CN114788199A

CN114788199A - Data verification method and device

Info

Publication number: CN114788199A
Application number: CN201980102869.8A
Authority: CN
Inventors: 邓文彬
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2022-07-22
Also published as: WO2021134418A1

Abstract

The embodiment of the application discloses a data verification method and a data verification device, which are used for improving data verification capability and solving the problem of end-to-end data verification of ultra-long data packets. The data verification method comprises the following steps: the method comprises the steps that first equipment obtains a first check code corresponding to first data, wherein the first check code is the check code corresponding to the first data obtained through calculation of a first hardware module in the first equipment, and the first data is data collected by the first equipment; the first equipment generates a syndrome checking message for checking the first data according to the first check code; the first device sends a syndrome message of the first data to the second device, wherein the syndrome message of the first data is used for the second device to perform data verification.

Description

Data verification method and device

Technical Field

The embodiment of the application relates to the technical field of communication, in particular to a data verification method and device.

Background

The intelligent driving system relies on a variety of sensor data, such as data generated by laser radar, millimeter wave radar, and ultrasonic radar. These sensors act as the "eyes" and "nose" of the vehicle, sensing changes in the outside world. External data needs to reach a central control system (equivalent to the human brain) of the intelligent driving system through a transmission line. With the improvement of the performance of the sensor, the data acquired by the sensor is more and more, and the data can be possibly tampered due to unreliability of software and hardware in the process of transmitting the data to the central control system. The central control system can give wrong automatic driving instructions according to wrong data, so that life danger is brought to passengers.

In order to improve the safety of data transmission, a strong end-to-end data verification mechanism is needed for transmitting data acquired by a sensor to a central control system to avoid data tampering, wherein data verification refers to a technology for verifying input data in order to ensure the integrity, correctness and safety of the data.

In the existing end-to-end data checking mechanism, the check code is usually calculated in a software mode, and the calculation speed of the check code is slowed down under the condition that the calculation mode of the check code is complex. Meanwhile, the check code calculated by the software method needs to occupy the computing resource of a Central Processing Unit (CPU), and the data length corresponding to the check code calculated by the software method is limited to a certain extent due to the limited CPU computing resource.

Disclosure of Invention

In order to solve the above technical problems, embodiments of the present application provide a data verification method and apparatus, which are used to improve data verification capability and solve the end-to-end data verification problem of ultra-long data packets.

In a first aspect, an embodiment of the present application provides a data checking method, including: the method comprises the steps that first equipment obtains a first check code corresponding to first data, wherein the first check code is obtained by calculation of a first hardware module in the first equipment, and the first data are data collected by the first equipment; the first equipment generates a syndrome message according to the first check code; the first device sends a syndrome message of the first data to the second device. Optionally, in some possible application scenarios, the first device sends a syndrome message of the first data to the second device over the physical link.

In the technical scheme of the first aspect, the hardware module is adopted to calculate the check code, so that the calculation speed of the check code can be improved, the hardware calculation check code is not limited by the data length, the data check capability can be improved, the effective check of the ultra-long data packet is realized, and the problem of data check of the ultra-long data packet is solved.

In a possible implementation manner of the first aspect, the method further includes: the first equipment generates at least one real-Time publish-subscribe (RTPS) protocol message according to the first data; the first equipment inserts a check sub message of the first data into each message in at least one RTPS protocol message; at this time, the syndrome message that the first device sends the first data to the second device may be: the first device sequentially sends each message in the at least one RTPS protocol message to the second device. In this possible implementation manner, extending the syndrome message into the RTPS protocol can enhance the standard RTPS protocol capability and improve the data checking capability of the RTPS protocol.

In a possible implementation manner of the first aspect, the generating, by the first device, at least one RTPS protocol packet according to the first data may include: if the data length of the first data is larger than or equal to a first threshold value, the first equipment generates a plurality of RTPS protocol messages according to the first data, wherein the plurality of RTPS protocol messages are fragmented messages; and if the data length of the first data is smaller than a first threshold value, the first equipment generates an RTPS protocol message according to the first data, wherein the RTPS protocol message is a non-fragment message. In this implementation, the first data may be transmitted in slices when the data length exceeds a first threshold.

In a possible implementation manner of the first aspect, the obtaining, by the first device, the first check code may include: and if the data length of the first data is greater than or equal to the second threshold, the first equipment controls the first hardware module to calculate the first data to obtain a first check code.

In a possible implementation manner of the first aspect, the check sub-message of the first data may further include: at least one of data length, timeout parameter, data sequence number.

In a possible implementation manner of the first aspect, the first device is a vehicle-mounted sensor, and the second device is a vehicle-mounted main control device.

In a second aspect, an embodiment of the present application provides a data transmission method, including: the method comprises the steps that a second device receives a syndrome message of first data sent by a first device, wherein the first data are data collected by the first device; the second equipment extracts a first check code from the check sub-message of the first data; the second device acquires a second check code, wherein the second check code corresponds to second data calculated by a second hardware module in the second device, and the second data is data received by the second device from the first device; and the second equipment carries out data verification according to the first verification code and the second verification code.

