WO2016134610A1 - 公路列车数据认证鉴权方法及车载终端 - Google Patents

公路列车数据认证鉴权方法及车载终端 Download PDF

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Publication number
WO2016134610A1
WO2016134610A1 PCT/CN2015/098913 CN2015098913W WO2016134610A1 WO 2016134610 A1 WO2016134610 A1 WO 2016134610A1 CN 2015098913 W CN2015098913 W CN 2015098913W WO 2016134610 A1 WO2016134610 A1 WO 2016134610A1
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WIPO (PCT)
Prior art keywords
vehicle
following
data packet
public key
terminal
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PCT/CN2015/098913
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English (en)
French (fr)
Inventor
李慧云
周启航
彭磊
耿永清
徐国卿
Original Assignee
深圳先进技术研究院
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Publication of WO2016134610A1 publication Critical patent/WO2016134610A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
    • H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/06—Authentication
    • H04W12/069—Authentication using certificates or pre-shared keys

Definitions

  • the invention relates to the technical field of road trains, in particular to a road train data authentication and authentication method and an in-vehicle terminal.
  • a road train fleet includes a head vehicle (HV: Head Vehicle) and several follow-up vehicles (FV: Follow Vehicle).
  • HV Head Vehicle
  • FV follow Vehicle
  • the first car collects various data through the on-board sensor and sends out control signals. It passes through the VANET to reach each follow-up car, analyzes and processes the control signals with the car, and accepts the instructions of the first car to complete the driving operation, so that the vehicles form a whole. Complete acceleration and deceleration, turning brakes, overtaking obstacles and other driving actions.
  • road train technology harmonizes the motion state of the entire system, thus reducing traffic congestion caused by different driving behaviors between vehicles.
  • the distance between each vehicle in the fleet can be reduced, the capacity of the road is increased, and the traffic rate is increased.
  • the data exchange between the head car and the following vehicle in the road train technology generally adopts an open channel, and the data packets that are exchanged are generally unencrypted, resulting in leakage of control data and being easily attacked by other data outside the road train fleet.
  • Embodiments of the present invention provide a road train data authentication and authentication method and an in-vehicle terminal, which are generally used to solve the data interaction between the head car and the following car in the current road train technology, and the data packets that are exchanged are generally Unencrypted, resulting in control data leakage and easy attack by other data outside the road train fleet.
  • a road train data authentication and authentication method includes:
  • the joining the fleet request message includes a following public key certificate
  • road train data authentication and authentication method further includes:
  • the sending the control instruction data packet to the following vehicle vehicle terminal includes:
  • the control command data packet is encrypted according to a private car key, and the encrypted control command data packet is sent to the following vehicle-mounted terminal.
  • road train data authentication and authentication method further includes:
  • the parsing the following data packet according to the following public key to obtain the driving operation feedback data of the following vehicle in-vehicle terminal including:
  • road train data authentication and authentication method further includes:
  • the following public key corresponding to the following vehicle terminal in the local database of the first vehicle is deleted.
  • a road train data authentication and authentication method includes:
  • the joining fleet request message includes a following public key certificate
  • the public key of the first public key in the first public key certificate is stored in a local database of the following vehicle;
  • the following data packet is transmitted to the vehicle-mounted vehicle terminal.
  • the method after receiving the control instruction data packet sent by the vehicle-mounted terminal of the first vehicle, the method includes:
  • the following vehicle-mounted terminal is a relay node, transmitting the control command data packet to the following vehicle-mounted terminal corresponding to the destination address information;
  • control command packet is discarded.
  • the parsing the control instruction data packet according to the vehicle public key, and performing a driving operation related to the control instruction data packet including:
  • control instruction data packet If the control instruction data packet is invalid, the control instruction data packet is discarded;
  • control instruction data packet is discarded.
  • the generating driving operation feedback data is packaged as a following data packet, including:
  • Sending the following data packet to the vehicle-mounted vehicle terminal includes:
  • the encrypted following data packet is sent to the vehicle-mounted vehicle terminal.
  • road train data authentication and authentication method further includes:
  • the first public key corresponding to the first vehicle vehicle terminal in the local database of the vehicle is deleted.
  • a vehicle-mounted vehicle terminal includes:
  • a request message receiving unit configured to receive a join fleet request message sent by the onboard vehicle terminal;
  • the join fleet request message includes a following public key certificate;
  • the following public key certificate judging unit is configured to determine whether there is a trusted third party issuing information in the following public key certificate
  • the first public key certificate sending unit is configured to send the first public key certificate to the following vehicle receiving terminal when the trusted public party issues the information in the following public key certificate;
  • a public key storage unit for storing the following public key in the public key certificate in the local database of the vehicle;
  • control instruction data packet sending unit configured to send a control instruction data packet to the following vehicle vehicle terminal
  • the following data packet receiving unit is configured to receive a follow-up data packet sent by the following vehicle-mounted terminal, and parse the following data packet according to the following public key to obtain driving operation feedback data of the following vehicle-mounted terminal.
  • vehicle-mounted vehicle terminal further includes:
  • a vehicle diagnosis system data acquisition unit configured to acquire relevant data of the head vehicle local vehicle diagnosis system
  • a related data judging unit configured to determine whether the related data changes
  • the vehicle-mounted GPS data acquisition unit is configured to acquire local vehicle-mounted vehicle GPS data when the related data changes;
  • the following control command generating unit is configured to generate a following control command according to the related data and the vehicle-mounted vehicle GPS data, and generate the control command data packet.
  • control instruction packet sending unit is specifically configured to:
  • the control command data packet is encrypted according to a private car key, and the encrypted control command data packet is sent to the following vehicle-mounted terminal.
  • vehicle-mounted vehicle terminal further includes:
  • a following data packet monitoring unit configured to determine whether the following data packet is received when the related data does not change
  • the following data packet receiving unit is specifically configured to:
  • vehicle-mounted vehicle terminal further includes:
  • a departure team request message receiving unit configured to receive a departure fleet request message sent by the onboard vehicle terminal
  • a decryption unit configured to decrypt the detached fleet request message according to a private car key
  • a leaving team permission message generating unit configured to generate a leaving team permission message when decrypting the detached team request message, and performing the leaving team permission message according to the following public key in the following public key certificate encryption;
  • a leaving team permission message sending unit configured to send the encrypted leaving team permission message to the following vehicle in-vehicle terminal
  • the following public key deletion unit is configured to delete the following public key corresponding to the following vehicle-mounted terminal in the local database of the first vehicle.
  • a follow-up vehicle terminal includes:
  • Adding a fleet request message sending unit configured to send a joining fleet request message to the in-vehicle vehicle terminal;
  • the joining fleet request message includes a following public key certificate;
  • a public key certificate receiving unit for receiving the first public key certificate sent by the vehicle-mounted terminal of the first vehicle
  • the first public key certificate determining unit is configured to determine whether the trusted third party issues information in the front car public key certificate
  • a first public key storage unit configured to store, in the first public key certificate, the first public key in the first public key certificate in a local database of the following vehicle when the trusted third party issues information ;
  • control instruction data packet receiving unit configured to receive a control instruction data packet sent by the vehicle-mounted vehicle terminal
  • a driving operation execution unit configured to parse the control instruction data packet according to the head vehicle public key, and perform a driving operation related to the control instruction data packet;
  • a follow-up data packet generating unit for generating driving operation feedback data and packaging it as a following data packet
  • a following data packet transmitting unit is configured to send the following data packet to the vehicle-mounted vehicle terminal.
  • vehicle vehicle terminal also includes:
  • the destination address information acquiring unit is configured to acquire destination address information in the control instruction data packet, and determine whether the destination address information corresponds to the following vehicle receiving terminal;
  • a relay node determining unit configured to determine, when the destination address information does not correspond to the on-vehicle vehicle terminal, whether the following vehicle-mounted terminal is a relay node;
  • control command packet forwarding unit configured to: when the following vehicle-mounted terminal is a relay node, send the control command data packet to a following vehicle-mounted terminal corresponding to the destination address information;
  • the control command packet discarding unit is configured to discard the control command packet when the following vehicle-mounted terminal is not a relay node.
  • the driving operation execution unit is specifically configured to:
  • control instruction data packet When the control instruction data packet is invalid, the control instruction data packet is discarded;
  • control instruction data packet is discarded.
  • the following data packet generating unit is specifically configured to:
  • the following data packet sending unit is specifically configured to:
  • the encrypted following data packet is sent to the vehicle-mounted vehicle terminal.
  • vehicle vehicle terminal also includes:
  • a detachment from the fleet request message generating unit configured to generate a detached fleet request message, and encrypt the detached fleet request message by the first vehicle public key
  • Departing from the fleet request message sending unit configured to send the encrypted departure team request message to the head vehicle vehicle terminal;
  • a team leaving permission message receiving unit configured to receive a team leaving permission message sent by the in-vehicle vehicle terminal
  • a decryption unit configured to decrypt the departure permission message according to a private car key
  • the first public key deleting unit is configured to delete the first public key corresponding to the first vehicle vehicle terminal in the local database when the decryption permission message is successful.
  • An in-vehicle terminal includes a power adapter, an OBD interface, a GPS module, a central processing chip, an MCU chip, an encryption and decryption chip, and a communication module; wherein the MCU chip and the communication module, the central processing chip, the OBD interface, and the The decryption chip and the power adapter are respectively connected; the power adapter is further connected to the OBD interface, the GPS module, the central processing chip, the encryption and decryption chip, and the communication module, respectively, for the OBD interface, the GPS module, the central processing chip, and the The decryption chip and the communication module are powered; the GPS module is also connected to the central processing chip.
  • the power adapter is a DC-DC regulator.
  • the vehicle-mounted vehicle terminal when the vehicle-mounted vehicle terminal receives the joining vehicle request message sent by the following vehicle-mounted terminal, the vehicle-mounted vehicle terminal can authenticate the following public key certificate. And after the authentication is successful, send its own car public key certificate to the corresponding car-mounted terminal.
  • the following vehicle-mounted terminal may parse the control instruction data packet according to the first-car public key in the vehicle-side public key certificate, and perform the control instruction The data-related driving operation; the following vehicle-mounted terminal can also transmit the following data packet, and the vehicle-mounted vehicle terminal can analyze the following data packet according to the following public key to obtain the driving operation feedback data of the following vehicle-mounted terminal.
  • the open channel is avoided when the head car and the following data are exchanged, and the interactive data packets are generally not encrypted, resulting in leakage of control data and easy attack by other data outside the road train fleet.
  • FIG. 1 is a flowchart 1 of a road train data authentication and authentication method according to an embodiment of the present invention
  • FIG. 2 is a second flowchart of a road train data authentication and authentication method according to an embodiment of the present invention
  • 3A is a first part of flowchart 3 of a road train data authentication and authentication method according to an embodiment of the present invention
  • 3B is a second part of flowchart 3 of a road train data authentication and authentication method according to an embodiment of the present invention.
  • FIG. 4 is a flowchart of a departure train fleet in a road train data authentication and authentication method according to an embodiment of the present invention
  • FIG. 5 is a schematic structural diagram 1 of a vehicle-mounted vehicle terminal according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram 2 of a vehicle-mounted vehicle head vehicle according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram 1 of a vehicle-mounted vehicle terminal according to an embodiment of the present invention.
