Unmanned driving control system, safety authentication method, equipment and storage medium

Abstract

The invention discloses an unmanned driving control system, a safety certification method, equipment and a storage medium, and the system forms a safety certification ring through an Internet of Vehicles subsystem, an intelligent driving control subsystem, a cabin display subsystem, a travelling driving subsystem, a steering control subsystem and a brake control subsystem, and is provided with a safety certification capability software package. Each subsystem in the system is authenticated, so that the credibility of the system is improved; a security anchor point of the system is constructed through a self-adaptive key negotiation algorithm, so that the adaptability and flexibility of the system are enhanced; end-to-end authentication between systems is completed through a lightweight challenge response mechanism based on a secret key, and the burden of the systems is relieved; meanwhile, safety certification is started through local or remote triggering conditions, safety certification in the system is met, unauthorized behaviors such as part replacement and illegal software flashing are effectively avoided, and safety operation risks are reduced from the angle of operation through a local and remote triggering monitoring mechanism.

Description

Technical Field

[0001] The present invention belongs to the technical field of autonomous driving, and particularly relates to an unmanned driving control system, a security authentication method, a device, and a storage medium. Background Art

[0002] Existing intelligent driving vehicles usually focus on function authorization, which is the permission control between the user and vehicle devices (controllers, keys, diagnostic tools, fingerprint controls, etc.). The purpose is to better protect the safety of the vehicle owner and the safe use of the vehicle in various scenarios where the vehicle owner uses the vehicle.

[0003] The vehicle authentication system with the publication number CN118235364A uses the private key and encryption key generated by the security server as the authentication credentials for the user terminal and the vehicle controller to authenticate the identity of the vehicle user, so as to determine whether the vehicle is allowed to drive. This system focuses on the human-machine permission authentication, especially the usage right of the user himself, and details the process of encryption authentication using the authentication key.

[0004] The vehicle authentication device and vehicle authentication method with the publication number CN111767528B invent a vehicle authentication device, which includes two processors. When the comparison of the vehicle key information is successful, based on the operation of the vehicle start switch, a first permission to release the steering lock of the vehicle is given. And on the basis of the first permission, a process of comparing the obtained biological information of the user with the pre-registered biological information is carried out. If the biological information comparison is successful, a second permission to release the anti-theft device of the vehicle is given. Its focus is on the design of the vehicle special system steering lock and anti-theft system authentication.

[0005] The vehicle authentication system, the vehicle including it, the vehicle authentication method, and the storage medium with the publication number CN115021976B. The vehicle authentication system includes a vehicle machine subsystem configured to generate a first credential according to an authentication device; a cockpit subsystem configured to generate a second credential according to authentication information; and a comprehensive authentication subsystem configured to receive and generate the permission authentication result based on at least one of the first credential and the second credential, so that the vehicle machine subsystem and the cockpit subsystem can respectively control a first functional entity and a second functional entity based on the permission authentication result. Its key point is to solve the problem of the usage permission authentication of the first and second functional categories in the vehicle.

[0006] Vehicle Diagnostic Authentication Method, Device and Vehicle with Publication Number CN117938451A. The diagnostic authentication method obtains seed data and a security access level corresponding to an electronic control unit of a vehicle; based on the seed data and the security access level, generates a seed key corresponding to the electronic control unit, where the seed key is used to implement a security access protection mechanism for vehicle diagnostic services performed on the electronic control unit; and uses the seed key to perform security access authentication on the vehicle diagnostic services. It mainly solves the problem of easy leakage of the traditional diagnostic service seed key, and more focuses on the protection of diagnostic services.

[0007] Vehicle Electronic Device for Performing Authentication, Mobile Device for Vehicle Authentication, Vehicle Authentication System and Vehicle Authentication Method with Publication Number CN114868361B. When a user attempts to operate a vehicle, the vehicle can communicate with a server or the like to authenticate whether the user has the permission to operate the vehicle (for example, is the owner, a member of the owner's family, or authorized by the owner). In addition, to authenticate whether the user has the permission, the vehicle can perform biometric authentication on the user. It mainly focuses on the permission control and authentication between the vehicle and the person, and more emphasizes on the vehicle or function usage permission aspect.

