WO2016188116A1 - 一种车载自组网中基于信任度检测的安全路由协议 - Google Patents

一种车载自组网中基于信任度检测的安全路由协议 Download PDF

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WO2016188116A1
WO2016188116A1 PCT/CN2015/100155 CN2015100155W WO2016188116A1 WO 2016188116 A1 WO2016188116 A1 WO 2016188116A1 CN 2015100155 W CN2015100155 W CN 2015100155W WO 2016188116 A1 WO2016188116 A1 WO 2016188116A1
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node
trust
vehicle
neighbor
nodes
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秦华标
翁锦深
管伟祥
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South China University of Technology SCUT
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/009—Security arrangements; Authentication; Protecting privacy or anonymity specially adapted for networks, e.g. wireless sensor networks, ad-hoc networks, RFID networks or cloud networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/12—Detection or prevention of fraud
    • H04W12/121—Wireless intrusion detection systems [WIDS]; Wireless intrusion prevention systems [WIPS]
    • H04W12/122—Counter-measures against attacks; Protection against rogue devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/12—Detection or prevention of fraud
    • H04W12/126—Anti-theft arrangements, e.g. protection against subscriber identity module [SIM] cloning
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/60—Context-dependent security
    • H04W12/66—Trust-dependent, e.g. using trust scores or trust relationships
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/02—Arrangements for optimising operational condition

Definitions

  • the invention relates to a vehicle self-organizing network technology, in particular to a secure routing protocol based on trust detection in a vehicle-mounted ad hoc network.
  • IEEE Association established the bottom layer for vehicular self-organizing network in 2000.
  • Communication protocol IEEE802.11p which uses a multi-channel scheme to divide the 5.9 GHz 75 MHz bandwidth into one control channel (represented by CH178) and six service channels (represented by CH174, CH176, CH180, CH182, and CH184).
  • Vehicle nodes provide applications such as security warnings, assisted driving, data sharing, and workshop entertainment.
  • the routing protocol plays a decisive role in the performance of the entire vehicle network.
  • the vehicle-mounted ad hoc network is a wireless open Ad Hoc network.
  • the characteristics of the wireless network make the in-vehicle network vulnerable to attack by malicious nodes, and the attack against the routing protocol may cause the in-vehicle network to fail to operate normally. Therefore, the design of routing protocols needs to pay attention to its security.
  • the research on vehicular self-organizing network security focuses on the cryptosystem and mainly on the application level.
  • the cryptosystem scheme has limitations, and the routing grouping inside the node.
  • the discarding behavior, the traditional cryptosystem is not well solved, because the traditional cryptosystem focuses on encrypting and decrypting the entity to ensure its security, but the discarding of the message packet cannot be effectively detected;
  • the number of middle nodes is large, the mobility is strong, and the distribution range is wide.
  • It also poses great challenges to the traditional cryptosystem such as certificate release and update, key management, etc., and the vehicle environment with frequent topological changes is also likely to lead to interaction. There are too many failures in the authentication process.
  • the invention combines the multi-channel characteristics of the vehicular self-organizing network, and starts from the perspective of trust detection, and designs a more flexible and stable vehicular self-organizing network secure routing protocol.
  • the object of the present invention is to overcome the deficiencies of the existing vehicular self-organizing network routing protocols, mainly for the survival of the vehicle network link.
  • the short-term and traditional cryptosystem related methods can not solve the problem of malicious nodes deliberately discarding data packets.
  • a more flexible and stable security route based on trust detection is designed.
  • the protocol firstly uses a multi-channel selection and monitoring mechanism to make the vehicle nodes with the same motion trend work on the same service channel, and the nodes with the same motion trend have a stable channel transmission link, and data transmission and monitoring on the same channel can also be performed. The problem of reducing channel synchronization delay and data monitoring is not enough.
  • a secure routing protocol based on trust detection in a vehicular ad hoc network mainly includes a multi-channel selection monitoring mechanism and a trust detection mechanism.
  • the vehicle node first adopts a multi-channel selection monitoring mechanism, that is, according to the established traffic density distribution perception.
  • the model is used to judge the distribution of traffic density of two opposite driving methods in the road segment, and then select the corresponding channel allocation method according to the judgment result, so that the vehicle nodes with the same motion trend work on the same service channel and are in the same service.
  • the data monitoring and transmission task is implemented on the channel; then, the vehicle node can detect the direct trust degree of the neighbor node through the trust degree detection mechanism in the process of data transmission and monitoring on the same channel, and simultaneously receive the neighbor node.
  • the periodic hello message packet is detected and the recommended trust degree detection is performed on the neighbor node through the node trust degree list attached in the packet, so that the trust node list of the neighbor node can be calculated and maintained, and the assistant node performs routing decision.
  • the multi-channel selection and listening mechanism specifically includes the following contents:
  • Traffic density distribution perception It is mainly used to judge the traffic density distribution of the current road segment, which is used as the basis for selecting the vehicle channel allocation scheme.
  • the current road is first divided into k cells.
  • the interval between each unit is a single communication distance R, and the value of the number of cells k is determined by the ratio of the length of each road to a single communication distance. According to the division of cells, two of the different cells of the road are driven in the opposite direction.
  • the k 0 parameter indicates the number of cells in the opposite direction of the road in which the number of vehicles is 0.
  • P When P is closer to 1, it indicates that the difference in traffic density distribution in the road segment is larger.
  • P When P is closer to 0, it indicates that the segment is in the segment. The difference in traffic density distribution is smaller.
  • Global channel allocation method It can be known from the vehicle flow density distribution sensing method that when the calculated vehicle density distribution factor P of the road section is closer to 0, it indicates that the vehicles in the opposite driving directions are more evenly distributed in the road section.
  • a global channel allocation method is adopted, which mainly performs global channel allocation according to the moving direction and moving speed of the vehicle on the road:
  • the angle between the road and the north direction and the angle between the direction of the vehicle and the north direction are used to determine the direction of travel of the vehicle along the road.
  • the IEEE802.11p communication protocol is selected.
