" 2020,69(9) "Unified biological prediction software policy data", 160, elliptic database Authentication, 128 hash Key for encryption, respectively), and random identification of the identity of the existing solutions (Rifaqaqaqaqaqaqaqaqaqaqaat Ali et al, 128 hash values, and the identity of the existing solutions for aggregation Monitoring and encryption ".
Fig. 3 is a graph comparing information communication overhead of the authentication process. In the present invention
Figure BDA0003105732090000201
Wherein Y is1、M1、M2And
Figure BDA0003105732090000202
are each 160 bits. Thus MSG1The communication overhead of (2) is 160 × 4 ═ 640 bit.
Figure BDA0003105732090000203
Wherein Y is1、M3And M4Are each provided with a bit of 160 bits,
Figure BDA0003105732090000204
and
Figure BDA0003105732090000205
are all 128 bits, so the MSG2The communication overhead of (2) is 160 × 3+128 × 2 ═ 736 bits. MSG3＝{M5,Y3In which M is5And Y3Are all 160 bits, so the MSG3The communication overhead of (2) is 160 × 2 ═ 320 bit.
Figure BDA0003105732090000206
Wherein M is6、Y3And
Figure BDA0003105732090000207
160bit, 160bit, 128bit, respectively, and thus the MSG4The communication overhead is 160 multiplied by 2+ 128-448 bits, and the communication overhead of the invention is reduced by 18.7 percent on average.
TABLE 2 communication overhead comparison
Figure BDA0003105732090000208
Figure BDA0003105732090000211
5. Computational overhead analysis of the present invention
Let T beECMAnd TECAMultiplication and addition operations on elliptic curves, THAnd TERespectively hash operation and encryption/decryption operation. In the experiment, a smart phone with a memory of 3GB and a frequency of 2.45GHz is used for simulating passengers, a notebook with a memory of 16G and a frequency of 3.1GHz is used for simulating an automatic driving automobile, and a desktop with a memory of 32G and a frequency of 4.0GHz is used for simulating DP. T of smart phoneECM、TECA、THAnd TEFour operations respectively consume 0.537ms, 0.601ms, 11.260ms and 13.434 ms; t of notebookECM、TECA、THAnd TEFour operations respectively consume 0.050ms, 0.051ms, 0.728ms and 1.587 ms; t of desktop computerECM、TECA、THAnd TEThe four operations respectively consume 0.041ms, 0.045ms, 0.483ms and 0.978ms, and table 3 shows the calculation overhead comparison result.
TABLE 3 computational overhead comparison
Figure BDA0003105732090000221
Fig. 4 is a graph comparing the calculation cost of the DP at the public travel station, and the result shows that the calculation cost of the DP is linear with the amount of information. As the amount of information grows, the invention has the advantages of minimal computational overhead and more obvious advantages than the existing research. When the quantity of information needing to be authenticated reaches 1000, the authentication time of the invention only needs 7.31s, and the authentication time of Ali et al, Li et al and Jiang et al respectively needs 8.754s, 7.817s and 8.002s, so that the calculation overhead of the invention is reduced by 11% on average.
Fig. 5 is a comparison graph of the calculation cost of the authentication process of the auto-driving car, and the result shows that the calculation cost of AV is linearly related to the amount of information. Compared with Li et al, the calculation overhead of the AV identity authentication process in the invention has more remarkable advantages as the number of information increases. Although the computational overhead of the present invention is greater compared to Ali et al, the present invention utilizes the parameter y separately2And Y4The session between passenger-AV and DP-AV is secured, and the problem that Ali et al does not support forward security is solved. In addition, although the AV computational overhead of the present invention is greater than Jiang et al, the DP computational overhead of the present invention is all more efficient than Jiang et al, and thus the total computational overhead of the present invention is acceptable.
6. Scheduling performance of the invention
The scheduling performance simulation runs on an Opportunistic Network Environment (ONE) platform, 6 parking lots and 15 DP points are deployed in the network in total, and each parking lot has 100 parking spaces.
Fig. 6 is a comparison graph of the time when the automatic driving automobile waits for the parking space in the parking lot, and the result shows that the waiting time of the AV increases linearly with the number of the AV. When the number of the automatically driven cars is 300, 400, 500 and 600, the time for waiting for parking is slightly longer than that of the no-parking check scene, but as the number of the cars increases to 700, the time for waiting for parking has certain advantages.
