CN112969159B - Vehicle control method and vehicle remote control driving system - Google Patents

Vehicle control method and vehicle remote control driving system Download PDF

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CN112969159B
CN112969159B CN201911181967.3A CN201911181967A CN112969159B CN 112969159 B CN112969159 B CN 112969159B CN 201911181967 A CN201911181967 A CN 201911181967A CN 112969159 B CN112969159 B CN 112969159B
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vehicle
instruction
mobile terminal
remote control
check
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CN112969159A (en
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邓利华
刘娟
吴丽华
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BYD Co Ltd
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BYD Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
    • 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
    • H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
    • H04L63/0815—Network architectures or network communication protocols for network security for authentication of entities providing single-sign-on or federations
    • 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
    • H04L63/12—Applying verification of the received information
    • H04L63/123—Applying verification of the received information received data contents, e.g. message integrity
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/14—Direct-mode setup
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
    • G10L2015/223—Execution procedure of a spoken command

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Abstract

The invention discloses a vehicle control method and a vehicle remote control driving system.A mobile terminal and a vehicle are connected through Bluetooth for data interaction, when the mobile terminal controls the vehicle through a remote control driving control command, the vehicle performs command validity check on the received remote control driving control command, and the vehicle is controlled to execute corresponding response according to the remote control driving control command after the validity check is passed. On the premise of ensuring the convenience of vehicle remote control driving, the safety of the vehicle remote control driving control process is fully ensured by verifying the instruction validity of the received remote control driving control instruction.

Description

Vehicle control method and vehicle remote control driving system
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle control method and a vehicle remote control driving system.
Background
With the development of automotive electronic product technology, people have higher and higher requirements on intellectualization and convenience of vehicle control. In recent years, vehicle digital keys have become popular, and since the vehicle digital keys can be implemented by portable devices such as mobile terminals, the functions of conventional electronic remote control driving keys will be gradually replaced by vehicle digital keys that can be implemented by portable devices. Compared with an electronic remote control driving key, the vehicle digital key realized by the portable equipment has the advantages of more friendly man-machine interaction, convenience in carrying and the like, but also has the problem of insufficient operation safety.
Disclosure of Invention
The embodiment of the invention provides a vehicle control method and a vehicle remote control driving system, which aim to solve the problem of insufficient operation safety of remotely controlling a vehicle through a vehicle digital key.
In a first aspect of an embodiment of the present invention, a vehicle control method is provided, including:
after the Bluetooth connection is established between the mobile terminal and the vehicle, receiving a remote control driving control instruction sent by the mobile terminal, and carrying out instruction validity check on the remote control driving control instruction, wherein the instruction validity check comprises at least one of instruction integrity check, instruction uniqueness check, instruction safety code check and instruction timeliness check;
and if the validity check is passed, controlling the vehicle to execute corresponding response according to the remote control driving control instruction.
In a second aspect of an embodiment of the present invention, a vehicle control method is provided, including:
after the Bluetooth connection with the vehicle is established, responding to a first operation behavior of a user on the mobile terminal, and generating a remote control driving control instruction;
and sending the remote control driving control instruction to the vehicle to indicate the vehicle to execute a corresponding response according to the remote control driving control instruction after the instruction validity check of the remote control driving control instruction is passed, wherein the instruction validity check comprises at least one of instruction integrity check, instruction uniqueness check, instruction safety code check and instruction timeliness check.
The third aspect of the embodiment of the invention provides a vehicle remote control driving system, which comprises a mobile terminal, a cloud server and a vehicle;
the mobile terminal is used for receiving account login information on a display interface and sending the account login information to the cloud server for verification;
the cloud server is used for verifying the account login information and sending a verification result to the mobile terminal;
the mobile terminal is also used for initiating a Bluetooth connection request with the vehicle when the account login information is verified;
the mobile terminal is also used for responding to a first operation behavior of a user on the mobile terminal after the Bluetooth connection with the vehicle is established, and generating a remote control driving control instruction;
the mobile terminal is further used for sending the remote control driving control instruction to the vehicle.
The vehicle is used for carrying out instruction validity check on the remote control driving control instruction, wherein the instruction validity check comprises at least one of instruction integrity check, instruction uniqueness check, instruction safety code check and instruction timeliness check;
and the vehicle is also used for controlling the vehicle to execute corresponding response according to the remote control driving control instruction when the validity check passes.
In a fourth aspect of the embodiments of the present invention, a computer device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the vehicle control method when executing the computer program.
In a fifth aspect of the embodiments of the present invention, a computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, implements the vehicle control method described above.
In the vehicle control method and the vehicle remote control driving system, data interaction is carried out between the mobile terminal and the vehicle through Bluetooth connection, when the mobile terminal controls the vehicle through the remote control driving control command, the vehicle carries out command validity check on the received remote control driving control command, and the vehicle is controlled to execute corresponding response according to the remote control driving control command after the validity check is passed. On the premise of ensuring the convenience of vehicle remote control driving, the safety of the vehicle remote control driving control process is fully ensured by verifying the instruction validity of the received remote control driving control instruction.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
FIG. 1 is a schematic diagram of an application environment of a vehicle control method according to an embodiment of the invention;
FIG. 2 is a flow chart of a vehicle control method according to an embodiment of the present invention;
FIG. 3 is another flow chart of a vehicle control method according to an embodiment of the invention;
FIG. 4 is another flow chart of a vehicle control method in accordance with an embodiment of the present invention;
FIG. 5 is another flow chart of a vehicle control method in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of another exemplary embodiment of a vehicle control method;
FIG. 7 is another flow chart of a vehicle control method in accordance with an embodiment of the present invention;
FIG. 8 is another flow chart of a vehicle control method in accordance with an embodiment of the present invention;
FIG. 9 is another flow chart of a vehicle control method in accordance with an embodiment of the present invention;
FIG. 10 is a schematic diagram of a computer device according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The vehicle control method provided by the embodiment of the invention can be applied to an application environment as shown in fig. 1, wherein the mobile terminal can be communicated with a vehicle. Preferably, the mobile terminal and the vehicle communicate with each other via bluetooth. The mobile terminal may be, but is not limited to, various personal computers, notebook computers, smart phones, smart watches, smart bands, tablet computers, or other portable wearable devices.
