CN115604681A

CN115604681A - Vehicle communication method and device

Info

Publication number: CN115604681A
Application number: CN202110783012.6A
Authority: CN
Inventors: 彭宇才; 朱锦涛
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2021-07-12
Filing date: 2021-07-12
Publication date: 2023-01-13
Also published as: WO2023284658A1

Abstract

The embodiment of the application provides a vehicle communication method and a vehicle communication device, which are applied to the technical field of automatic driving, and the method comprises the following steps: receiving an enqueue request message; the enqueue request message comprises a certificate of the target vehicle, and the enqueue request message is used for indicating the target vehicle to request enqueue; transmitting an enqueue response message to the target vehicle in response to the enqueue request message; the enqueuing response message comprises a first ciphertext, a first identifier corresponding to the certificate of the target vehicle and the certificate of the pilot vehicle, wherein the first ciphertext is obtained by encrypting a first session key by the pilot vehicle according to a public key of the certificate of the target vehicle; the enqueue response message may then be used to instruct the target vehicle to decrypt the first ciphertext according to the private key of its own certificate to obtain the first session key, and to obtain the certificate of the lead vehicle. Therefore, the safety and the reliability of key transmission are effectively improved, and further the vehicles can communicate safely, so that the information safety and the network safety of vehicle communication are effectively improved.

Description

Vehicle communication method and device

Technical Field

The application relates to the technical field of automatic driving, in particular to a vehicle communication method and device.

Background

An important scene in the automatic driving application is the formation driving of vehicles, in the vehicle formation driving scene, the frontmost vehicle can be used as a pilot vehicle, and then the vehicle is composed of a plurality of automatic driving vehicles and advances in a formation driving form, and the members of the vehicle team keep a certain distance and stable speed and cruise in an orderly driving state.

In the process of vehicle formation driving, vehicle-to-vehicle communication is mainly performed between fleet members in a group in a V2X (vehicle to all) manner, but V2X is based on an open wireless communication network, and is more vulnerable than a traditional network, and the damage to the field of vehicle formation driving mainly based on V2X communication is also greater. Therefore, in the autonomous vehicle formation driving scene, a higher demand is placed on the safety of V2X communication.

In a commercial vehicle scene such as a farm, a mining area, a dock, and the like, it is necessary to temporarily build a vehicle group for assigned vehicles according to job tasks, and messages between the members of the vehicle group relate to confidential information such as task assignment, fee collation, and job parameters, so it is very important to securely transmit messages between vehicles.

Therefore, there is a need to provide a solution for safe communication between fleet members during formation of a fleet of vehicles in the field of automated driving.

Disclosure of Invention

The embodiment of the application provides a vehicle communication method and device, which are used for realizing safe communication between vehicles.

In a first aspect, an embodiment of the present application provides a method for vehicle communication, where the method may be applied to a pilot vehicle, and the method includes: receiving an enqueue request message; the enqueuing request message comprises a certificate of the target vehicle, and the enqueuing request message is used for indicating that the target vehicle requests enqueuing; transmitting an enqueue response message to the target vehicle in response to the enqueue request message; the enqueuing response message comprises a first ciphertext, a first identifier corresponding to the certificate of the target vehicle and a certificate of the pilot vehicle, and the first ciphertext is obtained by encrypting a first session key by the pilot vehicle according to a public key of the certificate of the target vehicle; and the first identifier can be used for instructing the target vehicle to decrypt the first ciphertext according to the private key of the certificate of the target vehicle to obtain the first session key and obtain the certificate of the pilot vehicle.

In the embodiment of the application, after receiving the enqueue request message from the target vehicle, the pilot vehicle uses the public key of the certificate of the target vehicle to carry out encrypted transmission on the first session key. Therefore, the safety and the reliability of key transmission are effectively improved, and further the vehicles can communicate safely, so that the information safety and the network safety of vehicle communication are effectively improved.

In one possible design, the pilot vehicle may also generate the first session key before receiving the enqueue request message. The first session key is used for encrypting the broadcast information between the vehicles, and then the pilot vehicle can transmit the encrypted first session key to other vehicles in the fleet, so that the other vehicles can utilize the first session key to encrypt and transmit the broadcast information.

In this design, the pilot vehicle may generate the first session key without performing a key agreement with a plurality of vehicles before receiving the enqueue request message. Therefore, the time delay of key generation is effectively reduced, and the target vehicles to be enqueued can more quickly use the first session key to carry out encrypted transmission on the broadcast information.

In one possible design, the pilot vehicle may also receive a dequeue request message; the dequeue request message is used for indicating that the target vehicle requests dequeue; the pilot vehicle may then send a dequeue response message in response to the dequeue request message to instruct the target vehicle to perform a dequeue operation.

In this design, the pilot vehicle may manage vehicles within the fleet of vehicles, and upon receiving a target vehicle dequeue request message, the pilot vehicle may respond to indicate that the target vehicle is dequeued.

In one possible design, after the pilot vehicle sends the dequeue response message, the first notification message can also be sent to other vehicles in the fleet where the pilot vehicle is located; the first notification message comprises first signature information, a second identifier corresponding to a certificate of another vehicle in the fleet where the pilot vehicle is located and a second ciphertext, the first signature information is used for indicating identity information of the pilot vehicle, and the second ciphertext is obtained by encrypting a second session key by the pilot vehicle according to a public key of the certificate of the another vehicle; and the second identifier is used for indicating the other vehicle to decrypt the second ciphertext according to the private key of the certificate of the other vehicle so as to obtain the second session key, and the first notification message is used for indicating the other vehicle to verify the identity of the pilot vehicle according to the certificate of the pilot vehicle and the first signature information.

In this design, the lead vehicle, after the target vehicle requesting dequeuing dequeues, transmits a second session key to other vehicles within the fleet of vehicles in an encrypted manner based on the public key of the other vehicle's certificate. Therefore, the transmission of the second session key is more reliable, and the safety of communication between vehicles is improved.

In one possible design, the pilot vehicle may further generate a second session key before sending the first notification message; the second session key is used to encrypt broadcast information between vehicles. It should be understood that the "broadcast information between vehicles" may be broadcast information between any two vehicles in the fleet, and may also be broadcast information between the pilot vehicle and other vehicles, and is not limited specifically herein.

In this design, the lead vehicle may generate a new session key (i.e., a second session key) after the target vehicle requesting dequeuing dequeues, and transmit the second session key to other vehicles within the fleet in an encrypted manner. Therefore, the session key is updated in time, and the safety and the reliability of communication between vehicles are improved.

In a second aspect, embodiments of the present application further provide a vehicle communication method, which may be applied to a target vehicle, and the method includes: sending an enqueue request message; the enqueue request message comprises a certificate of the target vehicle, and the enqueue request message is used for indicating the target vehicle to request enqueue; receiving an enqueue response message corresponding to the enqueue request message; the enqueuing response message comprises a first ciphertext, a first identifier corresponding to the certificate of the target vehicle and the certificate of the pilot vehicle, wherein the first ciphertext is obtained by encrypting a first session key by the pilot vehicle according to a public key of the certificate of the target vehicle, and the first identifier can be used for indicating the target vehicle to decrypt the first ciphertext according to a private key of the certificate of the target vehicle so as to obtain the first session key and obtain the certificate of the pilot vehicle; and decrypting the first ciphertext according to the private key of the certificate of the target vehicle to obtain a first session key and obtain the certificate of the pilot vehicle.

In one possible design, the target vehicle may also send a dequeue request message; the dequeue request message is used for indicating that the target vehicle requests dequeue; and receiving a dequeue response message corresponding to the dequeue request message, and executing dequeue operation.

It should be understood that, for the beneficial effects of the second aspect, specific reference is made to the technical effects that can be achieved by the corresponding design in the first aspect, and repeated descriptions are omitted here.

In the method, the original pilot vehicle can initiate a pilot vehicle switching request, and a target pilot vehicle can also initiate a switching request.

Mode 1: the original pilot vehicle receives a switching request message from a target pilot vehicle; and the original pilot vehicle responds to the switching request message and sends a switching response message to the target pilot vehicle, wherein the switching request response message is used for indicating the target pilot vehicle to switch the pilot vehicles.

Mode 2: the original pilot vehicle sends a switching request message to a target pilot vehicle and receives a switching response message corresponding to the switching request message, wherein the switching response message is used for indicating the original pilot vehicle to switch the pilot vehicles; and switching the original piloting vehicles to obtain the updated motorcade.

In the embodiment of the application, the original pilot vehicle can initiate a pilot vehicle switching request to the target pilot vehicle, and can also receive a switching request from the pilot vehicle and perform pilot vehicle switching. Therefore, flexible management of the motorcade is realized, and the service requirements of different scenes can be effectively met.

In one possible design, the original pilot vehicle may also send a second notification message; the second notification message comprises second signature information and a certificate of the target pilot vehicle, wherein the second signature information is used for indicating identity information of the original pilot vehicle; and the second notification message is used for indicating the original pilot vehicle to verify the identity of the original pilot vehicle according to the certificate of the original pilot vehicle and the second signature information of other vehicles in the fleet where the original pilot vehicle is located, and acquiring the certificate of the target pilot vehicle when the verification is passed.

