Data transmission method and apparatus, device, medium, vehicle, and system

Abstract

The present application relates to a data transmission method and apparatus, a device, a medium, a vehicle, and a system. The method of the present application comprises: in response to a functional security implementation requirement of first data, adding a functional security identifier into a preset part of the first data to obtain second data; creating a functional security object in the second data to obtain target data; and sending the target data to a subscriber, so that the subscriber performs security detection on the target data on the basis of the functional security identifier and the functional security object in the target data, so as to determine whether the target data is secure. A functional security identifier and a functional security object can be added into data, and in a data transmission process, the security of the data is determined on the basis of the functional security identifier and the functional security object, so that the functional security communication requirement of the data is met, and the security of data transmission is improved; moreover, only the functional security identifier and the functional security object need to be added into the data for functional security authentication, so that the resource overhead is small.

Description

Data transmission method, device, equipment, medium, vehicle and system

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on June 30, 2023, with application number 202310798931.X and invention name “Data transmission application method, device, equipment, medium, vehicle and system”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of data transmission technology, and in particular to a data transmission method, apparatus, equipment, medium, vehicle and system. Background Art

[0003] Data Distribution Service (DDS) is a new-generation distributed real-time communication middleware protocol that uses a publish / subscribe architecture to provide data-centric connection services and functions between the operating system and applications. It offers a rich set of Quality of Service (QoS) policies to ensure real-time, efficient, and flexible data distribution, meeting the needs of various distributed real-time communication applications.

[0004] However, since the data distribution service itself does not have a functional safety mechanism and cannot meet the functional safety communication requirements of data, the security of data transmission is low, resulting in the data distribution service only being used for non-functional safety communication services, which limits the use scenarios of the data distribution service.

[0005] Summary of the Invention

[0006] In order to solve the above technical problems, the present application provides a data transmission method, device, equipment, medium, vehicle and system.

[0007] A first aspect of the present application provides a data transmission method, the method comprising:

[0008] In response to a functional safety implementation requirement of the first data, adding a functional safety identifier to a preset position of the first data to obtain second data;

[0009] Creating a functional safety object in the second data to obtain target data;

[0010] The target data is sent to the subscriber so that the subscriber can perform security detection on the target data based on the functional safety identifier and functional safety object in the target data to determine whether the target data is safe.

[0011] A second aspect of the present application provides a data transmission method, the method comprising:

[0012] Receive target data sent by the publisher;

[0013] Based on the functional safety identification and functional safety objects in the target data, the target data is security checked to determine whether the target data is safe.

[0014] A third aspect of the present application provides a data transmission device, including:

[0015] an adding module, configured to add a functional safety identifier to a preset position of the first data in response to a functional safety implementation requirement of the first data, to obtain second data;

[0016] A creation module, configured to create a functional safety object in the second data to obtain target data;

[0017] The sending module is used to send target data to the subscriber, so that the subscriber can perform security detection on the target data based on the functional safety identifier and functional safety object in the target data to determine whether the target data is safe.

[0018] A fourth aspect of the present application provides a data transmission device, including:

[0019] A receiving module, used to receive target data sent by the publisher;

[0020] The detection module is used to perform safety detection on the target data based on the functional safety identification and functional safety objects in the target data to determine whether the target data is safe.

[0021] A fifth aspect of the present application provides a computer device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned data transmission method can be implemented.

[0022] A sixth aspect of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the above-mentioned data transmission method can be implemented.

[0023] The seventh aspect of the present application provides a vehicle, comprising the data transmission device of the third aspect or the fourth aspect or the computer device of the fifth aspect or the computer-readable storage medium of the sixth aspect, which can implement the above-mentioned data transmission method.

[0024] An eighth aspect of the present application provides a data transmission system, including a publisher and a subscriber, the data transmission system including:

[0025] The publisher is configured to respond to the functional safety implementation requirements of the first data, add a functional safety identifier to a preset position of the first data, obtain second data, create a functional safety object in the second data, obtain target data, and send the target data to the subscriber;

[0026] The subscriber receives the target data sent by the publisher and performs security checks on the target data based on the functional safety identifier and functional safety object in the target data to determine whether the target data is safe.

[0027] The technical solution provided by this application has the following advantages compared with the existing technology:

[0028] This application obtains second data by adding a functional safety identifier at a preset position of the first data in response to the functional safety implementation requirements of the first data; creates a functional safety object in the second data to obtain target data; and sends the target data to the subscriber so that the subscriber can perform a security check on the target data based on the functional safety identifier and functional safety object in the target data to determine whether the target data is safe. Functional safety identifiers and functional safety objects can be added to the data. During the data transmission process, the security of the data is determined based on the functional safety identifier and functional safety object, thereby meeting the functional safety communication requirements of the data and improving the security of data transmission. In addition, only the functional safety identifier and functional safety object need to be added to the data for functional safety certification, and the resource overhead is relatively small.

[0029] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0031] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0032] FIG1 is a flow chart of a data transmission method provided in an embodiment of the present application;

[0033] FIG2 is a flow chart of another data transmission method provided in an embodiment of the present application;

[0034] FIG3 is a flowchart of another data transmission method provided in an embodiment of the present application;

[0035] FIG4 is a flowchart of another data transmission method provided in an embodiment of the present application;

[0036] FIG5 is a flowchart of another data transmission method provided in an embodiment of the present application;

[0037] FIG6 is a schematic structural diagram of a data transmission device provided in an embodiment of the present application;

[0038] FIG7 is a schematic structural diagram of another data transmission device provided in an embodiment of the present application;

[0039] FIG8 is a schematic structural diagram of a computer device provided in an embodiment of the present application.

