Vehicle communication method, vehicle communication device and vehicle

Abstract

The invention provides a vehicle communication method, a vehicle communication device and a vehicle, and relates to the field of vehicles. The method is applied to a vehicle-mounted gateway, and comprises the following steps: receiving a target function signal sent by a braking system in a vehicle and a first verification field corresponding to the target function signal; verifying the target function signal based on the first verification field; and if the target function signal is successfully verified, sending the target function signal to the vehicle-mounted host, so that the vehicle-mounted host verifies the target function signal. According to the method, the abnormal function of the braking system caused by wrong verification of the message can be avoided.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a vehicle communication method, a vehicle communication device and a vehicle in the field of vehicles. Background Art

[0002] With the increasing popularity of car networking, the security of in-vehicle communications has received more and more attention. However, in the current in-vehicle network, most data transmission is carried out without any security measures, and the credibility of the sending node cannot be verified. Therefore, Secure On Board Communication (SecOC) as a secure and reliable encryption communication solution has been included in the in-vehicle security communication standard to ensure the security of in-vehicle communications.

[0003] The electronic stability system and the integrated brake control system are different types of vehicle braking systems. During the signal safety verification process, the electronic stability system cannot adapt to the SecOC verification method due to its low configuration, which may cause unexpected verification failures, and in turn may cause abnormal braking function of the vehicle.

[0004] Therefore, how to avoid malfunction of the braking system caused by incorrect verification of the message is an urgent problem to be solved. Summary of the invention

[0005] The present application provides a vehicle communication method, a vehicle communication device and a vehicle, wherein the method can avoid abnormal function of the braking system caused by erroneous verification of messages.

[0006] In a first aspect, a vehicle communication method is provided, the method being applied to a vehicle gateway, the method comprising:

[0007] Receiving a target function signal sent by a braking system in a vehicle and a first check field corresponding to the target function signal;

[0008] Checking the target function signal based on the first check field;

[0009] If the target function signal verification is successful, the target function signal is sent to the vehicle-mounted host, so that the vehicle-mounted host verifies the target function signal.

[0010] In the above technical solution, the vehicle gateway receives the function signal and the check field sent by the braking system; the function signal is safety checked according to the check field to determine whether there is any transmission anomaly in the signal transmission process from the braking system to the vehicle gateway, thereby ensuring the communication security between the braking system and the vehicle gateway; the function signal is initially checked by the vehicle gateway, and the vehicle host checks the function signal again, thereby improving the accuracy of the safety check and avoiding abnormal vehicle braking function due to verification failure, thereby affecting the vehicle driving safety.

[0011] In addition, compared with the prior art in which the vehicle-mounted host performs security verification on the function signal, the vehicle-mounted gateway in this solution will only send the function signal to the vehicle-mounted host when the function signal verification is successful, and will not send the function signal that fails the verification. This can reduce the amount of calculation of the vehicle-mounted host and improve the efficiency of the security verification of the function signal.

[0012] In combination with the first aspect, in some possible implementations, the method further includes:

[0013] When receiving the target function signal sent by the braking system, a response signal corresponding to the target function signal is sent to the braking system, wherein the response signal is used to indicate that the vehicle gateway has received the target function signal.

[0014] In the above technical solution, when the vehicle gateway receives the target function signal sent by the braking system, it sends a response signal corresponding to the target function signal to the braking system. Through the response signal, the braking system can confirm that the signal is successfully transmitted. This can avoid the braking system generating a fault code or taking other remedial measures, such as repeatedly sending signals, due to the inability to determine whether the signal is received, thereby avoiding the waste of system resources or signal confusion, and thus improving the transmission efficiency of vehicle signal communication.

[0015] In combination with the first aspect and the foregoing implementation manner, in some possible implementation manners, verifying the target function signal based on the first verification field includes:

[0016] Based on the target function signal and the target algorithm, a second verification field is generated, wherein the target algorithm is an algorithm corresponding to the safe vehicle communication verification;

[0017] The target function signal is checked based on the first check field and the second check field.

[0018] In the above technical solution, the vehicle gateway calculates the corresponding second check field according to the target function signal sent by the braking system; and verifies the target function signal by comparing the first check field and the second check field. Since the check fields are calculated according to the function signal, by comparing the check fields calculated at both ends of the braking system and the vehicle gateway, it is possible to accurately verify whether the message has been tampered with during transmission, ensure the integrity and authenticity of the instructions and data related to the integrated braking control system, and improve the efficiency of message security verification and verification accuracy.

[0019] In combination with the first aspect and the foregoing implementation manner, in some possible implementation manners, based on the first check field and the second check field, checking the target function signal includes:

[0020] If the first check field and the second check field are consistent, it is determined that the target function signal verification is successful;

[0021] If the first check field and the second check field are inconsistent, it is determined that the target function signal check fails.

[0022] In the above technical solution, when the first check field sent by the braking system is consistent with the second check field calculated by the vehicle gateway, it is determined that the target function signal verification is successful; when the first check field and the second check field are inconsistent, it is determined that the target function signal verification fails. By comparing whether the first check field sent by the braking system is consistent with the second check field calculated by the vehicle gateway, it is determined whether the target function signal is successfully verified, which improves the accuracy of the safety verification of the relevant data of the vehicle braking system, provides a reliable data basis for the safe operation of the vehicle, and avoids vehicle braking control errors caused by abnormal function signal transmission, which affects driving safety.

[0023] In a second aspect, a vehicle communication method is provided, the method being applied to a braking system, the method comprising:

[0024] Sending a target function signal to an onboard gateway in the vehicle;

[0025] Receiving a response signal corresponding to the target function signal sent by the vehicle gateway;

[0026] In response to the response signal, a first check field corresponding to the target function signal is sent to the vehicle gateway.