In an embodiment, as shown in fig. 2, a vehicle control method is provided, which is described by taking the vehicle in fig. 1 as an example, and includes the following steps:
s201: after the Bluetooth connection between the mobile terminal and the vehicle is established, a remote control driving control instruction sent by the mobile terminal is received, and instruction validity verification is carried out on the remote control driving control instruction, wherein the instruction validity verification comprises at least one of instruction integrity verification, instruction uniqueness verification, instruction safety code verification and instruction timeliness verification.
After the mobile terminal and the vehicle establish the Bluetooth connection, the mobile terminal and the vehicle can perform data interaction. The remote driving control command is used to remotely control the vehicle, and the remote control operation may be, but not limited to, operations of unlocking a door of the vehicle, remotely controlling the vehicle to move forward, backward, left-right steering, and steering while traveling, and the like. Specifically, the user can enable the mobile terminal to trigger generation of the remote control driving control instruction through interaction with the mobile terminal. A user can interact with the mobile terminal through behaviors such as voice, character input, touch operation and the like, and the mobile terminal responds to the corresponding operation of the user and triggers and generates a remote control driving control instruction. Exemplarily, corresponding control keys (corresponding keys for forward, backward, left-right steering, steering while traveling, and the like) can be displayed on a display interface of the mobile terminal to facilitate corresponding operations of a user, and after receiving the corresponding operations (operations such as clicking, long-pressing, or sliding of the control keys) of the user on the display interface, the mobile terminal triggers generation of a remote control driving control instruction and sends the remote control driving control instruction to the vehicle. Or after receiving the voice command for the remote control, triggering to generate a corresponding remote control driving control command.
The command validity check is used for detecting the validity of the remote control driving control command received by the vehicle. The instruction validity check comprises at least one of instruction integrity check, instruction uniqueness check, instruction security code check and instruction timeliness check. The integrity check is used for checking whether the received remote control driving control instruction is complete or not and whether the remote control driving control instruction is tampered. The instruction uniqueness check is used for checking whether the received remote control driving control instruction is an invalid instruction which is repeatedly sent. The command security code check is used to further ensure the validity of the sender. The command timeliness check is used for checking whether the received remote control driving control command is influenced by interference, jamming or transmission delay and the like, so that excessive time lag exists.
Wherein the integrity check may be verified by a message digest algorithm. Alternatively, the integrity check of the remote control driving control command may be performed by using an Algorithm such as MD (Message Digest Algorithm), SHA (Secure Hash Algorithm), or MAC (Message Authentication Code Algorithm).
The instruction uniqueness check can be realized by adding a unique serial number into each remote control driving control instruction in advance, and adding a unique serial number into each remote control driving control instruction sent to a vehicle by the mobile terminal, so that the unique serial numbers in different remote control driving control instructions are different. Therefore, when the vehicle end carries out the instruction uniqueness check, the vehicle end only needs to judge whether the unique serial number in the remote control driving control instruction appears or not. Optionally, the unique serial number is reset and generated each time the mobile terminal and vehicle establish a bluetooth connection.
The command safety code check is that different safety codes are configured in advance for different mobile terminals with remote control authority to the vehicle, each remote control driving control command sent to the vehicle by the mobile terminal carries a safety code corresponding to the mobile terminal, and after the vehicle end receives the remote control driving control command, whether the safety code in the received remote control driving control command is matched with the mobile terminal sending the safety code is judged, so that the legality of the mobile terminal is verified better, and the safety of data interaction is ensured.
The command timeliness verification can be that a timestamp is carried in each remote control driving control command sent to the vehicle by the mobile terminal, and the timestamp is the sending time of the corresponding remote control driving control command. And after receiving the remote control driving control command, the vehicle end records a timestamp of the currently received remote control driving control command, obtains a receiving time delay by comparing the timestamp of the remote control driving control command and the timestamp of the remote control driving control command, and judges whether the receiving time delay exceeds a preset allowable time delay or not. If the preset time delay is exceeded, the instruction timeliness verification is not passed, and if the preset time delay is not exceeded, the instruction timeliness verification is passed. The identification of the instruction with serious delay can be ensured through the instruction timeliness verification, misoperation caused by the delay of data transmission is avoided, and the safety of vehicle remote control can be better ensured.
In this step, when a remote control driving control command sent by the mobile terminal is received, command validity verification is performed on the remote control driving control command, specifically, the command validity verification may be performed only on one of the verification manners listed above, or two or more verification manners may be selected to be combined, and it can be understood that the more the verification manners are, the higher the safety of vehicle remote control can be ensured. It can be understood that, in the instruction validity checking process, all selected checking modes are required to be checked to pass, the instruction validity checking is checked to pass, and conversely, as long as one of the selected checking modes is checked to pass, the instruction validity checking does not pass.
In a specific embodiment, the vehicle end can further measure the legality and authority of the mobile terminal sending the remote control driving control command through the command validity verification, and only responds to the control operation of legal equipment. Specifically, if the instruction uniqueness check or the instruction security code check in the instruction validity check fails, the vehicle end can actively disconnect the bluetooth connection with the mobile terminal to avoid being attacked maliciously. Furthermore, the mobile terminal which frequently and maliciously requests connection and fails in instruction validity check is pulled into a blacklist, and data of the device are not responded any more subsequently, so that the calculation pressure of the vehicle end is prevented from being increased, and the safety of the vehicle end is effectively guaranteed.
S202: and if the validity check is passed, controlling the vehicle to execute corresponding response according to the remote control driving control instruction.
After command validity check is carried out on the remote control driving control command, if the validity check is passed, the vehicle is further controlled to execute corresponding response according to the remote control driving control command. Specifically, the vehicle may be controlled to respond correspondingly in accordance with the remote control action substantially indicated by the remote control driving control instruction. For example, if the remote driving control command indicates that the vehicle is moving forward, the vehicle is controlled to perform a corresponding response to control the vehicle to move forward.