  • FIG. 8 is a second schematic structural diagram of a vehicle-mounted vehicle terminal according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of an in-vehicle terminal according to an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of connection of an OBD interface according to an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of a GPS module in an embodiment of the present invention.
  • FIG. 12 is a schematic diagram of a communication module according to an embodiment of the present invention.
  • FIG. 13 is a schematic diagram of an MCU chip and an encryption/decryption chip according to an embodiment of the present invention.
  • FIG. 14 is a schematic diagram of a power adapter module according to an embodiment of the present invention.
  • an embodiment of the present invention provides a road train data authentication and authentication method, which is described by an in-vehicle vehicle terminal as an execution subject, and the method includes:
  • Step 101 Receive a join fleet request message sent by the onboard vehicle terminal.
  • the joining team request message includes a following public key certificate.
  • Step 102 Determine whether a trusted third party issues information in the following public key certificate.
  • Step 103 When the trusted public party issues the information in the public key certificate, the first public key certificate is sent to the following vehicle terminal.
  • Step 104 Store the following public key in the public key certificate in the local database of the first vehicle.
  • Step 105 Send a control command data packet to the following vehicle vehicle terminal, so that the following vehicle vehicle terminal analyzes the control command data packet according to the head vehicle public key in the vehicle public key certificate, and performs a driving operation related to the control command data packet.
  • Step 106 Receive a follow-up data packet sent by the on-vehicle vehicle terminal, and parse the following data packet according to the following public key to obtain driving operation feedback data of the on-vehicle vehicle terminal.
  • the vehicle-mounted vehicle terminal when the vehicle-mounted vehicle terminal receives the joining vehicle request message sent by the following vehicle-mounted terminal, the vehicle-mounted vehicle terminal can authenticate the following public key certificate and is authenticated. After successful, send your own car public key certificate to the corresponding car-mounted terminal. Therefore, when the control instruction data packet is subsequently sent to the on-vehicle vehicle terminal, the following vehicle vehicle terminal can parse the control instruction data packet according to the head vehicle public key in the vehicle public key certificate, and perform a driving operation related to the control instruction data packet.
  • the following vehicle vehicle terminal can also send a follow-up data packet, and the vehicle-mounted vehicle terminal can analyze the following data packet according to the following public key to obtain the driving operation feedback data of the following vehicle-mounted terminal.
  • the open channel is avoided when the head car and the following data are exchanged, and the interaction is Packets are generally unencrypted, resulting in control data leakage and easy attack by other data outside the road train fleet.
  • an embodiment of the present invention provides a road train data authentication and authentication method, which is described by an in-vehicle vehicle terminal as an execution subject, and the method includes:
  • Step 201 Send a join team request message to the in-vehicle terminal of the first vehicle.
  • the joining team request message includes a following public key certificate.
  • Step 202 Receive a public key certificate of the first vehicle sent by the vehicle-mounted terminal of the first vehicle.
  • Step 203 Determine whether there is a trusted third party issuing information in the public car key certificate.
  • Step 204 When there is a trusted third party issuing information in the first public key certificate, the public key of the first public key in the first public key certificate is stored in the local database of the following vehicle.
  • Step 205 Receive a control instruction data packet sent by the vehicle-mounted terminal of the first vehicle.
  • Step 206 Analyze the control instruction data packet according to the public key of the vehicle, and perform a driving operation related to the control instruction data packet.
  • Step 207 Generate driving operation feedback data, and package the data into a follow-up data packet.
  • Step 208 Send the following data packet to the vehicle-mounted vehicle terminal.
  • the on-vehicle vehicle terminal can send a join fleet request message to the vehicle-mounted vehicle terminal, so that the vehicle-mounted vehicle terminal authenticates the following public key certificate, and after the authentication succeeds Send your own car public key certificate to the corresponding car-mounted terminal. Therefore, when the following in-vehicle terminal receives the control command data packet, the following vehicle in-vehicle terminal can parse the control command data packet according to the head car public key in the head car public key certificate, and perform a driving operation related to the control command data packet.
  • the following vehicle vehicle terminal can also send a follow-up data packet, so that the vehicle-mounted vehicle terminal can analyze the following data packet according to the following public key, and obtain the driving operation feedback data of the following vehicle-mounted terminal.
  • the open channel is avoided when the head car and the following data are exchanged, and the interactive data packets are generally not encrypted, resulting in leakage of control data and easy attack by other data outside the road train fleet.
  • FIG. 3A and FIG. 3B shows steps 301 to 308, FIG. 3B shows a step 309 to a step 325, where M and N are the connections of the two lines of FIG. 3A and FIG. 3B.
  • the embodiment of the present invention provides a road train data authentication and authentication method, including:
  • Step 301 The following vehicle in-vehicle terminal sends a join fleet request message to the in-vehicle vehicle terminal.
  • the joining team request message includes a follow-up public key certificate.
  • Step 302 The in-vehicle vehicle terminal determines whether there is a trusted third party issuing information in the following public key certificate.
  • step 303 If there is a trusted third party to issue the information in the public key certificate, step 303 is performed; otherwise, if there is no trusted third party to issue the information in the public key certificate, step 304 is performed.
  • Step 303 The head vehicle vehicle terminal sends the head vehicle public key certificate to the following vehicle vehicle terminal, and stores the following public key in the received vehicle public key certificate in the head vehicle local database. Then proceed to step 305.
  • Step 304 The in-vehicle vehicle terminal does not allow the in-vehicle vehicle terminal to join the fleet, and prevents the following vehicle-mounted terminal from transmitting data to the vehicle.
  • Step 305 The following vehicle terminal determines whether there is a trusted third party issuing information in the public key certificate of the vehicle.
  • step 306 If there is a trusted third party issuing information in the public key certificate of the first car, step 306 is performed; otherwise, if there is a trusted third party issuing information in the public key certificate of the first car, step 307 is performed. If the vehicle-mounted vehicle terminal does not receive the head-car public key certificate transmitted by the vehicle-mounted vehicle terminal within a predetermined time, the process returns to step 301 after a predetermined time. That is, for example, if the first public key certificate transmitted by the vehicle-mounted vehicle terminal is not received within 10 seconds, the joining vehicle request message can be re-sent to the vehicle-mounted vehicle terminal.
  • Step 306 The following vehicle vehicle terminal stores the first public key in the vehicle public key certificate in the following local database. Then step 308 is performed.
  • Step 307 The following vehicle in-vehicle terminal prevents the vehicle-mounted vehicle terminal from transmitting data to the vehicle.
  • Step 308 The vehicle-mounted vehicle terminal acquires relevant data of the local vehicle local vehicle diagnosis system, and determines whether the related data changes.
  • step 309 is performed; otherwise, if the related data does not change, step 310 is performed.
  • Step 309 The vehicle-mounted vehicle terminal obtains the local vehicle GPS data. Then step 311 is performed.
  • Step 311 The vehicle-mounted vehicle terminal generates a following control command according to the relevant data and the vehicle-mounted GPS data, and generates a control command data packet.
  • Step 312 The vehicle-mounted vehicle terminal encrypts the control command data packet according to the private key of the first vehicle, and sends the encrypted control command data packet to the following vehicle-mounted terminal.
  • Step 313 The following vehicle access terminal acquires the destination address information in the control command data packet, and determines whether the destination address information corresponds to the following vehicle-mounted terminal.
  • step 314 If the destination address information does not correspond to the following vehicle-mounted terminal, step 314 is performed; otherwise, if the destination address information corresponds to the following vehicle-mounted terminal, step 315 is performed.
  • Step 314 The following vehicle in-vehicle terminal determines whether the terminal itself is a relay node.
  • step 316 is performed; otherwise, if the following vehicle-mounted terminal is not a relay node, step 317 is performed.
  • Step 316 The following vehicle terminal transmits the control command data packet to the following vehicle-mounted terminal corresponding to the destination address information.
  • Step 317 The following vehicle terminal discards the control command data packet.
  • Step 315 The following vehicle vehicle terminal decrypts the control command data packet according to the vehicle public key, and determines whether the control instruction data packet is legal.
  • step 317 is performed; if the control command data packet is legal, step 318 is performed.
  • Step 318 The vehicle-mounted vehicle terminal acquires a second timestamp of the control instruction data packet, and determines whether the time difference between the second timestamp and the current time is less than or equal to a preset second time threshold.
  • step 319 is performed; otherwise, if the time difference between the second timestamp and the current time is greater than the second time threshold, step 317 is performed.
  • Step 319 The following vehicle vehicle terminal parses the head vehicle data packet, acquires a control command in the control command data packet, and controls the vehicle to perform the driving operation.
  • Step 320 The following vehicle acquisition terminal acquires data related to the local following vehicle diagnosis system.
  • Step 321 The following vehicle vehicle terminal generates driving operation feedback data according to relevant data of the local following vehicle diagnosis system, and packages the data as a following data packet.
  • Step 322 The following vehicle vehicle terminal encrypts the following data packet by using a private car key, and transmits the encrypted following data packet to the vehicle-mounted vehicle terminal. Then step 310 is performed.
  • Step 310 The vehicle-mounted vehicle terminal determines whether the following data packet is received. Step 323 is continued after step 310.
  • Step 323 If the vehicle-mounted terminal of the first vehicle receives the following data packet, the vehicle-mounted vehicle terminal decrypts the following data packet by following the public key of the vehicle, and obtains the first time stamp of the following data packet.
  • Step 324 The vehicle-mounted vehicle terminal determines whether the time difference between the first time stamp and the current time is less than or equal to a preset first time threshold.
  • Step 325 If the time difference between the first time stamp and the current time is less than or equal to the first time threshold, the vehicle-mounted vehicle terminal parses the following data packet, obtains the driving operation feedback data of the following vehicle-mounted terminal, and feeds the driving operation feedback data to the control command.
  • the control command in the data packet and the driving operation feedback data are stored in the head vehicle local database.
  • Step 401 A follow-up vehicle request message is generated by the following vehicle terminal, and the departure from the fleet request message is encrypted by the front vehicle public key.
  • Step 402 The following vehicle in-vehicle terminal sends the encrypted departure vehicle request message to the vehicle-mounted vehicle terminal.
  • Step 403 The in-vehicle vehicle terminal decrypts the departure of the fleet request message according to the private key of the first vehicle.
  • Step 404 If the decryption is out of the team request message, the first vehicle vehicle terminal generates a team leaving permission message, and encrypts the team leaving permission message according to the following public key in the car public key certificate.
  • Step 405 The first vehicle vehicle terminal sends the encrypted departure permission message to the following vehicle vehicle terminal, and deletes the following public key corresponding to the following vehicle vehicle terminal in the local vehicle database.
  • Step 406 The following vehicle vehicle terminal decrypts the departure permission message according to a private car key.
  • the departure request message may return to step 402 to resend the departure of the fleet request message.
  • Step 407 If the decryption leaving permission message is successful, the following vehicle vehicle terminal deletes the first public key corresponding to the first vehicle vehicle terminal in the local database.
  • the vehicle-mounted vehicle terminal when the vehicle-mounted vehicle terminal receives the joining vehicle request message sent by the following vehicle-mounted terminal, the vehicle-mounted vehicle terminal can authenticate the following public key certificate and is authenticated. After successful, send your own car public key certificate to the corresponding car-mounted terminal. Therefore, when the control instruction data packet is subsequently sent to the on-vehicle vehicle terminal, the following vehicle vehicle terminal can parse the control instruction data packet according to the head vehicle public key in the vehicle public key certificate, and perform a driving operation related to the control instruction data packet.