[0040] FIG9 is a storage unit of a program code provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to more clearly understand the above-mentioned objectives, features and advantages of the present application, the scheme of the present application will be further described below. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0042] The following description sets forth many specific details to facilitate a thorough understanding of this application. However, this application may also be implemented in other ways than those described herein. It is apparent that the embodiments described in this specification are only a portion of the embodiments of this application, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of this application without inventive effort are also within the scope of protection of this application.

[0043] It should be understood that the various steps described in the method embodiments of the present application can be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present application is not limited in this respect.

[0044] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0045] The present application can be implemented by means of hardware comprising several distinct elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware.

[0046] It should be noted that the modifiers "one" and "multiple" mentioned in this application are illustrative and non-restrictive. Those skilled in the art will understand that unless the context clearly indicates otherwise, they should be understood to mean "one or more." References herein to "one embodiment," "embodiments," or "one or more embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of this application. Furthermore, please note that the examples of the phrase "in one embodiment" do not necessarily all refer to the same embodiment.

[0047] In response to the defects of related technologies in data transmission, the embodiments of the present application provide a data transmission method, device, equipment, medium, vehicle and system, which can add functional safety identification and functional safety objects to the data. During the data transmission process, the security of the data is determined based on the functional safety identification and functional safety objects, and the functional safety communication requirements of the data are met, thereby improving the security of data transmission. In addition, only functional safety identification and functional safety objects need to be added to the data for functional safety certification, and resource overhead is relatively small.

[0048] The data transmission method provided in the embodiment of the present application can be executed by a computer device, which can be understood as any device with processing and computing capabilities. The device may include but is not limited to mobile terminals such as smartphones, laptops, personal digital assistants (PDAs), tablets (Portable Android Devices, PADs), portable multimedia players (PMPs), car equipment, wearable devices, etc., as well as fixed electronic devices such as digital TVs, desktop computers, smart home devices, etc.

[0049] The data transmission method provided in the embodiments of the present application can be applied to a data transmission system, which includes a publisher, a publisher protocol stack, a subscriber, and a subscriber protocol stack. The publisher can be understood as the data transmitter, such as an application; the publisher protocol stack can be understood as the publisher's data distribution service protocol stack; the subscriber can be understood as the data receiver, such as an application; and the subscriber protocol stack can be understood as the subscriber's data distribution service protocol stack. The data transmission system can be a Data Distribution Service (DDS) system.

[0050] The data transmission method provided in the embodiment of the present application can be used for communication security between different domains and intra-domain communication security within a smart car.

[0051] In order to better understand the inventive concept of the embodiments of the present application, the technical solutions of the embodiments of the present application are described below in conjunction with exemplary embodiments.

[0052] Figure 1 is a flow chart of a data transmission method provided by an embodiment of the present application. The method can be executed by a computer device, in which case the computer device serves as the publisher of the data. As shown in Figure 1, the data transmission method provided by this embodiment includes the following steps:

[0053] Step 110 : In response to a functional safety implementation requirement of the first data, a functional safety identifier is added to a preset position of the first data to obtain second data.

[0054] In this embodiment of the present application, the first data can be understood as data to be sent by the publisher. If the first data has functional safety implementation requirements, the publisher can, in response to the functional safety implementation requirements of the first data, add a functional safety identifier to a preset portion of the first data, obtain second data, and send the second data to the publisher's protocol stack. The functional safety identifier can be understood as an identifier indicating that functional safety implementation is required for the first data.

[0055] In some embodiments, the publisher may obtain the target sending sequence number of the first data; determine the target sending sequence number of the first data as the functional safety identifier, add the functional safety identifier to a preset position of the first data, and obtain the second data.

[0056] The target sending sequence number of the first data can be understood as the data sending sequence number of the first data sent by the publisher. The data sending sequence number of the publisher can be implemented by adding a counter in the data writer object (Data Writer). The data sending sequence number is determined based on the counting function of the counter. For example, when the publisher has not sent any data, the value of the counter can be initialized to 0, that is, the data sending sequence number of the data sent by the publisher is 0. If the first data is the first data sent by the publisher, the value of the counter can be updated to 1, and the data sending sequence number of the data sent by the publisher is 1, that is, the target sending sequence number of the first data is determined to be 1. The value of the counter increases monotonically throughout the life cycle of the publisher. If the counting function of the counter is not enabled, the value of the counter can be initialized to a preset value. The preset value is different from the data sending sequence number and can be set as needed. For example, the preset value can be 0xFFFFFFFF.

[0057] Step 120: Create a functional safety object in the second data to obtain target data.

[0058] In an embodiment of the present application, after receiving the second data, the publisher protocol stack in the publisher can create a functional safety object in the second data to obtain the target data.

[0059] For example, you can overload the writer function of the data writer object (Data Writer) and add functional safety object creation logic to the function.

[0060] Among them, the functional safety object can be understood as data that realizes functional safety. The functional safety object may include items such as the data checksum, source identification, transmission cycle, target sending sequence number, etc. The items of the functional safety object can be set as needed and are not limited here.

[0061] The target checksum of the second data can be understood as the accumulation of the number of bits transmitted in the second data, and can be used to indicate the integrity of the second data. The target checksum of the second data can be used by the second data receiver to verify whether the complete second data has been received. When the data transmission is completed, the receiver can determine whether all the second data has been received based on the target checksum. If the checksum to be verified calculated by the receiver based on the received data matches the target checksum calculated by the publisher, then the data transmission has been completed and the second data received by the receiver is complete data. The calculation method of the target checksum can refer to the relevant technology and will not be repeated here.

[0062] The source identifier of the second data can be understood as a unique identifier of the source of the second data, and may include a host identifier, an application identifier, an instance identifier, etc. indicating the source of the second data.

