TW202415569A - Autonomous vehicle communication security system and method in which the autonomous vehicle communication security system includes a vehicle-mounted communication device and a terminal communication device - Google Patents

Abstract

An autonomous vehicle communication security system and method are provided. The system includes a vehicle-mounted communication device and a terminal communication device. At least two communication channels are established between the vehicle-mounted communication device and the terminal communication device. At least one vehicle-mounted processor of the vehicle-mounted communication device generates a key based on at least one piece of vehicle information, stores the key in a packet, encrypts and compresses the packet, and transmits it to the outside through the at least two communication channels. At least one terminal processor of the terminal communication device receives at least two encrypted and compressed packets from the at least two communication channels, and decompresses and decrypts them to obtain at least two keys to be verified. The terminal processor determines whether the at least two keys to be verified are consistent to control the connection status of the at least two communication channels.

Description

Autonomous driving vehicle communication safety system and method

The present invention relates to a communication safety system and a communication method, and in particular to an automatic driving vehicle communication safety system and method.

An autonomous vehicle can be connected to a road side unit (RSU) through wireless communication technology. RSU), a background information station or another autonomous vehicle. In this way, the autonomous vehicle can not only share its own vehicle information (such as satellite positioning coordinates, acceleration and deceleration information, driving images, road conditions and speed, etc.) with the roadside unit, the background information station or the other autonomous vehicle, but also receive data from the roadside unit, the background information station or the other autonomous vehicle and make autonomous driving decisions based on it, such as speed control (constant speed, acceleration, deceleration, braking), route control (such as: straight, turning, overtaking, roadside parking) and changing the formation of the convoy, etc.

It can be seen that wireless communication technology has become an important feature of the autonomous vehicle, and ensuring the communication security of the autonomous vehicle is of course an important issue. For example, if the communication between the autonomous vehicle and its connected object is hacked and the data is tampered with, the autonomous vehicle and the connected object may receive erroneous information, causing the autonomous vehicle to be unable to make correct driving decisions based on the erroneous information, and the connected object of the autonomous vehicle cannot effectively grasp the driving status of the autonomous vehicle based on the erroneous information.

In view of this, the main purpose of the present invention is to provide an autonomous vehicle communication security system and method, so as to realize interactive verification between multiple communication channels and improve the communication security between the autonomous vehicle and the connection object.

The autonomous vehicle communication safety system of the present invention comprises: an on-board communication device, which is provided in an autonomous vehicle and comprises at least one on-board processor and a plurality of on-board communication interfaces electrically connected to the on-board processor, wherein the on-board processor generates a key according to at least one vehicle information of the autonomous vehicle and stores the key in a package; and a terminal communication device, which is provided separately from the on-board communication device and comprises at least one terminal processor and a plurality of terminal communication interfaces electrically connected to the terminal processor, wherein at least two of the plurality of terminal communication interfaces establish at least two communication channels with at least two of the plurality of on-board communication interfaces; The vehicle-mounted processor encrypts and compresses the packet and transmits it externally through at least two communication channels. The terminal processor receives at least two encrypted and compressed packets from the at least two communication channels respectively, and decompresses and decrypts the at least two encrypted and compressed packets respectively to obtain at least two keys to be verified. The terminal processor determines whether the at least two keys to be verified are consistent to control the connection status of the at least two communication channels.

The autonomous vehicle communication security method of the present invention is implemented in a vehicle communication device and a terminal communication device, and at least two communication channels are established between the vehicle communication device and the terminal communication device. The autonomous vehicle communication security method comprises: At least one vehicle processor of the vehicle communication device generates a key according to at least one vehicle information of an autonomous vehicle; The vehicle processor stores the key in a packet, encrypts and compresses the packet, and transmits it to the outside through the at least two communication channels respectively; At least one terminal processor of the terminal communication device receives at least two encrypted and compressed packets from the at least two communication channels respectively; The terminal processor decompresses and decrypts the at least two encrypted and compressed packets respectively to obtain at least two keys to be verified; and the terminal processor determines whether the at least two keys to be verified are consistent to control the connection status of the at least two communication channels.