  • the following vehicle vehicle terminal can also send a follow-up data packet, and the vehicle-mounted vehicle terminal can analyze the following data packet according to the following public key to obtain the driving operation feedback data of the following vehicle-mounted terminal.
  • the open channel is avoided when the head car and the following data are exchanged, and the interactive data packets are generally not encrypted, resulting in leakage of control data and easy attack by other data outside the road train fleet.
  • an embodiment of the present invention provides a vehicle-mounted vehicle terminal, comprising:
  • the request message receiving unit 51 can receive the join fleet request message sent by the onboard vehicle terminal.
  • the joining the team request message includes a following public key certificate
  • the following public key certificate determining unit 52 can determine whether there is a trusted third party issuing information in the following public key certificate.
  • the first public key certificate transmitting unit 53 can send the first public key certificate to the following vehicle terminal when there is a trusted third party issuing the information in the public key certificate.
  • the following public key storage unit 54 can store the following public key in the public key certificate in the local database of the vehicle.
  • the control command packet transmitting unit 55 can transmit a control command packet to the following vehicle terminal.
  • the following data packet receiving unit 56 can receive the following data packet transmitted by the onboard vehicle terminal, and analyze the following data packet according to the following public key to obtain the driving operation feedback data of the following vehicle receiving terminal.
  • the vehicle-mounted vehicle terminal may further include:
  • the vehicle diagnosis system data acquisition unit 57 can acquire related data of the head vehicle local vehicle diagnosis system.
  • the correlation data judging unit 58 can judge whether or not the related data has changed.
  • the head vehicle in-vehicle GPS data acquiring unit 59 can acquire the local head vehicle car GPS data when the related data changes.
  • the following control command generation unit 60 can generate a following control command based on the relevant data and the vehicle-mounted GPS data, and generate a control command packet.
  • control command packet transmitting unit 55 may specifically encrypt the control command packet according to the first vehicle private key, and transmit the encrypted control command packet to the following vehicle terminal.
  • the vehicle-mounted vehicle terminal may further include:
  • the following data packet monitoring unit 61 can determine whether or not the following data packet is received when the relevant data has not changed.
  • the following data packet receiving unit 56 can specifically decrypt the following data packet by using the following public key to obtain a first time stamp of the following data packet. Determining whether the time difference between the first time stamp and the current time is less than or equal to a preset first time threshold. When the time difference between the first time stamp and the current time is less than or equal to the first time threshold, the following data packet is parsed, the driving operation feedback data of the following vehicle in-vehicle terminal is acquired, and the driving operation feedback data is fed back to the control instruction in the control instruction data packet. On, and store the driving operation feedback data in the local database of the head car.
  • the vehicle-mounted vehicle terminal further includes:
  • the departure vehicle request message receiving unit 62 can receive the departure fleet request message transmitted by the onboard vehicle terminal.
  • the decryption unit 63 can decrypt the out of team request message according to the private key of the first vehicle.
  • the leaving team permission message generating unit 64 may generate a team leaving permission message when the decryption out of team request message is successful, and encrypt the team leaving permission message according to the following public key in the car public key certificate.
  • the leaving team permission message transmitting unit 65 can transmit the encrypted team leaving permission message to the following vehicle-mounted terminal.
  • the following public key deletion unit 66 can delete the following public key corresponding to the following vehicle-mounted terminal in the local database of the first vehicle.
  • the vehicle-mounted vehicle terminal when the vehicle-mounted vehicle terminal receives the joining vehicle request message sent by the following vehicle-mounted terminal, the vehicle-mounted vehicle terminal can authenticate the following public key certificate, and after the authentication is successful, The own car public key certificate is sent to the corresponding car-mounted terminal. Therefore, when the control instruction data packet is subsequently sent to the on-vehicle vehicle terminal, the following vehicle vehicle terminal can parse the control instruction data packet according to the head vehicle public key in the vehicle public key certificate, and perform a driving operation related to the control instruction data packet.
  • the following vehicle vehicle terminal can also send a follow-up data packet, and the vehicle-mounted vehicle terminal can analyze the following data packet according to the following public key to obtain the driving operation feedback data of the following vehicle-mounted terminal.
  • the open channel is avoided when the head car and the following data are exchanged, and the interactive data packets are generally not encrypted, resulting in leakage of control data and easy attack by other data outside the road train fleet.
  • an embodiment of the present invention provides a following vehicle-mounted terminal, including:
  • the joining team request message transmitting unit 71 can transmit a joining team request message to the in-vehicle vehicle terminal.
  • the joining team request message includes a following public key certificate.
  • the head vehicle public key certificate receiving unit 72 can receive the head car public key certificate sent by the head vehicle vehicle terminal.
  • the head vehicle public key certificate determining unit 73 can determine whether there is a trusted third party issuing information in the head vehicle public key certificate.
  • the head car public key storage unit 74 may store the head car public key in the head car public key certificate in the following local database when there is a trusted third party issuing information in the head car public key certificate.
  • the control command packet receiving unit 75 can receive the control command packet transmitted by the vehicle-mounted vehicle terminal.
  • the travel operation execution unit 76 can analyze the control command data packet based on the head vehicle public key and perform a travel operation related to the control command data packet.
  • the following data packet generation unit 77 can generate travel operation feedback data and package it as a following data packet.
  • the following data packet transmitting unit 78 can transmit the following data packet to the vehicle-mounted vehicle terminal.
  • the following vehicle vehicle terminal may further include:
  • the destination address information acquiring unit 79 can acquire the destination address information in the control command packet, and determine whether the destination address information corresponds to the following vehicle-mounted terminal.
  • the relay node determination unit 80 can determine whether the following vehicle-mounted terminal is a relay node when the destination address information does not correspond to the on-vehicle vehicle terminal.
  • the control command packet forwarding unit 81 can transmit the control command packet to the following vehicle address terminal corresponding to the destination address information when the following vehicle-mounted terminal is a relay node.
  • the control command packet discarding unit 82 can discard the control command packet at the following vehicle-mounted vehicle terminal instead of the relay node.
  • the driving operation executing unit 76 may specifically decrypt the control command data packet according to the vehicle public key when the destination address information is corresponding to the following vehicle terminal, and determine whether the control command data packet is legal; when the control command data packet is illegal And discarding the control instruction data packet; when the control instruction data packet is legal, acquiring a second timestamp of the control instruction data packet; determining whether the time difference between the second timestamp and the current time is less than or equal to a preset second time threshold; When the time difference between the second time stamp and the current time is less than or equal to the second time threshold, the head vehicle data packet is parsed, the control command in the control command data packet is acquired, and the vehicle is controlled to perform the driving operation; at the second time stamp and the current time When the time difference is greater than the second time threshold, the control command packet is discarded.
  • the following data packet generating unit 77 can specifically acquire relevant data of the local following vehicle diagnosis system; generate driving operation feedback data according to relevant data of the local following vehicle diagnosis system, and package the data into a follow-up data packet; A car private key will encrypt the car data packet.
  • the following data packet transmitting unit 78 may specifically transmit the encrypted following data packet to the vehicle-mounted vehicle terminal.
  • the following vehicle vehicle terminal further includes:
  • a escaping fleet request message can be generated and the escaping fleet request message is encrypted by the head vehicle public key.
  • the detached fleet request message transmitting unit 84 can transmit the encrypted escaping fleet request message to the head vehicle vehicular terminal.
  • the leaving team permission message receiving unit 85 can receive the team leaving permission message sent by the head vehicle in-vehicle terminal.
  • the decryption unit 86 can decrypt the departure permission message according to a private car key.
  • the head vehicle public key deleting unit 87 may delete the head vehicle public key corresponding to the head vehicle vehicle terminal in the following local database when the decryption leaving permission message is successful.
  • the following vehicle-mounted vehicle terminal can send a team-request message to the vehicle-mounted vehicle terminal, so that the vehicle-mounted vehicle terminal authenticates the following public key certificate, and after the authentication succeeds, The head car public key certificate is sent to the corresponding car-mounted vehicle terminal. Therefore, when the following in-vehicle terminal receives the control command data packet, the following vehicle in-vehicle terminal can parse the control command data packet according to the head car public key in the head car public key certificate, and perform a driving operation related to the control command data packet.
  • the following vehicle vehicle terminal can also send a follow-up data packet, so that the vehicle-mounted vehicle terminal can analyze the following data packet according to the following public key, and obtain the driving operation feedback data of the following vehicle-mounted terminal.
  • the open channel is avoided when the head car and the following data are exchanged, and the interactive data packets are generally not encrypted, resulting in leakage of control data and easy attack by other data outside the road train fleet.
  • an in-vehicle terminal provided by the embodiment of the present invention includes a power adapter 90, an OBD interface 91, a GPS module 92, and a central processing unit.
  • the MCU (Micro Control Unit) chip 94 is connected to the communication module 95, the central processing chip 93, the OBD interface 91, the encryption/decryption chip 96, and the power adapter 90, respectively.
  • the power adapter 90 is also connected to the OBD interface 91, the GPS (Global Positioning System) module 92, the central processing chip 93, the encryption and decryption chip 96, and the communication module 95, respectively, for the OBD interface 91, the GPS module 92, and the central processing chip 93.
  • the encryption and decryption chip 96 and the communication module 95 are powered; the GPS module 92 is also connected to the central processing chip 93.
  • the power adapter 90 can be a DC-DC regulator.
  • the power adapter module is used for voltage adaptation and current shunting.
  • the OBD interface is an On Board Diagnosis (OBD) interface for collecting current vehicle condition information.
  • OBD On Board Diagnosis
  • the OBD interface uses a standard 16-pin OBD electrical interface and can be connected to the OBD interface of the car. It should be noted that the OBD interface has the 16th in addition to the OBD protocol data pin. The pins can take power from the car battery and become the power source for the entire vehicle terminal.
  • the connection status of the OBD interface can be as shown in FIG.
  • the OBD interface is composed of an OBDII chip connected to the ELM327 device, and then the vehicle data is exported through the serial port of the ELM327 and transmitted to the MCU chip.
  • the ELM327 chip integrates a CAN controller inside, and an MCP2551CAN transceiver is externally connected to the CAN controller.
  • the MCP2551CAN port high and low bits are respectively connected to the CAN+ and CAN- ports of OBDII, and the TXD port is used as the CAN bus data transmission port and ELM327.
  • the CANTX port is connected, and the RXD port is connected to the RX port of the ELM327 as a receiving port of the CAN bus data.
  • the SAE+ and SAE- ports on the OBDII are connected to the J1850 bus port of the ELM327 via the J1850 bus.
  • the BAT+ on the OBDII chip acts as a car battery outlet to provide +12V to the power adapter module.
  • the following is an overview of the OBD-II interface design (equivalent to the line selection module, the MCU can select the communication interface through the AT command of the ELM327).
  • the module is connected to the car through the OBD-II interface, and the level conversion circuit converts the level of different protocols. Level information that the microcontroller can recognize.
  • the OBD interface is connected to the MCU chip via the ELM327 chip.
  • the ELM327 is a dedicated OBD-II gateway chip.
  • an output-adjustable voltage adjustment chip the LM317.
