Distributed centralized automatic driving simulation test system, method and device

Abstract

This application discloses a distributed centralized autonomous driving simulation testing system, method, and apparatus. The system includes a user terminal that calculates a summary of first privacy data in the raw data of the autonomous driving simulation test, and writes the summary information and target plaintext information into a blockchain platform via a communication proxy. A centralized server verifies the correctness of the target plaintext information of any user terminal stored on the blockchain platform. The user terminal, through the communication proxy, verifies the correctness of the target plaintext information of other user terminals stored on the blockchain platform, and reads its own uploaded summary information from the blockchain platform via the communication proxy. It then verifies the consistency of the read summary information with the summary information calculated based on the locally stored first privacy data, and feeds the consistency verification result back to the centralized server. The centralized server authorizes third-party simulation testing terminals and tamper-proof user terminals to obtain raw data for simulation testing.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and more specifically, to a distributed centralized autonomous driving simulation test system, method, and apparatus. Background Technology

[0002] Existing autonomous driving simulation tools or online simulation platforms primarily focus on R&D testing scenarios, meaning test results are provided for internal reference and viewing within companies. When companies need to use the testing process and results to demonstrate the tested performance (such as safety, energy efficiency, etc.) of their tested systems (e.g., autonomous driving systems) to other organizations or the public, they cannot effectively disclose test information while protecting their intellectual property rights, nor can they prove that the disclosed test results have not been tampered with. Summary of the Invention

[0003] This application provides a distributed centralized autonomous driving simulation testing system, method, and apparatus, which can solve the problem that existing autonomous driving simulation tools or online simulation platforms cannot effectively disclose test information while protecting their own intellectual property rights, nor can they prove that the disclosed test results information has not been tampered with.

[0004] The specific technical solution is as follows:

[0005] In a first aspect, embodiments of this application provide a distributed centralized autonomous driving simulation test system, the system comprising: multiple user terminals, a blockchain platform and a centralized server, wherein each user terminal communicates with the blockchain platform through its own communication proxy;

[0006] The user terminal is used to calculate the summary information of the first privacy data in the original data of autonomous driving simulation test, and write the summary information and target plaintext information into the blockchain platform through its own communication proxy, wherein the target plaintext information includes data in the original data other than the first privacy data;

[0007] The centralized server is used to verify the correctness of the target plaintext information stored on any of the user terminals on the blockchain platform.

[0008] The user terminal is also used to verify the correctness of the target plaintext information of other user terminals stored on the blockchain platform through its own communication proxy, and to read the digest information uploaded by itself from the blockchain platform through its own communication proxy, to verify the consistency between the read digest information and the digest information calculated based on the first privacy data stored locally, and to feed back the consistency verification result to the centralized server.

[0009] The centralized server is also used to authorize a third-party simulation testing terminal to obtain the original data from the untampered user terminal for simulation testing, provided that the target plaintext information and the digest information stored on the blockchain platform by a certain user terminal have not been tampered with.

[0010] In one possible implementation, the first privacy data includes a scene file;

[0011] The user terminal is used to register scene information with the blockchain platform through its own communication proxy, wherein the scene information includes at least one of the following: the scene file's summary information, the scene's unique identifier, the scene name, the scene description information, the scene tag, and the scene's source identifier;

[0012] The centralized server is used to read the scenario information from the blockchain platform;

[0013] The user terminal is also used to create simulation tasks and encrypt the second privacy data in the simulation task using the public key of the centralized server to obtain the simulation task containing encrypted information. The user terminal then registers the simulation task containing encrypted information with the blockchain platform through its own communication proxy. The second privacy data includes at least one of the following: task name, task description information, unique identifier of autonomous driving simulation algorithm, unique identifier of autonomous driving simulation engine, and unique identifier of the scene used. The unencrypted information in the simulation task includes the user unique identifier and the task unique identifier.

[0014] The centralized server is also used to read the simulation task from the blockchain platform, decrypt the encrypted information in the simulation task using the private key of the centralized server, review the decrypted simulation task based on the previously read scenario information, and write the review result into the blockchain platform. The review result includes a unique scenario identifier that has passed the review and is encrypted using the public key of the user terminal that published the simulation task.

[0015] The user terminal is also used to read the review result from the blockchain platform through its own communication proxy, and decrypt the review result using its own private key to obtain the unique identifier of the approved scenario. Based on the scenario information, autonomous driving simulation algorithm and autonomous driving simulation engine corresponding to the unique identifier of the approved scenario, it executes the simulation task to obtain the simulation test result. It uses the public key of the centralized server to encrypt the third privacy data in the simulation test result, and writes the encrypted simulation test result into the blockchain platform through its own communication proxy. The third privacy data includes at least one of the scenario test result data, the unique identifier of the autonomous driving simulation algorithm and the unique identifier of the autonomous driving simulation engine. The unencrypted information in the simulation test result includes the user unique identifier and the task unique identifier.

[0016] The centralized server is also used to read the encrypted simulation test results from the blockchain platform, decrypt the simulation test results using its own private key to obtain the decrypted simulation test results, and authorize a third-party simulation test terminal to obtain the original data from the untampered user terminal for simulation testing, provided that the user terminal verifies that the summary information of the scene file in the blockchain platform has not been tampered with, and the centralized server determines that other information in the blockchain platform has not been tampered with.

[0017] In one possible implementation, the centralized server is further configured to write a digest information verification instruction to the blockchain platform after obtaining the decrypted simulation test result from the blockchain platform, wherein the digest information verification instruction includes the user's unique identifier;

[0018] The user terminal is also configured to obtain the digest information verification instruction from the blockchain platform through its own communication proxy, read the digest information of the scene file from the blockchain platform based on the digest information verification instruction, perform consistency verification between the read digest information and the digest information calculated based on the locally stored scene file, and write the consistency verification result to the blockchain platform through its own communication proxy.

[0019] The centralized server is also used to read the consistency verification result from the blockchain platform and determine whether the digest information stored in the blockchain platform has been tampered with based on the consistency verification result.

[0020] In one possible implementation, the centralized server is also used to write the simulation test results from the third-party simulation test server into the blockchain platform.

[0021] In one possible implementation, a data transmission standard is defined in the communication proxy;

[0022] The user terminal is also used to verify the correctness of the data transmitted between its own communication agent and the blockchain platform based on the data transmission standard.

[0023] In one possible implementation, the user terminal is configured to sign the digest information and the target plaintext information using its own private key before writing the digest information and the target plaintext information into the blockchain platform through its own communication proxy, and then write the digest information, the target plaintext information and the signature information into the blockchain platform through its own communication proxy.

[0024] The centralized server is also used to verify, based on the user's public key, the digest information, the target plaintext information, and the signature information, whether the digest information and the target plaintext information stored on the blockchain platform have been tampered with by the communication agent.

[0025] Secondly, embodiments of this application provide a distributed centralized autonomous driving simulation testing method, the method being applied to a communication proxy on the user end, the method comprising:

[0026] Obtain the summary information of the first privacy data in the raw data of the autonomous driving simulation test calculated by the user terminal;

[0027] The summary information and target plaintext information are written into the blockchain platform so that a centralized server or other user terminal can verify the correctness of the target plaintext information stored on the blockchain platform. The target plaintext information includes data in the original data other than the first privacy data.

[0028] The system reads the digest information uploaded by itself from the blockchain platform and sends the read digest information to its own user terminal so that the user terminal can verify the consistency between the read digest information and the digest information calculated based on the first privacy data stored locally.

[0029] The consistency verification result of the user terminal is obtained and fed back to the centralized server. So that if the centralized server determines that the target plaintext information and the digest information stored by the user terminal on the blockchain platform have not been tampered with, it authorizes the third-party simulation test terminal to obtain the original data from the untampered user terminal for simulation testing.

[0030] In one possible implementation, the first privacy data includes a scene file; the method further includes:

[0031] The scenario information is registered with the blockchain platform so that the centralized server can read the scenario information from the blockchain platform. The scenario information includes at least one of the following: the summary information of the scenario file, the unique identifier of the scenario, the scenario name, the scenario description information, the scenario tag, and the scenario source identifier.

