CN113179152A - In-vehicle network data communication method based on ECU communication frequency characteristics - Google Patents

In-vehicle network data communication method based on ECU communication frequency characteristics Download PDF

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CN113179152A
CN113179152A CN202110264454.XA CN202110264454A CN113179152A CN 113179152 A CN113179152 A CN 113179152A CN 202110264454 A CN202110264454 A CN 202110264454A CN 113179152 A CN113179152 A CN 113179152A
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韩牟
朱梦丽
马世典
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Jiangsu University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
    • H04L9/08—Key distribution or management, e.g. generation, sharing or updating, of cryptographic keys or passwords
    • H04L9/0816—Key establishment, i.e. cryptographic processes or cryptographic protocols whereby a shared secret becomes available to two or more parties, for subsequent use
    • H04L9/0819—Key transport or distribution, i.e. key establishment techniques where one party creates or otherwise obtains a secret value, and securely transfers it to the other(s)
    • 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
    • H04L63/04—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks
    • H04L63/0428—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
    • H04L9/08—Key distribution or management, e.g. generation, sharing or updating, of cryptographic keys or passwords
    • H04L9/0861—Generation of secret information including derivation or calculation of cryptographic keys or passwords

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Abstract

The invention provides an in-vehicle network data communication method based on ECU communication frequency characteristics, which comprises the following steps: 1) collecting and preprocessing communication data in the vehicle; 2) carrying out maximum frequent item set mining on the ECU; 3) classifying the ECUs according to the maximum frequent item set; 4) matching corresponding frequency attributes for the ECU according to the classification result; 5) and building a communication architecture based on the frequency attribute in the vehicle. The invention provides an in-vehicle network data communication method based on ECU communication frequency attributes by combining the communication frequency characteristics of the in-vehicle ECU and the attribute-based encryption algorithm from the actual communication condition of the in-vehicle ECU, and achieves the effect of protecting in-vehicle data under the condition of not influencing the original communication requirement in the vehicle.

Description

In-vehicle network data communication method based on ECU communication frequency characteristics
Technical Field
The invention relates to the field of intelligent networked automobiles, in-vehicle communication technology, cryptography and data mining, in particular to the field of in-vehicle communication technology.
Background
With the integration of modern communication and network technology with the automobile industry, automobiles are continuously developing towards networking and intellectualization, effectively improving traffic conditions and improving the comfort and safety of vehicle driving. It is clearly shown in "china make 2025" that the intelligent internet connected automobile is a key field for the development of national intelligent manufacture in the next 10 years. The conventional vehicle and domestic and foreign science and technology such as Jutou BAT, Google and Amazon make the system strategy of ICV development. All-around layout and high attention to the intelligent networking automobile industry of each industry.
The intelligent networked automobile also faces a severe information security challenge while being continuously developed, and in 2017, Tencent Coen laboratory publishes that a Tesla Model X in-vehicle network is invaded through WIFI, and malicious data frames are injected into the network to achieve the purpose of controlling the automobile to carry out remote control. In 2018, according to a certain media report in the uk, theft of local keyless vehicles frequently occurs due to a loophole of a keyless system. According to the 2019 intelligent networking automobile information safety annual report issued by 360, 22 attack events which are reported in the open mode of the intelligent networking automobile in 2016 are shown, 155 attack events are increased in 2019, and the attack events are increased by six times in three years. The data show that the problem of solving the information safety of the intelligent networked automobile is very slow.
The main reason that the attack events of the intelligent networked automobile frequently occur is that the network in the automobile is originally closed, but with the development of networking and intellectualization of the automobile, the automobile opens a plurality of interfaces through which external equipment can invade the vehicle-mounted network. And because the data interaction is carried out in a mode of broadcasting plaintext, an attacker can easily monitor the communication data in the vehicle after invading the vehicle-mounted network, and then share the data in the vehicle through means such as reverse engineering and the like, so as to release false information in the vehicle and finally achieve the purpose of controlling the vehicle.
Disclosure of Invention
The invention aims to provide an in-vehicle communication method based on ECU communication frequency attributes, which can simplify key management, isolate unauthorized ECUs and reduce bus load while protecting the safety, confidentiality and privacy of in-vehicle data.
