A method and device for protecting spatial coordinates in a C-V2X scenario

Abstract

The application discloses a kind of C-V2X scene under the safety protection method and device of space coordinates, it is related to space coordinate safety protection technical field, the method includes obtaining the space positioning coordinates of ego vehicle current time;Determine the type of ego vehicle, and set corresponding privacy processing distribution control strategy according to type;Type includes test vehicle and production vehicle, privacy processing distribution control strategy includes test vehicle controlled use strategy and production vehicle compliance use strategy;According to the type of ego vehicle and privacy processing distribution control strategy, judge the validity of space positioning coordinates, obtain validity judgment result, including valid space positioning coordinates and invalid space positioning coordinates;To valid space positioning coordinates are carried out privacy, cache and encapsulation processing, obtain the BSM information after safety protection.The application can realize the safe compliance application of high-precision geographic information under C-V2X scene, guarantee the security of high-precision geographic information.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spatial coordinate security protection, in particular to a method and device for security protection of spatial coordinates in a C-V2X scenario. BACKGROUND

[0002] As the core communication architecture of intelligent and connected vehicles, C-V2X (Cellular-Vehicle to Everything) technology realizes low-latency and high-reliability information interaction through vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) direct communication (PC5 interface), and is the key support for vehicle-road cloud integration. Currently, many vehicle manufacturers have pre-installed C-V2X devices in their mass-produced vehicles to support application functions, and the related industry has entered a new stage of quasi-commercial application from scale demonstration. In the direct communication scenario, vehicles need to obtain high-precision spatial positioning coordinates of surrounding traffic participants in real time to support cooperative decision-making and control. The main networked functions in the vehicle-to-vehicle and vehicle-to-infrastructure scenarios, such as forward collision warning, blind area warning, emergency vehicle avoidance, and cooperative lane changing, require dynamic synchronization of vehicle positions using direct communication mode, which poses stringent requirements for the safe and compliant application of high-precision geographic information.

[0003] Geographic information data is an important resource, and once it is leaked or illegally obtained, it will pose a great threat to social safety. According to the requirements of the surveying and mapping geographic information field, the original high-precision spatial positioning coordinates obtained by intelligent and connected vehicles must not be taken out of the vehicle. Therefore, it is very important to protect the security of geographic information data such as spatial coordinates. However, the existing C-V2X devices and technical measures have not yet realized the safe and compliant application of functions related to geographic information spatial coordinates, and cannot realize the safe and compliant application of high-precision geographic information in the C-V2X scenario, which seriously hinders the development of the industry. Therefore, how to provide a method and device for security protection of spatial coordinates in the C-V2X scenario to realize the safe and compliant application of high-precision geographic information in the C-V2X scenario and ensure the security of high-precision geographic information has become a technical problem to be solved in the field. SUMMARY

[0004] The purpose of the present application is to provide a method and device for security protection of spatial coordinates in the C-V2X scenario, which can realize the safe and compliant application of high-precision geographic information in the C-V2X scenario and ensure the security of high-precision geographic information.

[0005] To achieve the above-mentioned purpose, the present application provides the following solutions.

[0006] In a first aspect, the application provides a method for protecting spatial coordinates in a C-V2X scenario, which comprises the following steps.

[0007] Obtaining spatial positioning coordinates of a self-vehicle at a current time point, wherein the self-vehicle refers to a target vehicle to be protected.

[0008] Determining a type of the self-vehicle, and setting a corresponding privacy processing distribution control strategy according to the type, wherein the type comprises a test vehicle and a mass-produced vehicle, and the privacy processing distribution control strategy comprises a test vehicle controlled use strategy and a mass-produced vehicle compliance use strategy.

[0009] Judging validity of the spatial positioning coordinates according to the type of the self-vehicle and the privacy processing distribution control strategy, and obtaining a validity judgment result, wherein the validity judgment result comprises valid spatial positioning coordinates and invalid spatial positioning coordinates.

[0010] Performing privacy, caching and encapsulation processing on the valid spatial positioning coordinates, and obtaining BSM information after safety protection.

[0011] Optionally, obtaining spatial positioning coordinates of a self-vehicle at a current time point comprises the following steps.

[0012] Obtaining GNSS satellite positioning data, RTK differential positioning data, vehicle-mounted inertial navigation data and vehicle configuration data of the self-vehicle at the current time point.

[0013] Performing fusion rectification calculation according to the GNSS satellite positioning data, the RTK differential positioning data and the vehicle-mounted inertial navigation data, and obtaining satellite positioning coordinates.

[0014] Generating spatial positioning coordinates with self-vehicle identification according to the satellite positioning coordinates and the vehicle configuration data.

[0015] Optionally, the vehicle configuration data comprises vehicle identification, vehicle external size, vehicle license plate number and GNSS positioning antenna installation position.

[0016] Optionally, determining a type of the self-vehicle, and setting a corresponding privacy processing distribution control strategy according to the type comprises the following steps.

[0017] Setting a test area electronic fence range R1 and a nationwide processing range R2.

[0018] determining a type of the ego vehicle, and setting a test vehicle controlled use policy for the ego vehicle when the type is a test vehicle; the test vehicle controlled use policy refers to enabling a privacy processing function in the ego vehicle only within a test zone electronic fence range R1; the privacy processing function refers to a function of performing privacy processing on the spatial positioning coordinates; and setting a mass production vehicle compliance use policy for the ego vehicle when the type is a mass production vehicle; the mass production vehicle compliance use policy refers to activating the mass production vehicle for the first time, acquiring the nationwide processing range R2 and an authorized license through OTA, and covering the test zone electronic fence range R1 with the nationwide processing range R2.

