A remote control instruction security verification method and system, a storage medium and a vehicle

Abstract

The present application relates to the technical field of remote control, and provides a remote control instruction security verification method and system, a storage medium and a vehicle, which comprises the following steps: receiving a remote control instruction package and performing legality verification on the instruction package; if the verification is passed, it is judged whether the package number is continuous; if the package number is continuous, or if the package number is not continuous and the package number interval is within an acceptable range, it is judged whether the control value is within the control limit value, and the remote control instruction is selected to be executed or the control value is selected to be inferred; if the package number is not continuous and the package number interval is within the maximum tolerable operation time delay, it is judged whether the remote control instruction is an instruction with a priority not exceeding a threshold value, and if yes, the remote control instruction is executed; otherwise, a nearby gradient inference algorithm is used to perform interpolation on the intermediate interval. The control of the remote device is smoother, and the vehicle action is prevented from being abnormal.

Description

Technical Field

[0001] This invention belongs to the field of remote control technology, and in particular relates to a remote control command security verification method, system, storage medium, and vehicle. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Remote control refers to real-time remote vehicle control. Remote control commands are transmitted remotely using 4G / 5G / Wi-Fi networks. The remote end sends control commands, and the vehicle receives, parses, and executes the commands.

[0004] However, existing remote control solutions have the following drawbacks:

[0005] Existing remote control solutions do not consider verifying the legitimacy of commands, and the commands received by the device may be tampered with by third parties;

[0006] Remote control has high requirements for the real-time transmission of commands, and existing solutions do not address the issue of delayed arrival of control commands.

[0007] Remote control has strict requirements on the order in which commands arrive. Existing solutions do not consider the situation where commands arrive out of order, which may lead to abnormal vehicle movements. Summary of the Invention

[0008] To address the technical problems mentioned above, this invention provides a remote control command security verification method, system, storage medium, and vehicle. The method uses packet number to indicate whether packet loss has occurred in the command packet, and applies different processing strategies such as control command execution and interpolation to handle packet loss under different time delays. This results in smoother control of remote devices and avoids abnormal vehicle actions.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] The first aspect of the present invention provides a remote control command security verification method, comprising:

[0011] Receive remote control command packets and perform a validity check on the command packets. If the check passes, determine whether the packet numbers are consecutive.

[0012] If the packet numbers are consecutive, or if the packet numbers are not consecutive but the interval between them is within an acceptable range, then the remote control command is executed or the control value is inferred based on whether the control value is within the control limit. If the packet numbers are not consecutive but the interval between them is within the maximum tolerable operation delay, then it is determined whether the remote control command is a command whose priority does not exceed the threshold. If so, the remote control command is executed. Otherwise, the nearest gradient inference algorithm is used to interpolate the intermediate interval bits.

[0013] Furthermore, the validity verification of the instruction packet is based on the message checksum;

[0014] The message verification code includes: a time verification part, a heartbeat authentication value part, and a control command part.

[0015] Furthermore, the heartbeat authentication value in the heartbeat authentication value section is periodically changed using heartbeat interaction commands.

[0016] Furthermore, the method for numerical inference of the control value is as follows: based on the control values ​​of the most recent several frames, the nearest gradient inference algorithm is used to calculate the control value.

[0017] Furthermore, the acceptable range is less than the ratio of instruction transmission delay to instruction transmission period.

[0018] Furthermore, the maximum tolerable operation delay is greater than the ratio of instruction transmission delay to instruction transmission period, and less than the ratio of a set value to instruction transmission period.

[0019] Furthermore, the intermediate interval interpolation step includes:

[0020] Take the control values ​​of several frames preceding the frame to be interpolated, and form a control point sequence;

[0021] Calculate the gradient between the first and last sample points in the control point sequence, and use it as the first gradient;

[0022] Calculate the gradient between the first and second sample points in the control point sequence as the second gradient; calculate the gradient between the second-to-last and last sample points in the control point sequence as the third gradient; and calculate the gradient change rate between the second and third gradients.