[0063] The transmission period of the second data can be understood as the duration of sending the second data and the duration of receiving the data. During normal transmission, the publisher should send the second data within the transmission period, and the subscriber should receive the second data within the transmission period. For example, the data transmission period can be implemented through a deadline policy in a Quality of Service (QoS) policy.

[0064] Step 130: Send the target data to the subscriber, so that the subscriber can perform a security check on the target data based on the functional safety identifier and the functional safety object in the target data to determine whether the target data is safe.

[0065] In an embodiment of the present application, the publisher protocol stack in the publisher can send target data to the subscriber. After receiving the target data, the subscriber protocol stack in the subscriber can parse the target data to obtain the functional safety identifier and functional safety object in the target data, and then perform a security check on the target data based on the functional safety identifier and functional safety object in the target data to determine whether the target data is safe.

[0066] In an embodiment of the present application, a functional safety identifier is added to a preset position of the first data in response to the functional safety implementation requirements of the first data to obtain the second data; a functional safety object is created in the second data to obtain the target data; and the target data is sent to the subscriber so that the subscriber can perform a security check on the target data based on the functional safety identifier and the functional safety object in the target data to determine whether the target data is safe. The functional safety identifier and the functional safety object can be added to the data. During the transmission of the data, the security of the data is determined based on the functional safety identifier and the functional safety object, thereby meeting the functional safety communication requirements of the data and improving the security of data transmission. In addition, only the functional safety identifier and the functional safety object need to be added to the data for functional safety certification, and the resource overhead is relatively small.

[0067] FIG2 is a flow chart of a data transmission method provided in an embodiment of the present application. The method can be executed by a computer device, in which case the computer device serves as the publisher of the data. As shown in FIG2 , the data transmission method provided in this embodiment includes the following steps:

[0068] Step 210: In response to the functional safety implementation requirement of the first data, a functional safety identifier is added to a preset position of the first data to obtain second data.

[0069] The content of the embodiment of the present application can refer to the content of the above step 110, which will not be repeated here.

[0070] Step 220: Calculate the target checksum of the second data, and obtain the target source identifier and target transmission period of the second data.

[0071] In an embodiment of the present application, the target checksum of the second data can be understood as the accumulation of the number of transmission bits of the second data, which can be used to indicate the integrity of the second data. The target checksum of the second data can be used by the data recipient to verify whether the complete second data has been received. When the data transmission is completed, the recipient can determine whether all the second data has been received based on the target checksum. If the checksum to be verified calculated by the recipient based on the received data matches the target checksum calculated by the publisher, then the data transmission of the second data has been completed, and the second data received by the recipient is complete data. The calculation method of the target checksum can refer to the relevant technology and will not be repeated here.

[0072] The source identifier of the second data can be understood as a unique identifier of the source of the second data, and may include a host identifier, an application identifier, an instance identifier, etc. indicating the source of the second data.

[0073] The transmission period of the second data can be understood as the sending duration of the second data and the receiving duration of the data. During normal transmission, the publisher should send the second data within the transmission period, and the subscriber should receive the second data within the transmission period.

[0074] In an embodiment of the present application, the publisher protocol stack in the publisher can calculate the target checksum of the second data based on the second data, and obtain the target source identifier and target transmission period of the second data from the quality of service (QoS) profile of the second data.

[0075] Step 230: Increment the current data sending sequence number to obtain the target sending sequence number corresponding to the second data.

[0076] In an embodiment of the present application, a corresponding data sending sequence number is set in the publisher protocol stack in the publisher. When the publisher protocol stack does not send data, the data sending sequence number is 0. Each time the publisher protocol stack sends data, the data sending sequence number is incremented.

[0077] In the embodiment of the present application, the publisher protocol stack in the publisher can increment the current data sending sequence number to obtain the target sending sequence number corresponding to the second data.

[0078] Step 240: Construct a functional safety object based on at least one of the target checksum, the target source identifier, the target transmission period, and the target sending sequence number.

[0079] In an embodiment of the present application, after obtaining the target checksum, target source identifier, target transmission period and target sending sequence number of the second data, the publisher protocol stack in the publisher can construct a functional safety object based on the target checksum, target source identifier, target transmission period and target sending sequence number.

[0080] Step 250: Add the functional safety object to the second data to obtain target data.

[0081] In an embodiment of the present application, after constructing the functional safety object, the publisher may add the functional safety object to the second data to obtain the target data.

[0082] Step 260: Send the target data to the subscriber, so that the subscriber can perform a security check on the target data based on the functional safety identifier and the functional safety object in the target data to determine whether the target data is safe.

[0083] The content of the embodiment of the present application can refer to the content of the above step 130, which will not be repeated here.

[0084] Therefore, functional safety identification and functional safety objects can be added to the data. During the data transmission process, the security of the data can be determined based on the functional safety identification and functional safety objects, meeting the functional safety communication requirements of the data, improving the security of data transmission, and only functional safety identification and functional safety objects need to be added to the data for functional safety certification, so the resource overhead is relatively small.

[0085] FIG3 is a flow chart of a data transmission method provided in an embodiment of the present application. The method can be executed by a computer device, in which case the computer device serves as the publisher of the data. As shown in FIG3 , the data transmission method provided in this embodiment includes the following steps:

[0086] Step 310: Obtain a quality of service configuration file of the first data.

[0087] In the embodiment of the present application, the quality of service (QoS) configuration file of the first data can be understood as a quality requirement file of the user for the transmission of the first data.

[0088] In the embodiment of the present application, the publisher may obtain a service quality configuration file of the first data.

[0089] Step 320 : Determine whether the service quality configuration file contains a functional safety label and whether the functional safety label includes a safety requirement identifier. If so, execute steps 330 - 360 ; otherwise, execute step 370 .