In the technical scheme of the second aspect, the hardware module is adopted to calculate the check code and perform data check, so that the calculation speed of the check code can be increased, the hardware calculation check code is not limited by the data length, the data check capability can be improved, the effective check of the ultra-long data packet can be realized, and the problem of end-to-end ultra-long data packet data check is solved.

In a possible implementation manner of the second aspect, the receiving, by the second device, a syndrome message of the first data sent by the first device includes: the second equipment receives a real-time release subscription RTPS protocol message sent by the first equipment; and the second equipment extracts the syndrome message of the first data from the RTPS protocol message.

In a possible implementation manner of the second aspect, the extracting, by the second device, the syndrome message of the first data from the RTPS protocol packet includes: the second equipment judges whether the RTPS protocol message is a fragment message according to the syndrome message in the RTPS protocol message; if the RTPS protocol message is a fragment message, the second equipment determines a plurality of fragment messages corresponding to the first data; and the second equipment extracts the syndrome message in any one of the plurality of fragment messages to obtain the syndrome message of the first data.

In a possible implementation manner of the second aspect, the method further includes: if the RTPS protocol message is a non-fragmentation message, the second equipment determines an RTPS protocol message corresponding to the first data; and the second equipment extracts the syndrome message in the RTPS protocol message corresponding to the first data to obtain the syndrome message of the first data.

In a possible implementation manner of the second aspect, the determining, by the second device, whether the RTPS protocol packet is a fragmented packet according to the syndrome message in the RTPS protocol packet includes: if the syndrome message in the RTPS protocol message is different from the syndrome message in the upper and lower messages of the RTPS protocol message, the second device determines that the RTPS protocol message is a non-fragmented message; if the syndrome message in the RTPS protocol message is the same as any one of the syndrome messages in the upper and lower messages of the RTPS protocol message, the second device determines that the RTPS protocol message is a fragment message.

In a possible implementation manner of the second aspect, the syndrome message of the first data further includes at least one of the following parameters: data length, timeout parameter, data sequence number.

In a possible implementation manner of the second aspect, the performing, by the second device, data verification according to the first check code and the second check code includes: if the first check code is equal to the second check code, the second equipment determines that the data check is successful; otherwise, the second device determines that the data check fails.

In a possible implementation manner of the second aspect, the first device is a vehicle-mounted sensor, and the second device is a vehicle-mounted main control device.

In a third aspect, an embodiment of the present application provides a verification apparatus, including: the first hardware module is used for calculating a first check code corresponding to the obtained first data, wherein the first data is data acquired by first equipment; the processing module is used for acquiring a first check code and generating a check sub-message of the first data according to the first check code; and the sending module is used for sending the syndrome message of the first data to the second equipment, wherein the syndrome message of the first data is used for the data verification of the second equipment.

In a possible implementation manner of the third aspect, the processing module is further configured to: generating at least one real-time release subscription RTPS protocol message according to the first data; inserting a syndrome message of the first data into each message of at least one RTPS protocol message; the sending module is specifically configured to: and sequentially sending each message in the at least one RTPS protocol message to the second equipment.

In a possible implementation manner of the third aspect, the processing module is specifically configured to: if the data length of the first data is larger than or equal to a first threshold value, generating a plurality of RTPS protocol messages according to the first data, wherein the plurality of RTPS protocol messages are fragmented messages; and if the data length of the first data is smaller than a first threshold value, the first equipment generates an RTPS protocol message according to the first data, wherein the RTPS protocol message is a non-fragment message.

In a possible implementation manner of the third aspect, the processing module is specifically configured to: and if the data length of the first data is greater than or equal to the second threshold value, controlling the first hardware module to calculate to obtain a first check code.

In a possible implementation manner of the third aspect, the syndrome message of the first data further includes at least one of the following parameters: data length, timeout parameter, data sequence number.

In a possible implementation manner of the third aspect, the verification device is a vehicle-mounted sensor, and the second device is a vehicle-mounted main control device.

In a fourth aspect, an embodiment of the present application provides a verification apparatus, including: the second hardware module is used for calculating a check code corresponding to second data, wherein the second data is data received by the second equipment from the first equipment; the receiving module is used for receiving a syndrome message of first data sent by first equipment, wherein the first data is data collected by the first equipment; and the processing module is used for extracting the first check code from the check sub-message of the first data, acquiring the second check code and carrying out data check according to the first check code and the second check code, wherein the second check code is a second hardware module in the second equipment.

In a possible implementation manner of the fourth aspect, the processing module is further configured to: generating at least one real-time release subscription RTPS protocol message according to the first data; inserting a syndrome message of the first data into each message of at least one RTPS protocol message; the sending module is specifically configured to: and sequentially sending each message in the at least one RTPS protocol message to the second equipment.

