CN114297222A - Vehicle misbehavior management method, device, storage medium, and apparatus - Google Patents

发明内容SUMMARY OF THE INVENTION

本发明的主要目的在于提供一种车辆不正当行为管理方法、设备、存储介质及装置，旨在解决现有技术存在不正当行为的信号会影响V2X通信系统的可靠性，导致使用V2X通信系统的用户可能会造成严重事故的技术问题。The main purpose of the present invention is to provide a vehicle illegal behavior management method, equipment, storage medium and device, which aims to solve the problem that signals of illegal behavior in the prior art will affect the reliability of the V2X communication system, resulting in the use of the V2X communication system. Technical problems that users may cause serious accidents.

为实现上述目的，本发明提供了一种车辆不正当行为管理方法，所述方法包括以下步骤：In order to achieve the above object, the present invention provides a method for the management of improper behavior of vehicles, the method includes the following steps:

获取目标车辆的BSM信息与当前环境信息；Obtain the BSM information and current environment information of the target vehicle;

根据所述BSM信息与所述当前环境信息对目标车辆进行异常检测；Perform anomaly detection on the target vehicle according to the BSM information and the current environment information;

根据异常检测结果生成不正当行为报告，并确定所述不正当行为报告的级别；Generate a misconduct report based on anomaly detection results, and determine the level of the misconduct report;

根据所述不正当行为报告的级别执行对应的预设不正当行为处理策略。According to the level of the misconduct report, a corresponding preset misconduct processing policy is executed.

可选地，所述根据所述BSM信息与所述当前环境信息对目标车辆进行异常检测，包括：Optionally, performing anomaly detection on the target vehicle according to the BSM information and the current environment information includes:

对所述BSM信息中的参数信息进行遍历，将遍历到的参数信息记为目标参数信息；Traverse the parameter information in the BSM information, and record the traversed parameter information as target parameter information;

对所述目标参数信息分别进行格式检测与误差检测；Perform format detection and error detection respectively on the target parameter information;

在格式检测与误差检测合格时，基于所述BSM信息与所述当前环境信息对目标车辆进行合理性检测。When the format detection and the error detection are qualified, the rationality detection of the target vehicle is performed based on the BSM information and the current environment information.

可选地，所述对所述BSM信息的参数信息进行遍历，将遍历到的参数信息记为目标参数信息之前，还包括：Optionally, before the traversing the parameter information of the BSM information, the traversed parameter information is recorded as the target parameter information, further comprising:

对所述BSM信息进行安全性检测；performing security detection on the BSM information;

在所述安全性检测合格时，执行对所述BSM信息的参数信息进行遍历，将遍历到的参数信息记为目标参数信息的步骤。When the security detection is qualified, the step of traversing the parameter information of the BSM information is performed, and the traversed parameter information is recorded as the target parameter information.

可选地，所述对所述BSM信息进行安全性检测，包括：Optionally, the performing security detection on the BSM information includes:

获取所述BSM信息对应的目标车辆的安全证书信息；obtaining the safety certificate information of the target vehicle corresponding to the BSM information;

验证所述安全证书信息的有效日期及权限状态信息。Verify the validity date and authority status information of the security certificate information.

可选地，所述对所述目标参数信息分别进行格式检测与误差检测，包括：Optionally, performing format detection and error detection respectively on the target parameter information, including:

确定所述目标参数信息对应的参数格式，并将所述参数格式与预设协议格式进行对比；determining a parameter format corresponding to the target parameter information, and comparing the parameter format with a preset protocol format;

确定所述目标参数信息类型，并提取所述目标参数信息的参数值；Determine the target parameter information type, and extract the parameter value of the target parameter information;

将所述参数值与所述目标参数信息类型对应的预设第一参数区间进行对比。The parameter value is compared with a preset first parameter interval corresponding to the target parameter information type.

可选地，所述在格式检测与误差检测合格时，基于所述BSM信息与所述当前环境信息对目标车辆进行合理性检测，包括：Optionally, when the format detection and error detection are qualified, the rationality detection is performed on the target vehicle based on the BSM information and the current environment information, including:

若格式检测与误差检测合格，则获取所述BSM信息的序号；If the format detection and error detection are qualified, then obtain the serial number of the BSM information;

检测相邻BSM信息序号是否连续；Check whether the serial numbers of adjacent BSM messages are consecutive;

在相邻BSM信息序号连续时，基于所述BSM信息与所述当前环境信息对目标车辆进行合理性检测。When the serial numbers of adjacent BSM information are consecutive, the rationality detection of the target vehicle is performed based on the BSM information and the current environment information.

可选地，所述基于所述BSM信息与所述当前环境信息对目标车辆进行合理性检测，包括：Optionally, the performing rationality detection on the target vehicle based on the BSM information and the current environment information includes:

确定所述目标参数信息类型，并将所述目标参数信息对应的参数值与所述目标参数信息类型对应的预设第二参数区间进行对比；determining the target parameter information type, and comparing the parameter value corresponding to the target parameter information with the preset second parameter interval corresponding to the target parameter information type;

提取所述BSM信息中的位置信息，并将所述位置信息与所述当前环境信息进行对比。The location information in the BSM information is extracted, and the location information is compared with the current environment information.

可选地，所述在相邻BSM信息序号连续时，基于所述BSM信息与所述当前环境信息对目标车辆进行合理性检测之后，还包括：Optionally, when the sequence numbers of adjacent BSM information are continuous, after performing rationality detection on the target vehicle based on the BSM information and the current environment information, the method further includes:

在合理性检测合格时，基于所述BSM信息与所述当前环境信息对目标车辆进行一致性检测。When the rationality detection is qualified, the consistency detection is performed on the target vehicle based on the BSM information and the current environment information.

可选地，所述基于所述BSM信息与所述当前环境信息对目标车辆进行一致性检测，包括：Optionally, performing consistency detection on the target vehicle based on the BSM information and the current environment information includes:

基于所述BSM信息的序号确定下一个BSM信息；determining the next BSM information based on the sequence number of the BSM information;

根据所述BSM信息、所述当前环境信息及所述下一个BSM信息对目标车辆进行一致性检测。Consistency detection is performed on the target vehicle according to the BSM information, the current environment information and the next BSM information.

可选地，所述根据所述BSM信息、所述当前环境信息及所述下一个BSM信息对目标车辆进行一致性检测之后，还包括：Optionally, after performing consistency detection on the target vehicle according to the BSM information, the current environment information and the next BSM information, the method further includes:

在一致性检测合格时，将所述目标参数信息进行组合，获得目标参数信息组合；When the consistency detection is qualified, combine the target parameter information to obtain the target parameter information combination;

将目标参数信息组合通过场景预警算法判断是否满足预设碰撞预警的触发参数要求，所述预设碰撞预警包括前向碰撞预警、交叉路口碰撞预警、盲区预警、逆向超车预警、紧急制动预警、限速预警中的至少一项。The target parameter information is combined to determine whether the trigger parameter requirements of the preset collision warning are met through the scene warning algorithm. The preset collision warning includes forward collision warning, intersection collision warning, blind spot warning, reverse overtaking warning, emergency braking warning, At least one of the speed limit warnings.

若满足，向HMI生成预警信息，所述预警信息包括：前向碰撞预警、交叉路口碰撞预警、盲区预警、逆向超车预警、紧急制动预警、限速预警信息中的至少一项。If satisfied, early warning information is generated to the HMI, and the early warning information includes at least one of forward collision warning, intersection collision warning, blind spot warning, reverse overtaking warning, emergency braking warning, and speed limit warning information.

可选地，所述根据异常检测结果生成不正当行为报告，并确定所述不正当行为报告的级别，包括：Optionally, generating an improper behavior report according to the abnormality detection result, and determining the level of the improper behavior report, including:

根据异常检测结果生成不正当行为报告，并将所述不正当行为报告与数据库进行匹配；Generate a misconduct report based on anomaly detection results, and match the misconduct report with a database;

在匹配成功时，判定存在不正当行为信息；When the match is successful, it is determined that there is information about improper behavior;

确定所述不正当行为报告的级别。Determine the level of said misconduct report.

可选地，所述在匹配成功时，判定存在不正当行为信息，包括：Optionally, when the matching is successful, it is determined that there is improper behavior information, including:

基于系统评估指标构建预设系统评估模型；Build a preset system evaluation model based on system evaluation indicators;

在匹配成功时，将所述BSM信息与所述不正当行为报告通过预设系统评估模型进行系统评估，获得评估结果；When the matching is successful, systematically evaluate the BSM information and the improper behavior report through a preset system evaluation model to obtain an evaluation result;

根据所述评估结果验证不正当行为信息，并根据所述评估结果更新所述系统评估指标。The improper behavior information is verified according to the evaluation result, and the system evaluation index is updated according to the evaluation result.

此外，为实现上述目的，本发明还提出一种车辆不正当行为管理设备，所述车辆不正当行为管理设备包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的车辆不正当行为管理程序，所述车辆不正当行为管理程序配置为实现如上文所述的车辆不正当行为管理方法的步骤。In addition, in order to achieve the above object, the present invention also provides a vehicle misconduct management device, the vehicle misbehavior management device includes: a memory, a processor, and a device that is stored on the memory and can run on the processor. The vehicle misconduct management program is configured to implement the steps of the vehicle misbehavior management method as described above.

此外，为实现上述目的，本发明还提出一种存储介质，所述存储介质上存储有车辆不正当行为管理程序，所述车辆不正当行为管理程序被处理器执行时实现如上文所述的车辆不正当行为管理方法的步骤。In addition, in order to achieve the above object, the present invention also provides a storage medium, which stores a vehicle illegal behavior management program, and the vehicle illegal behavior management program is executed by a processor to realize the vehicle as described above. Steps in the Misconduct Management Approach.

此外，为实现上述目的，本发明还提出一种车辆不正当行为管理装置，所述车辆不正当行为管理装置包括：信息获取模块、异常检测模块、级别确认模块及策略执行模块；In addition, in order to achieve the above object, the present invention also provides a vehicle improper behavior management device, the vehicle improper behavior management device includes: an information acquisition module, an abnormality detection module, a level confirmation module and a policy execution module;

所述信息获取模块，用于获取目标车辆的BSM信息与当前环境信息；The information acquisition module is used to acquire the BSM information and current environment information of the target vehicle;

所述异常检测模块，用于根据所述BSM信息与所述当前环境信息对目标车辆进行异常检测；The abnormality detection module is configured to perform abnormality detection on the target vehicle according to the BSM information and the current environment information;

所述级别确认模块，用于根据异常检测结果生成不正当行为报告，并确定所述不正当行为报告的级别；The level confirmation module is used to generate an improper behavior report according to the abnormal detection result, and determine the level of the improper behavior report;

所述策略执行模块，用于根据所述不正当行为报告的级别执行对应的预设不正当行为处理策略。The policy execution module is configured to execute a corresponding preset illegal behavior processing policy according to the level of the illegal behavior report.

