Implementation method of automatic driving safety data transmission system

Abstract

The application provides an implementation method of an automatic driving safety data transmission system, the system is composed of multiple vehicle nodes and access nodes, the vehicle nodes send free request messages to obtain free data, and the vehicle nodes send charging request messages to obtain charging data. The method effectively solves the limitations of the existing scheme and has the following technical effects: (1) realizing fast key distribution; (2) enabling the vehicle nodes to quickly obtain keys; and (3) guaranteeing that the vehicle nodes can safely and quickly obtain road condition information, thereby supporting safe driving. The system has wide application prospects in the field of automatic driving.

Description

TECHNICAL FIELD

[0001] The application relates to an implementation method of a data transmission system, in particular to an implementation method of an automatic driving safety data transmission system. BACKGROUND

[0002] Safe transmission of road condition data is crucial for automatic driving, however, the current related technology still has the following limitations in the safe transmission of road condition data: (1) key distribution delay is large, update is not timely, and there is a risk of leakage; (2) vehicle nodes are difficult to safely and timely obtain keys, resulting in inability to normally obtain data; (3) data transmission delay is long, and it is difficult to meet the real-time requirements of safe driving.

[0003] The application aims to solve the above problems, so that the vehicle nodes can safely and quickly obtain road condition information, and improve the overall efficiency of the automatic driving system. SUMMARY

[0004] The technical problem solved by the application is to provide an implementation method of an automatic driving safety data transmission system in view of the deficiencies of the prior art.

[0005] Technical scheme: The application discloses an implementation method of an automatic driving safety data transmission system, wherein the system is composed of multiple vehicle nodes and an access node; data is divided into free data and charged data;

[0006] The access node sends a key message to the vehicle nodes in the vehicle domain, and the vehicle nodes receiving the key message create a key table item; the vehicle nodes send a key request message to obtain the key; the vehicle nodes send a free request message to obtain the free data;

[0007] The vehicle nodes send a charged request message to obtain the charged data; the vehicle nodes encrypt the coordinates and the load of the access node in the vehicle domain in the key table item to obtain encrypted coordinates and encrypted load, and the name in the load is equal to the name of the requested data; in the sent charged request message, the prefix is the encrypted coordinates, and the encrypted load is the encrypted load;

[0008] The vehicle node or the access node receiving the charging request message decrypts the prefix and the encrypted load of the charging request message by using the key in the key table item; forwards the charging request message if the vehicle node does not have a data table item with a name equal to the name in the charging request message; encrypts the data in the data table item by using the public key corresponding to the charging data identified by the name in the charging request message to obtain encrypted data, encrypts the load by using the key in the key table item to obtain encrypted load, the name in the load is the name in the decrypted load, the encrypted data is the encrypted data, and sends a charging response message, the prefix of the message is equal to the prefix of the charging request message, and the encrypted load is the encrypted load;

[0009] The vehicle node receiving the charging response message forwards the charging response message, decrypts the prefix and the encrypted load in the charging response message by using the key in the key table item, decrypts the encrypted data in the load of the charging response message by using the private key of the data identified by the name in the decrypted load, and creates a data table item, the name of the data table item is equal to the name in the decrypted load, and the data is equal to the decrypted data.

[0010] The method further comprises:

[0011] The access node randomly selects N1 names from all data name sets to form a name set NS1, creates a hash function, and calculates the key by using the name set NS1 and the hash function;

[0012] If the key table of the access node is empty, a key table item is created, the encrypted load is obtained by encrypting the load by using the public key, the coordinate in the load is equal to the coordinate of the access node, the key table item is the created key table item, and the prefix of the sent key message is 0 and the encrypted load is the encrypted load;

[0013] If the key table of the access node is not empty, a variable is set, the value of the variable is equal to the key value of the key table item, the key table is emptied, a key table item is created, the encrypted coordinate and the encrypted load are obtained by encrypting the coordinate of the access node and the load by using the value of the variable, the coordinate of the load is 0, the key table item is the created key table item, and the key message is sent, the prefix of the key message is the encrypted coordinate and the encrypted load is the encrypted load, the prefix of the sent key message is the encrypted coordinate and the encrypted load is the encrypted load;

[0014] If the prefix of the key message received by the vehicle node is 0, the encrypted load in the key message is decrypted by using the private key, otherwise, the prefix and the encrypted load in the key message are decrypted by using the key in the key table item; the vehicle node creates a key table item and forwards the key message.

[0015] The method further comprises:

[0016] The vehicle node encrypts the access node coordinates of the vehicle domain in which the vehicle node is located and the load by using the key in the key table item to obtain encrypted coordinates and encrypted load, and sends a free request message, in which the prefix is the encrypted coordinates and the encrypted load is the encrypted load.