In a possible implementation manner of the fourth aspect, the processing module is specifically configured to: if the data length of the first data is larger than or equal to a first threshold value, generating a plurality of RTPS protocol messages according to the first data, wherein the plurality of RTPS protocol messages are fragmentation messages; and if the data length of the first data is smaller than a first threshold value, the first equipment generates an RTPS protocol message according to the first data, wherein the RTPS protocol message is a non-fragment message.

In a possible implementation manner of the fourth aspect, the processing module is specifically configured to: and if the data length of the first data is greater than or equal to the second threshold value, controlling the first hardware module to calculate to obtain a first check code.

In a possible implementation manner of the fourth aspect, the syndrome message of the first data further includes at least one of the following parameters: data length, timeout parameter, data sequence number.

In a possible implementation manner of the fourth aspect, the calibration apparatus is a vehicle-mounted sensor, and the second device is a vehicle-mounted main control device.

In a fifth aspect, an embodiment of the present application provides a verification apparatus, including: a processor coupled with a memory, the memory to store operating instructions; the processor is configured to execute the method described in any one of the above first aspects by calling the operation instruction.

In a possible implementation manner of the fifth aspect, the verifying device further includes: and the first hardware module is used for calculating a first check code corresponding to the first data.

In a sixth aspect, an embodiment of the present application provides a verification apparatus, including: a processor coupled with a memory, the memory to store operational instructions; the processor is configured to execute the method described in any one of the second aspect by calling the operation instruction.

In a possible implementation manner of the sixth aspect, the verifying apparatus further includes: and the second hardware module is used for calculating a second check code corresponding to the second data.

In a seventh aspect, an embodiment of the present application provides a computer storage medium, where operating instructions are stored, and when the operating instructions are executed on a computer, the computer storage medium causes the computer to perform the method according to the first aspect.

In an eighth aspect, the present application provides a computer storage medium, which stores operating instructions that, when executed on a computer, cause the computer to perform the method of the second aspect.

In a ninth aspect, the present application provides, in an embodiment, a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of the first aspect.

In a tenth aspect, embodiments of the present application provide a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of the second aspect described above.

Drawings

FIG. 1 is a block diagram of a system framework provided in an embodiment of the present application;

FIG. 2(a) is a schematic diagram of an embodiment of a data verification method provided in an embodiment of the present application;

fig. 2(b) is a schematic structural diagram of a hardware module in the first device provided in the embodiment of the present application;

FIG. 3 is a schematic structural diagram of a verifying apparatus according to an embodiment of the present application;

FIG. 4 is another schematic structural diagram of a verification device in an embodiment of the present application;

FIG. 5 is another schematic structural diagram of a verification device in an embodiment of the present application;

fig. 6 is another schematic structural diagram of the verification apparatus in the embodiment of the present application.

Detailed Description

The embodiment of the application provides a data verification method and device, which are used for improving data verification capability and solving the problem of end-to-end verification of data of ultra-long data packets.

Embodiments of the present application are described below with reference to the accompanying drawings.

The terms "first," "second," and the like in the description and in the claims of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances and are merely descriptive of the manner in which objects of the same nature are distinguished in the embodiments of the application. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of elements is not necessarily limited to those elements, but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The technical scheme in the embodiment of the application is suitable for various communication systems, and is particularly suitable for a data verification scene of an automatic driving system. The automatic driving system relies on a plurality of sensors to acquire external data, such as a large amount of external data collected by a laser radar, a millimeter wave radar, an ultrasonic radar and the like. In the process of checking the external data to the central control computer of the automatic driving system, a message checking mechanism is needed to ensure the accuracy of the external data checking.

The system architecture and the service scenario described in the embodiment of the present application are for more clearly illustrating the technical solution of the embodiment of the present application, and do not form a limitation on the technical solution provided in the embodiment of the present application, and as a person of ordinary skill in the art knows that along with the evolution of the network architecture and the appearance of a new service scenario, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

Fig. 1 is a schematic diagram of a system framework structure provided in an embodiment of the present application.

As shown in fig. 1, the system framework of the embodiment of the present application includes: a first device 101 and a second device 102, wherein data verification is performed between the first device 101 and the second device. Alternatively, in an autopilot scenario, the first device 101 may be a sensor-side device, such as a lidar, etc., and the second device 102 may be a vehicle-mounted master control device of an autopilot system, such as a vehicle-mounted central control computer, a Mobile Data Center (MDC), etc.

In order to facilitate understanding of the technical solutions of the embodiments of the present application, the technical solutions of the present application will be described in detail below with reference to specific embodiments.

Fig. 2(a) is a schematic diagram of an embodiment of a data verification method provided in an embodiment of the present application.

As shown in fig. 2(a), the data verification method in the embodiment of the present application includes:

201. the first device obtains a first check code corresponding to the first data, wherein the first check code is obtained by calculation of a first hardware device in the first device.

The first check code is a check code corresponding to first data calculated by a first hardware module in the first device, and the first data is data to be sent to the second device. It should be understood that, compared with the calculation of the check code by the software module, the calculation of the check code by the hardware module has the advantages of high calculation speed, large calculation data amount and the like. The first data is data collected by the first equipment; the first hardware module in the first device may be set in an internal manner or in an external manner.