[0032] The simulation task carrying encrypted information created by the user terminal is obtained and registered with the blockchain platform. The simulation task includes encrypted information after the user terminal encrypts the second privacy data using the public key of the centralized server, a user unique identifier, and a task unique identifier. The second privacy data includes at least one of the following: task name, task description information, unique identifier of the autonomous driving simulation algorithm, unique identifier of the autonomous driving simulation engine, and unique identifier of the scene used.

[0033] The centralized server reads the simulation task and the scene information from the blockchain platform, and decrypts the encrypted information in the simulation task using the private key of the centralized server. Based on the read scene information, it reviews the decrypted simulation task and writes the review result to the blockchain platform. Then, it reads the review result from the blockchain platform and sends the review result to its own user terminal, so that the user terminal can decrypt the review result using its own private key to obtain the unique identifier of the approved scene. Based on the scene information corresponding to the unique identifier of the approved scene, the autonomous driving simulation algorithm, and the autonomous driving simulation engine, it executes the simulation task to obtain the simulation test result. The third privacy data in the simulation test result is encrypted using the public key of the centralized server. The review result includes the approved scene unique identifier encrypted using the public key of the user terminal that issued the simulation task. The third privacy data includes at least one of the scene test result data, the unique identifier of the autonomous driving simulation algorithm, and the unique identifier of the autonomous driving simulation engine. The unencrypted information in the simulation test result includes the user unique identifier and the task unique identifier.

[0034] The system obtains the encrypted simulation test results from the user client and writes them into the blockchain platform. The centralized server then reads the encrypted simulation test results from the blockchain platform and decrypts them using its private key to obtain the decrypted simulation test results. After confirming that the user client has verified that the summary information of the scenario file in the blockchain platform has not been tampered with, and that the centralized server has confirmed that other information in the blockchain platform has not been tampered with, the system authorizes a third-party simulation test client to obtain the original data from the tamper-free user client for simulation testing.

[0035] In one possible implementation, the method further includes:

[0036] Obtain the digest information verification instruction written by the centralized server from the blockchain platform, wherein the digest information verification instruction includes the user's unique identifier;

[0037] According to the summary information verification instruction, the summary information of the corresponding scene file is read from the blockchain platform, and the read summary information is sent to the user terminal to which it belongs, so that the user terminal can perform consistency verification between the read summary information and the summary information calculated based on the scene file stored locally;

[0038] The consistency verification result of the user terminal is obtained and written into the blockchain platform so that the centralized server can read the consistency verification result from the blockchain platform and determine whether the digest information stored in the blockchain platform has been tampered with based on the consistency verification result.

[0039] In one possible implementation, the communication proxy defines a data transmission standard so that the user terminal can verify the correctness of the data transmitted between its own communication proxy and the blockchain platform based on the data transmission standard.

[0040] In one possible implementation, before writing the digest information and the target plaintext information into the blockchain platform, the method further includes:

[0041] The system receives signature information sent by the user terminal, wherein the signature information is information obtained by the user terminal signing the digest information and the target plaintext information using its own private key;

[0042] Writing the summary information and target plaintext information into the blockchain platform includes:

[0043] The digest information, the target plaintext information, and the signature information are written into the blockchain platform;

[0044] The centralized server can verify whether the digest information and the target plaintext information stored on the blockchain platform have been tampered with by the communication agent, based on the user's public key, the digest information, the target plaintext information, and the signature information.

[0045] Thirdly, embodiments of this application provide a distributed centralized autonomous driving simulation testing device, the device being applied to a communication proxy at the user end, the device comprising:

[0046] The acquisition unit is used to acquire the summary information of the first privacy data in the raw data of the autonomous driving simulation test calculated by the user terminal;

[0047] The writing unit is used to write the digest information and the target plaintext information into the blockchain platform so that the central server or other user terminals can verify the correctness of the target plaintext information stored on the blockchain platform. The target plaintext information includes the data in the original data other than the first privacy data.

[0048] A reading unit is used to read the summary information uploaded by itself from the blockchain platform;

[0049] The sending unit is used to send the read digest information to the user terminal to which it belongs, so that the user terminal can perform consistency verification between the read digest information and the digest information calculated based on the first privacy data stored locally;

[0050] The acquisition unit is also used to acquire the consistency verification result of the user terminal;

[0051] The sending unit is used to feed back the consistency verification result to the centralized server, so that the centralized server, after determining that the target plaintext information and the digest information stored by the user terminal on the blockchain platform have not been tampered with, authorizes the third-party simulation test terminal to obtain the original data from the untampered user terminal for simulation testing.

[0052] In one possible implementation, the first privacy data includes a scene file;

[0053] The writing unit is further configured to register scene information with the blockchain platform so that the centralized server can read the scene information from the blockchain platform. The scene information includes at least one of the following: the scene file's summary information, the scene's unique identifier, the scene name, the scene description information, the scene tag, and the scene's source identifier.

[0054] The acquisition unit is further configured to acquire the simulation task carrying encrypted information created by the user terminal, wherein the simulation task includes encrypted information after the user terminal encrypts the second privacy data using the public key of the centralized server, a user unique identifier, and a task unique identifier, wherein the second privacy data includes at least one of the following: task name, task description information, unique identifier of the autonomous driving simulation algorithm, unique identifier of the autonomous driving simulation engine, and unique identifier of the scene used.

[0055] The writing unit is also used to register the simulation task with the blockchain platform;

[0056] The reading unit is further configured to read the simulation task and the scene information from the blockchain platform at the centralized server, decrypt the encrypted information in the simulation task using the private key of the centralized server, review the decrypted simulation task based on the read scene information, write the review result to the blockchain platform, and then read the review result from the blockchain platform.

[0057] The sending unit is further configured to send the review result to its own user terminal, so that the user terminal can decrypt the review result using its own private key to obtain the unique identifier of the approved scenario, and execute the simulation task based on the scenario information corresponding to the unique identifier of the approved scenario, the autonomous driving simulation algorithm and the autonomous driving simulation engine to obtain the simulation test result, and encrypt the third privacy data in the simulation test result using the public key of the centralized server. The review result includes the approved scenario unique identifier encrypted using the public key of the user terminal that issued the simulation task, and the third privacy data includes at least one of the scenario test result data, the unique identifier of the autonomous driving simulation algorithm and the unique identifier of the autonomous driving simulation engine. The unencrypted information in the simulation test result includes the user unique identifier and the task unique identifier.

[0058] The acquisition unit is also used to acquire the simulation test results encrypted by the user terminal;

[0059] The writing unit is further configured to write the encrypted simulation test results into the blockchain platform, so that the centralized server can read the encrypted simulation test results from the blockchain platform, decrypt the simulation test results using its own private key, obtain the decrypted simulation test results, and, after determining that the user terminal verifies that the summary information of the scene file in the blockchain platform has not been tampered with, and that the centralized server determines that other information in the blockchain platform has not been tampered with, authorize the third-party simulation test terminal to obtain the original data from the untampered user terminal for simulation testing.

[0060] In one possible implementation, the acquisition unit is further configured to acquire the digest information verification instruction written by the centralized server from the blockchain platform, wherein the digest information verification instruction includes the user's unique identifier;

[0061] The reading unit is further configured to read the summary information of the corresponding scene file from the blockchain platform according to the summary information verification instruction, and send the read summary information to its own user terminal, so that the user terminal can perform consistency verification between the read summary information and the summary information calculated based on the scene file stored locally;

[0062] The acquisition unit is also used to acquire the consistency verification result of the user terminal;

[0063] The writing unit is further configured to write the consistency verification result into the blockchain platform, so that the centralized server can read the consistency verification result from the blockchain platform and determine whether the digest information stored in the blockchain platform has been tampered with based on the consistency verification result.

[0064] In one possible implementation, the communication proxy defines a data transmission standard so that the user terminal can verify the correctness of the data transmitted between its own communication proxy and the blockchain platform based on the data transmission standard.