In the design, after the original pilot vehicle is switched, a second notification message is sent to other vehicles of the fleet where the original pilot vehicle is located so as to notify the other vehicles of updating the certificate of the pilot vehicle. Therefore, other vehicles in the fleet can timely acquire the information of the target pilot vehicle.

In a fourth aspect, an embodiment of the present application provides a vehicle communication method, where the method may be applied to a target pilot vehicle, and in the method, an original pilot vehicle may initiate a pilot vehicle switching request, or a target pilot vehicle may initiate a switching request.

Mode 1: the target pilot vehicle sends a switching request message to the original pilot vehicle; the target pilot vehicle receives a switching response message corresponding to the switching request message, wherein the switching response message is used for indicating the target pilot vehicle to switch the pilot vehicle; and switching the target piloting vehicles to obtain the updated motorcade.

Mode 2: the target pilot vehicle receives a switching request message from an original pilot vehicle; and the target pilot vehicle responds to the switching request message and sends a switching response message to the original pilot vehicle, wherein the switching response message is used for indicating the original pilot vehicle to switch the pilot vehicles.

It should be understood that, for the beneficial effects of this embodiment, specific reference is made to the technical effects that can be achieved in the third aspect, and repeated description is omitted here.

In one possible design, after the target pilot vehicle switches, a third session key may be generated, and the third session key is used for encrypting broadcast information between vehicles.

In the design, after the target pilot vehicle is successfully switched to the pilot vehicle, a third session key can be generated, so that the session key is updated in time, and the safety and reliability of communication between vehicles are improved.

In one possible design, the target navigator may also send a third notification message after generating the third session key; the third notification message comprises third signature information, a third identifier corresponding to the certificate of the target pilot vehicle and a third ciphertext, the third signature information is used for indicating the identity information of the target pilot vehicle, and the third ciphertext is obtained by encrypting a third session key by the target pilot vehicle according to the first session key; the third identifier is used for indicating other vehicles in the updated fleet except the target pilot vehicle to decrypt a third ciphertext according to the first session key so as to obtain a third session key; and the third notification message is used for indicating other vehicles in the updated fleet except the target pilot vehicle to verify the identity of the target pilot vehicle according to the certificate of the target pilot vehicle and the third signature information.

In this design, the target pilot vehicle will encrypt the third session key with the first session key and transmit its own third signature information to other vehicles in the updated fleet. Therefore, other vehicles can verify the identity of the target pilot vehicle and decrypt the encrypted new secret key according to the original session secret key, so that the time delay of the other vehicles for obtaining the new session secret key is reduced, and the safety and the reliability of communication between the vehicles are improved.

In one possible design, after sending the third notification message, the target pilot vehicle may also receive pilot vehicle update response information from other vehicles; the navigator update response message is used for indicating other vehicles to acquire the information of the target navigator; the target pilot vehicle may then send a fourth notification message instructing the other vehicle to encrypt the broadcast information using the third session key.

In this design, the target pilot vehicle, after receiving the pilot vehicle update response message of the other vehicle, sends a notification message to the other vehicle instructing his vehicle to encrypt the broadcast information using the third session key. Thus, the safety and reliability of communication between vehicles are improved.

In a fifth aspect, embodiments of the present application further provide a vehicle communication method, which may be applied to a server, and the method includes: receiving a fleet creation notification message; the motorcade creation notification message is used for indicating that a piloting vehicle creates a motorcade; the motorcade creation notification message comprises identification of the motorcade and identification of vehicles in the motorcade; sending a first response message in response to the fleet creation notification message; the first response message is used to instruct the lead vehicle to obtain a first session key, which is used to encrypt broadcast information between vehicles in the fleet.

In an embodiment of the application, the server may receive a fleet creation notification message and send a first session key to a lead vehicle in response to the fleet creation notification message, so that broadcast information between vehicles in the fleet may be encrypted according to the first session key. Therefore, the server can realize management of the motorcade, and is helpful for improving the safety and reliability of communication between vehicles.

In one possible design, the server may also receive an enqueue request notification message; the enqueue request notification message is used for indicating that the first vehicle requests enqueue; in response to the enqueue request notification message, the first session key is sent to the first vehicle.

In this design, the server may enable management of session keys for the fleet of vehicles, and upon determining a vehicle to be enqueued, send a first session key to the vehicle to be enqueued, such that the vehicle to be enqueued may encrypt the broadcast information using the first session key. Thus, the safety and reliability of communication between vehicles are improved.

In one possible design, the server may also receive a dequeue request notification message; the dequeue request notification message is used for indicating that a second vehicle requests dequeue, and comprises the identification of the vehicle fleet and the vehicle identification of the second vehicle; responding to the dequeue request notification message, determining an updated fleet according to the identification of the fleet and the vehicle identification of the second vehicle, and sending a second session key to each vehicle in the updated fleet; the second session key is used to encrypt broadcast information between vehicles in the updated fleet.

In this design, the server may implement management of a session key for the fleet of vehicles, and upon determining that a vehicle is dequeued, send an updated session key (i.e., a second session key) to the updated fleet of vehicles, such that other vehicles in the updated fleet of vehicles may encrypt broadcast information using the second session key. Thus, the safety and reliability of communication between vehicles are improved.

In one possible design, the server may also receive a pilot switching notification message; the piloting vehicle switching notification message also comprises a motorcade identifier and a target piloting vehicle identifier; and responding to the switching notification message of the piloting vehicles, and switching the piloting vehicles according to the identifications of the fleet and the vehicle identifications of the target piloting vehicles.

In the design, the server can flexibly manage the motorcade, can flexibly switch the pilot vehicles according to the requirements of the vehicles in the motorcade, and is favorable for improving the safety and reliability of communication between the vehicles.

In one possible design, the server may further generate a third session key after performing the pilot vehicle switch, and transmit the third session key to other vehicles in the fleet, where the third session key is used to encrypt broadcast information between the vehicles in the fleet.

In this design, the server may implement management of a session key of the fleet of vehicles, and after a pilot vehicle switch is performed, a new session key (i.e., a third session key) may be generated so that other vehicles in the updated fleet of vehicles may encrypt broadcast information using the new session key. Therefore, the session key is updated in time, and the safety and the reliability of communication between vehicles are improved.

In a sixth aspect, an embodiment of the present application further provides a vehicle communication method, which may be applied to a pilot vehicle, and the method includes: sending a fleet creation notification message; the motorcade creation notification message is used for indicating that a piloting vehicle creates a motorcade; the motorcade creation notification message comprises identification of the motorcade and identification of vehicles in the motorcade; receiving a first response message corresponding to the fleet creation notification message; the first response message carries a first session key; the first session key is used to encrypt broadcast information between vehicles.

In one possible design, the pilot vehicle may also send an enqueue request notification message; the enqueue request notification message is used to indicate that the first vehicle requests enqueue.

In one possible design, the pilot vehicle may also send a dequeue request notification message; the dequeue request notification message is used for indicating that a second vehicle requests dequeuing, and comprises the identification of the vehicle fleet and the vehicle identification of the second vehicle; receiving a second response message corresponding to the dequeue request notification message; the second response message carries a second session key, and the second session key is used for encrypting the updated broadcast information between the vehicles in the fleet; the updated fleet of vehicles is determined based on an identification of the fleet of vehicles and an identification of the second vehicle.

In one possible design, the pilot vehicle may also send a pilot vehicle switch notification message; the piloting vehicle switching notification message comprises the identification of the motorcade and the vehicle identification of the target piloting vehicle; and the piloting vehicle switching notification message is used for indicating the server to switch the piloting vehicles according to the identification of the motorcade and the vehicle identification of the target piloting vehicle.

In one possible design, the pilot vehicle may also receive a third session key and encrypt broadcast information between vehicles in the fleet of vehicles based on the third session key.

It should be understood that, for the beneficial effects of this embodiment, specific reference is made to the technical effects that can be achieved in the fifth aspect, and repeated description is omitted here.

In a seventh aspect, an embodiment of the present application provides an apparatus for vehicle communication, which may include, for example:

a receiving module, configured to receive an enqueue request message; the enqueuing request message comprises a certificate of a target vehicle, and the enqueuing request message is used for indicating that the target vehicle requests enqueuing;

a sending module, configured to send an enqueue response message to the target vehicle in response to the enqueue request message;

the enqueuing response message comprises a first ciphertext, a first identifier corresponding to the certificate of the target vehicle and a certificate of a pilot vehicle, wherein the first ciphertext is obtained by encrypting a first session key by the pilot vehicle according to a public key of the certificate of the target vehicle, and the first identifier is used for instructing the target vehicle to decrypt the first ciphertext according to a private key of the certificate of the target vehicle so as to obtain the first session key and obtain the certificate of the pilot vehicle.

In addition, in this aspect, reference may be made to the related matters of the first aspect for further alternative embodiments of the communication device, and details are not described here.

