CN106899614B - In-vehicle network intrusion detection method and device based on the message period - Google Patents
In-vehicle network intrusion detection method and device based on the message period Download PDFInfo
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- CN106899614B CN106899614B CN201710243012.0A CN201710243012A CN106899614B CN 106899614 B CN106899614 B CN 106899614B CN 201710243012 A CN201710243012 A CN 201710243012A CN 106899614 B CN106899614 B CN 106899614B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/14—Network architectures or network communication protocols for network security for detecting or protecting against malicious traffic
- H04L63/1408—Network architectures or network communication protocols for network security for detecting or protecting against malicious traffic by monitoring network traffic
- H04L63/1416—Event detection, e.g. attack signature detection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/14—Network architectures or network communication protocols for network security for detecting or protecting against malicious traffic
- H04L63/1408—Network architectures or network communication protocols for network security for detecting or protecting against malicious traffic by monitoring network traffic
- H04L63/1425—Traffic logging, e.g. anomaly detection
Abstract
The present invention provides a kind of in-vehicle network intrusion detection methods and device based on the message period, wherein, method includes: that the time attribute of multiple periodically packet ID of one or more electronic control units output in vehicle internal networks bus is acquired in the case where vehicle not communication with the outside world；The corresponding temporal characteristics of the electronic control unit are calculated according to the time attribute；The correspondence attribute of the conventional periodic message ID of the electronic control unit output of the temporal characteristics mark is acquired in the case where vehicle communication with the outside world, and calculates the identification error of the corresponding attribute；Judge whether the conventional periodic message is abnormal according to the identification error and preset threshold.Whether the present invention can detecte in vehicle network by external illegal invasion, and then guarantee the safety of driver and passenger.
Description
Technical field
The present invention relates to network safety filed more particularly to a kind of vehicle internal networks safety detection methods, specifically
It is exactly a kind of in-vehicle network intrusion detection method and device based on the message period.
Background technique
In recent years, vehicle shows intelligent, net connectionization development trend, more and more electronic control units (ECU,
Electronic Control Unit) it is installed to the original mechanical structure of vehicle interior replacement.With the increasing of subsidiary sensor
More, the software control system of intelligent component becomes more complicated；Increase along with the interface of correspondence with foreign country, net connectionization component is same
When potential network security threats have also been introduced.The ECU installed in vehicle can be remotely invaded by network, this invasion can
It can lead to vehicle trouble, to threaten the life security of driver or passenger.How to go to avoid or mitigate these networks peace
It is complete to threaten, it is the task of top priority of existing intelligent network connection driving skills art development.
The intelligent network connection existing Prevention-Security measure of vehicle all carries out safely around cloud safety and car-mounted terminal, but
It is, only these safety measures or inadequate that the object of intelligent network connection service is vehicle, the traffic safety of vehicle is that we protect
It is basic.
Existing in-vehicle network Prevention-Security measure is mainly there are two direction: one be based on message authentication code (MAC,
Message Authentication Code) network security defensive measure and intrusion detection Prevention-Security measure.Based on message
The network security defensive measure of authentication code provides safely effective guarantee to internet information, due to vehicle ECU resource and CAN
The limitation of bus protocol, the network security defensive measure based on message authentication code can not join the application in vehicle in intelligent network.Invasion
Detection Prevention-Security measure is by monitoring message content or monitors that the means such as periodical of interior message prevent network attack, enters
It invades detection Prevention-Security measure and is able to solve most network attack, such as forgery attack, message injection attacks etc., but enter
Attack (such as rewrite control instruction) of the detection Prevention-Security measure to some complexity is invaded, can neither detect, can not prevent, it is main
Want reason: interior CAN bus data message does not carry destination address and source address, the datagram that recipient can not acknowledge receipt of
Whether text is derived from sender, even if confirmation network data message is attack information, due to lacking the information of sender, still very
Difficulty confirm bottom be which ECU by.
Therefore, those skilled in the art need to research and develop a kind of intrusion detection for making up existing intrusion detection Prevention-Security loophole
Method guarantees the safety of driver and passenger to allow in-vehicle network from the attack of some complexity.