[0017] The vehicle node or the access node that receives the free request message decrypts the prefix and the encrypted load in the free request message by using the key in the key table item, forwards the free request message if the vehicle node does not have a data table item with a name equal to the name in the free request message, and sends a free response message if the vehicle node or the access node has a data table item with a name equal to the name in the free request message, in which the prefix is equal to the prefix in the free request message and the encrypted load is the encrypted load.

[0018] The vehicle node that receives the free response message decrypts the prefix and the encrypted load in the free response message by using the key in the key table item, decrypts the encrypted data table item in the load in the free response message by using the private key, creates a data table item, and forwards the free response message.

[0019] The method further comprises:

[0020] The vehicle node encrypts the access node coordinates of the vehicle domain in which the vehicle node is located and the load by using the key in the key table item to obtain encrypted coordinates and encrypted load, and sends a free request message, in which the prefix is the encrypted coordinates and the encrypted load is the encrypted load.

[0021] The vehicle node that receives the free response message decrypts the prefix and the encrypted load in the free response message by using the key in the key table item, decrypts the encrypted data table item in the load in the free response message by using the private key, creates a data table item, and forwards the free response message.

[0022] The method further comprises:

[0023] Each access node has a unique coordinate, uniformly distributed in the area covered by the system; an access node and a vehicle node form a vehicle domain, in all access nodes, the coordinate of a vehicle node in a vehicle domain is closest to the coordinate of an access node in the vehicle domain; a type of data is uniquely identified by a name; each vehicle node or access node has the right to obtain and provide free data; if a vehicle node has the right to obtain or provide a type of charged data, the vehicle node is called a legal node of the charged data; an access node is a legal node of all types of charged data; all free data share a public key and a private key, and each type of charged data has a public key and a private key.

[0024] The method further comprises:

[0025] A message is defined by a message type, including a prefix and an encrypted payload; each vehicle node or access node respectively maintains a key table, and a key table entry includes a name set, a hash function, a key and a lifetime; the key table is empty or only contains one key table entry; a key message includes a prefix and an encrypted payload, and the payload includes a message type, a coordinate and a key table entry.

[0026] The method further comprises:

[0027] In the key table entry created by the access node, the name set is NS1, the hash function is the created hash function, and the key is the calculated key; in the key table entry created by the vehicle node receiving the key message, the name set, the hash function, the key and the lifetime are respectively equal to the name set, the hash function, the key and the lifetime of the key table entry in the payload of the key message after decryption.

[0028] The method further comprises:

[0029] The key request message includes a prefix, a hop limit and an encrypted payload, and the payload includes a message type and a coordinate; the key response message includes a prefix, a hop limit and an encrypted payload, and the payload includes a message type, a coordinate and a key table entry; the vehicle node and the access node respectively maintain a data table, and a data table entry includes a name, data and a lifetime.

[0030] The method further comprises:

[0031] The free request message includes a prefix, a hop limit and an encrypted payload, and the payload includes a message type and a name; the free response message includes a prefix, a hop limit and an encrypted payload, and the payload includes a message type and an encrypted data table entry; in the payload of the free request message sent by the vehicle node, the name is the name identifying the requested free data; in the data table entry created by the vehicle node receiving the free response message, the name, the data and the lifetime are respectively equal to the name, the data and the lifetime of the data table entry in the free response message after decryption.

[0032] The method further comprises:

[0033] The charging request message contains a prefix, a hop limit and an encrypted payload, the payload containing a message type and a name; the charging response message contains a prefix, a hop limit and an encrypted payload, the payload containing a message type, a name and encrypted data; the initial value of the hop limit is equal to ⌊D / R⌋, wherein D is the maximum distance between any two adjacent access nodes, and R is the transmission radius of the vehicle node.

[0034] Beneficial effects: the present application provides an implementation method of an automatic driving safety data transmission system, which effectively solves the limitations of the existing scheme and has the following technical effects: (1) realizes fast key distribution; (2) enables the vehicle node to quickly obtain the key; (3) guarantees that the vehicle node safely and quickly obtains the road condition information, thereby supporting safe driving. The system has wide application prospects in the field of automatic driving. BRIEF DESCRIPTION OF DRAWINGS

[0035] The above and / or other aspects of the present application will become apparent and more readily appreciated from the following description, taken in conjunction with the accompanying drawings, in which:

[0036] Figure 1 The flowchart of the automatic driving safety data transmission system of the present application.

[0037] Figure 2 The key distribution flowchart of the present application.

[0038] Figure 3 The key acquisition flowchart of the present application.

[0039] Figure 4 The free data acquisition flowchart of the present application.