Fig. 7 is a comparison result of travel times of passengers, the time length of the travel time of the passengers from the public travel platform carrying the passengers to the public travel platform unloading the passengers by the automatic driving automobile carried by the passengers, and the time length of the passengers from the public travel platform unloading the passengers to the destination, and an experimental result shows that the travel time length of the passengers is in a decreasing trend along with the increase of the AV number. The public trip platform for carrying passengers and the public trip platform for unloading passengers are additionally provided with the riding request authentication, the passenger receiving authentication and the passenger unloading authentication.
Fig. 8 is a comparison graph of AV driving time, which is the sum of the time taken for the AV to travel from the public travel platform carrying passengers to the public travel platform unloading passengers and the time taken for the AV to travel from the public travel platform unloading passengers to the parking lot, and the comparison result shows that the increase in the number of AV has little influence on the AV driving time, mainly because the AV driving time is influenced more by the passenger destination position, the public travel platform position and the parking lot position.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims (9)

1. A safe and efficient long-range autonomous parking reservation service method based on a block chain is characterized by comprising the following steps:
step 1: the passenger obtains the adjacent public trip platform through the mobile phone positioning system, and the automatic driving automobile obtains the adjacent public trip platform through the positioning systemAt a near public trip platform, then the car is driven automatically
Figure FDA0003454873100000011
And passenger Pi(i 1, 2.., N) performing identity registration with an adjacent public travel platform, L and N being the number of autonomous cars and the number of passengers, respectively;
step 2: passenger PiTo adjacent public trip station DPdSending a message containing an identity
Figure FDA0003454873100000012
Destination coordinate (u)i,vi) Stop time TParkingTime of parking tParkingTime stamp T1Request for taking a car
Figure FDA0003454873100000013
Adjacent public trip platform DPdCarrying out identity authentication on the passenger sending the riding request;
and step 3: after passing the passenger identity authentication, the adjacent public trip platform DPdFor passenger PiMatch best public trip platform, parking lot and autonomous vehicle, assuming DPdThe best public travel platform matched for passengers to unload passengers is identified as
Figure FDA0003454873100000014
The best parking lot identification is
Figure FDA0003454873100000015
S is the number of parking lots, with the best autopilot identification as
Figure FDA0003454873100000016
(ub,vb) And (o)r,pr) Optimal public trip platform DP for unloading passengers respectivelyb(b ∈ j) position coordinate and optimal parking lot PLr(r ═ 1, 2.., S) position coordinates, then DPdStoring;
Figure FDA0003454873100000017
for automatically driving cars AVkSending a parking request and searching an optimal unloading public trip platform and an optimal parking lot when parking is reserved;
and 4, step 4: DPdMatching automated driving vehicle AVcIdentification of
Figure FDA0003454873100000018
Is sent to passenger PiAnd to AVcSending acknowledgement information ACK, AVcGo to DPdCarrying passenger and carrying passenger authentication, AVcDP ensuring that passengers are pickup usersdIs a public trip platform for carrying passengers, and the passengers need to authenticate DPdPublic trip platform and AV for carrying passengercWhether it is a matched autonomous vehicle;
and 5: AV (Audio video)cUsing shared secret key ADSK to public travel station DP nearby in passenger carrying processa(a e j) sending a message containing identity information
Figure FDA0003454873100000019
Public trip platform identity for carrying passengers
Figure FDA00034548731000000110
Time stamp T2And a parking request ReqparkingIs encrypted to
Figure FDA00034548731000000111
To obtain the matched position coordinates (u) of the unloading public trip platformb,vb)；AVcPublic trip platform DP for arriving at passenger unloadingbThen, DPbFor AVcCarrying out unloading passenger authentication, allowing the passenger to get off after the authentication is passed, and walking to a destination after the passenger gets off;
step 6: passenger PiAfter getting off the vehicle, AVcTo DPbTransmitting parking reservations to obtain matching parking lots PLrPosition coordinates (o)r,pr) The parking reservation including an identity
Figure FDA0003454873100000021
Public trip platform identity for carrying passengers
Figure FDA0003454873100000022
Time stamp T4And a reservation request ReqresIs encrypted to
Figure FDA0003454873100000023
And 7: AV (Audio video)cObtaining matching parking lot PLrPosition coordinates (o)r,pr) PL to parking lotr，PLrFor AVcPerforming parking check, AV after the check is passedcPL capable of driving into parking lotr；
And 8: AV (Audio video)cAfter stopping, the station goes to the adjacent public trip station DPf(f e j) sending transaction information
Figure FDA0003454873100000024
DPfWill be provided with
Figure FDA0003454873100000025
Stored locally, DPfCarrying out consensus on the packaged transactions every 2 minutes, connecting the blocks to a block chain for permanent storage after the consensus is passed, and when passengers dispute with the automatic driving automobile, DPfHistorical information is traced from the blockchain to arbitrate disputes.