In one embodiment, controlling the vehicle to execute a corresponding response according to the remote driving control command includes: and converting the remote control driving control instruction into a CAN remote control instruction, and forwarding the CAN remote control instruction to the vehicle remote control driving controller so as to instruct the vehicle remote control driving controller to control the vehicle to execute response operation.
In this embodiment, data interaction is performed between the mobile terminal and the vehicle through bluetooth connection, when the mobile terminal controls the vehicle through the remote control driving control instruction, the vehicle performs instruction validity check on the received remote control driving control instruction, and only after the validity check is passed, the vehicle is controlled to execute a corresponding response according to the remote control driving control instruction. On the premise of ensuring the convenience of vehicle remote control driving, the safety of the vehicle remote control driving control process is fully ensured by verifying the instruction validity of the received remote control driving control instruction.
In one embodiment, as shown in fig. 3, before the receiving of the remote driving control instruction sent by the mobile terminal, the vehicle control method further includes:
s301: and carrying out validity check on the mobile terminal.
After the mobile terminal and the vehicle establish Bluetooth connection, the vehicle end firstly carries out validity check on the mobile terminal. Specifically, the validity check of the mobile terminal may include validity check of a right of the mobile terminal itself and validity check of a login account in the mobile terminal. And verifying the legitimacy of the authority of the mobile terminal to judge whether the mobile terminal has the authority for remotely controlling the vehicle. The owner of the vehicle or the user with the complete control authority of the vehicle can grant one or more than two mobile terminals the remote control authority of the vehicle in advance, and the vehicle can record and update the data of the mobile terminals with the vehicle remote control authority in real time. Optionally, the validity check of the authority of the mobile terminal itself includes: and receiving mobile terminal identification data sent by the mobile terminal, and carrying out validity check on the authority of the mobile terminal according to the mobile terminal identification data. The mobile terminal identification data is a unique identification code of the mobile terminal, optionally a hardware serial number of the mobile terminal.
And verifying the legality of the account logged in the mobile terminal, namely verifying the legality of the account. The vehicle side stores the data of the account with the control authority for the vehicle in advance, and after receiving the account login information sent by the mobile terminal, the vehicle side verifies the account login information, so that the legality of the account logged in the mobile terminal can be verified.
Further, the validity check of the mobile terminal further comprises the check of whether the account number logged in the mobile terminal has the authority to remotely control the vehicle through the mobile terminal. The account and the mobile terminal are bound and correspond to each other, so that the safety of vehicle control is better guaranteed, and the operation of an illegal user is avoided.
S302: and after the validity check is passed, if a vehicle remote control request sent by the mobile terminal is received, performing identity authentication on a user controlling the mobile terminal.
When a user needs to perform remote control operation on a vehicle through the mobile terminal, the mobile terminal is triggered to generate a vehicle remote control request. Specifically, the user may cause the mobile terminal to trigger generation of the vehicle remote control request through interaction with the mobile terminal. A user can interact with the mobile terminal through behaviors such as voice, character input, touch operation and the like, and the mobile terminal responds to the corresponding operation of the user and triggers and generates a vehicle remote control request. Illustratively, a virtual key is arranged on the interface of the mobile terminal, and after the user triggers the virtual key through a specific action (clicking, long pressing, sliding and the like), the mobile terminal triggers the generation of the vehicle remote control request. Further, the mobile terminal may automatically generate a vehicle remote control request when the user triggers generation of a remote control driving control instruction for the first time through the mobile terminal. After the Bluetooth connection between the mobile terminal and the vehicle is established, the mobile terminal can automatically generate a vehicle remote control request when a remote control driving control instruction is generated by triggering the mobile terminal for the first time, so that the convenience of user operation can be improved, and repeated operation is not needed.
The identity authentication is carried out on the user who controls the mobile terminal, namely, the identity identification is carried out on the user who currently controls the mobile terminal, so that the user who currently controls the mobile terminal is determined to be the user with the vehicle remote control authority, the remote control operation of the vehicle by other users through the mobile terminal is avoided, and the safety of vehicle remote control is further guaranteed. Specifically, the method for authenticating the identity of the user operating the mobile terminal may be fingerprint identification, voiceprint identification, face identification, or other biometric identification technologies.
In this embodiment, after the bluetooth connection is established between the mobile terminal and the vehicle, the mobile terminal is subjected to validity check to ensure the subsequent security of vehicle control, and further, after a vehicle remote control request sent by the mobile terminal is received, the user who controls the mobile terminal is subjected to identity authentication, so that the security of vehicle remote control operation is further ensured, different levels of operations are verified to different degrees, and the security of vehicle remote control is improved while the convenience of user operation is better ensured.
In one embodiment, after the controlling the vehicle to execute the corresponding response according to the remote driving control instruction, the vehicle control method further includes:
and sending response data to the mobile terminal to indicate the mobile terminal to display the response data, wherein the response data comprises at least one of vehicle state data, execution result data and abnormal feedback data.
The vehicle state data is data reflecting the current working condition of the vehicle, and may include, for example, the state data of a power supply gear, a vehicle starting state, a door window, a trunk, a front hatch, operations (a brake, an accelerator, a steering wheel, a hand brake) and modules (such as an engine, a motor controller, a vehicle controller, an EPB, an EPS, and the like) affecting a remote control driving function.
The execution result data may be data indicating success or failure of execution. Further, the execution result data may include vehicle data that is changed after execution.
The abnormality feedback data may be feedback data of a case where the vehicle malfunctions during execution, an abnormality is detected, or an abnormality occurs in the vehicle itself. For example, the abnormal feedback data may include data of data error, vehicle failure or vehicle malfunction.
Further, after the bluetooth connection is established between the mobile terminal and the vehicle, the vehicle may send abnormal feedback data to the mobile terminal at any time, and at this time, the abnormal feedback data may include connection failure, service discovery failure, vehicle authentication abnormality (such as authentication failure, verification failure, and data error), control instruction analysis abnormality, vehicle execution failure, bluetooth packet loss, vehicle failure, and the like.
After receiving the response data, the mobile terminal may display the response data, for example, the mobile terminal may display the response data through a display interface, or may display the response data in a voice broadcast manner. It can be understood that the display of the response data by the mobile terminal may display part of the response data or all of the display data.