[0090] In an embodiment of the present application, the publisher may determine whether a functional safety label exists in the quality of service configuration file and whether the functional safety label includes a security requirement identifier.

[0091] For example, a functional safety tag could be<function_safety> true< / function_safety> ,<function_safety> false< / function_safety> Functional safety labels can be set as needed and are not limited here. Among them, "true" is a safety requirement identifier and "false" is a non-safety requirement identifier.

[0092] Step 330: If yes, determine that the first data meets the functional safety implementation requirements.

[0093] In an embodiment of the present application, if a functional safety tag exists in the quality of service configuration file and the functional safety tag includes a security requirement identifier, the publisher may determine that there is a functional safety implementation requirement for the first data.

[0094] Step 340: In response to the functional safety implementation requirement of the first data, a functional safety identifier is added to a preset position of the first data to obtain second data.

[0095] Step 350: In response to the functional safety identifier in the second data, create a functional safety object in the second data to obtain target data.

[0096] Step 360: Send the target data to the subscriber, so that the subscriber can perform a security check on the target data based on the functional safety identifier and the functional safety object in the target data to determine whether the target data is safe.

[0097] Steps 340-360 in the embodiment of the present application can refer to the contents of the above-mentioned steps 110-130, which will not be repeated here.

[0098] Step 370: Otherwise, determine that the first data does not have any functional safety implementation requirements.

[0099] In an embodiment of the present application, if the functional safety label does not exist in the quality of service configuration file or the functional safety label does not include a security requirement identifier, the publisher may determine that the first data does not have a functional safety implementation requirement.

[0100] Therefore, the functional safety implementation requirements can be flexibly configured according to the needs of data transmission. When there are functional safety implementation requirements in the data, functional safety identification and functional safety objects can be added to the data. During the data transmission process, the security of the data is determined based on the functional safety identification and functional safety objects, and the functional safety communication requirements of the data are met, thereby improving the security of data transmission. In addition, only functional safety identification and functional safety objects need to be added to the data for functional safety certification, and resource overhead is relatively small.

[0101] In some embodiments of the present application, after sending target data to a subscriber, the publisher may obtain a target transmission period for the target data. If the target data is not successfully sent within the target transmission period, a first warning message may be issued. The first warning message may include a target data transmission timeout. This allows the publisher to be promptly notified of the data transmission timeout, thereby improving the security of data transmission.

[0102] The publisher protocol stack in the publisher may obtain the target transmission period of the target data from the quality of service configuration file of the target data.

[0103] FIG4 is a flow chart of a data transmission method provided in an embodiment of the present application. The method can be executed by a computer device, where the computer device serves as a data subscriber. As shown in FIG4 , the data transmission method provided in this embodiment includes the following steps:

[0104] Step 410: Receive target data sent by the publisher.

[0105] In the embodiment of the present application, the subscriber protocol stack in the subscriber can receive the target data sent by the publisher.

[0106] Step 420: Based on the functional safety identifier and the functional safety object in the target data, perform a safety check on the target data to determine whether the target data is safe.

[0107] In an embodiment of the present application, the subscriber protocol stack in the subscriber can perform security detection on the target data based on the functional safety identifier and functional safety object in the target data to determine whether the target data is safe.

[0108] Specifically, if both the functional safety identifier and the functional safety object in the target data meet the preset requirements, the target data is considered secure. If either the functional safety identifier or the functional safety object in the target data does not meet the preset requirements, the target data is considered unsafe. The preset requirements are limiting conditions for the functional safety identifier and the functional safety object and can be set as needed; they are not limited here.

[0109] Therefore, during the transmission of target data, the security of the target data can be determined based on the functional safety identification and functional safety objects in the target data, thereby meeting the functional safety communication requirements of the target data and improving the security of the target data transmission. In addition, only the functional safety identification and functional safety objects need to be added to the target data for functional safety certification, and the resource overhead is relatively small.

[0110] FIG5 is a flowchart of a data transmission method provided by an embodiment of the present application. The method can be executed by a computer device, where the computer device serves as a data subscriber. As shown in FIG5 , the data transmission method provided by this embodiment includes the following steps:

[0111] Step 510: Receive target data sent by the publisher.

[0112] Step 520 : Determine whether the target data contains a functional safety identifier. If so, execute steps 530 - 580 ; otherwise, execute step 590 .

[0113] In an embodiment of the present application, after receiving the target data, the subscriber protocol stack in the subscriber can determine whether there is a functional safety identifier in the target data.

[0114] Step 530: If the functional safety identifier exists in the target data, the functional safety object of the target data is parsed to obtain the target checksum, target source identifier, target transmission period, and target sending sequence number of the target data.

[0115] In an embodiment of the present application, if there is a functional safety identifier in the target data, the subscriber protocol stack in the subscriber can parse the functional safety object of the target data to obtain the target checksum, target source identifier, target transmission cycle and target sending sequence number of the target data.

[0116] Step 540: Increment the current data receiving sequence number to obtain the target receiving sequence number corresponding to the target data, and calculate the checksum to be verified of the target data.

[0117] In an embodiment of the present application, a data reception sequence number is set in the subscriber protocol stack in the subscriber. When the subscriber protocol stack does not receive data, the data reception sequence number is 0. Each time the subscriber protocol stack receives data, the data reception sequence number is incremented.