2. The safe, efficient and long-range autonomous parking reservation service method based on the block chain as claimed in claim 1, wherein the identity registration in step 1 comprises the following steps:
step 1.1, system initialization:
public outletPlatform DPj(j 1, 2.. times.m) an addition cyclic group G is selected with an order of a large prime number p3M is the number of public trip stations, P is G3Of (2), DPjSelecting random numbers
Figure FDA0003454873100000026
As a private key and computing a public key
Figure FDA0003454873100000027
Then DPjPreservation of
Figure FDA0003454873100000028
Wherein
Figure FDA0003454873100000029
Is DPjThe identity of (2); in addition, DPjAssigning a unique identity to a neighboring autonomous vehicle, autonomous vehicle and DPjStoring the identity of the automatic driving automobile;
step 1.2, registration:
the registration process is divided into two processes of automatic driving automobile registration and passenger registration:
the automatic driving automobile registration:
suppose an autonomous vehicle AVk(k ∈ {1, 2...., L }) the neighboring public travel station acquired by the positioning system is DPq(q ∈ j), then the auto-driving car AVkTo DPqSending an identity
Figure FDA00034548731000000210
And a registration request
Figure FDA00034548731000000211
DPqAV after receiving registration requestkComputing private keys
Figure FDA00034548731000000212
Then DPqWill be provided with
Figure FDA00034548731000000213
Is sent to AVk，AVkPreservation of
Figure FDA00034548731000000214
The passenger registration:
suppose that the passenger's neighboring public trip station calculated by the mobile phone terminal is DPd(d e j), then passenger Pi(i ═ 1, 2.., N) is selected by the handset terminal
Figure FDA0003454873100000031
As an identity, self-defined
Figure FDA0003454873100000032
Is a password; the passenger then utilizes the biometric
Figure FDA0003454873100000033
Calculating the biological characteristic key by the mobile phone terminal through the biological characteristic key and the public parameter generating function KPGen ()
Figure FDA0003454873100000034
And common parameters
Figure FDA0003454873100000035
Namely, it is
Figure FDA0003454873100000036
Finally, the passenger selects a random number
Figure FDA0003454873100000037
Computing through mobile phone terminal
Figure FDA0003454873100000038
And will be
Figure FDA0003454873100000039
And sent to the adjacent public trip platform DPd(d∈j)；
DPdReceive from
Figure FDA00034548731000000310
Then, firstly, the local database is searched whether the data exists or not
Figure FDA00034548731000000311
Requesting passenger P if already presentiReselecting the identity mark; otherwise calculate
Figure FDA00034548731000000312
Figure FDA00034548731000000313
Wherein T is0Is a time stamp; then DPdCreating a list L to count the times of password input errors of a user, setting the initial state of the L to be 0, setting the threshold value to be 5, and freezing the smart card for 30 minutes when the L is more than 5; finally, DPdStoring
Figure FDA00034548731000000314
And L, will
Figure FDA00034548731000000315
Write in smart card and send smart card to passenger PiP is an addition cyclic group G3A generator of (2);
passenger PiSelecting a random value
Figure FDA00034548731000000316
And n calculation
Figure FDA00034548731000000317
Figure FDA00034548731000000318
And
Figure FDA00034548731000000319
smart card SC storage
Figure FDA00034548731000000320
3. The block chain-based safe, efficient and long-range autonomous parking reservation service method according to claim 1, characterized in that the riding request authentication of step 2 comprises the following steps:
step 2.1, the passenger inputs the identification
Figure FDA00034548731000000321
Password
Figure FDA00034548731000000322
And biological characteristics
Figure FDA00034548731000000323
The smart card calculates a biometric key using a biometric retrieval function KeyRet ()
Figure FDA00034548731000000324
Then the smart card calculates
Figure FDA00034548731000000325
And
Figure FDA00034548731000000326
smart card judgment equation
Figure FDA00034548731000000327
If yes, turning to step 2.2 if the equation is true, otherwise terminating the authentication process;
step 2.2, the smart card SC (Smart card) selects a random number y1ComputingY1＝y1P，
Figure FDA0003454873100000041
Passenger PiWill Y1，M1And M2Packing generation information MSG1And mixing the MSG1To adjacent public travel platforms DPd；
Step 2.3, neighboring public trip station DPdReceiving MSG1Then, first, calculate
Figure FDA0003454873100000042
Figure FDA0003454873100000043
And
Figure FDA0003454873100000044
then using Y1，
Figure FDA0003454873100000045
Is calculated to obtain
Figure FDA0003454873100000046
Last DPdJudgment equation
Figure FDA0003454873100000047
And if the number of times of freezing of the passenger smart card exceeds 3, the passenger needs to register again.
4. The block chain-based safe and efficient long-range autonomous parking reservation service method according to claim 1, characterized in that the matched optimal unloading public trip platform, parking lot and automatic driving car process of step 3 comprises the following steps:
step 3.1, unloading passenger's public trip platform matching
Matching of public travel platforms for unloading passengers should minimize passenger travel duration
Figure FDA0003454873100000048
In view of (1), namely satisfying the following formula
Figure FDA0003454873100000049
Wherein
Figure FDA00034548731000000410
Representing the time period from getting on to the public trip platform for unloading,
Figure FDA00034548731000000411
representing the length of time a passenger walks from a common trip platform unloading passengers to a destination, DPdIs a matched public travel platform for unloading passengers, ΛDPA set of public travel stations DP (drop-off/pick-up-point) in the network;
step 3.2, matching the parking lot
According to the time length of driving the automatic driven automobile to the parking lot from the public trip platform for unloading passengers
Figure FDA00034548731000000412
And length of waiting time of parking space
Figure FDA00034548731000000413
Cost of selection time
Figure FDA00034548731000000414
The smallest parking lot PL is the matching result, that is, the following formula is satisfied
Figure FDA00034548731000000415
Wherein PLmatchingFor matched parking lots, ΛPLFor the collection of PL (parking lots) and the waiting time of parking spaces in the network
Figure FDA00034548731000000416
Available time and parking time t of parking spaceParkingAnd the time when the automatic driving vehicle AV (Autonomous vehicles) arrives at the parking lot
Figure FDA00034548731000000417
Are closely related;
step 3.3, auto-drive vehicle matching
Matching of autonomous vehicles to minimize passenger waiting periods
Figure FDA0003454873100000051
In view of (1), namely satisfying the following formula
Figure FDA0003454873100000052
Wherein the duration for which the passenger waits for the available autonomous vehicle is
Figure FDA0003454873100000053
The length of time that the automatic driving automobile drives to the public trip platform carrying passengers is
Figure FDA0003454873100000054
AVmatchingFor matched autonomous vehicles, lambdaAVIs a collection of autonomous cars AV in the network.