In order to achieve the purpose, the invention provides the following technical scheme:
an in-vehicle communication method based on ECU communication frequency attributes comprises the following steps: (1) and preprocessing the data according to the acquired in-vehicle communication data and the ECU communication list. (2) And performing maximum frequent item set mining on the processed data, and matching corresponding frequency attributes for the ECU according to the data mining result. (3) The GECU initializes before the vehicle starts, generates the required public parameters and master keys, and broadcasts the public parameters in the vehicle. (4) And the ECU sends a registration application to the GECU, and the GECU verifies the identity of the ECU and sends a master key for the ECU with the legal identity. (5) And carrying out frequency attribute encryption communication in the vehicle, encrypting and transmitting data by the ECU according to the frequency attribute set of the ECU when sending the message, and decrypting the data only by a private key generated by the ECU with the same frequency attribute.
Further, the step (1) is to preprocess the data according to the collected in-vehicle communication data and the ECU communication list; the method comprises the following steps:
step 1.1: automobile CAN bus data are exported from the automobile through the USBCAN analyzer and then stored, and the data in the automobile are collected, so that the occurrence frequency of each data frame is obtained.
Step 1.2: information interaction conditions among the ECUs can be obtained through the ECU communication list, and data processing is carried out according to the occurrence frequency of the acquired data frames, so that a data set which can be used for the most frequent item set is obtained.
Further, the step (2) carries out maximum frequent item set mining on the processed data, and matches corresponding frequency attributes for the ECU according to the data mining result; the method comprises the following steps:
step 2.1: and sequencing the ECU according to the frequency of the ECU according to the processed data set, and constructing an enumeration tree according to the following steps: each node of the tree consists of 2 item sets, the 1 st item set is called head (head) and is recorded as h (node), and the 1 st item set consists of an enumeration item set of the current node in the enumeration tree; the 2 nd item set is called tail (tail), and is denoted as t (node), and is formed by sorting the items contained in all the items of the child nodes of the current node except the current node.
Step 2.2: continuously pruning the formed enumeration tree according to the following two principles: 1. any item set that contains infrequent sub-item sets is infrequent; 2. because the most frequent item set is mined, if a superset of a certain item set is a frequent item set, the item set is not necessarily the most frequent item set.
Further, the frequency attribute encryption communication is carried out in the vehicle in the step (5), when the message is sent, the ECU encrypts and transmits the data according to the frequency attribute set of the ECU, and only the private key generated by the ECU with the same frequency attribute can decrypt the data; the method comprises the following steps:
step 5.1: when the ECU transmits data, the plaintext is encrypted according to the frequency attribute set of the ECU, and the ciphertext is transmitted in the vehicle.
Step 5.2: when the ECU receives the ciphertext, the frequency attribute set of the ECU and the frequency attribute set in the ciphertext are used for threshold judgment, and if the threshold is more than or equal to 1, the ECU at the receiving side and the ECU at the sending side have the same frequency attribute.
Step 5.3: the receiving party ECU generates a decryption private key according to the own frequency attribute and the master key, and decrypts the ciphertext by using the private key, if the receiving party ECU and the sending party have the same frequency attribute, the private key generated by the receiving party can successfully decrypt the ciphertext to obtain the plaintext. Otherwise, decryption fails.
The invention provides an in-vehicle communication method based on ECU communication frequency characteristics, which has the following beneficial effects:
1) according to the real communication flow and the communication list in the vehicle, the classification data set is used, and interference on normal communication needs in the vehicle can be avoided after isolated communication.
2) And (3) carrying out access strategy design on the ECU according to the frequency attribute set of the ECU, so that data interaction can be carried out only if the frequency attribute set has the same frequency attribute, and the aim of preventing unauthorized ECU from accessing data is fulfilled.
3) The data in the vehicle is encrypted and communicated, only the frequency attribute set of the data in the vehicle needs to be stored, excessive keys do not need to be stored, and key management is simplified.
4) The requirement of the in-vehicle data on a one-to-many communication mode is met, and the huge expenditure brought to each ECU data encryption is reduced.