[0027] In the above technical solution, the braking system first sends the target function signal to the vehicle gateway, and after receiving the response signal returned by the vehicle gateway, the target check field corresponding to the target function signal is sent to the vehicle gateway. Sending the function signal and the check field in batches can not only realize the safety check of the function signal, but also avoid the low-configuration braking system from being unable to send the function signal and the check field required for the safety vehicle communication check at the same time, resulting in the vehicle gateway and the vehicle host to check the function signal incorrectly, resulting in abnormal braking function; further improving the accuracy of the safety check of the function signal.

[0028] In conjunction with the second aspect, in some possible implementations, in response to the response signal, sending a first check field corresponding to the target function signal to the vehicle gateway includes:

[0029] In response to the response signal, generating a first check field based on the target function signal;

[0030] Send a first check field to the vehicle gateway.

[0031] In combination with the second aspect and the foregoing implementation manner, in some possible implementation manners, generating a first check field based on the target function signal includes:

[0032] A first verification field is generated based on the target function signal and the target algorithm, wherein the target algorithm is an algorithm corresponding to the safe vehicle communication verification.

[0033] In the above technical solution, the braking system uses the target algorithm corresponding to the safe vehicle communication verification to calculate the first verification field corresponding to the target function signal, so that the vehicle gateway can perform a safe communication network verification on the target function signal to ensure the safety of the vehicle network communication.

[0034] In a third aspect, a vehicle communication device is provided, the device being applied to a vehicle gateway, the device comprising:

[0035] A first receiving module, used for receiving a target function signal and a first check field corresponding to the target function signal sent by a braking system in a vehicle;

[0036] A verification module, used for verifying the target function signal based on the first verification field;

[0037] The first sending module is used to send the target function signal to the vehicle-mounted host if the target function signal verification is successful, so that the vehicle-mounted host verifies the target function signal.

[0038] In combination with the third aspect, in some possible implementations, the device also includes a fourth sending module, which is used to send a response signal corresponding to the target function signal to the braking system when receiving the target function signal sent by the braking system, wherein the response signal is used to indicate that the vehicle gateway has received the target function signal.

[0039] In combination with the third aspect and the above-mentioned implementation methods, in some possible implementation methods, the verification module is also used to generate a second verification field based on the target function signal and the target algorithm, where the target algorithm is an algorithm corresponding to the safe vehicle communication verification; based on the first verification field and the second verification field, the target function signal is verified.

[0040] In combination with the third aspect and the above-mentioned implementation methods, in some possible implementation methods, the verification module is also used to determine that the target function signal verification is successful if the first verification field and the second verification field are consistent; if the first verification field and the second verification field are inconsistent, determine that the target function signal verification has failed.

[0041] In a fourth aspect, a vehicle communication device is provided, the device is applied to a braking system, and the device includes:

[0042] A second sending module is used to send a target function signal to an onboard gateway in the vehicle;

[0043] A second receiving module is used to receive a response signal corresponding to the target function signal sent by the vehicle gateway;

[0044] The third sending module is used to send a first check field corresponding to the target function signal to the vehicle gateway in response to the response signal.

[0045] In combination with the fourth aspect and the above-mentioned implementation methods, in some possible implementation methods, the third sending module is also used to generate a first check field in response to the response signal and based on the target function signal; and send the first check field to the vehicle gateway.

[0046] In combination with the fourth aspect and the above-mentioned implementation methods, in some possible implementation methods, the third sending module is also used to generate a first verification field based on the target function signal and the target algorithm, wherein the target algorithm is an algorithm corresponding to the safe vehicle communication verification.

[0047] In a fifth aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect.

[0048] In a sixth aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0049] In the seventh aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is a schematic diagram of a vehicle system architecture provided by an embodiment of the present application;

[0051] Figure 2 is a schematic flow chart of a vehicle communication method provided in an embodiment of the present application;

[0052] Figure 3 is a schematic flow chart of another vehicle communication method provided in an embodiment of the present application;

[0053] Figure 4 is a schematic flow chart of another vehicle communication method provided in an embodiment of the present application;

[0054] Figure 5 is a structural schematic diagram of a vehicle communication device provided in an embodiment of the present application;

[0055] Figure 6 is a structural schematic diagram of another vehicle communication device provided in an embodiment of the present application;

[0056] Figure 7 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0058] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0059] With the rapid development of science and technology, the automotive industry is undergoing a huge transformation from traditional mechanical transportation to intelligent mobile terminals. Modern cars are equipped with a large number of electronic control units (ECUs), which control various functions of the vehicle, such as engine management, braking system, body stability system, etc. At the same time, the connection between vehicles and external networks is becoming closer and closer. For example, the Internet of Vehicles technology enables vehicles to realize functions such as remote information processing, real-time traffic information acquisition, and online software upgrades.

[0060] The network architecture inside the vehicle is becoming increasingly complex, with multiple communication protocols such as CAN (Controller Area Network), LIN (Local Interconnect Network), and Ethernet being used simultaneously. Different ECUs communicate through these protocols, and in smart connected vehicles, the vehicle's internal network also needs to interact with external networks (such as 4G / 5G networks). Take the CAN bus as an example. It is a communication protocol widely used inside vehicles to connect key ECUs such as power systems and chassis systems. In traditional vehicles, the CAN bus mainly focuses on internal communication efficiency, but in a networked environment, it may become an entry point for cyber attacks.