  • Two of the six service channels, CH174 and CH176, perform monitoring and data transmission, while for vehicles with opposite directions of travel, the other two of the six service channels specified by the IEEE 802.11p communication protocol are selected.
  • the vehicle nodes in the same driving direction are compared with the vehicle node's own speed according to the overall moving speed of the current region. If the speed difference is within the set range v, the service channel CH174 is selected for monitoring and data transmission, for another In one driving direction, the service channel CH180 is selected; if the speed difference exceeds the set range, the current vehicle speed is inconsistent with the current regional vehicle movement trend, so the service channel CH176 is selected for monitoring and data transmission, and the other driving direction vehicle
  • the node selects the service channel CH182;
  • the trust detection mechanism specifically includes the following contents:
  • Direct trust detection The direct trust detection method can be divided into two parts: forward trust update and backward trust detection.
  • the specific content of forward trust update is:
  • a vehicle node x When a vehicle node x receives a forwarded data packet, if the forwarded data packet is an untampered normal data packet, the node x can infer that the previous hop vehicle node y that forwards the normal data packet does not currently intentionally discard the data.
  • the behavior of the grouping can further improve the trust degree of the last-hop vehicle node y. In order to positively evaluate the correct forwarding behavior made by the last-hop vehicle node y, the direct trust degree and the forward trust degree will be improved accordingly.
  • the updated calculation formula satisfies the following formula
  • Td' x, y is the current direct trust degree of the last hop vehicle node y that forwards the data packet. After the calculation of the above formula, the latest direct trust degree Td x, y is obtained , and the previous hop vehicle node y is replaced. The current direct trust is the latest direct trust.
  • the specific content is the successful forwarding ratio ⁇ of the next-hop vehicle node z of the vehicle node x, that is, the number of packets successfully forwarded by the next-hop vehicle node z monitored during the set time t 1
  • the ratio of the total number of packets forwarded to the next-hop vehicle node z is used to detect the trust of the next-hop vehicle node z.
  • the channel busy factor ⁇ is used to correct the successful forwarding ratio ⁇
  • the channel busy factor ⁇ is calculated using the channel usage ratio CUP and the channel collision ratio.
  • the two parts of the CCP are weighted and combined, and their expressions are as follows:
  • the corrected success forwarding ratio ⁇ ' is as follows:
  • the trust of the next hop node can be calculated using the following formula:
  • the trust degree is assigned corresponding weight.
  • the number of hello message packets with the trust degree of the neighboring vehicle node b is 1 for any vehicle node a, and the number of nodes whose own trust degree is lower than the set threshold is excluded from other neighbor nodes that send these hello message packets.
  • the node's trust detection result is expressed as Here, 1 ⁇ i ⁇ l 0 , where T(a, d i ) represents the trust degree of the vehicle node a for the i-th neighbor node higher than the set threshold, and the recommended trust degree of the vehicle node a to the neighbor vehicle node b
  • ⁇ d [i] is the weight of the trust degree of the neighboring vehicle node b recommended by the neighboring node whose i-th trust degree is higher than the set threshold, that is, the neighboring node recommendation whose i-th trust degree is higher than the set threshold.
  • Each node obtains the trust degree list of the neighbor node through the trust degree detection method, and then sends the list content to the other neighbor nodes through the periodically sent hello message group to assist the other neighbor nodes to perform the recommended trust degree detection.
  • the detection of the periodic hello packet of the neighbor node is mainly used to assist the establishment of the trust node list of the neighbor node, thereby accelerating the convergence of the trust degree detection method.
  • the specific detection process is as follows:
  • the above formula is used to reflect the number of hello message packets sent by the vehicle node f received by the neighbor node g within a period of time, which deviates from the average of all received hello packets, because each vehicle node periodically sends a hello message packet to the neighbor.
  • the node updates its own information, so within the set time period t 2 , the number of messages sent by the vehicle node f to each neighbor node will tend to be equal, if some neighbors received within the set time period t 2
  • the number of hello packets forwarded by the node is too much or too small. It is considered that some nodes in this neighbor have abnormal behavior.
  • the direct trust degree, the indirect trust degree and the hello message group detection result obtained by the previous calculation are weighted and combined to obtain the trust degree list of the neighbor node, and the neighbor node is divided into the trust node according to the trust degree detection result of the node. , neutral nodes and suspicious nodes;
  • the secure routing protocol of the present invention firstly uses a multi-channel selection listening mechanism to enable vehicle nodes with consistent motion trends to work on the same service channel, while nodes with consistent motion trends have relatively stable transmission links, which can effectively solve data monitoring. And the problem that the data transmission link is often interrupted, maintaining the stability of the link; and the nodes with the same motion trend work on the same channel, and can also solve the problem that the working channel of the vehicle node is inconsistent and cannot be monitored, and at the same time working on the same channel.
  • the data transmission task on the node can also save the time of channel synchronization and effectively reduce the delay of data transmission.
  • the secure routing protocol of the present invention mainly detects the routing packet forwarding behavior of the neighboring nodes through the trust degree detection mechanism, which can effectively avoid the threat of the node maliciously discarding the routing packet, improve the success rate of data transmission, and For the flexible defense method to improve the security of the network, at the same time, through the hello packet detection and the recommendation trust degree detection, the neighbor node trust degree list can be assisted, so that the convergence of the trust degree detection method can be accelerated.
  • 1 is a model diagram of road traffic flow distribution in an embodiment of the present invention.
  • FIG. 2 is a diagram showing an example of road traffic distribution sensing in an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of global channel allocation in an embodiment of the present invention.
  • FIG. 4 is a flow chart showing the execution of a multi-channel selection listening mechanism in an embodiment of the present invention.
  • FIG. 5 is a structural diagram of a trust degree detecting mechanism in an embodiment of the present invention.
  • FIG. 6 is a structural diagram of a neighbor node information list attached to a hello message packet in an embodiment of the present invention.
  • FIG. 7 is a flow chart of routing decisions in an embodiment of the present invention.
  • FIG. 1 is a model established by the traffic density sensing method in the multi-channel selection monitoring mechanism of the present invention.
  • the road is divided into k units, and the interval of each unit is a single communication distance R, and the number of cells is k.
