WO2021134418A1

WO2021134418A1 - Data checking method and apparatus

Info

Publication number: WO2021134418A1
Application number: PCT/CN2019/130369
Authority: WO
Inventors: 邓文彬
Original assignee: 华为技术有限公司
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2021-07-08
Also published as: CN114788199A

Abstract

Disclosed are a data checking method and apparatus, wherein same are used to improve the data checking capability, and to solve the problem of end-to-end data checking of an ultra-long data packet. The data checking method comprises: a first device acquiring a first check code corresponding to first data, wherein the first check code is a check code corresponding to the first data obtained by means of calculation of a first hardware module in the first device, and the first data is data collected by the first device; the first device generating a check sub-message of the first data according to the first check code; and the first device sending the check sub-message of the first data to a second device, wherein the check sub-message of the first data is used by the second device to perform data checking.

Description

Data verification method and device

Technical field

The embodiments of the present application relate to the field of communication technologies, and in particular, to a data verification method and device.

Background technique

Intelligent driving systems rely on data from many sensors, such as data generated by lidar, millimeter wave radar, and ultrasonic radar. These sensors act as the "eyes" and "nose" of the car, perceiving changes in the outside world. External data needs to pass through the transmission line to reach the central control system of the intelligent driving system (equivalent to the human brain). With the improvement of sensor performance, more and more data are acquired by sensors. During the process of data transmission to the central control system, due to the unreliability of both software and hardware, the data may be tampered with. The central control system will give wrong auto-driving instructions based on the wrong data, which will endanger the lives of passengers.

In order to improve the security of data transmission, the transmission of data obtained by sensors to the central control system requires a powerful end-to-end data verification mechanism to avoid data tampering. Among them, data verification means to ensure the integrity and correctness of the data. And security technology to verify the input data.

In the existing end-to-end data verification mechanism, the check code is usually calculated by software, and the calculation of the check code will slow down if the check code calculation method is more complicated. At the same time, the calculation of the check code by the software method requires the computing resources of a central processing unit (CPU). Due to the limited computing resources of the CPU, the data length corresponding to the check code calculated by the software is limited to a certain extent.

Summary of the invention

In order to solve the above technical problems, the embodiments of the present application provide a data verification method and device, which are used to improve the data verification capability and solve the end-to-end ultra-long data packet data verification problem.

In the first aspect, an embodiment of the present application provides a data verification method, including: a first device obtains a first verification code corresponding to the first data, where the first verification code is the first verification code in the first device. The hardware module calculates that the first data is data collected by the first device; the first device generates a syndrome message according to the first check code; the first device sends a syndrome message of the first data to the second device. Optionally, in some possible application scenarios, the first device sends the syndrome message of the first data to the second device through the physical link.

In the first aspect of the technical solution, the use of hardware modules to calculate the check code can increase the speed of the check code calculation, and the hardware calculation of the check code will not be limited by the data length, which can improve the data check ability and realize the Effective verification of data packets, thereby solving the problem of data verification of ultra-long packets.

In a possible implementation of the first aspect, the foregoing method further includes: the first device generates at least one real-time publish-subscribe (RTPS) protocol message according to the first data; The syndrome message of one data is inserted into each of the at least one RTPS protocol message; at this time, the first device sends the syndrome message of the first data to the second device may be: the first device sends at least one syndrome message to the second device Each message in the RTPS protocol message is sent to the second device in turn. In this possible implementation manner, extending the syndrome message to the RTPS protocol can enhance the standard RTPS protocol capability and improve the data verification capability of the RTPS protocol.

In a possible implementation manner of the first aspect, the first device generating at least one RTPS protocol packet according to the first data may include: if the data length of the first data is greater than or equal to the first threshold, the first device generates the at least one RTPS protocol packet according to the first data One piece of data generates multiple RTPS protocol packets, where multiple RTPS protocol packets are fragmented packets; if the data length of the first data is less than the first threshold, the first device generates one RTPS protocol packet according to the first data The RTPS protocol message is a non-fragmented message. In this implementation manner, when the data length exceeds the first threshold, the first data may be transmitted in fragments.

In a possible implementation of the first aspect, obtaining the first check code by the first device may include: if the data length of the first data is greater than or equal to the second threshold, the first device controls the first hardware module to A data is calculated to obtain the first check code.

In a possible implementation of the first aspect, the syndrome message of the first data may further include at least one of a data length, a timeout parameter, and a data sequence number.

In a possible implementation of the first aspect, the first device is a vehicle-mounted sensor, and the second device is a vehicle-mounted master control device.

In a second aspect, an embodiment of the present application provides a data transmission method, including: a second device receives a syndrome message of first data sent by a first device, where the first data is data collected by the first device; The second device extracts the first check code from the syndrome message of the first data; the second device obtains the second check code, where the second check code is the first check code calculated by the second hardware module in the second device The check code corresponding to the second data, the second data is the data received by the second device from the first device; the second device performs data check according to the first check code and the second check code.