[0118] Among them, the target receiving sequence number of the target data can be understood as the data receiving sequence number of the target data received by the subscriber, which can be achieved by adding a counter in the data reading object (Data Reader). The data receiving sequence number is determined based on the counting function of the counter. For example, when the subscriber has not received the data, the value of the counter can be initialized to 0, that is, the data receiving sequence number of the data received by the subscriber is 0. If the target data is the data received by the subscriber for the first time, the value of the counter can be updated to 1, and the data receiving sequence number of the data received by the subscriber is 1, that is, the target receiving sequence number corresponding to the target data is determined to be 1. The value of the counter increases monotonically throughout the life cycle of the subscriber. If the counting function of the counter is not enabled, the value of the counter can be initialized to a preset value. The preset value is different from the data receiving sequence number and can be set as needed. For example, the preset value can be 0xFFFFFFFF.

[0119] In the embodiment of the present application, after receiving the target data, the subscriber protocol stack in the subscriber can increment the current data reception sequence number in the subscriber protocol stack to obtain the target reception sequence number corresponding to the target data, and calculate the target data's checksum to be verified. The method for calculating the checksum can be referenced in related art and will not be further described here.

[0120] Step 550: Determine whether the target receiving sequence number is the same as the target sending sequence number, whether the checksum to be verified is the same as the target checksum, whether the target source identifier belongs to the source identifier in the preset whitelist, and whether the target data is received within the target transmission cycle. If so, execute step 560; otherwise, execute steps 570-580.

[0121] In the embodiment of the present application, the preset whitelist (safety-peer-list) can be understood as a pre-set identifier of a safe data source. For example, the construction of the preset whitelist can be achieved by configuring a QoS configuration file.

[0122] In an embodiment of the present application, the subscriber protocol stack can determine whether the target receiving sequence number is the same as the target sending sequence number, whether the checksum to be verified is the same as the target checksum, whether the target source identifier belongs to the source identifier in the preset whitelist, and whether the target data is received within the target transmission cycle.

[0123] Step 560: When the target receiving sequence number is the same as the target sending sequence number, the checksum to be verified is the same as the target checksum, the target source identifier belongs to the source identifier in the preset whitelist, and the target data is received within the target transmission period, the target data is determined to be safe.

[0124] In an embodiment of the present application, when the target receiving sequence number is the same as the target sending sequence number, the checksum to be verified is the same as the target checksum, the target source identifier belongs to the source identifier in the preset whitelist, and the target data is received within the target transmission cycle, the subscriber protocol stack in the subscriber can determine that the target data is safe. When it is determined that the target data is safe, the subscriber protocol stack sends the target data to the subscriber.

[0125] Specifically, if the target receiving sequence number is the same as the target sending sequence number, it means that the target data received by the subscriber protocol stack in the subscriber is the correct information sequence; if the to-be-verified checksum of the target data is the same as the target checksum, it means that the subscriber protocol stack in the subscriber has received the complete target data; if the target source identifier belongs to the source identifier in the preset whitelist, it means that the source of the target data is safe; if the target data is received within the target transmission cycle, it means that the subscriber protocol stack in the subscriber has received the target data on time.

[0126] Step 570: If any of the following conditions is not met: the target receiving sequence number is the same as the target sending sequence number, the checksum to be verified is the same as the target checksum, the target source identifier belongs to the source identifier in the preset whitelist, or the target data is received within the target transmission period, it is determined that the target data is unsafe.

[0127] In an embodiment of the present application, when the target receiving sequence number is the same as the target sending sequence number, the checksum to be verified is the same as the target checksum, the target source identifier belongs to the source identifier in the preset whitelist, and the target data is received within the target transmission cycle, any of the following is not met, the subscriber protocol stack in the subscriber can determine that the target data is unsafe.

[0128] Specifically, if the target receiving sequence number is different from the target sending sequence number, it means that the target data received by the subscriber protocol stack in the subscriber is an incorrect information sequence, and there may be functional safety issues such as information duplication or information loss; if the to-be-verified checksum of the target data is different from the target checksum, it means that the target data received by the subscriber protocol stack in the subscriber is incomplete, and there may be functional safety issues such as information insertion or information corruption; if the target source identifier does not belong to the source identifier in the preset whitelist, it means that the source of the target data is not safe, and there may be functional safety issues such as disguise / impersonation or incorrect information addressing; if the target data is not received within the target transmission cycle, it means that the subscriber protocol stack in the subscriber did not receive the target data on time, and there may be functional safety issues such as information delay or information loss.

[0129] Step 580: When it is determined that the target data is unsafe, a second warning message is issued, where the second warning message is used to indicate that the target data is unsafe and / or the reason why the target data is unsafe.

[0130] In an embodiment of the present application, upon determining that the target data is unsafe, the subscriber protocol stack in the subscriber may generate and issue a second warning message. The second warning message may include the target data being unsafe and / or the reason for the target data being unsafe. For example, the second warning message may be sent to the subscriber based on a preset callback interface, which may be on_function_safety_ret.

[0131] Therefore, when it is determined that the target data is not secure, a second warning message indicating that the target data is not secure and / or the reason why the target data is not secure may be issued, thereby improving the security of data transmission.

[0132] Step 590: If the functional safety identifier does not exist in the target data, it is determined that the target data does not have a functional safety implementation requirement.

[0133] In an embodiment of the present application, if the target data does not contain a functional safety identifier, the subscriber protocol stack in the subscriber may determine that the target data does not contain a functional safety implementation requirement.

[0134] Therefore, functional safety identification and functional safety objects can be added to the data. During the data transmission process, the security of the data can be determined based on the functional safety identification and functional safety objects, meeting the functional safety communication requirements of the data, improving the security of data transmission, and only functional safety identification and functional safety objects need to be added to the data for functional safety certification, so the resource overhead is relatively small.

