CN113067830A - Vehicle-mounted bus signal detection method and device, vehicle and storage medium - Google Patents
Vehicle-mounted bus signal detection method and device, vehicle and storage medium Download PDFInfo
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- CN113067830A CN113067830A CN202110327498.2A CN202110327498A CN113067830A CN 113067830 A CN113067830 A CN 113067830A CN 202110327498 A CN202110327498 A CN 202110327498A CN 113067830 A CN113067830 A CN 113067830A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/14—Network architectures or network communication protocols for network security for detecting or protecting against malicious traffic
- H04L63/1441—Countermeasures against malicious traffic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
Abstract
The embodiment of the invention discloses a method and a device for detecting a vehicle-mounted bus signal, a vehicle and a storage medium. Wherein, the method comprises the following steps: if a vehicle-mounted bus signal is received, preliminarily detecting whether the vehicle-mounted bus signal is initiated by a current driver according to a basic protection index pointed by the vehicle-mounted bus signal; and if so, continuously detecting whether the vehicle-mounted bus signal is initiated by the current driver or not based on the historical driving behavior of the current driver. According to the technical scheme provided by the embodiment of the invention, the accurate detection of the vehicle-mounted bus signal is realized, the additional occupation of bus bandwidth is not needed, and the communication efficiency of the vehicle-mounted bus signal is enhanced on the basis of ensuring the safety protection of the vehicle-mounted bus signal; meanwhile, whether any vehicle-mounted bus signal is initiated by the current driver can be detected by utilizing the historical driving behavior of the driver, and the independent protection development of various vehicle-mounted buses on the vehicle is not needed, so that the comprehensive coverage of the vehicle-mounted bus signal detection protection is greatly improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle data control, in particular to a method and a device for detecting a vehicle-mounted bus signal, a vehicle and a storage medium.
Background
With the rapid development of vehicle intelligent automation technology, the vehicle bus network can be directly connected with an engine, a brake, a vehicle body controller and the like on the vehicle, and then the vehicle is controlled to run through a vehicle bus signal received by the vehicle bus network. At this time, an attacker can remotely control the vehicle to accelerate, brake, steer and the like by breaking the vehicle-mounted bus network, and great danger exists for the vehicle running at high speed.
The current vehicle bus network protection means mainly include the following: 1) information transmitted on the vehicle-mounted bus is encrypted to prevent an attacker from forging instruction input, but the information encryption additionally occupies bandwidth and affects the communication efficiency of nodes with high real-time requirements; 2) the data access of the vehicle bus network is limited so as to protect important vehicle-mounted bus signals from being tampered, but the bottom layer software and the upper layer software of the vehicle need to be separated, and the corresponding safety zone access function is realized on the bottom layer, so that the change cost is high; 3) by using the machine learning method, normal signals and abnormal signals on each vehicle-mounted bus are distinguished through network characteristics of various vehicle-mounted buses, and although abnormal signals CAN be identified more accurately, machine learning needs to be performed on various bus technologies such as CAN, LIN, LVDS, MOST and the like, so that the network characteristics of various vehicle-mounted buses cannot be completely covered, and extremely high development cost exists.
In summary, the existing vehicle bus network protection methods all have their own drawbacks, and therefore, how to accurately detect the vehicle bus signal comprehensively is an urgent problem to be solved in order to ensure the safety of the vehicle bus signal.
Disclosure of Invention
The embodiment of the invention provides a method and a device for detecting a vehicle-mounted bus signal, a vehicle and a storage medium, which ensure the safety protection of the vehicle-mounted bus signal and improve the accuracy and the comprehensive coverage of the detection protection of the vehicle-mounted bus signal.
In a first aspect, an embodiment of the present invention provides a method for detecting a vehicle-mounted bus signal, where the method includes:
if a vehicle-mounted bus signal is received, preliminarily detecting whether the vehicle-mounted bus signal is initiated by a current driver according to a basic protection index pointed by the vehicle-mounted bus signal;
and if so, continuously detecting whether the vehicle-mounted bus signal is initiated by the current driver or not based on the historical driving behavior of the current driver.