The present invention stores the unique key in the packet by the vehicle-mounted processor. According to the cooperative operation between the vehicle-mounted communication device and the terminal communication device, that is, after the packet is encrypted, compressed, transmitted through the at least two communication channels, decompressed, and decrypted, the terminal processor obtains the keys to be verified corresponding to the at least two communication channels respectively.

The present invention determines whether the at least two keys to be verified are consistent with each other by the terminal processor to achieve the purpose of interactive verification of multiple communication channels, as described below. When the terminal processor determines that the at least two keys to be verified are consistent with each other, it means that the multiple communication channels between the vehicle-mounted communication device and the terminal communication device are safe and the current connection status can be maintained. On the contrary, when the terminal processor determines that the at least two keys to be verified are inconsistent, it means that the multiple communication channels between the vehicle-mounted communication device and the terminal communication device are relatively unsafe, because hackers may invade the communication channel and tamper with the packet data. At this time, the present invention can immediately change the connection status of the at least two communication channels, thereby avoiding data transmission under the suspicion of unsafe communication channels, ensuring communication security.

Generally speaking, an autonomous vehicle can be connected to a terminal via wireless communication technology, which can be a road side unit (RSU) or a background information station. For a convoy consisting of multiple autonomous vehicles, the terminal can also be another autonomous vehicle. The autonomous vehicle can receive data from the terminal and make autonomous driving decisions based on it, such as speed control (constant speed, acceleration, deceleration, braking), route control (such as: straight, turning, overtaking, roadside parking) and changing the convoy formation, etc., but not limited to this.

Please refer to FIG1 , an embodiment of the autonomous vehicle communication safety system of the present invention includes a vehicle communication device 10 and a terminal communication device 20. The vehicle communication device 10 is provided in an autonomous vehicle. It is understood that the autonomous vehicle may have a satellite positioning function (GPS), an inertial measurement function, and a driving image recording function, etc., wherein the autonomous vehicle may be one of the vehicles in a convoy, or may be an independent vehicle outside the convoy. The terminal communication device 20 is provided at a terminal and is separated from the vehicle-mounted communication device 10. As mentioned above, the terminal may be another autonomous vehicle, a roadside unit or a background information station.

The vehicle communication device 10 includes at least one vehicle processor 11 and a plurality of vehicle communication interfaces 12 electrically connected to the vehicle processor 11. That is, the vehicle communication device 10 may include one or more vehicle processors 11, and the plurality of vehicle processors 11 may be applied to distributed network management. For the convenience of explanation, the present invention takes one vehicle processor 11 as an example, but is not limited thereto. The vehicle processor 11 is a processor chip. The vehicle processor 11 may receive vehicle information through a vehicle diagnostic system (such as OBD-II) and/or a controller area network bus (CAN Bus) of the autonomous vehicle. The vehicle information may include an identification code (ID), a vehicle identification number (Vehicle Identification Number, VIN), system time of the automatic driving system, vehicle coordinates (such as GPS coordinates), acceleration and deceleration information (such as throttle opening signal, speed control signal and/or brake signal), driving image, road condition and at least one of vehicle speed. On the other hand, the vehicle processor 11 also obtains a system code and a login code from the automatic driving system, and the login code represents the identity of the user who uses a digital key or a remote control to start the automatic driving vehicle. The multiple vehicle communication interfaces 12 are wireless communication interfaces and can include a mobile communication interface and a short-range wireless communication interface. The types of the multiple vehicle communication interfaces 12 (such as the communication protocols used) are different from each other.

The terminal communication device 20 includes at least one terminal processor 21 and a plurality of terminal communication interfaces 22 electrically connected to the terminal processor 21. That is, the terminal communication device 20 may include one or more terminal processors 21, and the plurality of terminal processors 21 may be applied to distributed network management. For ease of explanation, the present invention takes one terminal processor 21 as an example, but is not limited thereto. The terminal processor 21 is a processor chip, and the plurality of terminal communication interfaces 22 are wireless communication interfaces respectively. The types of at least two of the plurality of terminal communication interfaces 22 correspond to the types of at least two of the plurality of vehicle communication interfaces 12, or in other embodiments, the plurality of vehicle communication interfaces 12 and the plurality of terminal communication interfaces 22 may also completely correspond.

