CN111127919A - Traffic data checking method, traffic data broadcasting method and system - Google Patents
Traffic data checking method, traffic data broadcasting method and system Download PDFInfo
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- CN111127919A CN111127919A CN201911405639.7A CN201911405639A CN111127919A CN 111127919 A CN111127919 A CN 111127919A CN 201911405639 A CN201911405639 A CN 201911405639A CN 111127919 A CN111127919 A CN 111127919A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/091—Traffic information broadcasting
- G08G1/093—Data selection, e.g. prioritizing information, managing message queues, selecting the information to be output
Abstract
A traffic data verification method, a traffic data broadcasting method and a system thereof observe detection data of an associated electronic control unit associated with a behavior instruction and/or an electronic component associated with the behavior instruction according to the behavior instruction sent by an electronic control unit, and generate observation data associated with the behavior instruction; and verifying the validity of the behavior instruction based on the observation data so as to verify the validity of the traffic data which is acquired from the electronic control unit according to the behavior instruction and is broadcasted to the peripheral vehicles. Whether the detection data of the other electronic control unit is valid or not is judged through the detection data of the other electronic control unit and/or the detection data of other related electronic components, and whether the other electronic control unit is attacked by a hacker or not can be judged through the method, so that the validity of the traffic data source verification is ensured. The validity of the traffic data is verified, so that the authenticity of the vehicle-vehicle communication message is improved, and the authenticity of road condition information transmission is ensured.
Description
Technical Field
The invention relates to the technical field of vehicle networking, in particular to a traffic data checking method, a traffic data broadcasting method and a traffic data broadcasting system.
Background
In the future application scene of the internet of vehicles, the vehicle-vehicle communication in the direct connection mode becomes an important way for road condition information transmission and roadblock alarming.
The internet-connected automobiles in the internet of vehicles face frequent access and release of nodes, at the present stage, in the management of the access and release of the LTE-V2X network, the safe access control of vehicle nodes cannot be effectively implemented, the isolation and punishment mechanism of untrusted or out-of-control nodes is not established completely, the potential safety hazard of the LTE-V2X credible network environment is prominent, once malicious node intrusion exists, the authenticity of vehicle-vehicle communication information can be influenced by blocking, forging and tampering vehicle-vehicle communication or replay attack, the authenticity of vehicle-vehicle communication information is damaged, and the transmission of road condition information is influenced.
Disclosure of Invention
Aiming at the defects of the vehicle-vehicle communication in the direct connection mode, the application provides a traffic data checking method, a traffic data broadcasting method and a traffic data broadcasting system, the validity of traffic data is checked, the authenticity of vehicle-vehicle communication information is improved, and the authenticity of road condition information transmission is ensured.
The technical scheme provided by the invention is as follows:
the invention provides a traffic data checking method, which comprises the following steps:
observing detection data of an associated electronic control unit associated with the behavior instruction and/or an electronic component associated with the behavior instruction according to the behavior instruction sent by an electronic control unit, and generating observation data associated with the behavior instruction;
and verifying the validity of the behavior instruction based on the observation data so as to verify the validity of the traffic data which is acquired from the vehicle electronic control unit according to the behavior instruction and is broadcasted to peripheral vehicles.
Further preferably, the generating of the observation data associated with the behavior instruction specifically includes: observing the change of the detection data in a preset time period according to the behavior instruction, and acquiring the change rule of the observation data in the preset time period;
the checking validity of the behavior instruction based on the observation data specifically includes: and checking whether the behavior instruction is effective or not according to the change rule of the observation data in a preset time period.
Further preferably, the behavior command includes an acceleration behavior command, a steering behavior command, and a braking behavior command, the observation data associated with the acceleration behavior command includes a vehicle speed, the observation data associated with the steering behavior command includes an angle and a speed of a change in a position of a steering wheel, and the observation data associated with the braking behavior command includes a vehicle speed.
Further preferably, the validity check of the acceleration behavior instruction based on the observation data includes the steps of:
directly acquiring detection data of a speed sensor according to a trigger signal of an accelerator pedal sensor;
and judging whether the detection data is increased within a preset time period, if so, judging that the acceleration behavior instruction is effective, and otherwise, judging that the acceleration behavior instruction is invalid.