Summary of the invention
In view of this, the technical problem to be solved in the present invention is that providing a kind of in-vehicle network invasion based on the message period
Detection method and device solve the problems, such as that whether the prior art can not detect in vehicle network by external illegal invasion.
In order to solve the above-mentioned technical problem, a specific embodiment of the invention provides a kind of in-vehicle network based on the message period
Network intrusion detection method, comprising: in the case where vehicle not communication with the outside world acquire vehicle internal networks bus on one or
The time attribute of multiple periodically packet ID of multiple electronic control unit outputs, wherein the time attribute includes multiple weeks
Time interval, the quantity of periodically packet of phase property message；It is corresponding that the electronic control unit is calculated according to the time attribute
Temporal characteristics, wherein the temporal characteristics include clock skew；The time is acquired in the case where vehicle communication with the outside world
The correspondence attribute of the conventional periodic message ID of the electronic control unit output of signature identification, and calculate the knowledge of the corresponding attribute
Other error；Judge whether the conventional periodic message is abnormal according to preset threshold and the identification error.
Another embodiment of the present invention also provides a kind of in-vehicle network invasion detecting device based on the message period,
It include: the first acquisition unit, for acquiring one in vehicle internal networks bus in the case where vehicle not communication with the outside world
Or the time attribute of multiple periodically packet ID of multiple electronic control unit outputs, wherein the time attribute includes multiple
Time interval, the quantity of periodically packet of periodically packet；Computing unit, for calculating the electricity according to the time attribute
The corresponding temporal characteristics of sub-control unit, wherein the temporal characteristics include clock skew；Second acquisition unit, in vehicle
The conventional periodic message ID of the electronic control unit output of the temporal characteristics mark is acquired in the case where communication with the outside world
Correspondence attribute, and calculate the identification error of the corresponding attribute；Judging unit, for being missed according to preset threshold and the identification
Difference judges whether the conventional periodic message is abnormal.
Above-mentioned specific embodiment according to the present invention it is found that in-vehicle network intrusion detection method based on the message period and
Device at least has the advantages that network is not in the case where communication with the outside world inside the vehicle, acquires in-vehicle network bus
Multiple periodically packets (periodically packet for being not affected by attack) of upper electronic control unit (ECU) output；Further according to periodicity
Message calculates the corresponding temporal characteristics of electronic control unit, so that electronic control unit be marked.It is logical in vehicle and the external world
In the case where letter, the conventional periodic message for calculating the electronic control unit output of temporal characteristics label (may be under attack
Periodically packet) identification error；Judge whether conventional periodic message is abnormal further according to identification error and preset threshold.This hair
It is bright can allow in vehicle network insertion internet or connection peripheral hardware when, cope with complicated network attack, detecting network in vehicle is
It is no by illegal invasion, and then guarantee the safety of driver and passenger.
It is to be understood that above-mentioned general description and following specific embodiments are merely illustrative and illustrative, not
The range of the invention to be advocated can be limited.
Detailed description of the invention
Following appended attached drawing is part of specification of the invention, depicts example embodiments of the present invention, institute
Attached drawing is used to illustrate the principle of the present invention together with the description of specification.
Fig. 1 is a kind of in-vehicle network intrusion detection method based on the message period that the specific embodiment of the invention provides
The flow chart of embodiment one；
Fig. 2 is a kind of in-vehicle network intrusion detection method based on the message period that the specific embodiment of the invention provides
The flow chart of embodiment two；
Fig. 3 is a kind of in-vehicle network intrusion detection method based on the message period that the specific embodiment of the invention provides
The flow chart of embodiment three；
Fig. 4 is a kind of in-vehicle network invasion detecting device based on the message period that the specific embodiment of the invention provides
The schematic block diagram of embodiment one；
Fig. 5 is a kind of in-vehicle network invasion detecting device based on the message period that the specific embodiment of the invention provides
The schematic block diagram of embodiment two；
Fig. 6 is a kind of in-vehicle network invasion detecting device based on the message period that the specific embodiment of the invention provides
The schematic block diagram of embodiment three.
Specific embodiment
Understand in order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below will with attached drawing and in detail
Narration clearly illustrates the spirit of disclosed content, and any skilled artisan is understanding the content of present invention
After embodiment, when the technology that can be taught by the content of present invention, it is changed and modifies, without departing from the essence of the content of present invention
Mind and range.
The illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but not as a limitation of the invention.
In addition, in the drawings and embodiments the use of element/component of same or like label is for representing same or like portion
Point.
About " first " used herein, " second " ... etc., not especially censure the meaning of order or cis-position,
It is non-to limit the present invention, only for distinguish with same technique term description element or operation.
About direction term used herein, such as: upper and lower, left and right, front or rear etc. are only the sides with reference to attached drawing
To.Therefore, the direction term used is intended to be illustrative and not intended to limit this creation.
It is open term, i.e., about "comprising" used herein, " comprising ", " having ", " containing " etc.
Mean including but not limited to.
About it is used herein " and/or ", including any of the things or all combination.
About term used herein " substantially ", " about " etc., to modify it is any can be with the quantity or mistake of microvariations
Difference, but this slight variations or error can't change its essence.In general, microvariations that such term is modified or error
Range in some embodiments can be 20%, in some embodiments can be 10%, can be in some embodiments 5% or its
His numerical value.It will be understood by those skilled in the art that the aforementioned numerical value referred to can be adjusted according to actual demand, it is not limited thereto.
It is certain to describe the word of the application by lower or discuss in the other places of this specification, to provide art technology
Personnel's guidance additional in relation to the description of the present application.
Fig. 1 is a kind of in-vehicle network intrusion detection method based on the message period that the specific embodiment of the invention provides
The flow chart of embodiment one, as shown in Figure 1, being adopted in the case that network is not with internet or external device communication inside the vehicle
Collect multiple periodically packets of electronic control unit (ECU) output in in-vehicle network bus；Electricity is calculated further according to periodically packet
The corresponding temporal characteristics of sub-control unit (such as clock skew, clock skew), so that electronic control unit be marked.?
(for example, network passes through TBOX platform or joy in vehicle in the case where vehicle internal networks and internet or external device communication
Happy navigation platform is connect with external network), calculate the conventional periodic message of the electronic control unit output of temporal characteristics label
Identification error；Judge whether the conventional periodic message is abnormal further according to identification error and preset threshold.
The specific embodiment shown in the drawings includes:
Step 101: the one or more in vehicle internal networks bus is acquired in the case where vehicle not communication with the outside world
The time attribute of multiple periodically packet ID of electronic control unit output, wherein the time attribute includes multiple periodicity
The time interval of message and the quantity of periodically packet.In specific embodiments of the present invention, communication with the outside world is not specifically vehicle
Refer in vehicle network not with external network (including internet) or external equipment (including flash disk, mobile hard disk, mobile terminal
Deng) communication, vehicle internal networks are safe at this time.By vehicle internal networks bus, (such as CAN is total between electronic control unit
Line) it is communicated, therefore, the period that one or more electronic control units export can be up-sampled by network-bus inside the vehicle
Property message.Time attribute includes but is not limited to the time interval of multiple periodically packets and the quantity of periodically packet.
Step 102: the corresponding temporal characteristics of the electronic control unit being calculated according to the time attribute, wherein described
Temporal characteristics include clock skew.In specific embodiments of the present invention, the temporal characteristics of each electronic control unit are different
Sample, therefore, it can use temporal characteristics label electronic control unit, may thereby determine that it is which electronic control unit on earth
The periodically packet of output.Temporal characteristics include but is not limited to clock skew.
Step 103: marking the electronic control unit according to the temporal characteristics.Wherein, temporal characteristics and electronic control
Unit corresponds, and can use temporal characteristics label electronic control unit.
Step 104: the electronic control of the temporal characteristics mark (label) is acquired in the case where vehicle communication with the outside world
The correspondence attribute of the conventional periodic message ID of unit output, and calculate the identification error of the corresponding attribute.Tool of the invention
In body embodiment, vehicle communication with the outside world can be vehicle internal networks by car TBOX platform or amusement navigation platform with outside
Portion's network (including internet) communication, vehicle internal networks are unsafe at this time, and conventional periodic message may be by the external world
Attack.