  • the output voltage of the LM317 is controlled by the M18 pin J1850Volts. When the pin J1850Volts outputs a high level, it can get 8V on the LM317 pin. When the pin J1850Volts outputs low level, it will get 5V at the LM317 output.
  • the voltage signal on the transmission line SAE J1850+ is divided by R12 and R33 and sent to the chip ELM327.
  • the output is done via pin 4 (J1850Bus+) of the ELM327.
  • pin 4 When pin 4 outputs a high level, transistor Q3 is turned on, Q2 is also turned on, and the transmission line SAE J1850+ voltage is pulled up to about 8V, and the bus is in the dominant bit. Otherwise, when pin 4 outputs a low level, the bus is in a recessive position.
  • the transmission line SAE J1850+ is dominant (high level) when inputting, SAE J1850- is also dominant (low level).
  • the CC50-BG is a Beidou GPS positioning chip. It has an antenna interface connected to an external antenna, and its UART interface is connected to the TXD_SCI and RXD_SCI ports of the CP2105 chip.
  • the CP2105 chip is a bridge converter with RS232 serial port switching USB.
  • the USB data bus of the CP2105 chip is connected to the USB port of the host computer to transmit GPS data.
  • FIG. 12 it is a schematic diagram of an internal specific pin of the communication module 95.
  • the module uses a VTX201 chip, and the chip reset signal line is connected to the host computer, wherein SPI0SCLK, SPI0TX, SPI0RX and SPI0_FM are used as data ports, Data is passed between the communication module 95 and the MCU chip.
  • FIG. 13 it is an internal specific pin diagram of the MCU chip 94 and the encryption and decryption chip 96 , wherein the MCU chip adopts an STM32F103C6 chip with an ARM core (hereinafter referred to as STM32), and the encryption/decryption chip 96 adopts It is an ECIES encryption and decryption chip based on the 8051 core.
  • the Rxd0 and Txd0 ports of the ECIES encryption and decryption chip are connected to the serial port of the UART3 of the STM32F103C6 chip, and the data to be encrypted and decrypted is transmitted between. There are 3 UART ports on the STM32 chip.
  • UART1 is connected to the ELM327 UART port of OBDII through the serial port to collect the vehicle condition data transmitted from the OBD module.
  • the UART2 serial port is connected to the host computer through the ECI port of the CP2105 for transmitting GPS data.
  • the UART3 serial port is used.
  • Connected to the data port of the encryption and decryption chip 96, the data to be encrypted and decrypted is transmitted.
  • There is also a CAN bus controller port on the STM32 chip which is connected to the vehicle control module through the MCP2551.
  • the SPI0 interface on the STM32 acts as an additional data transmission port to connect to the data port of the V2X-201 chip, and transmits data to the communication module.
  • the power supply adapter module uses a MAX16977 automotive DC-DC regulator to provide the required +5V of the vehicle data processing module. Voltage.
  • the LDO power supply can convert the input voltage of 12V into a low voltage of +3.3V for use by MCU chips, central processing chips and GPS modules.
  • the vehicle-mounted terminal provided by the embodiment of the invention can be used in an automobile to perform encrypted communication between the vehicles, avoiding an open channel when the first vehicle and the following data are exchanged, and the interactive data packets are generally not encrypted. This leads to problems with control data leakage and easy attack by other data outside the road train fleet.
  • embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

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Abstract

本发明提供了一种公路列车数据认证鉴权方法及车载终端，涉及公路列车技术领域，方法包括：接收跟车车载终端发送的加入车队请求消息；判断加入车队请求消息中的跟车公钥证书中是否有可信第三方签发信息；若跟车公钥证书中有可信第三方签发信息，向跟车车载终端发送头车公钥证书；将跟车公钥证书中的跟车公钥存储于头车本地数据库中；向跟车车载终端发送控制指令数据包，以使得跟车车载终端根据头车公钥证书中的头车公钥解析控制指令数据包，并进行与控制指令数据包相关的行驶操作；接收跟车车载终端发送的跟车数据包，并根据跟车公钥解析跟车数据包，获取跟车车载终端的行驶操作反馈数据。本发明能够避免头车与跟车的数据被攻击的问题。

Description

公路列车数据认证鉴权方法及车载终端 技术领域
本发明涉及公路列车技术领域，尤其涉及一种公路列车数据认证鉴权方法及车载终端。
背景技术
近年来，公路列车技术逐渐得到了人们的认可。公路列车技术是通过车载自组织网络(Vehicle Ad-hoc Networks，简称VANET)将一辆辆单独的汽车从形态上连接成一个车队形式，在网络通信的基础上形成一个独立的自组织网络。一个公路列车车队中包含一辆头车(HV：Head Vehicle)以及若干辆跟车(FV：Follow Vehicle)。行驶中，头车通过车载传感器将各项数据采集后经处理发出控制信号，经由VANET到达各跟车，跟车分析处理控制信号，接受头车的指令完成驾驶操作，从而各车辆形成一个整体，完成加速减速，转弯刹车，超车避障等行驶动作。公路列车技术通过协同驾驶，使得整个系统的运动状态协调一致，因此减少了因为车辆之间不同的驾驶行为造成的交通拥堵情况。同时，通过公路列车系统，可以减少车队中每个车辆的间距，增大了公路的容量，提高了通行率。
当前，公路列车技术中的头车与跟车进行数据交互时一般采用开放的信道，而且所交互的数据包一般均未加密，导致控制数据泄露，容易被公路列车车队外的其他数据攻击。
发明内容
本发明的实施例提供一种公路列车数据认证鉴权方法及车载终端，以解决当前公路列车技术中的头车与跟车进行数据交互时一般采用开放的信道，而且所交互的数据包一般均未加密，导致控制数据泄露，容易被公路列车车队外的其他数据攻击的问题。
为达到上述目的，本发明采用如下技术方案：
一种公路列车数据认证鉴权方法，包括：
接收跟车车载终端发送的加入车队请求消息；所述加入车队请求消息包括一跟车公钥证书；
判断所述跟车公钥证书中是否有可信第三方签发信息；
若所述跟车公钥证书中有所述可信第三方签发信息，向所述跟车车载终端发送头车公钥证书；
将所述跟车公钥证书中的跟车公钥存储于头车本地数据库中；
向所述跟车车载终端发送控制指令数据包，以使得所述跟车车载终端根据所述头车公钥证书中的头车公钥解析所述控制指令数据包，并进行与所述控制指令数据包相关的行驶操作；
接收所述跟车车载终端发送的跟车数据包，并根据所述跟车公钥解析所述跟车数据包，获取跟车车载终端的行驶操作反馈数据。
进一步的，该公路列车数据认证鉴权方法，还包括：
获取头车本地车辆诊断系统的相关数据；