5. The safe, efficient and long-range autonomous parking reservation service method based on the block chain as claimed in claim 1, characterized in that the passenger pickup authentication of step 4 comprises the following steps:
step 4.1, passenger PiReceive the matched automationDriving car identity
Figure FDA0003454873100000055
Smart card SC to PiQuery acquisition
Figure FDA0003454873100000056
And calculate
Figure FDA0003454873100000057
Then the passenger will
Figure FDA0003454873100000058
Is sent to DPd；
Step 4.2, automatic driving of the vehicle AVcTo public travel platform DP carrying passengersdThen to DPdSending acknowledgement information ACK, DPdSelecting a random number y upon receipt of ACK2Calculate matched auto-drive vehicle AVcIdentification of
Figure FDA0003454873100000059
And
Figure FDA00034548731000000510
then DPdComputing
Figure FDA00034548731000000511
And
Figure FDA00034548731000000512
finally, DPdWill Y1、M3、M4And
Figure FDA00034548731000000513
packing to generate MSG2AV sent to matched autonomous vehiclesc；
Step 4.3, AVcReceiving MSG2Post-calculation
Figure FDA00034548731000000514
And
Figure FDA00034548731000000515
then AVcJudgment equation
Figure FDA00034548731000000516
If true, indicating DPjIs AVcPlace to carry passenger and turn to d); otherwise, terminating the authentication process;
step 4.4, AVcSelecting a random number y3Calculating Y3＝y3P，Y4＝y3Y1，
Figure FDA00034548731000000517
And
Figure FDA00034548731000000518
then AVcPacking Y3And M5Generating MSG3And mixing the MSG3Is sent to DPd；
Step 4.5, DPdReceiving MSG3Then, calculate
Figure FDA0003454873100000061
Then determine the equation
Figure FDA0003454873100000062
If true, it indicates AVcIf the vehicle is a matched autonomous vehicle, otherwise, terminating the authentication process; DPdComputing
Figure FDA0003454873100000063
And
Figure FDA0003454873100000064
then M is added6、Y3And
Figure FDA0003454873100000065
packing to generate MSG4Finally, MSG is processed4Is sent to passenger Pi；
Step 4.6, passenger PiReceiving MSG4Post-decryption to get DPdIdentification of
Figure FDA0003454873100000066
And calculate
Figure FDA0003454873100000067
Then passenger PiJudgment equation
Figure FDA0003454873100000068
If true, DP is indicateddThe passenger gets on the bus and goes to step 4.7, otherwise the session is ended;
step 4.7, passenger PiConfirmation of DPdCalculating after public trip station for carrying passenger
Figure FDA0003454873100000069
Figure FDA00034548731000000610
And
Figure FDA00034548731000000611
Pito AVcSending
Figure FDA00034548731000000612
AViAfter decryption is carried out on
Figure FDA00034548731000000613
Verification is carried out, and AV is carried out after the verification is passedcPassengers are carried to the destination.
6. The safe, efficient and long-range autonomous parking reservation service method based on the blockchain according to claim 1, wherein the unloading passenger authentication of the step 5 comprises the following steps:
step 5.1, DPbReceive from
Figure FDA00034548731000000614
Then will
Figure FDA00034548731000000615
Forward to public trip platform DP carrying passengersd，DPdTo pair
Figure FDA00034548731000000616
Decrypt and verify T2The verification is passed, and whether the core pair exists in the local database or not is checked
Figure FDA00034548731000000617
If present, indicates AVcIs a legal node; then, a public trip platform DP for carrying passengersdTo autodrive automobile AVcAdjacent public trip platform DPaTransmitting MSG6＝EADSK((ub,vb)||T3)，DPaMixing MSG6Forward to AVc，AVcVerification T3After verification, the MSG is decrypted by using the shared secret key ADSK6Obtaining matched public trip platform DP for unloading passengersbPosition coordinates (u)b,vb)；
Step 5.2, AVcReply DPaAcknowledgement messages
Figure FDA00034548731000000618
Indicates homologism in DPbGet off, DPaReceive from
Figure FDA00034548731000000619
Post-generation of random strings
Figure FDA00034548731000000620
And sign the obtained
Figure FDA00034548731000000621
Then DPaWill be provided with
Figure FDA00034548731000000622
Is sent to AVc；
Step 5.3, AVcTo DPbThen will
Figure FDA0003454873100000071
Is sent to DPb，DPbVerification equation
Figure FDA0003454873100000072
And if the equation is established, unloading the passengers.