[0135] FIG6 is a schematic diagram of the structure of a data transmission device provided in an embodiment of the present application, which can be understood as the above-mentioned computer device or some functional modules in the above-mentioned computer device. As shown in FIG6 , the data transmission device 600 includes:

[0136] An adding module 610 is configured to add a functional safety identifier to a preset position of the first data in response to a functional safety implementation requirement of the first data to obtain second data;

[0137] A creation module 620 is configured to create a functional safety object in the second data to obtain target data;

[0138] The sending module 630 is used to send the target data to the subscriber, so that the subscriber can perform a safety check on the target data based on the functional safety identifier and the functional safety object in the target data to determine whether the target data is safe.

[0139] Optionally, the creation module 620 includes:

[0140] a calculation submodule, configured to calculate a target checksum of the second data, and obtain a target source identifier and a target transmission period of the second data;

[0141] A first incrementing submodule, configured to increment the current data sending sequence number to obtain a target sending sequence number corresponding to the second data;

[0142] A construction submodule for constructing a functional safety object based on a target checksum, a target source identifier, a target transmission period, and a target send sequence number;

[0143] The adding submodule is used to add the functional safety object to the second data to obtain target data.

[0144] Optionally, the data transmission device 600 includes:

[0145] A first acquisition module, configured to acquire a quality of service configuration file of the first data;

[0146] A judgment module, configured to judge whether a functional safety label exists in the quality of service configuration file and whether the functional safety label includes a safety requirement identifier;

[0147] a first determining module, configured to determine if, if so, whether the first data has a functional safety implementation requirement;

[0148] The second determining module is configured to determine that, otherwise, the first data does not meet the functional safety implementation requirements.

[0149] Optionally, the data transmission device 600 includes:

[0150] A second acquisition module is used to acquire a target transmission period of target data;

[0151] The first alarm module is configured to issue a first alarm message if the target data is not successfully sent within a target transmission period, wherein the first alarm message is used to indicate that the target data sending has timed out.

[0152] The data transmission device provided in the embodiment of the present application can implement the method of any of the embodiments in Figures 1 to 3 above, and its execution method and beneficial effects are similar, which will not be repeated here.

[0153] FIG7 is a schematic diagram of the structure of a data transmission device provided in an embodiment of the present application, which can be understood as the above-mentioned computer device or some functional modules in the above-mentioned computer device. As shown in FIG7 , the data transmission device 700 includes:

[0154] Receiving module 710, configured to receive target data sent by a publisher;

[0155] The detection module 720 is used to perform a safety detection on the target data based on the functional safety identifier and the functional safety object in the target data to determine whether the target data is safe.

[0156] Optionally, the detection module 720 includes:

[0157] A first determination submodule is configured to determine the target data is safe when both the functional safety identifier and the functional safety object in the target data meet preset requirements;

[0158] The second determining submodule is configured to determine that the target data is unsafe when any one of the functional safety identifier and the functional safety object in the target data does not meet a preset requirement.

[0159] Optionally, the detection module 720 includes:

[0160] The first judgment submodule is used to judge whether there is a functional safety identifier in the target data;

[0161] A parsing submodule, configured to parse the functional safety object of the target data, if any, to obtain a target checksum, a target source identifier, a target transmission period, and a target sending sequence number of the target data;

[0162] The second incrementing submodule is used to increment the current data receiving sequence number to obtain the target receiving sequence number corresponding to the target data and calculate the checksum to be verified of the target data;

[0163] The second judgment submodule is used to judge whether the target receiving sequence number is the same as the target sending sequence number, whether the checksum to be verified is the same as the target checksum, whether the target source identifier belongs to the source identifier in the preset whitelist, and whether the target data is received within the target transmission period;

[0164] The third determination submodule is configured to determine that the target data is secure when the target receiving sequence number is the same as the target sending sequence number, the checksum to be verified is the same as the target checksum, the target source identifier belongs to the source identifier in the preset whitelist, and the target data is received within the target transmission period.

[0165] The fourth determination submodule is used to determine that the target data is unsafe when any of the following conditions is not met: the target receiving sequence number is the same as the target sending sequence number, the checksum to be verified is the same as the target checksum, the target source identifier belongs to the source identifier in the preset whitelist, or the target data is received within the target transmission cycle.

[0166] Optionally, the detection module 720 includes:

[0167] The fifth determining submodule is configured to determine that the target data does not have a functional safety implementation requirement if the functional safety identifier does not exist in the target data.

[0168] Optionally, the data transmission device 700 includes:

[0169] The second alarm module is used to issue a second alarm message when it is determined that the target data is unsafe, where the second alarm message is used to indicate that the target data is unsafe and / or the reason why the target data is unsafe.

[0170] The data transmission device provided in the embodiment of the present application can implement the method of any of the embodiments in Figures 4-5 above, and its execution method and beneficial effects are similar, which will not be repeated here.

[0171] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0172] An embodiment of the present application also provides a computer device, which includes a processor and a memory, wherein a computer program is stored in the memory. When the computer program is executed by the processor, the method of any of the above embodiments can be implemented. The execution method and beneficial effects are similar and will not be repeated here.

[0173] Figure 8 is a structural diagram of a computer device provided in an embodiment of the present application. As shown in Figure 8, the computer device 800 may include a processor 810 and a memory 820, wherein the memory 820 stores a computer program 821. When the computer program 821 is executed by the processor 810, it can implement the method provided in any of the above embodiments. The execution method and beneficial effects are similar and will not be repeated here.

[0174] The memory 820 can be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk, or a ROM. The memory 820 has storage space for program codes for executing any of the method steps in the above method. For example, the storage space for program codes can include individual program codes for implementing the various steps in the above method. These program codes can be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards, or floppy disks. Such computer program products are typically portable or fixed storage units as described with reference to FIG9 . The storage unit can have storage segments, storage spaces, etc. arranged similarly to the memory 820 in the computing and processing device of FIG8 . The program code can, for example, be compressed in an appropriate form. Typically, the storage unit includes computer-readable code, i.e., code that can be read by a processor such as 810, which, when executed by the computing and processing device, causes the computing and processing device to execute the various steps in the above-described method.