In the technical solution of the second aspect, the hardware module is used to calculate the check code and perform data check, which can increase the speed of check code calculation, and the hardware calculation of check code does not receive the limitation of the data length, which can improve the data check Ability to achieve effective verification of ultra-long data packets, thus end-to-end data verification of ultra-long data packets.

In a possible implementation of the second aspect, the second device receiving the syndrome message of the first data sent by the first device includes: the second device receives a real-time publish and subscribe RTPS protocol message sent by the first device; The second device extracts the syndrome message of the first data from the RTPS protocol message.

In a possible implementation manner of the second aspect, the second device extracts the syndrome message of the first data from the RTPS protocol message, including: the second device judges the RTPS according to the syndrome message in the RTPS protocol message Whether the protocol message is a fragmented message; if the RTPS protocol message is a fragmented message, the second device determines multiple fragmented messages corresponding to the first data; the second device extracts any one of the multiple fragmented messages The syndrome message in the message obtains the syndrome message of the first data.

In a possible implementation of the second aspect, the above method further includes: if the RTPS protocol message is a non-fragmented message, the second device determines an RTPS protocol message corresponding to the first data; the second device extracts the first data A syndrome message in an RTPS protocol message corresponding to one data obtains a syndrome message of the first data.

In a possible implementation of the second aspect, the second device judges whether the RTPS protocol message is a fragmented message according to the syndrome message in the RTPS protocol message, including: if the checksum in the RTPS protocol message The sub-message and the syndrome message in the upper and lower messages of the RTPS protocol message are different, and the second device determines that the RTPS protocol message is a non-fragmented message; if the syndrome message in the RTPS protocol message is the same as the RTPS protocol Any one of the syndrome messages in the upper and lower messages of the message is the same, and the second device determines that the RTPS protocol message is a fragmented message.

In a possible implementation of the second aspect, the syndrome message of the first data further includes at least one of the following parameters: data length, timeout parameter, and data sequence number.

In a possible implementation manner of the second aspect, the second device performs data verification according to the first check code and the second check code, including: if the first check code is equal to the second check code, the second The device determines that the data verification is successful; otherwise, the second device determines that the data verification fails.

In a possible implementation of the second aspect, the first device is a vehicle-mounted sensor, and the second device is a vehicle-mounted main control device.

In a third aspect, an embodiment of the present application provides a verification device, including: a first hardware module, configured to calculate a first verification code corresponding to the first data, where the first data is collected by the first device Processing module, used to obtain the first check code and generate the syndrome message of the first data according to the first check code; sending module, used to send the syndrome message of the first data to the second device, Wherein, the syndrome message of the first data is used for the second device to perform data verification.

In a possible implementation of the third aspect, the processing module is further configured to: generate at least one real-time publish and subscribe RTPS protocol message according to the first data; insert the syndrome message of the first data into the at least one RTPS protocol message The sending module is specifically configured to: send each of the at least one RTPS protocol message to the second device in turn.

In a possible implementation manner of the third aspect, the processing module is specifically configured to: if the data length of the first data is greater than or equal to the first threshold, generate multiple RTPS protocol messages according to the first data, wherein multiple RTPS The protocol message is a fragmented message; if the data length of the first data is less than the first threshold, the first device generates an RTPS protocol message according to the first data, where the RTPS protocol message is a non-fragmented message.

In a possible implementation of the third aspect, the processing module is specifically configured to: if the data length of the first data is greater than or equal to the second threshold, control the first hardware module to calculate the first check code.

In a possible implementation manner of the third aspect, the syndrome message of the first data further includes at least one of the following parameters: data length, timeout parameter, and data sequence number.

In a possible implementation of the third aspect, the verification device is a vehicle-mounted sensor, and the second device is a vehicle-mounted master control device.

In a fourth aspect, an embodiment of the present application provides a verification device, including: a second hardware module for calculating a verification code corresponding to the second data, wherein the second data is received by the second device from the first device Received data; receiving module, used to receive the syndrome message of the first data sent by the first device, where the first data is data collected by the first device; processing module, used to obtain the syndrome from the first data Extract the first check code from the message, obtain the second check code, and perform data check according to the first check code and the second check code, where the second check code is the second hardware in the second device Module.

In a possible implementation manner of the fourth aspect, the processing module is further configured to: generate at least one real-time publish and subscribe RTPS protocol message according to the first data; insert the syndrome message of the first data into the at least one RTPS protocol message The sending module is specifically configured to: send each of the at least one RTPS protocol message to the second device in turn.

In a possible implementation manner of the fourth aspect, the processing module is specifically configured to: if the data length of the first data is greater than or equal to the first threshold, generate multiple RTPS protocol messages according to the first data, wherein multiple RTPS The protocol message is a fragmented message; if the data length of the first data is less than the first threshold, the first device generates an RTPS protocol message according to the first data, where the RTPS protocol message is a non-fragmented message.

In a possible implementation manner of the fourth aspect, the processing module is specifically configured to: if the data length of the first data is greater than or equal to the second threshold, control the first hardware module to calculate the first check code.

In a possible implementation manner of the fourth aspect, the syndrome message of the first data further includes at least one of the following parameters: data length, timeout parameter, and data sequence number.