Further preferably, the validity check of the steering behavior command based on the observation data includes the steps of:
directly acquiring a torsion bar angle required by steering motion recorded by a steering torque sensor according to a trigger signal of a steering angle sensor;
and judging whether the angle of the torsion bar changes within a preset time period, if so, judging that the steering behavior command is valid, and otherwise, judging that the steering behavior command is invalid.
Further preferably, the effective verification of the braking behavior command based on the observation data includes the steps of:
acquiring a vehicle speed electronic control unit and/or directly acquiring detection data of a speed sensor according to a trigger signal of a brake pedal sensor;
and judging whether the detection data is reduced within a preset time period, if so, judging that the braking behavior instruction is effective, and otherwise, judging that the braking behavior instruction is invalid.
The invention also provides a traffic data broadcasting method, which comprises the following steps:
the method for verifying the traffic data is used for verifying the validity of the traffic data to be broadcasted, wherein the traffic data to be broadcasted is the traffic data which is acquired from a vehicle electronic control unit according to a behavior instruction and is broadcasted to peripheral vehicles;
valid traffic data is broadcast to peripheral vehicles.
The present invention also provides a traffic data broadcasting system, comprising:
a plurality of electronic control units;
the vehicle-mounted microcontroller module is in communication connection with each electronic control unit through a CAN bus, and is used for acquiring traffic data detected by each electronic control unit and sending the acquired traffic data to peripheral vehicles;
and the arbitration module is in communication connection with each electronic control unit, the related electronic components and the vehicle-mounted microcontroller module, and is used for verifying the validity of the traffic data before the vehicle-mounted microcontroller module sends the traffic data to peripheral vehicles so as to control the vehicle-mounted microcontroller module to send the valid traffic data to the peripheral vehicles.
Further preferably, the arbitration module verifies the validity of the traffic data by performing the following operations:
observing detection data of an associated electronic control unit associated with the behavior instruction and/or an electronic component associated with the behavior instruction according to the behavior instruction sent by an electronic control unit, and generating observation data associated with the behavior instruction;
and verifying the validity of the behavior instruction based on the observation data so as to verify the validity of the traffic data which is acquired from the vehicle electronic control unit according to the behavior instruction and is broadcasted to peripheral vehicles.
Further preferably, the generating of the observation data associated with the behavior instruction specifically includes: observing the change of the detection data in a preset time period according to the behavior instruction, and acquiring the change rule of the observation data in the preset time period;
the checking validity of the behavior instruction based on the observation data specifically includes: and checking whether the behavior instruction is effective or not according to the change rule of the observation data in a preset time period.
The traffic data inspection method, the traffic data broadcasting method and the system provided by the invention have the following effects:
1) the behavior instruction is subjected to validity check through the detection data of the associated electronic control unit and/or the associated electronic component associated with the behavior instruction, namely, whether the detection data of the other electronic control unit is valid or not is judged through the detection data of the other electronic control unit and/or the detection data of the other associated electronic component, and whether the other electronic control unit is attacked by a hacker or not can also be judged through the method, so that the validity of the traffic data source verification is ensured.
2) The validity of the traffic data is verified, so that the authenticity of the vehicle-vehicle communication message is improved, and the authenticity of road condition information transmission is ensured.
Drawings
Fig. 1 is a schematic block diagram of a conventional vehicle-vehicle communication in a direct connection mode;
FIG. 2 is a flow chart of a traffic data verification method provided by the present invention;
FIG. 3 is a flow chart of a method for broadcasting traffic data according to the present invention;
fig. 4 is a schematic block diagram of a traffic data broadcasting system according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings.
As shown in fig. 1, according to the existing principle of vehicle-vehicle communication in the direct connection mode, a plurality of Electronic Control Units (ECUs) configured in a vehicle are in communication connection with a vehicle-mounted microcontroller (T Box MCU) module through a CAN bus, the vehicle-mounted microcontroller sends traffic data detected by each electronic control unit to a 4G LTE module, and then broadcasts the traffic data to peripheral vehicles through the 4G LTE module.