[0023] Calculate the gradient value between the last sample point in the control point sequence and the control value in the latest received remote control command packet, and use it as the fourth gradient;

[0024] Based on the first gradient, the gradient rate of change, the fourth gradient, and the last sample point in the control point sequence, calculate the control value of the frame to be interpolated.

[0025] A second aspect of the present invention provides a remote control command security verification system, comprising:

[0026] The verification module is configured to receive remote control command packets and verify the validity of the command packets. If the verification passes, it determines whether the packet numbers are consecutive.

[0027] The verification module is configured to: if the packet numbers are consecutive, or if the packet numbers are not consecutive but the interval between them is within an acceptable range, then select to execute a remote control command or perform control value numerical inference based on whether the control value is within the control limit; if the packet numbers are not consecutive but the interval between them is within the maximum tolerable operation delay, then determine whether the remote control command is a command whose priority does not exceed the threshold. If so, then execute the remote control command; otherwise, use the nearest gradient inference algorithm to interpolate the intermediate interval bits.

[0028] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the remote control instruction security verification method described above.

[0029] A fourth aspect of the present invention provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the remote control command security verification method described above.

[0030] A fifth aspect of the present invention provides a vehicle utilizing a remote control command security verification method as described in the first aspect; or, utilizing a remote control command security verification method system as described in the second aspect; or, utilizing a computer-readable storage medium as described in the third aspect; or, utilizing a computer device as described in the fourth aspect.

[0031] Compared with the prior art, the beneficial effects of the present invention are:

[0032] This invention uses packet number to indicate whether packet loss has occurred in the instruction packet, and applies different processing strategies such as control instruction execution and interpolation to packet loss under different time delays, thereby making the control of remote devices smoother and avoiding abnormal vehicle actions.

[0033] This invention verifies the legality of instruction packets to determine whether instructions have been tampered with and to ensure the integrity of the instruction packets.

[0034] This invention prevents the device from executing erroneous instructions by setting control limits for control values.

[0035] This invention ensures timely response to emergency control commands by setting command priorities. Attached Figure Description

[0036] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0037] Figure 1This is a flowchart of a remote control command security verification method according to Embodiment 1 of the present invention;

[0038] Figure 2 This is a schematic diagram of the control instruction transmission frame format according to Embodiment 1 of the present invention;

[0039] Figure 3 This is a schematic diagram of the heartbeat interaction frame format according to Embodiment 1 of the present invention. Detailed Implementation

[0040] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0041] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0042] Example 1

[0043] This embodiment provides a method for secure verification of remote control commands.

[0044] This embodiment provides a remote control command security verification method to address control anomalies caused by insecure control commands during remote control. It uses command verification values ​​to determine whether commands have been tampered with and to ensure command packet integrity; command packet serial numbers (i.e., packet numbers) to indicate whether packet loss has occurred; command priorities to prioritize and activate urgent operation commands; when command packet loss occurs, a proximity gradient inference algorithm based on the values ​​of adjacent frames and the command value of the current frame is used to fill in the missing frames, making remote device control smoother; and it sets effective value limits for control commands to prevent malfunctions caused by malicious or incorrect commands.

[0045] 1. Command packet format and security verification (i.e., command packet validity verification) methods:

[0046] The validity of a message is verified using a message checksum. The checksum consists of a time verification portion, a dynamic heartbeat authentication value, and a control command portion, calculated and verified according to custom rules. Example of custom rules: For the date portion (time verification portion), the last two bytes are the product of the hour, minute, and second values ​​in the control command transmission frame; for the heartbeat authentication value, the last four bytes are the square of the heartbeat authentication value in the control command transmission frame; for the control command portion, the last four bytes are the sum of the control commands in the control command transmission frame. For example... Figure 2As shown, the control command transmission frame includes a frame header, control command message serial number, time, heartbeat authentication value, priority 0 control command group, priority 1 control command group, ..., priority k control command group, message checksum and frame trailer.

[0047] If the checksum calculated by the controller itself matches the checksum sent by the control command, the checksum of the message can be considered to have passed the validity check.

[0048] Heartbeat interaction commands are used to periodically change the heartbeat authentication value, for example, changing it every 100 control command cycles. Figure 3 As shown, the heartbeat interaction frame includes a frame header, heartbeat message serial number, time, heartbeat authentication value, and frame tail.

