WO2023284658A1

WO2023284658A1 - Vehicle communication method and device

Info

Publication number: WO2023284658A1
Application number: PCT/CN2022/104804
Authority: WO
Inventors: 彭宇才; 朱锦涛
Original assignee: 华为技术有限公司
Priority date: 2021-07-12
Filing date: 2022-07-11
Publication date: 2023-01-19
Also published as: CN115604681A

Abstract

The present application embodiment provides a vehicle communication method and a device, applicable in the technical field of autonomous driving, the method comprising: receiving an enqueue request message; the enqueue request message comprising a certificate of a target vehicle, and the enqueue request message being used to instruct a target vehicle to request to enqueue; in response to the enqueue request message, sending an enqueue response message to the target vehicle; wherein, the enqueue response message comprises a first ciphertext, a first identifier corresponding to the certificate of the target vehicle, and a certificate of a pilot vehicle, the first ciphertext being obtained by the pilot vehicle by encrypting a first session key in accordance with the certificate of the target vehicle and a public key; the enqueue response message can be further used to instruct the target vehicle to decrypt the first ciphertext in accordance with a private key of the certificate of said target vehicle, so as to obtain the first session key, and to obtain the certificate of the pilot vehicle. In this way, the security and reliability of key transmission are effectively improved, thereby enabling secure communication between vehicles, thus effectively improving the information security of vehicle communication and also network security performance.

Description

Method and device for vehicle communication

Cross References to Related Applications

This application claims the priority of the Chinese patent application with the application number 202110783012.6 and the application name "A Method and Device for Vehicle Communication" submitted to the China Patent Office on July 12, 2021, the entire contents of which are incorporated in this application by reference middle.

technical field

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

Background technique

An important scenario in the application of automatic driving is the formation driving of vehicles. In the vehicle formation driving scene, the front vehicle can act as a "leading vehicle", and then it is composed of several self-driving vehicles, which advance in a formation. Members maintain a certain distance between vehicles and a stable speed, and cruise in an orderly driving state.

During the driving process of vehicles in formation, the team members in the group mainly communicate with each other through V2X (vehicle to everything, vehicle to everything), but V2X is based on an open wireless communication network, which is easier than traditional networks. Being attacked will also cause greater damage to the field of vehicle platooning mainly based on V2X communication. Therefore, in the scenario of autonomous vehicle platooning, higher requirements are put forward for the security of V2X communication.

In addition, in commercial vehicle scenarios such as farms, mining areas, and docks, it is necessary to temporarily form a fleet of vehicles assigned according to the task, and the messages between the member vehicles in the fleet involve confidential information such as task allocation, cost verification, and operating parameters. It is very important to carry out secure transmission of messages between them.

Therefore, there is an urgent need to propose a solution for secure communication among team members during vehicle platooning in the field of autonomous driving.

Contents of the invention

Embodiments of the present application provide a vehicle communication method and device for implementing secure communication between vehicles.

In the first aspect, the embodiment of the present application provides a method for vehicle communication, which can be applied to the pilot car, and the method includes: receiving a team entry request message; the team entry request message includes the certificate of the target vehicle, and the team entry request message is used for Instructing the target vehicle to request entry into the team; in response to the entry request message, sending an entry response message to the target vehicle; wherein the entry response message includes the first ciphertext, the first identification corresponding to the certificate of the target vehicle, and the pilot car's certificate, the first ciphertext is obtained by the pilot car encrypting the first session key according to the public key of the target vehicle's certificate; and the first identification can be used to indicate that the target vehicle encrypts the first session key according to the private key of its own certificate. A ciphertext is decrypted to obtain the first session key and the certificate of the pilot car.

In the embodiment of the present application, after the pilot car receives the queue entry request message from the target vehicle, it uses the public key of the target vehicle's certificate to encrypt and transmit the first session key. In this way, the security and reliability of key transmission can be effectively improved, thereby enabling safe communication between vehicles, thereby effectively improving the information security and network security performance of vehicle communication.

In a possible design, the pilot car may also generate a first session key before receiving the queue entry request message. Among them, the first session key is used to encrypt the broadcast information between vehicles, and then the pilot car can encrypt the first session key and transmit it to other vehicles in the fleet, so that other vehicles can use the first session The key encrypts and transmits the broadcast information.

In this design, the pilot vehicle can generate the first session key without performing key negotiation with multiple vehicles before receiving the queue request message. In this way, the time delay of key generation is effectively reduced, so that the target vehicles waiting to join the queue can use the first session key to encrypt and transmit the broadcast information more quickly.

In a possible design, the pilot vehicle can also receive a dequeue request message; the dequeue request message is used to indicate that the target vehicle requests to dequeue; and then the pilot vehicle can send a dequeue response message in response to the dequeue request message to Instruct the target vehicle to perform dequeue operation.

In this design, the pilot car can manage the vehicles in the fleet, and when receiving the request message of the target vehicle leaving the team, the pilot car can respond to instruct the target vehicle to leave the team.

In a possible design, after the pilot car sends the team-out response message, it can also send a first notification message to other vehicles in the convoy where the pilot car is located; wherein, the first notification message includes the first signature information, the pilot The second identification and the second ciphertext corresponding to the certificates of other vehicles in the vehicle fleet, the first signature information is used to indicate the identity information of the pilot car, and the second ciphertext is the public key pair of the pilot car according to the certificate of the other vehicle obtained by encrypting the second session key; furthermore, the second identification is used to instruct the other vehicle to decrypt the second ciphertext according to the private key of its certificate, so as to obtain the second session key, The first notification message is used to instruct other vehicles to verify the identity of the pilot car according to the certificate of the pilot car and the first signature information.

In this design, after the target vehicle that requests to leave the team leaves the team, the pilot vehicle encrypts and transmits the second session key to other vehicles in the team according to the public key of the other vehicle's certificate. In this way, the transmission of the second session key is made more reliable, which helps to improve the security of communication between vehicles.

In a possible design, before the pilot vehicle sends the first notification message, it may also generate a second session key; the second session key is used to encrypt broadcast information between vehicles. It should be understood that the "broadcast information between vehicles" may be broadcast information between any two vehicles in the convoy, or may be broadcast information between the pilot vehicle and other vehicles, and there is no specific limitation here.

In this design, the pilot car can generate a new session key (that is, the second session key) after the target vehicle that requests to leave the team, and encrypt and transmit the second session key to other vehicles in the fleet . In this way, updating the session key in time helps to improve the security and reliability of communication between vehicles.

In the second aspect, the embodiment of the present application also provides a vehicle communication method, which can be applied to the target vehicle, and the method includes: sending a team entry request message; the team entry request message includes the certificate of the target vehicle, and the team entry request message is used for Instructing the target vehicle to request entry into the team; receiving the entry response message corresponding to the entry request message; the entry response message includes the first ciphertext, the first identification corresponding to the certificate of the target vehicle and the certificate of the pilot car, the first encryption The text is obtained by the pilot car encrypting the first session key according to the public key of the target vehicle's certificate, and the first identifier can be used to indicate that the target vehicle encrypts the first session key according to the private key of its own certificate. Decrypt the text to obtain the first session key, and obtain the certificate of the pilot car; decrypt the first ciphertext according to the private key of the certificate of the target vehicle to obtain the first session key, and obtain the pilot car's Certificate.

In a possible design, the target vehicle may also send a dequeue request message; the dequeue request message is used to instruct the target vehicle to request dequeue; receive a dequeue response message corresponding to the dequeue request message, and execute the dequeue operation.

It should be understood that for the beneficial effects of the above second aspect, please refer to the technical effects that can be achieved by the corresponding design in the above first aspect for details, and will not be repeated here.

In the third aspect, the embodiment of the present application also provides a vehicle communication method, which can be applied to the original pilot vehicle. In this method, the original pilot vehicle can initiate a pilot vehicle switching request, and the target pilot vehicle can also initiate a switching request.

Mode 1: The original pilot vehicle receives a switching request message from the target pilot vehicle; in response to the switching request message, the original pilot vehicle sends a switching response message to the target pilot vehicle, and the switching request response message is used to instruct the target pilot vehicle to switch the pilot vehicle.

Mode 2: The original pilot car sends a switch request message to the target pilot car, and receives a switch response message corresponding to the switch request message, the switch response message is used to instruct the original pilot car to switch the pilot car; Toggle to get the updated fleet.

In this embodiment of the present application, the original pilot car may initiate a pilot car switching request to the target pilot car, or may receive a switching request from the pilot car and perform pilot car switching. In this way, the flexible management of the fleet is realized, which can effectively meet the business needs of different scenarios.

In a possible design, the original pilot car can also send a second notification message; wherein, the second notification message includes the second signature information and the certificate of the target pilot car, and the second signature information is used to indicate the identity information of the original pilot car ; The second notification message is used to instruct the original pilot car to verify the identity of the original pilot car according to the certificate of the original pilot car and the second signature information according to other vehicles in the fleet, and obtain the certificate of the target pilot car when the verification is passed.