In a possible implementation manner of the fourth aspect, the verification device is a vehicle-mounted sensor, and the second device is a vehicle-mounted master control device.

In a fifth aspect, an embodiment of the present application provides a verification device, including: a processor, the processor is coupled with a memory, the memory is used to store operation instructions; the processor is used to call the operation instructions , To perform the method described in any one of the above-mentioned first aspects.

In a possible implementation of the fifth aspect, the verification device further includes: a first hardware module configured to calculate a first verification code corresponding to the first data.

In a sixth aspect, an embodiment of the present application provides a verification device, including: a processor, the processor is coupled with a memory, the memory is used to store operation instructions; the processor is used to call the operation instructions , To perform the method described in any one of the above-mentioned second aspects.

In a possible implementation manner of the sixth aspect, the verification device further includes: a second hardware module configured to calculate a second verification code corresponding to the second data.

In a seventh aspect, an embodiment of the present application provides a computer storage medium that stores operating instructions in the computer storage medium, and when it runs on a computer, the computer executes the method described in the first aspect.

In an eighth aspect, an embodiment of the present application provides a computer storage medium. The computer storage medium stores operating instructions, which when run on a computer, cause the computer to execute the method described in the second aspect.

In a ninth aspect, the embodiments of the present application provide a computer program product containing instructions, which when run on a computer, cause the computer to execute the method described in the first aspect.

In a tenth aspect, the embodiments of the present application provide a computer program product containing instructions, which when run on a computer, cause the computer to execute the method described in the second aspect.

Description of the drawings

FIG. 1 is a schematic diagram of a system framework structure provided in an embodiment of this application;

Figure 2(a) is a schematic diagram of an embodiment of a data verification method provided in an embodiment of the application;

FIG. 2(b) is a schematic diagram of a structure of a hardware module in the first device provided in an embodiment of the application;

FIG. 3 is a schematic diagram of a structure of a verification device in an embodiment of the application;

FIG. 4 is another schematic diagram of the structure of the verification device in an embodiment of the application;

FIG. 5 is another schematic diagram of the structure of the verification device in an embodiment of the application;

FIG. 6 is a schematic diagram of another structure of the verification device in an embodiment of the application.

Detailed ways

The embodiments of the present application provide a data verification method and device, which are used to improve the data verification capability and solve the end-to-end ultra-long data packet data verification problem.

The embodiments of the present application will be described below in conjunction with the drawings.

The terms "first", "second", etc. in the description and claims of the application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, and this is merely a way of distinguishing objects with the same attributes in the description of the embodiments of the present application. In addition, the terms "including" and "having" and any variations of them are intended to cover non-exclusive inclusion, so that a process, method, system, product, or device that includes a series of units is not necessarily limited to those units, but may include Listed or inherent to these processes, methods, products, or equipment.

The technical solutions in the embodiments of the present application are applicable to various communication systems, and are especially applicable to data verification scenarios of an automatic driving system. Autonomous driving systems rely on many sensors to obtain external data, such as lidar, millimeter wave radar, and ultrasonic radar. In the process of verifying external data to the central control computer of the automatic driving system, a message verification mechanism is required to ensure the accuracy of external data verification. This application can be free from the data size limitation during the data verification process and enhance the end-to-end End data verification and verification capabilities.

The system architecture and business scenarios described in the embodiments of this application are intended to more clearly illustrate the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. Those of ordinary skill in the art will know that with the network With the evolution of architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are equally applicable to similar technical problems.

Fig. 1 is a schematic diagram of a system framework structure provided in an embodiment of the application.

As shown in FIG. 1, the system framework of the embodiment of the present application includes: a first device 101 and a second device 102, wherein data verification is performed between the first device 101 and the second device. Optionally, in an autonomous driving scenario, the first device 101 may be a sensor-end device, such as lidar, etc., and the second device 102 may be a vehicle-mounted master control device of the automatic driving system, such as a vehicle-mounted central control computer, a mobile data center ( mobile data center, MDC), etc.

In order to facilitate the understanding of the technical solutions of the embodiments of the present application, the technical solutions of the present application will be described in detail below in conjunction with specific embodiments.

Figure 2(a) is a schematic diagram of an embodiment of a data verification method provided in an embodiment of the application.

As shown in Figure 2(a), the data verification method in the embodiment of the present application includes:

201. A first device obtains a first check code corresponding to the first data, where the first check code is calculated by a first hardware device in the first device.

The first check code is a check code corresponding to the first data calculated by the first hardware module in the first device, and the first data refers to data sent by the first device to the second device. It should be understood that, compared with the calculation of the check code by the software module, the calculation of the check code by the hardware module has the advantages of fast calculation speed and large amount of calculation data. Among them, the first data is data collected by the first device; the first hardware module in the first device may be set in a built-in manner or may be set in an external manner.

Figure 2(b) is a schematic structural diagram of the first hardware module in the first device. The hardware module structure shown in FIG. 2 may specifically be the first hardware module in the first device or the second hardware module in the second device below.