In a second aspect, an embodiment of the present invention provides an apparatus for detecting a vehicle-mounted bus signal, where the apparatus includes:
the device comprises a preliminary detection module, a judging module and a judging module, wherein the preliminary detection module is used for preliminarily detecting whether a vehicle-mounted bus signal is initiated by a current driver or not according to a basic protection index pointed by the vehicle-mounted bus signal if the vehicle-mounted bus signal is received;
and the driving behavior detection module is used for continuously detecting whether the vehicle-mounted bus signal is initiated by the current driver or not based on the historical driving behavior of the current driver if the vehicle-mounted bus signal is initiated by the current driver.
In a third aspect, an embodiment of the present invention provides a vehicle including:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for detecting the vehicle bus signal according to any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a method for detecting a vehicle-mounted bus signal according to any embodiment of the present invention.
The embodiment of the invention provides a detection method, a device, a vehicle and a storage medium of a vehicle-mounted bus signal, when the vehicle-mounted bus signal is received, firstly, a basic protection index pointed by the vehicle-mounted bus signal is determined, whether the vehicle-mounted bus signal is initiated by a current driver is preliminarily detected by using the basic protection index, if the vehicle-mounted bus signal is initiated by the current driver, the historical driving behavior of the current driver is used, whether the vehicle-mounted bus signal is initiated by the current driver is continuously detected by analyzing the driving habit of the current driver, whether the vehicle-mounted bus signal is controlled by an attacker is analyzed, the accurate detection of the vehicle-mounted bus signal is realized, the bus bandwidth does not need to be additionally occupied, and the communication efficiency of the vehicle-mounted bus signal is enhanced on the basis of ensuring the safety protection of the vehicle-mounted bus signal; meanwhile, whether any vehicle-mounted bus signal is initiated by the current driver can be detected by utilizing the historical driving behavior of the driver, and the independent protection development of various vehicle-mounted buses on the vehicle is not needed, so that the comprehensive coverage of the vehicle-mounted bus signal detection protection is greatly improved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
fig. 1 is a flowchart of a method for detecting a vehicle bus signal according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for detecting a vehicle bus signal according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a detection apparatus for a vehicle-mounted bus signal according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a method for detecting a vehicle bus signal according to an embodiment of the present invention. The embodiment can be applied to the situation of carrying out safety protection on the vehicle-mounted bus of any vehicle. The detection method for the vehicle-mounted bus signal provided by the embodiment of the invention can be executed by the detection device for the vehicle-mounted bus signal provided by the embodiment of the invention, the device can be realized in a software and/or hardware mode, and is integrated in a vehicle executing the method, and the vehicle communicates through various configured vehicle-mounted buses.
Specifically, referring to fig. 1, the method specifically includes the following steps:
s110, if the vehicle-mounted bus signal is received, preliminarily detecting whether the vehicle-mounted bus signal is initiated by the current driver according to the basic protection index pointed by the vehicle-mounted bus signal.
Specifically, aiming at the rapid development of the intelligent internet in the field of vehicle automation, various vehicle-mounted buses are configured on a vehicle during vehicle development, and then various vehicle basic components such as an engine, a brake, a body controller and the like on the vehicle are directly connected with the configured vehicle-mounted buses, so that driving signals generated after a driver executes corresponding driving operation on the various vehicle basic components are obtained through the vehicle-mounted buses, and vehicle automation communication is realized.
At this time, the vehicle-mounted bus signal in this embodiment may be a driving signal generated after each vehicle base component connected to the vehicle-mounted bus performs a corresponding driving operation, however, since an attacker usually forges some vehicle-mounted bus signals to remotely control the vehicle to run, which brings a great running risk, in order to ensure the safety of the vehicle running, it is necessary to perform safety protection on the vehicle-mounted bus signal, that is, for each received vehicle-mounted bus signal, it is first necessary to determine whether the vehicle-mounted bus signal is a normal signal initiated by a current driver after performing a certain driving operation or an abnormal signal forged by the attacker, so as to analyze whether the vehicle-mounted bus signal can ensure the safe running of the vehicle.