In an eighth aspect, an embodiment of the present application provides a vehicle communication device, which includes, for example:

a sending module, configured to send an enqueue request message; the enqueue request message comprises a certificate of a target vehicle, and the enqueue request message is used for indicating that the target vehicle requests enqueue;

a receiving module, configured to receive an enqueue response message corresponding to the enqueue request message; the enqueuing response message comprises a first ciphertext, a first identifier corresponding to the certificate of the target vehicle and a certificate of a pilot vehicle, wherein the first ciphertext is obtained by encrypting a first session key by the pilot vehicle according to a public key of the certificate of the target vehicle, and the first identifier is used for indicating the target vehicle to decrypt the first ciphertext according to a private key of the certificate of the target vehicle so as to obtain the first session key and obtain the certificate of the pilot vehicle;

and the processing module is used for decrypting the first ciphertext according to the private key of the certificate of the target vehicle to obtain the first session key and obtain the certificate of the pilot vehicle.

In addition, in this aspect, reference may be made to the related contents of the second aspect for other alternative embodiments of the communication device, and details are not described here.

In a ninth aspect, the present application provides an apparatus for vehicle communication, which may include:

the receiving module is used for receiving a switching request message from a target pilot vehicle; a sending module, configured to send a handover response message to the target pilot vehicle in response to the handover request message, where the handover request response message is used to instruct the target pilot vehicle to perform pilot vehicle handover; alternatively, the first and second electrodes may be,

the sending module is used for sending a switching request message to the target pilot vehicle; a receiving module, configured to receive a handover response message corresponding to the handover request message, where the handover response message is used to instruct the original pilot vehicle to perform pilot vehicle handover;

and the processing module is used for switching the piloting vehicles to obtain the updated motorcade.

In addition, in this aspect, reference may be made to the related contents of the third aspect for other alternative embodiments of the communication device, and details are not described here.

In a tenth aspect, an embodiment of the present application provides a vehicle communication device, which includes:

the sending module is used for sending a switching request message to the original pilot vehicle; a receiving module, configured to receive a handover response message corresponding to the handover request message, where the handover response message is used to instruct the target pilot vehicle to perform pilot vehicle handover; the processing module is used for switching the piloting vehicles to obtain an updated vehicle fleet; alternatively, the first and second electrodes may be,

the receiving module is used for receiving a switching request message from an original pilot vehicle; and the sending module is used for responding to the switching request message and sending a switching response message to the original pilot vehicle, wherein the switching response message is used for indicating the original pilot vehicle to switch the pilot vehicles.

In addition, in this aspect, reference may be made to the related contents of the above fourth aspect for other alternative embodiments of the communication device, and details are not described here.

In an eleventh aspect, embodiments of the present application provide a device for vehicle communication, where the device may be used to implement a function of a server. Illustratively, the apparatus may include:

the receiving module is used for receiving a fleet creation notification message; the motorcade creation notification message is used for indicating that a piloting vehicle creates a motorcade; the fleet creation notification message includes an identification of the fleet and an identification of vehicles within the fleet;

a sending module, configured to send a first response message in response to the fleet creation notification message; the first response message is used to instruct the pilot vehicle to obtain a first session key, which is used to encrypt broadcast information between vehicles in the fleet.

In addition, in this aspect, reference may be made to the related contents of the above fifth aspect for other alternative embodiments of the communication device, and details are not described here.

In a twelfth aspect, an embodiment of the present application provides a vehicle communication device, which includes, for example:

a sending module for sending a fleet creation notification message; the motorcade creation notification message is used for indicating that a piloting vehicle creates a motorcade; the fleet creation notification message includes an identification of the fleet and an identification of vehicles within the fleet;

a receiving module, configured to receive a first response message corresponding to the fleet creation notification message; the first response message carries a first session key; the first session key is used to encrypt broadcast information between vehicles.

In addition, in this aspect, reference may be made to the related contents of the above sixth aspect for other alternative embodiments of the communication device, and details are not described here.

In a thirteenth aspect, an embodiment of the present application provides a server, which includes a processor configured to execute the method described in the fifth aspect and any possible design of the fifth aspect.

In a possible design, the server is a single server or a server cluster composed of a plurality of sub-servers, and when the server is a server cluster composed of a plurality of sub-servers, the plurality of sub-servers jointly execute the method described in the fifth aspect and any one of the possible designs of the fifth aspect.

In a fourteenth aspect, embodiments of the present application provide a vehicle, which may include a processor configured to execute the method described in the first to fourth aspects and the sixth aspect, and any possible design of the first to fourth aspects and the sixth aspect.

In a fifteenth aspect, an embodiment of the present application provides a chip system, where the chip system includes at least one processor, and when program instructions are executed in the at least one processor, the method according to any one of the first to sixth aspects and the alternative designs of the first to sixth aspects is implemented.

In one possible design, the system-on-chip further includes a communication interface for inputting or outputting information.

In one possible design, the system-on-chip further includes a memory coupled to the processor through the communication interface for storing the instructions so that the processor reads the instructions stored in the memory through the communication interface.

In one possible design, the processor may be a processing circuit, which is not limited in this application.

In a sixteenth aspect, embodiments of the present application further provide a computer program product including instructions, which when run on the above apparatus is implemented to perform the method according to any one of the first to sixth aspects and optional designs of the first to sixth aspects.

In a seventeenth aspect, the present application provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed, the method is implemented as in any one of the first to sixth aspects and the optional designs of the first to sixth aspects.

For the beneficial effects of the seventh to seventeenth aspects, please refer to the technical effects that can be achieved by the corresponding designs of the first to sixth aspects, and details are not repeated here.

Drawings

Fig. 1 is a schematic diagram of a system architecture according to an embodiment of the present application;

FIG. 2 is a schematic diagram of another system architecture according to an embodiment of the present application;

FIG. 3 is a flowchart illustrating a method for vehicle communication according to an embodiment of the present disclosure;

FIG. 4 is a schematic flow chart illustrating another method for vehicle communication according to an embodiment of the present disclosure;

FIG. 5 is a flow chart illustrating another method for vehicle communication according to an embodiment of the present disclosure;

fig. 6 is a schematic flowchart of a method for vehicle communication according to a second embodiment of the present application;

FIG. 7 is a flowchart illustrating another method for vehicle communication according to a second embodiment of the present disclosure;

FIG. 8 is a flowchart illustrating another vehicle communication method according to a second embodiment of the present application;

FIG. 9 is a flowchart illustrating another method for vehicle communication according to a second embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a vehicle communication device according to an embodiment of the present application;

FIG. 11 is a schematic structural diagram of another vehicle communication device provided in the embodiment of the present application;

fig. 12 is a schematic structural diagram of a chip system according to an embodiment of the present disclosure.

Detailed Description

First, some terms referred to in the embodiments of the present application are explained for easy understanding.

1) Certificate (certificate): the digital certificate is a file digitally signed by a Certificate Authority (CA) and containing public key owner information and a public key, and is used for identity authentication of both parties of communication. The certificate generally includes information such as a certificate version number (version), a serial number (serial number), a signature algorithm identifier (signature), an issuer name (issuer), subject public key information (subject public key info), and a validity period (validity); it may also contain an issuer identifier (issue identifier), a subject identifier (subject unique identifier), and other extension information (extensions). The embodiment of the application relates to a certificate of a vehicle, wherein the certificate corresponds to a public key and a private key, and then in the communication process between the vehicles, the vehicles can perform corresponding encryption and decryption operations by using the public key and the private key of the certificate.

2) Signature information (certificate): the digital certificate is a file digitally signed by a Certificate Authority (CA) and containing public key owner information and a public key, and is used for identity authentication of both parties of communication. The signature information in the embodiment of the present application is identity information for verifying the vehicle.

3) A pilot vehicle: the method and the system are used for managing vehicle information of any vehicle in a fleet of vehicles running in a fleet, such as vehicle identification, vehicle number or vehicle certificate. In some embodiments, the lead vehicle is also used to determine a session key and send the session key to other vehicles within the fleet of vehicles to enable the other vehicles to use the session key for encrypted communications.

4) A target vehicle: in some embodiments, the target vehicle is a free vehicle to be enqueued. In other embodiments, the target vehicle is a request to be dequeued to follow. And the target vehicle is mainly used for interacting with the pilot vehicle, determining the session key and carrying out encryption communication by using the session key.

5) Following the vehicle: the vehicle refers to a vehicle which runs along with a pilot vehicle in a fleet.

6) Free vehicle: refers to vehicles outside the fleet that are not participating in the fleet.

7) A server: the method is used for information interaction with a pilot vehicle and realizing management of a fleet, and comprises but is not limited to: the certificate of the managed vehicle fleet and the vehicle information of all groups of member vehicles in the vehicle fleet are configured in advance, and a vehicle number is established for each vehicle in the vehicle fleet, wherein the vehicle numbers are continuous positive integers and non-repeated. For example, the vehicle number is 1,2,3 … n, n is a positive integer, and the vehicle number of each vehicle in the fleet is different. The communication with vehicles in the fleet may also be performed, for example, the lead vehicle sends a fleet creation notification to the application server, which in turn may implement fleet information (vehicle information, numbers, certificates, etc. for each vehicle in the fleet). For example, the communication mode between the vehicle and the application server may be a V2X communication mode. Illustratively, the server may be a vehicular web application server (V2X application server, V2X AS).

