CN113657514A - Distributed information credibility identification and processing method for intelligent networked vehicles - Google Patents
Distributed information credibility identification and processing method for intelligent networked vehicles Download PDFInfo
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- CN113657514A CN113657514A CN202110957528.8A CN202110957528A CN113657514A CN 113657514 A CN113657514 A CN 113657514A CN 202110957528 A CN202110957528 A CN 202110957528A CN 113657514 A CN113657514 A CN 113657514A
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- 230000008447 perception Effects 0.000 claims description 9
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
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- G06F18/25—Fusion techniques
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Abstract
In an information acquisition stage, vehicle-end sensing information is acquired through a vehicle sensor, and big data platform information and V2V information are acquired through a network cloud platform and other vehicle broadcast information and are used as auxiliary information for reliability judgment; and in the stage of judging the reliability of the remote information, calculating the reliability index of the information of the remote vehicle to be determined through the auxiliary information, performing information fusion when the reliability is acceptable, otherwise, broadcasting an intrusion signal and an information authenticity proving signal to other vehicles while performing no information fusion and performing additional cache on the information of the remote vehicle to be determined, and waiting for the feedback results of other vehicles to judge the authenticity of the information in a coordinated manner. The invention judges by the identification and processing of distributed information credibility facing to the intelligent networked vehicle and the remote suspicious information credibility judgment process and mechanism, namely, the judgment is assisted by other V2V data.
Description
Technical Field
The invention relates to a technology in the field of intelligent traffic management, in particular to a distributed information credibility identification and processing method for intelligent networked vehicles.
Background
In an intelligent transportation system, a distributed control system is a powerful and effective method for solving a large-scale optimization problem, but when false information invades the system, especially by means of vehicle-to-vehicle communication, wrong information can cause intelligent vehicles to make wrong decisions, and unnecessary loss is caused. In the prior art, the information reliability is calculated through a prediction model, but the accuracy of the prediction model is trusting on the authenticity of a sample, and once the original data has a leak, the calculated value obtained is still wrong no matter how accurate the algorithm in the prior art is, namely the prior art cannot solve the safety evaluation under the condition of false information.
Disclosure of Invention
The invention provides a distributed information credibility recognition and processing method for intelligent networked vehicles, aiming at the problem of credibility of auxiliary distributed information of intelligent networked vehicle terminals in the prior art, and the distributed information credibility recognition and processing method for intelligent networked vehicles is used for assisting in judgment of other V2V data through recognition and processing of distributed information credibility for intelligent networked vehicles and a remote suspicious information credibility judgment process and mechanism.
The invention is realized by the following technical scheme:
the invention relates to a distributed information credibility recognition and processing method for intelligent networked vehicles, which comprises the steps of respectively acquiring vehicle-end perception information through a vehicle sensor, acquiring big data platform information and V2V information as auxiliary information for credibility judgment through a networked cloud platform and other vehicle broadcast information in an information acquisition stage; and in the stage of judging the reliability of the remote information, calculating the reliability index of the information of the remote vehicle to be determined through the auxiliary information, performing information fusion when the reliability is acceptable, otherwise, broadcasting an intrusion signal and an information authenticity proving signal to other vehicles while performing no information fusion and performing additional cache on the information of the remote vehicle to be determined, and waiting for the feedback results of other vehicles to judge the authenticity of the information in a coordinated manner.
The vehicle sensor includes but is not limited to: the sensor comprises a vision sensor, a laser radar sensor, a millimeter wave sensor, a vehicle-mounted positioning system and the like, and can acquire the motion attitude of the vehicle.
The vehicle-end perception information comprises: longitude and latitude height information, speed and acceleration information, and travel intention information.
The big data platform information comprises: vehicle-end perception information of all vehicles, monitoring information of all roads and all road-side information.
The V2V information includes: the perception information broadcast by other vehicles to the host vehicle comprises: vehicle-end perception information of other vehicles and vehicle state information around the vehicles.
The remote vehicle information to be determined refers to: V2V information to be identified.
The reliability index, namely the authenticity of other vehicle broadcast information to be identified, is determined
To obtain, wherein: phi is an original information set of the internet cloud platform, theta is an information set of the remote vehicle information to be determined,
and the mark is an empty set mark, when the empty set is true, the mark is not credible, the credibility index is 0, and otherwise, the mark is 1.
The information fusion is as follows: and splicing the remote vehicle information to be determined and the state information stored by the vehicle before the remote information interaction operation is carried out, namely splicing into a matrix form which can be identified by the vehicle algorithm.
The extra cache is that: the remote vehicle information to be determined is stored in an additional cache device for the next cycle of identification operations.
The cooperative judgment refers to: sending confirmation information to the determined other real vehicles, judging that the information to be determined is real when vehicle-mounted sensors of other vehicles sense the vehicle sending the information of the vehicle to be determined (namely other vehicles find the vehicle), and fusing the original data; otherwise, judging that the information to be determined is false, and reporting warning information.
The determined means that: the information of all other vehicles before the information of the remote vehicle to be determined is received is real, and when only one vehicle, namely one vehicle, exists on the road, all the added new vehicles are the information to be determined.
Technical effects
The invention integrally solves the defect of vehicle decision error caused by the fact that false information cannot be identified in time in the prior art; in the invention, an identification and processing mechanism is established in the original data acquisition stage, and the authenticity of the information is identified and processed from the original data acquisition level, so that the vulnerability of information security is radically compensated, and an information security foundation is laid for all algorithms which need to utilize the original data.