[0049] 2. Instruction priority setting method:

[0050] The control commands are classified according to their importance and urgency. For example, the highest priority is the command to control emergency stopping and emergency instructions, the second highest priority is the command to control vehicle actions, and other commands are configured as needed.

[0051] 3. Instruction delay handling method:

[0052] Based on the latency requirements of remote control, the process of handling control commands and executing the remote control command security verification method is refined.

[0053] 4. Command control limit method:

[0054] Set protection values ​​according to the actual operating range of the controlled equipment. When the control value given by the control command is greater than the control limit, operate according to the maximum limit and send an abnormal control command reminder to the remote control terminal.

[0055] 5. Missing instruction packets: The nearest neighbor gradient inference algorithm estimates the missing values.

[0056] When a command packet is lost and the condition "control command transmission delay < packet number interval * command packet period < 120ms" is met, the lost packet is replaced by a frame interpolation algorithm that uses the nearest gradient inference method.

[0057] Note: In a local area network environment, the end-to-end command transmission delay is less than 20ms. It is generally believed that the remote controlled device can be effectively controlled when the control command transmission delay is less than 120ms.

[0058] In this embodiment, the cubic sampling interpolation is replaced by the nearest neighbor gradient inference algorithm. The nearest neighbor gradient inference algorithm is calculated as follows (divided into interpolation for the next step and interpolation for the intermediate interval):

[0059] 1) Assume there is a control data sequence that changes continuously over time. The data sequence is sampled at a period T. Here, T should be the control period of the control command. It can be set to T = 10ms. The actual setting should be based on the requirements.

[0060] 2) Based on the unit period T = 10ms in 1), i.e., 100 control points are generated per second, assume the sampled control point sequence is x1, x2, ..., x i Assume x i Given the current control point value, if we want to obtain x through interpolation at this time... i+1 The value at time 1 is calculated using the nearest neighbor gradient inference algorithm, with the following steps (interpolation proceeds to the next step):

[0061] (201) Take the control point sequence x i-4 x i-3 x i-2 x i-1 and x i ;

[0062] (02) Take the first sample point x in the control point sequence. i-4 With the last sample point x i The gradient between them is taken as the first gradient D:

[0063]

[0064] (203) Calculate the first sample point x respectively. i-4 With the second sample point x i-3 The second to last sample point x i-1 With the last sample point x i The gradients of are taken as the second and third gradients d, respectively. 34 d 01 :

[0065]

[0066]

[0067] (204) Calculate the gradient d 34 d 01 Gradient rate of change between:

[0068]

[0069] (205) Solve for x based on the above calculations. i+1 Value at time:

[0070]

[0071] 3) Interpolate to intermediate intervals, assuming the sampled control point sequence is x1, x2, ..., x i The middle interval position, x i+5 This means that four values ​​are lost between consecutive values. The algorithm for inferring these four values ​​is as follows (interpolating to the middle interval):

[0072] (301) Take the control values ​​of several frames preceding the frame to be interpolated and form a control point sequence. For example, for the control point sequence x i-4 x i-3 x i-2 x i-1 and x i Calculate D and D′, and calculate x. i The control value x in the latest received remote control command packet i+5 The gradient value between these two values ​​is used as the fourth gradient:

[0073]

[0074] (302) Based on the first gradient, gradient rate of change, fourth gradient, and the last sample point in the control point sequence, calculate the control value x of the frame to be interpolated. i+1 :

[0075] x i+1 =x i +x i *(D+D′+D in (Equation 7)

[0076] (303) Update the control point sequence to x i-3 x i-2 x i-1 x i and x i+1 Calculate x based on equations 1-4 and 6-7. i+2 Similarly, we can obtain x. i+3 x i+4 Control point inference values.

[0077] like Figure 1 As shown, this embodiment provides a remote control command security verification method, which specifically includes:

[0078] (1) When the vehicle receives the remote control instruction packet, it first performs the legality verification of the instruction packet according to the verification rules. If the verification passes, it executes step (2); otherwise, it sends an instruction packet verification exception notification to the remote management platform.