[0061] Therefore, a new verification method, Secure On-Board Communication (SecOC), is proposed in the process of vehicle communication security verification. SecOC is a standard security communication module that uses the freshness value and the check value CMAC to verify whether the message in the transmission process is correct and whether it has been tampered with. The freshness value and the check value together ensure the security of vehicle CAN communication, and are usually applied to messages containing high-risk and important functional signals.

[0062] Figure 1 Schematic diagram of a vehicle system architecture provided by an embodiment of the present application. Figure 1As shown, during the operation of the vehicle, messages are transmitted between the braking system 101, the vehicle gateway (Gate Way, GW) 102 and the vehicle head unit (Head Unit, HUT) 103. The vehicle braking system 101 may include an integrated brake control system (Integrated Brake Control, IBC) and an electronic stability program (Electronic Stability Program, ESP).

[0063] Assume that HUT needs to send a message to IBC; since the message is composed of many signals, in order to detect whether the message or the signal in the message has been tampered with or attacked during the process of HUT transmitting to IBC, before the message is transmitted, HUT will calculate an additional value based on the value of the message and attach it to the message and send it to IBC. This additional value is called a Cipher-based Message Authentication Code (CMAC). After receiving the message, IBC uses the same algorithm to calculate the additional value and compares the calculated CMAC with the CMAC sent by HUT. If they are consistent, it means that this frame of message has not been tampered with.

[0064] Freshness value is used to detect whether the received message is the latest message; that is, to detect whether there is a jam during the message transmission process. SecOC communication is a master-slave architecture, usually with the vehicle gateway as the master node, and the vehicle gateway synchronizes the same freshness value to all slave nodes at regular intervals. If HUT wants to send a message frame to IBC, in addition to verifying the CMAC value, it is also necessary to verify the Freshness value. For example, the first frame of HUT is attached with a freshness value of 1. After IBC receives it, the local will store the freshness value 1. The second time the freshness value is sent is 3. After IBC receives it, the local will update the freshness value 1 to the freshness value 3. The freshness value does not necessarily increase in an arithmetic sequence, it may be 1.3.4.6.7, etc. There may be no logical relationship between adjacent freshness values, but the freshness value of the next frame must be greater than the freshness value of the previous frame. If the local IBC stores a freshness value of 3, and the next time the HUT sends a freshness value of 2, it means that the message may be stuck during the sending process, that is, this frame of the message is not fresh.

[0065] During the verification of CMAC and Freshness value, the signal may be stuck during transmission. For redundancy, the number of verifications can be set. For example, if CMAC is inconsistent five times, it is considered an error; if the freshness value is not fresh five times, it is considered an error.

[0066] There are differences in the configuration of the braking system in vehicles with different configuration levels. Low-configuration vehicles may be equipped with ESP; while high-configuration vehicles may be equipped with more advanced IBC. In the existing message signal verification process, the CMAC value and freshness value generated by the SecOC verification are attached to the message in the form of a CAN signal. The CMAC value occupies 6 bytes and the freshness value occupies 2 bytes. For traditional CAN data frame payloads, which are usually 8 bytes, if there are functional signals in the CAN message signal, the bytes occupied by the CMAC value and the freshness value cannot be carried, which will cause the message signal to be unable to perform SecOC verification.

[0067] For vehicles equipped with ESP, since ESP uses ordinary CAN signals during signal transmission, the message sent by ESP to GW does not contain the fields required for SecOC verification (such as CMAC value and freshness value); therefore, GW will not verify the message sent by ESP, but only route the message to HUT; at this time, the message signal still does not contain the fields required for SecOC verification, resulting in HUT being unable to perform SecOC verification on the message, which will cause HUT verification failure; the frame message will then be discarded and the result of functional abnormality will be output. However, this result may not be caused by functional signal abnormality, so there is a functional abnormality caused by incorrect verification during the verification process.

[0068] For vehicles equipped with IBC, since IBC uses the communication protocol developed based on the traditional CAN bus - CAN FD (Controller Area Network Flexible Data-rate) signal during signal transmission, the data frame payload of CANFD can reach 64 bytes or more. Therefore, the message sent by IBC can contain the fields required for SecOC verification; GW routes it to HUT, and HUT can perform SecOC verification on the message based on the fields in the message.

[0069] In summary, in the prior art, for a brake system with a lower configuration, it is impossible to simultaneously generate a message with the function signal and the fields required for SecOC verification, and merge them and send them to the vehicle gateway and vehicle host and other system modules for verification; the existing verification method cannot meet the needs of all brake systems, and there may be a problem where the function signal is a correct signal, but a security verification error is caused by not containing the fields required for verification, which in turn causes abnormal braking function.

[0070] In view of the problems existing in the above-mentioned prior art, the present application provides a vehicle communication method, a vehicle communication device and a vehicle, and the method is applied to a vehicle-mounted gateway. The vehicle-mounted gateway receives a target function signal sent by the braking system in the vehicle and a first check field corresponding to the target function signal; according to the first check field, the target function signal can be checked to determine whether there is a transmission abnormality in the target function signal; if the target function signal is successfully checked, the target function signal is sent to the vehicle-mounted host for verification; and another vehicle-mounted communication method is applied to the braking system. The braking system sends a function signal to the vehicle-mounted gateway; after receiving the response signal sent by the vehicle-mounted gateway, the check field corresponding to the function signal is sent to the vehicle-mounted gateway. The above method can improve the security of the signal transmission process and avoid the problem of abnormal braking function caused by incorrect verification of the message.

[0071] Combine the following Figures 2 to 4 The vehicle communication method provided in the embodiment of the present application is described in detail.