In this design, the original pilot car sends a second notification message to other vehicles in its convoy after switching the pilot car to notify other vehicles to update the certificate of the pilot car. In this way, other vehicles in the convoy can obtain the information of the target leading vehicle in time.

In the fourth aspect, the embodiment of the present application provides a vehicle communication method, which can be applied to the target pilot vehicle. In this method, the original pilot vehicle can initiate the pilot vehicle switching request, and the target pilot vehicle can also initiate the switching request.

Mode 1: The target pilot vehicle sends a switching request message to the original pilot vehicle; the target pilot vehicle receives a switching response message corresponding to the switching request message, and the switching response message is used to instruct the target pilot vehicle to switch the pilot vehicle; Toggle to get the updated fleet.

Mode 2: The target pilot vehicle receives a switching request message from the original pilot vehicle; in response to the switching request message, the target pilot vehicle sends a switching response message to the original pilot vehicle, and the switching response message is used to instruct the original pilot vehicle to switch the pilot vehicle.

It should be understood that for the beneficial effects of this embodiment, please refer to the technical effects that can be achieved in the third aspect above, and details will not be repeated here.

In a possible design, the target pilot vehicle may also generate a third session key after the pilot vehicle switches, and the third session key is used to encrypt broadcast information between vehicles.

In this design, the target pilot vehicle can generate the third session key after the pilot vehicle switch is successful. In this way, updating the session key in time helps to improve the security and reliability of the communication between vehicles.

In a possible design, after the target pilot vehicle generates the third session key, it can also send a third notification message; wherein, the third notification message includes the third signature information, and the third session key corresponding to the target pilot vehicle certificate. Three identifications and a third ciphertext, the third signature information is used to indicate the identity information of the target pilot vehicle, and the third ciphertext is obtained by the target pilot vehicle encrypting the third session key according to the first session key; The third identification is used to indicate that other vehicles in the updated convoy except the target pilot vehicle decrypt the third ciphertext according to the first session key to obtain the third session key; the third notification message is used to indicate that after the update Vehicles other than the target pilot vehicle in the convoy verify the identity of the target pilot vehicle according to the certificate of the target pilot vehicle and the third signature information.

In this design, the target pilot vehicle will use the first session key to encrypt and transmit the third session key, and transmit its own third signature information to other vehicles in the updated fleet. In this way, other vehicles can verify the identity of the target pilot car and decrypt the encrypted new key according to the original session key, thereby reducing the time delay for other vehicles to obtain a new session key, which helps to improve communication between vehicles safety and reliability.

In a possible design, after the target pilot vehicle sends the third notification message, it can also receive pilot vehicle update response information from other vehicles; the pilot vehicle update response message is used to indicate that other vehicles have obtained the information of the target pilot vehicle; Furthermore, the target pilot vehicle may send a fourth notification message to instruct other vehicles to use the third session key to encrypt the broadcast information.

In this design, after receiving the pilot car update response message from other vehicles, the target pilot car sends a notification message to the other vehicle to instruct other vehicles to use the third session key to encrypt the broadcast information. In this way, it helps to improve the safety and reliability of communication between vehicles.

In the fifth aspect, the embodiment of the present application also provides a vehicle communication method, which can be applied to a server, and the method includes: receiving a fleet creation notification message; the fleet creation notification message is used to indicate that the pilot vehicle has created a fleet; the fleet creation notification message Including the identification of the fleet and the vehicle identification in the fleet; in response to the fleet creation notification message, a first response message is sent; the first response message is used to instruct the pilot car to obtain the first session key, and the first session key is used for Broadcast messages between vehicles in the fleet are encrypted.

In this embodiment of the application, the server may receive the fleet creation notification message, and in response to the fleet creation notification message, send the first session key to the pilot car, so that the broadcast information between vehicles in the fleet can be based on the first session key. key to encrypt. In this way, the server can manage the fleet, which helps to improve the safety and reliability of communication between vehicles.

In a possible design, the server may also receive an entry request notification message; the entry request notification message is used to indicate that the first vehicle requests entry into the queue; in response to the entry request notification message, the first session key is sent to the second vehicle. a vehicle.

In this design, the server can realize the management of the session key of the fleet, and when it is determined that there are vehicles to be entered, the first session key is sent to the vehicle to be entered, so that the vehicle to be entered can use the first session key pair Broadcast information is encrypted. In this way, it helps to improve the safety and reliability of communication between vehicles.

In a possible design, the server may also receive a dequeue request notification message; the dequeue request notification message is used to indicate that the second vehicle requests to dequeue, and the dequeue request notification message includes the identifier of the fleet and the vehicle identifier of the second vehicle; In response to the notification message of the request to leave the team, according to the identification of the fleet and the vehicle identification of the second vehicle, determine the updated fleet, and send the second session key to each vehicle in the updated fleet; the second session key Used to encrypt broadcast messages between vehicles in the updated fleet.

In this design, the server can realize the management of the session key of the fleet, and after determining that a vehicle leaves the team, send the updated session key (ie, the second session key) to the updated fleet, so that the updated Other vehicles in the fleet can encrypt broadcast messages using the second session key. In this way, it helps to improve the safety and reliability of communication between vehicles.

In a possible design, the server can also receive the pilot car switching notification message; the pilot car switching notification message also includes the identification of the fleet and the vehicle identification of the target pilot car; in response to the pilot vehicle switching notification message, according to the identification of the fleet and The vehicle identification of the target pilot car to switch the pilot car.

In this design, the server can realize the flexible management of the fleet, and can flexibly switch the pilot car according to the needs of the vehicles in the fleet, which helps to improve the safety and reliability of the communication between vehicles.

In a possible design, after the pilot car is switched, the server can also generate a third session key, and send the third session key to other vehicles in the fleet, and the third session key is used to The broadcast information between vehicles is encrypted.

In this design, the server can realize the management of the session key of the fleet. After the pilot car is switched, a new session key (ie, the third session key) is generated so that other vehicles in the updated fleet can use The new session key encrypts broadcast information. In this way, updating the session key in time helps to improve the security and reliability of communication between vehicles.

In the sixth aspect, the embodiment of the present application also provides a vehicle communication method, which can be applied to the pilot car, and the method includes: sending a fleet creation notification message; the fleet creation notification message is used to indicate that the pilot car has created a fleet; the fleet creation notification The message includes the identification of the fleet and the vehicle identification in the fleet; receiving the first response message corresponding to the creation notification message of the fleet; the first response message carries the first session key; the first session key is used for the communication between the vehicles Broadcast information is encrypted.

In a possible design, the pilot vehicle may also send a queue entry request notification message; the queue entry request notification message is used to indicate that the first vehicle requests to enter the queue.

In a possible design, the pilot car can also send a team-out request notification message; the team-out request notification message is used to indicate that the second vehicle requests to leave the team, and the team-out request notification message includes the identification of the team and the vehicle identification of the second vehicle ; Receive a second response message corresponding to the dequeue request notification message; the second response message carries a second session key, and the second session key is used to broadcast information between vehicles in the updated fleet Encryption; the updated fleet is determined according to the identifier of the fleet and the vehicle identifier of the second vehicle.

In a possible design, the pilot car can also send a pilot car switching notification message; the pilot car switching notification message includes the identification of the fleet and the vehicle identification of the target pilot car; the pilot car switching notification message is used to instruct the server to and the vehicle identification of the target pilot car to switch the pilot car.

In a possible design, the pilot vehicle can also receive the third session key, and encrypt the broadcast information between vehicles in the convoy according to the third session key.

It should be understood that for the beneficial effects of this embodiment, please refer to the technical effects that can be achieved in the fifth aspect above, and details will not be repeated here.

In the seventh aspect, the embodiment of the present application provides a device for vehicle communication. Exemplarily, the device may include:

A receiving module, configured to receive a team entry request message; the team entry request message includes the certificate of the target vehicle, and the team entry request message is used to indicate that the target vehicle requests to join the team;

A sending module, configured to send a queue-entry response message to the target vehicle in response to the queue-entry request message;

Wherein, the entry response message includes a first ciphertext, a first identification corresponding to the certificate of the target vehicle, and a certificate of the pilot vehicle, and the first ciphertext is the ciphertext of the pilot vehicle according to the certificate of the target vehicle. obtained by encrypting the first session key with the public key, and the first identifier is used to instruct the target vehicle to decrypt the first ciphertext according to the private key of its own certificate to obtain the first session key key, and obtain the certificate of the pilot car.

In addition, in this aspect, for other optional implementation manners of the communication device, reference may be made to the relevant content of the above-mentioned first aspect, which will not be described in detail here.