As shown in FIG. 2(b), the hardware module 20 includes an input unit 207, a logic calculation unit 208, an output unit 209, and a timeout monitoring unit 210. The input unit 207 is used to obtain the content of the message and the corresponding message parameters. Specifically, the data address and length of the message are input to the hardware module 20, and the input unit 207 can read the specified length from the corresponding data address. Message. The logic calculation unit 208 is configured to preset multiple check code calculation methods, such as a hash function, and can select a corresponding hash function for calculation according to the data length of the message to generate a hash value, that is, a check code. The timeout monitoring unit 210 is used to monitor whether the time length for calculating the check code in the logic calculation unit 208 exceeds a preset time length. The output unit 209 is used to output the check code generated by the logic calculation unit 208. It should also be noted that the hardware module 20 also needs to support the functions of automatic data analysis and calculation. The composition structure of the above-mentioned hardware module 20 supports pipelines and has good performance.

For example, in an autonomous driving scenario, the first device is a sensor such as a lidar. At this time, the first data is data collected by the lidar and transmitted to the second device, such as a vehicle-mounted central control computer.

Optionally, the first device to obtain the first check code may be: when the data length of the first data is greater than or equal to the second threshold, the first device controls the first hardware module to calculate the first check code corresponding to the first data . The second threshold may be 4M. It should be understood that cyclic redundancy check (CRC) is a common check calculation method, and the CRC64 algorithm can calculate the check code corresponding to data with a maximum length of 4M.

Optionally, the calculation method for the first hardware module to calculate the first check code includes: hash value calculation algorithms such as CRC16, CRC32, CRC64, AES128, and SHA256.

202. The first device generates a syndrome message of the first data according to the first check code.

The first device generates a real-time publish and subscribe RTPS protocol message according to the first data, and inserts a syndrome message of the first data in the RTPS protocol message. Optionally, the syndrome message can be inserted into the header of the RTPS protocol message.

Specifically, the first device generates at least one real-time publish and subscribe RTPS protocol message according to the first data, and further, the first device inserts the syndrome message of the first data into each of the at least one RTPS protocol message. The first device sequentially sends each of the at least one RTPS protocol packet to the second device.

Optionally, the first device generating at least one RTPS protocol message according to the first data may specifically include: the first device may determine whether the RTPS protocol message needs to be fragmented according to the data length of the first data. Specifically, if the data length of the first data is greater than or equal to the first threshold, the first device generates multiple (for example, N) RTPS protocol messages corresponding to the first data, and the N RTPS protocol messages carry the complete first One data, each RTPS protocol message carries part of the first data, each RTPS protocol message is inserted with the first check code, and N is an integer greater than or equal to 2. If the data length of the first data is less than the first threshold, the first device generates an RTPS protocol message corresponding to the first data, and the RTPS protocol message includes all the first data and inserts the first check code.

Optionally, the syndrome message of the first data may further include the data length corresponding to the first data, the timeout parameter, and the data sequence number. Wherein, the data length is the data length of the first data or the data length corresponding to a fragment of the RTPS protocol message, which is used for data integrity verification and verification of the reliability of the data. The data sequence number is used to determine whether the RTPS protocol message is in an orderly receiving state. The timeout parameter is used to determine the timeliness of the data.

Optionally, a message format of the syndrome sub-message includes: a sub-message identification field, a hash function option field, a position offset field, a check code field, and an extension field. Among them, the sub-message identification field is 8 bits, used to indicate the data sequence number; the hash function option field is used to indicate the calculation method of the check code, for example, the sequence number 0 indicates the AES128 algorithm, 1 indicates the SHA256 algorithm, and 2 indicates the CRC64 algorithm , 3 means CRC32 algorithm, 4 means CRC16 algorithm; the position offset field is used to indicate the offset of the next syndrome message position; the check code field is used to indicate the value of the first check code and the length of the check code field It can be between 64 bits and 256 bits; the extended field can store other extended data such as sensor type and sensor location.

203. The first device sends a syndrome message of the first data to the second device.

The first device sending the syndrome message of the first data to the second device may be: the first device sends an RTPS protocol message to the second device through a physical link, and the RTPS protocol message includes: the first data and the checksum Sub-message. The physical link is used to transmit end-to-end data transmission and verification. Optionally, the physical link may be a CAN bus or an Ethernet interface for interconnection between the first device and the second device.

204. The second device extracts the first check code from the syndrome message of the first data.

If the RTPS protocol message is a fragmented message, the second device can obtain the syndrome message from any one of the multiple (such as the above-mentioned N) RTPS protocol messages, and then the second device receives the syndrome message Extract the first check code from.

If the RTPS protocol message is a non-fragmented message, the second device extracts the syndrome message of the first data from the RTPS protocol message, and then the second device extracts the first checksum from the syndrome message of the first data code.

Optionally, the second device may determine whether the RTPS protocol message is a fragmented message. If the syndrome message in the RTPS protocol message and the syndrome message in the upper and lower messages of the RTPS protocol message are both If it is not the same, the second device determines that the RTPS protocol message is a non-fragmented message; if the syndrome message in the RTPS protocol message is the same as any one of the syndrome messages in the upper and lower messages of the RTPS protocol message, the second The device determines that the RTPS protocol packet is a fragmented packet.