[0072] Figure 2 It is a schematic flow chart of a vehicle communication method provided by an embodiment of the present application. It should be understood that the method can be applied to a vehicle; or, applied to a vehicle gateway in a vehicle; or, applied to a chip in a vehicle gateway installed in a vehicle.

[0073] For example, Figure 2 As shown, the method 200 includes the following steps S201 to S203.

[0074] S201, receiving a target function signal sent by a braking system in a vehicle and a first check field corresponding to the target function signal.

[0075] Among them, the first check field is a check field corresponding to the secure on-vehicle communication (SecOC) check, which may include a freshness value and a CMAC value.

[0076] Exemplarily, during the vehicle signal communication process, a communication connection is established between the braking system, the vehicle gateway (GW) and the vehicle host (HUT). The vehicle gateway receives the target function signal sent by the braking system and the first check field corresponding to the target function signal.

[0077] Optionally, the braking system may include an electronic stability system (ESP) and an integrated braking control system (IBC), etc. In a controller of the ESP or IBC, a corresponding first check field is generated according to the target function signal to be sent.

[0078] Exemplarily, in the controller of the braking system, a corresponding algorithm for safe vehicle communication verification is used to calculate a first verification field corresponding to the target function signal based on the target function signal, and the target function signal and the first verification field are sent to the vehicle gateway for safe vehicle communication (SecOC) verification.

[0079] The target function signal may include brake pressure value signal, brake mode signal and brake component status signal, etc. The brake system will convert the pressure value in the brake line into a digital code, which will be reflected in the message.

[0080] The braking system also includes multiple modes, such as normal mode, emergency braking, anti-lock braking (ABS) mode, and electric parking brake (EPB) mode. There will be corresponding codes in the message data field to reflect these modes. Taking a byte as an example, 00 may represent normal braking, 01 represents emergency braking, 10 represents ABS mode is working, and 11 represents EPB mode is started. When the braking system enters a specific mode, the corresponding byte in the message data field will be updated, and the corresponding mode code will be sent to the vehicle gateway.

[0081] The brake system also contains a variety of components, such as brake pads, brake discs, brake pumps, etc. The status of these components will also be reflected in the message. For example, the wear status of the brake pad can be represented by a byte. If the value of the byte is 0-3, it means that the thickness of the brake pad is normal, 4-6 means that the brake pad is about to wear to the limit, and 7 means that the brake pad has worn to the limit and needs to be replaced. Through this encoding method, the brake system can promptly transmit component status information to other systems (for example, the vehicle gateway).

[0082] In one implementation, when a target function signal sent by a braking system is received, a response signal corresponding to the target function signal is sent to the braking system, wherein the response signal is used to indicate that the vehicle gateway has received the target function signal.

[0083] The response signal may also be referred to as a positive response signal.

[0084] Exemplarily, after the braking system sends the target function signal to the vehicle gateway, the braking system is required to send the first check field corresponding to the target function signal to the vehicle gateway. In order to avoid the braking system sending the first check field in advance or delay, resulting in the vehicle gateway failing to check the target function signal, after receiving the target function signal, a response signal can be returned to the braking system to indicate that the vehicle gateway has successfully received the target function signal, so that the braking system can send the first check field corresponding to the target function signal to the vehicle gateway.

[0085] Optionally, after receiving the target function signal, the on-board gateway extracts the identifier (ID, Identify) of the target function signal; generates a response signal corresponding to the target function signal based on the ID, and sends the response signal to the braking system, so that the braking system can clearly identify the first check field to be sent as the field corresponding to the target function signal.

[0086] In the embodiment of the present application, when the vehicle gateway receives the target function signal sent by the braking system, it sends a response signal corresponding to the target function signal to the braking system. Through the response signal, the braking system can confirm that the signal is successfully transmitted. This can avoid the braking system generating a fault code or taking other remedial measures, such as repeatedly sending signals, etc., due to the inability to determine whether the signal is received, thereby avoiding the waste of system resources or signal confusion, thereby improving the transmission efficiency of vehicle signal communication.

[0087] S202: Check the target function signal based on the first check field.

[0088] Exemplarily, the first check field is calculated based on the target function signal and is used for SecOC check. After receiving the target function signal sent by the braking system and the first check field corresponding to the target function signal, the vehicle gateway can perform a security check on the target function signal based on the first check field to determine whether there is any transmission anomaly such as data tampering in the target function signal.

[0089] In one implementation, the process of verifying the target function signal based on the first verification field may specifically include:

[0090] Based on the target function signal and the target algorithm, a second verification field is generated, wherein the target algorithm is an algorithm corresponding to the safe vehicle communication verification;

[0091] The target function signal is checked based on the first check field and the second check field.

[0092] Exemplarily, after receiving the target function signal, the vehicle gateway can calculate the second check field using the target algorithm, which may include a second freshness value and a second CMAC value; and then compare the first check field and the second check field to determine whether there is an abnormality in the target function signal.

[0093] In the embodiment of the present application, the vehicle gateway calculates the corresponding second check field according to the target function signal sent by the braking system; the target function signal is checked by comparing the first check field and the second check field. Since the check fields are calculated according to the function signal, by comparing the check fields calculated at both ends of the braking system and the vehicle gateway, it is possible to accurately verify whether the message has been tampered with during the transmission process, ensure the integrity and authenticity of the instructions and data related to the integrated braking control system, and improve the efficiency of message security verification and verification accuracy.

[0094] In one implementation, based on the first check field and the second check field, the process of checking the target function signal may include:

[0095] If the first check field and the second check field are consistent, it is determined that the target function signal verification is successful;

[0096] If the first check field and the second check field are inconsistent, it is determined that the target function signal check fails.