[0065] In one possible implementation, the device further includes:

[0066] The receiving unit is configured to receive signature information sent by the user terminal before writing the digest information and target plaintext information into the blockchain platform, wherein the signature information is information after the user terminal signs the digest information and target plaintext information using its own private key;

[0067] The writing unit is further configured to write the digest information, the target plaintext information, and the signature information into the blockchain platform;

[0068] The centralized server can verify whether the digest information and the target plaintext information stored on the blockchain platform have been tampered with by the communication agent, based on the user's public key, the digest information, the target plaintext information, and the signature information.

[0069] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method as described in any possible implementation of the second aspect.

[0070] Fifthly, embodiments of this application provide an electronic device, which includes:

[0071] One or more processors;

[0072] The processor is coupled to a storage device for storing one or more programs;

[0073] When one or more programs are executed by one or more processors, the electronic device performs the method as described in any possible implementation of the second aspect.

[0074] In a sixth aspect, embodiments of this application provide a computer program product containing instructions that, when executed on a computer or processor, cause the computer or processor to perform the method described in any possible implementation of the second aspect.

[0075] The distributed centralized autonomous driving simulation testing system, method, and apparatus provided in this application can establish a distributed centralized autonomous driving simulation testing system including multiple user terminals, a blockchain platform, and a centralized server. In this system, each user terminal can communicate with the external network through its own communication proxy, thereby ensuring that the local information of the user terminal is protected during the upload process. By uploading the autonomous driving simulation test data to the blockchain platform, not only can the autonomous driving simulation test data be made public to other user terminals and the centralized server, but data tampering can also be prevented. By uploading the summary information of the first privacy data in the original data of the autonomous driving simulation test to the blockchain platform, instead of directly uploading the original data of the first privacy data, the first privacy data can be further prevented from being known by other user terminals, and user terminals can verify whether the summary information in the blockchain platform has been tampered with. When the centralized server determines that the target plaintext information and summary information stored by a user terminal on the blockchain platform have not been tampered with, it can authorize a third-party simulation test terminal to conduct offline simulation tests on the tamper-free user terminal, thereby further ensuring the privacy and security of the user terminal.

[0076] The innovative aspects of this application's embodiments include:

[0077] 1. This application provides a distributed and centralized architecture. In this architecture, the blockchain platform is the centralized end and the user end is the distributed end. All user ends will upload autonomous driving simulation test data to the blockchain platform for storage, and the centralized server will read the data on the blockchain platform to determine whether it is possible to trigger a third-party simulation test end to conduct simulation test.

[0078] 2. Each user terminal can communicate with the external network through its own communication proxy, thereby ensuring that the local information of the user terminal is protected during the upload process.

[0079] 3. By uploading autonomous driving simulation test data to the blockchain platform, not only can the autonomous driving simulation test data be made public to other users and centralized servers, but the data can also be prevented from being tampered with.

[0080] 4. By uploading the summary information of the first privacy data (such as scene files) in the original data of autonomous driving simulation test to the blockchain platform, instead of directly uploading the original data of the first privacy data, it is possible to further prevent the first privacy data from being known by other users, and also allow users to verify whether the summary information in the blockchain platform has been tampered with.

[0081] 5. If the centralized server determines that the target plaintext information and digest information stored on the blockchain platform by a certain user terminal have not been tampered with, it can further ensure the privacy and security of the user terminal by authorizing a third-party simulation test terminal to conduct offline simulation tests on the user terminal that has not been tampered with.

[0082] 6. When uploading simulation tasks to the blockchain platform, encrypting the second privacy data in the simulation task ensures that only the private key of the centralized server can decrypt it to obtain the plaintext information of the second privacy data. Other users, not knowing the decryption password, cannot access the plaintext information of the second privacy data, thus further enhancing the privacy and security of users' digital assets. Similarly, when uploading simulation test results to the blockchain platform, encrypting the third privacy data in the simulation test results ensures that only the private key of the centralized server can decrypt it to obtain the plaintext information of the third privacy data. Other users, not knowing the decryption password, cannot access the plaintext information of the third privacy data, thus further enhancing the privacy and security of users' digital assets.

[0083] 7. When the centralized server writes the review results for the simulation task to the blockchain platform, by encrypting the unique identifier of the approved scene in the review results, only the private key of the user terminal that sent the simulation task can decrypt and obtain the plaintext information of the unique scene identifier. Other user terminals cannot know the plaintext information of the unique scene identifier because they do not know the decryption password, thereby further improving the privacy and security of the user's digital assets.

[0084] 8. After the centralized server obtains the decrypted simulation test results from the blockchain platform, it writes a digest information verification instruction to the blockchain platform to instruct the corresponding user terminal to verify the digest information in the blockchain platform. This can prevent the user terminal from wasting resources due to blind and frequent verification.

[0085] 9. When a user sends a message to the communication agent, it first signs the message to be sent using its own private key, and then sends the message to be sent and the signature information together to the communication agent. The communication agent writes all of this information into the blockchain platform, so that the central server or other user clients can perform signature verification operations based on the user client's public key, thereby verifying whether the communication agent has been compromised by unauthorized users. Attached Figure Description

[0086] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0087] Figure 1 A schematic diagram of a distributed centralized autonomous driving simulation test system provided in this application embodiment;

[0088] Figure 2 An interaction diagram of each terminal in a distributed centralized autonomous driving simulation test system provided in an embodiment of this application;

[0089] Figure 3 An interaction diagram of each terminal in another distributed centralized autonomous driving simulation test system provided in this application embodiment;

[0090] Figure 4 A flowchart illustrating a distributed centralized autonomous driving simulation testing method provided in this application embodiment;

[0091] Figure 5 This is a block diagram of a distributed centralized autonomous driving simulation test device provided in an embodiment of this application. Detailed Implementation

[0092] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0093] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The terms "comprising" and "having," and any variations thereof, in the embodiments and drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0094] Figure 1 This is a schematic diagram of a distributed centralized autonomous driving simulation and testing system. The system includes: multiple user terminals 110, a blockchain platform 120, and a centralized server 130. Each user terminal 110 communicates with the blockchain platform 120 through its own communication agent 140. That is, there is a one-to-one correspondence between the user terminal 110 and the communication agent 140.

[0095] Figure 2 This is an interaction diagram of various terminals in a distributed centralized autonomous driving simulation and testing system. The following is a combination of... Figure 2 This article provides a detailed explanation of the communication processes between the various endpoints and between these endpoints in the system.

[0096] User terminal 110 is used to calculate the summary information of the first privacy data in the original data of autonomous driving simulation test, and write the summary information and target plaintext information into the blockchain platform 120 through its own communication agent 140. The target plaintext information includes data in the original data other than the first privacy data.

[0097] Centralized server 130 is used to verify the correctness of target plaintext information stored on any user terminal 110 on the blockchain platform 120;

[0098] User terminal 110 is also used to verify the correctness of target plaintext information of other user terminals 110 stored on blockchain platform 120 through its own communication agent 140, and to read the digest information uploaded by itself from blockchain platform 120 through its own communication agent 140, to verify the consistency of the read digest information with the digest information calculated based on the first privacy data stored locally, and to feed back the consistency verification result to centralized server terminal 130.

[0099] The centralized server 130 is also used to authorize a third-party simulation test terminal to obtain the original data for simulation testing from the untampered user terminal 110, provided that the target plaintext information and digest information stored on the blockchain platform 120 by a certain user terminal 110 have not been tampered with.

[0100] In this embodiment of the application, the first privacy data includes a scenario file, which includes specific content of various autonomous driving scenarios, such as road data, traffic flow data, etc. The target plaintext information includes at least one of the following: scenario unique identifier, scenario name, scenario description information, scenario tag, scenario source identifier, user unique identifier, task unique identifier, task name, task description information, unique identifier of autonomous driving simulation algorithm, autonomous driving simulation engine, scenario test result data, etc.

[0101] Methods for obtaining the digest information of the first private data include: calculating the hash value of the first private data using a hash algorithm, or using other algorithms to calculate the digest information, as long as the obtained digest information cannot be used to reverse-engineer the original first private data. Hash algorithms include MD4 (Message Digest Algorithm 4), MD5, SHA-1 (Secure Hash Algorithm 1), and others, consistent hashing algorithms, hash collision and collision avoidance strategies, etc.