Fig. 2(b) is a schematic structural diagram of a first hardware module in the first device. The hardware module structure shown in fig. 2 may be specifically a first hardware module in the first device, and may also be a second hardware module in the second device hereinafter.

As shown in fig. 2(b), the hardware module 20 includes an input unit 207, a logic calculation unit 208, an output unit 209, and a timeout monitoring unit 210. The input unit 207 is configured to obtain message content and corresponding message parameters, specifically, input a data address and a length of the message to the hardware module 20, and the input unit 207 may read the message with a specified length from the corresponding data address. The logic calculation unit 208 is configured to preset multiple check code calculation methods, such as hash functions, and may select a corresponding hash function according to the data length of the packet to perform calculation to generate a hash value, i.e., a check code. The timeout monitoring unit 210 is configured to monitor whether the time length for calculating the check code in the logic calculating unit 208 exceeds a preset time length. The output unit 209 is configured to output the check code generated by the logic calculation unit 208. It should be noted that the hardware module 20 also needs to support the functions of automatic data parsing and calculation. The above-mentioned hardware module 20 has a structure supporting a pipeline and has a good performance.

For example, in an automatic driving scene, the first device is a sensor such as a laser radar, and at this time, the first data is data acquired by the laser radar and transmitted to the second device such as a vehicle-mounted central control computer.

Optionally, the obtaining, by the first device, the first check code may be: when the data length of the first data is greater than or equal to the second threshold, the first device controls the first hardware module to calculate a first check code corresponding to the first data. Where the second threshold may be 4M, it should be understood that Cyclic Redundancy Check (CRC) is a common check calculation method, where the CRC64 algorithm may calculate a check code corresponding to data with a maximum length of 4M.

Optionally, the calculation method for the first hardware module to calculate the first check code includes: hash value calculation algorithms such as CRC16, CRC32, CRC64, AES128, and SHA 256.

202. And the first equipment generates a check sub-message of the first data according to the first check code.

The first equipment generates a real-time publishing and subscribing RTPS protocol message according to the first data, and inserts a syndrome message of the first data into the RTPS protocol message. Alternatively, the syndrome message may be inserted into a header of the RTPS protocol packet.

Specifically, the first device generates at least one real-time publish-subscribe RTPS protocol message according to the first data, and then inserts the first data ground check sub-message into each message of the at least one RTPS protocol message. The first device sequentially sends each message in the at least one RTPS protocol message to the second device.

Optionally, the generating, by the first device, at least one RTPS protocol packet according to the first data may specifically include: the first device may determine whether fragmentation of the RTPS protocol packet is required according to the data length of the first data. Specifically, if the data length of the first data is greater than or equal to the first threshold, the first device generates a plurality of (e.g., N) RTPS protocol messages corresponding to the first data, where the N RTPS protocol messages carry complete first data, each RTPS protocol message carries partial first data, a first check code is inserted into each RTPS protocol message, and N is an integer greater than or equal to 2. If the data length of the first data is smaller than the first threshold value, the first device generates an RTPS protocol message corresponding to the first data, wherein the RTPS protocol message comprises all the first data and is inserted into the first check code.

Optionally, the checksum message of the first data may further include a data length, a timeout parameter, and a data sequence number corresponding to the first data. The data length is the data length of the first data or the data length corresponding to one fragment of the RTPS protocol message, and is used for data integrity check and data reliability verification. The data sequence number is used for determining whether the RTPS protocol message is in an orderly receiving state. The timeout parameter is used to determine the timeliness of the data.

Optionally, a message format of the syndrome message includes: a sub-message identification field, a hash function option field, a location offset field, a check code field, and an extension field. Wherein, the sub-message identification field is 8 bits and is used for indicating the data sequence number; the hash function option field is used to indicate the calculation mode of the check code, for example, sequence number 0 indicates AES128 algorithm, 1 indicates SHA256 algorithm, 2 indicates CRC64 algorithm, 3 indicates CRC32 algorithm, and 4 indicates CRC16 algorithm; the position offset field is used for indicating the offset of the position of the next check sub message; the check code field is used for indicating the value of the first check code, and the length of the check code field can be between 64 and 256 bits; the extension field may store sensor type, sensor location, and other extension data.

203. The first device sends a syndrome message of the first data to the second device.

The syndrome message that the first device sends the first data to the second device may be: the first device sends an RTPS protocol message to the second device through a physical link, wherein the RTPS protocol message comprises: the first data and the syndrome message. The physical link is used for transmitting end-to-end data transmission and verification. Alternatively, the physical link may be a CAN bus or an ethernet interface interconnecting the first device and the second device.

204. The second device extracts the first check code from the syndrome message of the first data.

If the RTPS protocol packet is a fragmented packet, the second device may extract the first check code from the syndrome message in any one of the plurality (e.g., the N) of RTPS protocol packets.

If the RTPS protocol message is a non-fragment message, the second device extracts the syndrome message of the first data from the RTPS protocol message, and then the second device extracts the first check code from the syndrome message of the first data.