判断所述相关数据是否发生变化；
若所述相关数据发生变化，获取本地头车车载GPS数据；
根据所述相关数据和所述头车车载GPS数据，生成跟车控制指令，并生成所述控制指令数据包。
具体的，所述向所述跟车车载终端发送控制指令数据包，包括：
根据一头车私钥对所述控制指令数据包进行加密，并将加密后的控制指令数据包发送给所述跟车车载终端。
进一步的，所述公路列车数据认证鉴权方法，还包括：
若所述相关数据未发生变化，判断是否收到所述跟车数据包；
所述根据所述跟车公钥解析所述跟车数据包，获取跟车车载终端的行驶操作反馈数据，包括：
在收到所述跟车数据包后，通过所述跟车公钥对所述跟车数据包进行解密，获取所述跟车数据包的第一时间戳；
判断所述第一时间戳与当前时间的时间差是否小于等于一预先设置的第一时间阈值；
若所述第一时间戳与当前时间的时间差小于等于所述第一时间阈值，解析所述跟车数据包，获取跟车车载终端的行驶操作反馈数据，将所述行驶操作反馈数据反馈到所述控制指令数据包中的控制指令上，并将所述行驶操作反馈数据存储于所述头车本地数据库中。
进一步的，所述公路列车数据认证鉴权方法，还包括：
接收跟车车载终端发送的脱离车队请求消息；
根据一头车私钥对所述脱离车队请求消息进行解密；
若解密所述脱离车队请求消息成功，生成一脱队许可消息，并根据所述跟车公钥证书中的跟车公钥将所述脱队许可消息进行加密；
向所述跟车车载终端发送加密后的所述脱队许可消息；
将头车本地数据库中的所述跟车车载终端对应的跟车公钥删除。
一种公路列车数据认证鉴权方法，包括：
向一头车车载终端发送加入车队请求消息；所述加入车队请求消息包括一跟车公钥证书；
接收头车车载终端发送的头车公钥证书；
判断所述头车公钥证书中是否有所述可信第三方签发信息；
若所述头车公钥证书中有所述可信第三方签发信息，将所述头车公钥证书中的头车公钥存储于跟车本地数据库中；
接收头车车载终端发送的控制指令数据包；
根据所述头车公钥解析所述控制指令数据包，并进行与所述控制指令数据包相关的行驶操作；
生成行驶操作反馈数据，并打包为跟车数据包；
将所述跟车数据包发送到所述头车车载终端。
具体的，在接收头车车载终端发送的控制指令数据包之后，包括：
获取所述控制指令数据包中的目的地址信息，判断所述目的地址信息是否与跟车车载终端对应；
若所述目的地址信息与跟车车载终端不对应，判断所述跟车车载终端是否为中继节点；
若所述跟车车载终端是中继节点，将所述控制指令数据包发送给与所述目的地址信息对应的跟车车载终端；
若所述跟车车载终端不是中继节点，将所述控制指令数据包丢弃。
具体的，所述根据所述头车公钥解析所述控制指令数据包，并进行与所述控制指令数据包相关的行驶操作，包括：
若所述目的地址信息与跟车车载终端对应，根据所述头车公钥解密所述控制指令数据包，并判断所述控制指令数据包是否合法；
若所述控制指令数据包不合法，将所述控制指令数据包丢弃；
若所述控制指令数据包合法，获取所述控制指令数据包的第二时间戳；
判断所述第二时间戳与当前时间的时间差是否小于等于一预先设置的第二时间阈值；
若所述第二时间戳与当前时间的时间差小于等于所述第二时间阈值，解析所述头车数据包，获取所述控制指令数据包中的控制指令，并控制本车进行行驶操作；
若所述第二时间戳与当前时间的时间差大于所述第二时间阈值，将所述控制指令数据包丢弃。
具体的，所述生成行驶操作反馈数据，并打包为跟车数据包，包括：
获取本地跟车车辆诊断系统的相关数据；
根据所述本地跟车车辆诊断系统的相关数据，生成行驶操作反馈数据，并打包为跟车数据包；
通过一跟车私钥将所述跟车数据包进行加密；
所述将所述跟车数据包发送到所述头车车载终端，包括：
将加密后的跟车数据包发送到所述头车车载终端。
进一步的，所述公路列车数据认证鉴权方法，还包括：
生成一脱离车队请求消息，并将所述脱离车队请求消息通过所述头车公钥加密；
向头车车载终端发送加密后的脱离车队请求消息；
接收头车车载终端发送的脱队许可消息；
根据一跟车私钥对所述脱队许可消息进行解密；
若解密所述脱队许可消息成功，将跟车本地数据库中的头车车载终端对应的头车公钥删除。
一种头车车载终端，包括：
请求消息接收单元，用于接收跟车车载终端发送的加入车队请求消息；所述加入车队请求消息包括一跟车公钥证书；
跟车公钥证书判断单元，用于判断所述跟车公钥证书中是否有可信第三方签发信息；
头车公钥证书发送单元，用于在所述跟车公钥证书中有所述可信第三方签发信息时，向所述跟车车载终端发送头车公钥证书；
跟车公钥存储单元，用于将所述跟车公钥证书中的跟车公钥存储于头车本地数据库中；
控制指令数据包发送单元，用于向所述跟车车载终端发送控制指令数据包；
跟车数据包接收单元，用于接收所述跟车车载终端发送的跟车数据包，并根据所述跟车公钥解析所述跟车数据包，获取跟车车载终端的行驶操作反馈数据。
进一步的，该头车车载终端，还包括：
车辆诊断系统数据获取单元，用于获取头车本地车辆诊断系统的相关数据；
相关数据判断单元，用于判断所述相关数据是否发生变化；
头车车载GPS数据获取单元，用于在所述相关数据发生变化时，获取本地头车车载GPS数据；
跟车控制指令生成单元，用于根据所述相关数据和所述头车车载GPS数据，生成跟车控制指令，并生成所述控制指令数据包。
另外，所述控制指令数据包发送单元，具体用于：
根据一头车私钥对所述控制指令数据包进行加密，并将加密后的控制指令数据包发送给所述跟车车载终端。
进一步的，该头车车载终端，还包括：
跟车数据包监测单元，用于在所述相关数据未发生变化时，判断是否收到所述跟车数据包；
所述跟车数据包接收单元，具体用于：
通过所述跟车公钥对所述跟车数据包进行解密，获取所述跟车数据包的第一时间戳；
判断所述第一时间戳与当前时间的时间差是否小于等于一预先设置的第一时间阈值；
在所述第一时间戳与当前时间的时间差小于等于所述第一时间阈值时，解析所述跟车数据包，获取跟车车载终端的行驶操作反馈数据，将所述行驶操作反馈数据反馈到所述控制指令数据包中的控制指令上，并将所述行驶操作反馈数据存储于所述头车本地数据库中。
进一步的，该头车车载终端，还包括：
脱离车队请求消息接收单元，用于接收跟车车载终端发送的脱离车队请求消息；
解密单元，用于根据一头车私钥对所述脱离车队请求消息进行解密；
脱队许可消息生成单元，用于在解密所述脱离车队请求消息成功时，生成一脱队许可消息，并根据所述跟车公钥证书中的跟车公钥将所述脱队许可消息进行加密；
脱队许可消息发送单元，用于向所述跟车车载终端发送加密后的所述脱队许可消息；
跟车公钥删除单元，用于将头车本地数据库中的所述跟车车载终端对应的跟车公钥删除。
一种跟车车载终端，包括：
加入车队请求消息发送单元，用于向一头车车载终端发送加入车队请求消息；所述加入车队请求消息包括一跟车公钥证书；
头车公钥证书接收单元，用于接收头车车载终端发送的头车公钥证书；
头车公钥证书判断单元，用于判断所述头车公钥证书中是否有所述可信第三方签发信息；
头车公钥存储单元，用于在所述头车公钥证书中有所述可信第三方签发信息时，将所述头车公钥证书中的头车公钥存储于跟车本地数据库中；
控制指令数据包接收单元，用于接收头车车载终端发送的控制指令数据包；
行驶操作执行单元，用于根据所述头车公钥解析所述控制指令数据包，并进行与所述控制指令数据包相关的行驶操作；
跟车数据包生成单元，用于生成行驶操作反馈数据，并打包为跟车数据包；
跟车数据包发送单元，用于将所述跟车数据包发送到所述头车车载终端。
此外，该跟车车载终端，还包括：
目的地址信息获取单元，用于获取所述控制指令数据包中的目的地址信息，判断所述目的地址信息是否与跟车车载终端对应；
中继节点判断单元，用于在所述目的地址信息与跟车车载终端不对应时，判断所述跟车车载终端是否为中继节点；
控制指令数据包转发单元，用于在所述跟车车载终端是中继节点时，将所述控制指令数据包发送给与所述目的地址信息对应的跟车车载终端；
控制指令数据包丢弃单元，用于在所述跟车车载终端不是中继节点，将所述控制指令数据包丢弃。
此外，所述行驶操作执行单元，具体用于：
在所述目的地址信息与跟车车载终端对应时，根据所述头车公钥解密所述控制指令数据包，并判断所述控制指令数据包是否合法；
在所述控制指令数据包不合法时，将所述控制指令数据包丢弃；
在所述控制指令数据包合法时，获取所述控制指令数据包的第二时间戳；
判断所述第二时间戳与当前时间的时间差是否小于等于一预先设置的第二时间阈值；
在所述第二时间戳与当前时间的时间差小于等于所述第二时间阈值时，解析所述头车数据包，获取所述控制指令数据包中的控制指令，并控制本车进行行驶操作；
在所述第二时间戳与当前时间的时间差大于所述第二时间阈值时，将所述控制指令数据包丢弃。
另外，所述跟车数据包生成单元，具体用于：
获取本地跟车车辆诊断系统的相关数据；
根据所述本地跟车车辆诊断系统的相关数据，生成行驶操作反馈数据，并打包为跟车数据包；
通过一跟车私钥将所述跟车数据包进行加密；
所述跟车数据包发送单元，具体用于：
将加密后的跟车数据包发送到所述头车车载终端。
另外，该跟车车载终端，还包括：
脱离车队请求消息生成单元，用于生成一脱离车队请求消息，并将所述脱离车队请求消息通过所述头车公钥加密；
脱离车队请求消息发送单元，用于向头车车载终端发送加密后的脱离车队请求消息；
脱队许可消息接收单元，用于接收头车车载终端发送的脱队许可消息；
解密单元，用于根据一跟车私钥对所述脱队许可消息进行解密；
头车公钥删除单元，用于在解密所述脱队许可消息成功时，将跟车本地数据库中的头车车载终端对应的头车公钥删除。
一种车载终端，包括一电源适配器、OBD接口、GPS模块、中央处理芯片、MCU芯片、加解密芯片以及通信模块；其中，所述MCU芯片与所述通信模块、中央处理芯片、OBD接口、加解密芯片以及电源适配器分别连接；所述电源适配器还分别连接所述OBD接口、GPS模块、中央处理芯片、加解密芯片以及所述通信模块，以为所述OBD接口、GPS模块、中央处理芯片、加解密芯片以及所述通信模块供电；所述GPS模块还与所述中央处理芯片连接。
具体的，所述电源适配器为DC-DC稳压器。
本发明实施例提供的公路列车数据认证鉴权方法及车载终端，在头车车载终端接收到跟车车载终端发送的加入车队请求消息时，头车车载终端能够对跟车公钥证书进行认证，并在认证成功后将自身的头车公钥证书发送给相应的跟车车载终端。从而在后续向跟车车载终端发送控制指令数据包时，该跟车车载终端可以根据所述头车公钥证书中的头车公钥解析所述控制指令数据包，并进行与所述控制指令数据包相关的行驶操作；跟车车载终端也可以发送跟车数据包，而头车车载终端可以根据跟车公钥解析所述跟车数据包，获取跟车车载终端的行驶操作反馈数据。这样，避免了头车与跟车进行数据交互时采用开放的信道，且交互的数据包一般均未加密，导致控制数据泄露，容易被公路列车车队外的其他数据攻击的问题。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的公路列车数据认证鉴权方法的流程图一；
图2为本发明实施例提供的公路列车数据认证鉴权方法的流程图二；
图3A为本发明实施例提供的公路列车数据认证鉴权方法的流程图三的第一部分；
图3B为本发明实施例提供的公路列车数据认证鉴权方法的流程图三的第二部分；
图4为本发明实施例提供的公路列车数据认证鉴权方法中的脱离车队流程图；
图5为本发明实施例提供的头车车载终端的结构示意图一；
图6为本发明实施例提供的头车车载终端的结构示意图二；
图7为本发明实施例提供的跟车车载终端的结构示意图一；
图8为本发明实施例提供的跟车车载终端的结构示意图二；
图9为本发明实施例提供的车载终端的结构示意图；
图10为本发明实施例中的OBD接口的连接示意图；
图11为本发明实施例中的GPS模块的示意图；
图12为本发明实施例中的通信模块的示意图；
图13为本发明实施例中的MCU芯片与加解密芯片的示意图；