8) PC5 (direct communication interface): the communication interface between the terminals, namely the short-distance direct communication interface between the vehicle, the person and the road infrastructure; the method is characterized in that: and the communication with low time delay, high capacity and high reliability is realized through the forms of direct connection, broadcasting and network scheduling.

The term "plurality" in the embodiments of the present application means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a and b, a and c, b and c, or a and b and c.

And, unless stated to the contrary, the embodiments of the present application refer to the ordinal numbers "first", "second", etc., for distinguishing between a plurality of objects, and do not limit the sequence, timing, priority or importance of the plurality of objects. For example, the first notification message and the second notification message are only used for distinguishing different notification messages, and do not indicate the difference in content, priority, importance, or the like between the two notification messages.

Furthermore, the terms "comprising" and "having" in the description of the embodiments and claims of the present application and the drawings are not intended to be exclusive. For example, a process, method, system, article, or apparatus that comprises a list of steps or modules is not limited to only those steps or modules listed, but may include other steps or modules not listed.

In the method, a pilot vehicle and a target vehicle perform communication interaction, and a public key of a certificate of the target vehicle is used for performing encryption transmission on a first session key, so that the target vehicle can safely acquire the session key, the security and the reliability of key transmission are effectively improved, the vehicles can perform safe communication, and the risk that confidential information between the vehicles is stolen is reduced. For a detailed technical scheme in the method, please refer to example one below.

In order to meet the requirement of safe communication among vehicles in different communication scenes, the embodiment of the application also provides another vehicle communication method and device. For a detailed technical scheme in the method, please refer to example two below.

Before describing the technical solution provided by the embodiment of the present application in detail, a system architecture to which the embodiment of the present application is applied is first described.

For example, fig. 1 shows a schematic diagram of a system architecture to which an embodiment of the present application is applicable.

As shown in fig. 1, the system architecture includes a pilot vehicle 1, a follower vehicle 2, a follower vehicle 3, a follower vehicle 4, and a free vehicle 5.

Wherein, the pilot vehicle 1, the follower vehicle 2, the follower vehicle 3 and the follower vehicle 4 form a fleet, and the follower vehicle 2, the follower vehicle 3 and the follower vehicle 4 run under the belt of the pilot vehicle 1; any two vehicles can establish communication connection through a communication network to carry out communication interaction.

Wherein, pilot car 1 can generate first session key to encrypt this first session key and transmit and follow up car 2, follow up car 3 and follow up car 4, and then follow up car 2, follow up car 3 and follow up car 4 can encrypt the transmission according to this first session key to the broadcast information between them, with the security that promotes communication between the vehicle.

The free vehicle 5 is a free vehicle other than the vehicle group.

In one possible embodiment, the pilot vehicle 1 can interact with the free vehicle 5 in a communication manner. For example, free vehicle 5 may transmit an enqueue request message containing a certificate of free vehicle 5 to pilot vehicle 1, in response to which pilot vehicle 1 transmits a first session key encrypted to free vehicle 5 using the public key of the certificate of free vehicle 5, and transmits the certificate of the pilot vehicle of pilot vehicle 1 to free vehicle 5 to enqueue free vehicle 5.

It should be understood that the above vehicles are all provided with vehicle-mounted communication devices, and communication interaction between different vehicles can be understood as interaction between different vehicle-mounted communication devices.

It should be understood that the two vehicles shown in FIG. 1 are merely exemplary and not limiting of the present application. In practical applications, a fleet of vehicles may include more vehicles, and the number of vehicles in the fleet is not limited in the present application. In addition, the architecture shown in fig. 1 may be applied to various communication scenarios, for example, the fifth generation (the 5 g) communication system, the future sixth generation communication system and other communication systems that are evolved, the fourth generation (the 4 g) communication system, vehicle to everything (V2X), long term evolution-vehicle networking (LTE-V), vehicle to vehicle (V2V), vehicle networking, machine Type Communication (MTC), internet of things (IoT), long term evolution-machine to machine (LTE-machine to machine, LTE-M), machine to machine (M2M), and the like, which are not limited in this application.

In some embodiments, the system architecture to which the embodiments of the present application are applicable may further include a server. By way of example, fig. 2 shows another system architecture diagram applicable to the embodiment of the present application.

As shown in fig. 2, the server 6 may communicatively interact with any vehicle in the fleet.

In one possible embodiment, the server 6 may receive a fleet creation notification message from the navigator vehicle 1 and send the first session key to the navigator vehicle 1 in response to the fleet creation notification message, so that the navigator vehicle 1 encrypts data to be interacted between the vehicles according to the first session key, thereby implementing secure communication between the vehicles.

The system architecture to which the embodiments of the present application are applicable is described above, and the following describes the scenarios related to the embodiments of the present application.

1. Creating fleet scenes

The free vehicle 5 in a stationary or running state initiates broadcast information "create fleet" to other vehicles in a preset running area, and after receiving a confirmation instruction of the other vehicles, the role of the free vehicle 5 is changed to a pilot vehicle, and the information of the pilot vehicle is broadcast to the other vehicles.

2. Joining fleet scenarios

After receiving the formation information of the pilot vehicle 1, the free vehicle 5 initiates an enqueue request message to the pilot vehicle if the free vehicle wants to join the fleet; after receiving the enqueue request message of the free vehicle 5, the pilot vehicle 1 confirms whether to allow the free vehicle 5 to join the fleet. If the free vehicle 5 is accepted as a member, the navigator 1 sets the fleet application state in the fleet member management information as a state of confirming the approval of joining the fleet, adds the vehicle identification of the free vehicle 5 in the fleet information list, and broadcasts the updated fleet state to other vehicles in the fleet; and the free vehicle 5 receives the reply that the confirmation broadcasted by the pilot vehicle 1 is willing to join the motorcade, sets the running state of the free vehicle 5 as the state of joining the motorcade, broadcasts the state information, and joins the motorcade and then follows the motorcade. At this time, the attribute and the role of the free vehicle 5 are changed to follow the vehicle, the driving state of the free vehicle is set to be the following state, and the state information of the free vehicle is broadcasted. If the lead vehicle 1 does not agree that the free vehicle 5 joins the platoon, the free vehicle 5 is disregarded and the role of the free vehicle 5 continues to remain free.

3. Off-fleet scenarios

The following vehicle 2 sends a dequeue application message to the pilot vehicle 1, and after receiving the dequeue application message, the pilot vehicle 1 agrees to dequeue the following vehicle 2 and sends a dequeue response message to the following vehicle 2; after receiving the response message, the following vehicle 2 sets the driving state of the vehicle as departure, and broadcasts the departure until the following vehicle 2 completely leaves the fleet, and sets the self role as a free vehicle; and the pilot vehicle 1 confirms that the following vehicle 2 can leave the fleet, and then the vehicle identification of the following vehicle 2 is moved out of the fleet information list and added into the departure list.

4. And switching scenes of the piloting vehicle.

In a piloting vehicle switching scene, the piloting vehicle 1 can send a piloting vehicle switching request message to the following vehicle 2, and after receiving a confirmation response of the following vehicle 2, the piloting vehicle is switched; alternatively, the follower 2 may send a pilot switching request message to the pilot 1, and perform pilot switching after receiving a confirmation response of the pilot a.

The free vehicle 5, the follower vehicle 2 and the pilot vehicle 1 are only exemplary descriptions given in conjunction with fig. 1, and the embodiment of the present application is not limited thereto.

The application scenarios related to the embodiments of the present application are introduced above, and the technical solutions provided by the embodiments of the present application are described below with reference to specific examples.

[ EXAMPLES one ]

Fig. 3 illustrates a method for vehicle communication according to an embodiment of the present application, which may be applied to the system architecture illustrated in fig. 1, and the method mainly relates to a scenario where a target vehicle requests to enqueue, and the method includes the following steps:

s301, the target vehicle sends a queuing request message to the pilot vehicle, and the pilot vehicle receives the queuing request message.

The enqueue request message carries a certificate of the target vehicle.

It should be understood that the certificate of the target vehicle is a legal identity issued by the vehicle certificate authority for the target vehicle to uniquely identify the target vehicle. The certificate of the target vehicle may be pre-configured in the target vehicle by a vehicle administrator, or may be obtained by the target vehicle through communication interaction with the vehicle certificate authority, which is not limited in the embodiment of the present application.

S302, the pilot vehicle sends an enqueue response message to the target vehicle, and the target vehicle receives the enqueue response message.

The enqueue response message carries the first ciphertext, the first identifier corresponding to the certificate of the target vehicle and the certificate of the pilot vehicle. The identity of the lead vehicle may be verified by the certificate of the lead vehicle. The first identification is used for indicating the target vehicle to decrypt the first ciphertext according to a private key of the certificate of the target vehicle to obtain a first session key and obtain the certificate of the pilot vehicle. The first identifier may be a HashID corresponding to a certificate of the target vehicle.

In one possible implementation, the pilot vehicle may encrypt the first session key according to a public key of the certificate of the target vehicle to obtain a first ciphertext. Therefore, the safe transmission of the first session key is effectively realized, and the risk of stealing the first session key is effectively reduced.

It should be noted that the first session key may be generated in advance by the pilot vehicle and stored locally, or may be generated by the pilot vehicle after receiving the enqueue request message from the target vehicle, and is not limited specifically here.