If the vehicle-mounted microcontroller module is attacked by hackers, the hackers can tamper with the traffic data acquired from the ECU and then send out the tampered traffic data, thereby destroying the authenticity of the vehicle-vehicle communication information.
On the other hand, in the prior art, the traffic data in the ECU is sent to the vehicle-mounted microcontroller module in an encrypted manner to prevent hackers from attacking the vehicle-mounted microcontroller module; however, if the ECU is hacked, even if the traffic data in the ECU is sent to the vehicle-mounted microcontroller in an encrypted manner, the authenticity of the vehicle-to-vehicle communication information may be damaged due to the fact that the source of the traffic data is false.
Based on the problems of the vehicle-vehicle communication in the direct connection mode, the technical scheme provided by the invention is as follows: for the traffic data provided by one ECU, the invention adopts the detection data of other ECUs and/or the detection data of other related electronic components related to the ECU to verify the validity of the traffic data provided by the ECU, and the detection data of other ECUs and the detection data of other related electronic components can not only verify the validity of the traffic data provided by the ECU, but also detect whether the ECU is attacked by hackers, thereby ensuring the validity verification of the traffic data.
Based on the above basic concept, the present invention provides a traffic data verification method, a flowchart of which is shown in fig. 2, and the method specifically includes the following steps.
S200: observing detection data of an associated electronic control unit associated with the behavior command and/or an electronic component associated with the behavior command according to the behavior command sent by the electronic control unit, and generating observation data associated with the behavior command.
S210: and verifying the validity of the behavior instruction based on the observation data so as to verify the validity of the traffic data which is acquired from the vehicle electronic control unit according to the behavior instruction and is broadcasted to the peripheral vehicles.
In step S1, the action command refers to a corresponding trigger command sent to a corresponding electronic control unit through a corresponding sensor when an execution mechanism of the vehicle is executed, for example, the execution mechanism may be an accelerator pedal, a steering wheel, a brake pedal, and the like, each type of execution mechanism is configured with a corresponding electronic control unit, for example, the accelerator pedal is configured with a corresponding vehicle speed electronic control unit, the steering wheel is configured with a corresponding steering electronic control unit, the brake pedal is configured with a corresponding brake electronic control unit, and each type of electronic control unit collects the action command when the corresponding execution mechanism executes actions through each type of sensor and collects data information generated by the vehicle through the action command.
The electronic component related to the behavior command refers to an electronic component capable of representing that the behavior command executes a corresponding action, and detection data of the related electronic component can reflect the action executed by the behavior command, for example, the electronic component related to the braking behavior command may include a speed sensor and an acceleration sensor, and for another example, the electronic component related to the acceleration behavior command may include a speed sensor and an acceleration sensor, and for another example, the electronic component related to the obstacle detection behavior command includes a radar detector.
Because the data detected by the electronic components in real time is real and effective, and cannot be falsified or forged, the detection data in the electronic control unit can be combined with the data detected by the specific electronic components in real time to judge whether the corresponding behavior instructions are real and effective.
Preferably, the generating of the observation data associated with the behavior instruction specifically includes:
observing the change of the detection data within a preset time period according to the behavior instruction, and acquiring the change rule of the observation data within the preset time period;
further, validity verification is performed on the behavior instruction based on the observation data, and the method specifically includes: and checking whether the behavior instruction is effective or not according to the change rule of the observation data in the preset time period.
The invention verifies the validity of the behavior instruction based on the change of the detection data of other electronic control units and/or related electronic components, and further verifies the validity of the traffic data which is acquired from the electronic control units according to the behavior instruction and is broadcasted to peripheral vehicles.
The behavior instruction comprises an acceleration behavior instruction, a steering behavior instruction and a braking behavior instruction, the observation data related to the acceleration behavior instruction comprises the speed of the vehicle, the observation data related to the steering behavior instruction comprises the angle and the speed of the change of the position of the steering wheel, and the observation data related to the braking behavior instruction comprises the speed of the vehicle.