In this embodiment, since the on-board bus signal forged by the attacker may be forged at random, and does not refer to the driving specifications of the vehicle base components such as the engine, the brake, and various sensors configured in the vehicle, and the on-board bus signal initiated by the driver at present is generated with reference to the driving specifications of a certain vehicle base component and meets the requirements of the driving specifications, after receiving the on-board bus signal, the on-board bus signal is analyzed first with respect to the vehicle base component, and then the requirements for the on-board bus signal in the driving specifications of the related vehicle base component are analyzed, for example, when the vehicle base component is a certain sensor, the upper and lower limits of the variation range of the on-board bus signal required by the sensor, or the on-board bus signal for acceleration or deceleration requires continuous variation, and the like, so as to determine the basic protection index pointed by the on-board bus signal, the basic protection index can represent some signal requirements definitely existing in the driving specifications of vehicle basic components related to the vehicle-mounted bus signal, then whether the vehicle-mounted bus signal is a normal signal initiated by a current driver is judged by judging whether the received vehicle-mounted bus signal meets the requirement of the pointed basic protection index, if the vehicle-mounted bus signal does not meet the requirement of the pointed basic protection index, the vehicle-mounted bus signal can be determined to be an abnormal signal forged by an attacker, and if the vehicle-mounted bus signal meets the requirement of the pointed basic protection index, but considering that the attacker can forge the signal by referring to the requirement of the basic protection index, whether the vehicle-mounted bus signal is initiated by the current driver needs to be further detected to ensure the accurate protection of the vehicle-mounted bus signal.
And S120, if yes, continuously detecting whether the vehicle-mounted bus signal is initiated by the current driver or not based on the historical driving behavior of the current driver.
Optionally, if the vehicle-mounted bus signal meets the requirement of the pointed basic protection index, it may be preliminarily determined that the vehicle-mounted bus signal is initiated by the current driver, and at this time, on the basis that the vehicle-mounted bus signal meets the driving specification requirement of the vehicle basic component, it may be further detected whether the vehicle-mounted bus signal is initiated by the current driver by analyzing the driving habit of the current driver, so as to ensure the accuracy of the safety protection of the vehicle-mounted bus signal.
In this embodiment, the driving habit of the current driver may be determined by searching the historical driving behavior of the current driver, and then determining the driving behavior represented by the currently received vehicle-mounted bus signal, such as directly shifting from 5 th gear to 3 rd gear, or decelerating while steering, and then determining whether the driving behavior conforms to the driving habit of the current driver, if so, it indicates that the vehicle-mounted bus signal is initiated by the current driver, and if not, it indicates that the vehicle-mounted bus signal is initiated by the current driver, thereby implementing accurate detection of the vehicle-mounted bus signal, and the detection manner of the vehicle-mounted bus signal in this embodiment is executed after receiving the vehicle-mounted bus signal, without occupying additional bus bandwidth, on the basis of ensuring the safety protection of the vehicle-mounted bus signal, the communication efficiency of the vehicle-mounted bus signals is enhanced; meanwhile, whether any vehicle-mounted bus signal is initiated by the current driver can be detected by utilizing the historical driving behavior of the driver, and independent protection development on various vehicle-mounted buses on the vehicle is not needed, so that the scheme provided by the embodiment can be universally applied to signal detection of various vehicle-mounted buses, and the comprehensive coverage of vehicle-mounted bus signal detection protection is greatly improved.
For example, in this embodiment, continuously detecting whether the vehicle-mounted bus signal is initiated by the current driver based on the historical driving behavior of the current driver may specifically include: analyzing the driving characteristics of the current driver based on the historical driving behaviors of the current driver; if the driving behavior represented by the vehicle bus signal corresponds to the driving characteristic, it is determined that the vehicle bus signal is initiated by the current driver.
Specifically, in this embodiment, by analyzing a common point between historical driving behaviors reported by a current driver in a historical driving process, a driving feature capable of representing the common point can be extracted, and the driving feature is used as a driving habit of the current driver, so that when it is determined whether the driving behavior represented by a vehicle-mounted bus signal conforms to the driving habit of the current driver, a similarity between the driving behavior represented by the vehicle-mounted bus signal and the driving feature of the current driver can be calculated by using na iotave bayes and other algorithms, so as to determine whether the driving behavior represented by the vehicle-mounted bus signal conforms to the driving feature of the current driver, and if the similarity between the driving behavior represented by the vehicle-mounted bus signal and the driving feature of the current driver is greater than or equal to a preset threshold, it can be determined that the driving behavior represented by the vehicle-mounted bus signal conforms to the driving feature of the current driver, and it is determined that the vehicle-mounted, thus directly executing the command of the vehicle bus signal; however, if the similarity between the two signals is less than the preset threshold, it can be determined that the driving behavior represented by the vehicle-mounted bus signal does not conform to the driving characteristics of the current driver, and it is determined that the vehicle-mounted bus signal is not initiated by the current driver but is an abnormal signal forged by an attacker, so that the instruction of the vehicle-mounted bus signal is directly discarded, the attacker is prevented from remotely controlling the running of the vehicle by forging the vehicle-mounted bus signal, and the safety of the running of the vehicle is ensured.