可选地，所述异常检测模块，还用于对所述BSM信息中的参数信息进行遍历，将遍历到的参数信息记为目标参数信息；Optionally, the abnormality detection module is further configured to traverse the parameter information in the BSM information, and record the traversed parameter information as target parameter information;

所述异常检测模块，还用于对所述目标参数信息分别进行格式检测与误差检测；The abnormality detection module is further configured to perform format detection and error detection respectively on the target parameter information;

所述异常检测模块，还用于在格式检测与误差检测合格时，基于所述BSM信息与所述当前环境信息对目标车辆进行合理性检测。The abnormality detection module is further configured to perform rationality detection on the target vehicle based on the BSM information and the current environment information when the format detection and error detection are qualified.

可选地，所述异常检测模块，还用于对所述BSM信息进行安全性检测；Optionally, the abnormality detection module is further configured to perform security detection on the BSM information;

所述异常检测模块，还用于在所述安全性检测合格时，执行对所述BSM信息的参数信息进行遍历，将遍历到的参数信息记为目标参数信息的步骤。The abnormality detection module is further configured to perform the step of traversing the parameter information of the BSM information when the security detection is qualified, and recording the traversed parameter information as target parameter information.

可选地，所述异常检测模块，还用于获取所述BSM信息对应的目标车辆的安全证书信息；Optionally, the abnormality detection module is further configured to obtain the safety certificate information of the target vehicle corresponding to the BSM information;

所述异常检测模块，还用于验证所述安全证书信息的有效日期及权限状态信息。The abnormality detection module is further configured to verify the validity date and authority status information of the security certificate information.

可选地，所述异常检测模块，还用于确定所述目标参数信息对应的参数格式，并将所述参数格式与预设协议格式进行对比；Optionally, the abnormality detection module is further configured to determine a parameter format corresponding to the target parameter information, and compare the parameter format with a preset protocol format;

所述异常检测模块，还用于确定所述目标参数信息类型，并提取所述目标参数信息的参数值；The abnormality detection module is further configured to determine the type of the target parameter information, and extract the parameter value of the target parameter information;

所述异常检测模块，还用于将所述参数值与所述目标参数信息类型对应的预设第一参数区间进行对比。The abnormality detection module is further configured to compare the parameter value with a preset first parameter interval corresponding to the target parameter information type.

可选地，所述异常检测模块，还用于若格式检测与误差检测合格，则获取所述BSM信息的序号；Optionally, the abnormality detection module is further configured to obtain the serial number of the BSM information if the format detection and error detection are qualified;

所述异常检测模块，还用于检测相邻BSM信息序号是否连续；The abnormality detection module is also used to detect whether the sequence numbers of adjacent BSM information are continuous;

所述异常检测模块，还用于在相邻BSM信息序号连续时，基于所述BSM信息与所述当前环境信息对目标车辆进行合理性检测。The abnormality detection module is further configured to perform rationality detection on the target vehicle based on the BSM information and the current environment information when the serial numbers of adjacent BSM information are consecutive.

本发明中，公开了获取目标车辆的BSM信息与当前环境信息，根据所述BSM信息与所述当前环境信息对目标车辆进行异常检测，根据异常检测结果生成不正当行为报告，并确定所述不正当行为报告的级别，根据所述不正当行为报告的级别执行对应的预设不正当行为处理策略；由于在本发明中，通过根据获取到的目标车辆进行异常检测，并确定目标车辆不正当行为报告的级别以执行对应级别的不正当行为处理策略，实现对于车辆在存在不正当行为的管理监督，避免了不正当行为的信号会影响V2X通信系统的可靠性，导致使用V2X通信系统的用户可能会造成严重事故的技术问题。In the present invention, it is disclosed to obtain the BSM information and current environment information of the target vehicle, perform abnormality detection on the target vehicle according to the BSM information and the current environment information, generate an improper behavior report according to the abnormality detection result, and determine the abnormal behavior. The level of the legitimate behavior report, the corresponding preset improper behavior processing strategy is executed according to the level of the improper behavior report; because in the present invention, the abnormality detection is performed according to the acquired target vehicle, and the improper behavior of the target vehicle is determined. The level of the report is to implement the corresponding level of illegal behavior processing strategy, to realize the management and supervision of the vehicle in the presence of illegal behavior, to avoid the signal of the illegal behavior will affect the reliability of the V2X communication system, resulting in users using the V2X communication system may be Technical problems that can cause serious accidents.

具体实施方式Detailed ways

应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

参照图1，图1为本发明实施例方案涉及的硬件运行环境的车辆不正当行为管理设备结构示意图。Referring to FIG. 1 , FIG. 1 is a schematic structural diagram of a vehicle illegal behavior management device in a hardware operating environment involved in an embodiment of the present invention.

如图1所示，该车辆不正当行为管理设备可以包括：处理器1001，例如中央处理器(Central Processing Unit，CPU)，通信总线1002、用户接口1003，网络接口1004，存储器1005。其中，通信总线1002用于实现这些组件之间的连接通信。用户接口1003可以包括显示屏(Display)、输入单元比如键盘(Keyboard)，可选用户接口1003还可以包括标准的有线接口、无线接口。网络接口1004可选的可以包括标准的有线接口、无线接口(如无线保真(Wireless-Fidelity，Wi-Fi)接口)。存储器1005可以是高速的随机存取存储器(RandomAccess Memory，RAM)，也可以是稳定的非易失性存储器(Non-Volatile Memory，NVM)，例如磁盘存储器。存储器1005可选的还可以是独立于前述处理器1001的存储装置。As shown in FIG. 1 , the vehicle misbehavior management device may include: a processor 1001 , such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002 , a user interface 1003 , a network interface 1004 , and a memory 1005 . Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. Optionally, the network interface 1004 may include a standard wired interface and a wireless interface (eg, a wireless-fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001 .

本领域技术人员可以理解，图1中示出的结构并不构成对车辆不正当行为管理设备的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。Those skilled in the art can understand that the structure shown in FIG. 1 does not constitute a limitation on the vehicle misconduct management device, and may include more or less components than the one shown, or combine some components, or different components layout.

如图1所示，作为一种存储介质的存储器1005中可以包括操作系统、网络通信模块、用户接口模块以及车辆不正当行为管理程序。As shown in FIG. 1 , the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a vehicle misbehavior management program.

在图1所示的车辆不正当行为管理设备中，网络接口1004主要用于与网络服务器进行数据通信；用户接口1003主要用于与用户进行数据交互；本发明车辆不正当行为管理设备中的处理器1001、存储器1005可以设置在车辆不正当行为管理设备中，所述车辆不正当行为管理设备通过处理器1001调用存储器1005中存储的车辆不正当行为管理程序，并执行本发明实施例提供的车辆不正当行为管理方法。In the vehicle improper behavior management device shown in FIG. 1, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processing in the vehicle improper behavior management device of the present invention The device 1001 and the memory 1005 may be set in a vehicle improper behavior management device, and the vehicle improper behavior management device calls the vehicle improper behavior management program stored in the memory 1005 through the processor 1001, and executes the vehicle provided by the embodiment of the present invention. Misconduct management methods.

本发明实施例提供了一种车辆不正当行为管理方法，参照图2，图2为本发明一种车辆不正当行为管理方法第一实施例的流程示意图。An embodiment of the present invention provides a method for managing illegal behavior of a vehicle. Referring to FIG. 2 , FIG. 2 is a schematic flowchart of a first embodiment of a method for managing illegal behavior of a vehicle according to the present invention.

本实施例中，所述车辆不正当行为管理方法包括以下步骤：In this embodiment, the method for managing vehicle misconduct includes the following steps:

步骤S10：获取目标车辆的BSM信息与当前环境信息。Step S10: Acquire the BSM information and current environment information of the target vehicle.

需要说明的是，本实施例的执行主体可以是车辆不正当行为管理设备，其中所述车辆不正当行为管理设备可以是控制计算机或移动手机等电子设备，还可以是车联网平台等具有数据通信或数据处理等功能云端处理平台，本实施例对此不作具体限制。It should be noted that the executive body of this embodiment may be a vehicle misconduct management device, wherein the vehicle misbehavior management device may be an electronic device such as a control computer or a mobile phone, or an Internet of Vehicles platform with data communication capabilities. or a cloud processing platform with functions such as data processing, which is not specifically limited in this embodiment.

可以理解的是，V2X信息包括：Msg-BSM、Msg-MAP、Msg-RSI、Msg-RSM以及Msg-SPAT，其中，Msg-BSM是指车辆基本安全消息，使用最广泛的一个应用层消息。用于车辆直接交换安全状态数据。车辆通过该消息的广播，告知周围车辆自身状态，并以此获得一系列协同安全应用；Msg-MAP是指地图消息由路侧单元广播，向车辆传递局部区域的地图信息，包括局部区域的路口信息、路段信息、车道信息以及道路之间的连接关系；Msg-RSI可以是由路侧单元向周围车载单元发布的交通事件以及交通标志标牌信息。车载单元在判定消息的生效区域时，根据自身的定位与运行方向，以及消息本身提供的区域范围，来进行判定，而后向驾驶员推送；RSI传递的是与道路相关的一些预警或提示信息，不用作车辆的求救或其他安全应用；Msg-RSM是指路侧安全消息，路侧单元通过路侧本身拥有的相应检测手段，得到其周边交通参与者的实时状态信息，并将这些信息整理成本消息体所定义的格式。Msg-RSM消息的存在，使车辆对周围环境的感知不仅依赖于Msg-BSM消息，路侧单元基于路侧传感器，帮助车辆对其周围的环境进行了探测；Msg-SPAT可以是信号灯消息，其中，所述信号灯信息包含一个或多个路口信号灯的当前状态信息，结合MAP消息，为车辆提供实时的前方信号灯相位消息。It can be understood that the V2X information includes: Msg-BSM, Msg-MAP, Msg-RSI, Msg-RSM and Msg-SPAT, wherein Msg-BSM refers to the basic vehicle safety message, which is the most widely used application layer message. For direct exchange of safety status data between vehicles. Through the broadcast of this message, the vehicle informs the surrounding vehicles of their own status, and thus obtains a series of cooperative safety applications; Msg-MAP refers to the map message broadcast by the roadside unit, which transmits the map information of the local area to the vehicle, including the intersection of the local area. Information, road section information, lane information and the connection relationship between roads; Msg-RSI can be the traffic events and traffic sign information published by the roadside unit to the surrounding on-board units. When judging the effective area of the message, the on-board unit makes a judgment based on its own positioning and running direction, as well as the area range provided by the message itself, and then pushes it to the driver; RSI transmits some warning or prompt information related to the road, It is not used as a vehicle for help or other safety applications; Msg-RSM refers to roadside safety messages. The roadside unit obtains the real-time status information of its surrounding traffic participants through the corresponding detection methods possessed by the roadside itself, and organizes these information into costs. The format defined by the message body. The existence of the Msg-RSM message makes the vehicle's perception of the surrounding environment not only rely on the Msg-BSM message, but the roadside unit based on the roadside sensor helps the vehicle to detect its surrounding environment; Msg-SPAT can be a signal light message, where , the signal light information includes the current state information of one or more intersection signal lights, and combined with the MAP message, provides real-time front signal light phase information for the vehicle.