[0102] The communication agent 140 defines a data transmission standard; the user terminal 110 is also used to verify the correctness of the data transmitted between its own communication agent 140 and the blockchain platform 120 based on the data transmission standard.

[0103] Communication proxy 140 is deployed on user terminal 110. The source code of communication proxy 140 is open, and users can view the source code of communication proxy 140. Communication records between communication proxy 140, user terminal 110, and blockchain platform 120 can be stored as log information for user viewing. By using communication proxy 140 to proxy communication between user terminal 110 and blockchain platform 120, the direct connection of user terminal 110 to the public network can be avoided, thereby protecting the data security of user terminal 110.

[0104] In this embodiment, the digest information and target plaintext information are written to the blockchain platform 120 through its own communication agent 140. The digest information and target plaintext information can be written to the blockchain platform 120 at the same time, or they can be written to the blockchain platform 120 at different times.

[0105] When writing summary information or target plaintext information into the blockchain platform 120, a new block (hereinafter referred to as the target block) is generated on the blockchain platform 120. This new block includes the overall hash value of the previous block connected to it, a random number, and the summary information and / or target plaintext information to be written into the new block. When the centralized server 130 or other user terminal 110 wants to verify the correctness of the information recorded in the blockchain platform 120 (i.e., verify whether it has been tampered with), the centralized server 130 or other user terminal 110 can read all the stored information from the target block of the blockchain platform 120, calculate the hash value of the target block, and compare it with the hash value in the next block connected to the target block. If the two are the same, it is determined that the information in the target block has not been tampered with, that is, the stored target plaintext information has not been tampered with. If they are different, it is determined that the information in the target block has been tampered with.

[0106] For the summary information of the first privacy data, the user terminal 110 can read the summary information it uploaded from the blockchain platform 120 through its own communication proxy 140. It then performs a consistency verification between the read summary information and the summary information calculated based on the locally stored first privacy data. If they are consistent (i.e., identical), it is determined that the summary information stored on the blockchain platform 120 has not been tampered with; if they are inconsistent (i.e., different), it is determined that the summary information stored on the blockchain platform 120 has been tampered with. After obtaining the consistency verification result, the user terminal 110 can also feed back the consistency verification result to the centralized server 130 through its own communication proxy 140. This feedback can be done directly or by uploading to the blockchain platform 120.

[0107] If it is determined that the target plaintext information and digest information stored on the blockchain platform 120 by a certain user terminal 110 have not been tampered with, the centralized server terminal 130 can authorize a third-party simulation test terminal to conduct simulation tests on the enterprise to which the tampered user terminal 110 belongs.

[0108] In order to inform other user terminals 110 that the centralized server 130 has authorized a third-party simulation testing terminal to conduct simulation tests on the current user terminal 110's autonomous driving simulation information, making the simulation test results more authoritative, the centralized server 130 is also used to write the simulation test results of the third-party simulation testing terminal into the blockchain platform 120, so that other user terminals 110 can read the simulation test results of the third-party simulation testing terminal from the blockchain platform 120.

[0109] The distributed centralized autonomous driving simulation testing system provided in this application embodiment can establish a distributed centralized autonomous driving simulation testing system including multiple user terminals, a blockchain platform, and a centralized server. In this system, each user terminal can communicate with the external network through its own communication proxy, thereby ensuring that the local information of the user terminal is protected during the upload process. By uploading the autonomous driving simulation test data to the blockchain platform, not only can the autonomous driving simulation test data be made public to other user terminals and the centralized server, but data tampering can also be prevented. By uploading the summary information of the first privacy data in the original data of the autonomous driving simulation test to the blockchain platform, instead of directly uploading the original data of the first privacy data, the first privacy data can be further prevented from being known by other user terminals, and user terminals can also verify whether the summary information in the blockchain platform has been tampered with. When the centralized server determines that the target plaintext information and summary information stored by a user terminal on the blockchain platform have not been tampered with, it can authorize a third-party simulation test terminal to conduct offline simulation tests on the tamper-free user terminal, thereby further ensuring the privacy and security of the user terminal.

[0110] In one possible implementation, such as Figure 3 As shown in the figure, this application embodiment provides an interaction diagram of each terminal in another distributed centralized autonomous driving simulation test system.

[0111] User terminal 110 is used to register scene information with blockchain platform 120 through its own communication agent 140. The scene information includes at least one of the following: scene file summary information, scene unique identifier, scene name, scene description information, scene tag, and scene source identifier.

[0112] Centralized server 130 is used to read scene information from blockchain platform 120;

[0113] The user terminal 110 is also used to create simulation tasks and encrypt the second privacy data in the simulation task using the public key of the centralized server 130 to obtain the simulation task containing encrypted information. The user terminal 110 registers the simulation task containing encrypted information with the blockchain platform 120 through its own communication agent 140. The second privacy data includes at least one of the following: task name, task description information, unique identifier of autonomous driving simulation algorithm, unique identifier of autonomous driving simulation engine, and unique identifier of the scene used. The unencrypted information in the simulation task includes the user unique identifier and the task unique identifier.

[0114] The centralized server 130 is also used to read simulation tasks from the blockchain platform 120, and decrypt the encrypted information in the simulation tasks using the private key of the centralized server 130. Based on the previously read scenario information, it reviews the decrypted simulation tasks and writes the review results into the blockchain platform 120. The review results include a unique scenario identifier that has passed the review and is encrypted using the public key of the user terminal 110 that publishes the simulation tasks.

[0115] User terminal 110 is also used to read the review results from blockchain platform 120 through its own communication proxy 140, and decrypt the review results using its own private key to obtain the unique identifier of the approved scenario. Based on the scenario information corresponding to the unique identifier of the approved scenario, the autonomous driving simulation algorithm and the autonomous driving simulation engine, it executes the simulation task to obtain the simulation test results. It uses the public key of centralized server terminal 130 to encrypt the third privacy data in the simulation test results, and writes the encrypted simulation test results into blockchain platform 120 through its own communication proxy 140. The third privacy data includes at least one of the scenario test result data, the unique identifier of the autonomous driving simulation algorithm and the unique identifier of the autonomous driving simulation engine. The unencrypted information in the simulation test results includes the user unique identifier and the task unique identifier.

[0116] The centralized server 130 is also used to read the encrypted simulation test results from the blockchain platform 120, and decrypt the simulation test results using its own private key to obtain the decrypted simulation test results. After confirming that the user terminal 110 has verified that the summary information of the scene file in the blockchain platform 120 has not been tampered with, and that the centralized server 130 has confirmed that other information in the blockchain platform 120 has not been tampered with, it authorizes the third-party simulation test terminal to obtain the original data from the untampered user terminal 110 for simulation testing.

[0117] In this embodiment of the application, the scene description information is used to provide a general description of the autonomous driving scene. The scene tag includes the scene type, and the scene source identifier includes the user terminal from which the scene originates.

[0118] To prevent other user terminals 110 from obtaining secondary privacy data such as task name, task description information, unique identifiers of autonomous driving simulation algorithms, unique identifiers of autonomous driving simulation engines, and unique identifiers of the scenarios used, this embodiment of the application can use asymmetric encryption to encrypt and decrypt the secondary privacy data of the current user terminal 110. Specifically, the centralized server 130 can broadcast its public key to the entire network, allowing each user terminal to obtain its public key. User terminal 110 can then use the centralized server's public key to encrypt the secondary privacy data in the simulation task and write the encrypted secondary privacy data to the blockchain platform 120 through the communication proxy 140. Since only the private key of the centralized server 130 can decrypt the encrypted secondary privacy data, it can prevent other user terminals 110 from obtaining the original content of the secondary privacy data.