In addition, when the current driver drives the vehicle by using the scheme provided by the embodiment for the first time, there is no historical driving behavior, so after preliminarily detecting that the vehicle-mounted bus signal is initiated by the current driver, the embodiment may further include: and if the current driver does not have the historical driving behavior, determining that the vehicle-mounted bus signal is initiated by the current driver, and storing the vehicle-mounted bus signal as the historical driving behavior of the current driver. The method comprises the steps that corresponding safety protection detection can be finished only by adopting basic protection indexes pointed by a vehicle-mounted bus signal for the vehicle-mounted bus signal without the historical driving behavior of the current driver, if it is preliminarily detected that the vehicle-mounted bus signal is initiated by the current driver and the historical driving behavior of the current driver does not exist, the vehicle-mounted bus signal is directly determined to be initiated by the current driver, the driving behavior represented by the vehicle-mounted bus signal is analyzed, and then the driving behavior is used as the historical driving behavior of the current driver and stored in a vehicle-mounted cloud end, so that the vehicle-mounted bus signal can be accurately detected again in the subsequent driving process of the current driver.
According to the technical scheme provided by the embodiment, when a vehicle-mounted bus signal is received, a basic protection index pointed by the vehicle-mounted bus signal is determined firstly, whether the vehicle-mounted bus signal is initiated by a current driver is detected primarily by the basic protection index, if the vehicle-mounted bus signal is initiated by the current driver, the vehicle-mounted bus signal is continuously detected by analyzing the driving habits of the current driver by utilizing the historical driving behaviors of the current driver, so that whether the vehicle-mounted bus signal is controlled by an attacker is analyzed, the accurate detection of the vehicle-mounted bus signal is realized, the bus bandwidth does not need to be occupied additionally, and the communication efficiency of the vehicle-mounted bus signal is enhanced on the basis of ensuring the safety protection of the vehicle-mounted bus signal; meanwhile, whether any vehicle-mounted bus signal is initiated by the current driver can be detected by utilizing the historical driving behavior of the driver, and the independent protection development of various vehicle-mounted buses on the vehicle is not needed, so that the comprehensive coverage of the vehicle-mounted bus signal detection protection is greatly improved.
Example two
Fig. 2 is a flowchart of a method for detecting a vehicle bus signal according to a second embodiment of the present invention. The embodiment of the invention is optimized on the basis of the embodiment. Optionally, in this embodiment, a detailed explanation is mainly performed on a preliminary detection process of whether the vehicle-mounted bus signal is initiated by the current driver according to the basic protection index pointed by the vehicle-mounted bus signal.
Specifically, referring to fig. 2, the method of this embodiment may specifically include:
s201, if a vehicle starting instruction is received, identifying the identity of the current driver to search the historical driving behavior of the current driver.
Optionally, since the historical driving behavior of the current driver is adopted when the vehicle-mounted bus signal is detected, the identity of the current driver needs to be determined at first, and at this time, in order to determine the identity of the current driver quickly, when a vehicle starting instruction is received in this embodiment, the current driver is prompted to enter own identity information at first, for example, the information of the current driver can be acquired through technologies such as face recognition, fingerprint recognition, bluetooth connection, and the like, so that the identity of the current driver is recognized, and the historical driving behavior of the current driver can be found out from the vehicle-mounted cloud terminal through the identity at a later time, so that the vehicle-mounted bus signal can be accurately detected.
S202, if the vehicle-mounted bus signal is received, judging whether the vehicle-mounted bus signal exceeds the limit according to the sensing extreme value pointed by the vehicle-mounted bus signal; if yes, go to S210; if not, go to S203.
In the running process of a vehicle, if a vehicle-mounted bus signal is received, when whether the vehicle-mounted bus signal is initiated by a current driver is preliminarily detected, whether the vehicle-mounted bus signal is generated by a sensor configured on the vehicle or not is firstly analyzed, and a sensing extreme value set in a driving specification of the sensor is determined, wherein the sensing extreme value can represent an upper limit and a lower limit of the variation amplitude of the vehicle-mounted bus signal generated by the sensor, and then whether the vehicle-mounted bus signal exceeds the limit or not is judged according to the upper limit and the lower limit represented by the sensing extreme value, if the vehicle-mounted bus signal exceeds the limit, the vehicle-mounted bus signal is not generated by triggering the sensor by the current driver, but is an abnormal signal forged by an attacker; however, if the on-board bus signal is not exceeded, it continues to be detected whether the on-board bus signal is initiated by the current driver.