[0175] Of course, for the sake of simplicity, FIG8 shows only some of the components of the computer device 800 that are relevant to the present application, omitting components such as a bus, input / output interfaces, input devices, and output devices. In addition, the computer device 800 may also include any other appropriate components depending on the specific application.

[0176] An embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method of any of the above embodiments can be implemented. The execution method and beneficial effects are similar and will not be repeated here.

[0177] The computer-readable storage medium can be any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, but is not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0178] The computer program can be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer device, partially on the user's computer device, as a stand-alone software package, partially on the user's computer device and partially on a remote computer device, or entirely on a remote computer device or server.

[0179] An embodiment of the present application provides a vehicle, which includes the above-mentioned data transmission device or the above-mentioned computer equipment or the above-mentioned computer-readable storage medium, and can implement the method of any of the above-mentioned embodiments. Its execution method and beneficial effects are similar and will not be repeated here.

[0180] An embodiment of the present application provides a data transmission system, which includes a publisher and a subscriber;

[0181] The publisher is configured to respond to the functional safety implementation requirements of the first data, add a functional safety identifier to a preset position of the first data, obtain second data, create a functional safety object in the second data, obtain target data, and send the target data to the subscriber;

[0182] The subscriber receives the target data sent by the publisher and performs security checks on the target data based on the functional safety identifier and functional safety object in the target data to determine whether the target data is safe.

[0183] The data transmission system may be a data distribution service (DDS) system.

[0184] Therefore, the data transmission system can implement the method of any of the above embodiments, and its execution method and beneficial effects are similar, which will not be repeated here.

[0185] The various component embodiments of the present application can be implemented in hardware, or implemented in a software module running on one or more processors, or implemented in a combination thereof. Those skilled in the art will appreciate that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of the functions of some or all of the components in the computing processing equipment according to an embodiment of the present application. The application can also be implemented as a device or apparatus program (for example, a computer program and a computer program product) for performing a part or all of the methods described herein. Such a program implementing the present application can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0186] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this application is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this application.

[0187] In addition, although adopting specific order to describe each operation, this should not be interpreted as requiring these operations to be executed in the specific order shown or in sequential order.Under certain environment, multitasking and parallel processing may be advantageous.Similarly, although comprising some specific implementation details in the above discussion, these should not be interpreted as limiting the scope of the application.Some features described in the context of separate embodiment can also be implemented in a single embodiment in combination.On the contrary, the various features described in the context of a single embodiment also can be implemented in multiple embodiments individually or in the mode of any suitable subcombination.

[0188] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of this description.

[0189] The foregoing description is intended only to provide specific embodiments of the present application, which will enable those skilled in the art to understand and implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments described herein, but is intended to be construed in the broadest manner consistent with the principles and novel features disclosed herein.

Claims

1. A data transmission method, wherein: include: In response to a functional safety implementation requirement of the first data, adding a functional safety identifier to a preset position of the first data to obtain second data; Creating a functional safety object in the second data to obtain target data; The target data is sent to a subscriber, so that the subscriber can perform a safety check on the target data based on a functional safety identifier and a functional safety object in the target data to determine whether the target data is safe.

2. The method according to claim 1, wherein: The step of creating a functional safety object in the second data to obtain target data includes: Calculating a target checksum of the second data, and obtaining a target source identifier and a target transmission period of the second data; Incrementing the current data sending sequence number to obtain the target sending sequence number of the second data; constructing a functional safety object based on the target checksum, the target source identifier, the target transmission period, and the target sending sequence number of the second data; The functional safety object is added to the second data to obtain target data.

3. The method according to claim 1, wherein: The step of adding a functional safety mark to a preset position of the first data to obtain the second data includes: Obtaining a target sending sequence number of the first data; The target sending sequence number of the first data is determined as the functional safety identifier, and the functional safety identifier is added to a preset position of the first data to obtain the second data.

4. The method according to claim 1, wherein: In response to the functional safety implementation requirement of the first data, before adding a functional safety identifier to a preset position of the first data and obtaining the second data, the method further includes: Obtaining a quality of service profile of the first data; Determining whether there is a functional safety label in the quality of service configuration file and whether the functional safety label includes a safety requirement identifier; If so, it is determined that the first data has functional safety implementation requirements; Otherwise, it is determined that there is no functional safety implementation requirement for the first data.

5. The method according to claim 1, wherein: After sending the target data to the subscriber, the method further includes: Acquire a target transmission period of the target data; If the target data is not successfully sent within the target transmission period, a first alarm message is issued, where the first alarm message is used to indicate that the sending of the target data has timed out.

6. A data transmission method, wherein: include: Receive target data sent by the publisher; Based on the functional safety identifier and the functional safety object in the target data, a safety check is performed on the target data to determine whether the target data is safe.

7. The method according to claim 6, wherein: The performing safety detection on the target data based on the functional safety identifier and the functional safety object in the target data to determine whether the target data is safe includes: When both the functional safety identifier and the functional safety object in the target data meet preset requirements, determining that the target data is safe; When any one of the functional safety identifier and the functional safety object in the target data does not meet the preset requirement, it is determined that the target data is unsafe.