[0119] After the centralized server 130 reviews the simulation task, to prevent other user terminals 110 from obtaining the privacy information in the review results of the user terminal 110 that sent the simulation task, asymmetric encryption can be used to encrypt and decrypt the review results. Specifically, the user terminal 110 that sent the simulation task can send its public key to the entire network through its own communication proxy 140. After obtaining the public key of the user terminal 110, the centralized server 130 can use the public key of the user terminal 110 to encrypt the unique identifier of the approved scenario, and write the review result containing the encrypted unique identifier of the scenario into the blockchain platform 120. Since only the private key of the user terminal 110 that sent the simulation task can decrypt the review result, it can prevent other user terminals 110 from obtaining the original content of the unique identifier of the approved scenario.

[0120] To prevent other user terminals 110 from obtaining third-party privacy data such as the current user terminal 110's scenario test results, the unique identifier of the autonomous driving simulation algorithm, and the unique identifier of the autonomous driving simulation engine, after executing a simulation task based on scenario information corresponding to the approved scenario unique identifier, the autonomous driving simulation algorithm, and the autonomous driving simulation engine, and obtaining the simulation test results, asymmetric encryption can be used to encrypt and decrypt the simulation test results. Specifically, user terminal 110 can use the public key of the centralized server to encrypt the third-party privacy data in the simulation test results, and write the encrypted third-party privacy data into the blockchain platform 120 through the communication proxy 140. Since only the private key of the centralized server 130 can decrypt the encrypted third-party privacy data, it can prevent other user terminals 110 from obtaining the original content of the third-party privacy data.

[0121] In one possible implementation, in order to prevent the user terminal 110 from blindly and frequently verifying the digest information stored in the blockchain through the communication agent 140, which would lead to a waste of resources for the user terminal 110 and the communication agent 140, the centralized server 130 is also used to write a digest information verification instruction to the blockchain platform 120 after obtaining the decrypted simulation test results from the blockchain platform 120, wherein the digest information verification instruction includes the user's unique identifier.

[0122] User terminal 110 is also used to obtain digest information verification instructions from blockchain platform 120 through its own communication agent 140, and read the digest information of scene file from blockchain platform 120 based on the digest information verification instructions, perform consistency verification between the read digest information and the digest information calculated based on the locally stored scene file, and write the consistency verification result to blockchain platform 120 through its own communication agent 140.

[0123] The centralized server 130 is also used to read the consistency verification result from the blockchain platform 120 and determine whether the summary information stored in the blockchain platform 120 has been tampered with based on the consistency verification result.

[0124] In one possible implementation, the user terminal 110 is used to sign the digest information and the target plaintext information using its own private key before writing the digest information and the target plaintext information into the blockchain platform 120 through its own communication proxy 140, and then write the digest information, the target plaintext information and the signature information into the blockchain platform 120 through its own communication proxy 140.

[0125] The centralized server 130 is also used to verify whether the digest information and target plaintext information stored on the blockchain platform 120 have been tampered with by the communication agent 140, based on the public key, digest information, target plaintext information and signature information of the user terminal 110.

[0126] In practical applications, the communication agent 140 may be compromised by unauthorized users, who could tamper with the information sent by the user terminal 110. This could lead to errors in the data written to the blockchain platform 120, and consequently, errors in the quality assessment of the autonomous driving simulation test conducted by the centralized server 130 on the user terminal 110. Therefore, when sending information to the communication agent 140, the user terminal 110 can first sign the information to be sent using its private key, and then send the information and the signature together to the communication agent 140. The communication agent 140 can then write this information into the blockchain platform 120, allowing the centralized server 130 or other user terminals 110 to verify the signature using the user terminal 110's public key. Specifically, signing the digest information and the target plaintext information involves first calculating the hash values ​​of the digest information and the target plaintext information, and then encrypting the hash values ​​using the user terminal 110's private key. The signature verification process includes: the centralized server 130 or other user terminals 110 can use the public key of the current user terminal 110 to decrypt the signature information in the blockchain platform 120, obtain the hash value, and then calculate the hash values ​​of the digest information and the target plaintext information stored in the blockchain platform 120. The two hash values ​​are compared. If they are the same, then the information written to the blockchain platform by the communication agent 140 is the information sent to it by its user terminal 110, and the communication agent 140 has not been invaded by an unauthorized user. Otherwise, the communication agent 140 has been invaded by an unauthorized user.

[0127] Based on the above system embodiments, another embodiment of this application provides a distributed centralized autonomous driving simulation testing method, which is applied to the communication agent on the user end, such as... Figure 4 As shown, the method includes:

[0128] S210: Obtain summary information of the first privacy data in the raw data of the autonomous driving simulation test calculated by the user terminal.

[0129] The first privacy data includes scenario files, which contain specific content for various autonomous driving scenarios, such as road data and traffic flow data.

[0130] Methods for obtaining the digest information of the first private data include: calculating the hash value of the first private data using a hash algorithm as the digest information; or using other algorithms to calculate the digest information, as long as the obtained digest information cannot be used to reverse-engineer the original first private data. Hash algorithms include MD4, MD5, SHA-1 and others, consistent hashing algorithms, hash collision detection and collision avoidance strategies, etc.

[0131] The communication agent defines data transmission standards; based on these standards, users can verify the correctness of data transmitted between their own communication agent and the blockchain platform.

[0132] The communication proxy is deployed on the user's end. The proxy's source code is open, allowing users to view it. Communication records between the proxy, the user's end, and the blockchain platform are stored as logs for user review. Using a communication proxy to handle communication between the user's end and the blockchain platform avoids direct connection to the public internet, thus protecting user data security.

[0133] S220: Write the summary information and target plaintext information into the blockchain platform so that the central server or other user terminals can verify the correctness of the target plaintext information stored on the blockchain platform.

[0134] The target plaintext information includes all data in the original data except for the first privacy data. The target plaintext information includes at least one of the following: scene unique identifier, scene name, scene description information, scene tag, scene source identifier, user unique identifier, task unique identifier, task name, task description information, unique identifier of autonomous driving simulation algorithm, autonomous driving simulation engine, and scene test result data.

[0135] S230: Read the digest information uploaded by itself from the blockchain platform and send the read digest information to its own user terminal so that the user terminal can verify the consistency between the read digest information and the digest information calculated based on the first privacy data stored locally.

[0136] When a user client needs to verify whether the digest information in the blockchain platform has been tampered with, its own communication proxy can read the digest information it uploaded from the blockchain platform and send the read digest information to its own user client. The user client then performs a consistency verification between the read digest information and the digest information calculated based on the locally stored first privacy data. If the two are consistent (i.e., identical), it is determined that the digest information stored on the blockchain platform has not been tampered with; if they are inconsistent, it is determined that the digest information stored on the blockchain platform has been tampered with. After obtaining the consistency verification result, the communication proxy can feed it back to the centralized server.

[0137] S240: Obtain the consistency verification result from the user terminal and feed it back to the centralized server so that the centralized server, after confirming that the target plaintext information and digest information stored on the blockchain platform by the user terminal have not been tampered with, authorizes the third-party simulation test terminal to obtain the original data from the tampered user terminal for simulation testing.

[0138] After obtaining the consistency verification result, the communication agent can feed it back to the centralized server. If it is determined that the target plaintext information and digest information stored on the blockchain platform by a certain user terminal have not been tampered with, the centralized server can authorize a third-party simulation testing terminal to conduct offline simulation testing at the enterprise to which the tampered user terminal 110 belongs.

[0139] The distributed centralized autonomous driving simulation testing method provided in this application can establish a distributed centralized autonomous driving simulation testing system including multiple user terminals, a blockchain platform, and a centralized server. In this system, each user terminal can communicate with the external network through its own communication proxy, thereby ensuring that the local information of the user terminal is protected during the upload process. By uploading the autonomous driving simulation test data to the blockchain platform, not only can the autonomous driving simulation test data be made public to other user terminals and the centralized server, but data tampering can also be prevented. By uploading the summary information of the first privacy data in the original data of the autonomous driving simulation test to the blockchain platform, instead of directly uploading the original data of the first privacy data, the first privacy data can be further prevented from being known by other user terminals, and user terminals can verify whether the summary information in the blockchain platform has been tampered with. When the centralized server determines that the target plaintext information and summary information stored by a user terminal on the blockchain platform have not been tampered with, it can authorize a third-party simulation test terminal to conduct offline simulation tests on the tamper-free user terminal, thereby further ensuring the privacy and security of the user terminal.