In an eighth aspect, the embodiment of the present application provides a vehicle communication device. Exemplarily, the device includes:

A sending module, configured to send a team entry request message; the team entry request message includes the certificate of the target vehicle, and the team entry request message is used to indicate that the target vehicle requests to join the team;

A receiving module, configured to receive an entry response message corresponding to the entry request message; the entry response message includes the first ciphertext, the first identification corresponding to the certificate of the target vehicle, and the certificate of the pilot vehicle, so The first ciphertext is obtained by the pilot car encrypting the first session key according to the public key of the target vehicle's certificate, and the first identifier is used to indicate that the target vehicle key to decrypt the first ciphertext to obtain the first session key, and obtain the certificate of the pilot car;

A processing module, configured to decrypt the first ciphertext according to the private key of the target vehicle's certificate to obtain the first session key, and obtain the pilot vehicle's certificate.

In addition, in this aspect, for other optional implementation manners of the communication device, reference may be made to the relevant content of the above-mentioned second aspect, which will not be described in detail here.

In the ninth aspect, the embodiment of the present application provides a device for vehicle communication. Exemplarily, the device may include:

The receiving module is configured to receive a switch request message from the target pilot vehicle; the sending module is configured to send a switch response message to the target pilot vehicle in response to the switch request message, and the switch request response message is used to indicate the The target pilot car performs pilot car switching; or,

A sending module, configured to send a switching request message to the target pilot vehicle; a receiving module, configured to receive a switching response message corresponding to the switching request message, and the switching response message is used to instruct the original pilot vehicle to switch the pilot vehicle;

Process the module, switch the pilot car, and get the updated fleet.

In addition, in this aspect, for other optional implementation manners of the communication device, reference may be made to the relevant content of the above-mentioned third aspect, which will not be described in detail here.

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

The sending module is used to send a switching request message to the original pilot vehicle; the receiving module is used to receive a switching response message corresponding to the switching request message, and the switching response message is used to instruct the target pilot vehicle to switch the pilot vehicle; processing Module, used to switch the pilot car to get the updated fleet; or,

The receiving module is configured to receive a switch request message from the original pilot vehicle; the sending module is configured to send a switch response message to the original pilot vehicle in response to the switch request message, and the switch response message is used to instruct the original pilot vehicle to perform Pilot car switch.

In addition, in this aspect, for other optional implementation manners of the communication device, reference may be made to the relevant content of the fourth aspect above, which will not be described in detail here.

In an eleventh aspect, the embodiment of the present application provides a vehicle communication device, which can be used to realize the function of a server. Exemplary, the device may include:

The receiving module is configured to receive a fleet creation notification message; the fleet creation notification message is used to indicate that the pilot vehicle has created a fleet; the fleet creation notification message includes the identification of the fleet and the vehicle identification in the fleet;

A sending module, configured to send a first response message in response to the fleet creation notification message; the first response message is used to instruct the pilot vehicle to acquire a first session key, and the first session key is used for Broadcast messages between vehicles in the fleet are encrypted.

In addition, in this aspect, for other optional implementation manners of the communication device, reference may be made to the relevant content of the fifth aspect above, which will not be described in detail here.

In a twelfth aspect, the embodiment of the present application provides a vehicle communication device. Exemplarily, the device includes:

The sending module is used to send a fleet creation notification message; the fleet creation notification message is used to indicate that the pilot vehicle has created a fleet; the fleet creation notification message includes the identification of the fleet and the vehicle identification in the fleet;

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

In addition, in this aspect, for other optional implementation manners of the communication device, reference may be made to the relevant content of the sixth aspect above, which will not be described in detail here.

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

In a possible design, the server is a single server or a server cluster composed of multiple sub-servers. When the server is a server cluster composed of multiple sub-servers, the multiple sub-servers jointly perform the above fifth aspect and any of the above fifth aspects. A possible design is described in the method.

In a fourteenth aspect, the embodiment of the present application provides a vehicle, the vehicle may include a processor, and the processor is used to execute the above-mentioned first to fourth aspects, and the sixth aspect, and the above-mentioned first to fourth aspects, and the first aspect Any of the six possible designs are described in the method.

In the fifteenth aspect, the embodiment of the present application provides a chip system, the chip system includes at least one processor, when the program instructions are executed in the at least one processor, so that the above first to sixth aspects and the above first The method described in any one of the optional designs from the aspect to the sixth aspect is realized.

In a possible design, the chip system further includes a communication interface, which is used for inputting or outputting information.

In a possible design, the system-on-a-chip further includes a memory, which is coupled to the processor through a communication interface and used to store the above-mentioned instructions, so that the processor can read the instructions stored in the memory through the communication interface.

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

In the sixteenth aspect, the embodiment of the present application also provides a computer program product including instructions, when it is run on the above-mentioned device, to execute the above-mentioned first to sixth aspects and the above-mentioned first to sixth aspects Any one of the described methods is implemented in an alternative design.

In a seventeenth aspect, an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is run, the above-mentioned first to sixth aspects and the above-mentioned first The method described in any one of the optional designs from the aspect to the sixth aspect.

For the beneficial effects of the seventh to seventeenth aspects above, please refer to the technical effects that can be achieved by the corresponding designs in the first to sixth aspects above, and will not repeat them here.

Description of drawings

FIG. 1 is a schematic diagram of a system architecture provided by an embodiment of the present application;

FIG. 2 is a schematic diagram of another system architecture provided by the embodiment of the present application;

FIG. 3 is a schematic flowchart of a vehicle communication method provided in Embodiment 1 of the present application;

FIG. 4 is a schematic flowchart of another vehicle communication method provided in Embodiment 1 of the present application;

FIG. 5 is a schematic flowchart of another vehicle communication method provided in Embodiment 1 of the present application;

FIG. 6 is a schematic flowchart of a vehicle communication method provided in Embodiment 2 of the present application;

FIG. 7 is a schematic flowchart of another vehicle communication method provided in Embodiment 2 of the present application;

FIG. 8 is a schematic flowchart of another vehicle communication method provided in Embodiment 2 of the present application;

FIG. 9 is a schematic flowchart of another vehicle communication method provided in Embodiment 2 of the present application;

FIG. 10 is a schematic structural diagram of a vehicle communication device provided in an embodiment of the present application;

Fig. 11 is a schematic structural diagram of another vehicle communication device provided by an embodiment of the present application;

FIG. 12 is a schematic structural diagram of a chip system provided by an embodiment of the present application.

detailed description

First, some terms involved in the embodiments of the present application are explained for ease of understanding.

1) Certificate (certificate): Refers to a digital certificate, which is a document digitally signed by a certificate authority (CA) that contains public key owner information and a public key, and is used for identity authentication of both communication parties. A certificate generally includes certificate version number (version), serial number (serial number), signature algorithm identifier (signature), issuer name (issuer), subject public key information (subject public key info), validity period (validity) and other information; It can also contain the issuer's identifier (issuer unique identifier), subject identifier (subject unique identifier) and other extended information (extensions). The embodiment of this application relates to the certificate of the vehicle, which corresponds to a public key and a private key, and in the process of communication between vehicles, the vehicle can use the public key and private key of the certificate to perform corresponding encryption and decryption operations.

2) Signature information (certificate): Refers to a digital certificate, which is a document digitally signed by a certificate authority (CA) that contains public key owner information and a public key, and is used for identity authentication of both communication parties. The signature information in this embodiment of the application is used to verify the identity information of the vehicle.

3) Pilot car: used to manage the vehicle information of any vehicle in the fleet, such as vehicle identification, vehicle number or vehicle certificate, etc. In some embodiments, the pilot vehicle is also used to determine a session key and send the session key to other vehicles in the fleet so that the other vehicles use the session key for encrypted communications.

4) Target vehicle: In some embodiments, the target vehicle is a free vehicle to be enqueued. In some other embodiments, the target vehicle is a follow-up vehicle for applying to leave the team. The target vehicle is mainly used to interact with the pilot car, determine the session key, and use the session key for encrypted communication.

5) Follower car: refers to the vehicle that follows the lead car in the convoy.

6) Free vehicles: Refers to vehicles outside the convoy that have not joined the convoy.

7) Server: It is used for information interaction with the pilot car to realize the management of the fleet, including but not limited to: pre-configuring the certificate of the managed fleet, the vehicle information of each team member's vehicle in the fleet, and providing information for each vehicle in the fleet Formulate the vehicle number, for example, the vehicle number is a continuous and non-repeating positive integer. For example, the vehicle numbers are 1, 2, 3...n, n is a positive integer, and each vehicle in the fleet has a different vehicle number. It is also possible to communicate with the vehicles in the fleet, for example, the pilot vehicle sends a fleet creation notification to the application server, and then the server can realize the information of the fleet (the vehicle information, serial number, certificate and other information of each vehicle in the fleet). Exemplarily, the communication manner between the vehicle and the application server may be a V2X communication manner. Exemplarily, the server may be a vehicle network application server (V2X application server, V2X AS).