[0079] (2) Parse the control command packets and determine whether the packet numbers are consecutive:

[0080] (2-a1) If the packet numbers are consecutive, parse the numbers of the control instructions in the data packet (i.e., the control values ​​or manipulation values) and determine whether the values ​​are within the preset maximum range (i.e., the control limits). If so, the vehicle will execute the control instructions normally. If not within the preset value range, calculate the control value of the frame using the nearest gradient inference algorithm based on the values ​​of the last 5 frames (the control values ​​of the last few frames). The vehicle will then send a control value exceeding the limit exception to the platform.

[0081] (2-a2) If the packet number is not consecutive, determine whether the packet number is increasing. If not, discard the control command directly and wait normally to receive the next packet control command. If the packet number is increasing, proceed to step (2-b1).

[0082] (2-b1) If the packet numbers are not consecutive, determine whether the packet number interval is less than "instruction transmission delay / instruction transmission period" (i.e., although the packet numbers are not consecutive, it may be due to the different arrival order of control packets caused by remote transmission); if it is less than, it indicates that the instruction delay is within an acceptable range. Based on whether the control value is within a reasonable range, select normal execution (within the normal range) and control value numerical reasoning (not within the normal range).

[0083] (2-b2) If the packet numbers are not consecutive and the packet number interval is greater than "instruction transmission delay / instruction transmission period", determine "packet number interval * instruction transmission period < set value 120ms". If true, execute step (2-b3); otherwise, execute (2-b4).

[0084] (2-b3) If “packet number interval * instruction transmission period < 120ms”, it means that the packet number interval is within the system’s maximum tolerable operation delay. If it is a high-priority instruction (not exceeding the limit), it will be executed directly. If the high-priority instruction exceeds the limit, it will be executed according to the limit and feedback will be sent to the remote control platform. If it is not a high-priority instruction, the nearest gradient inference algorithm will be used to perform frame interpolation (interpolation of the intermediate interval bit). If the limit is exceeded after frame interpolation, it will be executed according to the limit and feedback will be sent to the platform.

[0085] Among them, high-priority instructions are control instructions whose priority does not exceed the threshold.

[0086] (2-b4) If the instruction transmission delay is too long, the machine will stop and report back to the remote control platform.

[0087] High-priority instructions: can be set according to needs, generally set as emergency stop instructions to handle emergency situations. High-priority instructions do not undergo inference interpolation.

[0088] This embodiment provides a remote control command security verification method, which verifies the validity of the command by setting a command packet security check code, and introduces a dynamic authentication code to dynamically update the command packet check value input parameters; sets command priority to ensure timely response to emergency control commands; sets a command delay processing strategy to interpolate packet loss under different delays; and sets control limits for control values ​​to prevent the device from executing erroneous commands.

[0089] Example 2

[0090] This embodiment provides a remote control command security verification system, which specifically includes:

[0091] The verification module is configured to receive remote control command packets and verify the validity of the command packets. If the verification passes, it determines whether the packet numbers are consecutive.

[0092] The verification module is configured to: if the packet numbers are consecutive, or if the packet numbers are not consecutive but the interval between them is within an acceptable range, then select to execute a remote control command or perform control value numerical inference based on whether the control value is within the control limit; if the packet numbers are not consecutive but the interval between them is within the maximum tolerable operation delay, then determine whether the remote control command is a command whose priority does not exceed the threshold. If so, then execute the remote control command; otherwise, use the nearest gradient inference algorithm to interpolate the intermediate interval bits.

[0093] It should be noted that each module in this embodiment corresponds one-to-one with each step in Embodiment 1, and their specific implementation processes are the same, so they will not be repeated here.

[0094] Example 3

[0095] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of a remote control command security verification method as described in Embodiment 1 above.

[0096] Example 4

[0097] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps in the remote control command security verification method described in Embodiment 1 above.

[0098] Example 5

[0099] This embodiment provides a vehicle that utilizes a remote control command security verification method as described in Embodiment 1; or, utilizes a remote control command security verification system as described in Embodiment 2; or, utilizes a computer-readable storage medium as described in Embodiment 3; or, utilizes a computer device as described in Embodiment 4.