Optionally, the second device determines whether the RTPS protocol packet is a fragmented packet or not, and if a syndrome message in the RTPS protocol packet is different from a syndrome message in a previous packet and a syndrome message in a next packet of the RTPS protocol packet, the second device determines that the RTPS protocol packet is a non-fragmented packet; if the syndrome message in the RTPS protocol message is the same as any one of the syndrome messages in the upper and lower messages of the RTPS protocol message, the second device determines that the RTPS protocol message is a fragment message.

205. The second device obtains the second check code.

If the RTPS protocol message is a fragment message, the second device extracts data in the N RTPS protocol messages, and reconstructs the extracted data to obtain second data, and the second device controls the second hardware module to calculate a second check code corresponding to the second data.

If the RTPS protocol message is not the fragment message, the second device extracts second data from the RTPS protocol message, and the second device controls the second hardware module to calculate a second check code corresponding to the second data.

206. And the second equipment carries out data verification according to the first verification code and the second verification code.

And if the first check code is equal to the second check code, the second equipment determines that the data check is successful, otherwise, the second equipment determines that the data check is failed. Optionally, if the data check fails, the second device may send a data retransmission request to the first device until the data check succeeds.

In the embodiment of the application, the hardware module is adopted to calculate the check code, so that the calculation speed of the check code can be improved, the hardware calculation check code cannot be limited by the data length, the data check capacity can be improved, the effective check of the ultra-long data packet is realized, and the data check problem of the ultra-long data packet is solved. Meanwhile, compared with the check code calculated by a software module, the check code calculated by a hardware module does not occupy the calculation resource of a processor, so that the calculation resource is saved.

It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification belong to the corresponding partial embodiments of the technical solutions of the present application, and the related actions and modules are not necessarily required by the present application.

To facilitate better implementation of the above-described aspects of the embodiments of the present application, the following also provides relevant means for implementing the above-described aspects.

Referring to fig. 3, which is a schematic structural diagram of a verification apparatus in an embodiment of the present application, the verification apparatus 300 includes: the device comprises a processing module 301, a sending module 302 and a first hardware module 303, wherein the first hardware module 303 is used for calculating a first check code corresponding to first data, and the first data is data acquired by the checking device 300; a processing module 301, configured to perform the following operations: acquiring a first check code and generating a check sub message according to the first check code, wherein the first check code is a check code corresponding to first data obtained by calculation of a first hardware module, and the first data is data sent from first equipment to second equipment; a sending module 302, configured to send a syndrome message of the first data to the second device.

In some embodiments of the present application, the processing module 301 is further configured to: generating at least one real-time release subscription RTPS protocol message according to the first data; inserting a syndrome message of the first data into each of the at least one RTPS protocol message; the sending module is specifically configured to: and sequentially sending each message in the at least one RTPS protocol message to the second equipment.

In some embodiments of the present application, the processing module 301 is specifically configured to: if the data length of the first data is larger than or equal to a first threshold value, generating a plurality of RTPS protocol messages according to the first data, wherein the plurality of RTPS protocol messages are fragmented messages; and if the data length of the first data is smaller than the first threshold, the first device generates an RTPS protocol message according to the first data, wherein the RTPS protocol message is a non-fragmentation message.

In some embodiments of the present application, the processing module 301 is specifically configured to: and if the data length of the first data is greater than or equal to a second threshold value, controlling the first hardware module to calculate to obtain the first check code.

In some embodiments of the present application, the syndrome message of the first data further includes at least one of the following parameters: data length, timeout parameter, data sequence number.

In some embodiments of the present application, the checking apparatus 300 is a vehicle-mounted sensor, and the second device is a vehicle-mounted main control device.

In this embodiment, the checking apparatus 300 may specifically be the first device, and each of the constituent modules (the processing module 301, the sending module 302, and the first hardware module 303) of the checking apparatus may be configured to execute all operations of the first device in the method embodiments.

Fig. 4 is a schematic structural diagram of a verification apparatus in an embodiment of the present application. The verification apparatus 400 includes: a receiving module 401, a processing module 402, and a second hardware module 403, where the second hardware module 403 is configured to calculate a check code corresponding to second data, where the second data is data received by the second device from the first device; a receiving module 401, configured to receive a syndrome message of first data sent by a first device, where the first data is data acquired by the first device; a processing module 402, configured to extract a first check code from the syndrome message of the first data, obtain a second check code, and perform data check according to the first check code and the second check code, where the second check code is a second hardware module in the second device.

In some embodiments of the present application, the receiving module 401 is specifically configured to: receiving a real-time release subscription RTPS protocol message sent by the first equipment; and extracting the syndrome message of the first data from the RTPS protocol message.

In some embodiments of the present application, the processing module 402 is specifically configured to: judging whether the RTPS protocol message is a fragment message or not according to a syndrome message in the RTPS protocol message; if the RTPS protocol message is a fragment message, determining a plurality of fragment messages corresponding to the first data; and extracting the syndrome message in any one of the plurality of fragment messages to obtain the syndrome message of the first data.