[0040] Figure 5 The charged data acquisition flowchart of the present application. DETAILED DESCRIPTION

[0041] To make the skilled in the art better understand the technical solutions of the present application, the present application will be further described in detail below in conjunction with the drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the described embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor belong to the scope of protection of the present application.

[0042] Figure 1 The flowchart of the automatic driving safety data transmission system of the present application. Figure 2The application discloses a key distribution process. The system comprises a plurality of vehicle nodes and a plurality of access nodes; each access node has a unique coordinate and is uniformly distributed in a region covered by the system; and each vehicle node or access node obtains the coordinate of each access node through an electronic map.

[0043] One access node and one vehicle node form a vehicle area; in all access nodes, the coordinate of the vehicle node in the vehicle area is closest to the coordinate of the access node in the vehicle area.

[0044] One type of data is uniquely identified by a name;

[0045] The data is divided into free data and charged data; for example, the free data is traffic accident data, and the charged data is a TV series;

[0046] Each vehicle node or access node has the right to obtain and provide free data;

[0047] If a vehicle node has the right to obtain or provide one type of charged data, the vehicle node is called a legal node of the charged data; and the access node is a legal node of all types of charged data;

[0048] All free data share one public key and one private key; and each type of charged data has one public key and one private key;

[0049] The public key PK0 and the private key PR0 of the free data are stored and issued by a third-party authentication data center computer; and the public key and the private key of each type of charged data are stored and issued by the third-party authentication data center computer;

[0050] When a vehicle node or an access node is registered with the third-party authentication data center computer, the vehicle node or the access node obtains the public key PK0 and the private key PR0 of the free data, an asymmetric encryption algorithm AEA0 and a symmetric encryption algorithm SEA0; the AEA0 can be an RSA encryption algorithm, and the SEA0 can be an advanced encryption standard (English: Advanced Encryption Standard, abbreviation: AES); AES If the vehicle node is a legal node of one type of charged data, the vehicle node also obtains the public key and the private key of the charged data; meanwhile, the access node obtains a name set of all free data and charged data provided by the system;

[0051] A message is defined by a message type, and comprises a prefix and an encrypted payload;

[0052] Each vehicle node or access node respectively stores a key table; one key table entry comprises a name set, a hash function, a key and a lifetime; the lifetime is automatically attenuated with a clock; in an initial state, the key table of the vehicle node or the access node is empty; and the key table comprises at most one key table entry.

[0053] A key message contains a prefix and an encrypted payload, the encrypted payload is an encrypted payload, containing message type, coordinates and key table entry;

[0054] After the access node AP1 obtains the name set NS0 of all free data and charged data provided by the system, it periodically performs the following operations:

[0055] Step 101: Start;

[0056] Step 102: The access node AP1 randomly selects N1 names from the name set NS0 to form a name set NS1, N1 is a positive integer, not greater than the total number of elements of the name set NS0, the access node AP1 creates a hash function H1, for example, the hash function H1 can be a string of characters composed of the first letter of each element in the name set NS1, calculates the key K1 according to formula (1) using the name set NS1 and the hash function H1, and the access node AP1 checks whether there is a key table entry, if there is, it executes step 104, otherwise it executes step 103;

[0057] K1=H1(NS1) (1)

[0058] Step 103: The access node AP1 creates a key table entry, the name set of the key table entry is NS1, the hash function is H1, the key is K1, the lifetime is set to the maximum value, for example, 10 seconds, the encrypted payload EPL1 is obtained by encrypting the payload PL1 using the public key PK0 and the algorithm AEA0, in the payload PL1, the message type is 1, the coordinates are equal to the coordinates of the access node AP1, the key table entry is the created key table entry, the access node AP1 sends a key message, the prefix of the key message is 0, the encrypted payload is EPL1, and step 105 is executed;

[0059] Step 104: The access node AP1 sets a variable p1, the value of the variable parameter p1 is equal to the key value of its own key table entry, clears its own key table, creates a key table entry, the name set of the key table entry is NS1, the hash function is H1, the key is K1, and the lifetime is set to the maximum value, the encrypted coordinates EC1 and the encrypted payload EPL11 are obtained by encrypting the coordinates of the access node AP1 and the payload PL11 using the parameter p1 and the algorithm SEA0, in the payload PL11, the message type value is 1, the coordinates are 0, and the key table entry is the created key table entry, the access node AP1 sends a key message, the prefix of the key message is EC1, and the encrypted payload is EPL11;

[0060] Step 105: The vehicle node receiving the key message judges whether the prefix of the key message is 0, if yes, step 106 is executed, otherwise step 107 is executed;

[0061] Step 106: the vehicle node receiving the key message decrypts the encrypted payload in the key message by using the private key PR0 and the algorithm AEA0, if the access node coordinate of the vehicle domain where the vehicle node is located is equal to the coordinate in the decrypted payload, step 109 is executed, otherwise step 111 is executed;