For example, the plurality of vehicle communication interfaces 12 and the plurality of terminal communication interfaces 22 may include at least two of a 5G (5th Generation) mobile communication interface, a 4G (4th Generation) mobile communication interface, a C-V2X (Cellular Vehicle-to-Everything) communication interface, a Wi-Fi communication interface, a BLE (Bluetooth Low Energy) communication interface, and a next generation communication interface. The present invention is not limited to the aforementioned communication interfaces. Please refer to the example shown in Figure 2, the multiple vehicle communication interfaces 12 may include a 5G mobile communication interface, a 4G mobile communication interface, a C-V2X communication interface, a Wi-Fi communication interface and a BLE communication interface; the multiple terminal communication interfaces 22 may include a 5G mobile communication interface, a C-V2X communication interface and a Wi-Fi communication interface.

Thus, when the vehicle-mounted communication device 10 installed in the autonomous vehicle and the terminal communication device 20 installed in the terminal enter into each other's communication range, both parties can perform a handshake process. After the handshake is completed, the plurality of terminal communication interfaces 22 can be respectively connected to the plurality of vehicle-mounted communication interfaces 12 to perform two-way data transmission. The following describes an embodiment of the present invention for implementing communication security between the vehicle-mounted communication device 10 and the terminal communication device 20.

As mentioned above, the types of at least two of the plurality of terminal communication interfaces 22 correspond to the types of at least two of the plurality of vehicle communication interfaces 12, so at least two of the plurality of terminal communication interfaces 22 establish at least two communication channels CH with at least two of the plurality of vehicle communication interfaces 12, so that the vehicle processor 11 and the terminal processor 21 can exchange packets with each other through the at least two communication channels CH. Taking the aforementioned communication interface as an example, the at least two communication channels CH may include at least two of a 5G communication channel, a 4G communication channel, a C-V2X communication channel, a Wi-Fi communication channel, a BLE communication channel, and a next-generation communication channel. Taking Figure 2 as an example, the communication channel established between the vehicle communication device 10 and the terminal communication device 20 may include a 5G communication channel CH1, a C-V2X communication channel CH2, and a Wi-Fi communication channel CH3. The vehicle processor 11 and the terminal processor 21 may exchange packets through the 5G communication channel CH1, the C-V2X communication channel CH2, and the Wi-Fi communication channel CH3 at the same time.

3, the vehicle processor 11 uses a coding algorithm (Key Generator) according to at least one vehicle information 30 of the autonomous vehicle. The vehicle information 30 includes the vehicle information, system code and registration code as mentioned above, wherein the coding algorithm is common knowledge in the relevant technical field. In short, for example, the data format of the vehicle information 30 can be a code composed of numbers, English codes or codes, that is, the vehicle information, system code and registration code in the vehicle information 30 are codes that can be accessed by the vehicle processor 11. When the vehicle processor 11 executes the coding algorithm, it can re-encode based on the code of the vehicle information 30, for example, inserting random numbers into the code of the vehicle information 30 to generate the key 31.

In the vehicle information 30, the vehicle information reflects the current real-time driving status of the vehicle, so it is understandable that the automatic driving vehicle and other vehicles will hardly have exactly the same vehicle information at the same time, and during the driving process of the automatic driving vehicle, its vehicle information (such as vehicle coordinates, vehicle speed, etc.) changes with time, so the vehicle information of the automatic driving vehicle at different time points is not exactly the same. Furthermore, the system code and the registration code are both unique, so overall, the key 31 calculated from the vehicle information 30 is indeed a unique key, and the key 31 cannot be directly copied.

After the vehicle-mounted processor 11 generates the key 31, it stores the key 31 in a data packet (hereinafter referred to as a packet). In this way, the key 31 can ensure that the packet comes from the specific vehicle-mounted communication device 10 of the autonomous vehicle. Please refer to Figure 4. The message frame (i.e., data format) of the packet 40 may include a start symbol 401, a sequence number 402, a time 403, the key 31, the vehicle information 404, a check code 405 and an end symbol 406. The start symbol 401 and the end symbol 406 are used to define the integrity of the packet 40. The sequence number 402 and the time 403 can provide timing information for the transmission of the packet 40. The check code 405 may be, but is not limited to, a cyclic redundancy check code (CRC) or a Manchester code. The storage location of the key 31 can be preset at any location between the start symbol 401 and the end symbol 406, as long as the on-board processor 11 and the terminal processor 21 are set to process the same packet data format when constructing the system of the present invention. In other words, the on-board processor 11 stores the key 31 at a specific location in the packet 40, and the terminal processor 21 can read the key 31 from a specific location in the packet 40. For example, in the packet 40 shown in FIG. 4 , the specific location of the key 31 is between the time 403 and the vehicle information 404.