And S203, determining the current working condition state of the vehicle-mounted bus signal.
Optionally, different working condition states may exist in the vehicle driving process, such as acceleration driving, deceleration driving, turning, parking, and the like, and at this time, considering that the vehicle may execute an emergency danger avoiding operation when encountering a danger, it is necessary to respond to the emergency danger avoiding signal as soon as possible, and therefore, after the vehicle-mounted bus signal is not overrun, it is first necessary to determine the current working condition state of the vehicle-mounted bus signal according to the driving behavior indicated by the vehicle-mounted bus signal, so as to determine whether the current working condition state is the emergency danger avoiding state, so as to respond to the emergency danger avoiding operation in time.
S204, judging whether the current working condition state indicates that the vehicle-mounted bus signal is an emergency danger avoiding operation or not; if yes, go to S205; if not, go to S206.
In this embodiment, whether a driving behavior represented by a vehicle-mounted bus signal is an emergency danger avoiding operation is judged according to a current working condition state of the vehicle-mounted bus signal, and if the driving behavior is the emergency danger avoiding behavior, whether a real danger exists in a surrounding environment of vehicle driving needs to be further judged so as to prevent an attacker from forging the vehicle-mounted bus signal under the emergency danger avoiding operation to remotely control the vehicle driving; if the vehicle-mounted bus signal does not meet the requirement of the next driving standard, the vehicle-mounted bus signal is continuously judged to be in the emergency risk avoiding behavior, so that the detection accuracy of the vehicle-mounted bus signal is ensured.
S205, calling a driving auxiliary system to judge whether the current driving environment has driving danger; if yes, go to S208; if not, go to S210.
Optionally, when it is determined that the driving behavior indicated by the vehicle-mounted bus signal is an emergency risk avoidance behavior and it is determined whether there is a real risk in the surrounding environment where the vehicle is running, the driving assistance system configured on the vehicle may be used to acquire environmental data in the current driving environment, for example, whether there is an obstacle in the current driving environment is monitored by a radar, whether there is a red light in the current driving environment is monitored by a camera, and the like, so as to analyze whether there is a real driving risk in the current driving environment and need emergency risk avoidance, and if it is determined that there is a driving risk in the current driving environment, it may be determined that the vehicle-mounted bus signal is initiated by the current driver, and then the vehicle-mounted bus signal is responded in time to execute a corresponding emergency risk avoidance operation, so as to prevent. And after the vehicle-mounted bus signal is responded, the current driver can be prompted to receive the emergency danger avoiding instruction, emergency danger avoiding operation can be executed, and the current driver can pay further attention to driving safety. When the current driving environment is determined to have no driving danger and the vehicle-mounted bus signal representing the emergency danger avoiding operation is received, the vehicle-mounted bus signal can be determined not to be initiated by the current driver but to be an abnormal signal forged by an attacker, so that the vehicle-mounted bus signal is directly discarded to ensure the safety protection of the vehicle-mounted bus signal.
S206, judging whether a continuity requirement exists according to the type of the vehicle-mounted bus signal; if yes, go to S207; if not, go to step S208.
Because the vehicle-mounted bus signals in the running process of the vehicle are different according to different vehicle basic components, different requirements exist for the continuity of signal change, for example, the vehicle-mounted bus signals under driving operations such as acceleration and deceleration are required to be continuously changed, and the vehicle-mounted bus signals for gear shifting are not required to be continuously changed, when the driving behavior represented by the vehicle-mounted bus signals is determined not to be emergency danger avoiding operation, whether the continuity requirement exists in the vehicle-mounted bus signals is further judged according to the type of the vehicle-mounted bus signals; if so, continuously judging the vehicle-mounted bus signal, if not, preliminarily determining that the vehicle-mounted bus signal is initiated by the current driver, and continuously detecting whether the vehicle-mounted bus signal is initiated by the current driver according to the historical driving behavior of the current driver so as to ensure the safety protection of the vehicle-mounted bus signal.
S207, extracting a historical signal value associated with the vehicle-mounted bus signal to judge whether the vehicle-mounted bus signal is continuous; if yes, go to S208; if not, go to S210.