8) PC5 (direct connection communication interface): the communication interface between terminals, that is, the short-distance direct communication interface between vehicles, people, and road infrastructure; its characteristics are: through direct connection, broadcasting, and network scheduling Realize low-latency, high-capacity, and highly reliable communications.

The term "multiple" in the embodiments of the present application means two or more. "And/or" describes the association relationship of associated objects, indicating that there can be three types of relationships, for example, A and/or B, which can mean: A exists alone, A and B exist at the same time, and B exists alone, where A, B can be singular or plural. The character "/" generally indicates that the contextual objects are an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one item (piece) of a, b, or c may represent: a, b, c, a and b, a and c, b and c, or a and b and c.

And, unless otherwise stated, the ordinal numerals such as "first" and "second" mentioned in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or priority of multiple objects. Importance. For example, the first notification message and the second notification message are only for distinguishing different notification messages, and do not represent the difference in content, priority or importance of the two notification messages.

In addition, the terms "comprising" and "having" in the embodiments of the present application, claims and drawings are not exclusive. For example, a process, method, system, product or device that includes a series of steps or modules is not limited to the listed steps or modules, and may also include unlisted steps or modules.

In order to realize secure communication between vehicles, an embodiment of the present application provides a vehicle communication method and device. In this method, the pilot vehicle communicates with the target vehicle, and uses the public key of the target vehicle's certificate to encrypt the first session. The key is encrypted and transmitted, so that the target vehicle can safely obtain the session key, thereby effectively improving the security and reliability of the key transmission, thereby enabling safe communication between vehicles, thereby reducing the risk of confidential information being stolen between vehicles risk. For the detailed technical solution in this method, please refer to the first embodiment below.

In order to meet the security communication between vehicles in different communication scenarios, the embodiment of the present application also provides another vehicle communication method and device, in this method, the pilot vehicle and the server communicate and interact to obtain the first session key, And based on the first session key, the broadcast information is encrypted and transmitted, thereby effectively improving the security and reliability of key transmission, thereby enabling safe communication between vehicles, and the first session key is generated by the server, which can effectively reduce Delay for other vehicles in the fleet to obtain session keys. For the detailed technical solution in this method, please refer to the second embodiment below.

Before introducing the technical solution provided by the embodiment of the present application in detail, the system architecture applicable to the embodiment of the present application is introduced first.

Exemplarily, FIG. 1 shows a schematic diagram of a system architecture applicable to this embodiment of the present application.

As shown in Figure 1, the system architecture includes a leading car 1, a following car 2, a following car 3, a following car 4 and a free car 5.

Among them, the leading car 1, the following car 2, the following car 3 and the following car 4 form a fleet, and the following car 2, the following car 3 and the following car 4 travel under the leadership of the leading car 1; any two cars can A communication connection is established through a communication network for communication interaction.

Among them, the pilot car 1 can generate the first session key, and encrypt and transmit the first session key to the following car 2, the following car 3, and the following car 4, and then the following car 2, the following car 3, and the following car 4 can be based on The first session key encrypts and transmits the broadcast information between them, so as to improve the security of the communication between the vehicles.

Among them, free car 5 is a free car outside the convoy.

In a possible implementation manner, the pilot vehicle 1 can communicate with the free vehicle 5 . For example, the free car 5 can send an enlisting request message containing the certificate of the free car 5 to the pilot car 1, and the pilot car 1 responds to the request message, and the pilot car encrypts the first session key with the public key of the certificate of the free car 5 Transmit to free car 5, and send the certificate of the pilot car of lead car 1 to free car 5, so that free car 5 can join the team.

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

It should be understood that the two vehicles shown in Fig. 1 are only an example, and are not intended to limit this application. In practical applications, more vehicles may be included in a fleet, and this application does not limit the number of vehicles in the fleet. In addition, the architecture shown in Figure 1 can be applied to various communication scenarios, for example, the fifth generation (the 5th generation, 5G) communication system, the future sixth generation communication system and other evolved communication systems, the fourth generation ( the 4th generation, 4G) communication system, vehicle to everything (V2X), long-term evolution-vehicle networking (LTE-vehicle, LTE-V), vehicle to vehicle (vehicle to vehicle, V2V), vehicle networking, machine Communications such as machine type communications (MTC), Internet of things (IoT), long-term evolution-machine to machine (LTE-machine to machine, LTE-M), machine to machine (machine to machine, M2M) In the scenario, this application does not limit it.

In some embodiments, the system architecture applicable to the embodiments of the present application may further include a server. Exemplarily, FIG. 2 shows a schematic diagram of another system architecture applicable to this embodiment of the present application.

As shown in FIG. 2 , the server 6 can communicate with any vehicle in the fleet.

In a possible implementation, the server 6 may receive the fleet creation notification message from the pilot car 1, and in response to the fleet creation notification message, send the first session key to the pilot car 1, so that the pilot car 1 The session key encrypts the data that needs to be interacted between vehicles, so as to realize secure communication between vehicles.

The above describes the applicable system architecture of the embodiment of the present application, and the following describes the scenarios involved in the embodiment of the present application.

1. Create a convoy scene

The free car 5 in the stationary or driving state initiates a broadcast message "creating a fleet" to other vehicles in the preset driving area. Broadcast the information of the pilot car.

2. Join the convoy scene

After Liberty Car 5 receives the team formation information of Pilot Car 1, if it wants to join the team, it sends a team request message to the Pilot Car; 5 to join the convoy. If Liberty Car 5 is accepted as a member, Pilot Car 1 will set the fleet application status in the team member management information to confirm the status of agreeing to join the team, and add the vehicle identification of Liberty Car 5 in the fleet information list, and broadcast to other vehicles in the team The status of the fleet after the update; Liberty car 5 receives the reply from the pilot car 1 broadcast confirming that it agrees to join the fleet, then sets the driving state of Liberty car 5 as the state of joining the convoy, broadcasts status information, and follows after joining the convoy. At this moment, the attribute and role of the free car 5 are transformed into a following car, and its own driving state is set as a following state, and broadcasts its own state information. If the pilot car 1 does not agree with the free car 5 to join the team, then ignore the free car 5, and the role of the free car 5 continues to maintain the free car type.

3. Leaving the convoy scene

Follower car 2 sends an application message to lead car 1. After receiving the message, lead car 1 agrees to leave the team with follower car 2 and sends a response message to follower car 2. After receiving the response message, follower car 2 Finally, set the driving state of the vehicle to leave the team, and broadcast until the follower car 2 completely leaves the team, and set its own role as a free car; the lead car 1 confirms that the follower car 2 can leave the team, and then removes the vehicle identification of the follower car 2 from the team Information list, and added to the queue list.

4. The pilot car switches scenes.

In the pilot car switching scenario, the pilot car 1 can send a pilot car switching request message to the following car 2, and after receiving the confirmation response from the following car 2, switch the pilot car; or, the following car 2 can send a message to the pilot car 1. The pilot car switching request message, and after receiving the confirmation response from the pilot car A, the pilot car switching is performed.

The free car 5 , the following car 2 , and the leading car 1 described above are only exemplary descriptions given in conjunction with FIG. 1 , and are not limited in this embodiment of the present application.

The application scenarios involved in the embodiments of the present application are introduced above, and the technical solutions provided in the embodiments of the present application are introduced below in combination with specific examples.

[Example 1]

Fig. 3 shows a vehicle communication method provided by Embodiment 1 of the present application. This method can be applied to the system architecture shown in Fig. 1. This method mainly involves the scene where the target vehicle requests to join the team. The method includes the following process :

S301. The target vehicle sends a queue entry request message to the pilot vehicle, and the pilot vehicle receives the queue entry request message.

Wherein, the entry request message carries the certificate of the target vehicle.

It should be understood that the certificate of the target vehicle is issued for the target vehicle by the vehicle certification authority, and is used to uniquely identify the legal identity of the target vehicle. Wherein, the certificate of the target vehicle may be pre-configured in the target vehicle by the vehicle manager, or may be obtained through communication and interaction between the target vehicle and the vehicle certificate issuing authority, which is not limited in this embodiment of the present application.

S302. The pilot vehicle sends a queue entry response message to the target vehicle, and the target vehicle receives the queue entry response message.

Wherein, the entry response message carries the first ciphertext, the first identification corresponding to the certificate of the target vehicle, and the certificate of the pilot vehicle. The certificate of the pilot car can be used to verify the identity of the pilot car. The first identifier is used to instruct the target vehicle to decrypt the first ciphertext according to the private key of its own certificate to obtain the first session key, and to obtain the certificate of the pilot vehicle. Wherein, the first identifier may be a HashID corresponding to the certificate of the target vehicle.

In a possible implementation manner, the pilot vehicle may encrypt the first session key according to the public key of the certificate of the target vehicle to obtain the first ciphertext. In this way, the secure transmission of the first session key is effectively realized, and the risk of the first session key being stolen is effectively reduced.