After the vehicle-mounted processor 11 generates the packet 40, please refer to Figure 5, the packet 40 is encrypted and compressed to generate an encrypted and compressed packet 40', and then the encrypted and compressed packet 40' is transmitted to the outside through each vehicle-mounted communication interface 12 connected to the terminal communication device 20; therefore, taking the embodiment shown in Figure 2 as an example, the vehicle-mounted processor 11 transmits the encrypted and compressed packet 40' to the corresponding terminal communication interface 22 in the terminal communication device 20 through the 5G communication channel CH1, the C-V2X communication channel CH2 and the Wi-Fi communication channel CH3 respectively. It should be noted that the encryption means and compression means of the packet 40 are common knowledge in the relevant technical fields. For example, the encryption means may adopt symmetric-key algorithm, Advanced Encryption Standard (AES) or stream cipher, but not limited thereto; the compression means may adopt non-destructive data compression (lossless compression) arithmetic coding (Arithmetic Coding) or Huffman Coding (Huffman Coding), but not limited thereto.

In the present invention, please refer to Figure 5. After the terminal processor 21 receives the encrypted and compressed packet 40' from each terminal communication interface 22, it decompresses and decrypts the encrypted and compressed packet 40' to form a packet 41 to be verified. Normally, the content of the packet 41 to be verified is equivalent to the content of the packet 40. In other words, the terminal processor 21 decompresses and decrypts each encrypted and compressed packet 40' and restores it to the packet 40. It is understandable that when constructing the system of the present invention, the decompression and decryption means implemented by the terminal processor 21 are set to correspond to the encryption and compression means implemented by the vehicle-mounted processor 11, so that the terminal processor 21 can restore each encrypted and compressed packet 40' to the packet 40.

In general, the terminal processor 21 receives a plurality of encrypted and compressed packets 40' from the plurality of terminal communication interfaces 22, respectively, and decompresses and decrypts the plurality of encrypted and compressed packets 40' to obtain a plurality of packets to be verified 41, and then reads the data at the specific position in each of the packets to be verified 41 as a key to be verified, so one key to be verified can correspond to one communication channel CH.

The terminal processor 21 determines whether the plurality of keys to be verified received from the at least two communication channels CH are consistent, so as to control the connection status of the at least two communication channels CH according to the determination result. Taking the embodiment shown in FIG. 2 as an example, and referring to FIG. 6 , the terminal processor 21 can obtain a first key to be verified P1, a second key to be verified P2, and a third key to be verified P3 (step S01), wherein the first key to be verified P1 comes from the encrypted and compressed packet 40' received from the 5G communication channel CH1 (5G mobile communication interface), the second key to be verified P2 comes from the encrypted and compressed packet 40' received from the C-V2X communication channel CH2 (C-V2X communication interface), and the third key to be verified P3 comes from the encrypted and compressed packet 40' received from the Wi-Fi communication channel CH3 (Wi-Fi communication interface).

Then, the terminal processor 21 determines whether the first key to be verified P1, the second key to be verified P2 and the third key to be verified P3 are consistent with each other (step S02). If so, it means that the communication channel between the vehicle communication device 10 and the terminal communication device 20 is secure, and the terminal processor 21 can maintain the current connection status of the multiple terminal communication interfaces 22 and the multiple vehicle communication interfaces 12 (step S03).

On the contrary, when the terminal processor 21 determines that the first key to be verified P1, the second key to be verified P2 and the third key to be verified P3 are inconsistent, it means that any data packet transmitted from the vehicle communication device 10 to the terminal communication device 20 has been tampered with, resulting in that the communication channel between the vehicle communication device 10 and the terminal communication device 20 is insecure. At this time, the terminal processor 21 can change the current connection status of the at least two communication channels CH (step S04), for example, first disconnecting the current connection between the plurality of terminal communication interfaces 22 and the plurality of vehicle communication interfaces 12, and waiting for a preset time before re-handshaking and re-establishing the connection.