  • the value is determined by the ratio of the length of each road to the single communication distance.
  • a cell density distribution factor ⁇ i is defined, and the calculation formula is as follows.
  • the above formula can describe the density difference of the vehicle in the opposite direction in a cell and normalize it.
  • ⁇ i is closer to 1, the difference in vehicle density in the opposite direction in the cell is larger.
  • ⁇ i is closer to 0, the difference in vehicle density in the opposite direction in the cell is smaller.
  • the value is 0, then Indicates that the number of vehicles in the opposite direction in the cell is equal.
  • the calculated vehicle density distribution factor P of the road section can be derived.
  • the distribution factor P can reflect the vehicle density distribution of the current road section.
  • the calculation formula is as follows:
  • k 0 represents the number of cells in the road segment where the number of cells in the road is 0.
  • the vehicle density distribution factor P of the road section can reflect the distribution difference of the traffic density of the current section in two opposite driving directions. The closer its value is to 1, the greater the difference in vehicle density in the opposite direction in the current section, the closer its value is. At 0 o'clock, the difference in vehicle density in the opposite direction of the current road segment is smaller.
  • FIG. 3 is a schematic diagram of global channel allocation according to the present invention. It can be seen from the figure that the traffic density in the two directions of travel of the road is relatively uniform.
  • the present invention allocates different service channels for vehicles in different driving directions, such as north-south direction.
  • the road segment allocates two service channels CH174 and CH176 of the six service channels specified by the IEEE802.11p communication protocol, and the north-south road segment allocates the other two service channels CH180 of the six service channels specified by the IEEE802.11p communication protocol. CH182; and the two service channels allocated for the same driving direction are further selected according to the moving speed of the vehicle, so that the vehicle nodes with the same moving tendency will select the same service channel, which can further improve the stability of the channel transmission link.
  • the global channel allocation method is mainly applicable to a scene in which the road traffic density is uniformly distributed in two opposite traveling directions, and a scene in which the traffic density in two opposite directions in the road has a large difference (such as a traffic jam in a single direction) is adopted.
  • the global allocation scheme will lead to a fierce competition in a direction with a high traffic density, and a low channel utilization in a direction with a small traffic density. Therefore, for these scenarios, a local channel allocation method should be adopted.
  • the local channel allocation method specifically assists the channel allocation task by the channel busy factor.