8. The method according to claim 6, wherein: The performing safety detection on the target data based on the functional safety identifier and the functional safety object in the target data to determine whether the target data is safe includes: Determining whether there is a functional safety identifier in the target data; If it exists, parse the functional safety object of the target data to obtain the target checksum, target source identifier, target transmission period and target sending sequence number of the target data; Incrementing the current data receiving sequence number to obtain the target receiving sequence number corresponding to the target data, and calculating the checksum to be verified of the target data; Determine whether the target receiving sequence number is the same as the target sending sequence number, whether the to-be-verified checksum is the same as the target checksum, whether the target source identifier belongs to a source identifier in a preset whitelist, and whether the target data is received within the target transmission period; When the target receiving sequence number is the same as the target sending sequence number, the to-be-verified checksum is the same as the target checksum, the target source identifier belongs to the source identifier in the preset whitelist, and the target data is received within the target transmission period, the target data is determined to be safe; When any of the following conditions is not met: the target receiving sequence number is the same as the target sending sequence number, the checksum to be verified is the same as the target checksum, the target source identifier belongs to the source identifier in the preset whitelist, and the target data is received within the target transmission cycle, the target data is determined to be unsafe.

9. The method according to claim 8, wherein: After determining whether the target data contains a functional safety identifier, the method further includes: If the functional safety identifier does not exist in the target data, it is determined that the target data does not have a functional safety implementation requirement.

10. The method according to claim 6, wherein: After determining whether the target data is safe, the method further includes: When it is determined that the target data is not safe, second warning information is issued, where the second warning information is used to indicate that the target data is not safe and / or the reason why the target data is not safe.

11. A data transmission device, wherein: include: an adding module, configured to add a functional safety identifier to a preset position of the first data in response to a functional safety implementation requirement of the first data, so as to obtain second data; A creation module, used to create a functional safety object in the second data to obtain target data; The sending module is used to send the target data to the subscriber, so that the subscriber can perform safety detection on the target data based on the functional safety identifier and the functional safety object in the target data to determine whether the target data is safe.

12. The device according to claim 11, wherein The creation module is specifically used for: Calculating a target checksum of the second data, and obtaining a target source identifier and a target transmission period of the second data; Incrementing the current data sending sequence number to obtain the target sending sequence number of the second data; constructing a functional safety object based on the target checksum, the target source identifier, the target transmission period, and the target sending sequence number of the second data; The functional safety object is added to the second data to obtain target data.

13. The device according to claim 11, wherein: The adding module is specifically used for: Obtaining a target sending sequence number of the first data; The target sending sequence number of the first data is determined as the functional safety identifier, and the functional safety identifier is added to a preset position of the first data to obtain the second data.

14. The device according to claim 11, wherein: The adding module is also used for: Obtaining a quality of service profile of the first data; Determining whether there is a functional safety label in the quality of service configuration file and whether the functional safety label includes a safety requirement identifier; If so, it is determined that the first data has functional safety implementation requirements; Otherwise, it is determined that there is no functional safety implementation requirement for the first data.

15. The device according to claim 11, wherein After sending the target data to the subscriber, the sending module is further used to: Acquire a target transmission period of the target data; If the target data is not successfully sent within the target transmission period, a first alarm message is issued, where the first alarm message is used to indicate that the sending of the target data has timed out.

16. A data transmission device, wherein: include: A receiving module, used for receiving target data sent by the publisher; The detection module is used to perform a safety detection on the target data based on the functional safety identifier and the functional safety object in the target data to determine whether the target data is safe.

17. The device according to claim 16, wherein: The detection module is specifically used for: When both the functional safety identifier and the functional safety object in the target data meet preset requirements, determining that the target data is safe; When any one of the functional safety identifier and the functional safety object in the target data does not meet the preset requirement, it is determined that the target data is unsafe.

18. The device according to claim 16, wherein: The detection module is specifically used for: Determining whether there is a functional safety identifier in the target data; If it exists, parse the functional safety object of the target data to obtain the target checksum, target source identifier, target transmission period and target sending sequence number of the target data; Incrementing the current data receiving sequence number to obtain the target receiving sequence number corresponding to the target data, and calculating the checksum to be verified of the target data; Determine whether the target receiving sequence number is the same as the target sending sequence number, whether the to-be-verified checksum is the same as the target checksum, whether the target source identifier belongs to a source identifier in a preset whitelist, and whether the target data is received within the target transmission period; When the target receiving sequence number is the same as the target sending sequence number, the to-be-verified checksum is the same as the target checksum, the target source identifier belongs to the source identifier in the preset whitelist, and the target data is received within the target transmission period, the target data is determined to be safe; When any of the following conditions is not met: the target receiving sequence number is the same as the target sending sequence number, the checksum to be verified is the same as the target checksum, the target source identifier belongs to the source identifier in the preset whitelist, and the target data is received within the target transmission cycle, the target data is determined to be unsafe.

19. The device according to claim 18, wherein: The detection module is specifically used for: If the functional safety identifier does not exist in the target data, it is determined that the target data does not have a functional safety implementation requirement.

20. The device according to claim 16, wherein: The detection module is further used for: When it is determined that the target data is not safe, second warning information is issued, where the second warning information is used to indicate that the target data is not safe and / or the reason why the target data is not safe.

21. A computer device, wherein: include: A memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the data transmission method according to any one of claims 1 to 10 is implemented.

22. A computer-readable storage medium, wherein: The storage medium stores a computer program, and when the computer program is executed by a processor, the data transmission method according to any one of claims 1 to 10 is implemented.

23. A vehicle, wherein: Comprising the data transmission device as described in claims 11-20 or the computer device as described in claim 21 or the computer-readable storage medium as described in claim 22.

24. A data transmission system, wherein: Including a publisher and a subscriber, the data transmission system includes: The publisher is used to respond to the functional safety implementation requirements of the first data, add a functional safety identifier to a preset position of the first data, obtain second data, create a functional safety object in the second data, obtain target data, and send the target data to the subscriber; The subscriber is used to receive target data sent by the publisher; based on the functional safety identifier and functional safety object in the target data, perform security detection on the target data to determine whether the target data is safe.

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