[0019] Optionally, according to the type of the ego vehicle and the privacy processing distribution control policy, determining validity of the spatial positioning coordinates to obtain a validity determination result, and specifically comprising the following steps.

[0020] For the test vehicle, determining whether the spatial positioning coordinates are located within the test zone electronic fence range R1, and determining that the spatial positioning coordinates are valid spatial positioning coordinates when the spatial positioning coordinates are located within the test zone electronic fence range R1, and otherwise determining that the spatial positioning coordinates are invalid spatial positioning coordinates.

[0021] For the mass production vehicle, determining whether the spatial positioning coordinates are located within the nationwide processing range R2 and whether an ego vehicle identifier in the spatial positioning coordinates is consistent with the authorized license, and determining that the spatial positioning coordinates are valid spatial positioning coordinates when the spatial positioning coordinates are located within the nationwide processing range R2 and the ego vehicle identifier in the spatial positioning coordinates is consistent with the authorized license, and otherwise determining that the spatial positioning coordinates are invalid spatial positioning coordinates.

[0022] Optionally, the authorized license includes a vehicle brand code, a vehicle model number, and a vehicle identifier code.

[0023] Optionally, performing privacy, caching, and encapsulation processing on the valid spatial positioning coordinates to obtain BSM information after security protection, and specifically comprising the following steps.

[0024] Performing privacy processing on the valid spatial positioning coordinates to obtain valid spatial positioning coordinates after privacy processing.

[0025] Performing caching processing on the valid spatial positioning coordinates after privacy processing to obtain stored valid spatial positioning coordinates.

[0026] Performing map matching processing on the stored valid spatial positioning coordinates to determine ego vehicle position information; the ego vehicle position information refers to position information of the ego vehicle in a map.

[0027] The self-vehicle position information, vehicle configuration data and vehicle body data information are encapsulated to obtain BSM information with the self-vehicle position information as the BSM information after safety protection.

[0028] Optionally, the stored effective space positioning coordinates are subjected to map matching processing to determine the self-vehicle position information, specifically including the following steps.

[0029] Obtain map information broadcast by a road side unit.

[0030] The stored effective space positioning coordinates and the map information are subjected to space matching to obtain the self-vehicle position information.

[0031] Optionally, after the step of encapsulating the self-vehicle position information, vehicle configuration data and vehicle body data information to obtain BSM information with the self-vehicle position information as the BSM information after safety protection, the safety protection method for space coordinates in a C-V2X scenario further includes the following steps.

[0032] The SM2 national encryption algorithm is used to sign the BSM information after safety protection to obtain signed BSM information.

[0033] The signed BSM information is broadcast, and V2X information from other vehicles or road side units is received.

[0034] The V2X information is subjected to signature verification to generate warning information of forward collision warning, intersection collision warning, left turn assistance, blind area warning, lane change assistance, reverse overtaking warning, emergency braking warning, abnormal vehicle reminder, vehicle out-of-control warning, vulnerable road user collision warning and / or emergency vehicle reminder.

[0035] The warning information is sent to a human-machine interface of other vehicles to prompt the drivers of the other vehicles to realize the cooperative safety application of forward collision warning, intersection collision warning, left turn assistance, blind area warning, lane change assistance, reverse overtaking warning, emergency braking warning, abnormal vehicle reminder, vehicle out-of-control warning, vulnerable road user collision warning and / or emergency vehicle reminder.

[0036] In a second aspect, the present application provides a safety protection device for space coordinates in a C-V2X scenario, which includes the following modules.

[0037] A vehicle position information acquisition module is configured to acquire space positioning coordinates of a self-vehicle at a current time; the self-vehicle refers to a target vehicle to be protected.

[0038] The range online updating and control module is configured to determine a type of the ego vehicle, and set a corresponding privacy processing distribution control strategy according to the type; the type includes a test vehicle and a mass production vehicle, and the privacy processing distribution control strategy includes a test vehicle controlled use strategy and a mass production vehicle compliance use strategy.

[0039] The position information validity judgment module is configured to judge validity of the spatial positioning coordinates according to the type of the ego vehicle and the privacy processing distribution control strategy, and obtain a validity judgment result; the validity judgment result includes valid spatial positioning coordinates and invalid spatial positioning coordinates.

[0040] The privacy cache and encapsulation module is configured to perform privacy, cache and encapsulation processing on the valid spatial positioning coordinates, and obtain BSM information after security protection.

[0041] According to the specific embodiments provided in the present application, the present application has the following technical effects.

[0042] The present application provides a method and device for security protection of spatial coordinates in a C-V2X scenario. The method is directed to test vehicles and mass production vehicles. From the perspective of the privacy processing distribution control strategy of the test vehicles and mass production vehicles, the spatial positioning coordinates of the ego vehicle at the current time are first obtained. The spatial positioning coordinates represent high-precision geographic information. After obtaining the spatial positioning coordinates, the type of the ego vehicle is judged, i.e., whether the ego vehicle belongs to a test vehicle or a mass production vehicle. According to the type of the ego vehicle and its privacy processing distribution control strategy, the validity of the obtained spatial positioning coordinates is further judged, i.e., whether the obtained spatial positioning coordinates belong to valid spatial positioning coordinates or invalid spatial positioning coordinates. Thus, the screening of valid spatial positioning coordinates is realized. The valid spatial positioning coordinates are subjected to privacy, cache and encapsulation processing. Finally, BSM information after security protection is obtained. The encryption protection and security protection of valid spatial positioning coordinates are realized. The safe and compliant application of high-precision geographic information in a C-V2X scenario is realized. The security of high-precision geographic information is ensured. The hidden dangers caused by leakage or illegal acquisition of high-precision geographic information in a C-V2X scenario are avoided. The problem that the safe and compliant application of high-precision geographic information in a C-V2X scenario cannot be realized and the security of high-precision geographic information cannot be ensured is solved. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. Those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0044] Figure 1 A flowchart of a safety protection method for a spatial coordinate in a C-V2X scenario according to an embodiment of the present application is provided.