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FIG. 1 is a system model of the present invention;
FIG. 2 is a flow chart of the most frequent itemset of the present invention;
FIG. 3 is a diagram of the ECU grouping results of the present invention;
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The invention provides an in-vehicle communication method based on ECU communication frequency attributes.
For ease of understanding, the system model of the present invention will be described. As shown in FIG. 1, the system model mainly comprises two parts, namely a GECU and an ECU. The GECU initializes the vehicle at startup to generate the public parameter PK and the master key MK. The ECU initiates a registration application to the GECU, and if the GECU authenticates the legal identity of the ECU, the PK and the MK are sent to the ECU. Encrypted communication is possible after the ECU is successfully registered. When the ECU1 needs to send a message, data is encrypted according to the frequency attribute that matches itself, and then a ciphertext is transmitted in the in-vehicle network. And the other ECUs receive the ciphertext, carry out threshold value judgment by using the frequency attribute of the ECUs and the frequency attribute of the ECU of the sender, if the threshold value is more than or equal to 1, the ECUs of the receiver and the ECU of the sender have the same frequency attribute, and the generated private key can successfully decrypt the ciphertext and obtain the plaintext. If ECU2 has the same frequency attribute GL1 as ECU1, then ECU2 can decrypt successfully to obtain plaintext, and if ECU3 and ECU1 do not have the same frequency attribute, then decryption fails.
1. And preprocessing the data according to the acquired in-vehicle communication data and the ECU communication list.
The first step is as follows: automobile CAN bus data are exported from the automobile through the USBCAN analyzer and then stored, and the data in the automobile are collected, so that the occurrence frequency of each data frame is obtained. In order to establish a reasonable communication architecture, the in-vehicle communication flow and the communication list of the ECU are analyzed. Table 1 is partial data of the ECU communication list. It can be analyzed that although the in-vehicle network uses a broadcasting mechanism, the ECU receives all data on the in-vehicle network, but not all data are used. It was decided to establish a method that can isolate ECUs that do not need to communicate.
TABLE 1
Figure BDA0002971618930000041
The second step is that: information interaction conditions among the ECUs can be obtained through the ECU communication list, and data processing is carried out according to the occurrence frequency of the acquired data frames, so that a data set which can be used for the most frequent item set is obtained. The automobile CAN bus data are exported from the automobile through the USBCAN analyzer to obtain the real in-automobile data flow shown in the table 2, the occurrence frequency of each data frame is obtained, and then the communication frequency transaction set between the ECUs for data mining CAN be obtained by combining the communication list to carry out data preprocessing.
TABLE 2
Time stamp ID DIC 1byte 2byte 3byte 4byte ……
186.17 $FB 8 0C B0 7F 14 ……
186.18 $278 8 0C B0 7F 14 ……
186.19 $101 5 FF 7F 0 5 ……
186.20 $278 8 0C B0 7F 14 ……
186.21 $278 8 0C B0 7F 14 ……
2. And performing maximum frequent item set mining on the processed data, and matching corresponding frequency attributes for the ECU according to the data mining result.
The first step is as follows: and sequencing the ECU according to the frequency of the ECU according to the processed data set, and constructing an enumeration tree according to the following steps: each node of the tree consists of 2 item sets, the 1 st item set is called head (head) and is recorded as h (node), and the 1 st item set consists of an enumeration item set of the current node in the enumeration tree; the 2 nd item set is called tail (tail), and is denoted as t (node), and is formed by sorting the items contained in all the items of the child nodes of the current node except the current node.
The second step is that: continuously pruning the formed enumeration tree according to the following two principles: 1. any item set that contains infrequent sub-item sets is infrequent; 2. because the most frequent item set is mined, if a superset of a certain item set is a frequent item set, the item set is not necessarily the most frequent item set.
According to the invention, ECU groups with relatively close connection can be obtained after the transaction set is subjected to the most frequent item set mining. The algorithm flow chart is shown in fig. 2.