[0097] Exemplarily, assuming that the first verification field obtained by the vehicle gateway includes a first CMAC value of CMAC1 and a first freshness value of 2, if the second CMAC value calculated according to the target function signal is consistent with CMAC1, and the first freshness value is greater than the second freshness value stored when the previous function signal was sent (for example, 0, 1), it can be determined that the target function signal verification is successful, and the target function signal has not been tampered with or other abnormal conditions; if the second CMAC value calculated according to the target function signal is inconsistent with CMAC1, and / or the first freshness value is less than or equal to the second freshness value stored when the previous function signal was sent, it can be determined that the target function signal verification has failed, indicating that the target function signal may have a transmission abnormality during the transmission process.

[0098] Optionally, a preset number of times, for example, 5 times, is set. The target function signal is security checked 5 times. If the 5 checks all indicate that the first CMAC value and the second CMAC value are inconsistent, and / or the first freshness value is less than or equal to the second freshness value stored when the previous message was sent, it is determined that the target function signal check fails.

[0099] In the embodiment of the present application, when the first check field sent by the braking system is consistent with the second check field calculated by the vehicle gateway, it is determined that the target function signal verification is successful; when the first check field and the second check field are inconsistent, it is determined that the target function signal verification fails. By comparing whether the first check field sent by the braking system is consistent with the second check field calculated by the vehicle gateway, it is determined whether the target function signal is successfully verified, thereby improving the accuracy of the safety verification of the relevant data of the vehicle braking system, providing a reliable data basis for the safe operation of the vehicle, and avoiding vehicle braking control errors caused by abnormal function signal transmission, which affects driving safety.

[0100] S203: If the target function signal verification is successful, the target function signal is sent to the vehicle-mounted host, so that the vehicle-mounted host verifies the target function signal.

[0101] Exemplarily, when the vehicle-mounted gateway successfully verifies the target function signal, it indicates that there is no transmission abnormality in the transmission of the target function signal from the braking system to the vehicle-mounted gateway. The target function signal can be routed and forwarded to the vehicle-mounted host through the vehicle-mounted gateway, so that the vehicle-mounted host can re-verify the target function signal for safety, and the vehicle-mounted host can send the target function signal to other system modules to achieve control of the vehicle.

[0102] Optionally, if the target function signal verification fails, the vehicle gateway may send a negative response signal to the vehicle host to indicate that the target function signal verification has failed.

[0103] Optionally, when the target sensor verification fails, a target signal can also be sent to the braking system to instruct the braking system to resend the target function signal that failed the verification, and perform safety verification on the resent target function signal again to avoid verification failure due to other abnormal factors, thereby further improving the accuracy of the safety verification.

[0104] When the vehicle gateway successfully verifies the target function signal, it can only ensure the transmission security between the braking system and the vehicle gateway; if the target function signal is only sent directly to the vehicle host, the security of the path between the vehicle gateway and the vehicle host cannot be ensured. In addition, the vehicle host needs to use SecOC verification for signal security verification. If the signal sent to the vehicle host does not contain the fields required for SecOC verification, it may cause verification failure, resulting in abnormal braking function.

[0105] In order to avoid the failure of the vehicle-mounted host to verify the normal function signal, in one implementation, the process of sending the target function signal to the vehicle-mounted host so that the vehicle-mounted host verifies the target function signal may include: generating a third verification field based on the target function signal and the target algorithm; sending the target function signal and the third verification field to the vehicle-mounted host so that the vehicle-mounted host verifies the target function signal based on the third verification field.

[0106] Exemplarily, the target algorithm is an algorithm corresponding to the secure vehicle communication (SecOC) verification; using the target algorithm, the third verification field corresponding to the target function signal can be calculated, which may include a third freshness value and a third CMAC value, etc.; the target function signal and the third verification field are sent to the vehicle-mounted host at the same time, and the vehicle-mounted host can perform SecOC verification on the target function signal according to the third verification field to determine whether there is a transmission anomaly in the target function signal between the vehicle-mounted gateway and the vehicle-mounted host.

[0107] Furthermore, the vehicle host can calculate the fourth check field according to the target function signal, and determine whether the verification is successful, whether there is a transmission abnormality, etc. by comparing the fourth check field with the third check field sent by the vehicle gateway.

[0108] In the embodiment of the present application, since the vehicle gateway calculates the third check field according to the target function signal, and sends the target function signal and the third check field to the vehicle host at the same time, the vehicle host can perform a security check on the processed message based on the target check field, thereby avoiding the failure of the vehicle host to check the message sent by the braking system due to the absence of the field required for security check in the target message, which in turn causes abnormal function of the braking system; and the above-mentioned scheme performs double verification of the target message by the vehicle gateway and the vehicle host, thereby improving the accuracy of the security verification and ensuring the security of vehicle network communications.

[0109] In summary, in the embodiment of the present application, the vehicle gateway receives the function signal and the check field sent by the braking system; the function signal is security checked according to the check field to determine whether there is a transmission anomaly during the signal transmission from the braking system to the vehicle gateway, which can ensure the communication security between the braking system and the vehicle gateway; the vehicle gateway performs an initial check on the function signal, and the vehicle host performs a re-check on the function signal, which can improve the accuracy of the security check and avoid abnormal vehicle braking function due to verification failure, which affects the vehicle's driving safety. In addition, compared with the prior art in which the vehicle host performs security checks on the function signal, the vehicle gateway in this solution only sends the function signal to the vehicle host when the function signal verification is successful, and will not send the function signal that fails the verification, which can reduce the amount of calculation of the vehicle host and improve the efficiency of the security check of the function signal.