[0008] As can be seen from the above, there are some significant deficiencies in the prior art in terms of intelligent vehicle function authorization and authentication. First of all, although the prior art has made progress in the permission control between the user and the vehicle device, protecting the safe use of the vehicle by the vehicle owner, these technologies mainly focus on the interactive authentication between the vehicle owner and the vehicle, and lack in-depth consideration of the authentication method for key control nodes inside the unmanned vehicle intelligent driving vehicle controller system. This results in the inability to effectively check whether each key control node in the system is authenticated and trustworthy before the operation of the unmanned vehicle, thus increasing the operation risk.

[0009] Secondly, the prior art also has deficiencies in the self-check of the key function system authentication before vehicle operation. There is a lack of an efficient and reliable self-check mechanism to ensure the normal state and safety of each key function system of the vehicle before operation, which further affects the safe operation of the vehicle.

[0010] In addition, in the field of intelligent connected vehicles, although vehicle network security authentication has been increasingly emphasized by the industry, and measures such as two-way authentication between the vehicle end and the cloud end based on certificates have been added to the cloud, pipe and end systems, these implementation methods rely on the processes of PKI / CA systems, certificate exchange and certificate chain verification. These processes often take a relatively long time, close to seconds, and such performance is difficult to meet the application scenarios with high real-time requirements inside the vehicle, so it is limited in actual in-vehicle use. Summary of the Invention

[0011] In view of the above problems, the main object of the present invention is to design an unmanned driving control system, a security authentication method, a device and a storage medium, so as to solve the problem of the lack of an internal authentication method in the controller system before the operation of intelligent driving vehicles of unmanned vehicles.

[0012] In order to achieve the above object, the present invention adopts the following technical solutions: An unmanned vehicle control system, the system includes a remote control subsystem, a vehicle networking subsystem, an intelligent driving control subsystem, a cockpit display subsystem, a driving drive subsystem, a steering control subsystem, a braking control subsystem, and a sensing subsystem; The vehicle networking subsystem, the intelligent driving control subsystem, the cockpit display subsystem, the driving drive subsystem, the steering control subsystem, and the braking control subsystem form a security authentication ring, and all are deployed with a security authentication capability software package; wherein, the vehicle networking subsystem and the intelligent driving control subsystem are respectively connected to the cockpit display subsystem, the driving drive subsystem, the steering control subsystem, and the braking control subsystem through an Ethernet gateway, and the intelligent driving control subsystem and the vehicle networking system are connected through Ethernet; The remote control subsystem is connected to the vehicle networking subsystem through a wireless network, the sensing subsystem is connected to the intelligent driving control subsystem, and the intelligent driving control subsystem includes an intelligent driving main control subsystem and an intelligent driving deputy control subsystem, and the intelligent driving main control subsystem and the intelligent driving deputy control subsystem are connected through Ethernet.

[0013] As a further description of the present invention, the sensing subsystem includes a lidar, a long-range radar, a medium-range radar, a camera, and a positioning component.

[0014] As a further description of the present invention, the security authentication capability software package has the ability of security authentication, completes end-to-end authentication, and includes a security key negotiation, an authentication key algorithm, a key security storage, a message service, and a log record module.

[0015] An unmanned vehicle security authentication method, the method is based on the above control system, and includes the following steps: The vehicle starts security authentication based on local or remote trigger conditions; During the security authentication process, the intelligent driving main control subsystem or the intelligent driving deputy control subsystem manages the authentication status and starts authentication based on the security authentication ring; Each module in the security authentication ring performs security authentication through its own deployed security authentication capability software package; After the authentication is completed, the authentication result is sent to the internal network of the vehicle in the form of a service signal, and the intelligent driving main control subsystem or the intelligent driving deputy control subsystem node verifies the authentication result and reports the verification result to the cloud of the remote control subsystem.

[0016] As a further description of the present invention, the local trigger condition is that when the vehicle is powered on each time, it is triggered by the key ON signal and sends a security authentication instruction to the vehicle networking subsystem; The remote trigger condition is that the remote control subsystem issues a security authentication instruction, which is transmitted to the vehicle networking subsystem on the vehicle side through the wireless network signal.