Through continuous parameter adjustment, the grouping effect is best when the support degree (the support degree is the ratio of the number of the item set to the number of the whole transaction set) is 0.15, the grouping result is shown in fig. 3, total 76 ECUs are divided into six sets, and the ECUs in the same set are regarded as having the same frequency attribute, namely, having communication requirements. And matching the corresponding frequency attribute for the ECU according to the grouping result. The in-vehicle communication method provided by the invention is used for designing an access strategy based on the frequency attribute of the ECU, carrying out data mining on in-vehicle data, dividing the ECUs with communication requirements into a group, and regarding the group as having the same frequency attribute, so that the group can carry out data communication, and isolating the ECUs without communication requirements, namely the ECUs without the same frequency attribute. Therefore, the aims of protecting data and isolating the ECU which does not need normal communication are fulfilled. The invention is based on the data mining of the normal communication data in the vehicle, so the communication method of the invention can not generate interference to the normal running of the vehicle.
And constructing a domain isolation communication framework based on the grouping result and in combination with the principle of an attribute-based encryption algorithm.
Table 3 primary symbol definitions.
TABLE 3
(symbol) Description of the invention
ECU Electronic control unit
GECU Gateway electronic control unit
PK Common parameter
MK Master key
q Order of group
g Generating element of group
S Set of frequency attributes
M Plaintext
CT Cipher text
C′ Ciphertext component
Ci Ciphertext component
Di Private key composition
gl1，gl2，gl3，gl4，gl5，gl6 Random integer
y、t Random integer
And 3. the GECU initializes the vehicle before starting, generates the required public parameters and the master key and broadcasts the public parameters in the vehicle.
Performing an initialization algorithm to select gl for six frequency attributes before vehicle start1，gl2，gl3，gl4，gl5，gl6∈ZqAnd y ∈ ZqGenerating common parameters
Figure BDA0002971618930000061
Figure BDA0002971618930000062
And the master key MK (y, gl)1，gl2，gl3，gl4，gl5，gl6)。
And 4, the ECU sends a registration application to the GECU, and the GECU verifies the identity of the ECU and sends a master key for the ECU with the legal identity.
The ECU generates registration request information, signs the information, and transmits the request information, the signature and the certificate to the GECU.
The GECU verifies the validity of the ECU identity and sends the master key MK for key generation to the ECU if the identity is valid.
5. And carrying out frequency attribute encryption communication in the vehicle, encrypting and transmitting data by the ECU according to the frequency attribute set of the ECU when sending the message, and decrypting the data only by a private key generated by the ECU with the same frequency attribute.
After the ECU verifies the validity of the identity and MK is obtained, isolated communication is carried out in the vehicle. The method comprises the following specific steps:
the first step is as follows: when the ECU transmits data, the plaintext is encrypted according to the frequency attribute set of the ECU, and the ciphertext is transmitted in the vehicle. When ECU1 needs to send data M, M is encrypted according to its own frequency attribute set S and common parameter PK, and the ciphertext is obtained
Figure BDA0002971618930000071
The ECU1 broadcasts the ciphertext within the vehicle, and the other ECUs receive the ciphertext.
The second step is that: when the ECU receives the ciphertext, the frequency attribute set of the ECU and the frequency attribute set in the ciphertext are used for threshold judgment, and if the threshold is more than or equal to 1, the ECU at the receiving side and the ECU at the sending side have the same frequency attribute. After receiving the ciphertext, the ECU performs threshold judgment on the frequency attribute set S' of the ECU and the frequency attribute set S of the ECU1, and if the number of the frequency attributes having the same number is greater than or equal to 1, generates a private key SK according to the following formula.
Figure BDA0002971618930000072
The third step: the receiving party ECU generates a decryption private key according to the own frequency attribute and the master key, and decrypts the ciphertext by using the private key, if the receiving party ECU and the sending party have the same frequency attribute, the private key generated by the receiving party can successfully decrypt the ciphertext to obtain the plaintext. Otherwise, decryption fails. The ECU selects a frequency attribute i that is the same as the sender ECU1 and decrypts it according to the following formula:
Figure BDA0002971618930000073
if the frequency attributes are not the same, decryption cannot be performed to obtain a ciphertext, so that the ECU without the communication requirement is prevented from obtaining the plaintext.