Step 105: judging whether the conventional periodic message is abnormal according to preset threshold and the identification error.This hair
In bright specific embodiment, preset threshold is usually 10~50.Accumulation identification error is obtained according to identification error, and then is tired out
The maximum value and minimum value of product identification error, if the maximum value of accumulation identification error or the absolute value of minimum value are greater than default threshold
Value then judges that conventional periodic message is abnormal.
Referring to Fig. 1, in vehicle network not communication with the outside world when, passing through periodically packet, to calculate electronic control unit corresponding
Temporal characteristics (such as clock skew, clock skew refer specifically to the standard time clock of master clock input, are delayed by buffering and transmission
Line delay, and causes the clock of different electronic control units different from standard time clock, when the clock and standard of electronic control unit
The offset of clock is known as clock skew), electronic control unit is marked to realize；Network and extraneous progress inside the vehicle
When communication, by the analysis of identification error, judge whether the received conventional periodic message of electronic control unit is abnormal, Ke Yirang
In vehicle when network communication with the outside world, cope with complicated external attack, detection vehicle internal networks whether by illegal invasion, into
And guarantee the safety of driver and passenger.
In a specific embodiment of the invention, the clock skew SiSpecific formula for calculation are as follows:
Oi=Si×t+e
Wherein, i indicates identification error data of the periodically packet of electronic control unit output after algorithm operation
Serial number；OiIndicate the accumulation clock skew of the periodically packet sampled from electronic control unit；SiExpression is adopted from electronic control unit
The clock skew of the periodically packet of sample；T indicates runing time；E is the identification error of conventional periodic message.
Fig. 2 is a kind of in-vehicle network intrusion detection method based on the message period that the specific embodiment of the invention provides
The flow chart of embodiment two, as shown in Fig. 2, preventing electronic control unit to conventional periodic message to improve detection accuracy
It judges by accident, abnormal conventional periodic message can be further confirmed that, but due to the data-handling capacity of electronic control unit
It is limited, in order to save limited data-handling capacity in vehicle, the abnormal conventional periodic message of judgement can be uploaded into cloud and put down
Platform is verified and is confirmed to abnormal conventional periodic message by cloud platform, and last electronic control unit is anti-according to cloud platform
The conventional periodic message of the confirmation information processing exception of feedback.
In the specific embodiment shown in the drawings, after step 105, this method further include:
Step 106: abnormal conventional periodic message is uploaded into cloud platform.In specific embodiments of the present invention, cloud platform
With stronger data processing function, cloud platform can be server, server cluster, computer, mobile terminal etc..
Step 107: according to the conventional periodic message for the confirmation information processing exception that cloud platform returns.Electronic control unit
According to the conventional periodic message for the confirmation information processing exception that cloud platform returns, such as reject abnormal conventional periodic
Message, or abnormal conventional periodic message etc. is not executed.
Referring to fig. 2, in order to improve the detection accuracy of abnormal conventional periodic message, while list is controlled electronically in order to save
The memory and CPU occupancy of member, improve the reaction speed of electronic control unit, abnormal conventional periodic message can be uploaded
To cloud platform, data processing, and then the regular period of the confirmation information processing exception returned according to cloud platform are carried out by cloud platform
Property message further improves the detection of abnormal intrusion to prevent erroneous judgement of the electronic control unit to conventional periodic message
Precision.Certainly, electronic control unit can also directly handle the abnormal conventional periodic message of judgement, not need cloud platform into one
Step determines, improves treatment effeciency.
Fig. 3 is a kind of in-vehicle network intrusion detection method based on the message period that the specific embodiment of the invention provides
The flow chart of embodiment three, as shown in figure 3, judging whether conventional periodic message has extremely according to identification error and preset threshold
Body includes four steps.
In the specific embodiment shown in the drawings, step 105 is specifically included:
Step 1051: calculating the average value mu of the identification error eiAnd variances sigmai。
Step 1052: updating the average value muiWith the variances sigmai, whereinE is conventional periodic report
The identification error of text；μiFor the average value of the identification error of periodically packet；σiFor the variance of the identification error of periodically packet；M
For constant, i indicates the serial number of identification error data of the periodically packet of electronic control unit output after algorithm operation.This
In the specific embodiment of invention, whenWhen, update average value muiAnd variances sigmai。
Step 1053: according to the average value muiWith the variances sigmaiCalculate the maximum value and minimum of accumulation identification error L
Value.