[0062] Step 107: the vehicle node receiving the key message judges whether there is a key table entry in itself, if yes, step 108 is executed, otherwise step 111 is executed;

[0063] Step 108: the vehicle node receiving the key message decrypts the prefix and the encrypted payload in the key message by using the key in the key table entry and the algorithm SEA0, if the access node coordinate of the vehicle domain where the vehicle node is located is equal to the decrypted prefix, step 110 is executed, otherwise step 111 is executed;

[0064] Step 109: the vehicle node receiving the key message executes step 111 if the key table is not empty, and the absolute value of the difference between the life cycle of the key table entry and the life cycle of the key table entry in the decrypted payload is less than a threshold TH1, the value range of TH1 is 1%-5% of the maximum life cycle, otherwise step 110 is executed;

[0065] Step 110: the vehicle node receiving the key message clears the key table, creates a key table entry, the name set, hash function, key and life cycle of the key table entry are equal to the name set, hash function, key and life cycle of the key table entry in the decrypted payload respectively, forwards the key message, and executes step 105;

[0066] Step 111: end.

[0067] The above process has the following innovations: (1) the vehicle node or the access node can establish and periodically update the key table through the above process, so that the data security communication is realized by periodically updating the key encrypted data; (2) the public key or the key is used to encrypt the key message, so that the security of establishing or updating the key table is realized; (3) all nodes in a vehicle domain share a key table, so that the vehicle node can obtain the latest key from the nearest other vehicle node or access node, effectively reducing the key update delay and cost.

[0068] Figure 3 The flowchart for obtaining the key is shown in the figure. The key request message contains a prefix, a hop limit and an encrypted payload, and the payload contains a message type and a coordinate;

[0069] The key response message comprises a prefix, a hop limit and an encrypted payload, the payload comprises a message type, a coordinate and a key table entry; the initial value of the hop limit is equal to a preset value HL1, and the value of HL1 is equal to ⌊D / R⌋, wherein D is a maximum distance between any two neighboring access nodes, and R is a transmission radius of the vehicle node, and the transmission radius of the vehicle node is the same as that of the access node; each vehicle node and access node is preconfigured with the preset value HL1;

[0070] After a vehicle node starts or moves from one vehicle area to another, the vehicle node clears its own key table; the key table of the vehicle node V1 is empty, the access node in the vehicle area is AP1, the key table of the access node AP1 is not empty, and the vehicle node V1 performs the following operations to obtain a key:

[0071] Step 201: Start;

[0072] Step 202: The vehicle node V1 encrypts a payload PL2 by using the public key PK0 and the algorithm AEA0 to obtain an encrypted payload EPL2, in the payload PL2, the message type is 2, and the coordinate is the coordinate of the access node AP1; the vehicle node V1 sends a key request message, the prefix of the key request message is 0, the hop limit is equal to the preset value HL1, and the encrypted payload is EPL2;

[0073] Step 203: The vehicle node or the access node receiving the key request message decrypts the encrypted payload of the key request message by using the private key PR0 and the algorithm AEA0, and if the coordinate of the access node in the vehicle area where the vehicle node or the access node is located is equal to the coordinate in the decrypted payload, step 204 is performed, otherwise step 212 is performed;

[0074] Step 204: If the access node AP1 receives the key request message, step 208 is performed, otherwise step 205 is performed;

[0075] Step 205: The vehicle node receiving the key request message checks whether its own key table is empty, if yes, step 206 is performed, otherwise step 208 is performed;

[0076] Step 206: The vehicle node receiving the key request message decrements the hop limit in the key request message by 1, and if the hop limit in the key request message is greater than 0, step 207 is performed, otherwise step 212 is performed;

[0077] Step 207: The vehicle node receiving the key request message forwards the key request message, and step 203 is performed;

[0078] Step 208: the vehicle node or the access node receiving the key request message encrypts the load PL3 using the public key PK0 and the algorithm AEA0 to obtain the encrypted load EPL3, wherein the message type is 3, the coordinate is equal to the coordinate in the decrypted key request message load, and the key table item is equal to the key table item in the key table of the vehicle node or the access node, and a key response message is sent, the prefix of the key response message is 0, the hop limit is equal to the preset value HL1, and the encrypted load is EPL3;

[0079] Step 209: the vehicle node receiving the key response message decrypts the encrypted load of the key response message based on the prefix of the key response message using the private key PR0 and the algorithm AEA0, and if the coordinate of the access node of the vehicle domain in which the vehicle node is located is equal to the coordinate in the decrypted load, step 210 is performed, otherwise, step 212 is performed;

[0080] Step 210: the vehicle node receiving the key response message clears the key table item, creates a key table item, and sets the name set, the hash function, the key and the life cycle of the key table item to be equal to the name set, the hash function, the key and the life cycle of the key table item in the load of the key response message, respectively, and decrements the hop limit in the key response message by 1, and if the hop limit is greater than 0, step 211 is performed, otherwise, step 212 is performed;

[0081] Step 211: the vehicle node receiving the key response message forwards the key response message, and step 209 is performed;

[0082] Step 212: end.