[0045] Figure 2 A structural diagram of a safety protection device for a spatial coordinate in a C-V2X scenario according to an embodiment of the present application is provided.

[0046] Figure 3 An application diagram of a spatial coordinate in a C-V2X scenario according to an embodiment of the present application is provided.

[0047] Figure 4 A principle diagram of a safety protection method for a spatial coordinate in a C-V2X scenario according to an embodiment of the present application is provided. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0049] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0050] As shown in Figure 1 The present embodiment provides a safety protection method for a spatial coordinate in a C-V2X scenario. The safety protection method for a spatial coordinate in a C-V2X scenario is directed to a test vehicle and a mass production vehicle. From the perspective of the test vehicle and the mass production vehicle distributing a control strategy after security processing, the validity of the spatial positioning coordinates of the test vehicle and the mass production vehicle is judged, so as to screen out valid spatial positioning coordinates, and the valid spatial positioning coordinates are encrypted and protected, thereby realizing safe and compliant application of high-precision geographic information in a C-V2X scenario, and ensuring the safety of high-precision geographic information.

[0051] The safety protection method for a spatial coordinate in a C-V2X scenario specifically includes the following steps.

[0052] S1: Obtain the spatial positioning coordinates of the ego vehicle at the current time; the ego vehicle refers to a target vehicle to be protected.

[0053] In the present embodiment, step S1 obtains the spatial positioning coordinates of the ego vehicle at the current time, specifically including the following steps.

[0054] S11: Obtain GNSS (Global Navigation Satellite System) satellite positioning data, RTK (Real-Time Kinematic) differential positioning data, vehicle-mounted inertial navigation data and vehicle configuration data of the ego vehicle at the current time.

[0055] S12: Perform fusion rectification calculation according to the GNSS satellite positioning data, the RTK differential positioning data and the vehicle-mounted inertial navigation data to obtain satellite positioning coordinates.

[0056] S13: Generate spatial positioning coordinates with ego vehicle identification according to the satellite positioning coordinates and the vehicle configuration data, which are spatial positioning coordinates of the ego vehicle at the current time.

[0057] In this embodiment, the vehicle configuration data includes vehicle identification, vehicle size, license plate number and GNSS positioning antenna installation position, etc.

[0058] S2: Determine the type of the ego vehicle, and set a corresponding secret processing distribution control strategy according to the type; the type includes a test vehicle and a mass-produced vehicle, and the secret processing distribution control strategy includes a test vehicle controlled use strategy and a mass-produced vehicle compliance use strategy.

[0059] In this embodiment, step S2 determines the type of the ego vehicle, and sets a corresponding secret processing distribution control strategy according to the type, which specifically includes the following steps.

[0060] S21: Set a test area electronic fence range R1 and a national processing range R2.

[0061] S22: Determine the type of the ego vehicle, and set a test vehicle controlled use strategy for the ego vehicle when the type is a test vehicle; the test vehicle controlled use strategy means that the test vehicle enables a secret processing function only within the test area electronic fence range R1; the secret processing function means a function of performing secret processing on the spatial positioning coordinates; and set a mass-produced vehicle compliance use strategy for the ego vehicle when the type is a mass-produced vehicle, which means that the mass-produced vehicle activates for the first time, acquires the national processing range R2 and an authorized license through OTA, and uses the national processing range R2 to cover the test area electronic fence range R1.

[0062] In this embodiment, the authorized license includes a vehicle brand code, a vehicle model number and a vehicle identification code.

[0063] S3: judging validity of the spatial positioning coordinates according to the type of the ego vehicle and the privacy processing distribution control strategy, to obtain a validity judgment result; wherein the validity judgment result comprises valid spatial positioning coordinates and invalid spatial positioning coordinates.

[0064] In this embodiment, step S3 judges validity of the spatial positioning coordinates according to the type of the ego vehicle and the privacy processing distribution control strategy, to obtain a validity judgment result, specifically comprising the following steps.

[0065] S31: for a test vehicle, judging whether the spatial positioning coordinates are located within the test area electronic fence range R1; when the spatial positioning coordinates are located within the test area electronic fence range R1, then determining that the spatial positioning coordinates are valid spatial positioning coordinates, otherwise invalid spatial positioning coordinates.

[0066] S32: for a mass-produced vehicle, judging whether the spatial positioning coordinates are located within the nationwide processing range R2 and whether the ego vehicle identifier in the spatial positioning coordinates is consistent with the authorized license; when the spatial positioning coordinates are located within the nationwide processing range R2 and the ego vehicle identifier in the spatial positioning coordinates is consistent with the authorized license, then determining that the spatial positioning coordinates are valid spatial positioning coordinates, otherwise invalid spatial positioning coordinates.

[0067] S4: performing privacy, caching and encapsulation processing on the valid spatial positioning coordinates, to obtain a BSM (Basic Safety Message, vehicle basic safety information) after security protection.

[0068] In this embodiment, step S4 performs privacy, caching and encapsulation processing on the valid spatial positioning coordinates, to obtain a BSM information after security protection, specifically comprising the following steps.

[0069] S41: performing privacy processing on the valid spatial positioning coordinates, to obtain valid spatial positioning coordinates after privacy processing.

[0070] S42: performing caching processing on the valid spatial positioning coordinates after privacy processing, to obtain stored valid spatial positioning coordinates.

[0071] S43: performing map matching processing on the stored valid spatial positioning coordinates, to determine ego vehicle position information; wherein the ego vehicle position information refers to position information of the ego vehicle in a map.