Step 1054: according to the judgement of the absolute value of the maximum value, the absolute value of the minimum value and preset threshold
Whether conventional periodic message is abnormal.
Referring to Fig. 3, judge whether conventional periodic message is abnormal according to identification error and preset threshold, according to identification error
The maximum value of accumulation identification error L and the absolute value of minimum value are calculated, is preset if the absolute value of maximum value or minimum value is greater than
Threshold value then judges that conventional periodic message is abnormal.And the judgment method can exclude data transmission delay and bus arbitration prolongs
When scene, be primarily due to data transmission delay and the bus arbitration delay duration be short, and the network attack duration is long, because
This data transmission delay and bus arbitration delay, will not influence the maximum value of accumulation identification error L and the calculated result of minimum value,
Therefore erroneous judgement is not will cause.
In a specific embodiment of the invention, the maximum value L of the accumulation identification error+Calculation formula are as follows:
Wherein, i indicates identification error data of the periodically packet of electronic control unit output after algorithm operation
Serial number；E is the identification error of conventional periodic message；μiFor the average value of the identification error of periodically packet；σiFor periodical report
The variance of the identification error of text；K is constant.
The minimum value L of the accumulation identification error-Calculation formula are as follows:
Wherein, i indicates identification error data of the periodically packet of electronic control unit output after algorithm operation
Serial number；E is the identification error of conventional periodic message；μiFor the average value of the identification error of periodically packet；σiFor periodical report
The variance of the identification error of text；K is constant.
Fig. 4 is a kind of in-vehicle network invasion detecting device based on the message period that the specific embodiment of the invention provides
The schematic block diagram of embodiment one, device as shown in Figure 4 can be applied in Fig. 1-method shown in Fig. 3, inside the vehicle net
In the case that network is not with internet or external device communication, electronic control unit (ECU) output in in-vehicle network bus is acquired
Multiple periodically packets；Electronic control unit corresponding temporal characteristics (such as clock skew, clock are calculated further according to periodically packet
Skew etc.), so that electronic control unit be marked.The case where network is with internet or external device communication inside the vehicle
Under (for example, in vehicle network by TBOX platform or amusement navigation platform connect with external network), calculating temporal characteristics mark
The identification error of the conventional periodic message of the electronic control unit output of note；Institute is judged further according to identification error and preset threshold
Whether abnormal state conventional periodic message.
In the specific embodiment shown in the drawings, in-vehicle network invasion detecting device includes: the first acquisition unit 11, meter
Calculate unit 12, marking unit 13, the second acquisition unit 14 and judging unit 15, wherein the first acquisition unit 11 is used in vehicle
The multiple of one or more electronic control units output in vehicle internal networks bus are not acquired in the case where communication with the outside world
The time attribute of periodically packet ID, wherein the time attribute includes the time interval of multiple periodically packets, periodically reports
The quantity of text；Computing unit 12 is used to calculate the corresponding temporal characteristics of the electronic control unit according to the time attribute,
In, the temporal characteristics include clock skew；Marking unit 13 is used to mark the electronic control single according to the temporal characteristics
Member；Second acquisition unit 14 is used to acquire the electronic control list of the temporal characteristics mark in the case where vehicle communication with the outside world
The correspondence attribute of the conventional periodic message ID of member output, and calculate the identification error of the corresponding attribute；Judging unit 15 is used
In judging whether the conventional periodic message is abnormal according to preset threshold and the identification error.
Referring to fig. 4, in vehicle network not communication with the outside world when, passing through periodically packet, to calculate electronic control unit corresponding
Temporal characteristics (such as clock skew, clock skew refer specifically to the standard time clock of master clock input, are delayed by buffering and transmission
Line delay, and causes the clock of different electronic control units different from standard time clock, when the clock and standard of electronic control unit
The offset of clock is known as clock skew), electronic control unit is marked to realize；Network and extraneous progress inside the vehicle
When communication, by the analysis of identification error, judge whether the received conventional periodic message of electronic control unit is abnormal, Ke Yirang
In vehicle when network communication with the outside world, cope with complicated external attack, detection vehicle internal networks whether by illegal invasion, into
And guarantee the safety of driver and passenger.