[0110] Figure 3 This is a schematic flow chart of another vehicle communication method provided by an embodiment of the present application. It should be understood that the method can be applied to a vehicle; or to a braking system in a vehicle; or to a chip related to a braking system mounted in a vehicle.

[0111] It should be noted that the braking system may include an electronic stability program (ESP) and an integrated braking control system (IBC), etc. The method may be applicable to any braking system, and the embodiments of the present application are not limited to this.

[0112] For example, Figure 3 As shown, the method 300 includes the following steps S301 to S303.

[0113] S301, sending a target function signal to an onboard gateway in a vehicle.

[0114] For example, during the vehicle network communication process, the braking system will continuously transmit the function signal to the vehicle host and other system modules for processing and application; in this process, it needs to be pre-processed by the vehicle gateway for safety verification. For the electronic stability system (ESP), due to the low configuration of ESP, CAN transmission is used during the signal transmission process. The number of characters that the CAN signal can carry is small, and it is not possible to send the function signal and the verification field at the same time. Therefore, for any type of braking system, the target function signal can be first sent to the vehicle gateway in the vehicle.

[0115] Optionally, the meaning of the content indicated by the function signal can be found in Figure 2 The relevant description in S201 is omitted here.

[0116] S302, receiving a response signal corresponding to the target function signal sent by the vehicle gateway.

[0117] The response signal, which may also be referred to as a positive response signal, is used to indicate that the vehicle gateway has successfully received the target function signal sent by the braking system.

[0118] Exemplarily, after sending a target function signal to the vehicle gateway, the braking system will be in a state of waiting for a response; at this time, if the vehicle gateway sends a response signal to the braking system, the braking system will receive a response signal corresponding to the target function signal sent by the vehicle gateway.

[0119] S303: In response to the response signal, send a first check field corresponding to the target function signal to the vehicle gateway.

[0120] Exemplarily, after the braking system receives the response signal sent by the vehicle gateway, it indicates that the vehicle gateway has successfully received the target function signal; in response to the response signal, the first check field corresponding to the target function signal is sent to the vehicle gateway, so that the vehicle gateway can check the target function signal through the first check field.

[0121] Optionally, the first check field can be calculated by the braking system according to the target function signal before sending the target function signal, and it is pre-stored; after receiving the response signal, the pre-stored first check field is directly sent to the vehicle gateway. Alternatively, after receiving the response signal, the corresponding target function signal is determined according to the identifier of the response signal, and the first check field is calculated according to the target function signal; and the first check field is sent to the vehicle gateway.

[0122] In one implementation, the process of generating the first verification field based on the target function signal may specifically include: generating the first verification field based on the target function signal and a target algorithm, wherein the target algorithm is an algorithm corresponding to the safety vehicle communication verification.

[0123] Exemplarily, the vehicle gateway and the vehicle host need to perform a secure vehicle communication (SecOC) check on the function signal. Accordingly, the braking system needs to calculate the check field required for the SecOC check based on the target function signal; therefore, after generating the target function signal, the braking system can use the target algorithm corresponding to the SecOC check to calculate the corresponding first check field according to the target function signal; and then the first check field can be sent to the vehicle gateway, so that the vehicle gateway can perform a SecOC check on the target function signal according to the first check field to determine whether there is a transmission abnormality in the target function signal.

[0124] In an embodiment of the present application, the braking system uses a target algorithm corresponding to the safe vehicle communication verification to calculate the first verification field corresponding to the target function signal, so that the vehicle gateway can perform a safe communication network verification on the target function signal to ensure the safety of the vehicle network communication.

[0125] In summary, in the embodiment of the present application, the braking system first sends the target function signal to the vehicle gateway, and after receiving the response signal returned by the vehicle gateway, the target check field corresponding to the target function signal is sent to the vehicle gateway. Sending the function signal and the check field in batches can not only realize the safety check of the function signal, but also avoid the low-configuration braking system from being unable to send the function signal and the check field required for the safety vehicle communication check at the same time, resulting in the vehicle gateway and the vehicle host to check the function signal incorrectly, resulting in abnormal braking function; further improve the accuracy of the safety check of the function signal.

[0126] Figure 4It is a schematic flow chart of another vehicle communication method provided by an embodiment of the present application. It should be understood that the method can be applied to a vehicle equipped with an on-board gateway, a braking system and an on-board host.

[0127] For example, Figure 4 As shown, the method 400 includes the following steps S401 to S407.

[0128] S401, the braking system of the vehicle calculates a target check field corresponding to the target function signal according to the target function signal.

[0129] Among them, the target check field is the check field required for secure on-board communication (SecOC) verification; it may include a target freshness value and a target CMAC value.

[0130] Exemplarily, there is a signal communication connection between the braking system, the vehicle gateway and the vehicle host in the vehicle. In order to ensure the security of signal transmission between different nodes, the braking system needs to calculate the target check field corresponding to the target function signal based on the target function signal, so that other modules can check the target function signal according to the target check field.

[0131] Optionally, the meaning of the content indicated by the function signal can be found in Figure 2 The relevant description in S201 is omitted here.

[0132] Optionally, the implementation of S401 can refer to Figure 3 The embodiments of the present application will not be described in detail here.

[0133] S402, the braking system sends a target function signal to the vehicle gateway.

[0134] Exemplarily, when the vehicle is powered on, the braking system will send a target function signal to the vehicle gateway in real time, so that the vehicle gateway and other system modules can monitor and apply the braking system related signals.