应当理解的是，目标车辆用于向车联网平台发送BSM信息(Business ServiceManagement，BSM)，其中，目标车辆中会装载有车载单元(On board Unit，OBU)设备，车载单元设备可以通过采集车辆的信息，并将采集到的信息进行整合以适应车联网平台的信息传输格式。It should be understood that the target vehicle is used to send BSM information (Business Service Management, BSM) to the Internet of Vehicles platform, wherein the target vehicle will be loaded with an On Board Unit (OBU) device, and the OBU device can collect the information, and integrate the collected information to adapt to the information transmission format of the Internet of Vehicles platform.

值得说明的是，BSM信息可以是在车联网应用领域中使用较为广泛的应用层信息，BSM信息用于车辆直接交换安全状态数据，通过广播车辆的BSM信息，以使周围车辆获取自身的车辆状态，以达到车辆之间的协同合作。其中，BSM信息可以是车辆编号信息、车辆速度信息、位置信息、航向角信息、加速度，预测路径和历史路径等。It is worth noting that BSM information can be the application layer information widely used in the application field of the Internet of Vehicles. BSM information is used for vehicles to directly exchange safety status data, and by broadcasting the BSM information of the vehicle, the surrounding vehicles can obtain their own vehicle status. , in order to achieve synergy between vehicles. Wherein, the BSM information may be vehicle number information, vehicle speed information, position information, heading angle information, acceleration, predicted path and historical path, etc.

易于理解的是，当前环境信息可以用于与车辆的BSM信息进行结合，以使车联网平台可以判断出车辆之间的运行状态，并在可能出现事故时，及时做出反应，其中，当前环境信息包括目标车辆周围环境中由路测单元发送的地图消息、交通信息、路侧安全消息及信号灯消息等。It is easy to understand that the current environment information can be used to combine with the BSM information of the vehicle, so that the IoV platform can judge the running state between vehicles and respond in time when an accident may occur. Among them, the current environment The information includes map messages, traffic information, roadside safety messages and signal light messages sent by the drive test unit in the surrounding environment of the target vehicle.

其中，地图消息可以是在地图中的包括局部区域的路口信息、路段信息、车道信息、道路之间的连接关系等信息；交通信息可以是由车载单元在判定消息的生效区域时，根据自身的定位与运行方向，以及消息本身提供的区域范围，来进行判定，再向驾驶员推送的交通事件与交通标志标牌消息等，且在实际应用中，交通信息只提供道路相关的预警作用，一般不用于车辆的求救或者其他的安全应用中。Wherein, the map message may be information such as intersection information, road section information, lane information, and connection relationships between roads in the map including local areas; The positioning and running direction, as well as the area range provided by the message itself, are used to determine the traffic events and traffic signs and signage messages that are pushed to the driver. It can be used in vehicle SOS or other safety applications.

此外，路侧安全信息是路测单元通过自身的检测手段，获得的周边交通参与者的实时状态信息，即车辆、行人实时交通状态信息等，在实际操作过程中，路测单元与目标车辆中的车载单元获取到的消息格式可能不一致，为了保证提高数据分析的效率，还可以将路测单元获取到的实时状态信息等信息的格式调整为定义的预设格式；信号灯消息可以是目标车辆当前所在位置的路口信号灯的状态信息，还可以是某一个路口或者多个路口的路口信号灯的当前状态信息，例如：信号灯的剩余时间或信号灯的状态等，本实施例对此不做具体限制，其中信号灯信息可以结合地图消息为目标车辆提供实时的区域信号灯相位信息。In addition, roadside safety information is the real-time status information of surrounding traffic participants obtained by the drive test unit through its own detection methods, that is, the real-time traffic state information of vehicles and pedestrians. The format of the messages obtained by the on-board unit may be inconsistent. In order to improve the efficiency of data analysis, the format of the real-time status information and other information obtained by the drive test unit can also be adjusted to the defined preset format; the signal light message can be the current status of the target vehicle. The status information of the signal lights at the intersection at the location may also be the current status information of the signal lights at a certain intersection or multiple intersections, such as the remaining time of the signal lights or the status of the signal lights, etc. This embodiment does not specifically limit this, wherein The signal light information can be combined with the map information to provide the target vehicle with real-time regional signal light phase information.

步骤S20：根据所述BSM信息与所述当前环境信息对目标车辆进行异常检测。Step S20: Perform abnormality detection on the target vehicle according to the BSM information and the current environment information.

需要说明的是，在本实施例中，对目标车辆进行异常检测可以是基于BSM信息与当前环境信息将目标车辆进行安全性检测、正确性检测、协议一致性检测、合理性检测及一致性检测等操作，对于目标车辆进行异常检测用于检测目标车辆发送的BSM信息是否为不正当行为信息。It should be noted that, in this embodiment, the abnormality detection for the target vehicle may be based on the BSM information and the current environment information to perform safety detection, correctness detection, protocol consistency detection, rationality detection and consistency detection on the target vehicle. and other operations, anomaly detection is performed on the target vehicle to detect whether the BSM information sent by the target vehicle is illegal behavior information.

其中，对于发送不正当行为信息的主体可以分为拥有合法身份的终端和非法终端，即拥在车联网中有合法身份的车辆与不具有合法身份的车辆，其中，拥有合法身份的终端发送的不正当行为消息按其发送意愿可分为有意发送和无意发送，具有合法身份的终端发送的消息本身可以通过安全性和一致性检查，但是无法通过合理性检查。Among them, the subjects who send information about improper behavior can be divided into terminals with legal identities and illegal terminals, that is, vehicles with legal identities in the Internet of Vehicles and vehicles without legal identities. Among them, the terminals with legal identities send According to their willingness to send, misconduct messages can be divided into intentional sending and unintentional sending. Messages sent by terminals with legal identities can pass the security and consistency checks themselves, but cannot pass the rationality check.

此外，非法终端发送的不正当行为消息分为恶意伪造消息、重放消息、乱用截获的合法证书、恶意占用信道等。这类不正当行为发送的消息内容一般无法通过消息安全性和一致性检查，其他终端可将这类消息过滤掉，对其他合法终端的影响较小。但是这类消息会占用信道资源，会对网络整体运行效率造成影响，例如：对外发送包含虚假或错误内容的信息，从而对于V2X直连通信网络中其他的V2X终端造成影响其进行业务判断的行为即可判断为不正当行为。In addition, the illegal behavior messages sent by the illegal terminals are classified into malicious forged messages, replayed messages, indiscriminate use of intercepted legal certificates, and malicious occupation of channels. The content of messages sent by such illegal behaviors generally cannot pass the message security and consistency check, and other terminals can filter out such messages, which has little impact on other legitimate terminals. However, such messages will occupy channel resources and affect the overall operation efficiency of the network. For example, sending information containing false or wrong content to other V2X terminals in the V2X direct communication network will affect their business judgment. It can be judged as improper behavior.

可以理解的是，所述安全性检测用于筛选出非法终端发送的不正当行为消息；正确定检测用于检测BSM信息中是否存在不合适的参数；所述协议一致性用于检测BSM信息中的参数格式是否出错；合理性检测用于检测BSM信息中的参数是否处于合理的范围，防止出现误报；一致性检测用于检测在相邻的BSM信息中的参数是否出现明显不一致的变化，例如：加速度变化过快等。It can be understood that the security detection is used to filter out the improper behavior messages sent by the illegal terminal; the correct detection is used to detect whether there are inappropriate parameters in the BSM information; the protocol consistency is used to detect the BSM information. Whether the format of the parameters is wrong; the rationality detection is used to detect whether the parameters in the BSM information are in a reasonable range to prevent false positives; the consistency detection is used to detect whether the parameters in the adjacent BSM information have obvious inconsistent changes. For example: acceleration changes too fast, etc.

在具体实现中，根据BSM信息中的车辆编号信息、车辆速度信息、航向角信息、加速度，预测路径和历史路径等参数，与预设参数值进行对比，检测目标车辆是都存在不正当行为，并根据BSM信息与当前环境信息确定目标车辆的位置是否不合理等异常检测操作。In the specific implementation, according to the vehicle number information, vehicle speed information, heading angle information, acceleration, predicted path and historical path and other parameters in the BSM information, it is compared with the preset parameter values to detect whether the target vehicle has illegal behavior. And according to the BSM information and the current environment information to determine whether the location of the target vehicle is unreasonable and other abnormal detection operations.

步骤S30：根据异常检测结果生成不正当行为报告，并确定所述不正当行为报告的级别。Step S30: Generate an improper behavior report according to the abnormality detection result, and determine the level of the improper behavior report.

可以理解的是，不正当行为报告用于给车联网平台执行措施的依据，且不正当行为报告是在异常检测结果的基础上增加了报告基本信息获得的，其中，所述基本信息包括：不正当行为报告的生成时间、目标车辆对应的车载单元身份识别号，不正当行为报告的识别码及报告类型等。It can be understood that the improper behavior report is used as the basis for implementing measures for the Internet of Vehicles platform, and the improper behavior report is obtained by adding basic information of the report on the basis of the abnormal detection result, wherein the basic information includes: The generation time of the legitimate behavior report, the identification number of the vehicle-mounted unit corresponding to the target vehicle, the identification code and report type of the improper behavior report, etc.

值得说明的是，由于在道路拥挤的情况下，当道路上车辆数量达到一定数量时，该拥挤道路上车辆的信道资源消耗都比较高，预先设置的车联网接收层的可用信道资源都可能很快消失，从而产生信道拥塞的问题，信道拥塞可能会导致车辆无法实时接收到其他车辆所广播的基础安全消息，从而造成车辆的车联网安全应用对于道路上的威胁计算和判定存在严重的失效可能。It is worth noting that when the road is congested, when the number of vehicles on the road reaches a certain number, the channel resource consumption of the vehicles on the congested road is relatively high, and the available channel resources of the pre-set IoV receiving layer may be very high. It disappears quickly, resulting in the problem of channel congestion. Channel congestion may cause the vehicle to fail to receive the basic safety messages broadcast by other vehicles in real time, resulting in serious failure of the vehicle networking security application for the threat calculation and determination on the road. .

因此，实际场景中，每条标记为不正当行为的消息都会被报告，但是报告格式允许省略报告，这意味着不会经常报告车辆的相同行为。取而代之的是，当地车辆OBU在收集证据时会在一定时间后避免报告相同的行为。然后将证据以单一报告的形式发送给MA，MA会优先考虑接收报告的内容而不是它们的数量。Therefore, in a real scenario, every message flagged for inappropriate behavior is reported, but the reporting format allows for omission of reports, which means that the same behavior of the vehicle will not be reported very often. Instead, local vehicle OBUs refrain from reporting the same behavior after a certain amount of time when collecting evidence. The evidence is then sent to the MA in a single report, and the MA prioritizes the content of the received reports over their quantity.