[0017] As a further description of the present invention, the authentication process of the security authentication loop includes the following steps: S1: The vehicle networking subsystem sends a security authentication instruction to the intelligent driving main control subsystem or the intelligent driving sub-control subsystem; S2: After receiving the security authentication instruction, the intelligent driving main control subsystem or the intelligent driving sub-control subsystem starts to perform a status self-check, and sequentially sends security authentication requests to the cockpit display subsystem, the driving subsystem, the steering control subsystem, and the braking control subsystem; S3: After receiving the security authentication request, the cockpit display subsystem, the driving subsystem, the steering control subsystem, and the braking control subsystem start to perform a status self-check and wait for authentication; S4: After the cockpit display subsystem, the driving subsystem, the steering control subsystem, and the braking control subsystem complete the self-check, they send the feedback to the intelligent driving main control subsystem or the intelligent driving sub-control subsystem; S5: After receiving the feedback of S4, the intelligent driving main control subsystem or the intelligent driving sub-control subsystem sequentially sends authentication message 1 to the cockpit display subsystem, the driving subsystem, the steering control subsystem, and the braking control subsystem; S6: After receiving authentication message 1, the cockpit display subsystem, the driving subsystem, the steering control subsystem, and the braking control subsystem perform verification authentication and send the authentication result feedback to the intelligent driving main control subsystem or the intelligent driving sub-control subsystem; S7: After receiving the result feedback of S6, the intelligent driving main control subsystem or the intelligent driving sub-control subsystem sequentially sends authentication message 2 to the cockpit display subsystem, the driving subsystem, the steering control subsystem, and the braking control subsystem; S8: After receiving authentication message 2, the cockpit display subsystem, the driving subsystem, the steering control subsystem, and the braking control subsystem perform verification authentication and store the authentication result; S9: The cockpit display subsystem, the driving subsystem, the steering control subsystem, and the braking control subsystem send the final authentication result feedback to the intelligent driving main control subsystem or the intelligent driving sub-control subsystem; S10: The intelligent driving main control subsystem or the intelligent driving sub-control subsystem sends the authentication result feedback to the vehicle networking subsystem; S11: The vehicle networking subsystem sends the final authentication result feedback to the local or remote trigger condition; S12: After receiving the result feedback of S11 by local or remote triggering conditions, perform result adjudication and post-processing.

[0018] As a further description of the present invention, when the security authentication capability software package performs authentication, it generates the initial shared key of the control system based on the derivation algorithm of the vehicle unique identification number VIN.

[0019] As a further description of the present invention, the authentication key algorithm of the security authentication capability software package is based on the end-to-end adaptive key generated by secure key negotiation, and completes identity authentication through a response mechanism.

[0020] An electronic device includes a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete communication with each other through the communication bus. The memory is used to store a computer program. The processor is used to execute the above method by running the computer program stored on the memory.

[0021] A computer-readable storage medium stores a computer program, where the computer program, when executed by a processor, implements the above method.

[0022] Compared with the prior art, the technical effects of the present invention are: The present invention provides an unmanned driving control system, a security authentication method, device, and storage medium. The system forms a security authentication loop through a vehicle networking subsystem, an intelligent driving control subsystem, a cockpit display subsystem, a driving subsystem, a steering control subsystem, and a braking control subsystem, and a security authentication capability software package is deployed in each of them. The vehicle networking subsystem and the intelligent driving control subsystem are respectively connected to the cockpit display subsystem, the driving subsystem, the steering control subsystem, and the braking control subsystem through an Ethernet gateway, and the intelligent driving control subsystem is connected to the vehicle networking system through an Ethernet. The remote control subsystem is connected to the vehicle networking subsystem through a wireless network, and the sensing subsystem is connected to the intelligent driving control subsystem. The intelligent driving control subsystem includes an intelligent driving main control subsystem and an intelligent driving deputy control subsystem, and the intelligent driving main control subsystem and the intelligent driving deputy control subsystem are connected through an Ethernet. The present invention constructs a security authentication loop within the control system to authenticate each subsystem within the system, improving the credibility of the system; constructs a security anchor point of the system through an adaptive key negotiation algorithm, enhancing the adaptability and flexibility of the system; completes end-to-end authentication between systems through a lightweight challenge-response mechanism based on keys, reducing the burden on the system and improving the speed and accuracy of authentication; at the same time, starts security authentication through local or remote trigger conditions to meet the security authentication between each subsystem within the system, improving the security of the system, effectively avoiding unauthorized behaviors such as component replacement and illegal software flashing, and ensuring the integrity and reliability of the vehicle control system; through a local and remote trigger monitoring mechanism, the remote control subsystem can also observe the result of security authentication, reducing the security operation risk from an operational perspective. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a view of the control system of the present invention; Figure 2 is a schematic diagram of the construction of the security authentication loop of the present invention; Figure 3 is a schematic diagram of the security service architecture of the present invention; Figure 4 is a schematic diagram of the security authentication method of the present invention; Figure 5 is a schematic diagram of the initial key negotiation of the present invention; Figure 6 is a schematic diagram of the end-to-end authentication key negotiation of the present invention; Figure 7 is a schematic diagram of the security authentication between System A and System B. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The present invention will be described in detail below with reference to the accompanying drawings: In an embodiment of the present invention, an unmanned vehicle control system is disclosed. Refer to Figures 1-3As shown in the figure, the system mainly includes: a remote control subsystem, a vehicle networking subsystem, an intelligent driving control subsystem (main control and deputy control), a cockpit display subsystem, a driving subsystem, a steering control subsystem, a braking control subsystem, and a sensing subsystem.