[0100] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0101] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

Claims

1. A method for secure verification of remote control commands, characterized in that, include: Receive remote control command packets and perform a validity check on the command packets. If the check passes, determine whether the packet numbers are consecutive. If the package numbers are consecutive, or if the package numbers are not consecutive but the interval between package numbers is within an acceptable range, then depending on whether the control value is within the control limit, the remote control command is executed or the control value is inferred. If the packet numbers are not consecutive and the interval between packet numbers is within the maximum tolerable operation delay, then determine whether the remote control command is a command whose priority does not exceed the threshold. The control commands are classified according to their importance and urgency. If so, the remote control command is executed; otherwise, the nearest gradient inference algorithm is used to interpolate the intermediate interval bits. The intermediate interval interpolation step includes: Take the control values ​​of several frames preceding the frame to be interpolated, and form a control point sequence; Calculate the gradient between the first and last sample points in the control point sequence, and use it as the first gradient; Calculate the gradient between the first and second sample points in the control point sequence as the second gradient; calculate the gradient between the second-to-last and last sample points in the control point sequence as the third gradient; and calculate the gradient change rate between the second and third gradients. Calculate the gradient value between the last sample point in the control point sequence and the control value in the latest received remote control command packet, and use it as the fourth gradient; Based on the first gradient, the gradient rate of change, the fourth gradient, and the last sample point in the control point sequence, calculate the control value of the frame to be interpolated.

2. The remote control command security verification method as described in claim 1, characterized in that, The validity verification of the instruction packet is based on the message checksum; The message verification code includes: a time verification part, a heartbeat authentication value part, and a control command part.

3. The remote control command security verification method as described in claim 1, characterized in that, The method for numerical inference of the control value is as follows: based on the control values ​​of the most recent several frames, the nearest gradient inference algorithm is used to calculate the control value.

4. The remote control command security verification method as described in claim 1, characterized in that, The acceptable range is less than the ratio of instruction transmission delay to instruction transmission period.

5. The remote control command security verification method as described in claim 1, characterized in that, The maximum tolerable operation delay is greater than the ratio of instruction transmission delay to instruction transmission period, and less than the ratio of a set value to instruction transmission period.

6. A remote control command security verification system, characterized in that, include: The verification module is configured to receive remote control command packets and verify the validity of the command packets. If the verification passes, it determines whether the packet numbers are consecutive. The verification module is configured to: if the package numbers are consecutive, or if the package numbers are not consecutive and the interval between package numbers is within an acceptable range, then select to execute a remote control command or perform control value numerical reasoning based on whether the control value is within the control limit. If the packet numbers are not consecutive and the interval between packet numbers is within the maximum tolerable operation delay, then determine whether the remote control command is a command whose priority does not exceed the threshold. The control commands are classified according to their importance and urgency. If so, the remote control command is executed; otherwise, the nearest gradient inference algorithm is used to interpolate the intermediate interval bits. The intermediate interval interpolation step includes: Take the control values ​​of several frames preceding the frame to be interpolated, and form a control point sequence; Calculate the gradient between the first and last sample points in the control point sequence, and use it as the first gradient; Calculate the gradient between the first and second sample points in the control point sequence as the second gradient; calculate the gradient between the second-to-last and last sample points in the control point sequence as the third gradient; and calculate the gradient change rate between the second and third gradients. Calculate the gradient value between the last sample point in the control point sequence and the control value in the latest received remote control command packet, and use it as the fourth gradient; Based on the first gradient, the gradient rate of change, the fourth gradient, and the last sample point in the control point sequence, calculate the control value of the frame to be interpolated.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps in the remote control command security verification method as described in any one of claims 1-5.

8. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps in the remote control instruction security verification method as described in any one of claims 1-5.

9. A vehicle, characterized in that: The remote control command security verification method as described in any one of claims 1-5; or the remote control command security verification system as described in claim 6; or the computer-readable storage medium as described in claim 7; or the computer device as described in claim 8.

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