205. The second device obtains the second check code.

If the RTPS protocol message is a fragmented message, the second device extracts the data in the N RTPS protocol messages and reorganizes the extracted data to obtain the second data. The second device controls the second hardware module to calculate the second data corresponding to the second data. Two check code.

If the RTPS protocol message is not a fragmented message, the second device extracts the second data from the RTPS protocol message, and the second device controls the second hardware module to calculate the second check code corresponding to the second data.

206. The second device performs data verification according to the first verification code and the second verification code.

If the first check code is equal to the second check code, the second device determines that the data verification is successful; otherwise, the second device determines that the data verification fails. Optionally, if the data verification fails, the second device may send a data retransmission request to the first device, and the data verification succeeds.

In the embodiment of the application, the hardware module is used to calculate the check code, which can increase the speed of the check code calculation, and the hardware calculation of the check code does not receive the limitation of the data length, which can improve the data check ability and realize the detection of ultra-long data packets. Effective verification, thus solving the data verification problem of ultra-long packets. At the same time, compared with the calculation of the check code by the software module, the calculation of the check code by the hardware module may not occupy the computing resources of the processor and save computing resources.

It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that this application is not limited by the described sequence of actions. Because according to this application, some steps can be performed in other order or at the same time. Secondly, those skilled in the art should also know that the embodiments described in the specification all belong to some embodiments corresponding to the technical solutions of this application, and the involved actions and modules are not necessarily required by this application.

To facilitate better implementation of the above-mentioned solutions in the embodiments of the present application, related devices for implementing the above-mentioned solutions are also provided below.

Please refer to FIG. 3, which is a schematic structural diagram of the verification device in this embodiment of the application. The verification device 300 includes: a processing module 301, a sending module 302, and a first hardware module 303. The first hardware module 303, It is used to calculate the first check code corresponding to the first data, where the first data is the data collected by the check device 300; the processing module 301 is configured to perform the following operations: obtain the first check code and according to the first check code The check code generates a syndrome message, the first check code is the check code corresponding to the first data calculated by the first hardware module, and the first data is sent by the first device to the second device Data; sending module 302, used to send the syndrome message of the first data to the second device.

In some embodiments of the present application, the processing module 301 is further configured to: generate at least one real-time publish and subscribe RTPS protocol message according to the first data; insert the syndrome message of the first data into the at least In each message in one RTPS protocol message; the sending module is specifically configured to: send each message in the at least one RTPS protocol message to the second device in turn.

In some embodiments of the present application, the processing module 301 is specifically configured to: if the data length of the first data is greater than or equal to a first threshold, generate multiple RTPS protocol messages according to the first data, where: The multiple RTPS protocol messages are fragmented messages; if the data length of the first data is less than the first threshold, the first device generates an RTPS protocol message according to the first data, where: The RTPS protocol message is a non-fragmented message.

In some embodiments of the present application, the processing module 301 is specifically configured to: if the data length of the first data is greater than or equal to a second threshold, control the first hardware module to calculate the first check code .

In some embodiments of the present application, the syndrome message of the first data further includes at least one of the following parameters: data length, timeout parameter, and data sequence number.

In some embodiments of the present application, the verification device 300 is a vehicle-mounted sensor, and the second device is a vehicle-mounted master control device.

In the embodiment of the present application, the verification apparatus 300 may specifically be the aforementioned first device, and its respective component modules (processing module 301, sending module 302, and first hardware module 303) can be used to execute the first device in the foregoing method embodiment. All operations.

Please refer to FIG. 4, which is a schematic structural diagram of the verification device in an embodiment of this application. The verification device 400 includes: a receiving module 401, a processing module 402, and a second hardware module 403. The second hardware module 403 is used to calculate a verification code corresponding to the second data, where the second data is the The data received by the second device from the first device; the receiving module 401 is configured to receive the syndrome message of the first data sent by the first device, where the first data is collected by the first device Data; processing module 402, used to extract the first check code from the syndrome message of the first data, obtain the second check code, and according to the first check code and the second check Code for data verification, where the second verification code is a second hardware module in the second device.

In some embodiments of the present application, the receiving module 401 is specifically configured to: receive a real-time publish and subscribe RTPS protocol message sent by the first device; and extract the correction of the first data from the RTPS protocol message. Test child news.

In some embodiments of the present application, the processing module 402 is specifically configured to: determine whether the RTPS protocol message is a fragmented message according to the syndrome message in the RTPS protocol message; if the RTPS protocol message The message is a fragmented message, and multiple fragmented messages corresponding to the first data are determined; the syndrome message in any one of the multiple fragmented messages is extracted to obtain the first data The syndrome message.

In some embodiments of the present application, the processing module 402 is further configured to: if the RTPS protocol message is a non-fragmented message, determine an RTPS protocol message corresponding to the first data; and extract the first data A syndrome message in an RTPS protocol message corresponding to one piece of data obtains the syndrome message of the first data.