[0025] Specifically, in this embodiment, the vehicle networking subsystem, the intelligent driving control subsystem, the cockpit display subsystem, the driving subsystem, the steering control subsystem, and the braking control subsystem form a security authentication loop, and all are deployed with a security authentication capability software package; among them, the vehicle networking subsystem and the intelligent driving control subsystem are respectively connected to the cockpit display subsystem, the driving subsystem, the steering control subsystem, and the braking control subsystem through an Ethernet gateway, and the intelligent driving control subsystem and the vehicle networking system are connected through an Ethernet. The remote control subsystem is connected to the vehicle networking subsystem through a wireless network, the sensing subsystem is connected to the intelligent driving control subsystem, and the intelligent driving control subsystem includes an intelligent driving main control subsystem and an intelligent driving deputy control subsystem, and the intelligent driving main control subsystem and the intelligent driving deputy control subsystem are connected through an Ethernet.

[0026] It should also be noted that the above sensing subsystem includes lidar, long-range radar, medium-range radar, cameras, and positioning components. The above security authentication capability software package has the ability of security authentication and completes end-to-end authentication, such as Figure 3 As shown, it includes secure key negotiation, authentication key algorithm, key secure storage, message serviceification, and log recording module.

[0027] In this embodiment, each of the above subsystems plays a key role, and its detailed functions are as follows: Remote control subsystem: Allows remote operators to perform real-time control of the driverless vehicle through a wireless network. It is mainly used to take over the control of the vehicle in special situations (such as emergencies or complex road conditions).

[0028] Vehicle networking subsystem: Realizes information interaction between vehicle and vehicle (V2V), vehicle and infrastructure (V2I), and vehicle and cloud (V2N) through wireless communication technology.

[0029] Intelligent driving control subsystem (main control and deputy control): Is the "brain" of the driverless vehicle, responsible for processing sensor data, planning the driving path, making decisions on vehicle behavior, and controlling various operations of the vehicle. The main and deputy control designs are backed up each other. When the main control fails / malfunctions, the deputy control system can respond quickly to ensure vehicle safety.

[0030] Cockpit display subsystem: Provides a visual interface for passengers and operators with vehicle status, navigation information, entertainment content, etc.

[0031] Driving subsystem for the vehicle: Responsible for driving the vehicle. According to the instructions of the intelligent driving control subsystem, it adjusts the output power of the engine or motor, precisely controls the torque of each wheel, and transmits the power to the wheels to drive the vehicle.

[0032] Steering control subsystem: According to the instructions of the intelligent driving control subsystem, it precisely controls the steering angle of the steering wheel to ensure that the vehicle travels along the planned path.

[0033] Braking control subsystem: According to the instructions of the intelligent driving system, it precisely controls the braking force of the brake to control the braking of the vehicle and ensure that the vehicle can decelerate or stop safely and smoothly when needed.

[0034] Sensing subsystem: It is the "eyes" and "ears" of the driverless vehicle, responsible for perceiving the environment around the vehicle and providing necessary data for the intelligent driving control subsystem. Such as information about the distance, speed, and attitude of objects such as road signs, traffic signals, pedestrians, and vehicles.