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

In a possible implementation manner, before the pilot vehicle generates the first session key, it also needs to create a fleet. Among them, the process of creating a fleet by the pilot car can be: the pilot car selects one or more free vehicles in the preset area of the pilot car to form a fleet with the pilot car according to information such as the position and driving direction of the vehicle, One or more free cars send fleet creation requests; after the one or more free cars agree to form a fleet, they send a confirmation response message to the pilot car, and the pilot car receives the confirmation response message and compiles one or more free cars in the fleet number. It should be understood that the team leader car may also store information such as certificates and vehicle identifications of each vehicle in the convoy. Exemplarily, the identifier of the vehicle may be a vehicle identification number (vehicle identification number, VIN). The VIN may be assigned to the vehicle by the manufacturer, and each vehicle has its own unique VIN.

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

S303. The target vehicle decrypts the first ciphertext according to the private key of its own certificate, so as to obtain the first session key.

In a possible implementation manner, the first session key may include an encryption key and an encryption algorithm, and then after the target vehicle obtains the first session key through decryption, it can compare the encryption key and the encryption algorithm with Broadcast messages between other vehicles in the fleet are encrypted.

In a possible implementation, the first session key may include an encryption key credential and an encryption algorithm, so that after the pilot vehicle sends the first session key to the target vehicle, the target vehicle encrypts the encryption key according to a preset algorithm. The key credentials are processed to generate an encryption key; then based on the encryption key and encryption algorithm, the broadcast information between it and other vehicles in the fleet is encrypted. Wherein, the preset algorithm may be SM4, AES, 3DES, etc., which are not limited in this embodiment of the present application.

S304. The target vehicle obtains the certificate of the pilot vehicle.

In a possible implementation, after the target vehicle obtains the certificate of the pilot car, it can save the certificate locally, so that after the target vehicle receives the information of the pilot car, it can verify the identity of the pilot car according to the certificate.

In the embodiment shown in FIG. 3 , as a vehicle to be joined, the target vehicle initiates a queue entry request to the pilot vehicle, and the pilot vehicle uses the public key of the target vehicle's certificate to encrypt and transmit the first session key to the target vehicle. In this way, the security and reliability of key transmission are effectively improved, thereby effectively realizing secure communication between vehicles.

FIG. 4 shows another vehicle communication method provided by Embodiment 1 of the present application. This method can be applied to the architecture shown in FIG. 1. This method involves the scene where the target vehicle requests to leave the team. The method includes the following process:

S401. The target vehicle sends a dequeue request message to the pilot vehicle, and the pilot vehicle receives the dequeue request message.

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

In a possible implementation manner, the pilot vehicle receives the dequeue request message, deletes the vehicle identifier of the target vehicle from the vehicle information list in the fleet, and updates the vehicle list in the fleet. Exemplarily, the original fleet list of the fleet where the pilot car is located is shown in Table 1. After the pilot car deletes the vehicle identification of the target vehicle from the vehicle list in the fleet, the updated fleet list shown in Table 2 is obtained.

Table 1

Table 2

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

S403. The target vehicle executes a dequeue operation.

In a possible implementation manner, the process for the target vehicle to perform the operation of leaving the team may be: setting its own vehicle driving state as the leaving state, and broadcasting to all vehicles in the team, and setting its own role as a free vehicle .

S404. The pilot car generates a second session key, and encrypts the second session key according to the public keys of the certificates of the team members' vehicles in the convoy where it is located, to obtain a second ciphertext.

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

For example, if there are member vehicle 1, member vehicle 2, and member vehicle 3 in the convoy, then the second ciphertext is ciphertext 1, ciphertext 2, and ciphertext 3, wherein ciphertext 1 is based on the The ciphertext 2 is obtained by encrypting the public key of the certificate of the member vehicle 2, and the ciphertext 3 is obtained by encrypting the public key of the certificate of the member vehicle 3.

S405. The pilot car generates a first notification message based on the first signature information, the second identification corresponding to the certificates of other vehicles in the fleet where the pilot car is located, and the second ciphertext, and sends the first notification message to other vehicles, and other The vehicle receives the first notification message.

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

In a possible implementation manner, the first signature information is obtained after the pilot car performs a signature operation using the private key of the certificate corresponding to the pilot car. Wherein, the embodiment of the present application does not limit the signature algorithm, and some examples are listed below, and the signature algorithm may be ECDSA or SM2-based signature algorithm.

S406. The other vehicle verifies the identity of the pilot car according to the certificate of the pilot car and the first signature information.

It should be understood that other vehicles refer to the following vehicles in the convoy where the leading vehicle is located, and may specifically be one or more vehicles, which is not limited in this embodiment of the present application.

For example, assuming that there are following car 2, following car 3 and following car 4 in the convoy where the leading car is located, after receiving the first notification message, following car 2, following car 3 and following car 4 can respectively follow the lead car's The certificate and the first signature information verify the identity of the pilot car. Among them, the process of verifying the identity of the leading car for each following car is similar. Taking a following car as an example, the process of verifying the identity of the leading car by the following car 2 is described as an example.

Exemplarily, the process for the follower car 2 to verify the identity of the lead car includes: follower car 2 obtains the public key of the lead car contained in the certificate of the lead car, and uses the public key of the lead car to decrypt the first signature information , if the decryption fails, the identity verification of the pilot car is not passed; if the decryption is successful, the identity verification of the pilot car passes, and the execution of S407 is continued.

S407. The other vehicle decrypts the second ciphertext according to the private key of its own certificate, so as to obtain the second session key.

It should be understood that the number of following vehicles among other vehicles is the same as the number of ciphertexts in the second ciphertext, and each following vehicle corresponds to one ciphertext. If other vehicles involve multiple following vehicles, each following vehicle decrypts its corresponding ciphertext according to the private key of its own certificate.

In a possible implementation manner, after other vehicles obtain the second session key, other vehicles can also send a key update response message to the pilot car; the pilot car receives the key update response message and confirms that all vehicles in the fleet have After a correct response, send a first indication message to the team members' vehicles to instruct the team members' vehicles to use the second session key to encrypt and transmit the broadcast information of the PC5 port.

In the embodiment shown in Fig. 4, after the pilot car determines that the target vehicle in the fleet leaves the team, it can generate a new session key (ie, the second session key), and issue the new key to the vehicle in the fleet. other team member vehicles, so that the team member vehicles can encrypt the broadcast information between vehicles according to the new session key. In this way, secure communication between vehicles is effectively realized.

Fig. 5 shows another vehicle communication method provided by Embodiment 1 of the present application. This method can be applied to the architecture shown in Fig. 1. This method mainly involves the switching scene of the pilot car, and the method includes the following process:

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

Wherein, the switching request message is used to instruct the target pilot vehicle to request switching of the pilot vehicle, and the switching request message carries the vehicle identification of the target pilot vehicle.

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

S502A. In response to the switch request message, the original pilot vehicle sends a switch response message to the target pilot vehicle, and the target pilot vehicle receives the switch response message. Wherein, the switching response message is used to instruct the target pilot vehicle to switch the pilot vehicle.

S503A. The target pilot car switches the pilot car.

In a possible implementation manner, the target pilot car switches the pilot car, sets its vehicle driving state as the leading state, and sets its own role as the leading car.

The above S501A-S503A can be replaced by S501B-S503B. That is to say, the switching of the pilot car can be initiated by the target pilot car or by the original pilot car.

S501B. The original pilot vehicle sends a switching request message to the target pilot vehicle, and the target pilot vehicle receives the switching request message. Wherein, the switching request message is used to indicate that the original pilot vehicle requests to switch the pilot vehicle.

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

Wherein, the switch response message is used to instruct the original pilot vehicle to switch the pilot vehicle.

S503B, the original pilot car is switched to the pilot car.

In a possible implementation manner, the original pilot car switches the pilot car, sets its own vehicle driving state to the following state, and sets its own role to the following car; and sets the vehicle driving state of the target pilot car to Team status, the role of the target pilot car is set to the pilot car.

S504. The original pilot vehicle sends a second notification message to other vehicles.

Wherein, the second notification message includes the second signature information and the certificate of the target pilot vehicle, and the second signature information is used to indicate the identity information of the original pilot vehicle. It should be understood that the other vehicles here refer to the following vehicles in the convoy where the original leading vehicle is located, and there may be one or more vehicles, which are not limited in this embodiment of the present application. When there are multiple following vehicles in the convoy, the second notification message here is the broadcast message sent by the original leading vehicle.

S505. The other vehicle verifies the identity of the original pilot car according to the certificate of the original pilot car and the second signature information, and obtains the certificate of the target pilot car.

In a possible implementation manner, the second signature information is generated according to the private key of the original pilot car certificate, and then other vehicles can decrypt the second signature information according to the public key of the original pilot car certificate. , then the identity verification of the original pilot car is successful, and other vehicles obtain the certificate of the target pilot car and save it locally; if the decryption fails, the identity verification of the original pilot car fails, and other vehicles are prohibited from saving the certificate of the target pilot car.