Optionally, when it is determined that the continuity requirement exists in the vehicle-mounted bus signal, it is required to extract each historical signal value associated with the vehicle-mounted bus signal, so as to analyze whether the vehicle-mounted bus signal continuously changes, if so, it is preliminarily determined that the vehicle-mounted bus signal is initiated by the current driver, and if not, it is determined that the vehicle-mounted bus signal is not initiated by the current driver but is an abnormal signal forged by an attacker.
And S208, preliminarily determining that the vehicle-mounted bus signal is initiated by the current driver.
S209, continuously detecting whether the vehicle-mounted bus signal is initiated by the current driver or not based on the historical driving behavior of the current driver.
And S210, determining that the vehicle-mounted bus signal is not initiated by the current driver.
S211, counting the times that the received vehicle-mounted bus signals are not initiated by the current driver, and sending corresponding driving abnormity reminding to the current driver when the times reach a preset abnormity upper limit.
Optionally, in order to ensure safety protection of the vehicle-mounted bus signal, in this embodiment, it is also continuously counted that the received vehicle-mounted bus signal is not the number of times initiated by the current driver during the vehicle driving process, and the number of times is also the number of times that an attacker forges an abnormal signal and wishes to remotely control the vehicle driving, and at this time, when the number of times reaches a preset abnormal upper limit, it is indicated that the vehicle is remotely attacked by the attacker many times during the driving process, so to ensure safe driving of the vehicle, a corresponding driving abnormality prompt is sent to the current driver, for example, the driver is in a dangerous state in an acousto-optic vibration mode, so that the current driver stops to notify a maintenance person to repair, and thus safety of vehicle driving is ensured.
According to the technical scheme provided by the embodiment, when a vehicle-mounted bus signal is received, a basic protection index pointed by the vehicle-mounted bus signal is determined firstly, whether the vehicle-mounted bus signal is initiated by a current driver is detected primarily by the basic protection index, if the vehicle-mounted bus signal is initiated by the current driver, the vehicle-mounted bus signal is continuously detected by analyzing the driving habits of the current driver by utilizing the historical driving behaviors of the current driver, so that whether the vehicle-mounted bus signal is controlled by an attacker is analyzed, the accurate detection of the vehicle-mounted bus signal is realized, the bus bandwidth does not need to be occupied additionally, and the communication efficiency of the vehicle-mounted bus signal is enhanced on the basis of ensuring the safety protection of the vehicle-mounted bus signal; meanwhile, whether any vehicle-mounted bus signal is initiated by the current driver can be detected by utilizing the historical driving behavior of the driver, and the independent protection development of various vehicle-mounted buses on the vehicle is not needed, so that the comprehensive coverage of the vehicle-mounted bus signal detection protection is greatly improved.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a detection apparatus for a vehicle-mounted bus signal according to a third embodiment of the present invention, and as shown in fig. 3, the apparatus may include:
the preliminary detection module 310 is configured to, if a vehicle-mounted bus signal is received, preliminarily detect whether the vehicle-mounted bus signal is initiated by a current driver according to a basic protection index pointed by the vehicle-mounted bus signal;
and a driving behavior detection module 320, configured to, if yes, continuously detect whether the vehicle bus signal is initiated by the current driver based on a historical driving behavior of the current driver.
According to the technical scheme provided by the embodiment, when a vehicle-mounted bus signal is received, a basic protection index pointed by the vehicle-mounted bus signal is determined firstly, whether the vehicle-mounted bus signal is initiated by a current driver is detected primarily by the basic protection index, if the vehicle-mounted bus signal is initiated by the current driver, the vehicle-mounted bus signal is continuously detected by analyzing the driving habits of the current driver by utilizing the historical driving behaviors of the current driver, so that whether the vehicle-mounted bus signal is controlled by an attacker is analyzed, the accurate detection of the vehicle-mounted bus signal is realized, the bus bandwidth does not need to be occupied additionally, and the communication efficiency of the vehicle-mounted bus signal is enhanced on the basis of ensuring the safety protection of the vehicle-mounted bus signal; meanwhile, whether any vehicle-mounted bus signal is initiated by the current driver can be detected by utilizing the historical driving behavior of the driver, and the independent protection development of various vehicle-mounted buses on the vehicle is not needed, so that the comprehensive coverage of the vehicle-mounted bus signal detection protection is greatly improved.