[0035] Through the above - disclosed control system, for key devices in the intelligent driving domain, networking domain, cockpit domain, driving domain, steering domain, braking domain, etc. of the vehicle, a security authentication ring is designed, and security / message authentication is performed based on the security authentication ring to ensure the mutual trust and reliable messages of the autonomous driving system.

[0036] In another embodiment of the present invention, a security authentication method for a driverless vehicle is disclosed. As Figures 4-7 shown, this method is based on the above - mentioned control system and includes the following steps: The vehicle starts the security authentication based on local or remote trigger conditions; During the security authentication process, the intelligent driving main control subsystem or the intelligent driving sub - control subsystem manages the authentication status and starts the authentication based on the security authentication ring; Each module in the security authentication ring performs security authentication through the security authentication capability software package deployed by itself; After the authentication is completed, the authentication result is sent to the vehicle's internal network in the form of a service - based signal. The intelligent driving main control subsystem or the intelligent driving sub - control subsystem node verifies the authentication result and reports the verification result to the cloud of the remote control subsystem.

[0037] It should be noted that the prerequisite for the implementation of the above - mentioned security authentication method is that each control subsystem deploys a security authentication capability software package and has the algorithms and CA certificates / keys required for security authentication.

[0038] In this embodiment, the trigger time for security authentication includes: local trigger / remote trigger.

[0039] The local trigger condition is that at each power - on cycle moment of the vehicle, it is triggered by the key ON - gear signal and sends a security authentication instruction to the vehicle networking subsystem; The remote trigger condition is that the remote control subsystem issues a security authentication instruction, which is transmitted to the vehicle network subsystem on the vehicle side via the wireless network signal.

[0040] Power-on moment: Triggered by the key ON signal, the intelligent driving main control subsystem or the intelligent driving sub-control subsystem manages the authentication status, starts authentication based on the security authentication loop until the authentication is completed, sends the authentication result to the vehicle's internal network in the form of a service signal, and finally the intelligent driving main control subsystem or the intelligent driving sub-control subsystem node verifies the authentication result and reports the verification result to the cloud of the remote control subsystem.

[0041] Remote trigger: The remote control subsystem issues a security authentication instruction, which is transmitted to the vehicle side via the TBOX 4G / 5G network signal to trigger. The intelligent driving main control subsystem or the intelligent driving sub-control subsystem manages the authentication status, starts authentication based on the security authentication loop until the authentication is completed, sends the authentication result to the vehicle's internal network in the form of a service signal, and finally the intelligent driving main control subsystem or the intelligent driving sub-control subsystem node verifies the authentication result and reports the verification result to the cloud of the remote control subsystem.

[0042] Specifically, in this embodiment, the authentication process of the security authentication loop includes the following steps: S1: The vehicle network subsystem sends a security authentication instruction to the intelligent driving main control subsystem or the intelligent driving sub-control subsystem; S2: After receiving the security authentication instruction, the intelligent driving main control subsystem or the intelligent driving sub-control subsystem starts to perform a status self-check, and sequentially sends security authentication requests to the cockpit display subsystem, the driving drive subsystem, the steering control subsystem, and the braking control subsystem; S3: After receiving the security authentication request, the cockpit display subsystem, the driving drive subsystem, the steering control subsystem, and the braking control subsystem start to perform a status self-check and wait for authentication; S4: After the cockpit display subsystem, the driving drive subsystem, the steering control subsystem, and the braking control subsystem complete the self-check, they send the feedback to the intelligent driving main control subsystem or the intelligent driving sub-control subsystem; S5: After receiving the feedback of S4, the intelligent driving main control subsystem or the intelligent driving sub-control subsystem sequentially sends authentication message 1 to the cockpit display subsystem, the driving drive subsystem, the steering control subsystem, and the braking control subsystem; S6: After receiving authentication message 1, the cockpit display subsystem, the driving drive subsystem, the steering control subsystem, and the braking control subsystem perform verification authentication and send the authentication result back to the intelligent driving main control subsystem or the intelligent driving sub-control subsystem; S7: After receiving the result feedback of S6, the intelligent driving main control subsystem or the intelligent driving sub-control subsystem sequentially sends authentication message 2 to the cockpit display subsystem, the driving drive subsystem, the steering control subsystem, and the braking control subsystem; S8: After receiving the authentication message 2, the cockpit display subsystem, the driving subsystem, the steering control subsystem, and the braking control subsystem perform verification and store the authentication result. S9: The cockpit display subsystem, the driving subsystem, the steering control subsystem, and the braking control subsystem feedback the final authentication result to the intelligent driving main control subsystem or the intelligent driving sub-control subsystem. S10: The intelligent driving main control subsystem or the intelligent driving sub-control subsystem feedbacks the authentication result to the vehicle networking subsystem. S11: The vehicle networking subsystem feedbacks the final authentication result to the local or remote trigger condition. S12: After receiving the result feedback of S11, the local or remote trigger condition makes a result ruling and performs post-processing.