Specifically, the validity check of the acceleration behavior instruction based on the observation data includes the steps of:
directly acquiring detection data of a speed sensor according to a trigger signal of an accelerator pedal sensor;
and judging whether the detection data is increased within a preset time period, if so, judging that the acceleration behavior instruction is effective, and otherwise, judging that the acceleration behavior instruction is invalid.
For the validity check of the acceleration behavior command, the present embodiment preferably observes data detected by the speed sensor in real time, and in other embodiments, the validity of the acceleration behavior command may also be checked through detection data in the vehicle speed electronic control unit, or the validity check of the acceleration behavior command may also be performed by combining the detection data in the vehicle speed electronic control unit and the data detected by the speed sensor in real time.
For example, it may be observed whether a change rule of the detection data in the vehicle speed electronic control unit in a preset time period is consistent with a change rule of the data detected by the speed sensor in real time, if so, the detection data in the vehicle speed electronic control unit is valid, and if the change rules of the detection data in the vehicle speed electronic control unit and the change rule of the detection data in the speed sensor are opposite, the detection data in the vehicle speed electronic control unit is not authentic.
The validity check is carried out on the steering behavior instruction based on the observation data, and the method comprises the following steps:
directly acquiring a torsion bar angle required by steering motion recorded by a steering torque sensor according to a trigger signal of a steering angle sensor;
and judging whether the angle of the torsion bar changes within a preset time period, if so, judging that the steering behavior instruction is valid, and otherwise, judging that the steering behavior instruction is invalid.
In other embodiments, the validity of the steering behavior command may also be verified through the detection data in the steering electronic control unit, and the validity of the steering behavior command may also be verified by combining the detection data in the vehicle speed electronic control unit with the data detected by the steering torque sensor in real time.
For example, it may be observed whether a change rule of the detection data in the steering electronic control unit in a preset time period is consistent with a change rule of the data detected by the steering torque sensor in real time, if so, the detection data in the steering electronic control unit is valid, and if the change rules of the detection data in the steering electronic control unit and the change rule of the data detected by the steering torque sensor are opposite, the detection data in the steering electronic control unit is not authentic.
Effective verification is carried out on the braking behavior instruction based on the observation data, and the method comprises the following steps:
acquiring a vehicle speed electronic control unit and/or directly acquiring detection data of a speed sensor according to a trigger signal of a brake pedal sensor;
and judging whether the detection data is reduced within a preset time period, if so, judging that the braking behavior instruction is effective, and otherwise, judging that the braking behavior instruction is invalid.
For the validity check of the braking behavior command, the embodiment preferably observes the detection data in the electronic vehicle speed control unit, and in other embodiments, the validity of the braking behavior command may also be checked through the data detected by the speed sensor in real time, or the validity check of the braking behavior command may also be performed by combining the detection data in the electronic vehicle speed control unit and the data detected by the speed sensor in real time.
The following describes a process of checking traffic data by taking a behavior command as a braking behavior command as an example.
Before the vehicle-mounted microcontroller module broadcasts the brake data sent by the electronic brake control unit, the brake data is arbitrated, specifically, the vehicle speed data of the electronic brake control unit is obtained, whether the vehicle speed data is obviously reduced or not is judged within a time period of 1s, if the vehicle speed data is obviously reduced, the brake action command is an effective command, correspondingly, the brake traffic data corresponding to the brake action command is also effective data, if the vehicle speed data is not changed within the time period of 1s, the brake action command is an invalid command, correspondingly, the brake traffic data corresponding to the brake action command is also invalid data, that is, the brake data sent by the electronic brake control unit is not confident, and the brake data cannot be broadcasted.
The traffic data inspection method provided by this embodiment verifies the validity of the traffic data provided by a certain electronic control unit by using the detection data of other electronic control units and/or the data detected by the relevant electronic components in real time, instead of verifying itself with the traffic data provided by the certain electronic control unit itself, but the other observation data is adopted to carry out validity check on the traffic data provided by the certain electronic control unit, so that, even if the certain electronic control unit is hacked, the detection data of other electronic control units and/or the detection data of related electronic components are used as the data source for verification, therefore, validity and authenticity of the verification data source can be ensured, further, validity of traffic data verification is ensured, and authenticity of vehicle-vehicle communication information is ensured.