In summary, the method of the present invention comprises the following steps: (1) and preprocessing the data according to the acquired in-vehicle communication data and the ECU communication list. (2) And performing maximum frequent item set mining on the processed data, and matching corresponding frequency attributes for the ECU according to the data mining result. (3) The GECU initializes before the vehicle starts, generates the required public parameters and master keys, and broadcasts the public parameters in the vehicle. (4) And the ECU sends a registration application to the GECU, and the GECU verifies the identity of the ECU and sends a master key for the ECU with the legal identity. (5) And carrying out frequency attribute encryption communication in the vehicle, encrypting and transmitting data by the ECU according to the frequency attribute set of the ECU when sending the message, and decrypting the data only by a private key generated by the ECU with the same frequency attribute. The invention provides an in-vehicle communication method based on ECU communication frequency attributes, which is a communication method designed without influencing normal running in a vehicle by carrying out data mining on a data set of real communication in the vehicle. By combining the principle of an attribute-based encryption algorithm, the effects of simplifying key management and reducing bus load are achieved while data encryption communication in the vehicle is realized, and the problem of privacy protection in network communication in the vehicle is effectively solved.

Claims (4)

1. An in-vehicle communication method based on ECU communication frequency attributes is characterized by comprising the following steps:
(1) preprocessing the data according to the acquired in-vehicle communication data and the ECU communication list;
(2) performing maximum frequent item set mining on the processed data, and matching corresponding frequency attributes for the ECU according to the data mining result;
(3) the GECU initializes before starting the vehicle, generates required public parameters and a master key, and broadcasts the public parameters in the vehicle;
(4) the ECU sends a registration application to the GECU, and the GECU verifies the identity of the ECU and sends a master key for the ECU with the legal identity;
(5) and carrying out frequency attribute encryption communication in the vehicle, encrypting and transmitting data by the ECU according to the frequency attribute set of the ECU when sending the message, and decrypting the data only by a private key generated by the ECU with the same frequency attribute.
2. The in-vehicle communication method based on the ECU communication frequency attribute according to claim 1, wherein the specific steps of the step (1) are as follows:
step 1.1: the CAN bus data of the automobile is exported from the automobile through a USBCAN analyzer and then stored, so that the data in the automobile is acquired, and the occurrence frequency of each data frame is obtained;
step 1.2: information interaction conditions among the ECUs can be obtained through the ECU communication list, and data processing is carried out according to the occurrence frequency of the acquired data frames, so that a data set which can be used for the most frequent item set is obtained.
3. The in-vehicle communication method based on the ECU communication frequency attribute according to claim 1, wherein the step (2) carries out maximum frequency item set mining on the processed data, and the ECU is matched with the corresponding frequency attribute according to the data mining result; the method comprises the following steps:
step 2.1: and sequencing the ECU according to the frequency of the ECU according to the processed data set, and constructing an enumeration tree according to the following rules: each node of the tree consists of 2 item sets, the 1 st item set is called a head, is recorded as h (node), and consists of an enumeration item set of the current node in the enumeration tree; the 2 nd item set is called tail, is marked as t (node), and is formed by sequencing all items contained in the child nodes of the current node except the current node;
step 2.2: continuously pruning the formed enumeration tree according to the following two principles:
any item set that contains infrequent sub-item sets is infrequent;
because the most frequent item set is mined, if a superset of a certain item set is a frequent item set, the item set is not necessarily the most frequent item set.
4. The in-vehicle communication method based on the ECU communication frequency attribute according to claim 1, wherein in the step (5), the in-vehicle frequency attribute encryption communication is performed, when a message is sent, the ECU encrypts and transmits data according to the own frequency attribute set, and only the private key generated by the ECU with the same frequency attribute can decrypt the data; the method comprises the following steps:
step 5.1: when the ECU sends data, the plaintext is encrypted according to the frequency attribute set of the ECU, and a ciphertext is sent in the vehicle;
step 5.2: when the ECU receives the ciphertext, the frequency attribute set of the ECU and the frequency attribute set in the ciphertext are used for threshold judgment, if the threshold is more than or equal to 1, the ECU at the receiving party and the ECU at the sending party have the same frequency attribute;
step 5.3: the receiving party ECU generates a decryption private key according to the own frequency attribute and the master key, and decrypts the ciphertext by using the private key, if the receiving party ECU and the sending party have the same frequency attribute, the private key generated by the receiving party can successfully decrypt the ciphertext to obtain the plaintext, otherwise, the decryption fails.
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