In some embodiments of the present application, the processing module 402 is further configured to: if the RTPS protocol message is a non-fragmentation message, determining an RTPS protocol message corresponding to the first data; and extracting the syndrome message in an RTPS protocol message corresponding to the first data to obtain the syndrome message of the first data.

In some embodiments of the present application, the processing module 402 is specifically configured to: if the syndrome message in the RTPS protocol message is different from the syndrome message in the upper and lower messages of the RTPS protocol message, determining that the RTPS protocol message is a non-fragmented message; and if the syndrome message in the RTPS protocol message is the same as any one of the syndrome messages in the upper and lower messages of the RTPS protocol message, determining that the RTPS protocol message is a fragment message.

In some embodiments of the present application, the processing module 402 is specifically configured to: if the first check code is equal to the second check code, determining that the data check is successful; otherwise, the second device determines that the data check fails.

In some embodiments of the present application, the first device is a vehicle-mounted sensor, and the verification apparatus 400 is a vehicle-mounted main control device.

In this embodiment, the verifying apparatus 400 may specifically be the second device described above, and each of the constituent modules (the receiving module 401, the processing module 402, and the second hardware module 403) of the verifying apparatus may be configured to execute all operations of the second device in the above method embodiment.

It should be noted that, because the contents of information interaction, execution process, and the like between the modules/units of the apparatus are based on the same concept as the method embodiment of the present application, the technical effect brought by the contents is the same as the method embodiment of the present application, and specific contents may refer to the description in the foregoing method embodiment of the present application, and are not described herein again.

Embodiments of the present application further provide a computer storage medium, where the computer storage medium stores a program, and the program executes some or all of the steps described in the above method embodiments.

Referring to fig. 5, a verification apparatus 500 includes: the processor 501, the number of processors in the verification apparatus 500 may be one or more, and one processor is taken as an example in fig. 5. Optionally, the verification apparatus 500 further includes: a memory 502, a transceiver 503, and a first hardware module 504. The processor 501, the memory 502, the transceiver 503 and the first hardware module 504 may be connected by a bus or other means, wherein the bus connection is taken as an example in fig. 5.

The memory 502 may include both read-only memory and random-access memory, and provides instructions and data to the processor 1103. A portion of memory 502 may also include non-volatile random access memory (NVRAM). The memory 502 stores an operating system and operating instructions, executable modules or data structures, or a subset or an expanded set thereof, wherein the operating instructions may include various operating instructions for performing various operations. The operating system may include various system programs for implementing various basic services and for handling hardware-based tasks.

The processor 501 controls the operation of the first device 500, and the processor 501 may also be referred to as a Central Processing Unit (CPU). In a specific application, the components of the verification device 500 are coupled together by a bus system, wherein the bus system may include a power bus, a control bus, a status signal bus, and the like, in addition to a data bus. For clarity of illustration, the various buses are referred to in the figures as bus systems.

The method disclosed in the embodiments of the present application may be applied to the processor 501, or implemented by the processor 501. The processor 501 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 501. The processor 501 may be a general-purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 502, and the processor 501 reads the information in the memory 502 and completes the steps of the method in combination with the hardware.

The transceiver 503 may be configured to receive input digital or character information and generate signal inputs related to related settings and function control of the verification apparatus 500, and may be configured to output digital or character information through an external interface.

In this embodiment, the processor 501 is configured to execute the data verification method executed by the first device.

Referring to fig. 6, a checking apparatus 600 of another embodiment of the present application is described below, where the checking apparatus may specifically be the second device described above, and includes: the processor 601, the number of processors in the verification apparatus 600 may be one or more, and one processor is taken as an example in fig. 6. Optionally, the verification apparatus 600 further includes: a memory 602, a transceiver 603, and a second hardware module 604. The processor 601, the memory 502, the transceiver 503 and the second hardware module 504 may be connected by a bus or other means, wherein the connection by the bus is taken as an example in fig. 6.

The memory 602 can include both read-only memory and random access memory, and provides instructions and data to the processor 1103. A portion of the memory 602 may also include non-volatile random access memory (NVRAM). The memory 602 stores an operating system and operating instructions, executable modules or data structures, or a subset or an expanded set thereof, wherein the operating instructions may include various operating instructions for performing various operations. The operating system may include various system programs for implementing various basic services and for handling hardware-based tasks.

The processor 601 controls the operation of the second device 600, and the processor 601 may also be referred to as a Central Processing Unit (CPU). In a specific application, the components of the verification device 600 are coupled together by a bus system, wherein the bus system may include a power bus, a control bus, a status signal bus, and the like, in addition to a data bus. For clarity of illustration, the various buses are referred to in the figures as a bus system.

The method disclosed in the embodiments of the present application may be applied to the processor 601, or implemented by the processor 601. The processor 601 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be implemented by integrated logic circuits of hardware or instructions in the form of software in the processor 601. The processor 601 may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, or discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 602, and the processor 601 reads the information in the memory 602 and completes the steps of the method in combination with the hardware thereof.