In a possible embodiment, the navigator vehicle also needs to create a fleet of vehicles before generating the first session key. The process of creating the fleet by the pilot vehicle can be as follows: 1 or more free vehicles in a preset area of a pilot vehicle are selected by the pilot vehicle according to information such as the position and the driving direction of the vehicle to form a fleet with the pilot vehicle, and the pilot vehicle sends a fleet establishment request to the one or more free vehicles; and after the one or more free vehicles agree to form the motorcade, sending a confirmation response message to the pilot vehicle, and receiving the confirmation response message by the pilot vehicle and numbering the one or more free vehicles in the motorcade. It should be understood that the lead vehicle may also store information such as a certificate for each vehicle in the fleet, an identification of the vehicle, etc. Illustratively, the identification of the vehicle may be a Vehicle Identification Number (VIN), and the VIN may be assigned by the manufacturer for the vehicle, each vehicle having a unique VIN.

It should be noted that the above manner of building a fleet is only an example, and should not be construed as a limitation to building a fleet in the embodiment of the present application, and any manner of building a fleet is applicable to the embodiment of the present application.

S303, the target vehicle decrypts the first ciphertext according to the private key of the certificate of the target vehicle to obtain the first session key.

In one possible embodiment, the first session key may include an encryption key and an encryption algorithm, and after the target vehicle obtains the first session key through decryption, the target vehicle may encrypt broadcast information between the target vehicle and other vehicles in the fleet based on the encryption key and the encryption algorithm.

In a possible implementation manner, the first session key may include an encryption key credential and an encryption algorithm, and after the pilot vehicle may send the first session key to the target vehicle, the target vehicle processes the encryption key credential according to a preset algorithm to generate an encryption key; and then based on the encryption key and the encryption algorithm, the broadcast information between the vehicle and other vehicles in the fleet is encrypted. The preset algorithm may be SM4, AES,3DES, and the like, and the embodiment of the present application is not limited.

S304, the target vehicle acquires the certificate of the pilot vehicle.

In one possible embodiment, the target vehicle may store the certificate of the pilot vehicle locally after acquiring the certificate, so that the target vehicle may verify the identity of the pilot vehicle according to the certificate after receiving the information of the pilot vehicle.

In the embodiment shown in fig. 3, as the target vehicle of the vehicle to be enqueued initiates an enqueue request to the pilot, the pilot transmits the first session key to the target vehicle in an encrypted manner using the public key of the certificate of the target vehicle. Therefore, the safety and the reliability of key transmission are effectively improved, and the safe communication between vehicles is effectively realized.

Fig. 4 illustrates another vehicle communication method provided in an embodiment of the present application, which may be applied to the architecture shown in fig. 1, and relates to a scenario in which a target vehicle requests to dequeue, where the method includes the following steps:

s401, the target vehicle sends a dequeue request message to the pilot vehicle, and the pilot vehicle receives the dequeue request message.

Wherein the dequeue request message includes a vehicle identification of the target vehicle.

In one possible implementation, the pilot vehicle receives the dequeue request message, deletes the vehicle identification of the target vehicle from the vehicle information list in the fleet, and updates the vehicle list in the fleet. For example, an original queue list of a fleet in which a pilot vehicle is located is shown in table 1, and after the pilot vehicle deletes the vehicle identifier of the target vehicle from the vehicle list in the fleet, an updated queue list is obtained as shown in table 2.

TABLE 1

TABLE 2

S402, the pilot vehicle responds to the dequeue request message and sends a dequeue response message to the target vehicle, and the target vehicle receives the dequeue response message.

And S403, the target vehicle executes dequeue operation.

In one possible embodiment, the process of the target vehicle performing the dequeue operation may be: the driving state of the vehicle is set to be in a departure state, the vehicle is broadcasted to all vehicles in the fleet, and the role of the vehicle is set to be a free vehicle.

S404, the pilot vehicle generates a second session key, and the second session key is encrypted according to the public key of the certificate of the member vehicle in the fleet to obtain a second ciphertext.

It should be understood that the second ciphertext may be understood as one or more ciphertexts, and each ciphertext may be obtained by encrypting the second session key by the pilot vehicle according to the public key of the certificate of the respective group member vehicle.

For example, if there are a group member vehicle 1, a group member vehicle 2, and a group member vehicle 3 in the fleet, the second ciphertext is ciphertext 1, ciphertext 2, and ciphertext 3, where ciphertext 1 is encrypted based on the public key of the certificate of the group member vehicle 1, ciphertext 2 is encrypted based on the public key of the certificate of the group member vehicle 2, and ciphertext 3 is encrypted based on the public key of the certificate of the group member vehicle 3.

S405, the pilot vehicle generates a first notification message based on the first signature information, and a second identifier and a second ciphertext corresponding to a certificate of another vehicle in the fleet where the pilot vehicle is located, and sends the first notification message to the other vehicle, and the other vehicle receives the first notification message.

And the second identifier corresponding to the certificate of the other vehicle is used for instructing the other vehicle to decrypt the second ciphertext according to the private key of the certificate of the other vehicle so as to obtain the second session key. Wherein the second identifier may be a HashID corresponding to a certificate of the other vehicle.

In a possible implementation manner, the first signature information is obtained after the pilot vehicle performs a signature operation by using a private key of the certificate corresponding to the pilot vehicle. The signature algorithm is not limited in the embodiments of the present application, and the signature algorithm may be ECDSA or SM 2-based signature algorithm, to name a few.

And S406, the other vehicles verify the identity of the pilot vehicle according to the certificate of the pilot vehicle and the first signature information.

It should be understood that the other vehicles refer to following vehicles in the fleet of the pilot vehicle, and may specifically be one or more vehicles, which is not limited in the embodiments of the present application.

For example, if there are following vehicles 2,3, and 4 in the fleet where the navigator is located, after receiving the first notification message, the following vehicles 2,3, and 4 can all verify the identity of the navigator according to the certificate of the navigator and the first signature information. The process of verifying the identity of the pilot vehicle by each following vehicle is similar. The following description will exemplarily describe a procedure of verifying the pilot car identity by the following car 2, taking a following car as an example.

For example, the procedure of verifying the identity of the lead vehicle by following the vehicle 2 includes: the follower vehicle 2 acquires a public key of the navigator contained in the certificate of the navigator, decrypts the first signature information by using the public key of the navigator, and if decryption fails, the identity of the navigator does not pass verification; if the decryption is successful, the identity authentication of the navigator vehicle is passed, and S407 is continuously executed.

And S407, the other vehicles decrypt the second ciphertext according to the private key of the certificate of the other vehicles to obtain a second session key.

It should be understood that the number of following vehicles in the other vehicles is the same as the number of ciphertexts in the second cipher text, one cipher text for each following vehicle. If a plurality of follower vehicles are involved in other vehicles, each follower vehicle decrypts the corresponding ciphertext according to the private key of the certificate of the follower vehicle.

In a possible implementation manner, after the other vehicle acquires the second session key, the other vehicle may further send a key update response message to the navigator; and the pilot vehicle receives the key updating response message, and after confirming that all vehicles in the fleet respond correctly, the pilot vehicle sends a first indication message to the group member vehicle to indicate the group member vehicle to carry out encryption transmission on the broadcast information of the PC5 port by using the second session key.

In the embodiment shown in fig. 4, after determining that the target vehicle in the fleet is out of the fleet, the pilot vehicle may generate a new session key (i.e., a second session key) and issue the new key to other members of the fleet, so that the members of the fleet encrypt the broadcast information between the vehicles according to the new session key. Thus, safe communication between vehicles is effectively realized.

Fig. 5 illustrates another vehicle communication method provided in an embodiment of the present application, which may be applied to the architecture illustrated in fig. 1, and the method mainly relates to a pilot vehicle switching scenario, where the method includes the following steps:

S501A, the target pilot vehicle sends a switching request message to the original pilot vehicle, and the original pilot vehicle receives the switching request message.

The switching request message is used for indicating a target pilot vehicle to request for switching the pilot vehicle, and the switching request message carries a vehicle identifier of the target pilot vehicle.

It should be understood that the original pilot vehicle may be understood as the pilot vehicle of the current fleet, and the target pilot vehicle may be the pilot vehicle of the obtained fleet after the pilot vehicle is switched.

And S502A, the original pilot vehicle responds to the switching request message and sends a switching response message to the target pilot vehicle, and the target pilot vehicle receives the switching response message. And the switching response message is used for indicating the target pilot vehicle to switch the pilot vehicles.

And S503A, switching the target pilot vehicles.

In one possible embodiment, the target pilot vehicle switches the pilot vehicle, sets the driving state of the vehicle as the in-band state, and sets the role of the target pilot vehicle as the in-band vehicle.

The above-described S501A to S503A may be replaced with S501B to S503B. That is, the pilot vehicle switching may be initiated by the target pilot vehicle or the original pilot vehicle.

S501B, the original pilot vehicle sends a switching request message to the target pilot vehicle, and the target pilot vehicle receives the switching request message. And the switching request message is used for indicating the original pilot vehicle to request switching of the pilot vehicle.