  • the vehicle in each driving direction can select among the four service channels to effectively improve the channel. Utilization, as shown in Figure 4 is a flow chart of the channel listening selection mechanism of the present invention.
  • FIG. 5 is a structural diagram of the trust degree detection mechanism of the present invention.
  • the trust degree detection mechanism is composed of three parts: direct trust degree detection, recommended trust degree detection, and hello message group detection. Through the calculation of these three parts, the trust degree of one neighbor node can be obtained.
  • the test result is expressed by the following formula:
  • T(m,n) ⁇ 1 Td m,n + ⁇ 2 Tr m,n + ⁇ 3 Th m,n ,
  • the present invention provides the above information by periodically broadcasting a hello message packet by each vehicle node and attaching a list of neighbor node information of the node itself in the hello packet.
  • Hello message group attached
  • the format of the neighbor node information list is as shown in FIG. 6.
  • the information list includes the latest location information, speed information, motion direction angle, current working channel and trust degree detection result of the vehicle in addition to the ID corresponding to the vehicle node.
  • the trust degree detection result divides the neighbor nodes into three categories: a trust node, a neutral node, and a suspicious node; when there is a data packet to be forwarded, the node first selects the neighbor node closest to the destination node as the next hop node in the trust node, if If the number of trusted nodes is 0, the next hop node closest to the destination node is selected from the neutral node.
  • the data is directly sent. If the working channel is inconsistent, the switch will be switched. After the data is forwarded to the consistent channel, if the trusted node and the neutral node are both empty, the forwarding task is terminated, so that the suspicious node can be excluded from participating in the route, the probability of the route being attacked is reduced, and the security of the route is improved.

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Abstract

本发明公开一种车载自组网中基于信任度检测的安全路由协议。协议首先根据多信道选择监听机制，让运动趋势一致的车辆节点工作在同一个服务信道上，并在同一个服务信道上实现数据的监听和传输任务；车辆节点通过信道的监听获取邻居节点的路由分组转发行为，来建立邻居节点的直接信任度；同时对接收到的邻居节点周期性发送的hello消息分组进行检测并通过分组中附带的节点信任度列表得到推荐信任度，从而可以计算并维护邻居节点的信任度列表，辅助节点进行路由决策。本发明的路由协议可以在拓扑变化剧烈的车载环境中维护一条较为稳定的通信链路，具有较高的投递率和较低的传输时延，同时通过信任度检测可有效地避开节点的恶意丢弃路由分组行为。

Description

一种车载自组网中基于信任度检测的安全路由协议 技术领域
本发明涉及车载自组织网络技术，具体涉及一种车载自组网中基于信任度检测的安全路由协议。
背景技术
随着智能交通系统的发展，车载自组网相关技术的研究受到了人们的追捧，为了满足车载自组网特殊环境的通信需求，IEEE协会于2000年制定了专门用于车载自组网的底层通信协议IEEE802.11p，该协议采用多信道方案，将5.9GHz的75MHz带宽分为1个控制信道(用CH178表示)以及6个服务信道(用CH174、CH176、CH180、CH182和CH184表示)，为车辆节点提供安全警告、辅助驾驶、数据共享、车间娱乐等应用。而路由协议作为车载自组网的基础研究，对整个车载网络的性能起到了决定性的作用，车载自组网所有应用的开展也都离不开路由协议的支持，因此路由协议的研究一直受到人们的关注。车载自组网的最主要特点是网络拓扑变化迅速导致链路容易出现断裂，这给车载自组网路由协议的设计提出了严峻的挑战。另一方面，车载自组网是一种无线开放式的Ad Hoc网络，无线网络的特点使得车载网络易受恶意节点的攻击破坏，而针对路由协议的攻击会导致车载网络无法正常运作甚至瘫痪，因此路由协议的设计需要重视其安全性。目前针对车载自组网安全研究集中在密码体制上且主要在应用层面上展开，虽然路由安全的相关问题也可以采用传统密码体制来解决，然而密码体制方案具有局限性，对于节点内部的路由分组丢弃行为，传统的密码体制并不能很好地解决，因为传统密码体制侧重于对实体进行加解密来保证其安全性，而对于消息分组的丢弃并不能有效地检测到；同时由于车载自组网中节点数目多、流动性强、分布范围广等特点，对传统密码体制中如证书发布及更新、密钥管理等方面也提出了很大的挑战，而且拓扑变化频繁的车载环境也容易导致交互式的认证过程存在过多失败。