[0072] In this embodiment, step S43 performs map matching processing on the stored valid spatial positioning coordinates, to determine ego vehicle position information, specifically comprising the following steps.

[0073] S431: Obtain map information broadcast by a road side unit (RSU).

[0074] S432: Perform spatial matching on the stored valid space positioning coordinates and the map information to obtain self-vehicle position information.

[0075] S44: Perform encapsulation processing on the self-vehicle position information, vehicle configuration data, and vehicle body data information to obtain BSM information with self-vehicle position information as the BSM information after safety protection.

[0076] In the embodiment, after the step S44 of performing encapsulation processing on the self-vehicle position information, vehicle configuration data, and vehicle body data information to obtain BSM information with self-vehicle position information as the BSM information after safety protection, the safety protection method for spatial coordinates in the C-V2X scenario further includes the following steps.

[0077] S5: Based on the BSM information after safety protection, develop cooperative safety applications such as forward collision warning, intersection collision warning, left turn assistance, blind area warning, lane change assistance, reverse overtaking warning, emergency braking warning, abnormal vehicle reminder, vehicle out-of-control warning, vulnerable road user collision warning, and / or emergency vehicle reminder.

[0078] The step S5 of the embodiment specifically includes the following steps.

[0079] S51: Use an SM2 national secret algorithm to sign the BSM information after safety protection to obtain signed BSM information.

[0080] S52: Broadcast the signed BSM information and receive V2X information sent by other vehicles or road side units.

[0081] S53: Verify the V2X information to generate warning information such as forward collision warning, intersection collision warning, left turn assistance, blind area warning, lane change assistance, reverse overtaking warning, emergency braking warning, abnormal vehicle reminder, vehicle out-of-control warning, vulnerable road user collision warning, and / or emergency vehicle reminder.

[0082] S54: Send the warning information to a human machine interface (HMI) of other vehicles to prompt the warning information to a driver of the other vehicles, so as to realize cooperative safety applications such as forward collision warning, intersection collision warning, left turn assistance, blind area warning, lane change assistance, reverse overtaking warning, emergency braking warning, abnormal vehicle reminder, vehicle out-of-control warning, vulnerable road user collision warning, and / or emergency vehicle reminder.

[0083] The cooperative safety application refers to, when vehicles interact, sending, between vehicles, early warning information such as forward collision warning, intersection collision warning, left turn assistance, blind area warning, lane change assistance, reverse overtaking warning, emergency braking warning, abnormal vehicle warning, vehicle out-of-control warning, vulnerable road user collision warning, and / or emergency vehicle warning to the human-machine interface of the other vehicle to alert the other vehicle to pay attention to the above early warning information, and realizing the cooperative safety application of the forward collision warning, intersection collision warning, left turn assistance, blind area warning, lane change assistance, reverse overtaking warning, emergency braking warning, abnormal vehicle warning, vehicle out-of-control warning, vulnerable road user collision warning, and / or emergency vehicle warning between vehicles through the above interaction mode and interaction content between vehicles, so as to ensure the safety of each vehicle driving.

[0084] Based on the same inventive concept, the embodiments of the present application also provide a C-V2X scenario space coordinate safety protection device for realizing the safety protection method of the space coordinate in the C-V2X scenario. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more C-V2X scenario space coordinate safety protection device embodiments provided below can be referred to the limitations of the C-V2X scenario space coordinate safety protection method in the above, which will not be described here again.

[0085] In one exemplary embodiment, as shown in Figure 2 A C-V2X scenario space coordinate safety protection device (referred to as a C-V2X device) is provided, which specifically includes the following functional modules.

[0086] A vehicle position information acquisition module N1 is configured to acquire a space positioning coordinate of a host vehicle at a current time. The host vehicle refers to a target vehicle to be protected.

[0087] In this embodiment, the vehicle position information acquisition module N1 acquires GNSS satellite positioning data from a vehicle-mounted GNSS positioning module, the GNSS satellite positioning data serving as an original geographic position observation, acquires RTK differential positioning data from an RTK positioning service operator, and combines vehicle-mounted inertial navigation data to obtain a current high-precision geographic position information. On this basis, combined with vehicle configuration data (such as vehicle identification, vehicle size, license plate number, and GNSS positioning antenna installation position) of the host vehicle acquired from a CAN (Controller Area Network) bus, high-precision space positioning coordinate data with the identification of the host vehicle is formed.

[0088] A range online updating and control module N2 is configured to determine a type of the ego vehicle and set a corresponding privacy processing distribution control strategy according to the type; the type includes a test vehicle and a mass-produced vehicle, and the privacy processing distribution control strategy includes a test vehicle controlled use strategy and a mass-produced vehicle compliance use strategy.

[0089] In this embodiment, the range online updating and control module N2 is configured to initially preset a test area electronic fence range R1 generated by a polygonal area not exceeding 25 square kilometers in a certain intelligent connected vehicle test area as a range available for spatial processing of the test vehicle in a test phase. For a mass-produced vehicle officially put into production, a new national processing range R2 acquired by the range online updating and control module N2 in an OTA manner when the mass-produced vehicle is first officially started and activated, covers the original test area electronic fence range R1; and an authorized license acquired in the OTA manner is stored, the authorized license including authorized license information capable of uniquely determining the vehicle information in the whole life cycle of the vehicle, such as a vehicle brand code, a vehicle model number and a vehicle identification code, so as to ensure that "one vehicle (one car), one code (one vehicle identification code), one license (one authorized license)", that is, one vehicle corresponds to one vehicle identification code and one authorized license.

[0090] A position information validity judgment module N3 is configured to judge validity of the spatial positioning coordinates according to the type of the ego vehicle and the privacy processing distribution control strategy, to obtain a validity judgment result; the validity judgment result includes valid spatial positioning coordinates and invalid spatial positioning coordinates.