And S502B, the target pilot vehicle responds to the switching request message and sends a switching response message to the original pilot vehicle, and the original pilot vehicle receives the switching response message.

And the switching response message is used for indicating the original pilot vehicle to switch the pilot vehicles.

And S503B, switching the original pilot vehicles.

In one possible implementation mode, the original pilot vehicle switches the pilot vehicle, the driving state of the pilot vehicle is set as a following state, and the role of the pilot vehicle is set as a following vehicle; and setting the vehicle running state of the target pilot vehicle as a band state, and setting the role of the target pilot vehicle as a pilot vehicle.

And S504, the original pilot vehicle sends a second notification message to other vehicles.

The second notification message comprises second signature information and a certificate of the target pilot vehicle, and the second signature information is used for indicating identity information of the original pilot vehicle. It should be understood that the other vehicles here refer to the following vehicles in the fleet of the original pilot vehicle, and may be one or more, and the embodiments of the present application are not limited. When a plurality of following vehicles exist in the fleet, the second notification message is a broadcast message sent by the original pilot vehicle.

And S505, the other vehicles verify the identity of the original pilot vehicle according to the certificate of the original pilot vehicle and the second signature information, and acquire the certificate of the target pilot vehicle.

In a possible implementation manner, the second signature information is generated according to a private key of the certificate of the original pilot vehicle, and then the other vehicles can decrypt the second signature information according to a public key of the certificate of the original pilot vehicle, if decryption is successful, the identity verification of the original pilot vehicle is successful, and the other vehicles acquire the certificate of the target pilot vehicle and store the certificate in the local; and if the decryption fails, the authentication of the original pilot vehicle fails, and the other vehicles forbid to store the certificate of the target pilot vehicle.

And S506, generating a third session key by the target pilot vehicle.

S507, the target pilot vehicle sends a third notification message to other vehicles, the third notification message comprises third signature information, a third identifier corresponding to the certificate of the target pilot vehicle and a third ciphertext, and the other vehicles receive the third notification message.

The third identifier may be used to instruct other vehicles in the updated fleet, except for the target pilot vehicle, to decrypt the third ciphertext according to the first session key to obtain a third session key. The third identifier may be a HashID corresponding to the certificate of the target navigator.

And S508, the other vehicles verify the identity of the target pilot vehicle according to the third signature information and the certificate of the target pilot vehicle.

In a possible implementation manner, the third signature information is generated according to a private key of the certificate of the target pilot vehicle, and then the other vehicles can decrypt the third signature information according to a public key of the certificate of the target pilot vehicle, if the decryption is successful, the identity verification of the target pilot vehicle is successful, and then the other vehicles continue to execute S509; and if the decryption fails, the authentication of the target pilot vehicle fails.

And S509, the other vehicles decrypt the third ciphertext according to the first session key to obtain a third session key.

In a possible implementation manner, the third ciphertext is obtained by encrypting the third session key by the target navigator according to the first session key.

And S510, the other vehicles send key updating response messages to the target pilot vehicles, and the target pilot vehicles receive the key updating response messages.

And S511, the target pilot vehicle sends third indication information to other vehicles, and the other vehicles receive the third indication information.

And the third indication information is used for indicating other vehicles to encrypt the broadcast information between the vehicles based on the third session key. Illustratively, if the other vehicles are the following vehicle 2, the following vehicle 3, and the following vehicle 4, after the following vehicle 2 receives the third indication information, the broadcast information between the following vehicle 2 and the following vehicle 4 may be encrypted and transmitted based on the third session key, and the broadcast information that the following vehicle 2 is prepared to broadcast to the following vehicle 3, the following vehicle 4, and the target pilot vehicle may also be encrypted and transmitted.

In the embodiment shown in fig. 5, both the original and target pilot vehicles may initiate a pilot vehicle switch request, and after a successful pilot vehicle switch, the target pilot vehicle may also generate a new session key (i.e., a third session key) and encrypt the new session key with the old session key (i.e., the first session key) for transmission to other vehicles in the fleet. Therefore, the risk that the session key is stolen is effectively reduced, and the safe communication between vehicles is effectively realized.

[ example two ]

Fig. 6 illustrates a method for vehicle communication according to a second embodiment of the present application, where the method may be applied to the system architecture shown in fig. 2, and the method mainly relates to a scenario where a pilot vehicle creates a fleet of vehicles, and the method includes the following steps:

s600, creating a fleet by using a pilot vehicle.

In a possible embodiment, the pilot vehicle may send a fleet building request to the server to instruct the server to build a fleet for the pilot vehicle, for example, the server may further select one or more vehicles in a preset area of the pilot vehicle to form a fleet with the pilot vehicle according to information such as the position and the driving direction of the vehicle.

In a possible implementation manner, the navigator itself constructs a fleet, the navigator selects one or more vehicles in a preset area of the navigator to form the fleet with the navigator according to information such as the position and the driving direction of the vehicle, and executes S601 to send a fleet creation notification message to the server.

S601, the pilot vehicle sends a motorcade creation notification message to the server, and the server receives the motorcade creation notification message.

The motorcade creating notification message comprises a motorcade identification and an identification of vehicles in the motorcade. It should be understood that the identification of vehicles within the fleet may be vehicle identifications and/or vehicle numbers.

Illustratively, if 4 vehicles are included in the fleet, the identification of the vehicles in the fleet includes vehicle identifications (VIN _1, VIN _2, VIN _3, VIN _4) and vehicle numbers (1,2,3,4), wherein the vehicle identifications and the vehicle numbers correspond one-to-one in the order of arrangement. The identifying characterization of the vehicles in the fleet may be: the vehicle number of the vehicle with the vehicle identification VIN _1 is 1, the vehicle number of the vehicle with the vehicle identification VIN _2 is 2, and so on.

As another example, the identification of the vehicle in the fleet sent by the pilot vehicle to the server may be group information of vehicle identification and vehicle number, such as: (VIN _1,1), (VIN _2,2), (VIN _3,3), and (VIN _4,4).

The vehicle numbers are only examples, and the present application does not limit the specific numerical values of the vehicle numbers.

S602, the server generates a first session key.

In a possible implementation manner, the server stores certificates of all vehicles, after receiving the fleet creation notification message, the server can verify the identity information of all vehicles in the fleet one by one according to the fleet identification and the identification of the vehicles in the fleet, and when the verification is passed, S602 is executed to generate a first session key; and if one vehicle in the fleet is not verified, the server sends a fleet creation failure response message to the pilot vehicle.

In one possible embodiment, the server may generate the first session key according to a preset algorithm, where the preset algorithm may include, but is not limited to, any one of a symmetric algorithm (e.g., SM4, AES, etc.), a random number generation algorithm, a time generation algorithm, and the like.

S603, the server sends the first session key to the navigator, and the navigator receives the first session key.

In a possible implementation manner, after receiving the first session key, the pilot vehicle may encrypt the first session key according to a public key corresponding to a certificate of each following vehicle in the fleet where the pilot vehicle is located, and transmit the first session key to each following vehicle, so that each following vehicle may encrypt broadcast information between vehicles.

In another possible implementation manner, the server may also directly send the first session key to each following vehicle in the fleet where the navigator vehicle is located, and the public key corresponding to the certificate of each following vehicle is used to encrypt the first session key and transmit the encrypted first session key to the corresponding following vehicle, so that the following vehicles can encrypt the broadcast information between the vehicles.

In the embodiment shown in fig. 6, the navigator sends a fleet creation notification message to the server, and the server may verify the identity information of each vehicle in the fleet, and generate a first session key when the verification passes, and issue the first session key to the navigator, so that the navigator encrypts the broadcast information between the vehicles according to the first session key. Therefore, the safety communication among the vehicles is effectively realized, the time delay for verifying the member vehicles of the motorcade when the motorcade is established is shortened, the safety and the reliability of the transmission of the session key are improved, and the safety communication among the vehicles is realized.

Fig. 7 illustrates a vehicle communication method provided in the second embodiment of the present application, which may be applied to the system architecture illustrated in fig. 2, and the method mainly relates to a scenario where a free vehicle applies for enqueuing, and the method includes the following processes:

s700, determining that the first vehicle requests to enter the queue by the pilot vehicle.

Illustratively, the first vehicle is the free vehicle 5, and the lead vehicle receives the enqueue request message of the free vehicle 5, and then can respond to the message to determine that the free vehicle 5 wants to join the fleet of the lead vehicle.

S701, the pilot vehicle sends an enqueue request notification message to a server, and the server receives the enqueue request notification message; the enqueue request notification message includes a fleet identification and a vehicle identification of the first vehicle.

In a possible embodiment, the server locally stores the certificate of the first vehicle, and the server may verify the identity information of the first vehicle according to the certificate of the first vehicle and the identifier of the first vehicle, and when the verification is passed, S702 is executed to send the first session key to the first vehicle.

S702, the server sends the first session key to the first vehicle, and the first vehicle receives the first session key.

In a possible embodiment, the first vehicle receives the first session key, and may encrypt the broadcast information between the first vehicle and the lead vehicle according to the first session key, or encrypt the broadcast information between the first vehicle and other following vehicles of the fleet in which the lead vehicle is located.