图14为本发明实施例中的电源适配模块的示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图1所示，本发明实施例提供一种公路列车数据认证鉴权方法，以头车车载终端为执行主体进行阐述，该方法包括：
步骤101、接收跟车车载终端发送的加入车队请求消息。
其中，该加入车队请求消息包括一跟车公钥证书。
步骤102、判断跟车公钥证书中是否有可信第三方签发信息。
步骤103、在跟车公钥证书中有可信第三方签发信息时，向跟车车载终端发送头车公钥证书。
步骤104、将跟车公钥证书中的跟车公钥存储于头车本地数据库中。
步骤105、向跟车车载终端发送控制指令数据包，以使得跟车车载终端根据头车公钥证书中的头车公钥解析控制指令数据包，并进行与控制指令数据包相关的行驶操作。
步骤106、接收跟车车载终端发送的跟车数据包，并根据跟车公钥解析跟车数据包，获取跟车车载终端的行驶操作反馈数据。
本发明实施例提供的公路列车数据认证鉴权方法，在头车车载终端接收到跟车车载终端发送的加入车队请求消息时，头车车载终端能够对跟车公钥证书进行认证，并在认证成功后将自身的头车公钥证书发送给相应的跟车车载终端。从而在后续向跟车车载终端发送控制指令数据包时，该跟车车载终端可以根据头车公钥证书中的头车公钥解析控制指令数据包，并进行与控制指令数据包相关的行驶操作；跟车车载终端也可以发送跟车数据包，而头车车载终端可以根据跟车公钥解析跟车数据包，获取跟车车载终端的行驶操作反馈数据。这样，避免了头车与跟车进行数据交互时采用开放的信道，且交互的 数据包一般均未加密，导致控制数据泄露，容易被公路列车车队外的其他数据攻击的问题。
如图2所示，本发明实施例提供一种公路列车数据认证鉴权方法，以跟车车载终端为执行主体进行阐述，该方法包括：
步骤201、向一头车车载终端发送加入车队请求消息。
其中，该加入车队请求消息包括一跟车公钥证书。
步骤202、接收头车车载终端发送的头车公钥证书。
步骤203、判断头车公钥证书中是否有可信第三方签发信息。
步骤204、在该头车公钥证书中有可信第三方签发信息时，将头车公钥证书中的头车公钥存储于跟车本地数据库中。
步骤205、接收头车车载终端发送的控制指令数据包。
步骤206、根据头车公钥解析控制指令数据包，并进行与控制指令数据包相关的行驶操作。
步骤207、生成行驶操作反馈数据，并打包为跟车数据包。
步骤208、将跟车数据包发送到头车车载终端。
本发明实施例提供的公路列车数据认证鉴权方法，跟车车载终端可以向头车车载终端发送加入车队请求消息，以使得头车车载终端对跟车公钥证书进行认证，并在认证成功后将自身的头车公钥证书发送给相应的跟车车载终端。从而在后续跟车车载终端接收到控制指令数据包时，该跟车车载终端可以根据头车公钥证书中的头车公钥解析控制指令数据包，并进行与控制指令数据包相关的行驶操作；跟车车载终端也可以发送跟车数据包，从而使得头车车载终端可以根据跟车公钥解析跟车数据包，获取跟车车载终端的行驶操作反馈数据。这样，避免了头车与跟车进行数据交互时采用开放的信道，且交互的数据包一般均未加密，导致控制数据泄露，容易被公路列车车队外的其他数据攻击的问题。
为了使本领域的技术人员更好的了解本发明，下面列举一个更为详细的实施例，如图3A和图3B所示(由于步骤较多，其中图3A显示的是步骤301至步骤308，图3B显示的是步骤309至步骤325，其中M和N表示图3A和图3B两条线的连接处)，本发明实施例提供一种公路列车数据认证鉴权方法，包括：
步骤301、跟车车载终端向一头车车载终端发送加入车队请求消息。
其中，加入车队请求消息包括一跟车公钥证书。
步骤302、头车车载终端判断该跟车公钥证书中是否有可信第三方签发信息。
若该跟车公钥证书中有可信第三方签发信息，执行步骤303；否则，若该跟车公钥证书中没有可信第三方签发信息，执行步骤304。
步骤303、头车车载终端向跟车车载终端发送头车公钥证书，并将接收到的跟车公钥证书中的跟车公钥存储于头车本地数据库中。之后继续执行步骤305。
步骤304、头车车载终端不允许跟车车载终端加入车队，并阻止该跟车车载终端向其发送数据。
步骤305、跟车车载终端判断头车公钥证书中是否有可信第三方签发信息。
若头车公钥证书中有可信第三方签发信息，执行步骤306；否则，若头车公钥证书中有可信第三方签发信息，执行步骤307。若在一预定时间内跟车车载终端未收到头车车载终端发送的头车公钥证书，则在预定时间后可以重新返回步骤301。即例如，在10秒钟未收到头车车载终端发送的头车公钥证书，则可以重新向头车车载终端发送加入车队请求消息。
步骤306、跟车车载终端将该头车公钥证书中的头车公钥存储于跟车本地数据库中。之后执行步骤308。
步骤307、跟车车载终端阻止该头车车载终端向其发送数据。
步骤308、头车车载终端获取头车本地车辆诊断系统的相关数据，并判断该相关数据是否发生变化。
若相关数据发生变化，执行步骤309；否则若该相关数据未发生变化，执行步骤310。
步骤309、头车车载终端获取本地头车车载GPS数据。之后执行步骤311。
步骤311、头车车载终端根据相关数据和头车车载GPS数据，生成跟车控制指令，并生成控制指令数据包。
步骤312、头车车载终端根据一头车私钥对控制指令数据包进行加密，并将加密后的控制指令数据包发送给跟车车载终端。
步骤313、跟车车载终端获取控制指令数据包中的目的地址信息，判断该目的地址信息是否与跟车车载终端对应。
若目的地址信息与跟车车载终端不对应，执行步骤314；否则，若目的地址信息与跟车车载终端对应，执行步骤315。
步骤314、跟车车载终端判断终端自身是否为中继节点。
若跟车车载终端是中继节点，则执行步骤316；否则，若跟车车载终端不是中继节点，则执行步骤317。
步骤316、跟车车载终端将控制指令数据包发送给与目的地址信息对应的跟车车载终端。
步骤317、跟车车载终端将控制指令数据包丢弃。
步骤315、跟车车载终端根据头车公钥解密控制指令数据包，并判断控制指令数据包是否合法。
若控制指令数据包不合法，执行步骤317；若控制指令数据包合法，执行步骤318。
步骤318、跟车车载终端获取控制指令数据包的第二时间戳，并判断第二时间戳与当前时间的时间差是否小于等于一预先设置的第二时间阈值。
若第二时间戳与当前时间的时间差小于等于第二时间阈值，执行步骤319；否则，若第二时间戳与当前时间的时间差大于第二时间阈值，执行步骤317。
步骤319、跟车车载终端解析头车数据包，获取控制指令数据包中的控制指令，并控制本车进行行驶操作。
步骤320、跟车车载终端获取本地跟车车辆诊断系统的相关数据。
步骤321、跟车车载终端根据本地跟车车辆诊断系统的相关数据，生成行驶操作反馈数据，并打包为跟车数据包。
步骤322、跟车车载终端通过一跟车私钥将跟车数据包进行加密，并将加密后的跟车数据包向头车车载终端发送。之后执行步骤310。
步骤310、头车车载终端判断是否收到跟车数据包。在步骤310之后继续执行步骤323。
步骤323、若头车车载终端收到跟车数据包，头车车载终端通过跟车公钥对跟车数据包进行解密，获取跟车数据包的第一时间戳。
步骤324、头车车载终端判断第一时间戳与当前时间的时间差是否小于等于一预先设置的第一时间阈值。
步骤325、若第一时间戳与当前时间的时间差小于等于第一时间阈值，头车车载终端解析跟车数据包，获取跟车车载终端的行驶操作反馈数据，将行驶操作反馈数据反馈到控制指令数据包中的控制指令上，并将行驶操作反馈数据存储于头车本地数据库中。
另外，如图4所示，当跟车需要脱离其所在的车队时，还可以有如下过程：
步骤401、跟车车载终端生成一脱离车队请求消息，并将脱离车队请求消息通过头车公钥加密。
步骤402、跟车车载终端向头车车载终端发送加密后的脱离车队请求消息。
步骤403、头车车载终端根据一头车私钥对脱离车队请求消息进行解密。
步骤404、若解密脱离车队请求消息成功，头车车载终端生成一脱队许可消息，并根据跟车公钥证书中的跟车公钥将脱队许可消息进行加密。
步骤405、头车车载终端向跟车车载终端发送加密后的脱队许可消息，并将头车本地数据库中的跟车车载终端对应的跟车公钥删除。
步骤406、跟车车载终端根据一跟车私钥对该脱队许可消息进行解密。
此处，若在一预定时间跟车车载终端未接收到该脱队许可消息，则可以返回步骤402重新发送脱离车队请求消息。
步骤407、若解密脱队许可消息成功，跟车车载终端将跟车本地数据库中的头车车载终端对应的头车公钥删除。
本发明实施例提供的公路列车数据认证鉴权方法，在头车车载终端接收到跟车车载终端发送的加入车队请求消息时，头车车载终端能够对跟车公钥证书进行认证，并在认证成功后将自身的头车公钥证书发送给相应的跟车车载终端。从而在后续向跟车车载终端发送控制指令数据包时，该跟车车载终端可以根据头车公钥证书中的头车公钥解析控制指令数据包，并进行与控制指令数据包相关的行驶操作；跟车车载终端也可以发送跟车数据包，而头车车载终端可以根据跟车公钥解析跟车数据包，获取跟车车载终端的行驶操作反馈数据。这样，避免了头车与跟车进行数据交互时采用开放的信道，且交互的数据包一般均未加密，导致控制数据泄露，容易被公路列车车队外的其他数据攻击的问题。
对应于上述图1至图4的方法实施例，如图5所示，本发明实施例提供一种头车车载终端，包括：
请求消息接收单元51，可以接收跟车车载终端发送的加入车队请求消息。其中，加入车队请求消息包括一跟车公钥证书；
跟车公钥证书判断单元52，可以判断跟车公钥证书中是否有可信第三方签发信息。
头车公钥证书发送单元53，可以在跟车公钥证书中有可信第三方签发信息时，向跟车车载终端发送头车公钥证书。
跟车公钥存储单元54，可以将跟车公钥证书中的跟车公钥存储于头车本地数据库中。
控制指令数据包发送单元55，可以向跟车车载终端发送控制指令数据包。
跟车数据包接收单元56，可以接收跟车车载终端发送的跟车数据包，并根据跟车公钥解析跟车数据包，获取跟车车载终端的行驶操作反馈数据。
进一步的，如图6所示，该头车车载终端，还可以包括：
车辆诊断系统数据获取单元57，可以获取头车本地车辆诊断系统的相关数据。
相关数据判断单元58，可以判断相关数据是否发生变化。
头车车载GPS数据获取单元59，可以在相关数据发生变化时，获取本地头车车载GPS数据。
跟车控制指令生成单元60，可以根据相关数据和头车车载GPS数据，生成跟车控制指令，并生成控制指令数据包。
另外，该控制指令数据包发送单元55，具体可以根据一头车私钥对控制指令数据包进行加密，并将加密后的控制指令数据包发送给跟车车载终端。
进一步的如图6所示，该头车车载终端，还可以包括：
跟车数据包监测单元61，可以在相关数据未发生变化时，判断是否收到跟车数据包。
该跟车数据包接收单元56，具体可以通过该跟车公钥对跟车数据包进行解密，获取跟车数据包的第一时间戳。判断第一时间戳与当前时间的时间差是否小于等于一预先设置的第一时间阈值。在第一时间戳与当前时间的时间差小于等于第一时间阈值时，解析跟车数据包，获取跟车车载终端的行驶操作反馈数据，将行驶操作反馈数据反馈到控制指令数据包中的控制指令上，并将行驶操作反馈数据存储于头车本地数据库中。
进一步的，如图6所示，该头车车载终端，还包括：
脱离车队请求消息接收单元62，可以接收跟车车载终端发送的脱离车队请求消息。
解密单元63，可以根据一头车私钥对脱离车队请求消息进行解密。
脱队许可消息生成单元64，可以在解密脱离车队请求消息成功时，生成一脱队许可消息，并根据跟车公钥证书中的跟车公钥将脱队许可消息进行加密。
脱队许可消息发送单元65，可以向跟车车载终端发送加密后的脱队许可消息。
跟车公钥删除单元66，可以将头车本地数据库中的跟车车载终端对应的跟车公钥删除。