Further, the driving behavior detection module 320 may be specifically configured to:
analyzing a driving characteristic of a current driver based on historical driving behavior of the current driver;
determining that the vehicle bus signal is initiated by the current driver if the driving behavior represented by the vehicle bus signal corresponds to the driving characteristic.
Further, the detection device for the vehicle-mounted bus signal may further include:
and the driving characteristic judging module is used for judging whether the driving behavior represented by the vehicle-mounted bus signal accords with the driving characteristics or not according to the similarity between the driving behavior represented by the vehicle-mounted bus signal and the driving characteristics of the current driver.
Further, the detection device for the vehicle-mounted bus signal may further include:
and the historical behavior storage module is used for determining that the vehicle-mounted bus signal is initiated by the current driver if the current driver does not have the historical driving behavior, and storing the driving behavior represented by the vehicle-mounted bus signal as the historical driving behavior of the current driver.
Further, the preliminary detecting module 310 may be specifically configured to:
judging whether the vehicle-mounted bus signal exceeds the limit according to the sensing extreme value pointed by the vehicle-mounted bus signal;
if not, determining the current working condition state of the vehicle-mounted bus signal;
if the current working condition state indicates that the vehicle-mounted bus signal is an emergency danger avoiding operation and a driving auxiliary system is called to determine that the current driving environment has driving danger, preliminarily determining that the vehicle-mounted bus signal is initiated by a current driver and responding to the vehicle-mounted bus signal;
if the current working condition state indicates that the vehicle-mounted bus signal is non-emergency risk avoiding operation, judging whether a continuity requirement exists according to the type of the vehicle-mounted bus signal;
if so, extracting a historical signal value associated with the vehicle-mounted bus signal to judge the continuity of the vehicle-mounted bus signal, and preliminarily determining that the vehicle-mounted bus signal is initiated by a current driver when the vehicle-mounted bus signal is continuous;
and if the driving assistance system is called to determine that the current driving environment has no driving danger, or the vehicle-mounted bus signal has no continuity requirement, or the vehicle-mounted bus signal is discontinuous, determining that the vehicle-mounted bus signal is not initiated by the current driver.
Further, the detection device for the vehicle-mounted bus signal may further include:
and the driver identity recognition module is used for recognizing the identity of the current driver to search the historical driving behavior of the current driver if a vehicle starting instruction is received.
Further, the detection device for the vehicle-mounted bus signal may further include:
and the abnormity counting module is used for counting the times that the received vehicle-mounted bus signals are not initiated by the current driver, and sending corresponding driving abnormity prompt to the current driver when the times reach a preset abnormity upper limit.
The detection device for the vehicle-mounted bus signal provided by the embodiment can be applied to the detection method for the vehicle-mounted bus signal provided by any embodiment, and has corresponding functions and beneficial effects.
Example four
Fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention. As shown in fig. 4, the vehicle includes a processor 40, a storage device 41, a communication device 42, and a vehicle-mounted bus 43; the number of processors 40 in the vehicle may be one or more, and one processor 40 is illustrated in fig. 4; the processor 40, the storage device 41, the communication device 42, and the onboard bus 43 of the vehicle may be connected by a bus or other means, as exemplified by the bus connection in fig. 4.
The storage device 41, which is a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as modules corresponding to the detection method of the in-vehicle bus signal in the embodiment of the present invention (for example, the preliminary detection module 310 and the driving behavior detection module 320 in the detection device of the in-vehicle bus signal). The processor 40 executes various functional applications and data processing of the electronic device by running software programs, instructions and modules stored in the storage device 41, that is, implements the above-described detection method for the vehicle-mounted bus signal.
The storage device 41 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the storage device 41 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, storage device 41 may further include memory located remotely from multifunction controller 40, which may be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The communication means 42 may be used to enable a network connection or a mobile data connection between the devices.
The vehicle bus 43 may be used to transmit vehicle bus signals.
The vehicle provided by the embodiment can be used for executing the vehicle-mounted bus signal detection method provided by any embodiment, and has corresponding functions and beneficial effects.