In the present invention, the vehicle-mounted processor 11 may not always transmit the encrypted and compressed packet 40 to the outside through the at least two communication channels CH. Correspondingly, the terminal processor 21 may not always receive the multiple encrypted and compressed packets 40' from the at least two communication channels CH and decompress, decrypt and verify them. Therefore, the computing resources of the vehicle-mounted processor 11 and the terminal processor 21 can be relatively saved and the verification efficiency can be improved, as explained below.

As mentioned above, the plurality of terminal communication interfaces 22 shown in FIG1 are respectively connected to the plurality of vehicle communication interfaces 12 to establish at least two communication channels CH, and the vehicle controller 11 can preset one of the at least two communication channels CH as a main communication channel, and the other communication channels CH as backup communication channels. Taking FIG2 as an example, generally speaking, because the data transmission speed of 5G mobile communication is the fastest, the 5G communication channel CH1 can be preset as the main communication channel, and the C-V2X communication channel CH2 and the Wi-Fi communication channel CH3 can be respectively used as backup communication channels.

When the autonomous vehicle is actually running, the connection status between the vehicle communication device 10 and the terminal communication device 20 is to transmit the encrypted and compressed packet 40' only through the main communication channel, and each of the backup communication channels is in an idle state without transmitting data packets. Therefore, as shown in FIG. 7A , the data transmission status of the main communication channel, the square wave peak 50 represents the state of the encrypted and compressed packet 40' being transmitted in the main communication channel, and an interval time t0 is defined between adjacent square wave peaks 50.

In one embodiment, the on-board processor 11 can transmit the encrypted and compressed packet 40 to the outside through the at least two communication channels CH at a random time. That is, the on-board processor 11 transmits the encrypted and compressed packet 40' through the main communication channel and each of the backup communication channels at the random time, thereby allowing the terminal processor 21 to correspondingly receive the multiple encrypted and compressed packets 40' from the at least two communication channels CH at the random time to decompress, decrypt and verify them. As shown in FIG. 7B , the data transmission status of the backup communication channel, the square wave peak 51 represents the status of the encrypted and compressed packet 40' being transmitted in each of the backup communication channels, and the random times t1, t2, and t3 between adjacent square wave peaks 51 are different from each other, and each of the random times t1, t2, and t3 is greater than the interval time t0 shown in FIG. 7A .

In another embodiment, the on-board processor 11 may simultaneously transmit the encrypted and compressed packet 40 to the outside through the at least two communication channels CH at a preset time. That is, the on-board processor 11 simultaneously transmits the encrypted and compressed packet 40' through the main communication channel and each of the backup communication channels at the preset time, thereby enabling the terminal processor 21 to correspondingly receive the multiple encrypted and compressed packets 40' from the at least two communication channels CH at the preset time to decompress, decrypt and verify them. As shown in FIG. 7C , the data transmission status of the backup communication channel, the square wave peak 52 represents the status of the encrypted and compressed packet 40′ being transmitted in each of the backup communication channels, and the preset time T between adjacent square wave peaks 52 are the same, and the preset time T is greater than the interval time t0 shown in FIG. 7A .

Because the random times t1, t2, t3 shown in FIG. 7B and the default time T shown in FIG. 7C are all greater than the interval times t0 shown in FIG. 7A , it means that the vehicle-mounted processor 11 transmits the encrypted and compressed packet 40 to the outside through the at least two communication channels CH at the same time in an intermittent manner, and the terminal processor 21 also receives the multiple encrypted and compressed packets 40' from the at least two communication channels CH in an intermittent manner, and decompresses, decrypts and verifies them, thereby relatively saving the computing resources of the vehicle-mounted processor 11 and the terminal processor 21 and improving the verification efficiency.

In summary, in order to ensure the communication security between the autonomous vehicle and the terminal, the present invention generates a unique key 31 by the vehicle processor 11 and stores the key 31 in the packet 40. According to the cooperative operation between the vehicle communication device 10 and the terminal communication device 20 (as described above), when the terminal processor 21 determines that the at least two keys to be verified are inconsistent, it means that the at least two communication channels CH between the vehicle communication device 10 and the terminal communication device 20 may be hacked and the packet data may be tampered with. Therefore, the present invention can immediately change the connection status of the at least two communication channels CH, thereby avoiding data transmission under the suspicion that the communication channel CH is insecure, thereby ensuring communication security.