[0043] It should be noted that in the specific application process, it includes security authentication between multiple systems for both parties to verify their respective identities; as Figure 4 shown, it includes control system A and control system B. The final authentication result is the result of each group of control system A and control system B that needs to be authenticated in the security authentication ring matrix, and the above systems are all published to the Ethernet through the SOA service-oriented method. The local ON file signal trigger is finally ruled by the intelligent driving main control subsystem or the intelligent driving sub-control subsystem node, and the remote trigger method adds manual confirmation ruling on the basis of localization.

[0044] After receiving all the SOA service-oriented authentication results, the intelligent driving main control subsystem or the intelligent driving sub-control subsystem confirms the legality of each key system according to the security authentication ring list, judges whether it meets the requirements of autonomous driving communication control, and makes a ruling as one of the conditions for whether autonomous driving can be enabled; the post-processing includes: locally prompting the cockpit display subsystem with warnings, anomaly notifications, and in severe cases, warning to suspend operation notifications, etc. In the remote scenario, active manual intervention can be carried out, and remote prompts for operators to take over inspections and other operations.

[0045] As Figure 5 、 6 shown, there are multiple control systems, which are represented by system 1, system 2... system n.

[0046] It also should be noted that to complete the authentication ability, the shared key of how to challenge and respond is the core. In this embodiment, an adaptive algorithm based on vehicle characteristic factors is adopted, that is, when the security authentication ability software package authenticates, it generates the initial shared key of the control system based on the derived algorithm of the vehicle unique identification code VIN. This method can not only complete the key negotiation but also make each vehicle unique, with one shared key for each vehicle, as Figure 5 shown.

[0047] If you want to make each end-to-end unique, you can also continue to utilize the terminal encoding, negotiate the end-to-end key value as the shared key for single authentication, as Figure 6 shown.

[0048] In addition, the generated shared key needs to be securely stored. Currently, most vehicle-mounted controllers already have security storage capabilities such as HSM (Hardware Security Module).

[0049] It should also be noted that in this embodiment, the authentication key algorithm of the above security authentication capability software package is based on the end-to-end adaptive key generated by secure key negotiation, and complete identity authentication is performed through the response mechanism.

[0050] Taking control system A and control system B as examples for illustration: B→A: RB||Text1; A→B: TokenAB = Text3||Ek(RA||RB||B||Text2); B→A: TokenBA = Text5||Ek(RB||RA||Text4); As Figure 7 shown, system B first generates a random number RB as a challenge message and sends it to system A (optional Text1 can be attached); system A generates a random number RA, encrypts and generates a response message TokenAB using the shared key received from RB. Then, system B decrypts to check if the random number RB is the same as the challenge message in the first transmission. If it is the same, it accepts the authentication of system A and sends the response message TokenBA generated by encrypting RA and RB to system A; after receiving TokenBA, system A decrypts to check if RA and RB are the same as those transmitted before. If they are the same, the authentication is successful, otherwise it fails.

[0051] Through the above content, the technical solution of the present invention is disclosed. Compared with the prior art, the present invention has the following advantages: 1. The present invention constructs a security authentication loop within the control system to authenticate each subsystem within the system, improving the credibility of each subsystem; 3. The present invention constructs a security anchor point for the system through an adaptive key negotiation algorithm, which can be flexibly adjusted according to the actual situation of the vehicle and the system, enhancing the security while improving the adaptability and flexibility of the system; 3. The present invention completes the end-to-end authentication between systems through a lightweight challenge-response mechanism based on keys, reducing the burden on the system and improving the speed and accuracy of authentication; 4. Through security authentication, the present invention effectively avoids unauthorized behaviors such as component replacement and illegal software flashing, significantly improves the operational safety of the vehicle, and ensures the integrity and reliability of the vehicle control system. 5. Through the local and remote trigger monitoring mechanism of the present invention, the remote control subsystem can also observe the results of security authentication, reducing the risk of safe operation from an operational perspective.