[0083] The above process has the following innovations: (1) the key table is encrypted using the public key, so only the legal node can obtain the key table, thereby realizing the secure transmission of the key table; (2) multiple vehicle nodes obtain the key table through one key transmission process, thereby improving the performance of obtaining the key table and reducing the delay and cost of obtaining the key table.

[0084] Figure 4 The above process has the following innovations: (1) the key table is encrypted using the public key, so only the legal node can obtain the key table, thereby realizing the secure transmission of the key table; (2) multiple vehicle nodes obtain the key table through one key transmission process, thereby improving the performance of obtaining the key table and reducing the delay and cost of obtaining the key table.

[0085] The free request message includes a prefix, a hop limit and an encrypted load, and the load includes a message type and a name;

[0086] The free response message includes a prefix, a hop limit and an encrypted load, and the load includes a message type and an encrypted data table item;

[0087] The free data FD1 is defined by the name NA1, the access node AP1 stores a data entry whose name and data are equal to NA1 and FD1 respectively, the vehicle node V1 is located in the vehicle area SN1, the access node of the vehicle area SN1 is AP1, and the vehicle node V1 performs the following operations to obtain the free data FD1:

[0088] Step 301: start;

[0089] Step 302: the vehicle node V1 encrypts the coordinates of the access node AP1 and the load PL4 in the key table entry by using the key and the algorithm SEA0 to obtain the encrypted coordinates EC4 and the encrypted load EPL4, in the load PL4, the message type is 4, the name is NA1, and the vehicle node V1 sends a free request message, the prefix of the free request message is EC4, the hop limit is equal to the preset value HL1, and the encrypted load is EPL4;

[0090] Step 303: the vehicle node or the access node AP1 receiving the free request message decrypts the prefix and the encrypted load of the free request message based on the prefix of the free request message by using the key in the key table entry and the algorithm SEA0, if the coordinates of the access node of the vehicle area where the vehicle node or the access node is located are equal to the decrypted prefix, step 304 is performed, otherwise, step 313 is performed;

[0091] Step 304: if the access node AP1 receives the free request message, step 308 is performed, otherwise, step 305 is performed;

[0092] Step 305: the vehicle node receiving the free request message judges whether there is a data entry whose name is equal to the name in the decrypted load of the free request message, if yes, step 308 is performed, otherwise, step 306 is performed;

[0093] Step 306: the vehicle node receiving the free request message decrements the hop limit in the free request message by 1, if the hop limit value is greater than 0, step 307 is performed, otherwise, step 313 is performed;

[0094] Step 307: the vehicle node receiving the free request message forwards the free request message, and step 303 is performed;

[0095] Step 308: The vehicle node or the access node APl receiving the free request message selects a data entry, the name of which is equal to the name in the decrypted payload in the free request message, encrypts the data entry by using the public key PK0 and the algorithm AEA0 to obtain an encrypted data entry EDE1, encrypts the payload PL5 by using the key in the own key entry and the algorithm SEA0 to obtain an encrypted payload EPL5, the message type in the payload PL5 is 5, the encrypted data entry is EDE1, and a free response message is sent, the prefix of the free response message is equal to the prefix of the free request message, the hop limit is equal to the preset value HL1, and the encrypted payload is EPL5;

[0096] Step 309: The vehicle node receiving the free response message decrypts the prefix and the encrypted payload in the free response message by using the key in the own key entry and the algorithm SEA0, and if the access node coordinates of the vehicle domain in which the vehicle node is located are equal to the decrypted prefix, step 310 is performed, otherwise, step 313 is performed.

[0097] Step 310: The vehicle node receiving the free response message decrypts the encrypted data entry in the payload of the free response message by using the private key PK0 and the algorithm AEA0, and if the vehicle node does not have a data entry, the name of which is equal to the name in the decrypted data entry, a data entry is created, the name, data and life cycle of which are equal to the name, data and life cycle in the decrypted data entry, respectively.

[0098] Step 311: The vehicle node receiving the free response message decrements the hop limit in the free response message by 1, and if the hop limit value is greater than 0, step 312 is performed, otherwise, step 313 is performed.

[0099] Step 312: The vehicle node receiving the free response message forwards the free response message, and step 309 is performed.