In a specific embodiment of the invention, the clock skew SiSpecific formula for calculation are as follows:
Oi=Si×t+e
Wherein, i indicates identification error data of the periodically packet of electronic control unit output after algorithm operation
Serial number；OiIndicate the accumulation clock skew of the periodically packet sampled from electronic control unit；SiExpression is adopted from electronic control unit
The clock skew of the periodically packet of sample；T indicates runing time；E is the identification error of conventional periodic message.
Fig. 5 is a kind of in-vehicle network invasion detecting device based on the message period that the specific embodiment of the invention provides
The schematic block diagram of embodiment two, as shown in figure 5, preventing electronic control unit to conventional periodic report to improve detection accuracy
Text is judged by accident, can be further confirmed that abnormal conventional periodic message, but due to the data processing energy of electronic control unit
Power is limited, in order to save limited data-handling capacity in vehicle, the abnormal conventional periodic message of judgement can be uploaded cloud
Platform is verified and is confirmed to abnormal conventional periodic message by cloud platform, and last electronic control unit is according to cloud platform
The conventional periodic message of the confirmation information processing exception of feedback.
In the specific embodiment shown in the drawings, in-vehicle network invasion detecting device further include: uploading unit 16 and really
Recognize unit 17.Wherein, uploading unit 16 is used to abnormal conventional periodic message uploading cloud platform；Confirmation unit 17 is used for root
According to the conventional periodic message for the confirmation information processing exception that cloud platform returns.
Referring to Fig. 5, in order to improve the detection accuracy of abnormal conventional periodic message, and meanwhile it is single in order to save electronic control
The memory and CPU occupancy of member, improve the reaction speed of electronic control unit, abnormal conventional periodic message can be uploaded
To cloud platform, data processing, and then the regular period of the confirmation information processing exception returned according to cloud platform are carried out by cloud platform
Property message further improves the detection of abnormal intrusion to prevent erroneous judgement of the electronic control unit to conventional periodic message
Precision.Certainly, electronic control unit can also directly handle the abnormal conventional periodic message of judgement, not need cloud platform into one
Step determines, improves treatment effeciency.
Fig. 6 is a kind of in-vehicle network invasion detecting device based on the message period that the specific embodiment of the invention provides
The schematic block diagram of embodiment three, as shown in fig. 6, judging unit specifically includes the first computing module, update module, the second calculating mould
Block and judgment module.
In the specific embodiment shown in the drawings, the judging unit 15 is specifically included: the first computing module 151, more
New module 152, the second computing module 153 and judgment module 154.Wherein, the first computing module 151 described states identification for calculating
The average value and variance of error；Update module 152 is for updating the average value and the variance, whereine
For the identification error of conventional periodic message；μiFor the average value of the identification error of periodically packet；σiFor the knowledge of periodically packet
The variance of other error；M is constant, and i indicates that identification of the periodically packet of electronic control unit output after algorithm operation misses
The serial number of difference data；Second computing module 153 is used to calculate accumulation identification error most according to the average value and the variance
Big value and minimum value；Judgment module 154 is used for according to the absolute value of the maximum value, the absolute value of the minimum value and default threshold
Value judges whether the conventional periodic message is abnormal.In specific embodiments of the present invention, whenWhen, update module
152 update average value muiAnd variances sigmai。
Referring to Fig. 6, judge whether conventional periodic message is abnormal according to identification error and preset threshold, according to identification error
The maximum value of accumulation identification error L and the absolute value of minimum value are calculated, is preset if the absolute value of maximum value or minimum value is greater than
Threshold value then judges that conventional periodic message is abnormal.And the judgment method can exclude data transmission delay and bus arbitration prolongs
When scene, be primarily due to data transmission delay and the bus arbitration delay duration be short, and the network attack duration is long, because
This data transmission delay and bus arbitration delay, will not influence the maximum value of accumulation identification error L and the calculated result of minimum value,
Therefore erroneous judgement is not will cause.
