An IoV-PBFT Consensus-Based Blockchain for Collaborative Congestion Avoidance and Simulation Test

Table 1

Key notations in the model.

Notation	Description
Road 1-Road 8	Represents a particular road around the same intersection.
	Distance between the vehicle A in congestion and the intersection it just passed.
	Communication coverage radius of the vehicle.
	Width of each road lane.
	The constant arriving rate of vehicles in all road in Poisson stochastic process in a short period.
	The probability that a vehicle turn right, go straight and turn left at the next intersection, respectively.
	The time that a vehicle takes to turn right, go straight and turn left at the intersection, respectively.
	The maximum communication coverage of vehicle A on Road 2.
	The varying arriving rate of vehicles in all road actually in Poisson stochastic process.
	Consider in a short period, vehicles on Road 2 is arriving according to homogeneous Poisson process.
	Sequence of arrival time interval.
	Average speed.
	The moving distance between vehicle and vehicle .
	The probability density function of .
	The number of vehicles on the road in the length of .
	The threshold speed and time interval for the vehicle to initiate congestion beacon.
	The number of congestion beacons that the vehicle which first received reaches can be production node in this round.
	The total number of nodes taking part in the consensus mechanism.
	In IoV-PBFT scheme, all verification nodes are divided into g groups and the ^th group has member nodes. The total number of groups is .
	The sum of communication times for PBFT and MLPBFT.
	The sum of communication times for IoV-PBFT, whose upper limit is and lower limit is .
	The time when congestion of road 1 ends.
	The moment that the number of vehicles blocking in the congestion of Road 1 is no longer increase.
	The moment when vehicle from Road 2 is turning right, going straight or turning left and entering the Road 3, Road 5, and Road 7 for the first one, respectively.
	All the roads including Road 3, Road 5 and Road 7 have vehicles with congestion block arrived.
	The time that the ^th, ^th, ^th, and ^th arriving vehicle on Road 2 takes to arrive at the intersection.
	The time the ^th vehicle on Road 4 will take to arrive at the intersection, which is the first vehicle to go straight to Road 7, when the 1^st vehicle turns right on Road 2 and reaches Road 3.
	he time the ^th vehicle on Road 6 will take to arrive at the intersection, which is the first vehicle to turn right to Road 7, when the 1^st vehicle turns right on Road 4 and reaches Road 5.
	The moment that the number of vehicles blocking in the congestion of Road 1 is no longer increase.