[0140] In one possible embodiment, the first privacy data includes a scene file; the method further includes:

[0141] Register scenario information with the blockchain platform so that the centralized server can read the scenario information from the blockchain platform. The scenario information includes at least one of the following: the summary information of the scenario file, the unique identifier of the scenario, the scenario name, the scenario description information, the scenario tag, and the scenario source identifier.

[0142] The simulation task is obtained by acquiring the simulation task created by the user and carrying encrypted information, and the simulation task is registered with the blockchain platform. The simulation task includes encrypted information after the user uses the public key of the centralized server to encrypt the second privacy data, the user's unique identifier, and the task's unique identifier. The second privacy data includes at least one of the following: task name, task description information, unique identifier of the autonomous driving simulation algorithm, unique identifier of the autonomous driving simulation engine, and unique identifier of the scene used.

[0143] The centralized server reads simulation tasks and scenario information from the blockchain platform and decrypts the encrypted information in the simulation tasks using its private key. Based on the read scenario information, it reviews the decrypted simulation tasks and writes the review results to the blockchain platform. Then, it reads the review results from the blockchain platform and sends them to its own user terminal. The user terminal can then decrypt the review results using its own private key to obtain a unique identifier for the approved scenario. Based on the scenario information corresponding to the unique identifier for the approved scenario, the autonomous driving simulation algorithm, and the autonomous driving simulation engine, the simulation task is executed to obtain simulation test results. The third privacy data in the simulation test results is encrypted using the public key of the centralized server. The review results include a unique identifier for the approved scenario encrypted using the public key of the user terminal that issued the simulation task. The third privacy data includes at least one of the following: scenario test result data, a unique identifier for the autonomous driving simulation algorithm, and a unique identifier for the autonomous driving simulation engine. The unencrypted information in the simulation test results includes a unique user identifier and a unique task identifier.

[0144] The system obtains the encrypted simulation test results from the user's end and writes them to the blockchain platform. The centralized server then reads the encrypted simulation test results from the blockchain platform and decrypts them using its private key to obtain the decrypted simulation test results. After confirming that the summary information of the scenario file in the user's verification blockchain platform has not been tampered with, and that other information in the blockchain platform has not been tampered with, the system authorizes a third-party simulation test client to obtain the original data from the tamper-free user's end for simulation testing.

[0145] In this embodiment of the application, the scene description information is used to provide a general description of the autonomous driving scene. The scene tag includes the scene type, and the scene source identifier includes the user terminal from which the scene originates.

[0146] To prevent other user terminals from obtaining secondary privacy data such as task name, task description information, unique identifiers of autonomous driving simulation algorithms and engines, and unique identifiers of the scenarios used, this application embodiment can employ asymmetric encryption to encrypt and decrypt the secondary privacy data of the current user terminal. After the simulation task is reviewed by the centralized server, to prevent other user terminals from obtaining the review results of the user terminal that sent the simulation task, asymmetric encryption can also be used to encrypt and decrypt the review results. To prevent other user terminals from obtaining third privacy data such as the scenario test result data, unique identifiers of autonomous driving simulation algorithms and engines, after executing the simulation task based on the scenario information corresponding to the approved scenario unique identifier, the autonomous driving simulation algorithm, and the autonomous driving simulation engine, and obtaining the simulation test results, asymmetric encryption can also be used to encrypt and decrypt the simulation test results.

[0147] The following example illustrates the asymmetric encryption and decryption process using the encryption and decryption of secondary privacy data: The centralized server can broadcast its public key to the entire network, allowing each user to obtain its public key. The user can then use the centralized server's public key to encrypt the secondary privacy data in the simulation task and write the encrypted data to the blockchain platform via a communication proxy. Since only the centralized server's private key can decrypt the encrypted secondary privacy data, it prevents other user clients from obtaining the original content of the secondary privacy data.

[0148] In one possible embodiment, to prevent user clients from blindly verifying the digest information stored in the blockchain through a communication proxy, thus avoiding resource waste for both the user client and the communication proxy, the centralized server can write a digest information verification instruction to the blockchain platform after obtaining the decrypted simulation test results. The communication proxy can then retrieve the digest information verification instruction written by the centralized server from the blockchain platform. This instruction includes a unique user identifier. Based on the digest information verification instruction, the proxy reads the digest information of the corresponding scene file from the blockchain platform and sends it to its own user client. The user client then performs a consistency verification between the read digest information and the digest information calculated based on the locally stored scene file. The proxy obtains the consistency verification result from the user client and writes it to the blockchain platform. The centralized server then reads the consistency verification result from the blockchain platform and determines whether the digest information stored in the blockchain platform has been tampered with based on the result.

[0149] In one possible implementation, in practical applications, the communication proxy may be compromised by unauthorized users, who could tamper with the information sent to it by the user terminal. This could lead to errors in the writing to the blockchain platform, and consequently, errors in the quality assessment of the autonomous driving simulation test conducted by the centralized server. To address this technical problem, before writing the digest information and target plaintext information to the blockchain platform, the method further includes: receiving signature information sent by the user terminal, wherein the signature information is information obtained by the user terminal signing the digest information and target plaintext information using its own private key.

[0150] Write the summary information and target plaintext information into the blockchain platform, including: write the summary information, target plaintext information and signature information into the blockchain platform;

[0151] The centralized server can verify whether the digest information and target plaintext information stored on the blockchain platform have been tampered with by the communication agent based on the user's public key, digest information, target plaintext information and signature information.

[0152] Specifically, signing the digest and target plaintext information involves: first calculating the hash values ​​of the digest and target plaintext information, and then encrypting the hash values ​​using the user's private key. The signature verification process involves: the centralized server or other user terminals using the current user's public key to decrypt the signature information in the blockchain platform, obtain the hash value, then calculate the hash values ​​of the digest and target plaintext information stored in the blockchain platform, comparing the two hash values. If they match, the information written to the blockchain platform by the communication agent is the information sent to it by its user terminal, indicating that the communication agent has not been compromised by an unauthorized user; otherwise, the communication agent has been compromised by an unauthorized user.

[0153] Based on the above method embodiments, another embodiment of this application provides a distributed centralized autonomous driving simulation test device, wherein the device is applied to a communication proxy at the user end, such as... Figure 5 As shown, the device includes:

[0154] The acquisition unit 310 is used to acquire the summary information of the first privacy data in the original data of the autonomous driving simulation test calculated by the user terminal;

[0155] The writing unit 320 is used to write the digest information and the target plaintext information into the blockchain platform so that the central server or other user terminals can verify the correctness of the target plaintext information stored on the blockchain platform. The target plaintext information includes the data in the original data other than the first privacy data.

[0156] The reading unit 330 is used to read the digest information uploaded by itself from the blockchain platform;

[0157] The sending unit 340 is used to send the read digest information to the user terminal to which it belongs, so that the user terminal can perform consistency verification between the read digest information and the digest information calculated based on the first privacy data stored locally.

[0158] The acquisition unit 310 is also used to acquire the consistency verification result of the user terminal;

[0159] The sending unit 340 is used to feed back the consistency verification result to the centralized server so that the centralized server, after determining that the target plaintext information and the digest information stored by the user terminal on the blockchain platform have not been tampered with, authorizes the third-party simulation test terminal to obtain the original data from the untampered user terminal for simulation testing.

[0160] In one possible implementation, the first privacy data includes a scene file;

[0161] The writing unit 320 is also used to register scene information with the blockchain platform so that the centralized server can read the scene information from the blockchain platform. The scene information includes at least one of the following: the scene file's summary information, the scene's unique identifier, the scene name, the scene description information, the scene tag, and the scene's source identifier.

[0162] The acquisition unit 310 is further configured to acquire the simulation task carrying encrypted information created by the user terminal, wherein the simulation task includes encrypted information after the user terminal encrypts the second privacy data using the public key of the centralized server, a user unique identifier, and a task unique identifier, wherein the second privacy data includes at least one of the following: task name, task description information, unique identifier of the autonomous driving simulation algorithm, unique identifier of the autonomous driving simulation engine, and unique identifier of the scene used.