In this embodiment, the vehicle sends response data to the mobile terminal after performing the corresponding response to instruct the mobile terminal to present the response data. The vehicle state can be better prompted to the execution condition of the vehicle of the mobile terminal, so that the user can be better helped to perform subsequent operation through the mobile terminal.
In one embodiment, the remote-control driving control instruction includes an instruction transmission time. The instruction sending time is the time for sending the remote control driving control instruction by the mobile terminal.
In this embodiment, as shown in fig. 4, the performing instruction validity check on the remote control driving control instruction includes:
s401: and extracting the instruction sending time in the remote control driving control instruction, and determining the instruction receiving time delay according to the instruction receiving time and the instruction sending time.
S402: and if the instruction receiving time delay exceeds the preset allowable time delay, the instruction validity check is not passed.
In this embodiment, after receiving the remote control driving control instruction, the vehicle end extracts instruction sending time from the remote control driving control instruction, and determines instruction receiving time delay according to the instruction receiving time and the instruction sending time, where the instruction receiving time is time when the vehicle end receives the remote control driving control instruction.
The preset allowable time delay can be obtained after passing the data test in advance. Illustratively, a bluetooth instruction is sent to a vehicle end through a mobile terminal, the bluetooth instruction carries a timestamp, the vehicle end judges the transmission delay of the bluetooth instruction after receiving the bluetooth instruction, the normal bluetooth transmission delay can be determined through multiple experiments, and on the basis, an allowed delay range is set, namely, the allowed delay is obtained. For example, if the determined bluetooth transmission delay is 100ms, an allowable delay may be determined when the allowable delay range is set to be 100%, 150%, or 200%.
And obtaining a result of the instruction validity check by comparing the instruction receiving time delay with the preset allowable time delay. And if the instruction receiving time delay exceeds the preset allowable time delay, the instruction validity check is not passed. And if the instruction receiving time delay does not exceed the preset allowable time delay, the instruction validity check is passed.
In the embodiment, the remote control driving control command comprises the command sending time, and the time limit of command transmission is judged by the preset allowable time delay, so that the response executed by the vehicle end can be ensured to be timely and effective, and the danger of vehicle control caused by environmental interference or data transmission time delay is avoided.
In one embodiment, as shown in fig. 5, the performing of the instruction validity check on the remote control driving control instruction includes:
s501: and carrying out integrity verification on the remote control driving control instruction by adopting a message digest algorithm.
S502: and extracting a unique serial number in the remote control driving control instruction, and performing uniqueness check on the remote control driving control instruction by adopting the unique serial number.
S503: and extracting a safety check code in the remote control driving control instruction, and performing instruction safety code check on the remote control driving control instruction by adopting the safety check code.
In the embodiment, the instruction validity check of the remote control driving control instruction comprises integrity check, uniqueness check and instruction safety code check. It can be understood that, on the premise that all three checks pass, the instruction validity check is a check pass, otherwise, as long as any one check passes, the instruction validity check is a check fail.
The embodiment can ensure the safety of instruction transmission to a greater extent, prevent the remote control driving control instruction from being tampered in the transmission process or prevent the vehicle end from being maliciously attacked, and better ensure the safety of interaction between the mobile terminal and the vehicle.
In a specific embodiment, the instruction validity check of the remote control driving control instruction may include instruction integrity check, instruction uniqueness check, instruction security code check and instruction timeliness check. The verification of the four items can avoid misoperation caused by transmission delay on the premise of ensuring the interaction safety of the mobile terminal and the vehicle, and better ensures the reliability of vehicle remote control.
An embodiment of the present invention further provides a vehicle control method, which may be applied to an application environment as shown in fig. 6, where the mobile terminal, the cloud server, and the vehicle may communicate with each other. Preferably, the mobile terminal and the vehicle are communicated through Bluetooth, and the cloud service end and the mobile terminal can be communicated through a network. The mobile terminal may be, but is not limited to, various personal computers, notebook computers, smart phones, smart watches, smart bands, tablet computers, or other portable wearable devices, and the like. The cloud server can be implemented by an independent server or a server cluster consisting of a plurality of servers.
In an embodiment, as shown in fig. 7, a vehicle control method is provided, which is described by taking the mobile terminal in fig. 6 as an example, and includes the following steps:
s701: after the Bluetooth connection with the vehicle is established, a remote control driving control instruction is generated in response to a first operation behavior of the mobile terminal by a user.
After the mobile terminal establishes the Bluetooth connection with the vehicle, the user can realize the control of the vehicle through the interaction with the mobile terminal. Specifically, a user can interact with the mobile terminal through behaviors such as voice, text input, touch operation and the like, and the mobile terminal responds to corresponding operations of the user to trigger and generate a remote control driving control instruction. The first operation behavior may be different according to different interaction modes, for example, if the user interacts with the mobile terminal through voice, the first operation behavior is a voice behavior sent by the user to the mobile terminal; if the mobile terminal is interacted with the display interface of the mobile terminal, the first operation behavior is a specific behavior (such as clicking, long-time pressing or sliding operation on a control button, or editing behavior of characters or instructions on the display interface) sent by the user to the mobile terminal. For example, corresponding control keys (corresponding keys for forward, backward, left-right steering, steering while traveling, and the like) can be displayed on a display interface of the mobile terminal to facilitate corresponding operations of a user, and after receiving corresponding operations (operations such as clicking, long-pressing, sliding, and the like) of the user on the display interface, the mobile terminal triggers generation of a remote control driving control instruction and sends the remote control driving control instruction to the vehicle. Or after receiving the voice command for the remote control, triggering to generate a corresponding remote control driving control command.
In one embodiment, a display page of the vehicle remote control is displayed on a display interface of the mobile terminal. The user can interact with the mobile terminal through the display page. Optionally, the display page is adjusted according to the working condition of the connected vehicle. For example, if the vehicle is in the started state, the remote control driving operation page can be directly displayed, and the vehicle unlocking page is skipped. If the vehicle is put in a garage through remote control currently, a key can be displayed after the user operation is finished, and the user can finish one key and extinguish the vehicle by clicking the key, so that the interaction between the user and the vehicle is greatly facilitated.