[0135] It should be understood that for the low-configuration electronic stability system ESP, signal transmission can only be carried out through the CAN line. Since the CAN type signal can only carry 8-byte characters, the system cannot send the fields required for safety verification and the target function signal to the vehicle gateway synchronously during the signal transmission process. Therefore, the braking system first sends the target function signal to the vehicle gateway.

[0136] Optionally, the implementation of S402 can refer to Figure 3 The embodiments of the present application will not be described in detail here.

[0137] S403, after receiving the target function signal, the vehicle gateway sends a positive response signal to the braking system.

[0138] The positive response signal is used to indicate that the vehicle gateway has successfully received the target function signal sent by the braking system.

[0139] Exemplarily, after receiving the target function signal sent by the braking system, the vehicle gateway temporarily stores the target function signal and does not directly route the target function signal to the vehicle host; and returns a positive response signal to the braking system to let the braking system know that the vehicle gateway has successfully received the target function signal.

[0140] Optionally, the implementation of S403 can refer to Figure 2 The relevant description of S201 in the present application embodiment will not be repeated here.

[0141] S404, after receiving the positive response signal, the braking system sends the target check field to the vehicle gateway.

[0142] Exemplarily, after receiving the positive response signal returned by the vehicle gateway, the braking system responds to the positive response signal by sending the target check field calculated according to the target function signal to the vehicle gateway for processing by the vehicle gateway.

[0143] Optionally, the implementation of S404 can refer to Figure 3 The embodiments of the present application will not be described in detail here.

[0144] Optionally, the implementation of S401 may be performed before step S402, or after receiving a positive response signal sent by the vehicle gateway in S404. This embodiment of the present application does not limit this.

[0145] Exemplarily, after receiving the positive response signal, the braking system generates a target check field corresponding to the target function signal based on the target function signal; and sends the target check field to the vehicle gateway.

[0146] S405, the vehicle gateway verifies the target function signal based on the target verification field to determine whether the target function signal is successfully verified. If yes, execute step S406; if no, execute step S407.

[0147] Exemplarily, after receiving the target check field corresponding to the target function signal sent by the braking system, the on-board gateway checks the target function signal according to the target check field to determine the check result and determine whether there is any transmission anomaly in the target function signal during the transmission process.

[0148] Optionally, the process of verifying the target function signal based on the target verification field may include: using the target algorithm corresponding to the safe vehicle communication verification to generate a candidate verification field based on the target function signal; comparing whether the candidate verification field and the target verification field are consistent; if the candidate verification field and the target verification field are consistent, it is determined that the target function signal verification is successful; if the candidate verification field and the target verification field are inconsistent, it is determined that the target function signal verification has failed.

[0149] Optionally, the implementation of S405 can refer to Figure 2 The relevant description of S202 in the present application embodiment will not be repeated here.

[0150] S406, the vehicle gateway routes the target function signal to the vehicle host.

[0151] Exemplarily, when the target function signal is successfully verified, the vehicle gateway routes the target function signal to the vehicle host, so that the vehicle host can subsequently process and apply the target function signal.

[0152] Optionally, when the vehicle gateway successfully verifies the target function signal, it indicates that the path between the braking system and the vehicle gateway is relatively safe. In order to further ensure the path security between the vehicle gateway and the vehicle host, the vehicle gateway can use the target algorithm to generate the corresponding second target verification field according to the target function signal; since the vehicle gateway can support CAN FD signals, the target function signal and the second target verification field can be combined and sent to the vehicle host, and the vehicle host can perform a secure vehicle communication (SecOC) verification on the target function signal according to the second target verification field to ensure that the target function signal used for other systems is a safe signal that has not been tampered with or illegally invaded.

[0153] Optionally, the implementation of S406 can refer to Figure 2 The relevant description of S203 in the present application embodiment will not be repeated here.

[0154] S407, the vehicle gateway sends a negative response signal to the vehicle host.

[0155] Exemplarily, when the target function signal verification fails, the vehicle gateway sends a negative response signal to the vehicle host to indicate that the target function signal verification fails and there is an abnormality in the transmission process.

[0156] Optionally, the implementation of S407 can refer to Figure 2 The relevant description of S203 in the present application embodiment will not be repeated here.

[0157] In summary, in the embodiment of the present application, the braking system first sends the target function signal to the vehicle gateway, and after receiving the positive response signal sent by the vehicle gateway, the target check field corresponding to the target function signal is sent to the vehicle gateway, which solves the problem that the low-configuration braking system cannot send the function signal and the check field required for SecOC check at the same time, and improves the compatibility of SecOC check with each braking system. Afterwards, the vehicle gateway can perform a safe vehicle communication check on the target function signal according to the received target check field to determine whether there is an abnormality in the transmission process, ensure the safety of the function signal, and avoid abnormal braking function due to safety check failure.

[0158] Combination of the above Figures 2 to 4 The vehicle communication method provided by the embodiment of the present application is described in detail; Figure 5 and Figure 7 The device embodiments of the present application are described in detail. It should be understood that the device in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0159] Figure 5 It is a structural schematic diagram of a vehicle communication device provided in an embodiment of the present application.

[0160] For example, Figure 5 As shown, the vehicle communication device 500 includes:

[0161] A first receiving module 501 is used to receive a target function signal and a first check field corresponding to the target function signal sent by a braking system in a vehicle;

[0162] A verification module 502, configured to verify the target function signal based on the first verification field;

[0163] The first sending module 503 is used to send the target function signal to the vehicle-mounted host if the target function signal verification is successful, so that the vehicle-mounted host verifies the target function signal.

[0164] In one possible implementation, the vehicle communication device 500 also includes a fourth sending module, which is used to send a response signal corresponding to the target function signal to the braking system when receiving the target function signal sent by the braking system, wherein the response signal is used to indicate that the vehicle gateway has received the target function signal.