In addition, the checksum 405 in the packet 40 and the encryption and compression performed by the onboard processor 11 on the packet 40 are also steps to protect data security. The terminal processor 21 can preliminarily determine whether the data message of the packet 40 is correct based on the checksum 405. If the checksum 405 is wrong, the terminal processor 21 can immediately determine whether the packet 40 is correct. 40 is an abnormal packet, and can control the connection status of the at least two communication channels CH accordingly; on the other hand, the packet 40 can not only reduce the burden of transmission after compression, but compression is also one of the encryption links. Therefore, overall, the encryption and compression implemented by the present invention on the packet 40 is equivalent to implementing composite encryption on the packet 40 to enhance the security of the protection packet.

10: On-board communication device 11: On-board processor 12: On-board communication interface 20: Terminal communication device 21: Terminal processor 22: Terminal communication interface 30: Vehicle information 31: Key 40: Packet 41: Packet to be verified 40’: Encrypted and compressed packet 401: Start symbol 402: Sequence number 403: Time 404: Vehicle information 405: Checksum 406: End symbol 50,51,52: Square wave peak CH: Communication channel CH1: 5G communication channel CH2: C-V2X communication channel CH3: Wi-Fi communication channel P1: First key to be verified P2: Second key to be verified P3: Third key to be verified t0: Interval time t1, t2, t3: Random time T: Default time

Figure 1: Block diagram of the autonomous vehicle communication safety system of the present invention. Figure 2: Block diagram of an embodiment of the autonomous vehicle communication safety system of the present invention. Figure 3: In the present invention, a schematic diagram of the process of generating a key by a vehicle-mounted processor through a coding algorithm based on the vehicle information. Figure 4: In the present invention, a schematic diagram of the data format of a packet. Figure 5: In the present invention, a schematic diagram of the process of processing a packet by a vehicle-mounted processor and a terminal processor. Figure 6: In the present invention, a schematic diagram of the process of a terminal processor determining whether multiple keys to be verified are consistent. Figure 7A: In the present invention, a schematic diagram of the data transmission status of the main communication channel between the vehicle-mounted communication device and the terminal communication device. Figure 7B: In the present invention, a schematic diagram of the data transmission status of the backup communication channel between the vehicle-mounted communication device and the terminal communication device (I). Figure 7C: In the present invention, a schematic diagram of the data transmission status of the backup communication channel between the vehicle-mounted communication device and the terminal communication device (II).

10: In-vehicle communication device

11: On-board processor

12: In-vehicle communication interface

20: Terminal communication device

21: Terminal Processor

22: Terminal communication interface

30: Vehicle information

31: Key

40’: Encrypted and compressed packets

CH: Communication channel

Claims (20)