S702: and sending the remote control driving control instruction to the vehicle to indicate the vehicle to execute a corresponding response according to the remote control driving control instruction after the instruction validity check of the remote control driving control instruction is passed, wherein the instruction validity check comprises at least one of instruction integrity check, instruction uniqueness check, instruction safety code check and instruction timeliness check.
And after the mobile terminal generates the remote control driving control instruction, sending the remote control driving control instruction to the vehicle. The validity check is used for detecting the validity of the remote control driving control instruction received by the vehicle. The instruction validity check comprises at least one of instruction integrity check, instruction uniqueness check, instruction security code check and instruction timeliness check. The integrity check is used for checking whether the received remote control driving control instruction is complete or not and whether the received remote control driving control instruction is tampered or not. The instruction uniqueness check is used for checking whether the received remote control driving control instruction is an invalid instruction which is repeatedly sent. The command security code check is used to further ensure the validity of the sender. The command timeliness check is used for checking whether the received remote control driving control command is influenced by interference, jamming or transmission delay and the like, so that excessive time lag exists.
Wherein the integrity check may be verified by a message digest algorithm. Alternatively, the integrity check of the remote control driving control instruction may be performed by using an Algorithm such as MD (Message Digest), SHA (Secure Hash Algorithm), or MAC (Message Authentication Code Algorithm).
The instruction uniqueness check can be realized by adding a unique serial number into each remote control driving control instruction in advance, and adding a unique serial number into each remote control driving control instruction sent to a vehicle by the mobile terminal, so that the unique serial numbers in different remote control driving control instructions are different. Therefore, when the vehicle end carries out the instruction uniqueness check, the vehicle end only needs to judge whether the unique serial number in the remote control driving control instruction appears or not. Optionally, the unique serial number is reset and generated each time the mobile terminal and vehicle establish a bluetooth connection.
The command safety code verification is that different safety codes are configured in advance for different mobile terminals with remote control authority to the vehicle, each remote control driving control command sent to the vehicle by the mobile terminal carries a safety code corresponding to the mobile terminal, and after the vehicle end receives the remote control driving control command, whether the safety code in the received remote control driving control command is matched with the mobile terminal sending the safety code is judged, so that the legality of the mobile terminal is verified better, and the safety of data interaction is ensured.
The command timeliness verification can be that a timestamp is carried in each remote control driving control command sent to the vehicle by the mobile terminal, and the timestamp is the sending time of the corresponding remote control driving control command. And after receiving the remote control driving control command, the vehicle end records a timestamp of the currently received remote control driving control command, obtains a receiving time delay by comparing the timestamp of the remote control driving control command and the timestamp of the remote control driving control command, and judges whether the receiving time delay exceeds a preset allowable time delay or not. If the preset time delay is exceeded, the instruction timeliness verification is not passed, and if the preset time delay is not exceeded, the instruction timeliness verification is passed. The identification of the instruction with serious delay can be ensured through the instruction timeliness verification, misoperation caused by the delay of data transmission is avoided, and the safety of vehicle remote control can be better ensured.
In this step, when a remote control driving control command sent by the mobile terminal is received, command validity verification is performed on the remote control driving control command, specifically, the command validity verification may be performed only on one of the verification manners listed above, or two or more verification manners may be selected to be combined, and it can be understood that the more the verification manners are, the higher the safety of vehicle remote control can be ensured. It can be understood that, in the instruction validity checking process, all selected checking modes are required to be checked to pass, the instruction validity checking is checked to pass, and otherwise, as long as one checking mode in the selected checking modes is checked to pass, the instruction validity checking is not checked to pass.
In a specific embodiment, the vehicle end can further measure the legality and authority of the mobile terminal sending the remote control driving control command through the command validity check, and only responds to the control operation of legal equipment. Specifically, if the instruction uniqueness check or the instruction security code check in the instruction validity check fails, the vehicle end can actively disconnect the bluetooth connection with the mobile terminal to avoid being attacked maliciously. Furthermore, the mobile terminal which frequently and maliciously requests connection and fails in instruction validity check is pulled into a blacklist, and data of the device are not responded any more subsequently, so that the calculation pressure of the vehicle end is prevented from being increased, and the safety of the vehicle end is effectively ensured.
After the vehicle end carries out instruction validity check on the remote control driving control instruction, if the validity check is passed, the vehicle is further controlled to execute corresponding response according to the remote control driving control instruction. Specifically, the vehicle may be controlled to respond accordingly in accordance with a remote control action substantially indicated by the remote driving control instruction. For example, if the remote driving control command indicates that the vehicle is moving forward, the vehicle is controlled to perform a corresponding response to control the vehicle to move forward.
In one embodiment, controlling the vehicle to execute a corresponding response according to the remote driving control command includes: and converting the remote control driving control instruction into a CAN remote control instruction, and forwarding the CAN remote control instruction to the vehicle remote control driving controller so as to instruct the vehicle remote control driving controller to control the vehicle to execute response operation.
In this embodiment, after the bluetooth connection is established between the user and the vehicle through the mobile terminal, the user can send an instruction through the mobile terminal to realize the remote control operation of the vehicle, so that the convenience of the remote control operation of the vehicle is greatly improved, the vehicle end performs instruction validity check on the received remote control driving control instruction, and the vehicle is controlled to execute a corresponding response according to the remote control driving control instruction after the validity check is passed. On the premise of ensuring the convenience of vehicle remote control driving, the safety of the vehicle remote control driving control process is fully ensured by verifying the instruction validity of the received remote control driving control instruction.
In one embodiment, as shown in fig. 8, before establishing the bluetooth connection with the vehicle, the vehicle control method further includes:
s801: and receiving account login information on a display interface of the mobile terminal, and sending the account login information to the cloud server for verification.
S802: and if the account login information passes the verification, initiating a Bluetooth connection request with the vehicle.