S506. The target pilot vehicle generates a third session key.

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

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

S508. The other vehicle verifies the identity of the target pilot vehicle according to the third signature information and the certificate of the target pilot vehicle.

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

S509. The other vehicle decrypts the third ciphertext according to the first session key to obtain the third session key.

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

S510. Other vehicles send a key update response message to the target pilot vehicle, and the target pilot vehicle receives the key update response message.

S511. The target pilot vehicle sends third instruction information to other vehicles, and other vehicles receive the third instruction information.

Wherein, the third instruction information is used to instruct other vehicles to encrypt broadcast information between vehicles based on the third session key. Exemplarily, if the other vehicles are following car 2, following car 3, and following car 4, after receiving the third indication information, following car 2 can broadcast between following car 2 and following car 4 based on the third session key The information is encrypted and transmitted, and the broadcast message that the following vehicle 2 is going to broadcast to the following vehicle 3, the following vehicle 4 and the target pilot vehicle can also be encrypted and transmitted.

In the embodiment shown in Fig. 5, both the original pilot car and the target pilot car can initiate a pilot car switching request, and after the pilot car switches successfully, the target pilot car can also generate a new session key (that is, the third session key key), and utilize the old session key (i.e. the first session key) to encrypt and transmit the new session key to other vehicles in the fleet. In this way, the risk of the session key being stolen is effectively reduced, thereby effectively realizing secure communication between vehicles.

[Example 2]

Fig. 6 shows a vehicle communication method provided by Embodiment 2 of the present application. This method can be applied to the system architecture shown in Fig. 2. This method mainly involves the scene where the pilot vehicle creates a fleet. The method includes the following process:

Create a fleet of S600 and pilot cars.

In a possible implementation, the pilot car can send a fleet formation request to the server to instruct the server to build a fleet for the pilot car. One or more vehicles in the fleet form a convoy with the lead car.

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

S601. The pilot car sends a fleet creation notification message to the server, and the server receives the fleet creation notification message.

Wherein, the fleet creation notification message includes the fleet identifier and the identifiers of the vehicles in the fleet. It should be understood that the identification of the vehicle in the fleet may be a vehicle identification and/or a vehicle number.

Exemplarily, if there are 4 vehicles in the fleet, the identifications of the vehicles in the fleet include vehicle identifications (VIN_1, VIN_2, VIN_3, VIN_4) and vehicle numbers (1, 2, 3, 4), where the vehicle identification and vehicle number One-to-one correspondence according to the order of arrangement. The identification representation of the vehicles in the fleet may be: the vehicle number of the vehicle with the vehicle identification VIN_1 is 1, the vehicle number of the vehicle with the vehicle identification VIN_2 is 2, and so on.

As another example, the identification of vehicles in the fleet sent by the pilot car to the server may be a combination of vehicle identification and vehicle number, for example: (VIN_1, 1), (VIN_2, 2), (VIN_3, 3) and (VIN_4, 4).

It should be noted that the above-mentioned vehicle number is only an example, and this application does not limit the specific value of the vehicle number.

S602. The server generates a first session key.

In a possible implementation, the server stores the certificates of each vehicle, and after receiving the fleet creation notification message, the server can verify the identity information of each vehicle in the fleet according to the fleet identifier and the identifiers of the vehicles in the fleet , when the verification is passed, execute S602 to generate a first session key; if there is a vehicle in the fleet that fails the verification, the server sends a fleet creation failure response message to the pilot car.

In a possible implementation manner, the server may generate the first session secret according to a preset algorithm. The preset algorithm may include but not limited to a symmetric algorithm (such as SM4, AES, etc.), a random number generation algorithm, a time Any algorithm, such as a generative algorithm.

S603. The server sends the first session key to the pilot car, and the pilot car receives the first session key.

In a possible implementation, after the pilot car receives the first session key, it can encrypt and transmit the first session key to each follower car according to the public key corresponding to the certificate of each follower car in its convoy, so as to Allow each following vehicle to encrypt broadcast information between vehicles.

In another possible implementation manner, the server may also directly send the first session key to each follower vehicle in the convoy where the lead vehicle is located, and facilitate the public key corresponding to the certificate of each follower vehicle to perform the first session key The encryption is transmitted to the corresponding following vehicle, so that the following vehicle can encrypt the broadcast information between vehicles.

In the embodiment shown in Fig. 6, the pilot car sends a fleet creation notification message to the server, and then the server can verify the identity information of each vehicle in the fleet, and when the verification is passed, generate a first session key and send the first The session key is delivered to the pilot car, so that the pilot car encrypts the broadcast information between vehicles according to the first session key. In this way, the secure communication between vehicles is effectively realized, and the time delay for verifying the member vehicles of the fleet is shortened when the fleet is formed, and the security and reliability of the session key transmission are improved, and the security between vehicles is realized. communication.

Fig. 7 shows a vehicle communication method provided by Embodiment 2 of the present application. This method can be applied to the system architecture shown in Fig. 2. This method mainly involves the scene where a free vehicle applies for joining the team. The method includes the following process :

S700. The pilot vehicle determines that the first vehicle requests to join the team.

Exemplarily, the first vehicle takes the free car 5 as an example, the pilot car receives the queue entry request message of the free car 5, and then may respond to the message to determine that the free car 5 wants to join the team of the pilot car.

S701. The pilot car sends a queue entry request notification message to the server, and the server receives the queue entry request notification message; the queue entry request notification message includes a fleet identifier and a vehicle identifier of the first vehicle.

In a possible implementation, the server stores the certificate of the first vehicle locally, and then the server can verify the identity information of the first vehicle according to the certificate of the first vehicle and the identification of the first vehicle, and when the verification passes, execute S702. Send the first session key to the first vehicle.

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

In a possible implementation manner, the first vehicle receives the first session key, and can encrypt the broadcast information between it and the pilot vehicle according to the first session key, or Encrypt the broadcast information between vehicles.

In the embodiment shown in Fig. 7, the server can realize the management of the session key of the fleet, and when it is determined that there is a vehicle to enter the queue, the pilot car can send a queue request notification message to the server, and the server responds to the notification message and waits to enter the queue. When the identity verification of the entering vehicle passes, the first session key is sent to the waiting vehicle, so that the waiting vehicle can use the first session key to encrypt the broadcast information. In this way, it helps to improve the safety and reliability of communication between vehicles.

Fig. 8 shows another vehicle communication method provided by Embodiment 2 of the present application. This method can be applied to the system architecture shown in Fig. 2. This method mainly involves the scene of following the vehicle to apply for leaving the team. The method includes the following process:

S800. The pilot vehicle determines that the second vehicle requests to leave the team.

Exemplarily, the second vehicle takes the follower car 4 as an example, and the lead car receives the dequeue request message of the follower car 4, and then may respond to the message and determine that the follower car 4 satisfies the dequeue condition (for example, there is no ongoing operation task), agree to follow car 4 out of the team.

S801. The pilot car sends a queue-out request notification message to the server, and the server receives the queue-out request notification message; the queue-entry request notification message includes a fleet identifier and a second vehicle identifier.

In a possible implementation manner, the server receives the dequeue request notification message, removes the second vehicle identifier from the vehicle list in the fleet, obtains an updated vehicle list, and executes S802.

S802. The server generates a second session key.

S803. The server sends the second session key to other vehicles, and the other vehicles receive the second session key.

It should be understood that the vehicles here refer to other following vehicles in the updated fleet except the leading vehicle.

In a possible implementation, other vehicles receive the second session key, and can encrypt the broadcast information between them and the leading vehicle according to the second session key, or the broadcast information between them and other following vehicles The information is encrypted.

In the embodiment shown in Figure 8, the server can realize the management of the session key of the fleet, and after determining that a vehicle leaves the team, send the updated session key (ie, the second session key) to the updated fleet , so that other vehicles in the updated fleet can use the second session key to encrypt the broadcast information. In this way, it helps to improve the safety and reliability of communication between vehicles.

FIG. 9 shows another vehicle communication method provided by Embodiment 2 of the present application. This method can be applied to the system architecture shown in FIG. 2. This method mainly involves the scene of pilot vehicle switching. The method includes the following process:

S900, pilot car Determine the target pilot car.

Among them, there are many ways for the pilot car to determine the target pilot car, including but not limited to the following ways:

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

Mode 2, the pilot car receives the switch request message from the target pilot car, and determines the target pilot car when it is determined that the target pilot car satisfies the pilot car switching conditions.

S901. The pilot car sends a pilot car switching notification message to the server, and the server receives the pilot car switching notification message. The pilot car switching notification message includes the fleet identification and the vehicle identification of the target pilot car.

In a possible implementation, the server locally stores the certificate of the target pilot car, and then the server can verify the identity information of the target pilot car according to the certificate of the target pilot car, and when the verification is passed, execute S902 to switch the pilot car .