In some embodiments of the present application, the processing module 402 is specifically configured to: if the syndrome message in the RTPS protocol message is different from the syndrome message in the upper and lower messages of the RTPS protocol message. Same, it is determined that the RTPS protocol message is a non-fragmented message; if the syndrome message in the RTPS protocol message is the same as any syndrome message in the upper and lower messages of the RTPS protocol message, It is determined that the RTPS protocol message is a fragmented message.

In some embodiments of the present application, the processing module 402 is specifically configured to: if the first check code is equal to the second check code, determine that the data check is successful; otherwise, the second device determines the data The verification failed.

In some embodiments of the present application, the first device is a vehicle-mounted sensor, and the verification device 400 is a vehicle-mounted master control device.

In the embodiment of the present application, the verification apparatus 400 may specifically be the above-mentioned second device, and its respective component modules (receiving module 401, processing module 402, and second hardware module 403) may be used to execute the second device in the above method embodiment. All operations.

It should be noted that the information interaction and execution process among the various modules/units of the above-mentioned device are based on the same concept as the method embodiment of the present application, and the technical effects brought by it are the same as those of the method embodiment of the present application, and the specific content may be Please refer to the description in the method embodiment shown above in this application, which will not be repeated here.

An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a program, and the program executes some or all of the steps recorded in the above method embodiments.

Next, another verification device provided in an embodiment of the present application will be introduced. The verification device may specifically be the above-mentioned first device. As shown in FIG. 5, the verification device 500 includes a processor 501, wherein the verification device 500 includes a processor 501. The number of processors in the test apparatus 500 may be one or more, and one processor is taken as an example in FIG. 5. Optionally, the verification apparatus 500 further includes: a memory 502, a transceiver 503, and a first hardware module 504. The processor 501, the memory 502, the transceiver 503, and the first hardware module 504 may be connected by a bus or other methods. In FIG. 5, the connection by a bus is taken as an example.

The memory 502 may include a read-only memory and a random access memory, and provides instructions and data to the processor 1103. A part of the memory 502 may also include a non-volatile random access memory (NVRAM). The memory 502 stores an operating system and operating instructions, executable modules or data structures, or a subset of them, or an extended set of them. The operating instructions may include various operating instructions for implementing various operations. The operating system may include various system programs for implementing various basic services and processing hardware-based tasks.

The processor 501 controls the operation of the first device 500, and the processor 501 may also be referred to as a central processing unit (CPU). In a specific application, the various components of the verification device 500 are coupled together through a bus system. In addition to the data bus, the bus system may also include a power bus, a control bus, and a status signal bus. However, for the sake of clear description, various buses are referred to as bus systems in the figure.

The method disclosed in the foregoing embodiment of the present application may be applied to the processor 501 or implemented by the processor 501. The processor 501 may be an integrated circuit chip with signal processing capability. In the implementation process, the steps of the foregoing method can be completed by an integrated logic circuit of hardware in the processor 501 or instructions in the form of software. The aforementioned processor 501 may be a general-purpose processor, a digital signal processing (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or Other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps, and logical block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application may be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers. The storage medium is located in the memory 502, and the processor 501 reads the information in the memory 502, and completes the steps of the foregoing method in combination with its hardware.

The transceiver 503 can be used to receive input digital or character information, and to generate signal input related to the relevant settings and function control of the verification device 500, and can be used to output digital or character information through an external interface.

In this embodiment of the present application, the processor 501 is configured to execute the aforementioned data verification method executed by the first device.

Next, another verification device provided in the embodiment of the present application is introduced. The verification device may specifically be the above-mentioned second device. Please refer to FIG. 6. The verification device 600 includes a processor 601, wherein the verification device 600 includes a processor 601. The number of processors in the apparatus 600 may be one or more, and one processor is taken as an example in FIG. 6. Optionally, the verification apparatus 600 further includes: a memory 602, a transceiver 603, and a second hardware module 604. The processor 601, the memory 502, the transceiver 503, and the second hardware module 504 may be connected by a bus or other methods. In FIG. 6, the connection by a bus is taken as an example.

The memory 602 may include a read-only memory and a random access memory, and provides instructions and data to the processor 1103. A part of the memory 602 may also include a non-volatile random access memory (NVRAM). The memory 602 stores an operating system and operating instructions, executable modules or data structures, or a subset of them, or an extended set of them. The operating instructions may include various operating instructions for implementing various operations. The operating system may include various system programs for implementing various basic services and processing hardware-based tasks.

The processor 601 controls the operation of the second device 600, and the processor 601 may also be referred to as a central processing unit (CPU). In a specific application, the various components of the verification device 600 are coupled together through a bus system, where the bus system may include a power bus, a control bus, a status signal bus, etc., in addition to a data bus. However, for the sake of clear description, various buses are referred to as bus systems in the figure.

The method disclosed in the foregoing embodiment of the present application may be applied to the processor 601 or implemented by the processor 601. The processor 601 may be an integrated circuit chip with signal processing capability. In the implementation process, the steps of the foregoing method can be completed by an integrated logic circuit of hardware in the processor 601 or instructions in the form of software. The aforementioned processor 601 may be a general-purpose processor, a digital signal processing (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or Other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps, and logical block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application may be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers. The storage medium is located in the memory 602, and the processor 601 reads the information in the memory 602, and completes the steps of the foregoing method in combination with its hardware.