[0163] The writing unit 320 is also used to register the simulation task with the blockchain platform;

[0164] The reading unit 330 is further configured to read the simulation task and the scene information from the blockchain platform at the centralized server, decrypt the encrypted information in the simulation task using the private key of the centralized server, review the decrypted simulation task based on the read scene information, write the review result to the blockchain platform, and then read the review result from the blockchain platform.

[0165] The sending unit 340 is further configured to send the review result to its own user terminal, so that the user terminal can decrypt the review result using its own private key to obtain the unique identifier of the approved scenario, and execute the simulation task based on the scenario information corresponding to the unique identifier of the approved scenario, the autonomous driving simulation algorithm and the autonomous driving simulation engine to obtain the simulation test result. The third privacy data in the simulation test result is encrypted using the public key of the centralized server. The review result includes the approved scenario unique identifier encrypted using the public key of the user terminal that issued the simulation task. The third privacy data includes at least one of the scenario test result data, the unique identifier of the autonomous driving simulation algorithm and the unique identifier of the autonomous driving simulation engine. The unencrypted information in the simulation test result includes the user unique identifier and the task unique identifier.

[0166] The acquisition unit 310 is also used to acquire the simulation test results encrypted by the user terminal;

[0167] The writing unit 320 is further configured to write the encrypted simulation test results into the blockchain platform, so that the centralized server can read the encrypted simulation test results from the blockchain platform, decrypt the simulation test results using its own private key, obtain the decrypted simulation test results, and, after determining that the user terminal verifies that the summary information of the scene file in the blockchain platform has not been tampered with, and that the centralized server determines that other information in the blockchain platform has not been tampered with, authorize the third-party simulation test terminal to obtain the original data from the untampered user terminal for simulation testing.

[0168] In one possible implementation, the acquisition unit 310 is further configured to acquire the digest information verification instruction written by the centralized server from the blockchain platform, wherein the digest information verification instruction includes the user's unique identifier;

[0169] The reading unit 330 is further configured to read the summary information of the corresponding scene file from the blockchain platform according to the summary information verification instruction, and send the read summary information to its own user terminal, so that the user terminal can perform consistency verification between the read summary information and the summary information calculated based on the scene file stored locally;

[0170] The acquisition unit 310 is also used to acquire the consistency verification result of the user terminal;

[0171] The writing unit 320 is further configured to write the consistency verification result into the blockchain platform, so that the centralized server can read the consistency verification result from the blockchain platform and determine whether the digest information stored in the blockchain platform has been tampered with based on the consistency verification result.

[0172] In one possible implementation, the communication proxy defines a data transmission standard so that the user terminal can verify the correctness of the data transmitted between its own communication proxy and the blockchain platform based on the data transmission standard.

[0173] In one possible implementation, the device further includes:

[0174] The receiving unit is configured to receive signature information sent by the user terminal before writing the digest information and target plaintext information into the blockchain platform, wherein the signature information is information after the user terminal signs the digest information and target plaintext information using its own private key;

[0175] The writing unit 320 is also used to write the digest information, the target plaintext information and the signature information into the blockchain platform;

[0176] The centralized server can verify whether the digest information and the target plaintext information stored on the blockchain platform have been tampered with by the communication agent, based on the user's public key, the digest information, the target plaintext information, and the signature information.

[0177] The distributed centralized autonomous driving simulation testing device provided in this application embodiment can establish a distributed centralized autonomous driving simulation testing system including multiple user terminals, a blockchain platform, and a centralized server. In this system, each user terminal can communicate with the external network through its own communication proxy, thereby ensuring that the local information of the user terminal is protected during the upload process. By uploading the autonomous driving simulation test data to the blockchain platform, not only can the autonomous driving simulation test data be made public to other user terminals and the centralized server, but data tampering can also be prevented. By uploading the summary information of the first privacy data in the original data of the autonomous driving simulation test to the blockchain platform, instead of directly uploading the original data of the first privacy data, the first privacy data can be further prevented from being known by other user terminals, and user terminals can verify whether the summary information in the blockchain platform has been tampered with. When the centralized server determines that the target plaintext information and summary information stored by a user terminal on the blockchain platform have not been tampered with, it can authorize a third-party simulation testing terminal to conduct offline simulation tests on the tamper-free user terminal, thereby further ensuring the privacy and security of the user terminal.

[0178] Based on the above method embodiments, another embodiment of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in any of the above embodiments.

[0179] Based on the above method embodiments, another embodiment of this application provides an electronic device or computer device, including:

[0180] One or more processors;

[0181] The processor is coupled to a storage device for storing one or more programs;

[0182] When the one or more programs are executed by the one or more processors, the electronic device or computer device performs the method as described in any of the above embodiments.

[0183] Based on the above embodiments, another embodiment of this application provides a computer program product, which includes instructions that, when executed on a computer or processor, cause the computer or processor to perform the method described in any of the above embodiments.

[0184] The above method and apparatus embodiments correspond to the system embodiments and have the same technical effects. For detailed descriptions, please refer to the system embodiments. The apparatus embodiments are derived from the method embodiments; detailed descriptions can be found in the method embodiment section and will not be repeated here. Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application.

[0185] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0186] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A distributed centralized autonomous driving simulation and testing system, characterized in that, The system includes: multiple user terminals, a blockchain platform, and a centralized server, wherein each user terminal communicates with the blockchain platform through its own communication proxy; The user terminal is used to calculate the summary information of the first privacy data in the original data of autonomous driving simulation test, and write the summary information and target plaintext information into the blockchain platform through its own communication proxy. The target plaintext information includes data in the original data other than the first privacy data. The centralized server is used to verify the correctness of the target plaintext information stored on any of the user terminals on the blockchain platform. The user terminal is also used to verify the correctness of the target plaintext information of other user terminals stored on the blockchain platform through its own communication proxy, and to read the digest information uploaded by itself from the blockchain platform through its own communication proxy, to verify the consistency between the read digest information and the digest information calculated based on the first privacy data stored locally, and to feed back the consistency verification result to the centralized server. The centralized server is also used to authorize a third-party simulation test terminal to obtain the original data from the untampered user terminal for simulation testing, provided that the target plaintext information and the digest information stored on the blockchain platform by a certain user terminal have not been tampered with. The first privacy data includes scene files; The user terminal is used to register scenario information with the blockchain platform, encrypt the second privacy data in the created simulation task using the public key of the centralized server, obtain the simulation task containing encrypted information, and register the simulation task containing encrypted information with the blockchain platform. The centralized server is used to read the scene information and the simulation task from the blockchain platform, decrypt the simulation task using the private key of the centralized server, review the decrypted simulation task based on the scene information, and write the review result into the blockchain platform. The review result includes a unique scene identifier that has passed the review and is encrypted using the public key of the user terminal that published the simulation task. The user terminal is used to read the review result from the blockchain platform, decrypt the review result using its own private key to obtain the unique identifier of the approved scenario, execute the simulation task based on the scenario information corresponding to the unique identifier of the approved scenario, the autonomous driving simulation algorithm and the autonomous driving simulation engine, obtain the simulation test result, encrypt the third privacy data in the simulation test result using the public key of the centralized server, and write the encrypted simulation test result into the blockchain platform. The centralized server is used to read the encrypted simulation test results from the blockchain platform, decrypt the simulation test results using its own private key, and obtain the decrypted simulation test results.

2. The system according to claim 1, characterized in that, The scene information includes at least one of the following: a summary of the scene file, a unique scene identifier, a scene name, a scene description, scene tags, and a scene source identifier; The second privacy data includes at least one of the following: task name, task description information, unique identifier of autonomous driving simulation algorithm, unique identifier of autonomous driving simulation engine, and unique identifier of the scene used. The unencrypted information in the simulation task includes the user's unique identifier and the task's unique identifier. The third privacy data includes at least one of the following: scenario test result data, the unique identifier of the autonomous driving simulation algorithm, and the unique identifier of the autonomous driving simulation engine. The unencrypted information in the simulation test results includes the user's unique identifier and the task's unique identifier. The centralized server is also used to authorize a third-party simulation testing terminal to obtain the original data from the unaltered user terminal for simulation testing, provided that the summary information of the scenario file in the blockchain platform verified by the user terminal has not been tampered with, and the centralized server determines that other information in the blockchain platform has not been tampered with.