本发明将结合车载自组网多信道特点，从信任度检测的角度入手，设计一种更具柔性和稳定性的车载自组网安全路由协议。
发明内容
本发明的目的在于克服现有车载自组网路由协议的不足，主要针对车载网络链路生存 时间短暂及传统密码体制相关方法无法很好地解决恶意节点故意丢弃数据分组的问题，从车载自组网多信道特点入手，设计了一种基于信任度检测的更具柔性及稳定性的安全路由协议，协议首先通过多信道选择监听机制让运动趋势一致的车辆节点工作于同一个服务信道，而运动趋势一致的节点其信道传输链路较为稳定，且在相同信道上进行数据传输和监听也可以减少信道同步时延及数据监听不到等问题，接着通过对节点的路由行为进行监听和观察，可以建立邻居节点的信任度列表，用于辅助节点进行路由决策，可以有效避开节点的恶意丢弃路由分组行为。本发明通过如下技术方案实现：
一种车载自组网中基于信任度检测的安全路由协议，主要包括多信道选择监听机制和信任度检测机制两部分，车辆节点首先采用多信道选择监听机制，也即根据建立的车流密度分布感知模型，来对路段中两个相反行驶方法的车流密度分布情况进行判断，然后根据判断结果选择相应的信道分配方法，让运动趋势一致的车辆节点工作在同一个服务信道上，并在同一个服务信道上实现数据的监听和传输任务；然后车辆节点在同一个信道进行数据传输及监听的过程中，通过信任度检测机制可以实现对邻居节点的直接信任度进行检测，同时对接收到的邻居节点周期性hello消息分组进行检测并通过分组中附带的节点信任度列表可以对邻居节点进行推荐信任度检测，从而可以计算并维护邻居节点的信任度列表，辅助节点进行路由决策。
上述的车载自组网中基于信任度检测的安全路由协议，所述的多信道选择监听机制具体包括如下内容：
(1)车流密度分布感知：主要用于对当前路段的车流密度分布情况进行判断，以此作为车辆信道分配方案的选择依据，车流密度分布感知中，首先将当前道路分割成k个单元格，每个单元的间隔为单个通信距离R，单元格数量k的取值由每条道路的长度与单个通信距离的比值决定，根据单元格的划分，将该道路的不同单元格中两个相反行驶方向的车辆数量分布定义为两个一维数组，分别表示为M[k]＝[m1,m2,…,mi,…,mk],1≤i≤k和N[k]＝[n1,n2,…,ni,…,nk],1≤i≤k，其中mi和ni分别表示两个相反行驶方向中第i个单元格的车辆数，那么通过下式可计算路段车辆密度分布因子P反映当前路段的车辆密度分布情况：
Figure PCTCN2015100155-appb-000001
其中k0参数表示路段中相反两个方向的车辆数目都为0的单元格个数，当P越接近1， 说明路段中的车流密度分布区别越大，当P越接近0，说明路段中的车流密度分布区别越小。
(2)全局信道分配方法：由车流密度分布感知方法可以知道，当计算得出的路段车辆密度分布因子P越接近0，说明路段中两个相反行驶方向的车辆分布较为均匀，针对这种情况，采用全局信道分配方法，该方法主要根据车辆在道路上的运动方向和运动速度来进行全局的信道分配：
首先，通过道路与正北方向的夹角以及车辆行驶方向同正北方向的夹角，判断车辆沿道路的行驶方向，对于行驶方向同道路方向相同的车辆，将选择IEEE802.11p通信协议规定的六个服务信道中的两个服务信道CH174和CH176进行监听和数据传输，而对于行驶方向同道路方向相反的车辆，将选择IEEE802.11p通信协议规定的六个服务信道中的另两个服务信道CH180和CH182进行监听和数据传输；
然后，在同一个行驶方向上的车辆节点则根据当前区域的总体运动速度与车辆节点自身速度进行比较，若速度相差在设定范围v内，则选择服务信道CH174进行监听和数据传输，对于另一个行驶方向则选择服务信道CH180；若速度相差超过设定的范围，则说明当前车辆的速度与当前区域车辆的运动趋势不一致，因此选择服务信道CH176进行监听和数据传输，另一个行驶方向的车辆节点则选择服务信道CH182；
上述的车载自组网中基于信任度检测的安全路由协议，所述的信任度检测机制具体包括如下内容：
(1)直接信任度检测：直接信任度检测方法针对上一跳和下一跳节点可以分成前向信任度更新和后向信任度检测两部分，其中前向信任度更新的具体内容是：
当一个车辆节点x接收到一个转发数据包时，如果转发数据包为一个未经篡改的正常数据包，那么节点x可以推断转发这个正常数据包的上一跳车辆节点y目前不存在故意丢弃数据分组的行为，因此可以进一步提高上一跳车辆节点y的信任度，为了对上一跳车辆节点y做出的正确转发行为进行肯定的评价，这里会相应提高其直接信任度，前向信任度更新的计算公式满足下式
Figure PCTCN2015100155-appb-000002
其中Td′x,y是转发该数据包的上一跳车辆节点y的当前直接信任度，通过上式的计算后，得到最新的直接信任度Tdx,y，并取代上一跳车辆节点y当前的直接信任度成为最新 直接信任度。
对于后向信任度检测，其具体内容是通过车辆节点x的下一跳车辆节点z的成功转发比τ，也即在设定时间t1内监听到的下一跳车辆节点z成功转发分组数同转发给下一跳车辆节点z的分组总数的比值，来对下一跳车辆节点z的信任度进行检测。为了防止由于信道的繁忙导致转发数据监听不到，从而对检测结果造成误判，采用了信道繁忙因子σ来修正成功转发比τ，信道繁忙因子σ的计算采用信道使用率比CUP和信道冲突比CCP两部分进行加权结合得到，其表达式如下式：
σ＝ωCUP+(1-ω)CCP，
修正后的成功转发比τ′如下所示：
Figure PCTCN2015100155-appb-000003
由前面得到的修正成功转发比τ′和信道繁忙因子σ可以利用下式来对下一跳节点的信任度进行计算：
Figure PCTCN2015100155-appb-000004
(2)推荐信任度检测：当车辆节点a对某一个邻居车辆节点b进行推荐信任度检测时，需要通过车辆节点a的其他邻居节点对这个邻居车辆节点b的信任度检测结果来辅助车辆节点a得到邻居车辆节点b的推荐信任度；然而其他邻居节点推荐的信任度不一定可信，特别是信任度低的其他邻居节点，其推荐的信任度也更加可疑，所以在计算推荐信任值时，将信任度低于设定阈值的其他邻居节点推荐的信任度直接忽略；对于信任度高于设定阈值的其他邻居节点，将根据信任度高低来为这些其他邻居对邻居车辆节点b推荐的信任度分配相应的权重，其他邻居节点本身信任度越高，对邻居车辆节点b推荐的信任度所占比重越大，体现了信任度高的其他邻居节点的推荐信任值更具参考意义的事实，具体的计算如下：
假设任意车辆节点a收到附带有邻居车辆节点b信任度的hello消息分组个数为l，排除掉发送这些hello消息分组的其他邻居节点中自身信任度低于设定阈值的节点个数l′个，则高于设定阈值的邻居节点数为l0＝l-l′，将高于设定阈值的邻居节点简记为