An autonomous vehicle communication safety system comprises: an on-board communication device, provided in an autonomous vehicle, comprising at least one on-board processor and a plurality of on-board communication interfaces electrically connected to the on-board processor, wherein the on-board processor generates a key according to at least one vehicle information of the autonomous vehicle and stores the key in a package; and a terminal communication device, provided separately from the on-board communication device, comprising at least one terminal processor and a plurality of terminal communication interfaces electrically connected to the terminal processor, wherein at least two of the plurality of terminal communication interfaces establish at least two communication channels with at least two of the plurality of on-board communication interfaces; The vehicle-mounted processor encrypts and compresses the packet and transmits it externally through at least two communication channels. The terminal processor receives at least two encrypted and compressed packets from the at least two communication channels respectively, and decompresses and decrypts the at least two encrypted and compressed packets respectively to obtain at least two keys to be verified. The terminal processor determines whether the at least two keys to be verified are consistent to control the connection status of the at least two communication channels. The automatic driving vehicle communication safety system as described in claim 1, wherein the vehicle-mounted processor transmits the encrypted and compressed packet to the outside through the at least two communication channels at a random time, so that the terminal processor correspondingly receives the at least two encrypted and compressed packets from the at least two communication channels respectively. The automatic driving vehicle communication safety system as described in claim 1, wherein the vehicle-mounted processor transmits the encrypted and compressed packet to the outside through the at least two communication channels at a preset time, so that the terminal processor correspondingly receives the at least two encrypted and compressed packets from the at least two communication channels respectively. An automatic driving vehicle communication safety system as described in any one of claims 1 to 3, wherein the vehicle information includes vehicle information, a system code and a registration code. An automatic driving vehicle communication safety system as described in claim 4, wherein the data format of the packet includes a start symbol, a sequence number, a time, the key, the vehicle information, a check code and an end symbol. The autonomous vehicle communication safety system as described in claim 4, wherein the vehicle processor obtains the system code and the login code from an autonomous driving operating system, the login code representing the identity of a user who uses a digital key or a remote control to start the autonomous vehicle; The vehicle information includes at least one of an identification code, a vehicle body number, the system time of the autonomous driving operating system, vehicle coordinates, acceleration and deceleration information, driving images, road conditions and vehicle speed. An automatic driving vehicle communication safety system as described in claim 5, wherein the key is stored at any position between the start symbol and the end symbol. As described in claim 1, the autonomous vehicle communication safety system, wherein the terminal communication device is provided at a terminal, which is a sideline unit, a backend information station or another autonomous vehicle. An autonomous vehicle communication safety system as described in claim 1, wherein the plurality of vehicle communication interfaces and the plurality of terminal communication interfaces include at least two of a 5G mobile communication interface, a 4G mobile communication interface, a C-V2X communication interface, a Wi-Fi communication interface, a BLE interface, and a first-generation communication interface. An autonomous vehicle communication safety system as described in claim 1, wherein the vehicle information is encoded and accessible by the vehicle processor. A method for communication security of an autonomous vehicle is implemented in an in-vehicle communication device and a terminal communication device, wherein at least two communication channels are established between the in-vehicle communication device and the terminal communication device, and the method for communication security of an autonomous vehicle comprises: At least one in-vehicle processor of the in-vehicle communication device generates a key according to at least one vehicle information of an autonomous vehicle; The in-vehicle processor stores the key in a packet, encrypts and compresses the packet, and transmits it to the outside through the at least two communication channels respectively; At least one terminal processor of the terminal communication device receives at least two encrypted and compressed packets from the at least two communication channels respectively; The terminal processor decompresses and decrypts the at least two encrypted and compressed packets respectively to obtain at least two keys to be verified; and the terminal processor determines whether the at least two keys to be verified are consistent to control the connection status of the at least two communication channels. The autonomous vehicle communication security method as described in claim 11, wherein the vehicle-mounted processor transmits the encrypted and compressed packet to the terminal communication device through the at least two communication channels at a random time. The autonomous vehicle communication security method as described in claim 11, wherein the vehicle-mounted processor transmits the encrypted and compressed packet to the terminal communication device through the at least two communication channels at a preset time. An automatic driving vehicle communication security method as described in any one of claims 11 to 13, wherein the vehicle information includes vehicle information, a system code and a registration code. An autonomous vehicle communication security method as described in claim 14, wherein the data format of the packet includes a start symbol, a sequence number, a time, the key, the vehicle information, a check code and an end symbol. The autonomous vehicle communication security method as described in claim 14, wherein the vehicle processor obtains the system code and the login code from an autonomous driving operating system, the login code representing the identity of a user who uses a digital key or a remote control to start the autonomous vehicle; The vehicle information includes at least one of an identification code, a vehicle body number, the system time of the autonomous driving operating system, vehicle coordinates, acceleration and deceleration information, driving images, road conditions and vehicle speed. An autonomous vehicle communication security method as described in claim 15, wherein the key is stored at any position between the start symbol and the end symbol. The autonomous vehicle communication safety method as described in claim 11, wherein the terminal communication device is provided at a terminal, which is a sideline unit, a backend information station or another autonomous vehicle. The autonomous vehicle communication security method as described in claim 11, wherein the at least two communication channels include at least two of a 5G communication channel, a 4G communication channel, a C-V2X communication channel, a Wi-Fi communication channel, a BLE communication channel, and a first-generation communication channel. An autonomous vehicle communication security method as described in claim 11, wherein the vehicle information is encoded and accessible by the vehicle processor.

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