Based on the above traffic data verification method, the present invention further provides a traffic data broadcasting method, a flowchart of which is shown in fig. 3, and the method specifically includes the following steps.
S300: and observing the detection data of the associated electronic control unit associated with the behavior command and/or the electronic component associated with the behavior command according to the behavior command sent by the electronic control unit, and generating the observation data associated with the behavior command.
S310: and verifying the validity of the behavior instruction based on the observation data so as to verify the validity of the traffic data which is acquired from the electronic control unit according to the behavior instruction and is broadcasted to the peripheral vehicles.
S320: valid traffic data is broadcast to peripheral vehicles.
For the specific process of steps S300-S310 in this embodiment, refer to steps S200-S210, which are not described herein again.
The traffic data broadcasting method provided by the embodiment improves the authenticity of the vehicle-vehicle communication message and ensures the authenticity of road condition information transmission through the validity check of the traffic data.
The invention also provides a traffic data broadcasting system, the functional block diagram of which is shown in fig. 4, and the traffic data broadcasting system comprises a plurality of electronic control units, a vehicle-mounted microcontroller module and an arbitration module.
The electronic control units are correspondingly configured in combination with the execution mechanisms of the automobile, and are respectively used for acquiring corresponding traffic data, for example, the speed electronic control unit is used for acquiring speed data of the automobile, and the brake electronic control unit is used for acquiring brake data of the automobile.
The vehicle-mounted microcontroller module is in communication connection with each electronic control unit through a communication module, wherein the communication module CAN be CAN bus, LIN, FlexRay or Ethernet communication, and the vehicle-mounted microcontroller is used for acquiring traffic data detected by each electronic control unit and sending the acquired traffic data to peripheral vehicles through the 4G LTE module.
The arbitration module is in communication connection with each electronic control unit, the related electronic components and the vehicle-mounted microcontroller module and is used for verifying the validity of the traffic data before the vehicle-mounted microcontroller module sends the traffic data to peripheral vehicles so as to control the vehicle-mounted microcontroller module to send the valid traffic data to the peripheral vehicles.
Specifically, the arbitration module verifies the validity of the traffic data by performing the following operations:
observing detection data of an associated electronic control unit associated with the behavior instruction and/or an electronic component associated with the behavior instruction according to the behavior instruction sent by an electronic control unit, and generating observation data associated with the behavior instruction;
and verifying the validity of the behavior instruction based on the observation data so as to verify the validity of the traffic data which is acquired from the vehicle electronic control unit according to the behavior instruction and is broadcasted to the peripheral vehicles.
Preferably, the generating of the observation data associated with the behavior instruction specifically includes: observing the change of the detection data in a preset time period according to the behavior instruction, and acquiring the change rule of the observation data in the preset time period;
performing validity check on the behavior instruction based on the observation data, specifically comprising: and checking whether the behavior instruction is effective or not according to the change rule of the observation data in a preset time period.
For a specific process of checking the validity of the traffic data by the arbitration module, please refer to the above steps S200 to S210, which is not described herein again.
It should be noted that the arbitration module in this embodiment is physically separated from the reprinting microcontroller module, and the arbitration module operates in a secure environment, for example, the arbitration module operates in a TEE, wherein the TEE provides a secure area in the connection device to ensure that sensitive data is stored, processed, and protected in an isolated, trusted environment, and end-to-end security is achieved by providing isolated, securely executed authorization software. For example, the arbitration module may also run in a Hardware Security Module (HSM), which is a dedicated cryptographic processor designed specifically for protecting the cryptographic key lifecycle. The hardware security module has become the starting point of the chain of trust by securely managing, processing and maintaining cryptographic keys in a hardened and tamper-resistant device, protecting its cryptographic infrastructure for the most security-conscious organization in the world.
The traffic data broadcasting system provided by the embodiment improves the authenticity of the vehicle-vehicle communication message through the validity check of the traffic data, and ensures the authenticity of road condition information transmission.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (10)
1. A traffic data verification method, comprising the steps of:
observing detection data of an associated electronic control unit associated with the behavior instruction and/or an electronic component associated with the behavior instruction according to the behavior instruction sent by an electronic control unit, and generating observation data associated with the behavior instruction;
and verifying the validity of the behavior instruction based on the observation data so as to verify the validity of the traffic data which is acquired from the electronic control unit according to the behavior instruction and is broadcasted to peripheral vehicles.