EXAMPLE five
Fifth, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, can implement the method for detecting the vehicle-mounted bus signal in any of the above embodiments. The method specifically comprises the following steps:
if a vehicle-mounted bus signal is received, preliminarily detecting whether the vehicle-mounted bus signal is initiated by a current driver according to a basic protection index pointed by the vehicle-mounted bus signal;
and if so, continuously detecting whether the vehicle-mounted bus signal is initiated by the current driver or not based on the historical driving behavior of the current driver.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the method for detecting the vehicle-mounted bus signal provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the detection apparatus for the vehicle-mounted bus signal, each included unit and module is only divided according to functional logic, but is not limited to the above division, as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for detecting a vehicle-mounted bus signal is characterized by comprising the following steps:
if a vehicle-mounted bus signal is received, preliminarily detecting whether the vehicle-mounted bus signal is initiated by a current driver according to a basic protection index pointed by the vehicle-mounted bus signal;
and if so, continuously detecting whether the vehicle-mounted bus signal is initiated by the current driver or not based on the historical driving behavior of the current driver.
2. The method of claim 1, wherein the continuing to detect whether the on-board bus signal is initiated by the current driver based on historical driving behavior of the current driver comprises:
analyzing a driving characteristic of a current driver based on historical driving behavior of the current driver;
determining that the vehicle bus signal is initiated by the current driver if the driving behavior represented by the vehicle bus signal corresponds to the driving characteristic.
3. The method of claim 2, further comprising:
and judging whether the driving behavior represented by the vehicle-mounted bus signal accords with the driving characteristics or not according to the similarity between the driving behavior represented by the vehicle-mounted bus signal and the driving characteristics of the current driver.
4. The method of claim 1, further comprising, after initially detecting that the on-board bus signal originated from a current driver:
and if the current driver does not have historical driving behaviors, determining that the vehicle-mounted bus signal is initiated by the current driver, and storing the driving behaviors represented by the vehicle-mounted bus signal as the historical driving behaviors of the current driver.
5. The method of claim 1, wherein the preliminary detecting whether the on-board bus signal is initiated by a current driver according to a basic protection index pointed to by the on-board bus signal comprises:
judging whether the vehicle-mounted bus signal exceeds the limit according to the sensing extreme value pointed by the vehicle-mounted bus signal;
if not, determining the current working condition state of the vehicle-mounted bus signal;
if the current working condition state indicates that the vehicle-mounted bus signal is an emergency danger avoiding operation and a driving auxiliary system is called to determine that the current driving environment has driving danger, preliminarily determining that the vehicle-mounted bus signal is initiated by a current driver and responding to the vehicle-mounted bus signal;
if the current working condition state indicates that the vehicle-mounted bus signal is non-emergency risk avoiding operation, judging whether a continuity requirement exists according to the type of the vehicle-mounted bus signal;
if so, extracting a historical signal value associated with the vehicle-mounted bus signal to judge the continuity of the vehicle-mounted bus signal, and preliminarily determining that the vehicle-mounted bus signal is initiated by a current driver when the vehicle-mounted bus signal is continuous;
and if the driving assistance system is called to determine that the current driving environment has no driving danger, or the vehicle-mounted bus signal has no continuity requirement, or the vehicle-mounted bus signal is discontinuous, determining that the vehicle-mounted bus signal is not initiated by the current driver.
6. The method according to any one of claims 1-5, further comprising:
and if a vehicle starting instruction is received, identifying the identity of the current driver so as to search the historical driving behavior of the current driver.
7. The method according to any one of claims 1-5, further comprising:
and counting the times that the received vehicle-mounted bus signals are not initiated by the current driver, and sending corresponding driving abnormity reminding to the current driver when the times reach a preset abnormity upper limit.
8. A device for detecting a vehicle bus signal, comprising:
the device comprises a preliminary detection module, a judging module and a judging module, wherein the preliminary detection module is used for preliminarily detecting whether a vehicle-mounted bus signal is initiated by a current driver or not according to a basic protection index pointed by the vehicle-mounted bus signal if the vehicle-mounted bus signal is received;
and the driving behavior detection module is used for continuously detecting whether the vehicle-mounted bus signal is initiated by the current driver or not based on the historical driving behavior of the current driver if the vehicle-mounted bus signal is initiated by the current driver.
9. A vehicle, characterized in that the vehicle comprises:
one or more processors;
storage means for storing one or more programs;
the vehicle-mounted bus is used for transmitting vehicle-mounted bus signals;
when executed by the one or more processors, cause the one or more processors to implement a method of detection of in-vehicle bus signals as recited in any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method for detecting a vehicle bus signal according to any one of claims 1 to 7.
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