3. The system according to claim 2, characterized in that, The centralized server is further configured to write a digest information verification instruction to the blockchain platform after obtaining the decrypted simulation test result from the blockchain platform, wherein the digest information verification instruction includes the user's unique identifier; The user terminal is also configured to obtain the digest information verification instruction from the blockchain platform through its own communication proxy, read the digest information of the scene file from the blockchain platform based on the digest information verification instruction, perform consistency verification between the read digest information and the digest information calculated based on the locally stored scene file, and write the consistency verification result to the blockchain platform through its own communication proxy. The centralized server is also used to read the consistency verification result from the blockchain platform and determine whether the digest information stored in the blockchain platform has been tampered with based on the consistency verification result.

4. The system according to claim 1, characterized in that, The centralized server is also used to write the simulation test results from the third-party simulation test server into the blockchain platform.

5. The system according to claim 1, characterized in that, The communication proxy defines data transmission standards; The user terminal is also used to verify the correctness of the data transmitted between its own communication agent and the blockchain platform based on the data transmission standard.

6. The system according to any one of claims 1-5, characterized in that, The user terminal is used to sign the digest information and the target plaintext information using its own private key before writing the digest information and the target plaintext information into the blockchain platform through its own communication proxy, and then write the digest information, the target plaintext information and the signature information into the blockchain platform through its own communication proxy. The centralized server is also used to verify, based on the user's public key, the digest information, the target plaintext information, and the signature information, whether the digest information and the target plaintext information stored on the blockchain platform have been tampered with by the communication agent.

7. A distributed centralized autonomous driving simulation test method, characterized in that, The method is applied to a communication proxy on the user end, and the method includes: Obtain the summary information of the first privacy data in the raw data of the autonomous driving simulation test calculated by the user terminal; The summary information and target plaintext information are written into the blockchain platform so that the central server or other user terminals can verify the correctness of the target plaintext information stored on the blockchain platform. The target plaintext information includes the data in the original data other than the first privacy data. The system reads the digest information uploaded by itself from the blockchain platform and sends the read digest information to its own user terminal so that the user terminal can verify the consistency between the read digest information and the digest information calculated based on the first privacy data stored locally. The consistency verification result of the user terminal is obtained and fed back to the centralized server. So that the centralized server can authorize the third-party simulation test terminal to obtain the original data from the untampered user terminal for simulation testing if it is determined that the target plaintext information and the digest information stored by the user terminal on the blockchain platform have not been tampered with. The first privacy data includes a scene file; the method further includes: The scenario information is registered with the blockchain platform so that the centralized server can read the scenario information from the blockchain platform. The simulation task carrying encrypted information created by the user terminal is obtained and registered with the blockchain platform. The simulation task includes encrypted information after the user terminal encrypts the second privacy data using the public key of the centralized server. The centralized server reads the simulation task and the scene information from the blockchain platform, decrypts the simulation task using its private key, reviews the decrypted simulation task based on the scene information, writes the review result to the blockchain platform, reads the review result from the blockchain platform, and sends the review result to its own user terminal. The user terminal then decrypts the review result using its private key to obtain a unique identifier for the approved scene. Based on the scene information corresponding to the unique identifier for the approved scene, the autonomous driving simulation algorithm, and the autonomous driving simulation engine, the simulation task is executed to obtain simulation test results. The third privacy data in the simulation test results is encrypted using the public key of the centralized server. The review result includes a unique identifier for the approved scene, encrypted using the public key of the user terminal that published the simulation task. The user terminal obtains the encrypted simulation test result and writes the encrypted simulation test result into the blockchain platform so that the centralized server can read the encrypted simulation test result from the blockchain platform, decrypt the simulation test result using its own private key, and obtain the decrypted simulation test result.

8. The method according to claim 7, characterized in that, The scene information includes at least one of the following: a summary of the scene file, a unique scene identifier, a scene name, a scene description, scene tags, and a scene source identifier; The second privacy data includes at least one of the following: task name, task description information, unique identifier of autonomous driving simulation algorithm, unique identifier of autonomous driving simulation engine, and unique identifier of the scene used. The unencrypted information in the simulation task includes the user's unique identifier and the task's unique identifier. The third privacy data includes at least one of the following: scenario test result data, the unique identifier of the autonomous driving simulation algorithm, and the unique identifier of the autonomous driving simulation engine. The unencrypted information in the simulation test results includes the user's unique identifier and the task's unique identifier. The method further includes: If the summary information of the scenario file in the blockchain platform verified by the user terminal has not been tampered with, and the centralized server terminal has determined that other information in the blockchain platform has not been tampered with, the third-party simulation test terminal is authorized to obtain the original data from the untampered user terminal for simulation testing.

9. The method according to claim 8, characterized in that, The method further includes: Obtain the digest information verification instruction written by the centralized server from the blockchain platform, wherein the digest information verification instruction includes the user's unique identifier; According to the summary information verification instruction, the summary information of the corresponding scene file is read from the blockchain platform, and the read summary information is sent to the user terminal to which it belongs, so that the user terminal can perform consistency verification between the read summary information and the summary information calculated based on the scene file stored locally; The consistency verification result of the user terminal is obtained and written into the blockchain platform so that the centralized server can read the consistency verification result from the blockchain platform and determine whether the digest information stored in the blockchain platform has been tampered with based on the consistency verification result.

10. A distributed centralized autonomous driving simulation and testing device, characterized in that, The device is used as a communication proxy at the user end, and the device includes: The acquisition unit is used to acquire the summary information of the first privacy data in the raw data of the autonomous driving simulation test calculated by the user terminal; The writing unit is used to write the digest information and the target plaintext information into the blockchain platform so that the central server or other user terminals can verify the correctness of the target plaintext information stored on the blockchain platform. The target plaintext information includes the data in the original data other than the first privacy data. A reading unit is used to read the summary information uploaded by itself from the blockchain platform; The sending unit is used to send the read digest information to the user terminal to which it belongs, so that the user terminal can perform consistency verification between the read digest information and the digest information calculated based on the first privacy data stored locally; The acquisition unit is also used to acquire the consistency verification result of the user terminal; The sending unit is used to feed back the consistency verification result to the centralized server so that the centralized server, after determining that the target plaintext information and the digest information stored by the user terminal on the blockchain platform have not been tampered with, authorizes the third-party simulation test terminal to obtain the original data from the untampered user terminal for simulation testing. The first privacy data includes scene files; The writing unit is also used to register scene information with the blockchain platform so that the centralized server can read the scene information from the blockchain platform; The acquisition unit is further configured to acquire the simulation task carrying encrypted information created by the user terminal, the simulation task including the encrypted information after the user terminal encrypts the second privacy data using the public key of the centralized server; The writing unit is also used to register the simulation task with the blockchain platform; The reading unit is further configured to read the simulation task and the scene information from the blockchain platform at the centralized server, decrypt the simulation task using the private key of the centralized server, review the decrypted simulation task based on the scene information, write the review result to the blockchain platform, and then read the review result from the blockchain platform. The sending unit is further configured to send the review result to its own user terminal, so that the user terminal can decrypt the review result using its own private key to obtain the unique identifier of the approved scenario, and execute the simulation task based on the scenario information corresponding to the unique identifier of the approved scenario, the autonomous driving simulation algorithm and the autonomous driving simulation engine to obtain the simulation test result, and encrypt the third privacy data in the simulation test result using the public key of the centralized server, wherein the review result includes the approved scenario unique identifier encrypted using the public key of the user terminal that issued the simulation task; The acquisition unit is also used to acquire the simulation test results encrypted by the user terminal; The writing unit is further configured to write the encrypted simulation test results into the blockchain platform, so that the centralized server can read the encrypted simulation test results from the blockchain platform, decrypt the simulation test results using its own private key, and obtain the decrypted simulation test results.

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