[0165] In one possible implementation, the verification module 502 is also used to generate a second verification field based on the target function signal and the target algorithm, where the target algorithm is an algorithm corresponding to the safe vehicle communication verification; and verify the target function signal based on the first verification field and the second verification field.

[0166] In a possible implementation, the verification module 502 is further configured to determine that the target function signal verification is successful if the first verification field and the second verification field are consistent; and to determine that the target function signal verification fails if the first verification field and the second verification field are inconsistent.

[0167] Figure 6 It is a structural diagram of another vehicle communication device provided in an embodiment of the present application.

[0168] For example, Figure 6 As shown, the vehicle communication device 600 includes:

[0169] The second sending module 601 is used to send a target function signal to the vehicle gateway in the vehicle;

[0170] The second receiving module 602 is used to receive a response signal corresponding to the target function signal sent by the vehicle gateway;

[0171] The third sending module 603 is used to send a first check field corresponding to the target function signal to the vehicle gateway in response to the response signal.

[0172] In a possible implementation, the third sending module 603 is further configured to generate a first check field in response to the response signal and based on the target function signal; and send the first check field to the vehicle gateway.

[0173] In a possible implementation, the third sending module 603 is further configured to generate a first verification field based on the target function signal and the target algorithm, wherein the target algorithm is an algorithm corresponding to the safety vehicle communication verification.

[0174] It should be noted that the above vehicle communication device is embodied in the form of a functional unit. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0175] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0176] Therefore, the units of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0177] Figure 7 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0178] For example, Figure 7 As shown, the vehicle 700 includes: a memory 701 and a processor 702, wherein the memory 701 stores an executable program code 703, and the processor 702 is used to call and execute the executable program code 703 to perform a vehicle communication method.

[0179] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a vehicle communication method provided by an embodiment of the present application.

[0180] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0181] In the case of dividing each functional module according to each function, the device may further include a first receiving module, a checking module, a first sending module, a second sending module, a second receiving module, and a third sending module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here.

[0182] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle communication method, and thus can achieve the same effect as the above-mentioned implementation method.

[0183] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing relevant program codes, etc.

[0184] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0185] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle communication method provided in the above embodiments.

[0186] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a vehicle communication method provided by the above-mentioned embodiment.

[0187] Among them, computer-readable storage media may include but are not limited to any type of disk, including floppy disks, optical disks, digital versatile disks (Digital Video Disc, DVD), compact disc read-only memory (Compact Disc Read-Only Memory, CD-ROM), microdrives and magneto-optical disks, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable programmable read only memory (Electrically Erasable Programmable read only memory, EEPROM), dynamic random access memory (Dynamic Random Access Memory, DRAM), video random access memory (Video Random Access Memory, VRAM), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0188] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a vehicle communication method provided by the above-mentioned embodiment.

[0189] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0190] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0191] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0192] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle communication method, characterized in that: The method is applied to a vehicle-mounted gateway, and the method includes: Receiving a target function signal sent by a braking system in a vehicle and a first check field corresponding to the target function signal; Checking the target function signal based on the first check field; If the target function signal is successfully verified, the target function signal is sent to the vehicle-mounted host, so that the vehicle-mounted host verifies the target function signal.

2. The method according to claim 1, characterized in that The method further comprises: In case of receiving the target function signal sent by the braking system, a response signal corresponding to the target function signal is sent to the braking system, wherein the response signal is used to indicate that the vehicle gateway has received the target function signal.

3. The method according to claim 1, characterized in that The checking the target function signal based on the first check field includes: Based on the target function signal and the target algorithm, a second verification field is generated, wherein the target algorithm is an algorithm corresponding to the safety vehicle communication verification; The target function signal is checked based on the first check field and the second check field.

4. The method according to claim 3, characterized in that: The checking the target function signal based on the first check field and the second check field includes: If the first check field and the second check field are consistent, it is determined that the target function signal verification is successful; If the first check field and the second check field are inconsistent, it is determined that the target function signal check fails.

5. A vehicle communication method, characterized in that: The method is applied to a braking system, and the method comprises: Sending a target function signal to an onboard gateway in the vehicle; Receiving a response signal corresponding to the target function signal sent by the vehicle gateway; In response to the response signal, a first check field corresponding to the target function signal is sent to the vehicle gateway.

6. The method according to claim 5, characterized in that The sending, in response to the response signal, a first check field corresponding to the target function signal to the vehicle gateway includes: In response to the response signal, generating a first check field based on the target function signal; Send the first check field to the vehicle gateway.

7. The method according to claim 6, characterized in that The step of generating a first check field based on the target function signal comprises: The first verification field is generated based on the target function signal and the target algorithm, wherein the target algorithm is an algorithm corresponding to the safety vehicle communication verification.

8. A vehicle communication device, characterized in that: The device is applied to a vehicle gateway, and the device includes: A first receiving module, used for receiving a target function signal sent by a braking system in a vehicle and a first check field corresponding to the target function signal; A verification module, configured to verify the target function signal based on the first verification field; The first sending module is used to send the target function signal to the vehicle-mounted host if the target function signal verification is successful, so that the vehicle-mounted host verifies the target function signal.

9. A vehicle communication device, characterized in that: The device is applied to a braking system, and comprises: A second sending module is used to send a target function signal to an onboard gateway in the vehicle; A second receiving module, used to receive a response signal corresponding to the target function signal sent by the vehicle gateway; The third sending module is used to send a first check field corresponding to the target function signal to the vehicle gateway in response to the response signal.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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