本发明实施例提供的头车车载终端，该头车车载终端接收到跟车车载终端发送的加入车队请求消息时，头车车载终端能够对跟车公钥证书进行认证，并在认证成功后将自身的头车公钥证书发送给相应的跟车车载终端。从而在后续向跟车车载终端发送控制指令数据包时，该跟车车载终端可以根据头车公钥证书中的头车公钥解析控制指令数据包，并进行与控制指令数据包相关的行驶操作；跟车车载终端也可以发送跟车数据包，而头车车载终端可以根据跟车公钥解析跟车数据包，获取跟车车载终端的行驶操作反馈数据。这样，避免了头车与跟车进行数据交互时采用开放的信道，且交互的数据包一般均未加密，导致控制数据泄露，容易被公路列车车队外的其他数据攻击的问题。
对应于上述图1至图4的方法实施例，如图7所示，本发明实施例提供一种跟车车载终端，包括：
加入车队请求消息发送单元71，可以向一头车车载终端发送加入车队请求消息。其中，该加入车队请求消息包括一跟车公钥证书。
头车公钥证书接收单元72，可以接收头车车载终端发送的头车公钥证书。
头车公钥证书判断单元73，可以判断该头车公钥证书中是否有可信第三方签发信息。
头车公钥存储单元74，可以在头车公钥证书中有可信第三方签发信息时，将头车公钥证书中的头车公钥存储于跟车本地数据库中。
控制指令数据包接收单元75，可以接收头车车载终端发送的控制指令数据包。
行驶操作执行单元76，可以根据头车公钥解析控制指令数据包，并进行与控制指令数据包相关的行驶操作。
跟车数据包生成单元77，可以生成行驶操作反馈数据，并打包为跟车数据包。
跟车数据包发送单元78，可以将跟车数据包发送到头车车载终端。
此外，如图8所示，该跟车车载终端，还可以包括：
目的地址信息获取单元79，可以获取控制指令数据包中的目的地址信息，判断目的地址信息是否与跟车车载终端对应。
中继节点判断单元80，可以在目的地址信息与跟车车载终端不对应时，判断跟车车载终端是否为中继节点。
控制指令数据包转发单元81，可以在跟车车载终端是中继节点时，将控制指令数据包发送给与目的地址信息对应的跟车车载终端。
控制指令数据包丢弃单元82，可以在跟车车载终端不是中继节点，将控制指令数据包丢弃。
此外，行驶操作执行单元76，具体可以在目的地址信息与跟车车载终端对应时，根据头车公钥解密控制指令数据包，并判断控制指令数据包是否合法；在控制指令数据包不合法时，将控制指令数据包丢弃；在控制指令数据包合法时，获取控制指令数据包的第二时间戳；判断第二时间戳与当前时间的时间差是否小于等于一预先设置的第二时间阈值；在第二时间戳与当前时间的时间差小于等于第二时间阈值时，解析头车数据包，获取控制指令数据包中的控制指令，并控制本车进行行驶操作；在第二时间戳与当前时间的时间差大于第二时间阈值时，将控制指令数据包丢弃。
另外，该跟车数据包生成单元77，具体可以获取本地跟车车辆诊断系统的相关数据；根据本地跟车车辆诊断系统的相关数据，生成行驶操作反馈数据，并打包为跟车数据包；通过一跟车私钥将跟车数据包进行加密。
另外，该跟车数据包发送单元78，具体可以将加密后的跟车数据包发送到头车车载终端。
另外，如图8所示，该跟车车载终端，还包括：
脱离车队请求消息生成单元83，可以生成一脱离车队请求消息，并将脱离车队请求消息通过头车公钥加密。
脱离车队请求消息发送单元84，可以向头车车载终端发送加密后的脱离车队请求消息。
脱队许可消息接收单元85，可以接收头车车载终端发送的脱队许可消息。
解密单元86，可以根据一跟车私钥对脱队许可消息进行解密。
头车公钥删除单元87，可以在解密脱队许可消息成功时，将跟车本地数据库中的头车车载终端对应的头车公钥删除。
本发明实施例提供的跟车车载终端，该跟车车载终端可以向头车车载终端发送加入车队请求消息，以使得头车车载终端对跟车公钥证书进行认证，并在认证成功后将自身的头车公钥证书发送给相应的跟车车载终端。从而在后续跟车车载终端接收到控制指令数据包时，该跟车车载终端可以根据头车公钥证书中的头车公钥解析控制指令数据包，并进行与控制指令数据包相关的行驶操作；跟车车载终端也可以发送跟车数据包，从而使得头车车载终端可以根据跟车公钥解析跟车数据包，获取跟车车载终端的行驶操作反馈数据。这样，避免了头车与跟车进行数据交互时采用开放的信道，且交互的数据包一般均未加密，导致控制数据泄露，容易被公路列车车队外的其他数据攻击的问题。
上述的头车车载终端和跟车车载终端可以通过硬件来实现，例如图9所示，本发明实施例提供的一种车载终端，包括一电源适配器90、OBD接口91、GPS模块92、中央处理芯片93、MCU芯片94、加解密芯片96以及通信模块95。
其中，MCU(微控制单元，Micro Control Unit)芯片94与通信模块95、中央处理芯片93、OBD接口91、加解密芯片96以及电源适配器90分别连接。电源适配器90还分别连接OBD接口91、GPS(Global Positioning System，全球定位系统)模块92、中央处理芯片93、加解密芯片96以及通信模块95，以为OBD接口91、GPS模块92、中央处理芯片93、加解密芯片96以及通信模块95供电；GPS模块92还与中央处理芯片93连接。
具体的，电源适配器90可以为DC-DC稳压器。该电源适配模块用于电压的适配和电流的分流。
该OBD接口为车载诊断系统(On Board Diagnosis，简称OBD)接口，用于采集汽车当前的车况信息。该OBD接口采用标准的16针脚OBD电气接口，可以和汽车的OBD接口相连接，需要注意的是，该OBD接口除具有OBD协议数据引脚外，其第16 针脚可以从汽车电瓶取电，成为整个车载终端的电源。例如，OBD接口的连接情况可以如图10所示。OBD接口由OBDII芯片与ELM327设备连接组成，再将车辆数据通过ELM327的串口导出，传给MCU芯片。ELM327芯片内部集成了CAN控制器，在该CAN控制器外部搭配一个MCP2551CAN收发器，MCP2551CAN口高位与低位分别和OBDII的CAN+与CAN-口相连，而其TXD口作为CAN总线数据的发送口与ELM327的CANTX口连接，RXD口作为CAN总线数据的接收口与ELM327的RX口连接。而OBDII上的SAE+与SAE-口通过J1850总线与ELM327的J1850总线口相连。OBDII芯片上的BAT+作为车载电瓶导出口，可向电源适配模块提供+12V的电压。
如下为OBD-II接口设计概述(相当于线选模块，MCU可通过ELM327的AT指令选择通信接口)，模块通过OBD-Ⅱ接口和汽车相连接，通过电平转换电路将不同协议的电平转换成微控制器可以识别的电平信息。
OBD接口通过ELM327芯片与MCU芯片连接，ELM327是一款专用的OBD-Ⅱ网关芯片。
由于J1850的两种不同协议需要两种不同的电压(VPW需要8V，PWM需要)，因此，采用一种输出可调的电压调整芯片LM317。LM317的输出电压由M327的引脚J1850Volts控制。当引脚J1850Volts输出高电平时，在LM317的引脚上便可以得到8V的电压，当引脚J1850Volts输出低电平时，在LM317出端得到5V的电压。
在使用J1850VPW协议的情况下，输入时，传输线SAE J1850+上的电压信号通过R12和R33分压后送入到芯片ELM327中。输出通过ELM327的引脚4(J1850Bus+)来完成。当引脚4输出高电平时，晶体管Q3导通，Q2也导通，传输线SAE J1850+电压便被拉升到约8V，总线便处于显性位。否则，引脚4输出低电平时，总线便处于隐性位。在使用J1850PMW协议的情况下，输入时，若传输线SAE J1850+处于显性(高电平)，SAE J1850-也处于显性(低电平)，此时，Q2导通，Q5导通，输入低电平到芯片ELM327的引脚PWM IN中。否则，当SAE J1850+和SAE J1850-都处于隐性的时候，输入高电平到ELM327的引脚PWM IN中。输出通过ELM327的引脚4(J1850Bus+)和引脚14(J1850Bus-)来实现。ELM327芯片通过引脚17(RS232TX)和引脚18(RS232RX)接口直接与MCU芯片的UART1接口相连。
另外，如图11所示，其显示的是GPS模块92内部的连接情况，其内部具体引脚如图所示。其中CC50-BG是北斗GPS定位芯片，其具有一个天线接口与外接天线相连，同时其UART接口与CP2105芯片的TXD_SCI以及RXD_SCI口相连，其中CP2105芯片是一个具有RS232串口转接USB的桥接转换器。CP2105芯片的USB数据总线与上位机的USB口相连，从而传输GPS数据。
另外，如图12所示，其为通信模块95的内部具体引脚示意图，该模块采用VTX201芯片，该芯片复位信号线与上位机相连，其中SPI0SCLK、SPI0TX、SPI0RX与SPI0_FM作为数据口，用于在通信模块95与MCU芯片之间传递数据。
另外，如图13所示，其为MCU芯片94与加解密芯片96的内部具体引脚示意图，其中MCU芯片采用的是具有ARM内核的STM32F103C6芯片(以下简称STM32)，而加解密芯片96采用的是基于8051内核的ECIES加解密芯片。ECIES加解密芯片的Rxd0以及Txd0口与STM32F103C6芯片UART3串口相连，之间传递待加解密的数据。STM32芯片上存在3路UART端口，UART1通过串口与OBDII的ELM327UART口相连，采集OBD模块传来的车况数据；而UART2串口通过CP2105的ECI口与上位机相连，用于传输GPS数据；而UART3串口与加解密芯片96的数据口相连，传输待加解密数据。STM32芯片上也存在1路CAN总线控制器端口，该总线端口通过MCP2551连接车辆控制模块。STM32上的SPI0接口作为额外的数据传输口连接V2X-201芯片的数据口，传输数据到达通信模块。
另外，如图14所示的电源适配模块90的内部具体引脚示意图，该电源适配模块采用的是MAX16977汽车专用DC-DC稳压器，能够提供车载数据处理模块的所需的+5V电压。而LDO电源能够将12V的输入电压转化为+3.3V的低压供MCU芯片、中央处理芯片和GPS模块等使用。
本发明实施例提供的车载终端，可以用于汽车上，以在汽车之间进行加密通信，避免了头车与跟车进行数据交互时采用开放的信道，且交互的数据包一般均未加密，导致控制数据泄露，容易被公路列车车队外的其他数据攻击的问题。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
本发明中应用了具体实施例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (22)

  1. 一种公路列车数据认证鉴权方法，其特征在于，包括：
    接收跟车车载终端发送的加入车队请求消息；所述加入车队请求消息包括一跟车公钥证书；
    判断所述跟车公钥证书中是否有可信第三方签发信息；
    若所述跟车公钥证书中有所述可信第三方签发信息，向所述跟车车载终端发送头车公钥证书；
    将所述跟车公钥证书中的跟车公钥存储于头车本地数据库中；
    向所述跟车车载终端发送控制指令数据包，以使得所述跟车车载终端根据所述头车公钥证书中的头车公钥解析所述控制指令数据包，并进行与所述控制指令数据包相关的行驶操作；
    接收所述跟车车载终端发送的跟车数据包，并根据所述跟车公钥解析所述跟车数据包，获取跟车车载终端的行驶操作反馈数据。
  2. 根据权利要求1所述的公路列车数据认证鉴权方法，其特征在于，还包括：
    获取头车本地车辆诊断系统的相关数据；
    判断所述相关数据是否发生变化；
    若所述相关数据发生变化，获取本地头车车载GPS数据；
    根据所述相关数据和所述头车车载GPS数据，生成跟车控制指令，并生成所述控制指令数据包。
  3. 根据权利要求2所述的公路列车数据认证鉴权方法，其特征在于，所述向所述跟车车载终端发送控制指令数据包，包括：