[0100] Step 313: End.

[0101] The innovations of the above process include: (1) the data entry is double-encrypted by using the public key and the key, so that only the legal node can obtain the data entry, thereby realizing the secure transmission of the data entry; (2) multiple vehicle nodes can simultaneously obtain the data entry through the above process; and (3) the vehicle node can obtain the data from the nearest vehicle node or the access node, thereby improving the performance of obtaining the data and reducing the delay and cost of obtaining the data.

[0102] Figure 5 The figure shows the process of obtaining the charging data. The charging request message includes a prefix, a hop limit and an encrypted payload, and the payload includes a message type and a name.

[0103] The charging response message contains a prefix, a hop limit and an encrypted payload, the payload containing a message type, a name and encrypted data;

[0104] The charging data PD2 is defined by the name NA2, the access node AP1 stores a data entry whose name and data are equal to NA2 and PD2 respectively, the vehicle node V1 is a legal node of the charging data PD1 and is located in the vehicle domain SN1, the access node of the vehicle domain SN1 is AP1, and the vehicle node V1 performs the following operation to obtain the charging data PD2:

[0105] Step 401: Start;

[0106] Step 402: The vehicle node V1 encrypts the coordinates of the access node AP1 and the payload PL6 using the key in the key entry and the algorithm SEA0 to obtain encrypted coordinates EC6 and encrypted payload EPL6, in the payload PL6, the message type is 6 and the name is NA2, and the vehicle node V1 sends a charging request message, the prefix of the charging request message is EC6, the hop limit is equal to the preset value HL1, and the encrypted payload is EPL6;

[0107] Step 403: The vehicle node or the access node AP1 receiving the charging request message decrypts the prefix and the encrypted payload of the charging request message using the key in the key entry and the algorithm SEA0, if the coordinates of the access node of the vehicle domain in which the vehicle node or the access node AP1 is located are equal to the decrypted prefix, step 404 is performed, otherwise step 414 is performed;

[0108] Step 404: If the access node AP1 receives the charging request message, step 408 is performed, otherwise step 405 is performed;

[0109] Step 405: The vehicle node receiving the charging request message determines whether there is a data entry whose name is equal to the name in the decrypted payload, if there is, step 408 is performed, otherwise step 406 is performed;

[0110] Step 406: The vehicle node receiving the charging request message decrements the hop limit of the charging request message by 1, if the hop limit value is greater than 0, step 407 is performed, otherwise step 414 is performed;

[0111] Step 407: The vehicle node receiving the charging request message forwards the charging request message, and step 403 is performed;

[0112] Step 408: The access node AP1 or the vehicle node receiving the charging request message selects a data table item whose name is equal to the name in the decrypted payload of the charging request message, encrypts the data in the data table item using the public key corresponding to the data identified by the name and the algorithm AEA0 to obtain encrypted data ED1, encrypts the payload PL7 using the key in the own key table item and the algorithm SEA0 to obtain encrypted payload EPL7, and sends a charging response message, wherein the prefix of the charging response message is equal to the prefix of the charging request message, the hop limit is equal to the preset value HL1, and the encrypted payload is EPL7; the payload PL7 is of type 7, the name is equal to the name in the decrypted payload of the charging request message, and the encrypted data is ED1.

[0113] Step 409: The vehicle node receiving the charging response message decrypts the prefix and the encrypted payload in the charging response message using the key in the own key table item and the algorithm SEA0, and if the access node coordinates of the vehicle domain in which the vehicle node is located are equal to the decrypted prefix, step 410 is performed, otherwise step 414 is performed.

[0114] Step 410: The vehicle node receiving the charging response message determines whether the vehicle node is a legal node of the data defined by the name in the decrypted payload, and if yes, step 411 is performed, otherwise step 412 is performed.

[0115] Step 411: The vehicle node receiving the charging response message decrypts the encrypted data in the charging response message using the private key of the data defined by the name in the decrypted payload and the algorithm AEA0 if there is no data table item whose name is equal to the name in the decrypted payload, creates a data table item whose name is equal to the name in the decrypted payload and whose data is equal to the decrypted data, and sets the lifetime to the maximum value, for example, 24 hours.

[0116] Step 412: The vehicle node receiving the charging response message decrements the hop limit in the charging response message by 1, and if the hop limit value is greater than 0, step 413 is performed, otherwise step 414 is performed.

[0117] Step 413: The vehicle node receiving the charging response message forwards the charging response message, and step 409 is performed.

[0118] Step 414: The process ends.

[0119] The innovations of the above process include: (1) the charging data is double-encrypted by the public key and the secret key of the charging data, only the legal node of the charging data can obtain the data, thereby realizing the safe transmission of the data; (2) the multiple legal nodes of the charging data can obtain the data through one data communication process; (3) the vehicle node can obtain the charging data from the nearest legal node, thereby improving the performance of obtaining the charging data and reducing the delay and cost of obtaining the charging data.