[0091] In this embodiment, the position information validity judgment module N3 is used as a pre-module of spatial coordinate privacy processing, and different judgment condition combinations of spatial coordinate range detection of the test vehicle and self-vehicle coordinate processing permission detection and spatial coordinate range detection of the mass-produced vehicle are provided, to protect the legality of subsequent privacy processing actions.

[0092] A privacy cache and encapsulation module N4 is configured to perform privacy, cache and encapsulation processing on the valid spatial positioning coordinates, to obtain BSM information after security protection.

[0093] In this embodiment, the privacy cache and packaging module N4 specifically includes a privacy processing protection module, a location information cache module, and a V2X data packaging and encapsulation module. The privacy processing protection module is used to perform privacy processing on the aforementioned original high-precision spatial positioning coordinates determined to be legal, to reduce the spatial precision and achieve encryption protection of the spatial position to meet relevant industry compliance requirements, while ensuring that other business functions related to spatial coordinates can be normally operated. The location information cache module is used to store the spatial positioning coordinates representing the current location of the ego vehicle after privacy processing, and is used to update the BSM information of the ego vehicle. The V2X data packaging and encapsulation module is used to encapsulate the fixed configuration information of the ego vehicle and the vehicle body data information (such as vehicle speed, gear position, etc.) obtained from the vehicle controller local area network bus, together with the aforementioned ego vehicle location information, into BSM information with ego vehicle location information.

[0094] As shown in Figure 3 , the road side unit stores a map that has been pre-processed by deflection, and is encapsulated into a message for broadcasting, which is received by the ego vehicle. In addition, the ego vehicle also receives GNSS original coordinate signals, which are processed by the C-V2X device to obtain the location coordinates after decryption protection. Multiple intelligent connected vehicles protected by security protection technology interact with each other, and in the interaction process, each vehicle broadcasts BSM messages containing the ego vehicle location coordinates after deflection processing and decryption protection. Here, the BSM message refers to the message containing BSM information sent and received in the interaction process of sending and receiving broadcasts between vehicles, thereby realizing the security protection of spatial coordinates in the C-V2X scenario.

[0095] In order to make the technical solutions of the present application clearer, the specific implementation process of the technical solutions of the present application will be described in detail in the form of examples below, which specifically includes the following implementation steps.

[0096] Step 1: Obtain the spatial positioning coordinates of the ego vehicle at the current time.

[0097] The spatial positioning coordinates refer to high-precision spatial positioning coordinates, i.e., high-precision geographic information. The present application aims to realize the safe and compliant application of high-precision geographic information in the C-V2X scenario and ensure the security of high-precision geographic information.

[0098] In this embodiment, the ego vehicle refers to an intelligent connected vehicle equipped with a security protection device for spatial coordinates in the C-V2X scenario, i.e., a target vehicle that realizes spatial coordinate security protection through a C-V2X controller terminal. As shown in Figure 4As shown, the spatial positioning coordinates are calculated by fusing and rectifying the positioning information of GNSS satellite positioning data (abbreviated as GNSS data) received by the GNSS positioning chip on the target intelligent connected vehicle, real-time dynamic differential positioning data received from the RTK positioning service operator, and vehicle-mounted inertial navigation data. The satellite positioning information containing longitude, latitude and altitude is calculated after the fusion and rectification processing. At the same time, the vehicle fixed information is obtained by using the CAN bus, and the vehicle configuration data (abbreviated as CAN bus data) of the ego vehicle including vehicle identification, vehicle size, license plate number and GNSS positioning antenna installation position are obtained. Based on the above-mentioned various data, the high-precision spatial positioning coordinate data with the identification of the ego vehicle is finally determined.

[0099] Step 2: Determine the type of ego vehicle, including test vehicle and mass production vehicle, and set the privacy processing distribution control strategy respectively.

[0100] The distribution control strategy of the privacy cache and packaging module is set in this embodiment. The vehicle is divided into two running types, test vehicle and mass production vehicle, which correspond to different privacy processing range limits and different privacy cache and packaging module distribution control strategies. When the vehicle is in the test link, it involves multiple subjects and personnel such as OEM, algorithm service provider, device supplier and map provider, and it is difficult to clearly define the mutual responsibility. When distributing the privacy cache and packaging module to the C-V2X controller terminal, only a small area is configured by default to ensure that only vehicles in the test stage located in this area can perform privacy processing functions to prevent the privacy cache and packaging module from being called irregularly. Only when the test vehicle is formally put into mass production and the vehicle information is registered to the national management platform for the first time, the nationwide processing range and vehicle permission information of the vehicle are activated through the built-in range control and online update module, and the new range is overlaid on the original built-in test area range.

[0101] In this embodiment, before determining the type of ego vehicle and setting the privacy processing distribution control strategy, there is also a preliminary preprocessing process of joint compilation and implantation of key codes, and a re-preprocessing process of spatial range control and update.

[0102] In this embodiment, the preliminary preprocessing refers to initially delineating a polygonal area of no more than 25 square kilometers in a certain intelligent connected vehicle test area, generating a test area electronic fence range R1 as a preset processing range, and implanting the C-V2X device in the form of joint compilation of the vehicle position information acquisition module, the range control and online update module, the privacy processing protection module, and the V2X data packaging and encapsulation module and other main functional modules.

[0103] In this embodiment, the re-preprocessing is to update and control the strategy by setting different space ranges for test vehicles and mass-produced vehicles, to ensure the safe distribution and compliance application of the privacy cache and encapsulation module in the C-V2X scenario. Specifically, the following two cases are included.

[0104] (1) Test vehicle controlled use strategy.