The user can log in the account number through the display interface of the mobile terminal and inputs account login information on the display interface. And the mobile terminal sends the account login information to a cloud server for verification. And the cloud service end carries out validity check on the account number logged in the mobile terminal. The cloud service side pre-stores data of an account with the control authority of the vehicle, and after receiving account login information sent by the mobile terminal, the cloud service side verifies the account login information, so that the verification of the account logged in the mobile terminal can be realized. Specifically, the account login information may include a user account and a user password. Further, the account login information also includes information such as a vehicle control password and a vehicle identification code. So as to verify whether the account corresponding to the mobile terminal has the control authority of the vehicle. And after the cloud server finishes the verification of the account login information, sending a verification result to the mobile terminal. Optionally, the verification result comprises that the verification is passed and the verification is different. And if the account login information passes the verification, the mobile terminal initiates a Bluetooth connection request with the vehicle.
In the embodiment, before the mobile terminal establishes the bluetooth connection with the vehicle, the cloud service end is used for completing the verification of the account login information sent by the mobile terminal, the cloud service end is used for ensuring the validity of the identity of the mobile terminal, and an illegal mobile terminal and/or account is eliminated, so that the calculation burden of the vehicle end can be reduced, and the safety of vehicle control is also ensured.
In one embodiment, as shown in fig. 9, before the generating of the remote driving control command, the vehicle control method further includes:
s901: and sending mobile terminal identification data to the vehicle to indicate the vehicle to carry out validity check on the mobile terminal.
The mobile terminal identification data is a unique identification code of the mobile terminal, optionally a hardware serial number of the mobile terminal. The owner of the vehicle or the user with the complete control authority of the vehicle can grant one or more than two mobile terminals the remote control authority of the vehicle in advance, and the vehicle can record and update the data of the mobile terminals with the vehicle remote control authority in real time. And sending the identification data of the mobile terminal to the vehicle, wherein the vehicle can carry out validity check on the mobile terminal.
S902: and after the validity check is passed, responding to a second operation behavior of the user on a display interface of the mobile terminal, and generating a vehicle remote control request.
When a user needs to perform remote control operation on a vehicle through the mobile terminal, the mobile terminal is triggered to generate a vehicle remote control request. Specifically, the user may cause the mobile terminal to trigger generation of the vehicle remote control request through interaction with the mobile terminal. The user can interact with the mobile terminal through behaviors such as voice, character input, touch operation and the like. The second operation behavior may be different according to different interaction modes, and for example, if the user interacts with the mobile terminal through voice, the second operation behavior is a voice behavior that the user sends to the mobile terminal; if the mobile terminal is interacted with the display interface of the mobile terminal, the second operation behavior is a specific behavior (such as clicking, long-time pressing or sliding operation on a control button, or editing behavior of characters or instructions on the display interface) sent by the user to the mobile terminal. And the mobile terminal responds to the corresponding operation of the user and triggers the generation of the vehicle remote control request. Illustratively, a virtual key is arranged on the interface of the mobile terminal, and after the user triggers the virtual key through a specific action (clicking, long pressing, sliding and the like), the mobile terminal triggers the generation of the vehicle remote control request. Further, the mobile terminal may automatically generate a vehicle remote control request when the user triggers generation of a remote control driving control instruction for the first time through the mobile terminal. After the Bluetooth connection between the mobile terminal and the vehicle is established by the user, when the remote control driving control instruction is generated by triggering the mobile terminal for the first time, the mobile terminal can automatically generate a vehicle remote control request, so that the convenience of user operation can be improved, and repeated operation is not needed.
S903: and sending the vehicle remote control request to the vehicle to instruct the vehicle to perform identity authentication on a user operating the mobile terminal.
After the vehicle remote control request is sent to the vehicle, the vehicle performs identity authentication on the user who operates the mobile terminal, namely, performs identity identification on the user who currently operates the mobile terminal, so as to determine that the user who currently operates the mobile terminal is the user with the vehicle remote control authority, avoid other users from performing remote control operation on the vehicle through the mobile terminal, and further guarantee the safety of vehicle remote control. Specifically, the method for authenticating the identity of the user operating the mobile terminal may be fingerprint identification, voiceprint identification, face recognition, or other biometric identification technologies.
In this embodiment, after the bluetooth connection is established between the mobile terminal and the vehicle, the mobile terminal sends mobile terminal identification data to the vehicle to indicate the vehicle to perform validity check on the mobile terminal, so as to ensure the subsequent safety of vehicle control, further, after the validity check is passed, a vehicle remote control request is generated in response to a second operation behavior of the user on a display interface of the mobile terminal, and after the vehicle receives the vehicle remote control request sent by the mobile terminal, the vehicle performs identity authentication on the user operating the mobile terminal, so that the safety of vehicle remote control operation is further ensured, and operations at different levels are verified to different degrees, so that the safety of vehicle remote control is improved while the convenience of user operation is better ensured.
In one embodiment, after the transmitting the remote-control driving control instruction to the vehicle, the vehicle control method further includes:
and receiving response data sent by the vehicle, wherein the response data comprises at least one of vehicle state data, execution result data and abnormal feedback data. And displaying the response data on the display interface, and sending the response data to a cloud server.
The vehicle state data is data reflecting the current working condition of the vehicle, and may include, for example, the state data of a power supply gear, a vehicle starting state, a door window, a trunk, a front hatch, operations (a brake, an accelerator, a steering wheel, a hand brake) and modules (such as an engine, a motor controller, a vehicle controller, an EPB, an EPS, and the like) affecting a remote control driving function.
The execution result data may be indication data of success or failure of execution. Further, the execution result data may include vehicle data that is changed after execution.
The abnormality feedback data may be feedback data of a case where the vehicle malfunctions during execution, an abnormality is detected, or an abnormality occurs in the vehicle itself. For example, the abnormal feedback data may include data of data error, vehicle failure or vehicle malfunction.
Further, after the bluetooth connection is established between the mobile terminal and the vehicle, the vehicle may send abnormal feedback data to the mobile terminal at any time, and at this time, the abnormal feedback data may include connection failure, service discovery failure, vehicle authentication abnormality (such as authentication failure, verification failure, and data error), control instruction analysis abnormality, vehicle execution failure, bluetooth packet loss, vehicle failure, and the like.