在具体实现中，在对目标车辆进行不正当行为检测之后，获得不正当行为检测结果，根据不正当行为检测结果生成不正当行为报告，此时，通过数据通信传输向车联网平台中的不正当行为检测管理机构(Misbehavior Authority，MA)发送不正当行为检测报告，其中，数据通信传输可以是通过HTTP连接推送到全局不正当行为检测管理机构中，且不正当行为报告在数据传输时的报告格式可以是json或xml格式等，本实施例对此不作具体限制。In the specific implementation, after the improper behavior detection of the target vehicle is performed, the improper behavior detection result is obtained, and the improper behavior report is generated according to the improper behavior detection result. The Misbehavior Authority (MA) sends a misconduct detection report, wherein the data communication transmission can be pushed to the global misbehavior detection management agency through an HTTP connection, and the report format of the misbehavior report during data transmission It may be in json or xml format, etc., which is not specifically limited in this embodiment.

应当理解的是，不正当行为报告包括三个部分：1、基本信息，基本信息包括：生成时间、发送OUB的id、报告的id和报告类型；2、正确性与一致性检测结果，正确性及一致性检测结果，正确性错误仅需要一条消息，一致性错误需要两条连续消息；3、辅助MA进行调查并支持其结论的辅助消息，其中，辅助消息用于帮助MA进行调查并支持其结论的，且所述辅助消息包括：本地动态地图或者当前环境信息中的地图信息等，本实施例对此不作具体限制。It should be understood that the misconduct report includes three parts: 1. Basic information, which includes: the time of generation, the id of the sent OUB, the id of the report and the report type; 2. The correctness and consistency test results, correctness and the consistency detection result, only one message is needed for correctness errors, and two consecutive messages are needed for consistency errors; 3. Auxiliary messages that assist MA to investigate and support its conclusions, among which, auxiliary messages are used to help MA conduct investigations and support its conclusions. In conclusion, the auxiliary message includes: a local dynamic map or map information in the current environment information, etc., which is not specifically limited in this embodiment.

值得说明的是，不正当行为检测管理机构(Misbehavior Authority，MA)是车联网安全认证体系的一个重要组件，用于接收有关恶意事件或潜在恶意活动的报告，对其进行过滤、分类分级、关联分析，并最终判定是否采取相对应的解决措施包括将判定为异常的设备/车辆凭证有关的信息给到安全认证系统，通过例如添加其相应证书到证书吊销列表等操作，撤销该设备参与车联网通信的凭证，由于在实际操作中，证书吊销列表的发布机构相信MA提出的撤销决定，因此，MA可以触发安全认证系统中对于证书的撤销操作。即可以实现本实施例中后续提出的处理措施。It is worth noting that the Misbehavior Authority (MA) is an important component of the Internet of Vehicles security certification system, which is used to receive reports on malicious events or potential malicious activities, filter, classify, and correlate them. Analyze, and finally determine whether to take corresponding solutions, including sending the information about the device/vehicle certificate determined to be abnormal to the security authentication system, and withdrawing the device from participating in the Internet of Vehicles by adding its corresponding certificate to the certificate revocation list, etc. The certificate of communication, because in practice, the issuing authority of the certificate revocation list trusts the revocation decision proposed by the MA, therefore, the MA can trigger the revocation operation of the certificate in the security authentication system. That is, the processing measures proposed later in this embodiment can be implemented.

可以理解的是，不正当行为报告的级别可以是根据目标车辆发送的消息的异常检测结果进行判定，且在本实施例中，不正当行为报告的级别可以分为五级。It can be understood that the level of the improper behavior report may be determined according to the abnormal detection result of the message sent by the target vehicle, and in this embodiment, the level of the improper behavior report can be divided into five levels.

在具体实现中，对于具有合法身份的车辆发送的消息无法通过安全性检测时，将这类不正当行为信息对应的不正当行为报告标记为1级，例如：超出有效日期或者超出设定的权限等；对于目标车辆发送的消息通过安全性检测，但无法通过正确性与协议一致性检测时，将这类不正当行为信息对应的不正当行为报告标记为2级，例如：BSM信息中的参数格式与预设参数格式不匹配、BSM信息中的部分字段数据值是未定义的数值以及超出规定数值范围等情况；对于目标车辆发送的消息通过安全性检测，且通过正确性与协议一致性检测，但MA接收到的连续的消息之间的语义不连续，将这类不正当行为信息对应的不正当行为报告标记为3级，例如：目标车辆的位置发生大幅度的变化或者接收到的连续信息之间的序号不连续等情况；对于目标车辆发送的消息通过安全性检测，且通过正确性与协议一致性检测，MA接收到的连续的消息之间的语义连续，但是无法通过合理性检测以及一致性检测时，将这类不正当行为信息对应的不正当行为报告标记为4级，例如：BSM信息中的车辆位置与当前环境信息中的建筑物重合等。对于目标车辆发送的消息可以通过全部的安全性检测、正确性与协议一致性检测、连续的消息之间的语义连续以及合理性检测以及一致性检测，但是对于车辆之间多个BSM信息进行组合时，检测目标参数信息组合是否满足例如前向碰撞预警、交叉路口碰撞预警、盲区预警、逆向超车预警、紧急制动预警、限速预警等场景触发参数要求。会频繁若存在，向HMI生成本不应该发生的例如前向碰撞预警、交叉路口碰撞预警、盲区预警、逆向超车预警、紧急制动预警、限速预警信息，严重影响驾驶员的行驶判断，甚至造成严重交通事故后果的情况，将这类不正当行为信息对应的不正当行为报告标记为5级，例如：车辆位置与其他车辆过近，后车车速远远高于前车等情况。In the specific implementation, when the message sent by the vehicle with legal identity fails the security detection, the improper behavior report corresponding to this kind of improper behavior information is marked as level 1, for example: beyond the valid date or beyond the set authority etc.; when the message sent by the target vehicle passes the security test, but fails the correctness and protocol consistency test, mark the misconduct report corresponding to this type of misbehavior information as level 2, for example: parameters in the BSM information The format does not match the preset parameter format, the data value of some fields in the BSM information is an undefined value, or exceeds the specified value range, etc.; the message sent by the target vehicle passes the security test, and passes the correctness and protocol consistency test. , but the semantics between the consecutive messages received by the MA are discontinuous, and the misconduct report corresponding to this type of misconduct information is marked as level 3, for example: the position of the target vehicle changes greatly or the received continuous The sequence numbers between messages are discontinuous, etc.; for the messages sent by the target vehicle that pass the security check, and pass the correctness and protocol consistency check, the semantics between the consecutive messages received by the MA are continuous, but cannot pass the rationality check. And during the consistency detection, the improper behavior report corresponding to this kind of improper behavior information is marked as level 4, for example: the vehicle position in the BSM information coincides with the building in the current environmental information, etc. The message sent by the target vehicle can pass all the security detection, correctness and protocol consistency detection, semantic continuity between consecutive messages, rationality detection and consistency detection, but for the combination of multiple BSM information between vehicles Detects whether the target parameter information combination meets the trigger parameter requirements of scenarios such as forward collision warning, intersection collision warning, blind spot warning, reverse overtaking warning, emergency braking warning, and speed limit warning. If it exists frequently, it will generate information to the HMI that should not have occurred, such as forward collision warning, intersection collision warning, blind spot warning, reverse overtaking warning, emergency braking warning, and speed limit warning information, which will seriously affect the driver's driving judgment, and even In the case of serious traffic accident consequences, the improper behavior report corresponding to this kind of improper behavior information is marked as level 5, for example, the vehicle position is too close to other vehicles, and the speed of the vehicle behind is much higher than that of the vehicle in front.

可以理解的是，对于第1级和第2级不正当行为，消息无法通过安全性、正确性、一致性检查，此类异常消息可由其他合法终端过滤，并不会对其他合法终端产生严重危害。对于第3级和第4级不正当行为：消息可以通过安全性、正确性和一致性检查，但是由于某些字段的数据值不合理，如果其他终端采用其中的数据进行场景判断，会造成误判，甚至产生安全危险。对于第5级不正当行为：消息可以通过安全性、正确性和一致性检查，而且符合场景地图中位置，但是经纬度、车速、航向角等组合不合理，会造成误告警，给其他车辆造成干扰，影响交通安全，容易造成验证的后果。It is understandable that for Level 1 and Level 2 improper behaviors, messages cannot pass the security, correctness, and consistency checks. Such abnormal messages can be filtered by other legitimate terminals and will not cause serious harm to other legitimate terminals. . For Level 3 and Level 4 improper behaviors: messages can pass the security, correctness and consistency checks, but because the data values of some fields are unreasonable, if other terminals use the data in them to judge the scene, it will cause errors convicted, and even a safety hazard. For Level 5 Improper Behavior: The message can pass the security, correctness and consistency checks, and conform to the location in the scene map, but the combination of longitude, latitude, vehicle speed, heading angle, etc. is unreasonable, which will cause false alarms and cause interference to other vehicles , affecting traffic safety and easily causing verification consequences.

步骤S40：根据所述不正当行为报告的级别执行对应的预设不正当行为处理策略。Step S40: Execute a corresponding preset illegal behavior processing policy according to the level of the illegal behavior report.

需要说明的是，预设不正当行为处理策略有五种，其中，预设不正当行为处理策略根据不正当行为报告的级别可以分为第1级：维持原状；第2级：向目标车辆发送警告消息；第3级：扣除车辆的警告分；第4级：记录目标车辆的身份识别码，以使该车辆无法申请更多证书的被动撤销；第5级：撤销目标车辆的当前证书。It should be noted that there are five kinds of preset improper behavior handling strategies, among which, the preset improper behavior handling strategies can be divided into 1st level: maintain the status quo; 2nd level: send to the target vehicle according to the level of the improper behavior report Warning message; Level 3: Deduct the vehicle's warning points; Level 4: Record the target vehicle's ID number so that the vehicle cannot apply for passive revocation of more certificates; Level 5: Revoke the target vehicle's current certificate.