In the embodiment shown in fig. 7, the server may manage session keys of the fleet, and when determining the vehicles to be enqueued, the navigator may send an enqueue request notification message to the server, and the server responds to the notification message and sends the first session key to the vehicles to be enqueued when the identity of the vehicles to be enqueued is verified, so that the vehicles to be enqueued may encrypt the broadcast information using the first session key. Thus, the safety and reliability of communication between vehicles are improved.

Fig. 8 illustrates another vehicle communication method provided in the second embodiment of the present application, which may be applied to the system architecture shown in fig. 2, and the method mainly relates to a scenario following a vehicle application dequeue, where the method includes the following steps:

and S800, determining that the second vehicle requests to dequeue by the pilot vehicle.

For example, the second vehicle is given by following vehicle 4 as an example, and the pilot vehicle receives the dequeue request message of following vehicle 4, and may further determine that following vehicle 4 satisfies the dequeue condition (e.g., no job task is being performed) in response to the message, and then approve the dequeue of following vehicle 4.

S801, the pilot vehicle sends a dequeue request notification message to the server, and the server receives the dequeue request notification message; the enqueue request notification message includes a fleet identification and a second vehicle identification.

In one possible implementation, the server receives the dequeue request notification message, removes the second vehicle identifier from the list of vehicles in the fleet, obtains an updated list of vehicles, and performs S802.

S802, the server generates a second session key.

S803, the server sends the second session key to the other vehicle, and the other vehicle receives the second session key.

It should be understood that the vehicle herein refers to other following vehicles in the updated fleet besides the lead vehicle.

In one possible embodiment, the other vehicle receives the second session key, and may encrypt the broadcast information between the other vehicle and the lead vehicle or encrypt the broadcast information between the other vehicle and the other following vehicle according to the second session key.

In the embodiment shown in fig. 8, the server may implement management of the session key of the fleet of vehicles, and after determining that there are vehicles to dequeue, the updated session key (i.e., the second session key) may be sent to the updated fleet of vehicles, so that other vehicles in the updated fleet of vehicles may encrypt the broadcast information using the second session key. Thus, the safety and reliability of communication between vehicles are improved.

Fig. 9 illustrates another vehicle communication method provided in the second embodiment of the present application, which may be applied to the system architecture shown in fig. 2, and the method mainly relates to a scenario of pilot vehicle switching, where the method includes the following steps:

and S900, determining a target pilot vehicle by the pilot vehicle.

There are various embodiments for determining the target pilot vehicle by the pilot vehicle, including but not limited to the following:

in the mode 1, the pilot vehicle sends a switching request message to the target pilot vehicle, receives a switching response message corresponding to the switching request message, and determines the target pilot vehicle according to the switching response message.

In the mode 2, the pilot vehicle receives the switching request message from the target pilot vehicle, and determines the target pilot vehicle when the target pilot vehicle meets the pilot vehicle switching condition.

S901, the pilot vehicle sends a pilot vehicle switching notification message to the server, and the server receives the pilot vehicle switching notification message. The piloting vehicle switching notification message comprises a fleet identifier and a vehicle identifier of a target piloting vehicle.

In a possible implementation manner, the server locally stores the certificate of the target pilot vehicle, and then the server can verify the identity information of the target pilot vehicle according to the certificate of the target pilot vehicle, and when the verification is passed, S902 is executed to perform pilot vehicle switching.

S902, the server generates a vehicle identifier according to the fleet identifier and the target pilot vehicle, switches the pilot vehicles and updates the fleet.

S903, the server generates a third session key;

and S904, the server sends the third session key to other vehicles.

In the embodiment shown in fig. 9, the server may manage the session key of the fleet, and after receiving the notification message of the piloting vehicle switching, perform the piloting vehicle switching according to the identification of the fleet and the vehicle identification of the target piloting vehicle; a third session key is generated and transmitted to other vehicles in the fleet, such that the updated other vehicles in the fleet may encrypt the broadcast information using the third session key. Therefore, the session key is updated in time, and the safety and the reliability of communication between vehicles are improved.

Fig. 10 shows a schematic diagram of a possible structure of a vehicle communication device according to the above embodiment of the present application, and the device 1000 may be used to implement the functions of the vehicle shown in fig. 1 or fig. 2.

For example, the apparatus 1000 may comprise:

a receiving module 1001, configured to receive an enqueue request message; the enqueue request message comprises a certificate of a target vehicle, and the enqueue request message is used for indicating that the target vehicle requests enqueue;

a sending module 1002, configured to send an enqueue response message to the target vehicle in response to the enqueue request message;

the enqueuing response message comprises a first ciphertext, a first identifier corresponding to the certificate of the target vehicle and a certificate of a pilot vehicle, wherein the first ciphertext is obtained by encrypting a first session key by the pilot vehicle according to a public key of the certificate of the target vehicle, and the first identifier is used for instructing the target vehicle to decrypt the first ciphertext according to a private key of the certificate of the target vehicle so as to obtain the first session key and obtain the certificate of the pilot vehicle. Wherein the first identifier may be a HashID corresponding to the certificate of the target vehicle.

In a possible implementation, the apparatus 1000 further includes a processing module 1003, and before the receiving module 1001 is configured to receive the enqueue request message, the processing module 1003 is further configured to: generating the first session key, the first session key being used to encrypt broadcast information between vehicles.

In a possible implementation, the receiving module 1001 is further configured to receive a dequeue request message; the dequeue request message is used for indicating that the target vehicle requests dequeue; the sending module 1002 is further configured to send a dequeue response message in response to the dequeue request message; the dequeue response message is used for instructing the target vehicle to execute a dequeue operation.

In one possible implementation, the sending module 1002 sends the first notification message after sending the dequeue response message; the first notification message comprises first signature information, a second identifier corresponding to the certificate of the other vehicle in the fleet where the pilot vehicle is located and a second ciphertext, wherein the first signature information is used for indicating the identity information of the pilot vehicle, and the second ciphertext is obtained by encrypting a second session key by the pilot vehicle according to the public key of the certificate of the other vehicle in the fleet where the pilot vehicle is located; the second identification is used for indicating the other vehicles to decrypt the second ciphertext according to the private keys of the certificates of the other vehicles so as to obtain the second session key, and the first notification message is used for indicating the other vehicles to verify the identity of the pilot vehicle according to the certificates of the pilot vehicle and the first signature information, and decrypting the second ciphertext according to the private keys of the certificates of the other vehicles so as to obtain the second session key.

In a possible implementation, the processing module 1003 is further configured to generate a second session key before the sending module 1002 sends the first notification message; the second session key is used to encrypt broadcast information between the vehicles.

It should be understood that the corresponding detailed description and the advantageous effects obtained by the embodiments of the apparatus 1000 can be found in the related contents of any one of the embodiments shown in fig. 3 to 9, and will not be described in detail herein.

Fig. 11 shows a schematic diagram of a possible structure of a vehicle communication device according to the above embodiment of the present application, and the device 1100 can be used to implement the functions of the server shown in fig. 2.

Illustratively, the apparatus 1100 may comprise:

a receiving module 1101 for receiving a fleet creation notification message; the motorcade creation notification message is used for indicating that a piloting vehicle creates a motorcade; the fleet creation notification message includes an identification of the fleet and an identification of vehicles within the fleet;

a sending module 1102, configured to send a first response message in response to the fleet creation notification message; the first response message is used for instructing the pilot vehicle to acquire a first session key, and the first session key is used for encrypting broadcast information between vehicles in the fleet.

In a possible implementation, the receiving module 1101 is further configured to receive an enqueue request notification message; the enqueue request notification message is used for indicating that a first vehicle requests enqueue; the sending module 1102 is further configured to send the first session key to the first vehicle in response to the enqueue request notification message.

In a possible embodiment, the receiving module 1101 is further configured to receive a dequeue request notification message; the dequeue request notification message is used for indicating that a second vehicle requests dequeue, and the dequeue request notification message comprises an identification of the fleet of vehicles and a vehicle identification of the second vehicle; the sending module 1102 is further configured to determine, in response to the dequeue request notification message, an updated fleet of vehicles according to the identification of the fleet of vehicles and the vehicle identification of the second vehicle, and send a second session key to each vehicle in the updated fleet of vehicles; the second session key is used to encrypt broadcast information between vehicles in the updated fleet.

In a possible embodiment, the apparatus 1100 further includes a processing module 1103, and the receiving module 1101 is further configured to receive a pilot vehicle switching notification message; the piloting vehicle switching notification message comprises the identification of the motorcade and the vehicle identification of the target piloting vehicle; the processing module 1103 is configured to, in response to the navigator switching notification message, perform navigator switching according to the identifier of the fleet and the vehicle identifier of the target navigator, generate a third session key, and send the third session key to other vehicles in the fleet, where the third session key is used to encrypt broadcast information between vehicles in the fleet.

It should be understood that the corresponding detailed description and the advantageous effects obtained by the embodiments of the apparatus 1100 can be found in the related contents of any one of the embodiments shown in fig. 6 to 9, and will not be described in detail herein.

Embodiments of the present application further provide a vehicle, which may include a processor configured to execute the vehicle communication method in any one of the embodiments shown in fig. 3 to 9.