The transceiver 603 may be configured to receive input digital or character information and generate signal inputs related to related settings and function control of the verification apparatus 600, and may be configured to output digital or character information through an external interface.

In this embodiment, the processor 601 is configured to execute the data verification method executed by the second device.

Wherein any of the aforementioned processors may be a general purpose central processing unit, a microprocessor, an ASIC, or one or more integrated circuits configured to control the execution of the programs of the method of the first aspect.

It should be noted that the above-described embodiments of the apparatus are merely schematic, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiments of the apparatus provided in the present application, the connection relationship between the modules indicates that there is a communication connection therebetween, and may be implemented as one or more communication buses or signal lines.

Through the above description of the embodiments, those skilled in the art will clearly understand that the present application can be implemented by software plus necessary general-purpose hardware, and certainly can also be implemented by special-purpose hardware including special-purpose integrated circuits, special-purpose CPUs, special-purpose memories, special-purpose components and the like. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions may be various, such as analog circuits, digital circuits, or dedicated circuits. However, for the present application, the implementation of a software program is more preferable. Based on such understanding, the technical solutions of the present application or portions contributing to the prior art may be substantially embodied in the form of a software product, where the computer software product is stored in a readable storage medium, such as a floppy disk, a usb disk, a removable hard disk, a ROM, a RAM, a magnetic 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 method according to the embodiments of the present application.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, it may be implemented in whole or in part in the form of a computer program product.

The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can store or a data storage device, such as a server, a data center, etc., that is integrated with one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a Solid State Disk (SSD)), among others.

Claims

A method for data verification, comprising:

a first device acquires a first check code corresponding to first data, wherein the first check code is obtained by calculation of a first hardware module in the first device, and the first data is data acquired by the first device;

the first equipment generates a check sub message of the first data according to the first check code;

and the first equipment sends the syndrome message of the first data to second equipment, wherein the syndrome message of the first data is used for data verification of the second equipment.
The method of claim 1, further comprising:

the first equipment generates at least one real-time publishing and subscribing RTPS protocol message according to the first data;

the first device inserts a syndrome message of the first data into each message of the at least one RTPS protocol message;

the first device sends a syndrome message of the first data to the second device, including:

and the first equipment sequentially sends each message in the at least one RTPS protocol message to the second equipment.
The method of claim 2, wherein the first device generates at least one real-time publish-subscribe RTPS protocol packet according to the first data, and wherein the generating comprises:

if the data length of the first data is larger than or equal to a first threshold value, the first device generates a plurality of RTPS protocol messages according to the first data, wherein the RTPS protocol messages are fragment messages;

and if the data length of the first data is smaller than the first threshold value, the first device generates an RTPS protocol message according to the first data, wherein the RTPS protocol message is a non-fragmentation message.
The method of any of claims 1-3, wherein obtaining the first check code by the first device comprises:

and if the data length of the first data is greater than or equal to a second threshold value, the first equipment controls the first hardware module to calculate to obtain the first check code.
The method according to any of claims 1-4, wherein the syndrome message of the first data further comprises at least one of the following parameters: data length, timeout parameter, data sequence number.
The method of any of claims 1-5, wherein the first device is an onboard sensor and the second device is an onboard master control device.
A method of data verification, comprising:

the method comprises the steps that a second device receives a syndrome message of first data sent by a first device, wherein the first data are data collected by the first device;

the second equipment extracts a first check code from the check sub-message of the first data;

the second device acquires a second check code, wherein the second check code is a check code corresponding to second data calculated by a second hardware module in the second device, and the second data is data received by the second device from the first device;

and the second equipment carries out data verification according to the first verification code and the second verification code.
The method of claim 7, wherein the second device receives the syndrome message of the first data sent by the first device, and the method further comprises:

the second equipment receives a real-time release subscription RTPS protocol message sent by the first equipment; and the second equipment extracts the syndrome message of the first data from the RTPS protocol message.
The method of claim 8, wherein the second device extracts the syndrome message of the first data from the RTPS protocol message, and wherein the extracting comprises:

the second equipment judges whether the RTPS protocol message is a fragment message according to the syndrome message in the RTPS protocol message;

if the RTPS protocol message is a fragment message, the second device determines a plurality of fragment messages corresponding to the first data;

and the second equipment extracts the syndrome message in any one of the plurality of fragment messages to obtain the syndrome message of the first data.
The method of claim 9, further comprising:

if the RTPS protocol message is a non-fragmentation message, the second device determines an RTPS protocol message corresponding to the first data;

and the second equipment extracts the syndrome message in one RTPS protocol message corresponding to the first data to obtain the syndrome message of the first data.
The method according to claim 9 or 10, wherein the second device determining whether the RTPS protocol packet is a fragmented packet according to the syndrome message in the RTPS protocol packet includes:

if the syndrome message in the RTPS protocol message is different from the syndrome message in the upper and lower messages of the RTPS protocol message, the second device determines that the RTPS protocol message is a non-fragmented message;