[0105] In this embodiment, since the vehicle involves many subjects in the test stage, it is difficult to grasp the overall safety requirements, therefore for such test vehicles in the test link, only the privacy processing function of high-precision spatial positioning coordinates can be controlled within the given test area electronic fence range R1. If the test vehicle drives beyond the test area electronic fence range R1, the privacy processing function of high-precision spatial positioning coordinates cannot be called.

[0106] (2) Mass-produced vehicle compliance use strategy.

[0107] In this embodiment, for the officially mass-produced mass-produced vehicles, when the mass-produced vehicle is first officially started and activated and the vehicle information is activated and registered to the national management platform, the new national processing range R2 obtained by the range control and online update module in the OTA mode covers the original test area electronic fence range R1. At the same time, store the authorization license License obtained by the vehicle brand code, vehicle model number, vehicle identification code, etc. in the whole life cycle of the vehicle, which can uniquely determine the vehicle information. Strictly ensure that "one vehicle (one car), one code (one vehicle identification code)" corresponds to "one license (one authorization license), one device (one C-V2X device)", cannot be repeatedly distributed and illegally called, and ensure that the mass-produced vehicles comply with the privacy processing function of high-precision spatial positioning coordinates.

[0108] In this embodiment, the test area electronic fence range R1 refers to a smaller range of electronic fence area set for test vehicles in the test stage. The national processing range R2 is a geographical range set for mass-produced vehicles in the actual use stage after mass production, used to control the legal use area and ensure the compliance application of spatial coordinate safety protection function of intelligent connected vehicles within the national processing range. The national processing range R2 is the national geographical range data issued to the mass-produced vehicles through OTA, which is usually an electronic fence range covering the administrative region of China, used to replace the test area electronic fence range R1.

[0109] The embodiment is powered on the intelligent networked vehicle, first receives the original GNSS satellite positioning data from the vehicle GNSS positioning chip module, fuses the RTK differential positioning data provided by the RTK positioning service operator, eliminates the wireless transmission and phase error, combines the vehicle inertial navigation data, fuses the deviation correction to obtain the satellite positioning information containing longitude, latitude and height as the main part D1 of the subsequent output data. Secondly, load the vehicle configuration data from the vehicle CAN bus, including vehicle identification code, vehicle size, license plate number and GNSS positioning antenna installation position, as the key information D2 of the subsequent vehicle legality verification. Finally, the above two kinds of information are fused to form a high-precision spatial positioning data packet DATA1 with the vehicle identification of the vehicle.

[0110] Step 3: Judge the validity of the high-precision spatial positioning coordinates obtained by the test vehicle.

[0111] The embodiment only performs the "test vehicle electronic fence R1 judgment" judgment verification process for the test vehicle, that is, only judges whether the high-precision spatial positioning coordinates obtained by the test vehicle are within the test area electronic fence range R1. If yes, it means that the high-precision spatial positioning coordinates are valid, that is, valid spatial positioning coordinates, otherwise, it is invalid spatial positioning coordinates. Because the test vehicle is a short-term test activity in a fixed time period in a fixed area by a fixed vehicle led by the vehicle manufacturer, only when the corresponding test area range is within the secret processing function, the subsequent secret processing function can be executed. That is, when the test vehicle obtains the coordinate condition within the specified test area range, the subsequent secret processing function can be executed, otherwise, the spatial positioning data is set to empty and an exception value is returned.

[0112] Step 4: Judge the validity of the high-precision spatial positioning coordinates obtained by the mass-produced vehicle.

[0113] The embodiment needs to perform "mass-produced vehicle license License validity judgment" and "mass-produced vehicle electronic fence R2 judgment" two judgment verification processes for the mass-produced vehicle. That is, the validity of the high-precision spatial positioning coordinates obtained by the mass-produced vehicle at the current time is determined by the vehicle information validity verification and the spatial range validity judgment. The vehicle information validity verification compares the vehicle identification in the aforementioned spatial positioning data with the vehicle identification code in the authorized license License obtained by OTA, to protect the vehicle that can legally use the subsequent coordinate secret processing function; the spatial range validity is to judge whether the spatial information in the aforementioned spatial positioning data is within the national processing range obtained by the vehicle in OTA, to protect the subsequent coordinates within the legal area range can execute the subsequent secret processing function. Only when the above two conditions are met, the subsequent function related to the spatial positioning coordinates can be continued, otherwise the spatial positioning data is set to empty and returned.

[0114] In this embodiment, in order to enable the subsequent privacy processing function to work under the condition of security compliance, an effectiveness verification process is set up to ensure that the trusted vehicle (including test vehicle and mass production vehicle) can call the privacy processing function only in the legal area. If it fails to pass the verification at this link, the privacy processing function cannot be called, and the related coordinate information is input as null, so that the subsequent function corresponding to the spatial position cannot be used. The effectiveness verification process specifically includes the following contents.

[0115] (1) Mass production vehicle license verification. Compare the vehicle configuration data such as vehicle identification code of mass production vehicle obtained from CAN bus with the authorized license License obtained and stored by OTA mode to ensure that "one vehicle (one car) and one code (one vehicle identification code)" are strictly matched for "one license (one authorized license) and one device (one C-V2X device)", ensuring that the device containing the privacy processing function operates under the condition of trust and controllability.

[0116] (2) Spatial range verification. The test area electronic fence range R1 preset for the test vehicle or the national processing range R2 updated by OTA mode for the mass production vehicle is stored in advance.

[0117] If the current object is a test vehicle, it is judged whether the aforementioned obtained spatial positioning data is located within the test area electronic fence range R1: if the coordinate is within the test area electronic fence range R1, the verification is passed, and the subsequent function can be executed; if the coordinate is not within the test area electronic fence range R1, the verification fails, and the subsequent function cannot be executed.