[0120] Embodiment 1

[0121] The embodiment simulates the implementation method of the automatic driving safety data transmission system in the application. The simulation parameters are as follows: the MAC protocol is IEEE 802.11p, the transmission radius is 250 meters, the simulation times are 20, and the simulation time of each time is 60 minutes. The performance analysis of the application is as follows: when the vehicle node requesting data and the vehicle node or access node providing data are far away, the success rate of the vehicle node obtaining data decreases, when the vehicle node requesting data and the vehicle node or access node providing data are close, the success rate of the vehicle node obtaining data increases, and the average data communication success rate is 98.76%.

[0122] The application provides a kind of automatic driving safety data transmission system implementation method, and the method and approach of specifically realizing this technical solution are many, above-mentioned only is preferred embodiment of the application, it should be pointed out, for the ordinary skilled in the art, on the premise of not departing from the principle of the application, can also make several improvements and refinements, these improvements and refinements also should be regarded as the protection scope of the application. The components not explicitly described in the embodiment can be realized by existing technology.

Claims

1. An implementation method of an automatic driving safety data transmission system, characterized by, The system is composed of multiple vehicle nodes and access nodes; data is divided into free data and charged data; The access node sends a key message to the vehicle nodes in the vehicle area, and the vehicle nodes receiving the key message create key table entries; the vehicle nodes send a key request message to obtain a key; the vehicle nodes send a free request message to obtain free data; The vehicle nodes send a charged request message to obtain charged data; the vehicle nodes encrypt the coordinates and load of the access node in the vehicle area in the key table entries to obtain encrypted coordinates and encrypted load, the name in the load is equal to the name identifying the requested data, the prefix of the sent charged request message is the encrypted coordinates, and the encrypted load is the encrypted load; The vehicle nodes or access nodes receiving the charged request message decrypt the prefix and encrypted load of the charged request message by using the key in the key table entries; if the vehicle node does not have a data table entry with a name equal to the name in the charged request message, the charged request message is forwarded; if the vehicle node or access node has a data table entry with a name equal to the name in the charged request message, the data in the data table entry is encrypted by using the public key corresponding to the charged data identified by the name in the charged request message to obtain encrypted data, the load is encrypted by using the key in the key table entries to obtain encrypted load, the name in the load is the name in the decrypted load, the encrypted data is the encrypted data, and a charged response message is sent, the prefix of the message is equal to the prefix of the charged request message, and the encrypted load is the encrypted load; The vehicle nodes receiving the charged response message forward the charged response message, decrypt the prefix and encrypted load in the charged response message by using the key in the key table entries, decrypt the encrypted data in the load of the charged response message by using the private key of the data identified by the name in the decrypted load, create a data table entry, and the name of the data table entry is equal to the name in the decrypted load, and the data is equal to the decrypted data.

2. The implementation method of the automatic driving safety data transmission system according to claim 1, wherein The access node randomly selects N1 names from all data name sets to form a name set NS1, creates a hash function, and calculates a key by using the name set NS1 and the hash function; If the key table of the access node is empty, a key table entry is created, the load is encrypted by using the public key to obtain encrypted load, the coordinates in the load are equal to the coordinates of the access node, the key table entry is the created key table entry, the prefix of the sent key message is 0, and the encrypted load is the encrypted load; If the key table of the access node is not empty, a variable is set, the value of the variable is equal to the key value of the key table entry, the key table is emptied, a key table entry is created, the coordinates of the access node and the load are encrypted by using the variable value to obtain encrypted coordinates and encrypted load, the coordinates of the load are 0, the key table entry is the created key table entry, and the key message is sent, the prefix of the key message is the encrypted coordinates, and the encrypted load is the encrypted load; If the received key message is prefixed with 0, the vehicle node decrypts the encrypted payload in the key message with the private key, otherwise, the vehicle node decrypts the prefix and the encrypted payload in the key message with the key in the key table entry; the vehicle node creates a key table entry and forwards the key message.