Drawings
FIG. 1 is a schematic diagram illustrating a process for determining reliability of remote decision information;
FIG. 2 is a schematic flow chart of a suspicious information source remote help seeking phase according to an embodiment;
FIG. 3 is a diagram of information truth identification according to an embodiment;
in the figure: V1-V4 represent vehicle 1-vehicle 4, respectively.
Detailed Description
As shown in fig. 1, in the embodiment, the method relates to a method for identifying and processing distributed information credibility for an intelligent networked vehicle, and in an information acquisition stage, vehicle-side sensing information is acquired through a vehicle sensor, and big data platform information and V2V information are acquired through a networked cloud platform and other vehicle broadcast information as auxiliary information for credibility judgment; and in the stage of judging the credibility of the remote information, calculating the credibility index of the remote vehicle information through the auxiliary information, fusing the remote vehicle information with the conventional information when the credibility is acceptable, otherwise, additionally caching the remote vehicle information, not fusing the remote vehicle information with the conventional information, simultaneously sending an intrusion signal and an information authenticity proving signal to other vehicles, and waiting for the feedback results of the other vehicles to judge the authenticity of the information in a cooperative manner.
Through deploying 4 cars and carrying out concrete experiments under no signal lamp crossing environment, set up the experiment parameter and be:
when 4 vehicles normally run on the road, the authenticity of the 4 vehicles information is determined.
Vehicle 1: the distance between the intersection and the vehicle is 90m, the vehicle speed is 15m/s, and the vehicle can pass in the north-south direction;
the vehicle 2: the distance between the intersection and the vehicle is 100m, the vehicle speed is 15m/s, and the vehicle passes through in the east-west direction;
the vehicle 3: the distance between the intersection and the vehicle is 90m, the vehicle speed is 13m/s, and the vehicle passes in the north-south direction;
the vehicle 4: the distance between the vehicle and the intersection is 90m, the vehicle speed is 13m/s, and the vehicle passes in the west-east direction;
vehicle 5 (broadcasting additional information to be confirmed): the vehicle speed is 15m/s and the vehicle passes in the west-east direction at a distance of 120m from the intersection.
All vehicles carry out identification and processing on distributed information credibility based on the method, which specifically comprises the following steps: when the vehicle 1 finds that possible virtual fake information exists, the vehicle finds out the certificate and sends out warning information to other vehicles around, and after the other vehicles receive the certificate and the warning information, the credibility of the information is identified. The performance of the algorithm is verified by broadcasting possible dummy information via V2V with the additional vehicle 5.
As shown in fig. 3, surrounding vehicles, such as vehicles 2, 3, 4 assist the vehicle 1 in recognizing this information. The vehicles 2, 3 cannot sense the existence of the vehicle through the vehicle-mounted sensor, so the reliability is 0; the vehicle 4 can sense the presence of the vehicle that has issued the information by the vehicle-end sensor, and therefore the reliability is 1. And finally, judging the reliability to be 1 through auxiliary information comparison. The technology can rapidly and effectively utilize the auxiliary information to identify the pseudo information, and the identification result is fed back to other vehicles through V2V.
Compared with the prior art, the method ensures the safety of the original data of the intelligent automobile in the field of distributed intelligent traffic, makes up for the security loophole of remotely acquiring information, and is the basis of decision-making algorithms of all intelligent automobiles.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (4)
1. A distributed information credibility recognition and processing method facing an intelligent networked vehicle is characterized in that in an information acquisition stage, vehicle-end sensing information is acquired through a vehicle sensor, and big data platform information and V2V information are acquired through a networked cloud platform and other vehicle broadcast information and serve as auxiliary information for credibility judgment; in the stage of judging the reliability of the remote information, calculating the reliability index of the information of the remote vehicle to be determined through the auxiliary information, and performing information fusion when the reliability is acceptable, otherwise, broadcasting an intrusion signal and an information authenticity proving signal to other vehicles while performing no information fusion and performing additional cache on the information of the remote vehicle to be determined, and waiting for the feedback results of other vehicles to cooperatively judge the authenticity of the information;
the vehicle sensor includes: the system comprises a vision sensor, a laser radar sensor, a millimeter wave sensor and a vehicle-mounted positioning system;
the vehicle-end perception information comprises: longitude and latitude height information, speed and acceleration information and driving intention information;
the big data platform information comprises: vehicle-end perception information of all vehicles, monitoring information of all roads and information of all road sides;
the V2V information includes: the perception information broadcast by other vehicles to the host vehicle comprises: vehicle-end perception information of other vehicles and vehicle state information around the other vehicles;
the remote vehicle information to be determined refers to: V2V information to be identified.
2. The method for recognizing and processing the distributed information credibility of intelligent networked vehicles according to claim 1, wherein the credibility index is the authenticity of other vehicle broadcast information to be recognized
To obtain, wherein: phi is an original information set of the internet cloud platform, theta is an information set of the remote vehicle information to be determined,
and the mark is an empty set mark, when the empty set is true, the mark is not credible, the credibility index is 0, and otherwise, the mark is 1.
3. The intelligent networked vehicle-oriented distributed information credibility identifying and processing method as claimed in claim 1, wherein the information fusion is that: and splicing the remote vehicle information to be determined and the state information stored by the vehicle before the remote information interaction operation is carried out, namely splicing into a matrix form which can be identified by the vehicle algorithm.
4. The intelligent networked vehicle-oriented distributed information credibility identifying and processing method as claimed in claim 1, wherein the additional caching means: the remote vehicle information to be determined is stored in an additional cache device for the next cycle of identification operations.
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| CN114268369A (en) * | 2021-12-20 | 2022-04-01 | 东南大学 | Inter-vehicle network communication system based on visible light |
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