After receiving the response data, the mobile terminal may display the response data, and for example, the mobile terminal may display the response data through a display interface, or may display the response data in a voice broadcast manner. It can be understood that the display of the response data by the mobile terminal may display part of the response data or all of the display data. For example, the information is fed back to the user by means of characters, animation, sound or vibration. If the mobile terminal verifies that the mobile equipment shakes for 2 seconds through legitimacy, the mobile terminal successfully unlocks the car door and sends out car door unlocking simulation sound.
Further, the mobile terminal sends the response data to the cloud server and uploads the response data to the cloud server in due time. So that relevant personnel can further follow up the vehicle fault situation through the cloud service terminal according to the response data (fault time, VIN code or fault type) uploaded to the cloud service terminal, and track and locate the problem.
Optionally, the mobile terminal may further store the response data to prevent data loss caused by absence of the network number of the mobile device.
In this embodiment, the vehicle sends response data to the mobile terminal after executing the corresponding response, and the mobile terminal displays the response data and sends the response data to the cloud server after receiving the response data. The vehicle state can be better prompted to the execution condition of the vehicle of the mobile terminal, so that the user can be better helped to perform subsequent operation through the mobile terminal.
In one embodiment, before the sending the remote-control driving control instruction to the vehicle, the vehicle control method further includes:
encrypting the remote control driving control instruction with a temporary session key, wherein the temporary session key is generated after establishing a Bluetooth connection with a vehicle.
Wherein the temporary session key is generated after the mobile terminal establishes a bluetooth connection with the vehicle, optionally, the mobile terminal and the vehicle may generate the temporary session key through a key agreement mechanism. In particular, the temporary session key may be generated by an asymmetric encryption algorithm, a key exchange algorithm, or by means of a shared key generation algorithm. The mobile terminal encrypts the remote control driving control instruction through the temporary session key and then sends the encrypted remote control driving control instruction to the vehicle, and the vehicle decrypts the remote control driving control instruction through the temporary session key, so that the remote control driving control instruction can be prevented from being tampered in the transmission process, and the safety of data transmission is guaranteed.
In one embodiment, the present invention provides a vehicle control method including:
after the Bluetooth connection with the vehicle is established, the mobile terminal responds to a first operation behavior of a user on the mobile terminal, and generates a remote control driving control instruction.
And the mobile terminal sends the remote control driving control instruction to the vehicle.
And the vehicle carries out instruction validity verification on the remote control driving control instruction, wherein the instruction validity verification comprises at least one of instruction integrity verification, instruction uniqueness verification, instruction safety code verification and instruction timeliness verification.
And if the validity check is passed, the vehicle controls the vehicle to execute a corresponding response according to the remote control driving control instruction.
In one embodiment, the vehicle control method described above further includes:
the mobile terminal receives account login information on a display interface, and sends the account login information to the cloud server for verification.
And the cloud service end verifies the account login information and sends a verification result to the mobile terminal.
And if the account login information passes the verification, the mobile terminal initiates a Bluetooth connection request with the vehicle.
It can be understood that, the specific steps executed by the mobile terminal, the cloud server and the vehicle may refer to the corresponding contents in any of the above embodiments.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
In one embodiment, there is provided a vehicle control apparatus that corresponds one-to-one to the vehicle control method performed by the vehicle in the above-described embodiment. The functional modules are explained in detail as follows:
the instruction validity checking module is used for receiving a remote control driving control instruction sent by the mobile terminal after the mobile terminal and the vehicle are connected through Bluetooth, and checking the instruction validity of the remote control driving control instruction, wherein the instruction validity checking comprises at least one of instruction integrity checking, instruction uniqueness checking, instruction safety code checking and instruction timeliness checking.
And the instruction response module is used for controlling the vehicle to execute corresponding response according to the remote control driving control instruction when the validity check passes.
For specific limitations of the vehicle control device, reference may be made to the above limitations of the vehicle control method performed by the vehicle in the above embodiments, and details are not repeated here. The respective modules in the vehicle control apparatus described above may be realized in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a vehicle control apparatus is provided, which corresponds one-to-one to the vehicle control method executed by the mobile terminal in the above-described embodiment. The functional modules are explained in detail as follows:
and the control instruction generation module is used for responding to a first operation behavior of the user on the mobile terminal after the Bluetooth connection is established with the vehicle and generating a remote control driving control instruction.
The control instruction sending module is used for sending the remote control driving control instruction to the vehicle so as to indicate the vehicle to execute a corresponding response according to the remote control driving control instruction after the instruction validity check of the remote control driving control instruction is passed, wherein the instruction validity check comprises at least one of instruction integrity check, instruction uniqueness check, instruction safety code check and instruction timeliness check.
For specific limitations of the vehicle control device, reference may be made to the above limitations of the vehicle control method executed by the mobile terminal in the above embodiments, and details are not repeated here. The respective modules in the vehicle control apparatus described above may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a vehicle remote control driving system is provided and comprises a mobile terminal, a cloud server and a vehicle;
the mobile terminal is used for receiving account login information on a display interface and sending the account login information to the cloud server for verification;
the cloud server is used for verifying the account login information and sending a verification result to the mobile terminal;
the mobile terminal is also used for initiating a Bluetooth connection request with the vehicle when the account login information is verified;
the mobile terminal is also used for responding to a first operation behavior of a user on the mobile terminal after the Bluetooth connection with the vehicle is established, and generating a remote control driving control instruction;
the mobile terminal is further used for sending the remote control driving control instruction to the vehicle.
The vehicle is used for carrying out instruction validity check on the remote control driving control instruction, wherein the instruction validity check comprises at least one of instruction integrity check, instruction uniqueness check, instruction safety code check and instruction timeliness check;
and the vehicle is also used for controlling the vehicle to execute corresponding response according to the remote control driving control instruction when the validity check passes.
The mobile terminal, the cloud server and the vehicle may be respectively configured to execute a vehicle control method corresponding to each terminal (the mobile terminal, the cloud server and the vehicle) in any of the embodiments, and details are not repeated herein.
In one embodiment, a computer device is provided, which may be a processing system in a mobile terminal or a processing system in a vehicle, and its internal structure diagram may be as shown in fig. 10. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for the data used in the vehicle control method in the above-described embodiment. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a vehicle control method.