The specific embodiment of the invention provides a kind of in-vehicle network intrusion detection method and device based on the message period, in vehicle
Internal network is in the case where communication with the outside world, acquires the multiple of electronic control unit (ECU) output in in-vehicle network bus
Periodically packet (periodically packet for being not affected by attack)；The electronic control unit corresponding time is calculated further according to periodically packet
Feature, so that electronic control unit be marked.In the case where vehicle communication with the outside world, the electricity of temporal characteristics label is calculated
The identification error of the conventional periodic message (periodically packet that may be under attack) of sub-control unit output；Further according to identification
Error and preset threshold judge whether conventional periodic message is abnormal.The present invention can allow network insertion internet or company in vehicle
When connecing peripheral hardware, complicated network attack is coped with, whether network is by illegal invasion in detection vehicle, and then guarantees driver and multiply
The safety of visitor.
The above-mentioned embodiment of the present invention can be implemented in various hardware, Software Coding or both combination.For example, this hair
Bright embodiment can also be the execution above method in data signal processor (Digital Signal Processor, DSP)
Program code.The present invention can also refer to computer processor, digital signal processor, microprocessor or field-programmable gate array
Arrange the multiple functions that (Field Programmable Gate Array, FPGA) is executed.Above-mentioned processing can be configured according to the present invention
Device executes particular task, and machine-readable software code or the firmware generation of the ad hoc approach that the present invention discloses are defined by executing
Code is completed.Software code or firmware code can be developed as different program languages and different formats or form.Can also be
Different target platform composing software codes.However, executing software code and the other types configuration generation of task according to the present invention
Different code pattern, type and the language of code do not depart from spirit and scope of the invention.
The foregoing is merely the schematical specific embodiments of the present invention, before not departing from conceptions and principles of the invention
It puts, the equivalent changes and modifications that any those skilled in the art is made should belong to the scope of protection of the invention.
Claims (9)
1. a kind of in-vehicle network intrusion detection method based on the message period, which is characterized in that this method comprises:
One or more electronic control units in vehicle internal networks bus are acquired in the case where vehicle not communication with the outside world
The time attribute of multiple periodically packet ID of output, wherein the time attribute includes between the time of multiple periodically packets
Every the quantity with periodically packet；
The corresponding temporal characteristics of the electronic control unit are calculated according to the time attribute, and according to the temporal characteristics to institute
It states electronic control unit to be marked, wherein the temporal characteristics include clock skew；
The regular period of the electronic control unit output of the temporal characteristics label is acquired in the case where vehicle communication with the outside world
The correspondence attribute of property message ID, and the identification error of the corresponding attribute is calculated, the calculation formula of the identification error are as follows:
Oi=Si×t+e
Wherein, the serial number of the identification error after the periodically packet of i expression electronic control unit output is computed；OiIndicate from
The accumulation clock skew of the periodically packet of electronic control unit sampling；SiIndicate the periodical report sampled from electronic control unit
The clock skew of text；T indicates runing time；E is the identification error of conventional periodic message；And
Judge whether the conventional periodic message is abnormal according to preset threshold and the identification error.
2. as described in claim 1 based on the in-vehicle network intrusion detection method in message period, which is characterized in that this method is also wrapped
It includes:
Abnormal conventional periodic message is uploaded into cloud platform；And
According to the conventional periodic message for the confirmation information processing exception that cloud platform returns.
3. as described in claim 1 based on the in-vehicle network intrusion detection method in message period, which is characterized in that according to default threshold
Value and the identification error judge the conventional periodic message whether Yi Chang step, specifically include:
The average value and variance of identification error are stated described in calculating；
The maximum value and minimum value of accumulation identification error are calculated according to the average value and the variance；And
The conventional periodic message is judged according to the absolute value of the maximum value, the absolute value of the minimum value and preset threshold
It is whether abnormal.
4. as claimed in claim 3 based on the in-vehicle network intrusion detection method in message period, which is characterized in that according to described flat
Mean value and the variance calculated before the step of maximum value and minimum value of accumulation identification error, further includes:
WhenWhen, update the average value and the variance, wherein e is the identification error of conventional periodic message；
μiFor the average value of the identification error of periodically packet；σiFor the variance of the identification error of periodically packet；M is constant, and i is indicated
Electronic control unit output periodically packet be computed after identification error serial number.