在第一实施例中，公开了获取目标车辆的BSM信息与当前环境信息，根据所述BSM信息与所述当前环境信息对目标车辆进行异常检测，根据异常检测结果生成不正当行为报告，并确定所述不正当行为报告的级别，根据所述不正当行为报告的级别执行对应的预设不正当行为处理策略；由于在本实施例中，通过根据获取到的目标车辆进行异常检测，并确定目标车辆不正当行为报告的级别以执行对应级别的不正当行为处理策略，实现对于车辆在存在不正当行为的管理监督，避免了不正当行为的信号会影响V2X通信系统的可靠性，导致使用V2X通信系统的用户可能会造成严重事故的技术问题，提高了对于出现了发出不正当行为消息的车辆的管理效率。In the first embodiment, it is disclosed to obtain the BSM information and current environment information of the target vehicle, perform abnormality detection on the target vehicle according to the BSM information and the current environment information, generate an improper behavior report according to the abnormality detection result, and determine According to the level of the illegal behavior report, the corresponding preset illegal behavior processing strategy is executed according to the level of the illegal behavior report; because in this embodiment, the abnormality detection is performed according to the acquired target vehicle, and the target is determined. The level of vehicle misconduct report is to implement the corresponding level of misbehavior handling strategy, to realize the management and supervision of vehicle misbehavior, to avoid the signal of misbehavior from affecting the reliability of the V2X communication system, resulting in the use of V2X communication Users of the system may cause technical problems in serious accidents, improving the management efficiency of vehicles that have issued messages of wrongdoing.

参考图3，图3为本发明一种车辆不正当行为管理方法第二实施例的流程示意图。Referring to FIG. 3 , FIG. 3 is a schematic flowchart of a second embodiment of a method for managing illegal behavior of vehicles according to the present invention.

基于上述第一实施例，在本实施例中，所述步骤S20，包括：Based on the above-mentioned first embodiment, in this embodiment, the step S20 includes:

步骤S201：对所述BSM信息中的参数信息进行遍历，将遍历到的参数信息记为目标参数信息。Step S201 : traverse the parameter information in the BSM information, and record the traversed parameter information as target parameter information.

需要说明的是，BSM信息可以是车辆编号信息、车辆速度信息、位置信息、航向角信息、加速度，预测路径和历史路径等信息。It should be noted that the BSM information may be information such as vehicle number information, vehicle speed information, position information, heading angle information, acceleration, predicted path, and historical path.

可以理解的是，目标参数信息是指所述BSM信息中的车辆编号信息、速度信息、车辆尺寸信息及航向角信息等，由于BSM信息中包括有车辆的位置信息等无法使用具体的数据量化的信息，为使异常检测结果更准确，可以将可以量化的信息进行提取，进行协议格式一致性检测与正确性检测。It can be understood that the target parameter information refers to the vehicle number information, speed information, vehicle size information, heading angle information, etc. in the BSM information. Since the BSM information includes vehicle position information, etc., it cannot be quantified using specific data. In order to make the abnormal detection result more accurate, the quantifiable information can be extracted, and the protocol format consistency detection and correctness detection can be performed.

所述步骤S201之前，还包括：Before the step S201, it also includes:

对所述BSM信息进行安全性检测；performing security detection on the BSM information;

在所述安全性检测合格时，执行对所述BSM信息的参数信息进行遍历，将遍历到的参数信息记为目标参数信息的步骤。When the security detection is qualified, the step of traversing the parameter information of the BSM information is performed, and the traversed parameter information is recorded as the target parameter information.

值得说明的是，由于车联网中的车辆都可以过滤掉没有通过安全性检测的信息，因此可以直接对目标车辆的BSM信息进行正确性检测与协议格式一致性检测，以提高工作效率，但是为了提高本实施例中更精确的对不同级别的不正当行为的处理效率，需要对BSM信息进行安全性检测。It is worth noting that since the vehicles in the Internet of Vehicles can filter out the information that has not passed the security test, the BSM information of the target vehicle can be directly checked for correctness and protocol format consistency to improve work efficiency, but in order to To improve the more accurate processing efficiency of different levels of improper behavior in this embodiment, it is necessary to perform security detection on BSM information.

其中，对于BSM信息进行安全性检测可以是通过获取所述BSM信息对应的目标车辆的安全证书信息，并验证所述安全证书信息的有效日期及权限状态信息。The security detection of the BSM information may be performed by acquiring the security certificate information of the target vehicle corresponding to the BSM information, and verifying the validity date and authority status information of the security certificate information.

此外，若是目标车辆的BSM信息无法通过安全性检测，无需进行后续的格式检测及误差检测，目标车辆对应的不正当行为报告为1级，此时，对于目标车辆的不正当行为处理为维持原状。In addition, if the BSM information of the target vehicle fails the security detection, no subsequent format detection and error detection are required, and the report of the illegal behavior corresponding to the target vehicle is level 1. At this time, the illegal behavior of the target vehicle is handled as it is. .

步骤S202：对所述目标参数信息分别进行格式检测与误差检测。Step S202: Perform format detection and error detection on the target parameter information respectively.

需要说明的是，格式检测即将目标参数信息与预设格式进行对比，误差检测即检测目标参数信息是否在对应的预设区间内，例如：对于车辆速度参数信息就检测目标车辆的行驶速度是否在预设速度区间内。It should be noted that the format detection is to compare the target parameter information with the preset format, and the error detection is to detect whether the target parameter information is within the corresponding preset interval. within the preset speed range.

为了提高对目标参数信息的格式检测与误差检测的准确度，所述步骤S202，包括：In order to improve the accuracy of the format detection and error detection of the target parameter information, the step S202 includes:

确定所述目标参数信息对应的参数格式，并将所述参数格式与预设协议格式进行对比；determining a parameter format corresponding to the target parameter information, and comparing the parameter format with a preset protocol format;

确定所述目标参数信息类型，并提取所述目标参数信息的参数值；Determine the target parameter information type, and extract the parameter value of the target parameter information;

将所述参数值与所述目标参数信息类型对应的预设第一参数区间进行对比。The parameter value is compared with a preset first parameter interval corresponding to the target parameter information type.

易于理解的是，对目标参数信息进行格式检测与误差检测即对目标参数信息进行正确性检测与协议格式一致性检测，其中，预设协议格式可以参考《CSAE合作式智能运输系统车用通信系统应用层及应用数据交互标准》中提出的协议参数格式。It is easy to understand that performing format detection and error detection on target parameter information means performing correctness detection and protocol format consistency detection on target parameter information. For the preset protocol format, please refer to "CSAE Cooperative Intelligent Transportation System Vehicle Communication System". The protocol parameter format proposed in the Application Layer and Application Data Interaction Standard.

在具体实现中，由于目标参数的类型不同，因此需要根据目标参数的类型选定对应的预设第一参数区间，例如：在进行目标车辆的参数的正确性检测时，需要将目标车辆的速度信息与速度对应的预设参数区间进行对比。In the specific implementation, since the types of target parameters are different, it is necessary to select the corresponding preset first parameter interval according to the type of the target parameters. The information is compared with the preset parameter interval corresponding to the speed.

步骤S203：在格式检测与误差检测合格时，基于所述BSM信息与所述当前环境信息对目标车辆进行合理性检测。Step S203: When the format detection and the error detection are qualified, the rationality detection of the target vehicle is performed based on the BSM information and the current environment information.

需要说明的是，在目标参数信息的格式与预设协议格式相同时，记为格式检测合格，在目标参数信息的每一个参数数据在对应的预设参数区间内，则记为误差检测合格。It should be noted that when the format of the target parameter information is the same as the preset protocol format, it is marked as qualified for format detection, and when each parameter data of the target parameter information is within the corresponding preset parameter interval, it is marked as qualified for error detection.

此外，若是在格式检测与误差检测合格时中存在一项检测不合格，无需进行后续的合理性检测以一致性检测，此时目标车辆对应的异常检测报告的级别为2级，此时，对于目标车辆的不正当行为处理为向目标车辆发送警告消息。In addition, if there is a failure in the format detection and error detection, there is no need to perform subsequent rationality detection for consistency detection. At this time, the level of the abnormal detection report corresponding to the target vehicle is level 2. At this time, for Improper behavior of the target vehicle is handled by sending a warning message to the target vehicle.

在实际实现中，由于MA接收到的BSM信息可能会因为网络连接的不稳定等原因，导致接收到的连续BSM信息之间的语义不连续，例如：连续的BSM信息之间的序号不同等。In actual implementation, the BSM information received by the MA may be due to unstable network connection and other reasons, resulting in discontinuous semantics between consecutive BSM messages received, for example, the sequence numbers between consecutive BSM messages are different and so on.

为了更精准的对不正当行为报告进行分级，所述步骤S203，包括：In order to more accurately grade the report of improper behavior, the step S203 includes:

若格式检测与误差检测合格，则获取所述BSM信息的序号；If the format detection and error detection are qualified, then obtain the serial number of the BSM information;

检测相邻BSM信息序号是否连续；Check whether the serial numbers of adjacent BSM messages are consecutive;

在相邻BSM信息序号连续时，基于所述BSM信息与所述当前环境信息对目标车辆进行合理性检测。When the serial numbers of adjacent BSM information are consecutive, the rationality detection of the target vehicle is performed based on the BSM information and the current environment information.

值得说明的是，在车辆向MA发送BSM信息时，发出的BSM信息是实时更新并传输至MA中的，因此，可以对发送的BSM信息进行编号，以更好的管理与判断目标车辆是否存在不正当行为。It is worth noting that when the vehicle sends the BSM information to the MA, the sent BSM information is updated in real time and transmitted to the MA. Therefore, the sent BSM information can be numbered to better manage and judge whether the target vehicle exists. Improper conduct.

在具体实现中，若是MA接收到的相邻BSM信息序号不连续，则目标车辆的不正当行为按照上述分析，目标车辆对应的不正当行为报告为3级，此时，对于目标车辆的不正当行为处理为向目标车辆发送扣除车辆的警告分。In the specific implementation, if the sequence numbers of adjacent BSM information received by the MA are not consecutive, the improper behavior of the target vehicle is analyzed according to the above, and the corresponding improper behavior of the target vehicle is reported as level 3. At this time, the improper behavior of the target vehicle is The behavior processing is to send the warning points deducted from the vehicle to the target vehicle.

可以理解的是，若是MA接收到的相邻BSM信息序号连续，则继续进行合理性检测，其中，所述合理性检测可以是确定所述目标参数信息类型，并将所述目标参数信息对应的参数值与所述目标参数信息类型对应的预设第二参数区间进行对比，提取所述BSM信息中的位置信息，并将所述位置信息与所述当前环境信息进行对比。It can be understood that if the sequence numbers of the adjacent BSM information received by the MA are continuous, the rationality detection is continued, wherein the rationality detection may be to determine the type of the target parameter information, and compare the corresponding target parameter information. The parameter value is compared with the preset second parameter interval corresponding to the target parameter information type, the location information in the BSM information is extracted, and the location information is compared with the current environment information.

易于理解的是，当前环境信息可以用于与车辆的V2X信息进行结合，以使车联网平台可以判断出车辆之间的运行状态，并在可能出现事故时，及时做出反应。It is easy to understand that the current environmental information can be used to combine with the V2X information of the vehicle, so that the IoV platform can determine the running status of the vehicles and respond in time when an accident may occur.