and if the syndrome message in the RTPS protocol message is the same as any one of the syndrome messages in the upper and lower messages of the RTPS protocol message, the second equipment determines that the RTPS protocol message is a fragment message.
The method according to any of claims 7-11, wherein the syndrome message of the first data further comprises at least one parameter selected from the group consisting of: data length, timeout parameter, data sequence number.
The method according to any one of claims 7-12, wherein the second device performs data verification according to the first verification code and the second verification code, and comprises:

if the first check code is equal to the second check code, the second device determines that the data check is successful;

otherwise, the second device determines that the data check fails.
The method of any of claims 7-13, wherein the first device is an onboard sensor and the second device is an onboard master device.
A verification apparatus, comprising:

the first hardware module is used for calculating a first check code corresponding to first data, wherein the first data is data acquired by the check device;

the processing module is used for acquiring the first check code and generating a check sub-message of the first data according to the first check code;

and the sending module is used for sending the syndrome message of the first data to a second device, wherein the syndrome message of the first data is used for data verification of the second device.
The apparatus of claim 15, wherein the processing module is further configured to:

generating at least one real-time release subscription RTPS protocol message according to the first data;

inserting a syndrome message of the first data into each of the at least one RTPS protocol message;

the sending module is specifically configured to: and sequentially sending each message in the at least one RTPS protocol message to the second equipment.
The apparatus according to claim 16, wherein the processing module is specifically configured to:

if the data length of the first data is larger than or equal to a first threshold value, generating a plurality of RTPS protocol messages according to the first data, wherein the plurality of RTPS protocol messages are fragmented messages;

and if the data length of the first data is smaller than the first threshold, the first device generates an RTPS protocol message according to the first data, wherein the RTPS protocol message is a non-fragmentation message.
The apparatus according to any one of claims 15 to 17, wherein the processing module is specifically configured to:

and if the data length of the first data is greater than or equal to a second threshold value, controlling the first hardware module to calculate to obtain the first check code.
The apparatus according to any of claims 15-18, wherein the syndrome message of the first data further comprises at least one of the following parameters: data length, timeout parameter, data sequence number.
The apparatus according to any one of claims 15-19, wherein the verification device is a vehicle-mounted sensor, and the second device is a vehicle-mounted master control device.
A verification apparatus, comprising:

the second hardware module is configured to calculate a check code corresponding to second data, where the second data is data received by the second device from the first device;

the system comprises a receiving module and a processing module, wherein the receiving module is used for receiving a syndrome message of first data sent by first equipment, and the first data is data acquired by the first equipment;

the processing module is configured to extract a first check code from the syndrome message of the first data, obtain a second check code, and perform data check according to the first check code and the second check code, where the second check code is a second hardware module in the second device.
The apparatus of claim 21, wherein the receiving module is specifically configured to:

receiving a real-time release subscription RTPS protocol message sent by the first equipment;

and extracting the syndrome message of the first data from the RTPS protocol message.
The apparatus of claim 22, wherein the processing module is specifically configured to:

judging whether the RTPS protocol message is a fragment message or not according to a syndrome message in the RTPS protocol message;

if the RTPS protocol message is a fragment message, determining a plurality of fragment messages corresponding to the first data;

and extracting the syndrome message in any one of the plurality of fragmented messages to obtain the syndrome message of the first data.
The apparatus of claim 23, wherein the processing module is further configured to:

if the RTPS protocol message is a non-fragmentation message, determining an RTPS protocol message corresponding to the first data;

and extracting the syndrome message in the RTPS protocol message corresponding to the first data to obtain the syndrome message of the first data.
The apparatus according to claim 23 or 24, wherein the processing module is specifically configured to:

if the syndrome message in the RTPS protocol message is different from the syndrome message in the upper and lower messages of the RTPS protocol message, determining that the RTPS protocol message is a non-fragmented message;

and if the syndrome message in the RTPS protocol message is the same as any one of the syndrome messages in the upper and lower messages of the RTPS protocol message, determining that the RTPS protocol message is a fragment message.
The apparatus according to any of claims 21-25, wherein the syndrome message of the first data further comprises at least one of the following parameters: data length, timeout parameter, data sequence number.
The apparatus according to any one of claims 21-26, wherein the processing module is specifically configured to:

if the first check code is equal to the second check code, determining that the data check is successful; otherwise, the second device determines that the data check fails.
The apparatus of any one of claims 21-26, wherein the first device is an on-board sensor and the verification device is an on-board master control device.
A verification apparatus, comprising:

a processor coupled with a memory, the memory to store operating instructions;

the processor is used for executing the method of any one of the preceding claims 1-6 by calling the operation instruction.
The apparatus of claim 29, wherein the verification means further comprises: and the first hardware module is used for calculating a first check code corresponding to the first data.
A verification apparatus, comprising:

a processor coupled with a memory, the memory to store operational instructions;

the processor is used for executing the method of any one of the preceding claims 7-14 by calling the operation instruction.
The apparatus of claim 31, wherein the verifying means further comprises: and the second hardware module is used for calculating a second check code corresponding to the second data.