5. as claimed in claim 3 based on the in-vehicle network intrusion detection method in message period, which is characterized in that
The maximum value L of the accumulation identification error+Calculation formula are as follows:
Wherein, the serial number of the identification error after the periodically packet of i expression electronic control unit output is computed；E is conventional
The identification error of periodically packet；μiFor the average value of the identification error of periodically packet；σiFor the identification error of periodically packet
Variance；K is constant,
The minimum value L of the accumulation identification error-Calculation formula are as follows:
Wherein, the serial number of the identification error after the periodically packet of i expression electronic control unit output is computed；E is conventional
The identification error of periodically packet；μiFor the average value of the identification error of periodically packet；σiFor the identification error of periodically packet
Variance；K is constant.
6. a kind of in-vehicle network invasion detecting device based on the message period, which is characterized in that the device includes:
First acquisition unit, in the case where vehicle not communication with the outside world acquire vehicle internal networks bus on one or
The time attribute of multiple periodically packet ID of multiple electronic control unit outputs, wherein the time attribute includes multiple weeks
Time interval, the quantity of periodically packet of phase property message；
Computing unit, for calculating the corresponding temporal characteristics of the electronic control unit according to the time attribute, and according to institute
It states temporal characteristics the electronic control unit is marked, wherein the temporal characteristics include clock skew；
Second acquisition unit, for acquiring the electronic control list of the temporal characteristics label in the case where vehicle communication with the outside world
The correspondence attribute of the conventional periodic message ID of member output, and calculate the identification error of the corresponding attribute, the identification error
Calculation formula are as follows:
Oi=Si×t+e
Wherein, the serial number of the identification error after the periodically packet of i expression electronic control unit output is computed；OiIndicate from
The accumulation clock skew of the periodically packet of electronic control unit sampling；SiIndicate the periodical report sampled from electronic control unit
The clock skew of text；T indicates runing time；E is the identification error of conventional periodic message；And
Judging unit, for judging whether the conventional periodic message is abnormal according to preset threshold and the identification error.
7. as claimed in claim 6 based on the in-vehicle network invasion detecting device in message period, which is characterized in that the device is also
Include:
Uploading unit, for abnormal conventional periodic message to be uploaded cloud platform；And
Confirmation unit, the conventional periodic message of the confirmation information processing exception for being returned according to cloud platform.
8. as claimed in claim 6 based on the in-vehicle network invasion detecting device in message period, which is characterized in that the judgement
Unit specifically includes:
First computing module, for calculating the average value and variance for stating identification error；
Second computing module, for calculating the maximum value and minimum of accumulation identification error according to the average value and the variance
Value；And
Judgment module, for according to the judgement of the absolute value of the maximum value, the absolute value of the minimum value and preset threshold
Whether conventional periodic message is abnormal.
9. as claimed in claim 8 based on the in-vehicle network invasion detecting device in message period, which is characterized in that the judgement
Unit further include:
Update module, for working asWhen, update the average value and the variance, wherein e is conventional periodic report
The identification error of text；μiFor the average value of the identification error of periodically packet；σiFor the variance of the identification error of periodically packet；M
For constant, i indicates the serial number of the identification error after the periodically packet of electronic control unit output is computed.
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| WO2018186053A1 (en) * | 2017-04-07 | 2018-10-11 | パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカ | Method for detecting unauthorized communication, system for detecting unauthorized communication, and program |
| CN107666476B (en) * | 2017-05-25 | 2021-06-04 | 国家计算机网络与信息安全管理中心 | CAN bus risk detection method and device |
| CN108111510A (en) * | 2017-12-20 | 2018-06-01 | 北京航空航天大学 | A kind of in-vehicle network intrusion detection method and system |
| JP7035791B2 (en) * | 2018-05-17 | 2022-03-15 | オムロン株式会社 | Anomaly detection device and anomaly detection method to detect cyber attacks |
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| CN109117639B (en) * | 2018-07-27 | 2021-03-16 | 北京梆梆安全科技有限公司 | Intrusion risk detection method and device |
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| CN110691104B (en) * | 2019-11-11 | 2021-08-31 | 哈尔滨工业大学 | Vehicle-mounted CAN bus self-adaptive intrusion detection method based on message period characteristics |
| CN113163369A (en) * | 2020-01-20 | 2021-07-23 | 北京新能源汽车股份有限公司 | Vehicle intrusion prevention processing method and device and automobile |
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