需要说明的是，预设第二参数区间一般要小于预设第一参数区间，例如：对于目标车辆的速度信息，预设第一参数区间为0～220km/h，预设第二参数区间可以是0～180km/h，不同的目标参数对应的预设参数区间数值可以不同。It should be noted that the preset second parameter interval is generally smaller than the preset first parameter interval. For example, for the speed information of the target vehicle, the preset first parameter interval is 0-220km/h, and the preset second parameter interval can be It is 0~180km/h, and the preset parameter interval values corresponding to different target parameters can be different.

此外，在进行合理性检测时，还需要考虑车辆的位置信息，若目标车辆的位置信息与当前环境信息中的其他建筑物的位置或者障碍物的位置重合，表示目标车辆的位置不合理。In addition, when performing rationality detection, the location information of the vehicle also needs to be considered. If the location information of the target vehicle coincides with the location of other buildings or the location of obstacles in the current environmental information, it means that the location of the target vehicle is unreasonable.

在具体实现中，对于目标车辆的合理性检测根据检测的参数类型不同，对应的定义范围不同，例如：车辆编号合理性：检查目标车辆的车辆编号是否在预定义范围内，范围合理性：检查目标车辆的位置是否在最大范围内，即映射到目标车辆最大无线电覆盖范围的预定义值，位置合理性：检查目标车辆的位置是否在合理的位置，例如：在道路上，没有物理障碍物的重叠等，速度合理性：检查目标车辆消息的速度是否小于预定义的速度阈值，航向角合理性：检查目标车辆消息的航向角是否在预定义范围内，方向盘转角合理性：检查目标车辆消息的方向盘转角是否在预定义范围内，档位状态合理性：检查目标车辆消息的档位状态是否在预定义范围内，车辆尺寸及类型合理性：检查目标车辆消息的车辆尺寸类型是否在预定义范围内。In the specific implementation, the rationality detection of the target vehicle has different definitions according to the types of parameters detected, for example: vehicle number rationality: check whether the vehicle number of the target vehicle is within the predefined range, range rationality: check Whether the location of the target vehicle is within the maximum range, i.e. a predefined value mapped to the maximum radio coverage of the target vehicle, location plausibility: Check if the location of the target vehicle is in a reasonable location, eg: on the road, without physical obstacles Overlap, etc., Speed Rationality: Check if the speed of the target vehicle message is less than a predefined speed threshold, Heading angle Rationality: Check if the heading angle of the target vehicle message is within a predefined range, Steering wheel angle Rationality: Check the target vehicle message Whether the steering wheel angle is within the predefined range, the gear status is reasonable: check whether the gear status of the target vehicle message is within the predefined range, the vehicle size and type are reasonable: check whether the vehicle size type of the target vehicle message is within the predefined range Inside.

此外，若是在合理性检测合格时，基于所述BSM信息与所述当前环境信息对目标车辆进行一致性检测。In addition, if the rationality detection is qualified, the consistency detection is performed on the target vehicle based on the BSM information and the current environment information.

需要说明的是，对于目标车辆的一致性检测需要将目标车辆发送的连续两条BSM信息进行联合判断，即基于所述BSM信息的序号确定下一个序号对应的下一个BSM信息，根据所述BSM信息、所述当前环境信息及所述下一个BSM信息对目标车辆进行一致性检测。It should be noted that the consistency detection of the target vehicle requires joint judgment of two consecutive BSM information sent by the target vehicle, that is, the next BSM information corresponding to the next serial number is determined based on the serial number of the BSM information, according to the BSM information. information, the current environment information and the next BSM information to perform consistency detection on the target vehicle.

在具体实现中，对于不同参数的一致性检测标准不同，例如：消息计数一致性：检查来自目标车辆的两个连续消息是否具有消息计数。消息时间戳一致性：检查来自目标车辆的两个连续消息是否具有连续的时间戳。位置一致性：检查来自目标车辆的两个连续消息是否具有合理的分离距离。速度一致性：检查来自目标车辆的两个连续消息是否具有合理的加速或减速。位置速度一致性：检查是否连续两次来自目标车辆的消息具有一致的速度和分离距离。消息频率一致性：检查发送目标车辆的消息频率是否符合一致性。位置航向角一致性：检查位置是否来自目标车辆的两个连续消息对应于目标车辆消息的航向。四轴加速度一致性：检查来自目标车辆的两个连续消息是否具有合理的加速度或减速度。刹车状态一致性：检查来自目标车辆的两个连续消息中刹车状态与加速减速是否具有合理的关系。交叉路口检查：检查是否没有来自两个目标车辆的两个消息具有重叠位置。突然出现：检查目标车辆是否突然出现在某个范围内。当此检查是唯一失败的检查时，我们不会将此类目标车辆视为不正当行为。无法连续收到消息：检查目标车辆是否按照固定频率发送消息，有可能是因为PC5接口收到干扰导致无法解码消息，或者GPS信号收到干扰导致无法正常工作。In the specific implementation, the consistency detection criteria for different parameters are different, for example: message count consistency: check whether two consecutive messages from the target vehicle have message counts. Message Timestamp Consistency: Check if two consecutive messages from the target vehicle have consecutive timestamps. Location Consistency: Check that two consecutive messages from the target vehicle have a reasonable separation distance. Speed Consistency: Check that two consecutive messages from the target vehicle have reasonable acceleration or deceleration. Position Velocity Consistency: Check if two consecutive messages from the target vehicle have consistent velocity and separation distance. Message frequency consistency: Check whether the message frequency of the target vehicle is consistent. Position Heading Angle Consistency: Checks whether the position from two consecutive messages of the target vehicle corresponds to the heading of the target vehicle message. Four-axis acceleration consistency: Checks whether two consecutive messages from the target vehicle have reasonable acceleration or deceleration. Braking state consistency: Check whether the braking state has a reasonable relationship with acceleration and deceleration in two consecutive messages from the target vehicle. Intersection Check: Checks that no two messages from two target vehicles have overlapping locations. Sudden Appearance: Checks if the target vehicle suddenly appears within a certain range. When this check is the only failed check, we do not consider such a target vehicle inappropriate. Unable to receive messages continuously: Check whether the target vehicle sends messages at a fixed frequency. It may be because the PC5 interface is interfered and the message cannot be decoded, or the GPS signal is interfered and cannot work properly.

值得说明的是，由于目标车辆发送的消息通过安全性检测，且通过正确性与协议一致性检测，MA接收到的连续的消息之间的语义连续，但是无法通过合理性检测以及一致性检测，则对应的不正当行为报告标记为4级，此时，对于目标车辆的不正当行为处理为记录目标车辆的身份识别码，以使该车辆无法申请更多证书的被动撤销。It is worth noting that since the messages sent by the target vehicle pass the security check and pass the correctness and protocol consistency check, the semantics between consecutive messages received by the MA are continuous, but cannot pass the rationality check and consistency check. The corresponding improper behavior report is marked as level 4. At this time, the improper behavior of the target vehicle is processed as recording the identification code of the target vehicle, so that the vehicle cannot apply for passive revocation of more certificates.

在具体实现中，由于目标车辆发送的消息通过安全性检测，且通过正确性与协议一致性检测，MA接收到的连续的消息之间的语义连续，通过合理性检测以及一致性检测之后，但是由于某些字段的数据值不合理，如果其他终端采用其中的数据进行场景判断，会造成误判，甚至产生安全危险，还需要将多个目标参数信息进行组合，以检测是否可能出现冲突信息。In the specific implementation, since the message sent by the target vehicle passes the security check and passes the correctness and protocol consistency check, the semantics between the consecutive messages received by the MA are continuous, after passing the rationality check and consistency check, but Because the data values of some fields are unreasonable, if other terminals use the data in them to judge the scene, it will cause misjudgment and even cause security risks. It is also necessary to combine multiple target parameter information to detect whether there may be conflicting information.

易于理解的是，在一致性检测合格时，对所述目标参数信息进行场景预警算法组合；检测目标参数信息组合是否满足例如前向碰撞预警、交叉路口碰撞预警、盲区预警、逆向超车预警、紧急制动预警、限速预警等场景触发参数要求。若存在，向HMI生成本不应该发生的例如前向碰撞预警、交叉路口碰撞预警、盲区预警、逆向超车预警、紧急制动预警、限速预警信息。此时，对应的不正当行为报告的级别为5级，此时，对于目标车辆的不正当行为处理为撤销目标车辆的当前证书。It is easy to understand that when the consistency detection is qualified, the scene warning algorithm combination is performed on the target parameter information; it is detected whether the target parameter information combination satisfies, for example, forward collision warning, intersection collision warning, blind spot warning, reverse overtaking warning, emergency warning. Trigger parameter requirements for scenarios such as brake warning and speed limit warning. If it exists, generate information such as forward collision warning, intersection collision warning, blind spot warning, reverse overtaking warning, emergency braking warning, and speed limit warning information to the HMI that should not have occurred. At this time, the level of the corresponding misconduct report is level 5, and at this time, the misbehavior of the target vehicle is processed as revoking the current certificate of the target vehicle.

在第二实施例中，对所述BSM信息中的参数信息进行遍历，将遍历到的参数信息记为目标参数信息，对所述目标参数信息分别进行格式检测与误差检测，在格式检测与误差检测合格时，基于所述BSM信息与所述当前环境信息对目标车辆进行合理性检测；由于对遍历的参数信息分别进行格式检测与误差检测，在格式检测与误差检测合格时，再对目标车辆进行合理性检测，以实现对于目标车辆不正当行为的分级，以供后续进行级别对应的处理策略，更精准的管理车辆可能发生的不正当行为。In the second embodiment, the parameter information in the BSM information is traversed, the traversed parameter information is recorded as the target parameter information, and the format detection and error detection are respectively performed on the target parameter information. When the detection is qualified, the rationality detection of the target vehicle is performed based on the BSM information and the current environment information; since the format detection and error detection are respectively performed on the traversed parameter information, when the format detection and error detection are qualified, the target vehicle is then detected. Carry out rationality detection to achieve the classification of the improper behavior of the target vehicle for subsequent processing strategies corresponding to the level, and more accurately manage the possible improper behavior of the vehicle.

参考图4，图4为本发明一种车辆不正当行为管理方法第三实施例的流程示意图。Referring to FIG. 4 , FIG. 4 is a schematic flowchart of a third embodiment of a method for managing illegal behavior of vehicles according to the present invention.

基于上述第二实施例，在本实施例中，所述步骤S30，包括：Based on the foregoing second embodiment, in this embodiment, the step S30 includes:

步骤S301：根据异常检测结果生成不正当行为报告，并将所述不正当行为报告与数据库进行匹配。Step S301: Generate an improper behavior report according to the abnormality detection result, and match the improper behavior report with a database.