[0052] In another embodiment of the present invention, there is also provided an electronic device, which may include a processor and a memory storing computer program instructions.

[0053] Specifically, in this embodiment, the above-mentioned processor may include a central processing unit (CPU), or an application specific integrated circuit, or may be configured as one or more integrated circuits of this embodiment; the above-mentioned memory may include a mass storage for data or instructions, and for this memory, including but not limited to a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disc, a magneto-optical disc, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these; in appropriate cases, the memory may include removable or non-removable (or fixed) media; in a specific embodiment, the memory is a non-volatile solid-state memory. In a specific embodiment, the memory includes a read-only memory (ROM). In appropriate cases, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0054] The above-mentioned processor realizes the security authentication method disclosed above in the present invention by reading and executing the computer program instructions stored in the memory.

[0055] It should also be noted that the electronic device of this embodiment may further include a communication interface and a communication bus. Among them, the processor, the memory, and the communication interface are connected through the communication bus and complete communication with each other. The communication interface is mainly used to realize the communication between each unit, each module, each device or each equipment in the embodiment of the present invention.

[0056] The above-mentioned communication bus includes hardware, software, or a combination of both, and couples the components of the on-line data traffic device to each other. In appropriate cases, the communication bus may include one or more buses.

[0057] In addition, in combination with the security authentication method in the above embodiments, an embodiment of the present invention can be implemented by providing a computer storage medium. Computer program instructions are stored on the computer storage medium; the computer program instructions are executed by a processor to implement the above security authentication method.

[0058] It should be clear that the present invention is not limited to the methods, systems, and devices disclosed above, and also includes various changes, modifications, and additions made by those skilled in the art based on the ideas of the present invention, or changes in the order between steps.

[0059] When the present invention is implemented in hardware, it can be an electronic circuit, an application-specific integrated circuit, appropriate firmware, a plug-in, a function card, etc.; when implemented in software, the elements of the present invention are programs or code segments used to perform the required tasks. The programs or code segments can be stored in a machine-readable medium, or uploaded through a data signal carried in a carrier wave on a transmission medium or a communication link. The "machine-readable medium" can include any medium capable of storing or transmitting information, such as: electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, optical discs, hard disks, optical fiber media, radio frequency links, etc. The code segments can be downloaded via a computer network such as the Internet or an intranet.

[0060] The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Other modifications or equivalent replacements made by those of ordinary skill in the art to the technical solutions of the present invention should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.

Claims

1. An unmanned vehicle control system, characterized in that: The system includes remote control subsystem, vehicle networking subsystem, intelligent driving control subsystem, cockpit display subsystem, driving subsystem, steering control subsystem, braking control subsystem, and sensor subsystem; The Internet of Vehicles subsystem, intelligent driving control subsystem, cockpit display subsystem, vehicle drive subsystem, steering control subsystem, and brake control subsystem constitute a safety certification loop, and all deploy safety certification capability software packages; wherein, the Internet of Vehicles subsystem and the intelligent driving control subsystem are respectively connected to the cockpit display subsystem, vehicle drive subsystem, steering control subsystem, and brake control subsystem through an Ethernet gateway, and the intelligent driving control subsystem is connected to the Internet of Vehicles system through Ethernet; The remote control subsystem is connected to the Internet of Vehicles subsystem via a wireless network, the sensor subsystem is connected to the intelligent driving control subsystem, and the intelligent driving control subsystem includes an intelligent driving main control subsystem and an intelligent driving auxiliary control subsystem, and the intelligent driving main control subsystem and the intelligent driving auxiliary control subsystem are connected via Ethernet.

2. The unmanned vehicle control system according to claim 1, characterized in that: The sensor subsystem includes a laser radar, a long-range radar, a medium-range radar, a camera, and a positioning component.

3. The unmanned vehicle control system according to claim 1, characterized in that: The security authentication capability software package has the ability of security authentication and completes end-to-end authentication, including security key negotiation, authentication key algorithm, key security storage, message service, and log recording modules.