[0118] If it is known from the previous step that the current object is a legal mass production vehicle, it is judged whether the aforementioned obtained spatial positioning data is within the national processing range R2: if the coordinate is within the national processing range R2, the verification is passed, and the subsequent function can be executed; if the coordinate is not within the national processing range R2, the verification fails, and the subsequent function cannot be executed.

[0119] Step 5: privacy processing protection for the effective spatial positioning coordinate determined.

[0120] In this embodiment, while reducing the spatial precision of the spatial positioning coordinate by privacy processing and realizing the encryption protection of the spatial position to meet the relevant industry compliance management requirements, it is ensured that the navigation map used by the vehicle processed by the same privacy processing method matches in spatial position, so that the business function related to the spatial coordinate can be normally operated. Specifically includes the following contents.

[0121] (1) Self-position information update and cache.

[0122] The spatial coordinates representing the position of the ego vehicle protected by the above security processing are acquired and stored for updating the BSM information of the ego vehicle.

[0123] (2) Map matching use.

[0124] According to the received map information broadcast by the roadside unit, the spatial matching is performed in combination with the above-mentioned ego vehicle position information and map information to obtain the ego vehicle position information, i.e., the position information of the ego vehicle in the map. The ego vehicle position information includes the intersection, lane, and distance from the lane center line to which the ego vehicle belongs.

[0125] (3) Message packaging with ego vehicle position information.

[0126] In this embodiment, the spatial coordinates representing the current position of the ego vehicle protected by the security processing are stored, and the historical data stored last time are called to update the current position item and the historical trajectory item in the BSM information of the ego vehicle. The vehicle configuration data of the ego vehicle and the vehicle body data information such as vehicle speed and gear position obtained from the CAN bus of the ego vehicle are combined with the above-mentioned ego vehicle position information to jointly package the BSM information with ego vehicle position information.

[0127] (4) V2X data signing and sending.

[0128] The BSM information with ego vehicle position information packaged above is signed by using the SM2 national encryption algorithm to realize authenticity and integrity protection, and is broadcasted to the outside through the PC5 interface. The ego vehicle broadcasts the BSM information to inform other vehicles around the real-time spatial position and other states of the ego vehicle, so as to support cooperative safety applications such as forward collision warning, blind area warning, and emergency vehicle avoidance.

[0129] (5) V2X data receiving and signature verification.

[0130] The V2X messages sent by other vehicles or RSUs are received from the PC5 interface of the ego vehicle, and the V2X data is verified.

[0131] (6) Realize safety warning function.

[0132] On the basis of receiving the V2X messages sent by other vehicles or RSUs from the PC5 interface of the ego vehicle and verifying the V2X data, the forward collision warning, blind area warning, and emergency vehicle avoidance cooperative safety applications are realized in combination with the received RSM messages broadcast by other vehicles and the V2X messages sent by RSUs, and the related warning messages are sent to the human-machine interface of other vehicles through the network to prompt the drivers of other vehicles, thereby improving the driving efficiency and safety of intelligent connected vehicles.

[0133] In this embodiment, after passing the license verification and range verification, the security processing function can be called. The current vehicle coordinate longitude, latitude and altitude are extracted from the high-precision spatial positioning data packet DATA1, as well as the current number of weeks and timestamp of the vehicle-mounted GNSS positioning chip module as input parameters, which are transformed and calculated by security processing to form the vehicle high-precision spatial position coordinate data containing the processed longitude, latitude and altitude coordinate information.

[0134] In this embodiment, since the security processing process only calls complex mathematical transformation and does not involve changes in the coordinate system or projection system, the implementation of geographic information spatial position security processing protection does not affect the spatial positioning function of the vehicle in the C-V2X scenario and the business needs related to the spatial coordinate.

[0135] The current C-V2X scenario requires high-precision spatial positioning coordinates for vehicle interaction, but according to the relevant management requirements of geographic information, the original spatial positioning coordinates are strictly prohibited from being transmitted outside the vehicle, resulting in a series of functions related to spatial coordinates in the C-V2X scenario cannot be implemented. This embodiment provides geographic information security processing technology and function to perform real-time security processing on the original spatial coordinates in the direct communication mode of the C-V2X scenario, reducing the precision of the original spatial coordinates to meet the relevant management requirements of geographic information while not affecting the safe and compliant use of functions related to spatial coordinates. At the same time, multiple means such as effectiveness verification and range verification are used to protect the safe distribution and controllable use of the function module for test vehicles and mass-produced vehicles, and the SM2 national encryption algorithm is used for signature to realize authenticity and integrity protection.

[0136] The application provides a safety protection method and device for spatial coordinates in a C-V2X scenario, which is suitable for the interaction scenarios between vehicles and between vehicles and road infrastructure in a vehicle networking environment, and realizes safe and compliant interaction of high-precision spatial positioning coordinates through a direct communication interface. The safety protection device for spatial coordinates in the C-V2X scenario is deployed on a C-V2X controller terminal pre-installed in an intelligent connected vehicle, and includes a vehicle position information acquisition module N1, a range online updating and control module N2, a position information validity judgment module N3, a security cache and encapsulation module N4, and the like. Through the cooperative matching between the above modules, the original spatial coordinates obtained by the vehicle and meeting the range requirements are subjected to geographic information security processing, and the geographic information security management requirements are met. Through transmission in a direct communication mode, the safety protection of spatial coordinates and the safety application of related functions in the C-V2X scenario are realized. The geographic range in the module is controlled and updated through the OTA mode of the range control and online updating module, which can effectively solve the problems of real-time safe and compliant application of spatial coordinates in the C-V2X scenario and safe distribution of the security cache and encapsulation module N4 in the C-V2X scenario, and provide compliant and reliable geographic information security protection for intelligent connected vehicles in the C-V2X scenario. The original high-precision positioning coordinate information of the vehicle is subjected to security processing through the security cache and encapsulation module N4, the spatial precision is reduced, the encryption protection of the spatial position is realized to meet the related industry compliance requirements, the normal operation of other business functions related to the spatial coordinates is ensured, and the safe distribution of the BSM information after safety protection is ensured.