Figure PCTCN2015100155-appb-000005
此处1≤i≤l0，其中di表示第i个高于设定阈值的邻居节点，高于 设定阈值的邻居节点对于邻居车辆节点b的信任度检测结果可表示为
Figure PCTCN2015100155-appb-000006
此处1≤i≤l0，其中T(di,b)表示第i个高于设定阈值的邻居节点对于邻居车辆节点b的信任度，车辆节点a对这些高于设定阈值的邻居节点的信任度检测结果则表示为
Figure PCTCN2015100155-appb-000007
此处1≤i≤l0，其中T(a,di)表示车辆节点a对第i个高于设定阈值的邻居节点的信任度，则车辆节点a对邻居车辆节点b的推荐信任度Tra,b检测方法由下式表示：
Figure PCTCN2015100155-appb-000008
其中ωd[i]是第i个信任度高于设定阈值的邻居节点推荐的关于邻居车辆节点b的信任度所占的权重，即第i个信任度高于设定阈值的邻居节点推荐信任度T(a,di)与所有高于设定阈值的邻居节点的推荐信任度总和
Figure PCTCN2015100155-appb-000009
的比值，具体计算方法如下：
Figure PCTCN2015100155-appb-000010
每个节点通过信任度检测方法得到邻居节点的信任度列表，然后将该列表内容通过周期性发送的hello消息分组发送给其他邻居节点，以辅助其他邻居节点进行推荐信任度检测。
(3)hello分组检测：通过对邻居节点周期性hello分组的检测主要用于辅助邻居节点信任度列表的建立，从而可以加快信任度检测方法的收敛性。具体的检测过程如下：
首先节点对设定时间段t2里收到的各个邻居节点的hello分组数进行统计，用数组Pf[q]＝[p1,p2,…,pi,…,pq]表示，此处1≤i≤q，其中q表示任意车辆节点f的邻居节点个数，pi表示收到第i个邻居节点的hello分组个数，则车辆节点f收到的各个邻居节点hello分组个数的均值和方差用E(Pf)和D(Pf)来表示，车辆节点f对于收到的邻居节点g的hello分组个数Pf[g]的合理情况用下式衡量
Figure PCTCN2015100155-appb-000011
上式用来反映一个周期时间内车辆节点f收到邻居节点g所发送的hello消息分组个数偏离收到的所有hello分组均值的大小，因为每个车辆节点都会周期性发送hello消息分组向邻居节点更新自己的信息，所以在设定时间段t2内，车辆节点f收到每个邻居节点发送过来的消息个数会趋于相等，如果在设定时间段t2内收到的部分邻居节点转发的hello分组的个数过多或者过少，认为这邻居部分节点存在异常行为。
上述的车载自组网中基于信任度检测的安全路由协议，所述的通过信任度列表来辅助路由决策的具体过程如下：
在进行路由决策前，首先通过前面计算得到的直接信任度、间接信任度和hello消息分组检测结果进行加权组合得到邻居节点的信任度列表，并根据节点的信任度检测结果将邻居节点分成信任节点、中立节点和可疑节点三类；
在进行路由决策时，首先在信任节点中选择距离目的节点最近的邻居节点作为下一跳节点，如果信任节点个数为0，则从中立节点中选择距离目的节点最近的下一跳节点，从而排出可疑节点参与路由。
与现有技术相比，本发明的优点与积极效果在于：
1、本发明的安全路由协议首先会通过多信道选择监听机制来让运动趋势一致的车辆节点工作在同一个服务信道上，而运动趋势一致的节点其传输链路较为稳定，可以有效解决数据监听及数据传输链路经常中断的问题，保持链路的稳定性；并且运动趋势一致的节点工作于同一个信道，也可以解决车辆节点工作信道不一致无法监听的问题，同时在工作于同一个信道的节点上进行数据传输任务，也可以节省信道同步的时间，有效降低数据传输的时延。
2、本发明的安全路由协议主要通过信任度检测机制来对周边节点的路由分组转发行为进行检测，可以有效避开节点恶意丢弃路由分组的威胁，提高数据传输的成功率，并以这种更为柔性的防御方法来提升网络的安全性，同时通过hello分组检测及推荐信任度检测，可以辅助邻居节点信任度列表的建立，从而可以加快信任度检测方法的收敛性。
3、车载自组网中由于车辆过多、信道冲突严重，导致消息监听不到而出现正常节点被误判为恶意节点的现象时有出现，本发明通过信道繁忙因子来修正信任度检测结果的方 法，来进一步减小信道冲突产生的误判现象，提高检测的准确性。
附图说明
图1是本发明实施方式中道路车流分布模型图。
图2是本发明实施方式中道路车流分布感知实例图。
图3是本发明实施方式中全局信道分配示意图。
图4是本发明实施方式中多信道选择监听机制的执行流程图。
图5是本发明实施方式中信任度检测机制的结构图。
图6是本发明实施方式中hello消息分组中附带的邻居节点信息列表结构图。
图7是本发明实施方式中路由决策流程图。
具体实施方式
下面结合附图对本发明的具体实施方式做进一步说明，但本发明的实施和保护范围不限于此。
如图1所示是本发明的多信道选择监听机制中的车流密度感知方法所建立的模型，首先将道路分割成k个单元，每个单元的间隔为单个通信距离R，单元格数量k的取值由每条道路的长度与单个通信距离的比值决定，根据单元格的划分，将该道路的不同单元格中两个相反行驶方向的车辆数量分布定义为两个一维数组，分别表示为M[k]＝[m1,m2,…,mi,…,mk],1≤i≤k和N[k]＝[n1,n2,…,ni,…,nk],1≤i≤k，其中mi和ni分别表示两个相反行驶方向中第i个单元格的车辆数。
为了对一个单元格内不同方向车辆密度分布情况的区别程度进行统计，定义一个单元格车辆密度分布因子ρi，其计算公式如下式所示。
Figure PCTCN2015100155-appb-000012
上式可以描述一个单元格中相反方向车辆的密度区别大小，并对其进行了归一化处理。当ρi越接近于1时，说明单元格中相反方向车辆密度区别越大，当ρi越接近于0时，说明单元格中相反方向车辆密度区别越小，当该值为0时，则说明单元格中相反方向车辆数目相等。由上式可以推导计算路段车辆密度分布因子P，该分布因子P可以反映当前路段的车辆密度分布情况，计算公式如下：
Figure PCTCN2015100155-appb-000013
k0表示路段中单元格车辆数为0的单元格个数，其表达式如下所示：
Figure PCTCN2015100155-appb-000014
其中Ai表示第i个单元格中两个方向的车辆数均为0，也即mi＝0，ni＝0的情况，那么由下式可以计算Ai的值：
Figure PCTCN2015100155-appb-000015
路段车辆密度分布因子P可以反应当前路段车流密度在两个相反行驶方向的分布区别大小，它的值越接近于1时，说明当前路段中相反方向车辆密度区别越大，当它的值越接近于0时，说明当前路段相反方向车辆密度区别越小。
图2是本发明的路段车辆密度感知的一个实施例。对于图2的场景1，通过前面建立模型可知k＝4，M[4]＝[8,0,0,0]，N[4]＝[0,0,0,2]，其中k0＝2，由此可以计算该路段的车辆密度分布因子P＝0.943，而由场景1可以知道，道路两个方向的车流密度区别很大，所以P的值可以反映路段的车辆分布情况。