4. A driverless vehicle safety authentication method, characterized in that: The method is based on the above control system and includes the following steps: The vehicle initiates safety authentication based on local or remote trigger conditions; During the safety authentication process, the intelligent driving main control subsystem or the intelligent driving auxiliary control subsystem manages the authentication status and starts authentication based on the safety authentication loop; Each module in the security authentication ring performs security authentication through its own deployed security authentication capability software package; After the authentication is completed, the authentication result will be sent to the vehicle's intranet via a service signal. The intelligent driving main control subsystem or the intelligent driving secondary control subsystem node will verify the authentication result and report the verification result to the cloud of the remote control subsystem.

5. The method for safety authentication of an unmanned vehicle according to claim 4, characterized in that: The local trigger condition is: at each power-on cycle, the vehicle is triggered by the key ON signal and sends a security authentication command to the vehicle networking subsystem; The remote triggering condition is: the remote control subsystem issues a security authentication instruction, which is transmitted to the vehicle-side Internet of Vehicles subsystem via a wireless network signal.

6. The method for safety authentication of an unmanned vehicle according to claim 4, characterized in that: The certification process of the safety certification ring includes the following steps: S1: The Internet of Vehicles subsystem sends a security authentication instruction to the intelligent driving main control subsystem or the intelligent driving auxiliary control subsystem; S2: After receiving the safety authentication instruction, the intelligent driving main control subsystem or the intelligent driving auxiliary control subsystem starts to perform a status self-check and sends a safety authentication request to the cockpit display subsystem, the driving subsystem, the steering control subsystem, and the braking control subsystem in sequence; S3: After receiving the safety authentication request, the cockpit display subsystem, driving subsystem, steering control subsystem, and brake control subsystem begin to perform a status self-check and wait for authentication; S4: After the cockpit display subsystem, driving subsystem, steering control subsystem, and brake control subsystem complete self-checking, they send feedback to the intelligent driving main control subsystem or the intelligent driving auxiliary control subsystem; S5: The intelligent driving main control subsystem or the intelligent driving auxiliary control subsystem receives the feedback from S4 and sends authentication message 1 to the cockpit display subsystem, the driving subsystem, the steering control subsystem, and the braking control subsystem in sequence; S6: After receiving the authentication message 1, the cockpit display subsystem, the driving subsystem, the steering control subsystem, and the braking control subsystem perform verification and authentication, and feed back the authentication result to the intelligent driving main control subsystem or the intelligent driving auxiliary control subsystem; S7: The intelligent driving main control subsystem or the intelligent driving auxiliary control subsystem receives the result feedback of S6, and sends authentication message 2 to the cockpit display subsystem, the driving subsystem, the steering control subsystem, and the braking control subsystem in sequence; S8: After receiving the authentication message 2, the cockpit display subsystem, the driving subsystem, the steering control subsystem, and the braking control subsystem perform verification and authentication, and store the authentication result; S9: The cockpit display subsystem, driving subsystem, steering control subsystem, and braking control subsystem feed back the final authentication results to the intelligent driving main control subsystem or the intelligent driving auxiliary control subsystem; S10: The intelligent driving main control subsystem or the intelligent driving auxiliary control subsystem feeds back the authentication result to the Internet of Vehicles subsystem; S11: The Internet of Vehicles subsystem feeds back the final authentication result to the local or remote trigger condition; S12: After receiving the result feedback of S11, the local or remote trigger condition makes a result determination and performs post-processing.

7. The method for safety authentication of an unmanned vehicle according to claim 4, characterized in that: During authentication, the security authentication capability software package generates an initial shared key for the control system based on a derivation algorithm of the vehicle's unique identification code VIN.

8. The method for safety authentication of an unmanned vehicle according to claim 7, characterized in that: The authentication key algorithm of the security authentication capability software package is based on the end-to-end adaptive key generated by security key negotiation, and completes identity authentication through a response mechanism.

9. An electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein: The processor, the communication interface and the memory communicate with each other via the communication bus, wherein the memory is used to store a computer program; The processor is configured to execute the method according to any one of claims 4 to 8 by running the computer program stored in the memory.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program implements the method according to any one of claims 4 to 8 when executed by a processor.

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