[0137] The technical features of the above embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above embodiments are not described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present application.

[0138] The principles and implementation modes of the present application are described by using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core idea of the present application; meanwhile, according to the idea of the present application, the specific implementation modes and application ranges will be changed by those skilled in the art. In conclusion, the content of the present application should not be understood as a limitation.

Claims

1. A method for protecting spatial coordinates in a C-V2X scenario, characterized in that: The security protection method for spatial coordinates in the C-V2X scenario includes: Obtaining the spatial positioning coordinates of the ego vehicle at the current moment; the ego vehicle is the target vehicle to be protected; wherein, based on the satellite positioning coordinates and vehicle configuration data, the spatial positioning coordinates with the ego vehicle identification are generated; Determining the type of the vehicle and setting a corresponding confidentiality processing distribution control policy based on the type; the types include test vehicles and mass-produced vehicles, and the confidentiality processing distribution control policy includes a controlled use policy for test vehicles and a compliant use policy for mass-produced vehicles; According to the type of the ego vehicle and the confidentiality processing distribution control strategy, the validity of the spatial positioning coordinates is judged, and the valid spatial positioning coordinates are confidential, cached, and packaged to obtain securely protected BSM information; Before determining the type of the self-vehicle and setting the corresponding confidentiality processing distribution control strategy according to the type, there is also a process of preliminary preprocessing of key code joint compilation and implantation and re-preprocessing of spatial range control and update; among them, preliminary preprocessing refers to the initial demarcation of an area within a certain intelligent connected vehicle experimental area, generating the test area electronic fence range R1 as the preset processing range, and compiling it in the form of joint compilation and implanting it into the C-V2X device; re-preprocessing is to ensure safe distribution and compliance application in the C-V2X scenario by setting different spatial range updates and confidentiality processing distribution control strategies for test vehicles and mass-produced vehicles. Test vehicles can only be controlled to carry out the confidentiality processing function of spatial positioning coordinates within the given test area electronic fence range R1. If the test vehicle travels beyond the test area electronic fence range R1, the confidentiality processing function of spatial positioning coordinates will not be called; for mass-produced vehicles, when the mass-produced vehicle is officially started and activated for the first time and its vehicle information is activated and registered to the national management platform, a new national processing range R2 is obtained in an OTA manner, covering the original test area electronic fence range R1, and the authorization license obtained in an OTA manner is stored at the same time. The authorization license includes the vehicle brand code, model number and vehicle identification code.

2. The method for protecting spatial coordinates in a C-V2X scenario according to claim 1, wherein: The vehicle configuration data includes vehicle identification, vehicle dimensions, license plate number and GNSS positioning antenna installation location.

3. The method for protecting spatial coordinates in a C-V2X scenario according to claim 1, wherein: When the valid spatial positioning coordinates are kept confidential, cached, and encapsulated, map matching processing is performed on the stored valid spatial positioning coordinates to determine the vehicle's position information, specifically including: Obtain map information broadcast by the roadside unit; The stored valid spatial positioning coordinates are spatially matched with the map information to obtain the vehicle position information.

4. A safety protection device for spatial coordinates in a C-V2X scenario, characterized in that: The safety protection device for spatial coordinates in the C-V2X scenario includes: The vehicle position information acquisition module is used to obtain the spatial positioning coordinates of the ego vehicle at the current moment; the ego vehicle is the target vehicle to be protected; wherein, the spatial positioning coordinates with the ego vehicle identification are generated based on the satellite positioning coordinates and vehicle configuration data; A range online update and control module, configured to determine the type of the vehicle and set a corresponding confidentiality processing distribution control policy based on the type; the types include test vehicles and mass-produced vehicles, and the confidentiality processing distribution control policy includes a controlled use policy for test vehicles and a compliant use policy for mass-produced vehicles; a position information validity judgment module, configured to judge the validity of the spatial positioning coordinates according to the type of the vehicle and the confidentiality processing distribution control strategy; The confidentiality cache and encapsulation module is used to keep the valid spatial positioning coordinates confidential, cache and encapsulate them to obtain the BSM information after security protection; Before determining the type of the self-vehicle and setting the corresponding confidentiality processing distribution control strategy according to the type, there is also a process of preliminary preprocessing of key code joint compilation and implantation and re-preprocessing of spatial range control and update; among them, preliminary preprocessing refers to the initial demarcation of an area within a certain intelligent connected vehicle experimental area, generating the test area electronic fence range R1 as the preset processing range, and compiling it in the form of joint compilation and implanting it into the C-V2X device; re-preprocessing is to ensure safe distribution and compliance application in the C-V2X scenario by setting different spatial range updates and confidentiality processing distribution control strategies for test vehicles and mass-produced vehicles. Test vehicles can only be controlled to carry out the confidentiality processing function of spatial positioning coordinates within the given test area electronic fence range R1. If the test vehicle travels beyond the test area electronic fence range R1, the confidentiality processing function of spatial positioning coordinates will not be called; for mass-produced vehicles, when the mass-produced vehicle is officially started and activated for the first time and its vehicle information is activated and registered to the national management platform, a new national processing range R2 is obtained in an OTA manner, covering the original test area electronic fence range R1, and the authorization license obtained in an OTA manner is stored at the same time. The authorization license includes the vehicle brand code, model number and vehicle identification code.

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