由图2的场景2可以知道，该场景最大的特点是一个行驶方向的车流密度比较大，而另一个行驶方向的车流密度则很小，所以可以知道该场景的两个方向车流密度区别较大。通过前面建立的模型分析可得k＝4，M[4]＝[8,4,3,2]，N[4]＝[1,1,0,0]，k0＝0，计算可得该路段的车辆密度分布因子P＝0.853，该因子的计算结果较大，说明该路段的车流密度区别较大，符合场景的特点。
由图2的场景3可以知道，该场景最大的特点是两个相反行驶方向的车流密度都比较均匀，所以我们知道该场景的两个方向车流密度区别很小。通过前面建立的模型分析可得k＝4，M[4]＝[3,3,4,3]，N[4]＝[4,3,3,3]，k0＝0，计算可得该路段的车辆密度分布因子P＝0.098，该密度分布因子的计算结果很小，说明该路段的车流密度区别很小，同样符合该场景的特点。
由此可见，通过本发明建立的模型进行分析得到的结果可以较好地反映场景的特点。
图3是本发明的全局信道分配示意图，从图中可以看出，道路两个行驶方向的车流密度较为均匀，针对这种情况本发明为不同行驶方向的车辆分配不同的服务信道，比如南北走向的路段分配IEEE802.11p通信协议规定的六个服务信道中的两个服务信道CH174和CH176，北南走向的路段分配IEEE802.11p通信协议规定的六个服务信道中的另外两个服务信道CH180和CH182；而对于同一个行驶方向分配的两个服务信道则根据车辆的移动速度来进一步选择，这样运动趋势相同的车辆节点将选择相同的服务信道，可以进一步提高信道传输链路的稳定性。全局信道分配方法主要适用于道路车流密度在两个相反行驶方向中分布较为一致的场景，而对于道路中两个相反方向的车流密度区别较大的场景(如道路单方向塞车的场景)，采用全局分配方案将导致一个车流密度大的方向信道竞争激烈，车流密度小的方向则信道利用率较低，所以针对这些场景，宜采用局部信道分配方法。局部信道分配方法具体是通过信道繁忙因子来辅助进行信道的分配任务，不同于全局信道分配方法，局部信道分配方法中每个行驶方向的车辆都可以在4个服务信道中进行选择，有效提高信道的利用率，如图4是本发明的信道监听选择机制的流程图。
图5是本发明的信任度检测机制结构图，信任度检测机制由直接信任度检测、推荐信任度检测及hello消息分组检测三部分组成，通过这三部分的计算可以得到一个邻居节点的信任度检测结果，由下式进行表示：
T(m,n)＝ω1Tdm,n+ω2Trm,n+ω3Thm,n，
上式中T(m,n)表示车辆节点m对邻居车辆n的信任度检测结果，由公式可看出，车辆节点m对邻居节点n的信任度检测结果是由直接信任度检测结果Tdm,n、推荐信任度检测结果Trm,n以及hello消息分组检测结果Thm,n三部分进行加权组合在一起，三个权重值ω1、ω2和ω3满足ω1+ω2+ω3＝1，它们的取值不同代表各部分所占的比重不一样，由于直接信任度检测具有更直观的效果，参考意义更大，所以它的权重最高，这里取ω1＝0.5，ω2＝0.3，ω3＝0.2，而通过推荐信任度检测和hello消息分组检测可以辅助邻居节点信任度列表的建立，从而可以加快信任度检测方法的收敛性。
在前面道路车流密度分布感知模型的建立过程中首先需要获知路段车辆的分布信息，而且在信任度检测过程中为了检测节点的推荐信任度，需要其他节点提供对被检测节点的信任度检测结果，因此本发明通过每个车辆节点周期性广播hello消息分组，并在hello分组中附带上节点自身的邻居节点信息列表的方式来提供以上信息。hello消息分组所附 带的邻居节点信息列表格式如图6所示，信息列表除了车辆节点对应的ID外，还包括车辆的最新位置信息、速度信息、运动方向角、当前工作信道及其信任度检测结果。
图7是本发明的路由决策流程图，在进行路由决策前，首先通过前面计算得到的直接信任度、间接信任度和hello消息分组检测结果进行加权组合得到邻居节点的信任度列表，并根据节点的信任度检测结果将邻居节点分成信任节点、中立节点和可疑节点三类；当有数据分组需要转发时，节点首先会在信任节点中选择距离目的节点最近的邻居节点作为下一跳节点，如果信任节点个数为0，则从中立节点中选择距离目的节点最近的下一跳节点，若该下一跳节点的工作信道跟当前节点一致，则直接发送数据，若工作信道不一致，则将切换到一致的信道后再将数据转发出去，如果信任节点和中立节点均为空，则结束转发任务，这样可以排出可疑节点参与路由，减少路由遭受攻击的概率，提高路由的安全性。

Claims (7)

  1. 一种车载自组网中基于信任度检测的安全路由协议，其特征在于包括如下步骤：
    (1)车辆节点采用多信道选择监听机制，也即根据建立的车流密度分布感知模型，来对路段中两个相反行驶方法的车流密度分布情况进行判断，然后根据判断结果选择相应的信道分配方法，让运动趋势一致的车辆节点工作在同一个服务信道上，并在同一个服务信道上实现数据的监听和传输任务；
    (2)车辆节点在同一个信道进行数据传输及监听的过程中，会检测邻居节点的直接信任度，同时对接收到的邻居节点周期性hello消息分组进行检测并通过分组中附带的节点信任度列表对邻居节点进行推荐信任度检测，从而计算并维护自身的邻居节点信任度列表，辅助节点进行路由决策。
  2. 根据权利要求1所述的一种车载自组网中基于信任度检测的安全路由协议，其特征在于步骤(1)所述的车流密度分布感知模型的具体包括：
    首先将当前道路分割成k个单元格，每个单元的间隔为单个通信距离R，单元格数量k的取值由每条道路的长度与单个通信距离的比值决定，根据单元格的划分，将该道路的不同单元格中两个相反行驶方向的车辆数量分布定义为两个一维数组，分别表示为M[k]＝[m1,m2,…,mi,…,mk],1≤i≤k和N[k]＝[n1,n2,…,ni,…,nk],1≤i≤k，其中mi和ni分别表示第i个单元格中两个相反行驶方向中的车辆数，那么通过下式计算路段车辆密度分布因子P反映当前路段的车辆密度分布情况：
    Figure PCTCN2015100155-appb-100001
    其中k0参数表示路段中相反两个方向的车辆数目都为0的单元格个数，当P越接近1，说明路段中的车流密度分布区别越大，当P越接近0，说明路段中的车流密度分布区别越小。
  3. 根据权利要求1所述的一种车载自组网中基于信任度检测的安全路由协议，其特征在于步骤(1)所述选择相应的信道分配方法的过程包括：
    由车流密度分布感知模型可知，当计算得出的路段车辆密度分布因子P越接近0，说明路段中两个相反行驶方向的车辆分布较为均匀，针对这种情况，采用全局信道分配方法，全局信道分配方法主要根据车辆在道路上的运动方向和运动速度来进行信道分配：
    首先，通过道路与正北方向的夹角以及车辆行驶方向同正北方向的夹角，判断车辆沿道路的行驶方向，对于行驶方向同道路方向相同的车辆，将选择IEEE802.11p通信协议规定的六个服务信道中的两个服务信道CH174和CH176进行监听和数据传输，而对于行驶方向同道路方向相反的车辆，将选择IEEE802.11p通信协议规定的六个服务信道中的另两个服务信道CH180和CH182进行监听和数据传输；
    然后，在同一个行驶方向上的车辆节点则根据当前区域的总体运动速度与车辆节点自身速度进行比较，若速度相差在设定范围v内，则选择服务信道CH174进行监听和数据传输，对于另一个行驶方向则选择服务信道CH180；若速度相差超过设定的范围，则说明当前车辆的速度与当前区域车辆的运动趋势不一致，因此选择服务信道CH176进行监听和数据传输，另一个行驶方向的车辆节点则选择服务信道CH182；