S902. The server generates a pilot car switch and updates the fleet according to the fleet ID and the vehicle ID of the target pilot car.

S903. The server generates a third session key;

S904. The server sends the third session key to other vehicles.

In the embodiment shown in Fig. 9, the server can realize the management of the session key of the fleet, and after receiving the pilot car switching notification message, perform pilot car switching according to the identification of the fleet and the vehicle identification of the target pilot car; generate the second Three session keys, and send the third session key to other vehicles in the fleet, so that other vehicles in the updated fleet can use the third session key to encrypt broadcast information. In this way, updating the session key in time helps to improve the security and reliability of communication between vehicles.

FIG. 10 shows a possible structural diagram of a vehicle communication device involved in the above embodiments of the present application. The device 1000 can be used to implement the functions of the vehicle shown in FIG. 1 or FIG. 2 above.

Exemplarily, device 1000 may include:

The receiving module 1001 is configured to receive an entry request message; the entry request message includes the certificate of the target vehicle, and the entry request message is used to indicate that the target vehicle requests entry;

A sending module 1002, configured to send a queue-entry response message to the target vehicle in response to the queue-entry request message;

Wherein, the entry response message includes a first ciphertext, a first identification corresponding to the certificate of the target vehicle, and a certificate of the pilot vehicle, and the first ciphertext is the ciphertext of the pilot vehicle according to the certificate of the target vehicle. obtained by encrypting the first session key with the public key, and the first identifier is used to instruct the target vehicle to decrypt the first ciphertext according to the private key of its own certificate to obtain the first session key key, and obtain the certificate of the pilot car. Wherein, the first identifier may be the HashID corresponding to the certificate of the target vehicle.

In a possible implementation manner, the device 1000 further includes a processing module 1003, and before the receiving module 1001 is configured to receive the enqueue request message, the processing module 1003 is also configured to: generate the first session key, the second A session key is used to encrypt broadcast messages between vehicles.

In a possible implementation manner, the receiving module 1001 is also used to receive a dequeue request message; the dequeue request message is used to indicate that the target vehicle requests dequeue; the sending module 1002 is also used to respond to the dequeue A request message, sending a dequeue response message; the dequeue response message is used to instruct the target vehicle to perform a dequeue operation.

In a possible implementation manner, the sending module 1002 sends a first notification message after sending the team-out response message; wherein, the first notification message includes the first signature information, other vehicles in the fleet where the pilot car is located The second identification and the second ciphertext corresponding to the certificate, the first signature information is used to indicate the identity information of the pilot car, and the second ciphertext is the obtained by encrypting the second session key with the public key of the certificate; the second identifier is used to instruct the other vehicle to decrypt the second ciphertext according to the private key of the certificate to obtain the second The session key, the first notification message is used to instruct other vehicles to verify the identity of the pilot car according to the certificate of the pilot car and the first signature information, and decrypt the second ciphertext according to the private key of the certificate of other vehicles to obtain the first Two session keys.

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

It should be understood that for detailed descriptions and beneficial effects obtained by various implementations of the device 1000, reference may be made to the relevant content of any of the above-mentioned embodiments shown in FIGS. 3-9 , and will not be described in detail here.

FIG. 11 shows a possible structural diagram of a vehicle communication device involved in the above-mentioned embodiments of the present application. The device 1100 can be used to realize the functions of the server shown in FIG. 2 above.

Exemplarily, device 1100 may include:

The receiving module 1101 is configured to receive a fleet creation notification message; the fleet creation notification message is used to indicate that the pilot vehicle has created a fleet; the fleet creation notification message includes the identification of the fleet and the vehicle identification in the fleet;

The sending module 1102 is configured to send a first response message in response to the fleet creation notification message; the first response message is used to instruct the pilot car to obtain a first session key, and the first session key is used for Encrypting broadcast messages between vehicles in the fleet.

In a possible implementation manner, the receiving module 1101 is also used to receive a queue entry request notification message; the queue entry request notification message is used to indicate that the first vehicle requests to join the queue; the sending module 1102 is also used to respond to the queue entry A team request notification message, sending the first session key to the first vehicle.

In a possible implementation manner, the receiving module 1101 is also configured to receive a request notification message for leaving the team; the request notification message for leaving the team is used to indicate that the second vehicle requests to leave the team, and the request notification message for leaving the team includes the and the vehicle identification of the second vehicle; the sending module 1102 is also configured to determine the updated fleet according to the identification of the fleet and the vehicle identification of the second vehicle in response to the departure request notification message, and A second session key is sent to each vehicle in the updated fleet; the second session key is used to encrypt broadcast information between vehicles in the updated fleet.

In a possible implementation manner, the device 1100 further includes a processing module 1103, and the receiving module 1101 is also configured to receive a pilot car switching notification message; the pilot car switching notification message includes the identification of the fleet and the vehicle of the target pilot car Identification; the processing module 1103 is used to respond to the pilot car switching notification message, perform pilot car switching according to the identification of the fleet and the vehicle identification of the target pilot car, generate a third session key, and send a message to the team in the fleet The other vehicles send a third session key used to encrypt broadcast information between vehicles in the fleet.

It should be understood that for detailed descriptions and beneficial effects obtained by various implementations of the device 1100 , reference may be made to the relevant content of any of the above-mentioned embodiments shown in FIGS. 6-9 , and will not be described in detail here.

An embodiment of the present application also provides a vehicle, and the vehicle may include a processor configured to execute the vehicle communication method in any of the embodiments shown in FIGS. 3-9 .

In a possible implementation manner, a memory is also included for storing computer programs or instructions.

In a possible implementation manner, a transceiver is further included, configured to receive or send information.

The embodiment of the present application also provides a server, the server includes a processor, and the processor is configured to implement the functions of the server in the embodiments shown in FIGS. 6-9 above, so as to implement the vehicle communication method provided in the embodiment of the present application.

In a possible implementation, the server is a single server or a server cluster composed of multiple sub-servers. When the server is a server cluster composed of multiple sub-servers, the multiple sub-servers jointly execute the above-mentioned server 6 shown in FIG. 2 function.

The embodiment of the present application also provides a chip system. Please refer to FIG. 12. The chip system 1200 includes at least one processor. When program instructions are executed in at least one processor 1201, any A vehicle communication method in an embodiment is realized.

In a possible implementation manner, the chip system further includes a communication interface 1203, which is used for inputting or outputting information.

In a possible implementation manner, the chip system further includes a memory 1202 , which is coupled to the processor through the communication interface 1203 and configured to store the above-mentioned instructions, so that the processor can read the instructions stored in the memory through the communication interface 1203 .

It should be understood that the connection medium among the foregoing processor 1201, memory 1202, and communication interface 1203 is not limited in this embodiment of the present application. In the embodiment of the present application, in FIG. 12, the memory 1202, the processor 1201, and the communication interface 1203 are connected through a communication bus 1204. The bus is represented by a thick line in FIG. , is not limited. The bus may include an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is used in FIG. 12 , but it does not mean that there is only one bus or one type of bus.

The embodiment of the present application also provides a computer program product including instructions, when running on the above device, to execute the vehicle communication method in any of the above embodiments shown in FIGS. 3-9 .

An embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is run, the vehicle communication method in any of the above-mentioned embodiments shown in Figures 3-9 is implemented .

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

In the above-mentioned embodiments provided in the present application, the methods provided in the embodiments of the present application are introduced from the perspective of interaction between various devices. In order to realize the various functions in the method provided by the above embodiments of the present application, the first terminal, the second terminal and the network device may include a hardware structure and/or a software module in the form of a hardware structure, a software module, or a hardware structure plus a software module to realize the above functions. Whether one of the above-mentioned functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

The division of modules in the embodiment of the present application is schematic, and is only a logical function division, and there may be other division methods in actual implementation. In addition, each functional module in each embodiment of the present application may be integrated into one processor, or physically exist separately, or two or more modules may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules.

In the embodiment of the present application, the memory may be a non-volatile memory, such as a hard disk (hard disk drive, HDD) or a solid-state drive (solid-state drive, SSD), etc., and may also be a volatile memory (volatile memory), such as Random-access memory (RAM). A memory is, but is not limited to, any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory in the embodiment of the present application may also be a circuit or any other device capable of implementing a storage function, and is used for storing program instructions and/or data.

The methods provided in the embodiments of the present application may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present application will be generated in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, network equipment, user equipment or other programmable devices. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website, computer, server or data center Transmission to another website site, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center integrated with one or more available media. The available medium may be a magnetic medium (for example, a floppy disk, a hard disk, or a magnetic tape), an optical medium (for example, a digital video disc (digital video disc, DVD for short)), or a semiconductor medium (for example, SSD).