需要说明的是，数据库中包含有报告各种检测结果对应的不正当行为级别信息，在不正当行为报告与数据库进行匹配成功时，标识此时存在不正当行为信息，将该条信息标记为不正当行为信息。It should be noted that the database contains the level of misconduct information corresponding to various test results reported. When the misconduct report is successfully matched with the database, it is identified that there is misconduct information at this time, and the piece of information is marked as unlawful. Fair Conduct Information.

步骤S302：在匹配成功时，判定存在不正当行为信息。Step S302: When the matching is successful, it is determined that there is information about improper behavior.

可以理解的是，由于目标车辆发送的消息可能是不正当行为但是被漏判，也可能是正常行为但是被误判为不正当行为，因此，可以根据预设系统评估模型对匹配结果进行评估，以保证对于目标车辆的BSM信息是否是不正当行为信息的判定准确度。It can be understood that, since the message sent by the target vehicle may be an improper behavior but is missed, or it may be a normal behavior but is misjudged as an improper behavior, the matching result can be evaluated according to the preset system evaluation model. In order to ensure the accuracy of determining whether the BSM information of the target vehicle is information of improper behavior.

为了提高不正当行为的判定准确度，所述步骤S302，包括：In order to improve the judging accuracy of improper behavior, the step S302 includes:

基于系统评估指标构建预设系统评估模型；Build a preset system evaluation model based on system evaluation indicators;

在匹配成功时，将所述BSM信息与所述不正当行为报告通过预设系统评估模型进行系统评估，获得评估结果；When the matching is successful, systematically evaluate the BSM information and the improper behavior report through a preset system evaluation model to obtain an evaluation result;

根据所述评估结果验证不正当行为信息，并根据所述评估结果更新所述系统评估指标。The improper behavior information is verified according to the evaluation result, and the system evaluation index is updated according to the evaluation result.

需要说明的是，系统评估指标用于对不正当行为的判定提供评估标准，在本实施例中，系统评估指标包括：不正当行为正确判定、非不正当行为错误认定、不正当行为错误判定、非不正当行为正确判定、不正当行为比例、不正当行为判定准确率、整体正确率、评估比例以及评估准确率。It should be noted that the system evaluation index is used to provide evaluation criteria for the judgment of improper behavior. Correct judgment of non-improper behavior, proportion of improper behavior, accuracy of judgment of improper behavior, overall correct rate, evaluation ratio, and evaluation accuracy.

其中不正当行为正确判定(True Positive，TP)是指消息是不正当行为且被检测成不正当行为的消息数；非不正当行为错误认定(False Positive，FP)是指消息是正当行为被误报成不正当行为的消息数；不正当行为错误判定(False Negative，FN)是指消息是不正当行为被漏报成正当行为的消息数；非不正当行为正确判定(True Negative，TN)是指消息是正当行为被检测成正当行为的消息数；Among them, True Positive (TP) refers to the number of messages that the message is an improper behavior and is detected as an improper behavior; The number of messages reported as improper behaviors; False Negative (FN) refers to the number of messages that are reported as improper behaviors that are not reported as legitimate behaviors; True Negative (TN) is Refers to the number of messages for which legitimate actions are detected as legitimate actions;

不正当行为比例系统检出不正当行为消息比例Recall的获取公式为：The proportion of improper behaviors detected by the system, the retrieval formula for Recall is as follows:

Recall＝TP/(TP+FN)；Recall=TP/(TP+FN);

不正当行为判定准确率系统检出不正当行为消息的正确率Precision的获取公式为：Improper Behavior Judgment Accuracy The accuracy of the system's detection of improper behavior messages The accuracy formula for Precision is:

Precision＝TP/(TP+FP)；Precision=TP/(TP+FP);

整体正确率系统消息检测整体正确率ACC的获取公式为：The overall accuracy rate of system message detection The formula for obtaining the overall accuracy rate ACC is:

ACC＝(TP+TN)/(TP+FP+TN+FN)；ACC=(TP+TN)/(TP+FP+TN+FN);

评估比例系统消息检出比例BM的获取公式为：The formula for obtaining the BM of the message detection ratio of the evaluation ratio system is:

BM＝TP/(TP+FN)+TN/(TN+FP)-1；BM=TP/(TP+FN)+TN/(TN+FP)-1;

评估准确率系统消息检测准确率的获取公式为：The formula for obtaining the accuracy rate of system message detection is as follows:

MK＝TP/(TP+FP)+TN/(TN+FN)-1MK=TP/(TP+FP)+TN/(TN+FN)-1

易于理解的是，评估指标会在系统平台进行评估展示，且会基于在大量真实场景中的测试结果，对不正当行为的评估模型进行修正和优化。It is easy to understand that the evaluation indicators will be evaluated and displayed on the system platform, and the evaluation model of improper behavior will be revised and optimized based on the test results in a large number of real scenarios.

步骤S302：确定所述不正当行为报告的级别。Step S302: Determine the level of the improper behavior report.

可以理解的是，不正当行为报告的级别可以是根据目标车辆发送的消息的异常检测结果进行判定，且在本实施例中，不正当行为报告的级别可以分为五级。It can be understood that the level of the improper behavior report may be determined according to the abnormal detection result of the message sent by the target vehicle, and in this embodiment, the level of the improper behavior report can be divided into five levels.

在第三实施例中，公开了根据异常检测结果生成不正当行为报告，并将所述不正当行为报告与数据库进行匹配，在匹配成功时，判定存在不正当行为信息，确定所述不正当行为报告的级别；由于通过将不正当行为报告与数据库进行匹配，提高了对于不正当行为的判定准确度，提高了工作效率。In the third embodiment, it is disclosed to generate an improper behavior report according to the abnormal detection result, and to match the improper behavior report with a database. When the matching is successful, it is determined that there is improper behavior information, and the improper behavior is determined. The level of reporting; by matching the misconduct report with the database, the accuracy of the determination of misconduct is improved, and the work efficiency is improved.

此外，本发明实施例还提出一种存储介质，所述存储介质上存储有车辆不正当行为管理程序，所述车辆不正当行为管理程序被处理器执行时实现如上文所述的车辆不正当行为管理方法的步骤。In addition, an embodiment of the present invention further provides a storage medium, where a vehicle misbehavior management program is stored on the storage medium, and the vehicle misbehavior management program is executed by a processor to realize the above-mentioned vehicle misbehavior The steps of the management method.

由于本存储介质采用了上述所有实施例的全部技术方案，因此至少县有上述实施例的技术方案所带来的所有有益效果，在此不再一一赘述。Since the storage medium adopts all the technical solutions of all the above-mentioned embodiments, at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments are not repeated here.

参照图5，图5为本发明车辆不正当行为管理装置第一实施例的结构框图。Referring to FIG. 5 , FIG. 5 is a structural block diagram of a first embodiment of a vehicle misconduct management device according to the present invention.

如图5所示，本发明实施例提出的车辆不正当行为管理装置包括：所述车辆不正当行为管理装置包括：信息获取模块10、异常检测模块20、级别确认模块30及策略执行模块40；As shown in FIG. 5 , the vehicle improper behavior management device provided by the embodiment of the present invention includes: the vehicle improper behavior management device includes: an information acquisition module 10 , an abnormality detection module 20 , a level confirmation module 30 , and a policy execution module 40 ;

所述信息获取模块10，用于获取目标车辆的BSM信息与当前环境信息。The information acquisition module 10 is used for acquiring the BSM information and current environment information of the target vehicle.

所述异常检测模块20，用于根据所述BSM信息与所述当前环境信息对目标车辆进行异常检测。The abnormality detection module 20 is configured to perform abnormality detection on the target vehicle according to the BSM information and the current environment information.

所述级别确认模块30，用于根据异常检测结果生成不正当行为报告，并确定所述不正当行为报告的级别。The level confirmation module 30 is configured to generate an improper behavior report according to the abnormal detection result, and determine the level of the improper behavior report.

所述策略执行模块40，用于根据所述不正当行为报告的级别执行对应的预设不正当行为处理策略。The policy execution module 40 is configured to execute a corresponding preset illegal behavior processing policy according to the level of the illegal behavior report.

在本实施例中，公开了获取目标车辆的BSM信息与当前环境信息，根据所述BSM信息与所述当前环境信息对目标车辆进行异常检测，根据异常检测结果生成不正当行为报告，并确定所述不正当行为报告的级别，根据所述不正当行为报告的级别执行对应的预设不正当行为处理策略；由于在本实施例中，通过根据获取到的目标车辆进行异常检测，并确定目标车辆不正当行为报告的级别以执行对应级别的不正当行为处理策略，实现对于车辆在存在不正当行为的管理监督，避免了不正当行为的信号会影响V2X通信系统的可靠性，导致使用V2X通信系统的用户可能会造成严重事故的技术问题，提高了对于出现了发出不正当行为消息的车辆的管理效率。In this embodiment, it is disclosed to obtain the BSM information and current environment information of the target vehicle, perform abnormality detection on the target vehicle according to the BSM information and the current environment information, generate an improper behavior report according to the abnormality detection result, and determine the According to the level of the illegal behavior report, the corresponding preset illegal behavior processing strategy is executed according to the level of the illegal behavior report; because in this embodiment, the abnormality detection is performed according to the acquired target vehicle, and the target vehicle is determined. The level of illegal behavior report is to implement the corresponding level of illegal behavior processing strategy, to realize the management and supervision of vehicles in the presence of illegal behavior, to avoid the signal of illegal behavior will affect the reliability of the V2X communication system, resulting in the use of the V2X communication system of users may cause technical problems in serious accidents, improving the management efficiency of vehicles that have sent messages of misconduct.

应当理解的是，以上仅为举例说明，对本发明的技术方案并不构成任何限定，在具体应用中，本领域的技术人员可以根据需要进行设置，本发明对此不做限制。It should be understood that the above are only examples, and do not constitute any limitation to the technical solutions of the present invention. In specific applications, those skilled in the art can make settings as required, which is not limited by the present invention.

需要说明的是，以上所描述的工作流程仅仅是示意性的，并不对本发明的保护范围构成限定，在实际应用中，本领域的技术人员可以根据实际的需要选择其中的部分或者全部来实现本实施例方案的目的，此处不做限制。It should be noted that the above-described workflow is only illustrative, and does not limit the protection scope of the present invention. In practical applications, those skilled in the art can select some or all of them to implement according to actual needs. The purpose of the solution in this embodiment is not limited here.

另外，未在本实施例中详尽描述的技术细节，可参见本发明任意实施例所提供的车辆不正当行为管理方法，此处不再赘述。In addition, for technical details that are not described in detail in this embodiment, reference may be made to the method for managing illegal behavior of a vehicle provided by any embodiment of the present invention, which will not be repeated here.

此外，需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者系统不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者系统所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者系统中还存在另外的相同要素。Furthermore, it should be noted that, herein, the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article or system comprising a series of elements includes not only those elements, but also other elements not expressly listed or inherent to such a process, method, article or system. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article or system that includes the element.

上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages or disadvantages of the embodiments.