    由车流密度分布感知方法知道，当计算得出的路段车辆密度分布因子越接近1，说明路段中两个相反行驶方向的车辆分布区别较大，也即某一个行驶方向车辆密集，另一方向车辆稀疏，针对这种情况，采用局部信道分配方法，局部信道分配方法中每个行驶方向同时使用4个服务信道进行数据传输，提高信道利用率。
  4. 根据权利要求1所述的一种车载自组网中基于信任度检测的安全路由协议，其特征在于步骤(2)所述的直接信任度检测方法如下：
    直接信任度检测方法针对上一跳和下一跳节点分成前向信任度更新和后向信任度检测两部分，其中前向信任度更新的具体内容是：
    当任一个车辆节点x接收到一个转发数据包时，如果转发数据包为一个未经篡改的正常数据包，那么车辆节点x能推断转发这个正常数据包的上一跳车辆节点y目前不存在故意丢弃数据分组的行为，因此能进一步提高上一跳车辆节点y的信任度，为了对上一跳车辆节点y做出的正确转发行为进行肯定的评价，这里会相应提高其直接信任度，前向信任度更新的计算公式满足下式
    Figure PCTCN2015100155-appb-100002
    其中Td′x,y是上一跳车辆节点y的当前直接信任度，通过上式的计算后，得到最新的直接信任度Tdx,y，并取代上一跳车辆节点y当前的直接信任度成为最新直接信任度；
    对于后向信任度检测，其具体内容是通过车辆节点x的下一跳车辆节点z的成功转发比τ，也即在设定时间t1内监听到的下一跳车辆节点z成功转发分组数同转发给下一跳车 辆节点z的分组总数的比值，来对下一跳车辆节点z的信任度进行检测；为了防止由于信道的繁忙导致转发数据监听不到，从而对检测结果造成误判，采用了信道繁忙因子σ来修正成功转发比τ，信道繁忙因子σ的计算采用信道使用率比CUP和信道冲突比CCP两部分进行加权结合得到，其表达式如下式：
    σ＝ωCUP+(1-ω)CCP，
    修正后的成功转发比τ′如下所示：
    Figure PCTCN2015100155-appb-100003
    由前面得到的修正成功转发比τ′和信道繁忙因子σ可以利用下式来对下一跳节点z的信任度Tdx,z进行计算：
    Figure PCTCN2015100155-appb-100004
  5. 根据权利要求1所述的一种车载自组网中基于信任度检测的安全路由协议，其特征在于步骤(2)所述的推荐信任度检测方法如下：
    当任意车辆节点a对某一个邻居车辆节点b进行推荐信任度检测时，需要通过车辆节点a的其他邻居节点对这个邻居车辆节点b的信任度检测结果来辅助车辆节点a得到邻居车辆节点b的推荐信任度；然而其他邻居节点推荐的信任度不一定可信，特别是信任度低的其他邻居节点，其推荐的信任度也更加可疑，所以在计算推荐信任值时，将信任度低于设定阈值的其他邻居节点推荐的信任度直接忽略；对于信任度高于设定阈值的其他邻居节点，将根据信任度高低来为这些其他邻居对邻居车辆节点b推荐的信任度分配相应的权重，其他邻居节点本身信任度越高，对邻居车辆节点b推荐的信任度所占比重越大，体现了信任度高的其他邻居节点的推荐信任值更具参考意义的事实，具体的计算如下：
    假设任意车辆节点a收到附带有邻居车辆节点b信任度的hello消息分组个数为l，排除掉发送这些hello消息分组的其他邻居节点中自身信任度低于设定阈值的节点个数l′个，则高于设定阈值的邻居节点数为l0＝l-l′，将高于设定阈值的邻居节点简记为
    Figure PCTCN2015100155-appb-100005
    此处1≤i≤l0，其中di表示第i个高于设定阈值的邻居节点，高于设定阈值的邻居节点对于邻居车辆节点b的信任度检测结果可表示为
    Figure PCTCN2015100155-appb-100006
    此处1≤i≤l0，其中T(di,b)表示第i个高于设定阈值的邻居节点对于邻居车辆节点b的信任度，车辆节点a对这些高于设定阈值的邻居节点的信任度检测结果则表示为
    Figure PCTCN2015100155-appb-100007
    此处1≤i≤l0，其中T(a,di)表示车辆节点a对第i个高于设定阈值的邻居节点的信任度，则车辆节点a对邻居车辆节点b的推荐信任度Tra,b检测方法由下式表示：
    Figure PCTCN2015100155-appb-100008
    其中ωd[i]是第i个信任度高于设定阈值的邻居节点推荐的关于邻居车辆节点b的信任度所占的权重，即第i个信任度高于设定阈值的邻居节点推荐信任度T(a,di)与所有高于设定阈值的邻居节点的推荐信任度总和
    Figure PCTCN2015100155-appb-100009
    的比值，具体计算方法如下：
    Figure PCTCN2015100155-appb-100010
    每个节点通过信任度检测方法得到邻居节点的信任度列表，然后将该列表内容通过周期性发送的hello消息分组发送给其他邻居节点，以辅助其他邻居节点进行推荐信任度检测。
  6. 根据权利要求1所述的一种车载自组网中基于信任度检测的安全路由协议，其特征在于步骤(2)所述的对接收到的邻居节点周期性hello消息分组进行检测主要用于辅助邻居节点信任度列表的建立，从而加快信任度检测方法的收敛性，具体检测过程如下：
    首先节点对设定时间段t2里收到的各个邻居节点的hello分组数进行统计，用数组Pf[q]＝[p1,p2,…,pi,…,pq]表示，此处1≤i≤q，其中q表示任意车辆节点f的邻居节点个数，pi表示收到第i个邻居节点的hello分组个数，则车辆节点f收到的各个邻居节点hello分组个数的均值和方差用E(Pf)和D(Pf)来表示，车辆节点f对于收到的邻居节点g的hello分组个数Pf[g]的合理情况用下式衡量
    Figure PCTCN2015100155-appb-100011
    上式用来反映一个周期时间内车辆节点f收到邻居节点g所发送的hello消息分组个数偏离收到的所有hello分组均值的大小，因为每个车辆节点都会周期性发送hello消息分组向邻居节点更新自己的信息，所以在设定时间段t2内，车辆节点f收到每个邻居节点发送过来的消息个数会趋于相等，如果在设定时间段t2内收到的部分邻居节点转发的hello分组的个数过多或者过少，认为这邻居部分节点存在异常行为。
  7. 根据权利要求1所述的一种车载自组网中基于信任度检测的安全路由协议，其特征在于步骤(2)所述的路由决策过程如下：
    在进行路由决策前，首先通过计算得到的直接信任度、间接信任度和hello消息分组检测结果进行加权组合得到邻居节点的信任度列表，并根据节点的信任度检测结果将邻居节点分成信任节点、中立节点和可疑节点三类；
    在进行路由决策时，首先在信任节点中选择距离目的节点最近的邻居节点作为下一跳节点，如果信任节点个数为0，则从中立节点中选择距离目的节点最近的邻居节点作为下一跳节点，从而排除可疑节点参与路由。
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