3. The implementation method of the automatic driving safety data transmission system according to claim 1, characterized in that, The vehicle node encrypts the payload with the public key to obtain an encrypted payload, wherein the coordinates in the payload are the coordinates of the access node in the vehicle domain where the vehicle node is located, and the prefix in the sent key request message is 0 and the encrypted payload is the encrypted payload; The vehicle node or the access node receiving the key request message decrypts the encrypted payload in the key request message with the private key; if the key table of the vehicle node is empty, the key request message is forwarded; If the key table of the vehicle node or the access node is not empty, the payload is encrypted with the public key to obtain an encrypted payload, wherein the coordinates in the payload are equal to the coordinates in the payload of the key request message, the key table entry is equal to the key table entry in the key table of the vehicle node or the access node, and a key response message is sent, wherein the prefix of the message is 0 and the encrypted payload is the encrypted payload; The vehicle node receiving the key response message decrypts the encrypted payload in the key response message with the private key, creates a key table entry, and forwards the key response message, wherein the name set, the hash function, the key and the life cycle of the key table entry are equal to the name set, the hash function, the key and the life cycle of the key table entry in the payload of the key response message.

4. The implementation method of the automatic driving safety data transmission system according to any one of claims 1 to 3, characterized in that, The vehicle node encrypts the access node coordinates in the vehicle domain and the payload with the key in the key table entry to obtain encrypted coordinates and encrypted payload, and sends a free request message, wherein the prefix of the message is the encrypted coordinates and the encrypted payload is the encrypted payload; the vehicle node or the access node receiving the free request message decrypts the prefix and the encrypted payload in the free request message with the key in the key table entry; if the vehicle node does not have a data table entry with a name equal to the name in the free request message, the free request message is forwarded; If the vehicle node or the access node has a data table entry with a name equal to the name in the free request message, the data table entry is encrypted with the public key to obtain an encrypted data table entry, the payload is encrypted with the key in the key table entry to obtain an encrypted payload, and the encrypted data table entry in the payload is the encrypted data table entry, and a free response message is sent, wherein the prefix of the message is equal to the prefix of the free request message and the encrypted payload is the encrypted payload; The vehicle node receiving the free response message decrypts the prefix and the encrypted payload in the free response message with the key in the key table entry, decrypts the encrypted data table entry in the payload of the free response message with the private key, creates a data table entry, and forwards the free response message.

5. The implementation method of the automatic driving safety data transmission system according to any one of claims 1 to 3, characterized in that, Each access node has a unique coordinate, uniformly distributed in the area covered by the system; an access node and a vehicle node form a vehicle domain, in all access nodes, the coordinate of a vehicle node in a vehicle domain is closest to the coordinate of an access node in the vehicle domain; a type of data is uniquely identified by a name; each vehicle node or access node has the right to obtain and provide free data; if a vehicle node has the right to obtain or provide a type of charged data, the vehicle node is called a legal node of the charged data; An access node is a legal node of all types of charged data; all free data share a public key and a private key, and each type of charged data has a public key and a private key.

6. The implementation method of the automatic driving safety data transmission system according to any one of claims 1 to 3, characterized in that, A message is defined by a message type, including a prefix and an encrypted payload; each vehicle node or access node respectively maintains a key table, a key table entry including a name set, a hash function, a key and a lifetime; the key table is empty or only contains one key table entry; a key message includes a prefix and an encrypted payload, and the payload includes a message type, a coordinate and a key table entry.

7. The implementation method of the automatic driving safety data transmission system according to any one of claims 1 to 3, characterized in that, In the key table entry created by the access node, the name set is NS1, the hash function is the created hash function, and the key is the calculated key; in the key table entry created by the vehicle node receiving the key message, the name set, the hash function, the key and the lifetime are equal to the name set, the hash function, the key and the lifetime of the key table entry in the decrypted payload of the key message.

8. The implementation method of the automatic driving safety data transmission system according to any one of claims 1 to 3, characterized in that, The key request message includes a prefix, a hop limit and an encrypted payload, and the payload includes a message type and a coordinate; the key response message includes a prefix, a hop limit and an encrypted payload, and the payload includes a message type, a coordinate and a key table entry; the vehicle node and the access node respectively maintain a data table, and a data table entry includes a name, data and a lifetime.

9. The implementation method of the automatic driving safety data transmission system according to any one of claims 1 to 3, characterized in that, The free request message includes a prefix, a hop limit and an encrypted payload, and the payload includes a message type and a name; the free response message includes a prefix, a hop limit and an encrypted payload, and the payload includes a message type and an encrypted data table entry; in the payload of the free request message sent by the vehicle node, the name is the name identifying the requested free data; in the data table entry created by the vehicle node receiving the free response message, the name, the data and the lifetime are equal to the name, the data and the lifetime of the decrypted data table entry of the free response message.

10. The implementation method of the automatic driving safety data transmission system according to any one of claims 1 to 3, characterized in that, The charging request message contains prefix, hop limit and encrypted payload, the payload contains message type and name; the charging response message contains prefix, hop limit and encrypted payload, the payload contains message type, name and encrypted data; the initial value of hop limit is equal to ⌊D / R⌋, wherein D is the maximum distance between any two adjacent access nodes, and R is the transmission radius of the vehicle node.

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