The transceiver 603 can be used to receive input digital or character information, and to generate signal input related to the relevant settings and function control of the verification device 600, and can be used to output digital or character information through an external interface.

In this embodiment of the present application, the processor 601 is configured to execute the aforementioned data verification method executed by the second device.

Wherein, the processor mentioned in any of the foregoing may be a general-purpose central processing unit, a microprocessor, an ASIC, or one or more integrated circuits used to control the execution of the program of the method in the first aspect.

In addition, it should be noted that the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physically separate. The physical unit can be located in one place or distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. In addition, in the drawings of the device embodiments provided in the present application, the connection relationship between the modules indicates that they have a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines.

Through the description of the above embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general hardware. Of course, it can also be implemented by dedicated hardware including dedicated integrated circuits, dedicated CPUs, dedicated memory, Dedicated components and so on to achieve. Under normal circumstances, all functions completed by computer programs can be easily implemented with corresponding hardware. Moreover, the specific hardware structures used to achieve the same function can also be diverse, such as analog circuits, digital circuits or special-purpose circuits. Circuit etc. However, for this application, software program implementation is a better implementation in more cases. Based on this understanding, the technical solution of this application essentially or the part that contributes to the existing technology can be embodied in the form of a software product, and the computer software product is stored in a readable storage medium, such as a computer floppy disk. , U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk, etc., including several instructions to make a computer device (which can be a personal computer, server, or network device, etc.) execute the methods described in each embodiment of this application .

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented by software, it can be implemented in the form of a computer program product in whole or in part.

The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website, computer, server, or data center. Transmission to another website, computer, server or data center via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be stored by a computer or a data storage device such as a server or a data center integrated with one or more available media. The usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, and a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)).

Claims

A data verification method, which is characterized in that it comprises:

The first device obtains a first check code corresponding to the first data, where the first check code is calculated by a first hardware module in the first device, and the first data is the first Data collected by the equipment;

Generating, by the first device, a syndrome message of the first data according to the first check code;

The first device sends the syndrome message of the first data to the second device, where the syndrome message of the first data is used by the second device to perform data verification.
The method according to claim 1, wherein the method further comprises:

Generating, by the first device, at least one real-time publish and subscribe RTPS protocol message according to the first data;

Inserting the syndrome message of the first data into each of the at least one RTPS protocol message by the first device;

The first device sending the syndrome message of the first data to the second device includes:

The first device sequentially sends each of the at least one RTPS protocol packet to the second device.
The method according to claim 2, wherein the first device generating at least one real-time publish and subscribe RTPS protocol message according to the first data comprises:

If the data length of the first data is greater than or equal to the first threshold, the first device generates multiple RTPS protocol packets according to the first data, where the multiple RTPS protocol packets are fragmented packets ；

If the data length of the first data is less than the first threshold, the first device generates an RTPS protocol message according to the first data, where the RTPS protocol message is a non-fragmented message.
The method according to any one of claims 1 to 3, wherein the obtaining of the first check code by the first device comprises:

If the data length of the first data is greater than or equal to the second threshold, the first device controls the first hardware module to calculate the first check code.
The method according to any one of claims 1 to 4, wherein the syndrome message of the first data further includes at least one of the following parameters: data length, timeout parameter, and data sequence number.
The method according to any one of claims 1 to 5, wherein the first device is a vehicle-mounted sensor, and the second device is a vehicle-mounted main control device.
A data verification method, which is characterized in that it comprises:

The second device receives the syndrome message of the first data sent by the first device, where the first data is data collected by the first device;

The second device extracts the first check code from the syndrome message of the first data;

The second device obtains a second check code, where the second check code is a check code corresponding to the second data calculated by a second hardware module in the second device, and the second data Is the data received by the second device from the first device;

The second device performs data verification according to the first verification code and the second verification code.
The method according to claim 7, wherein the second device receiving the syndrome message of the first data sent by the first device comprises:

The second device receives the real-time publish and subscribe RTPS protocol message sent by the first device; the second device extracts the syndrome message of the first data from the RTPS protocol message.
The method according to claim 8, wherein the second device extracting the syndrome message of the first data from the RTPS protocol message comprises:

The second device judges whether the RTPS protocol message is a fragmented message according to the syndrome message in the RTPS protocol message;

If the RTPS protocol message is a fragmented message, the second device determines multiple fragmented messages corresponding to the first data;

The second device extracts the syndrome message in any one of the multiple fragmented messages to obtain the syndrome message of the first data.
The method according to claim 9, wherein the method further comprises:

If the RTPS protocol message is a non-fragmented message, the second device determines an RTPS protocol message corresponding to the first data;

The second device extracts the syndrome message in an RTPS protocol message corresponding to the first data to obtain the syndrome message of the first data.
The method according to claim 9 or 10, wherein the second device judging whether the RTPS protocol message is a fragmented message according to the syndrome message in the RTPS protocol message comprises:

If the syndrome message in the RTPS protocol message is different from the syndrome message in the upper and lower messages of the RTPS protocol message, the second device determines that the RTPS protocol message is non-fragmented Message

If the syndrome message in the RTPS protocol message is the same as any syndrome message in the upper and lower messages of the RTPS protocol message, the second device determines that the RTPS protocol message is a fragmented message Text.
The method according to any one of claims 7-11, wherein the syndrome message of the first data further includes at least one of the following parameters: data length, timeout parameter, and data sequence number.
The method according to any one of claims 7-12, wherein the second device performs data verification according to the first check code and the second check code, comprising:

If the first check code is equal to the second check code, the second device determines that the data check succeeds;

Otherwise, the second device determines that the data verification fails.
The method according to any one of claims 7-13, wherein the first device is a vehicle-mounted sensor, and the second device is a vehicle-mounted main control device.
A verification device, characterized in that it comprises:

The first hardware module is configured to calculate a first check code corresponding to the first data, where the first data is data collected by the check device;

A processing module, configured to obtain the first check code and generate a syndrome message of the first data according to the first check code;

The sending module is configured to send a syndrome message of the first data to a second device, where the syndrome message of the first data is used by the second device to perform data verification.
The device according to claim 15, wherein the processing module is further configured to:

Generating at least one real-time publish and subscribe RTPS protocol message according to the first data;

Inserting the syndrome message of the first data into each of the at least one RTPS protocol message;

The sending module is specifically configured to send each of the at least one RTPS protocol message to the second device in sequence.
The device according to claim 16, wherein the processing module is specifically configured to:

If the data length of the first data is greater than or equal to the first threshold, generate multiple RTPS protocol messages according to the first data, where the multiple RTPS protocol messages are fragmented messages;

If the data length of the first data is less than the first threshold, the first device generates an RTPS protocol message according to the first data, where the RTPS protocol message is a non-fragmented message.
The device according to any one of claims 15-17, wherein the processing module is specifically configured to:

If the data length of the first data is greater than or equal to the second threshold, controlling the first hardware module to calculate the first check code.
The device according to any one of claims 15-18, wherein the syndrome message of the first data further includes at least one of the following parameters: data length, timeout parameter, and data sequence number.
The device according to any one of claims 15-19, wherein the verification device is a vehicle-mounted sensor, and the second device is a vehicle-mounted master control device.
A verification device, characterized in that it comprises:

The second hardware module is configured to calculate the check code corresponding to the second data, where the second data is the data received by the second device from the first device;

A receiving module, configured to receive a syndrome message of first data sent by a first device, where the first data is data collected by the first device;

The processing module is configured to extract a first check code from the syndrome message of the first data, obtain a second check code, and perform data according to the first check code and the second check code Verification, wherein the second verification code is a second hardware module in the second device.
The device according to claim 21, wherein the receiving module is specifically configured to:

Receiving a real-time publish and subscribe RTPS protocol message sent by the first device;

Extracting the syndrome message of the first data from the RTPS protocol message.
The device according to claim 22, wherein the processing module is specifically configured to:

Judging whether the RTPS protocol message is a fragmented message according to the syndrome message in the RTPS protocol message;

If the RTPS protocol message is a fragmented message, determine multiple fragmented messages corresponding to the first data;

Extract the syndrome message in any one of the multiple fragmented messages to obtain the syndrome message of the first data.
The device according to claim 23, wherein the processing module is further configured to:

If the RTPS protocol message is a non-fragmented message, determine an RTPS protocol message corresponding to the first data;

The syndrome message in an RTPS protocol message corresponding to the first data is extracted to obtain the syndrome message of the first data.
The device according to claim 23 or 24, wherein the processing module is specifically configured to:

If the syndrome message in the RTPS protocol message is different from the syndrome message in the upper and lower messages of the RTPS protocol message, determining that the RTPS protocol message is a non-fragmented message;

If the syndrome message in the RTPS protocol message is the same as any syndrome message in the upper and lower messages of the RTPS protocol message, it is determined that the RTPS protocol message is a fragmented message.
The device according to any one of claims 21-25, wherein the syndrome message of the first data further includes at least one of the following parameters: data length, timeout parameter, and data sequence number.
The device according to any one of claims 21-26, wherein the processing module is specifically configured to:

If the first check code is equal to the second check code, it is determined that the data check succeeds; otherwise, the second device determines that the data check fails.
The device according to any one of claims 21-26, wherein the first device is a vehicle-mounted sensor, and the verification device is a vehicle-mounted master control device.
A verification device, characterized in that it comprises:

A processor, the processor is coupled with a memory, and the memory is used to store operation instructions;

The processor is configured to execute the method described in any one of claims 1 to 6 by calling the operation instruction.
The device according to claim 29, wherein the verification device further comprises: a first hardware module, configured to calculate a first verification code corresponding to the first data.
A verification device, characterized in that it comprises:

A processor, the processor is coupled with a memory, and the memory is used to store operation instructions;

The processor is configured to execute the method described in any one of the above claims 7-14 by invoking the operation instruction.
The device according to claim 31, wherein the verification device further comprises: a second hardware module for calculating a second verification code corresponding to the second data.