2. The traffic data verification method according to claim 1, wherein the generating of the observation data associated with the behavior instruction specifically includes: observing the change of the detection data within a preset time period according to the behavior instruction, and acquiring the change rule of the observation data within the preset time period;
the checking validity of the behavior instruction based on the observation data specifically includes: and checking whether the behavior instruction is effective or not according to the change rule of the observation data in a preset time period.
3. The traffic data verification method according to claim 2, wherein the behavior command includes an acceleration behavior command, a steering behavior command, and a braking behavior command, the observation data associated with the acceleration behavior command includes a vehicle speed, the observation data associated with the steering behavior command includes an angle and a speed of a change in a position of a steering wheel, and the observation data associated with the braking behavior command includes a vehicle speed.
4. The traffic data verification method of claim 3, wherein the accelerated behavior instruction is validated based on the observed data, comprising the steps of:
directly acquiring detection data of a speed sensor according to a trigger signal of an accelerator pedal sensor;
and judging whether the detection data is increased within a preset time period, if so, judging that the acceleration behavior instruction is effective, and otherwise, judging that the acceleration behavior instruction is invalid.
5. The traffic data verification method according to claim 3, wherein the validity verification of the steering behavior command based on the observation data comprises the steps of:
directly acquiring a torsion bar angle required by steering motion recorded by a steering torque sensor according to a trigger signal of a steering angle sensor;
and judging whether the angle of the torsion bar changes within a preset time period, if so, judging that the steering behavior command is valid, and otherwise, judging that the steering behavior command is invalid.
6. The traffic data verification method of claim 3, wherein the effective verification of the braking behavior command based on the observation data comprises the steps of:
acquiring a vehicle speed electronic control unit and/or directly acquiring detection data of a speed sensor according to a trigger signal of a brake pedal sensor;
and judging whether the detection data is reduced within a preset time period, if so, judging that the braking behavior instruction is effective, and otherwise, judging that the braking behavior instruction is invalid.
7. A traffic data broadcasting method, comprising the steps of:
performing validity check on traffic data to be broadcasted by adopting the traffic data checking method of any one of claims 1 to 6, wherein the traffic data to be broadcasted is the traffic data which is acquired from a vehicle electronic control unit according to a behavior instruction and is broadcasted to peripheral vehicles;
valid traffic data is broadcast to peripheral vehicles.
8. A traffic data broadcasting system, comprising:
a plurality of electronic control units;
the vehicle-mounted microcontroller module is in communication connection with each electronic control unit through a CAN bus, and is used for acquiring traffic data detected by each electronic control unit and sending the acquired traffic data to peripheral vehicles;
and the arbitration module is in communication connection with each electronic control unit, the related electronic components and the vehicle-mounted microcontroller module, and is used for verifying the validity of the traffic data before the vehicle-mounted microcontroller module sends the traffic data to peripheral vehicles so as to control the vehicle-mounted microcontroller module to send the valid traffic data to the peripheral vehicles.
9. The traffic data broadcast system of claim 8, wherein the arbitration module verifies the validity of the traffic data by performing the following:
observing detection data of an associated electronic control unit associated with the behavior instruction and/or an electronic component associated with the behavior instruction according to the behavior instruction sent by an electronic control unit, and generating observation data associated with the behavior instruction;
and verifying the validity of the behavior instruction based on the observation data so as to verify the validity of the traffic data which is acquired from the vehicle electronic control unit according to the behavior instruction and is broadcasted to peripheral vehicles.
10. The traffic data broadcasting system of claim 9, wherein the generating of observation data associated with the behavior instruction specifically comprises: observing the change of the detection data in a preset time period according to the behavior instruction, and acquiring the change rule of the observation data in the preset time period;
the checking validity of the behavior instruction based on the observation data specifically includes: and checking whether the behavior instruction is effective or not according to the change rule of the observation data in a preset time period.
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