In one embodiment, a computer device is provided, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the vehicle control method in the above embodiments when executing the computer program.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when executed by a processor, implements the vehicle control method in the above-described embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.

Claims (8)

1. A vehicle control method characterized by comprising:
after the Bluetooth connection is established between the mobile terminal and the vehicle, receiving a remote control driving control instruction sent by the mobile terminal, and carrying out instruction validity check on the remote control driving control instruction, wherein the instruction validity check comprises instruction integrity check, instruction uniqueness check, instruction safety code check and instruction timeliness check;
the command integrity check comprises checking whether the remote control driving control command is complete or not and whether the remote control driving control command is tampered; the instruction uniqueness check comprises checking whether the remote control driving control instruction is an invalid instruction which is repeatedly sent; the command safety code check comprises the step of confirming the validity of a remote control driving control command sender; the command timeliness check comprises checking whether the remote control driving control command has too much time lag;
if the validity check is passed, controlling the vehicle to execute a corresponding response according to the remote control driving control instruction;
before the receiving of the remote driving control instruction sent by the mobile terminal, the vehicle control method further includes:
carrying out validity check on the mobile terminal, wherein the validity check is carried out on the authority of the mobile terminal and the validity check is carried out on an account number logged in the mobile terminal;
and after the validity check is passed, if a vehicle remote control request sent by the mobile terminal is received, performing identity authentication on a user operating the mobile terminal.
2. The vehicle control method according to claim 1, wherein after said controlling the vehicle to execute the corresponding response in accordance with the remote-control driving control instruction, the vehicle control method further comprises:
and sending response data to the mobile terminal to indicate the mobile terminal to display the response data, wherein the response data comprises at least one of vehicle state data, execution result data and abnormal feedback data.
3. The vehicle control method according to claim 1, wherein the remote-control driving control instruction includes an instruction transmission time;
the checking of the instruction validity of the remote control driving control instruction comprises the following steps:
extracting instruction sending time in the remote control driving control instruction, and determining instruction receiving time delay according to instruction receiving time and the instruction sending time;
and if the instruction receiving time delay exceeds the preset allowable time delay, the instruction validity check is not passed.
4. The vehicle control method according to claim 1, wherein the performing of the instruction validity check on the remote-control driving control instruction includes:
carrying out integrity verification on the remote control driving control instruction by adopting a message digest algorithm;
extracting a unique serial number in the remote control driving control command, and performing uniqueness verification on the remote control driving control command by adopting the unique serial number;
and extracting a safety check code in the remote control driving control instruction, and performing instruction safety code check on the remote control driving control instruction by adopting the safety check code.
5. A vehicle control method characterized by comprising:
after the Bluetooth connection with the vehicle is established, responding to a first operation behavior of a user on the mobile terminal, and generating a remote control driving control instruction;
sending the remote control driving control instruction to the vehicle to indicate the vehicle to execute a corresponding response according to the remote control driving control instruction after the instruction validity check of the remote control driving control instruction is passed, wherein the instruction validity check comprises instruction integrity check, instruction uniqueness check, instruction safety code check and instruction timeliness check;
the command integrity check comprises checking whether the remote control driving control command is complete or not and whether the remote control driving control command is tampered; the instruction uniqueness check comprises checking whether the remote control driving control instruction is an invalid instruction which is repeatedly sent; the command safety code check comprises the step of confirming the validity of a remote control driving control command sender; the command timeliness check comprises checking whether the remote control driving control command has too much time lag;
before the generating of the remote driving control instruction, the vehicle control method further includes:
sending mobile terminal identification data to the vehicle to indicate the vehicle to carry out validity check on the mobile terminal, wherein the validity check is carried out on the authority of the mobile terminal and the validity check is carried out on an account number logged in the mobile terminal;
after the validity check is passed, responding to a second operation behavior of the user on a display interface of the mobile terminal, and generating a vehicle remote control request;
and sending the vehicle remote control request to the vehicle to instruct the vehicle to perform identity authentication on a user operating the mobile terminal.
6. The vehicle control method according to claim 5, wherein before establishing the bluetooth connection with the vehicle, the vehicle control method further comprises:
receiving account login information on a display interface of the mobile terminal, and sending the account login information to the cloud server for verification;
and if the account login information passes the verification, initiating a Bluetooth connection request with the vehicle.
7. The vehicle control method according to claim 5, characterized in that after said transmitting the remote-control driving control instruction to the vehicle, the vehicle control method further comprises:
receiving response data sent by the vehicle, wherein the response data comprises at least one of vehicle state data, execution result data and abnormal feedback data;
and displaying the response data on a display interface of the mobile terminal, and sending the response data to a cloud server.
8. A vehicle remote control driving system is characterized by comprising a mobile terminal, a cloud server and a vehicle;
the mobile terminal is used for receiving account login information on a display interface and sending the account login information to the cloud server for verification;
the cloud server is used for verifying the account login information and sending a verification result to the mobile terminal;
the mobile terminal is also used for initiating a Bluetooth connection request with the vehicle when the account login information is verified;
the mobile terminal is further used for sending mobile terminal identification data to the vehicle after Bluetooth connection with the vehicle is established so as to indicate the vehicle to carry out validity check on the mobile terminal, wherein the validity check is carried out on the authority of the mobile terminal and on an account number logged in the mobile terminal, and a remote control driving control instruction is generated in response to a first operation behavior of a user on the mobile terminal;
the mobile terminal is also used for sending the remote control driving control instruction to the vehicle;
the vehicle is used for carrying out instruction validity check on the remote control driving control instruction, wherein the instruction validity check comprises instruction integrity check, instruction uniqueness check, instruction safety code check and instruction timeliness check; the command integrity check comprises checking whether the remote control driving control command is complete or not and whether the remote control driving control command is tampered; the instruction uniqueness check comprises checking whether the remote control driving control instruction is an invalid instruction which is repeatedly sent; the command safety code check comprises the step of confirming the validity of a remote control driving control command sender; the command timeliness check comprises checking whether the remote control driving control command has too much time lag;
and the vehicle is also used for controlling the vehicle to execute corresponding response according to the remote control driving control instruction when the validity check passes.
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