7. The safe and efficient long-range autonomous parking reservation service method based on block chains according to claim 1, characterized in that the parking verification in step 7 comprises the following steps:
step 7.1, matched public trip station DP for optimal passenger unloadingbReceiving MSG7Then, will
Figure FDA0003454873100000073
Forward to DPd，DPdTo pair
Figure FDA0003454873100000074
Decrypt and verify T4Validity of (1), verifying DP after passingdChecking for presence
Figure FDA0003454873100000075
If present, indicates AVcIs a legal node;
step 7.2, DPdTo DPbTransmitting MSG8＝EADSK((or,pr)||T5)，DPbMixing MSG8Forward to AVc，AVcVerification T5After verification, the MSG is decrypted by using the shared secret key ADSK8Obtaining matched parking lot PLrPosition coordinates (o)r,pr)，AVcReply DPbAcknowledgement messages
Figure FDA0003454873100000076
Indicates homologism in PLrGetting off the vehicle;
step 7.3, DPbReceive from
Figure FDA0003454873100000077
Post-generation parking CodeParkingAnd signatures
Figure FDA0003454873100000078
Then (Code)Parking,Sig*) Is sent to AVc，CodeParkingIs sent to PLrAnd store
Step 7.4, AVcReach PLrBackward direction PLrTransmitting (Code)Parking,Sig*)，PLrFirstly, whether a Code exists or not is searched in a local databaseParkingIf not, the AV is prohibitedcDrive in PLrElse by the equation
Figure FDA0003454873100000079
Verifying the signature Sig*Validity of (1), allowing AV if the equation holdscPL for driving into parking lotrThen PLrDeleting CodeParking。
8. The safe and efficient long-range autonomous parking reservation service method based on the block chain as claimed in claim 1, characterized in that the consensus process of step 8 comprises the following steps:
step 8.1, selecting accounting nodes: DPfReceiving transactions sent by autodrive vehicles
Figure FDA00034548731000000710
Then, will
Figure FDA00034548731000000711
Packaging the data into blocks, taking 2 minutes as a period, selecting the public trip platform with the largest transaction quantity packaged in the blocks in each period as an accounting node, and using other public trip platforms as verification nodes, wherein the accounting node is mainly responsible for uplink storage of the blocks passing verification, and the verification nodes are mainly responsible for verifying the validity of transaction information;
step 8.2, a pre-preparation stage: the public trip station selected as the accounting node broadcasts the block to other verification nodes in the network, and the verification nodes receive the block and analyze the transaction information stored in the block;
step 8.3, preparation phase: the verification node verifies the validity of the transaction information, firstly, the equation is verified
Figure FDA0003454873100000081
Whether the information is established or not ensures the integrity of the public trip platform information; then verify the equation
Figure FDA0003454873100000082
And if the verification result is true, ensuring the integrity of the AV parking code, generating a verification result true after the verification is passed, otherwise, generating a signature rho of the verification result SigDP(result), the verification node broadcasts { result, rho } to other verification nodes, the other verification nodes verify the validity of the signature by using the public key of the sender, and the verification result of the verification node is compared with the verification result of other verification nodes to determine whether the verification result is the same or not after the verification is passed, if so, the local counter is added with 1;
step 8.4, confirm block: if the local counter is accumulated to the number of the verification nodes minus 1, which indicates that the legality of the transaction in the block is consistent in the whole network, the verification nodes send a confirmation message inf to the accounting nodeComAfter the block confirmation is finished, the section is verifiedClearing the local counter to zero so as to confirm the block in the next round;
step 8.5, uplink storage: the accounting node receives the confirmation information inf sent by the verification nodeComAnd then, automatically adding 1 to the local counter, if the local counter is added to the number of the verification nodes, and the block is stored to the block chain if the block is identified in the whole network, otherwise, discarding the current block.
9. A system applied to the block chain-based safe and efficient long-distance autonomous parking reservation service method according to any one of claims 1 to 8, comprising: the system comprises a plurality of platform wireless servers, a plurality of passenger mobile phone terminals, a plurality of wireless intelligent cards, a plurality of automatic driving automobiles and a plurality of parking lot wireless servers;
each station wireless server is deployed at each public trip station; each parking lot wireless server is deployed in each parking lot;
each platform wireless server is in wireless communication with a plurality of automatic driving automobiles, a plurality of passenger mobile phone terminals and a plurality of parking lot wireless servers, and the platform wireless servers are in wireless communication; each automatic driving automobile is in wireless communication with a plurality of platform wireless servers, a plurality of passenger mobile phone terminals and a plurality of parking lot wireless servers; each wireless intelligent card is in wireless communication with a corresponding mobile phone terminal and also in wireless communication with a plurality of platform wireless servers.
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