In the embodiments of the present application, on the premise that there is no logical contradiction, the various embodiments may refer to each other, for example, the methods and/or terms between the method embodiments may refer to each other, such as the functions and/or terms between the device embodiments Or terms may refer to each other, for example, functions and/or terms between the apparatus embodiment and the method embodiment may refer to each other.

Those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. In this way, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

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

Receive a request message for joining the team; the request message for joining the team includes the certificate of the target vehicle, and the request message for joining the team is used to indicate that the target vehicle requests to join the team;

sending a queue response message to the target vehicle in response to the queue request message;

Wherein, the entry response message includes a first ciphertext, a first identification corresponding to the certificate of the target vehicle, and a certificate of the pilot vehicle, and the first ciphertext is the ciphertext of the pilot vehicle according to the certificate of the target vehicle. obtained by encrypting the first session key with the public key; the first identifier is used to instruct the target vehicle to decrypt the first ciphertext according to the private key of its own certificate to obtain the first session key key, and obtain the certificate of the pilot car.
The method according to claim 1, wherein, before receiving the enqueue request message, the method further comprises:

The first session key is generated, and the first session key is used to encrypt broadcast information between vehicles.
The method according to claim 1 or 2, characterized in that the method further comprises:

Receive a dequeue request message; the dequeue request message is used to indicate that the target vehicle requests to dequeue;

In response to the dequeue request message, a dequeue response message is sent; the dequeue response message is used to instruct the target vehicle to perform a dequeue operation.
The method according to claim 3, characterized in that, after the dequeue response message is sent, the method further comprises:

Sending a first notification message; wherein, the first notification message includes first signature information, a second identification and a second ciphertext corresponding to the certificates of other vehicles in the convoy where the pilot vehicle is located, and the first signature information uses In order to indicate the identity information of the pilot car, the second ciphertext is obtained by the pilot car encrypting the second session key according to the public key of the certificate of the other vehicle; the second identification is used to indicate The other vehicle decrypts the second ciphertext according to the private key of the certificate of the other vehicle to obtain the second session key;

The first notification message is used to instruct the other vehicles to verify the identity of the pilot car according to the certificate of the pilot car and the first signature information.
The method according to claim 4, wherein before the sending of the first notification message, the method further comprises:

generating a second session key; the second session key is used to encrypt broadcast information between the vehicles.
A vehicle communication method, characterized in that the method comprises:

Sending a request message for joining the team; the request message for joining the team includes the certificate of the target vehicle, and the request message for joining the team is used to indicate that the target vehicle requests to join the team;

Receive an entry response message corresponding to the entry request message; the entry response message includes the first ciphertext, the first identification corresponding to the certificate of the target vehicle and the certificate of the pilot vehicle, the first ciphertext obtained by the pilot car encrypting the first session key according to the public key of the certificate of the target vehicle; the first identifier is used to indicate that the target vehicle encrypts the Decrypt a ciphertext to obtain the first session key, and obtain the certificate of the pilot vehicle; decrypt the first ciphertext according to the private key of the certificate of the target vehicle to obtain the first session key, and the certificate for obtaining the pilot car.
The method according to claim 6, further comprising:

Send a dequeue request message; the dequeue request message is used to indicate that the target vehicle requests to dequeue;

receiving a dequeue response message corresponding to the dequeue request message; the dequeue response message is used to instruct the target vehicle to perform a dequeue operation.
A vehicle communication device, characterized by comprising:

A receiving module, configured to receive a team entry request message; the team entry request message includes the certificate of the target vehicle, and the team entry request message is used to indicate that the target vehicle requests to join the team;

A sending module, configured to send a queue-entry response message to the target vehicle in response to the queue-entry request message;

Wherein, the entry response message includes a first ciphertext, a first identification corresponding to the certificate of the target vehicle, and a certificate of the pilot vehicle, and the first ciphertext is the ciphertext of the pilot vehicle according to the certificate of the target vehicle. obtained by encrypting the first session key with the public key, and the first identifier is used to instruct the target vehicle to decrypt the first ciphertext according to the private key of its own certificate to obtain the first session key key, and obtain the certificate of the pilot car.
The device according to claim 8, wherein the device further comprises a processing module, before the receiving module receives the enqueue request message,

The processing module is configured to generate the first session key, and the first session key is used to encrypt broadcast information between vehicles.
The device according to claim 8 or 9, wherein the receiving module is further configured to: receive a dequeue request message; the dequeue request message is used to indicate that the target vehicle requests dequeue;

The sending module is further configured to send a dequeue response message in response to the dequeue request message; the dequeue response message is used to instruct the target vehicle to perform a dequeue operation.
The device according to claim 10, wherein after the sending module sends the dequeue response message,

The sending module is also used to send a first notification message; wherein, the first notification message includes first signature information, a second identification corresponding to the certificates of other vehicles in the convoy where the pilot car is located, and a second ciphertext , the first signature information is used to indicate the identity information of the pilot car, and the second ciphertext is obtained by the pilot car encrypting the second session key according to the public key of the certificate of the other vehicle; The second identifier is used to instruct the other vehicle to decrypt the second ciphertext according to the private key of the other vehicle's certificate, so as to obtain the second session key;

The first notification message is used to instruct the other vehicles to verify the identity of the pilot car according to the certificate of the pilot car and the first signature information.
The device according to claim 11, wherein before the sending module sends the first notification message,

The processing module is further configured to generate a second session key; the second session key is used to encrypt the broadcast information between the vehicles.
A vehicle communication device, characterized by comprising:

A sending module, configured to send a team entry request message; the team entry request message includes the certificate of the target vehicle, and the team entry request message is used to indicate that the target vehicle requests to join the team;

A receiving module, configured to receive an entry response message corresponding to the entry request message; the entry response message includes the first ciphertext, the first identification corresponding to the certificate of the target vehicle, and the certificate of the pilot vehicle, so The first ciphertext is obtained by the pilot car encrypting the first session key according to the public key of the target vehicle's certificate, and the first identifier is used to indicate that the target vehicle key to decrypt the first ciphertext to obtain the first session key, and obtain the certificate of the pilot car;

A processing module, configured to decrypt the first ciphertext according to the private key of the target vehicle's certificate to obtain the first session key, and obtain the pilot vehicle's certificate.
The device according to claim 13, wherein the sending module is further configured to send a dequeue request message; the dequeue request message is used to indicate that the target vehicle requests dequeue;

The receiving module is further configured to receive a dequeue response message corresponding to the dequeue request message; the dequeue response message is used to instruct the target vehicle to perform a dequeue operation.
A vehicle communication method, characterized in that the method comprises:

Receiving a fleet creation notification message; the fleet creation notification message is used to indicate that the pilot vehicle has created a fleet; the fleet creation notification message includes the identification of the fleet and the vehicle identification in the fleet;

Sending a first response message; the first response message is used to instruct the pilot car to acquire a first session key, and the first session key is used to encrypt broadcast information between vehicles in the fleet.
The method according to claim 15, further comprising:

Receiving an entry request notification message; the entry request notification message is used to indicate that the first vehicle requests entry into the group;

A first session key is sent to the first vehicle in response to the enqueue request notification message.
The method according to claim 15 or 16, wherein the method further comprises:

Receive a request notification message for leaving the team; the request notification message for leaving the team is used to indicate that the second vehicle requests to leave the team, and the request notification message for leaving the team includes the identification of the team and the vehicle identification of the second vehicle;

In response to the dequeue request notification message, determine an updated fleet according to the identifier of the fleet and the vehicle identifier of the second vehicle, and send a second session key to each vehicle in the updated fleet. key; the second session key is used to encrypt broadcast information between vehicles in the updated fleet.
The method according to any one of claims 15-17, wherein the method further comprises:

Receive the pilot car switching notification message; the pilot car switching notification message also includes the identification of the fleet and the vehicle identification of the target pilot car;

In response to the pilot car switching notification message, the pilot car is switched according to the identification of the fleet and the vehicle identification of the target pilot car.
The method according to claim 18, further comprising:

generating a third session key;

Sending a third session key to other vehicles in the convoy except the target pilot vehicle, where the third session key is used to encrypt broadcast information between vehicles in the convoy.
A computer-readable storage medium, characterized in that, a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a computer, the computer executes the computer program described in any one of claims 1-5. method, or perform the method as described in any one of claims 6-7, or perform the method as described in any one of claims 15-19.
A chip system, characterized in that the chip is used to read the computer program stored in the memory, execute the method according to any one of claims 1-5, or execute the method according to any one of claims 6-7 described method, or perform the method as described in any one of claims 15-19.
A vehicle, characterized by comprising a processor configured to execute the method according to any one of claims 1-5 above, or to execute the method according to any one of claims 6-7 above, Or perform the method as described in any one of claims 15-19.
A computer program product, characterized in that the computer program product includes instructions, and when the instructions are executed by a computer, the computer executes the method according to any one of claims 1-5, or executes the method according to any one of claims 1-5. The method according to any one of claims 6-7, or performing the method according to any one of claims 15-19.