    根据一头车私钥对所述控制指令数据包进行加密，并将加密后的控制指令数据包发送给所述跟车车载终端。
  4. 根据权利要求2所述的公路列车数据认证鉴权方法，其特征在于，还包括：
    若所述相关数据未发生变化，判断是否收到所述跟车数据包；
    所述根据所述跟车公钥解析所述跟车数据包，获取跟车车载终端的行驶操作反馈数据，包括：
    在收到所述跟车数据包后，通过所述跟车公钥对所述跟车数据包进行解密，获取所述跟车数据包的第一时间戳；
    判断所述第一时间戳与当前时间的时间差是否小于等于一预先设置的第一时间阈值；
    若所述第一时间戳与当前时间的时间差小于等于所述第一时间阈值，解析所述跟车数据包，获取跟车车载终端的行驶操作反馈数据，将所述行驶操作反馈数据反馈到所述控制指令数据包中的控制指令上，并将所述行驶操作反馈数据存储于所述头车本地数据库中。
  5. 根据权利要求1-4任一项所述的公路列车数据认证鉴权方法，其特征在于，还包括：
    接收跟车车载终端发送的脱离车队请求消息；
    根据一头车私钥对所述脱离车队请求消息进行解密；
    若解密所述脱离车队请求消息成功，生成一脱队许可消息，并根据所述跟车公钥证书中的跟车公钥将所述脱队许可消息进行加密；
    向所述跟车车载终端发送加密后的所述脱队许可消息；
    将头车本地数据库中的所述跟车车载终端对应的跟车公钥删除。
  6. 一种公路列车数据认证鉴权方法，其特征在于，包括：
    向一头车车载终端发送加入车队请求消息；所述加入车队请求消息包括一跟车公钥证书；
    接收头车车载终端发送的头车公钥证书；
    判断所述头车公钥证书中是否有所述可信第三方签发信息；
    若所述头车公钥证书中有所述可信第三方签发信息，将所述头车公钥证书中的头车公钥存储于跟车本地数据库中；
    接收头车车载终端发送的控制指令数据包；
    根据所述头车公钥解析所述控制指令数据包，并进行与所述控制指令数据包相关的行驶操作；
    生成行驶操作反馈数据，并打包为跟车数据包；
    将所述跟车数据包发送到所述头车车载终端。
  7. 根据权利要求6所述的公路列车数据认证鉴权方法，其特征在于，在接收头车车载终端发送的控制指令数据包之后，包括：
    获取所述控制指令数据包中的目的地址信息，判断所述目的地址信息是否与跟车车载终端对应；
    若所述目的地址信息与跟车车载终端不对应，判断所述跟车车载终端是否为中继节点；
    若所述跟车车载终端是中继节点，将所述控制指令数据包发送给与所述目的地址信息对应的跟车车载终端；
    若所述跟车车载终端不是中继节点，将所述控制指令数据包丢弃。
  8. 根据权利要求7所述的公路列车数据认证鉴权方法，其特征在于，所述根据所述头车公钥解析所述控制指令数据包，并进行与所述控制指令数据包相关的行驶操作，包括：
    若所述目的地址信息与跟车车载终端对应，根据所述头车公钥解密所述控制指令数据包，并判断所述控制指令数据包是否合法；
    若所述控制指令数据包不合法，将所述控制指令数据包丢弃；
    若所述控制指令数据包合法，获取所述控制指令数据包的第二时间戳；
    判断所述第二时间戳与当前时间的时间差是否小于等于一预先设置的第二时间阈值；
    若所述第二时间戳与当前时间的时间差小于等于所述第二时间阈值，解析所述头车数据包，获取所述控制指令数据包中的控制指令，并控制本车进行行驶操作；
    若所述第二时间戳与当前时间的时间差大于所述第二时间阈值，将所述控制指令数据包丢弃。
  9. 根据权利要求8所述的公路列车数据认证鉴权方法，其特征在于，所述生成行驶操作反馈数据，并打包为跟车数据包，包括：
    获取本地跟车车辆诊断系统的相关数据；
    根据所述本地跟车车辆诊断系统的相关数据，生成行驶操作反馈数据，并打包为跟车数据包；
    通过一跟车私钥将所述跟车数据包进行加密；
    所述将所述跟车数据包发送到所述头车车载终端，包括：
    将加密后的跟车数据包发送到所述头车车载终端。
  10. 根据权利要求6-9任一项所述的公路列车数据认证鉴权方法，其特征在于，还包括：
    生成一脱离车队请求消息，并将所述脱离车队请求消息通过所述头车公钥加密；
    向头车车载终端发送加密后的脱离车队请求消息；
    接收头车车载终端发送的脱队许可消息；
    根据一跟车私钥对所述脱队许可消息进行解密；
    若解密所述脱队许可消息成功，将跟车本地数据库中的头车车载终端对应的头车公钥删除。
  11. 一种头车车载终端，其特征在于，包括：
    请求消息接收单元，用于接收跟车车载终端发送的加入车队请求消息；所述加入车队请求消息包括一跟车公钥证书；
    跟车公钥证书判断单元，用于判断所述跟车公钥证书中是否有可信第三方签发信息；
    头车公钥证书发送单元，用于在所述跟车公钥证书中有所述可信第三方签发信息时，向所述跟车车载终端发送头车公钥证书；
    跟车公钥存储单元，用于将所述跟车公钥证书中的跟车公钥存储于头车本地数据库中；
    控制指令数据包发送单元，用于向所述跟车车载终端发送控制指令数据包；
    跟车数据包接收单元，用于接收所述跟车车载终端发送的跟车数据包，并根据所述跟车公钥解析所述跟车数据包，获取跟车车载终端的行驶操作反馈数据。
  12. 根据权利要求11所述的头车车载终端，其特征在于，还包括：
    车辆诊断系统数据获取单元，用于获取头车本地车辆诊断系统的相关数据；
    相关数据判断单元，用于判断所述相关数据是否发生变化；
    头车车载GPS数据获取单元，用于在所述相关数据发生变化时，获取本地头车车载GPS数据；
    跟车控制指令生成单元，用于根据所述相关数据和所述头车车载GPS数据，生成跟车控制指令，并生成所述控制指令数据包。
  13. 根据权利要求12所述的头车车载终端，其特征在于，所述控制指令数据包发送单元，具体用于：
    根据一头车私钥对所述控制指令数据包进行加密，并将加密后的控制指令数据包发送给所述跟车车载终端。
  14. 根据权利要求12所述的头车车载终端，其特征在于，还包括：
    跟车数据包监测单元，用于在所述相关数据未发生变化时，判断是否收到所述跟车数据包；
    所述跟车数据包接收单元，具体用于：
    通过所述跟车公钥对所述跟车数据包进行解密，获取所述跟车数据包的第一时间戳；
    判断所述第一时间戳与当前时间的时间差是否小于等于一预先设置的第一时间阈值；
    在所述第一时间戳与当前时间的时间差小于等于所述第一时间阈值时，解析所述跟车数据包，获取跟车车载终端的行驶操作反馈数据，将所述行驶操作反馈数据反馈到所述控制指令数据包中的控制指令上，并将所述行驶操作反馈数据存储于所述头车本地数据库中。
  15. 根据权利要求11-14任一项所述的头车车载终端，其特征在于，还包括：
    脱离车队请求消息接收单元，用于接收跟车车载终端发送的脱离车队请求消息；
    解密单元，用于根据一头车私钥对所述脱离车队请求消息进行解密；
    脱队许可消息生成单元，用于在解密所述脱离车队请求消息成功时，生成一脱队许可消息，并根据所述跟车公钥证书中的跟车公钥将所述脱队许可消息进行加密；
    脱队许可消息发送单元，用于向所述跟车车载终端发送加密后的所述脱队许可消息；
    跟车公钥删除单元，用于将头车本地数据库中的所述跟车车载终端对应的跟车公钥删除。
  16. 一种跟车车载终端，其特征在于，包括：
    加入车队请求消息发送单元，用于向一头车车载终端发送加入车队请求消息；所述加入车队请求消息包括一跟车公钥证书；
    头车公钥证书接收单元，用于接收头车车载终端发送的头车公钥证书；
    头车公钥证书判断单元，用于判断所述头车公钥证书中是否有所述可信第三方签发信息；
    头车公钥存储单元，用于在所述头车公钥证书中有所述可信第三方签发信息时，将所述头车公钥证书中的头车公钥存储于跟车本地数据库中；
    控制指令数据包接收单元，用于接收头车车载终端发送的控制指令数据包；
    行驶操作执行单元，用于根据所述头车公钥解析所述控制指令数据包，并进行与所述控制指令数据包相关的行驶操作；
    跟车数据包生成单元，用于生成行驶操作反馈数据，并打包为跟车数据包；
    跟车数据包发送单元，用于将所述跟车数据包发送到所述头车车载终端。
  17. 根据权利要求16所述的跟车车载终端，其特征在于，还包括：
    目的地址信息获取单元，用于获取所述控制指令数据包中的目的地址信息，判断所述目的地址信息是否与跟车车载终端对应；
    中继节点判断单元，用于在所述目的地址信息与跟车车载终端不对应时，判断所述跟车车载终端是否为中继节点；
    控制指令数据包转发单元，用于在所述跟车车载终端是中继节点时，将所述控制指令数据包发送给与所述目的地址信息对应的跟车车载终端；
    控制指令数据包丢弃单元，用于在所述跟车车载终端不是中继节点，将所述控制指令数据包丢弃。
  18. 根据权利要求17所述的跟车车载终端，其特征在于，所述行驶操作执行单元，具体用于：
    在所述目的地址信息与跟车车载终端对应时，根据所述头车公钥解密所述控制指令数据包，并判断所述控制指令数据包是否合法；
    在所述控制指令数据包不合法时，将所述控制指令数据包丢弃；
    在所述控制指令数据包合法时，获取所述控制指令数据包的第二时间戳；
    判断所述第二时间戳与当前时间的时间差是否小于等于一预先设置的第二时间阈值；
    在所述第二时间戳与当前时间的时间差小于等于所述第二时间阈值时，解析所述头车数据包，获取所述控制指令数据包中的控制指令，并控制本车进行行驶操作；
    在所述第二时间戳与当前时间的时间差大于所述第二时间阈值时，将所述控制指令数据包丢弃。
  19. 根据权利要求18所述的跟车车载终端，其特征在于，所述跟车数据包生成单元，具体用于：
    获取本地跟车车辆诊断系统的相关数据；
    根据所述本地跟车车辆诊断系统的相关数据，生成行驶操作反馈数据，并打包为跟车数据包；
    通过一跟车私钥将所述跟车数据包进行加密；
    所述跟车数据包发送单元，具体用于：
    将加密后的跟车数据包发送到所述头车车载终端。
  20. 根据权利要求16-19任一项所述的跟车车载终端，其特征在于，还包括：
    脱离车队请求消息生成单元，用于生成一脱离车队请求消息，并将所述脱离车队请求消息通过所述头车公钥加密；
    脱离车队请求消息发送单元，用于向头车车载终端发送加密后的脱离车队请求消息；
    脱队许可消息接收单元，用于接收头车车载终端发送的脱队许可消息；
    解密单元，用于根据一跟车私钥对所述脱队许可消息进行解密；
    头车公钥删除单元，用于在解密所述脱队许可消息成功时，将跟车本地数据库中的头车车载终端对应的头车公钥删除。
  21. 一种车载终端，其特征在于，包括一电源适配器、OBD接口、GPS模块、中央处理芯片、MCU芯片、加解密芯片以及通信模块；其中，所述MCU芯片与所述通信模块、中央处理芯片、OBD接口、加解密芯片以及电源适配器分别连接；所述电源适配器还分别连接所述OBD接口、GPS模块、中央处理芯片、加解密芯片以及所述通信模块，以为所述OBD接口、GPS模块、中央处理芯片、加解密芯片以及所述通信模块供电；所述GPS模块还与所述中央处理芯片连接。
  22. 根据权利要求21所述的车载终端，其特征在于，所述电源适配器为DC-DC稳压器。
PCT/CN2015/098913 2015-02-28 2015-12-25 公路列车数据认证鉴权方法及车载终端 WO2016134610A1 (zh)

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