In one possible implementation, the computer program product further includes a memory to store a computer program or instructions.

In a possible embodiment, a transceiver is further included for receiving or transmitting information.

The embodiment of the present application further provides a server, where the server includes a processor, and the processor is configured to implement the functions of the server in the embodiments shown in fig. 6 to 9, so as to implement the vehicle communication method provided by the embodiment of the present application.

In one possible embodiment, the server is a single server or a server cluster composed of a plurality of sub-servers, and when the server is a server cluster composed of a plurality of sub-servers, the plurality of sub-servers jointly perform the functions of the server 6 shown in fig. 2.

The present embodiment also provides a chip system, please refer to fig. 12, where the chip system 1200 includes at least one processor, and when the program instructions are executed in the at least one processor 1201, the vehicle communication method in any of the embodiments shown in fig. 3 to fig. 9 is implemented.

In one possible implementation, the system-on-chip further includes a communication interface 1203 for inputting or outputting information.

In a possible implementation, the chip system further comprises a memory 1202, the memory 1202 being coupled to the processor via a communication interface 1203 for storing the above instructions, so that the processor can read the instructions stored in the memory via the communication interface 1203.

It should be understood that the connection medium between the processor 1201, the memory 1202 and the communication interface 1203 is not limited in the embodiments of the present application. In the embodiment of the present application, the memory 1202, the processor 1201 and the communication interface 1203 are connected by a communication bus 1204 in fig. 12, the bus is represented by a thick line in fig. 12, and the connection manner between other components is only illustrative and not limiting. The bus may include an address bus, a data bus, a control bus, and the like. For ease of illustration, fig. 12 shows only one thick line, but does not show only one bus or one type of bus or the like.

Embodiments of the present application also provide a computer program product including instructions, when running on the above apparatus, to perform a vehicle communication method as in any of the embodiments shown in fig. 3-9 above.

The embodiment of the application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed, the vehicle communication method in any one of the embodiments shown in fig. 3 to 9 is implemented.

The various embodiments described above can be combined with each other to achieve different technical effects.

In the embodiments provided in the present application, the method provided in the embodiments of the present application is introduced from the perspective of interaction between the devices. In order to implement the functions in the method provided by the embodiment of the present application, the first terminal, the second terminal and the network device may include a hardware structure and/or a software module, and the functions are implemented in the form of a hardware structure, a software module, or a hardware structure and a software module. Whether any of the above-described functions is implemented as a hardware structure, a software module, or a hardware structure plus a software module depends upon the particular application and design constraints imposed on the technical solution.

The division of the modules in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation. In addition, functional modules in the embodiments of the present application may be integrated into one processor, may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.

In the embodiment of the present application, the memory may be a nonvolatile memory, such as a Hard Disk Drive (HDD) or a solid-state drive (SSD), and may also be a volatile memory, for example, a random-access memory (RAM). The memory is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory in the embodiments of the present application may also be circuitry or any other device capable of performing a storage function for storing program instructions and/or data.

The method provided by the embodiment of the present application may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, 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, special purpose computer, computer network, network appliance, user equipment, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (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 can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes 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 Digital Video Disk (DVD)), or a semiconductor medium (e.g., an SSD), among others.

In the embodiments of the present application, the embodiments may refer to each other, for example, methods and/or terms between the embodiments of the method may refer to each other, for example, functions and/or terms between the embodiments of the apparatus and the embodiments of the method may refer to each other, without logical contradiction.

Various modifications and alterations to this application may occur to those skilled in the art without departing from the scope of this application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. A vehicle communication method, characterized in that the method comprises:

receiving an enqueue request message; the enqueue request message comprises a certificate of a target vehicle, and the enqueue request message is used for indicating that the target vehicle requests enqueue;

transmitting an enqueue response message to the target vehicle in response to the enqueue request message;

the enqueuing response message comprises a first ciphertext, a first identifier corresponding to the certificate of the target vehicle and a certificate of a pilot vehicle, wherein the first ciphertext is obtained by encrypting a first session key by the pilot vehicle according to a public key of the certificate of the target vehicle; the first identifier is used for instructing the target vehicle to decrypt the first ciphertext according to a private key of a certificate of the target vehicle to obtain the first session key and obtain the certificate of the pilot vehicle.

2. The method of claim 1, wherein prior to said receiving an enqueue request message, said method further comprises:

generating the first session key, the first session key being used to encrypt broadcast information between vehicles.

3. The method according to claim 1 or 2, characterized in that the method further comprises:

receiving a dequeue request message; the dequeue request message is used for indicating that the target vehicle requests dequeue;

sending a dequeue response message in response to the dequeue request message; the dequeue response message is used for instructing the target vehicle to execute a dequeue operation.

4. The method of claim 3, wherein after the sending a dequeue response message, the method further comprises:

sending a first notification message; the first notification message comprises first signature information, a second identifier corresponding to a certificate of another vehicle in the fleet where the pilot vehicle is located, and a second ciphertext, wherein the first signature information is used for indicating identity information of the pilot vehicle, and the second ciphertext is obtained by encrypting a second session key by the pilot vehicle according to a public key of the certificate of the another vehicle; the second identifier is used for instructing the other vehicle to decrypt the second ciphertext according to a private key of the certificate of the other vehicle so as to obtain the second session key;

the first notification message is used for indicating the other vehicles to verify the identity of the pilot vehicle according to the certificate of the pilot vehicle and the first signature information.

5. The method of claim 4, wherein prior to said sending the first notification message, the method further comprises:

generating a second session key; the second session key is used to encrypt broadcast information between the vehicles.

6. A vehicle communication method, characterized in that the method comprises:

sending an enqueue request message; the enqueue request message comprises a certificate of a target vehicle, and the enqueue request message is used for indicating that the target vehicle requests enqueue;

receiving an enqueue response message corresponding to the enqueue request message; the enqueuing response message comprises a first ciphertext, a first identifier corresponding to the certificate of the target vehicle and a certificate of a pilot vehicle, wherein the first ciphertext is obtained by encrypting a first session key by the pilot vehicle according to a public key of the certificate of the target vehicle; the first identification is used for indicating the target vehicle to decrypt the first ciphertext according to a private key of a certificate of the target vehicle to obtain the first session key and obtain the certificate of the pilot vehicle; and decrypting the first ciphertext according to the private key of the certificate of the target vehicle to obtain the first session key and obtain the certificate of the pilot vehicle.

7. The method of claim 6, further comprising:

sending a dequeue request message; the dequeue request message is used for indicating that a target vehicle requests dequeue;

receiving a dequeue response message corresponding to the dequeue request message; the dequeue response message is used for instructing the target vehicle to execute a dequeue operation.

8. A vehicle communication device, characterized by comprising:

a receiving module, configured to receive an enqueue request message; the enqueue request message comprises a certificate of a target vehicle, and the enqueue request message is used for indicating that the target vehicle requests enqueue;

9. The apparatus of claim 8, further comprising a processing module that, prior to the receiving module receiving an enqueue request message,

the processing module is used for generating the first session key, and the first session key is used for encrypting the broadcast information between the vehicles.

10. The apparatus of claim 8 or 9, wherein the receiving module is further configured to: receiving a dequeue request message; the dequeue request message is used for indicating that the target vehicle requests dequeue;

the sending module is further configured to send a dequeue response message in response to the dequeue request message; the dequeue response message is used for instructing the target vehicle to execute a dequeue operation.

11. The apparatus of claim 10, wherein after the sending module sends a dequeue response message,

the sending module is further configured to send a first notification message; the first notification message comprises first signature information, a second identifier corresponding to a certificate of another vehicle in the fleet where the pilot vehicle is located, and a second ciphertext, wherein the first signature information is used for indicating identity information of the pilot vehicle, and the second ciphertext is obtained by encrypting a second session key by the pilot vehicle according to a public key of the certificate of the another vehicle; the second identifier is used for instructing the other vehicle to decrypt the second ciphertext according to a private key of the certificate of the other vehicle so as to obtain the second session key;

12. The apparatus of claim 11, wherein before the sending module sends the first notification message,

the processing module is further configured to generate a second session key; the second session key is used to encrypt broadcast information between the vehicles.

13. A vehicle communication device, characterized by comprising:

a sending module, configured to send an enqueue request message; the enqueuing request message comprises a certificate of a target vehicle, and the enqueuing request message is used for indicating that the target vehicle requests enqueuing;

14. The apparatus of claim 13, wherein the sending module is further configured to send a dequeue request message; the dequeue request message is used for indicating that the target vehicle requests dequeue;

the receiving module is further configured to receive a dequeue response message corresponding to the dequeue request message; the dequeue response message is used for instructing the target vehicle to execute a dequeue operation.

15. A computer-readable storage medium, in which a computer program is stored which, when executed by a computer, causes the computer to perform the method of any one of claims 1 to 5, or to perform the method of any one of claims 6 to 7.

16. A chip system for reading a computer program stored in a memory, for performing a method according to any of claims 1-5, or for performing a method according to any of claims 6-7.

17. A vehicle comprising a processor configured to perform the method of any of claims 1 to 5 or to perform the method of any of claims 6 to 7.