通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如只读存储器(Read Only Memory，ROM)/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本发明各个实施例所述的方法。From the description of the above embodiments, those skilled in the art can clearly understand that the method of the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is better implementation. Based on such understanding, the technical solutions of the present invention can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products are stored in a storage medium (such as a read-only memory). , ROM)/RAM, magnetic disk, optical disk), including several instructions to make a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) execute the methods described in the various embodiments of the present invention.

以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。The above are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields , are similarly included in the scope of patent protection of the present invention.

本发明公开了A1、一种车辆不正当行为管理方法，所述车辆不正当行为管理方法包括：The present invention discloses A1, a method for managing illegal behaviors of vehicles, and the method for managing illegal behaviors of vehicles includes:

获取目标车辆的BSM信息与当前环境信息；Obtain the BSM information and current environment information of the target vehicle;

根据所述BSM信息与所述当前环境信息对目标车辆进行异常检测；Perform anomaly detection on the target vehicle according to the BSM information and the current environment information;

根据异常检测结果生成不正当行为报告，并确定所述不正当行为报告的级别；Generate a misconduct report based on anomaly detection results, and determine the level of the misconduct report;

根据所述不正当行为报告的级别执行对应的预设不正当行为处理策略。According to the level of the misconduct report, a corresponding preset misconduct processing policy is executed.

A2、如A1所述的车辆不正当行为管理方法，所述根据所述BSM信息与所述当前环境信息对目标车辆进行异常检测，包括：A2. The vehicle illegal behavior management method according to A1, wherein the abnormal detection of the target vehicle according to the BSM information and the current environment information includes:

对所述BSM信息中的参数信息进行遍历，将遍历到的参数信息记为目标参数信息；Traverse the parameter information in the BSM information, and record the traversed parameter information as target parameter information;

对所述目标参数信息分别进行格式检测与误差检测；Perform format detection and error detection respectively on the target parameter information;

在格式检测与误差检测合格时，基于所述BSM信息与所述当前环境信息对目标车辆进行合理性检测。When the format detection and the error detection are qualified, the rationality detection of the target vehicle is performed based on the BSM information and the current environment information.

A3、如A2所述的车辆不正当行为管理方法，所述对所述BSM信息的参数信息进行遍历，将遍历到的参数信息记为目标参数信息之前，还包括：A3. The method for managing improper behavior of vehicles according to A2, before the parameter information of the BSM information is traversed and the traversed parameter information is recorded as the target parameter information, the method further includes:

对所述BSM信息进行安全性检测；performing security detection on the BSM information;

在所述安全性检测合格时，执行对所述BSM信息的参数信息进行遍历，将遍历到的参数信息记为目标参数信息的步骤。When the security detection is qualified, the step of traversing the parameter information of the BSM information is performed, and the traversed parameter information is recorded as the target parameter information.

A4、如A3所述的车辆不正当行为管理方法，所述对所述BSM信息进行安全性检测，包括：A4. The method for managing improper behavior of vehicles according to A3, wherein the security detection of the BSM information includes:

获取所述BSM信息对应的目标车辆的安全证书信息；obtaining the safety certificate information of the target vehicle corresponding to the BSM information;

验证所述安全证书信息的有效日期及权限状态信息。Verify the validity date and authority status information of the security certificate information.

A5、如A2所述的车辆不正当行为管理方法，所述对所述目标参数信息分别进行格式检测与误差检测，包括：A5. The method for managing improper behavior of vehicles as described in A2, wherein the format detection and error detection are respectively performed on the target parameter information, including:

确定所述目标参数信息对应的参数格式，并将所述参数格式与预设协议格式进行对比；determining a parameter format corresponding to the target parameter information, and comparing the parameter format with a preset protocol format;

确定所述目标参数信息类型，并提取所述目标参数信息的参数值；Determine the target parameter information type, and extract the parameter value of the target parameter information;

将所述参数值与所述目标参数信息类型对应的预设第一参数区间进行对比。The parameter value is compared with a preset first parameter interval corresponding to the target parameter information type.

A6、如A2所述的车辆不正当行为管理方法，所述在格式检测与误差检测合格时，基于所述BSM信息与所述当前环境信息对目标车辆进行合理性检测，包括：A6. The method for managing improper behavior of vehicles according to A2, wherein when the format detection and error detection are qualified, the rationality detection of the target vehicle is performed based on the BSM information and the current environment information, including:

若格式检测与误差检测合格，则获取所述BSM信息的序号；If the format detection and error detection are qualified, then obtain the serial number of the BSM information;

检测相邻BSM信息序号是否连续；Check whether the serial numbers of adjacent BSM messages are consecutive;

在相邻BSM信息序号连续时，基于所述BSM信息与所述当前环境信息对目标车辆进行合理性检测。When the serial numbers of adjacent BSM information are consecutive, the rationality detection of the target vehicle is performed based on the BSM information and the current environment information.

A7、如A6所述的车辆不正当行为管理方法，所述基于所述BSM信息与所述当前环境信息对目标车辆进行合理性检测，包括：A7. The method for managing improper behavior of vehicles according to A6, wherein the rationality detection of the target vehicle based on the BSM information and the current environment information includes:

确定所述目标参数信息类型，并将所述目标参数信息对应的参数值与所述目标参数信息类型对应的预设第二参数区间进行对比；determining the target parameter information type, and comparing the parameter value corresponding to the target parameter information with the preset second parameter interval corresponding to the target parameter information type;

提取所述BSM信息中的位置信息，并将所述位置信息与所述当前环境信息进行对比。The location information in the BSM information is extracted, and the location information is compared with the current environment information.

A8、如A6所述的车辆不正当行为管理方法，所述在相邻BSM信息序号连续时，基于所述BSM信息与所述当前环境信息对目标车辆进行合理性检测之后，还包括：A8. The method for managing illegal behavior of vehicles according to A6, wherein when the serial numbers of adjacent BSM information are consecutive, after the rationality detection of the target vehicle is performed based on the BSM information and the current environment information, the method further includes:

在合理性检测合格时，基于所述BSM信息与所述当前环境信息对目标车辆进行一致性检测。When the rationality detection is qualified, the consistency detection is performed on the target vehicle based on the BSM information and the current environment information.

A9、如A8所述的车辆不正当行为管理方法，所述基于所述BSM信息与所述当前环境信息对目标车辆进行一致性检测，包括：A9. The method for managing improper behavior of vehicles according to A8, wherein the consistency detection of the target vehicle based on the BSM information and the current environment information includes:

基于所述BSM信息的序号确定下一个BSM信息；determining the next BSM information based on the sequence number of the BSM information;

根据所述BSM信息、所述当前环境信息及所述下一个BSM信息对目标车辆进行一致性检测。Consistency detection is performed on the target vehicle according to the BSM information, the current environment information and the next BSM information.

A10、如A9所述的车辆不正当行为管理方法，所述根据所述BSM信息、所述当前环境信息及所述下一个BSM信息对目标车辆进行一致性检测之后，还包括：A10. The method for managing improper behavior of vehicles according to A9, after performing consistency detection on the target vehicle according to the BSM information, the current environment information and the next BSM information, the method further includes:

在一致性检测合格时，将所述目标参数信息进行组合，获得目标参数信息组合；When the consistency detection is qualified, combine the target parameter information to obtain the target parameter information combination;

将目标参数信息组合通过场景预警算法判断是否满足预设碰撞预警的触发参数要求，所述预设碰撞预警包括前向碰撞预警、交叉路口碰撞预警、盲区预警、逆向超车预警、紧急制动预警、限速预警中的至少一项。The target parameter information is combined to determine whether the trigger parameter requirements of the preset collision warning are met through the scene warning algorithm. The preset collision warning includes forward collision warning, intersection collision warning, blind spot warning, reverse overtaking warning, emergency braking warning, At least one of the speed limit warnings.

若满足，向HMI生成预警信息，所述预警信息包括：前向碰撞预警、交叉路口碰撞预警、盲区预警、逆向超车预警、紧急制动预警、限速预警信息中的至少一项。If satisfied, early warning information is generated to the HMI, and the early warning information includes at least one of forward collision warning, intersection collision warning, blind spot warning, reverse overtaking warning, emergency braking warning, and speed limit warning information.

A11、如A1所述的车辆不正当行为管理方法，所述根据异常检测结果生成不正当行为报告，并确定所述不正当行为报告的级别，包括：A11. The vehicle misconduct management method according to A1, wherein the misbehavior report is generated according to the abnormality detection result, and the level of the misbehavior report is determined, including:

根据异常检测结果生成不正当行为报告，并将所述不正当行为报告与数据库进行匹配；Generate a misconduct report based on anomaly detection results, and match the misconduct report with a database;

在匹配成功时，判定存在不正当行为信息；When the match is successful, it is determined that there is information about improper behavior;

确定所述不正当行为报告的级别。Determine the level of said misconduct report.

A12、如A11所述的车辆不正当行为管理方法，所述在匹配成功时，判定存在不正当行为信息，包括：A12. The vehicle illegal behavior management method according to A11, wherein when the matching is successful, it is determined that there is illegal behavior information, including:

基于系统评估指标构建预设系统评估模型；Build a preset system evaluation model based on system evaluation indicators;

在匹配成功时，将所述BSM信息与所述不正当行为报告通过预设系统评估模型进行系统评估，获得评估结果；When the matching is successful, systematically evaluate the BSM information and the improper behavior report through a preset system evaluation model to obtain an evaluation result;

根据所述评估结果验证不正当行为信息，并根据所述评估结果更新所述系统评估指标。The improper behavior information is verified according to the evaluation result, and the system evaluation index is updated according to the evaluation result.

本发明还公开了B13、一种车辆不正当行为管理设备，所述车辆不正当行为管理设备包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的车辆不正当行为管理程序，所述车辆不正当行为管理程序配置为实现如A1至12中任一项所述的车辆不正当行为管理方法。The present invention also discloses B13, a vehicle illegal behavior management device, the vehicle illegal behavior management device includes: a memory, a processor, and a vehicle illegal behavior stored on the memory and running on the processor. A behavior management program configured to implement the vehicle inappropriate behavior management method as described in any one of A1 to 12.

本发明还公开了C14、一种存储介质，所述存储介质上存储有车辆不正当行为管理程序，所述车辆不正当行为管理程序被处理器执行时实现如A1至12任一项所述的车辆不正当行为管理方法。The present invention also discloses C14, a storage medium on which a vehicle misconduct management program is stored, and when the vehicle misbehavior management program is executed by a processor, any one of A1 to 12 is implemented. Vehicle misconduct management method.

本发明还公开了D15、一种车辆不正当行为管理装置，所述车辆不正当行为管理装置包括：信息获取模块、异常检测模块、级别确认模块及策略执行模块；The invention also discloses D15, a vehicle improper behavior management device, the vehicle improper behavior management device includes: an information acquisition module, an abnormality detection module, a level confirmation module and a policy execution module;

所述信息获取模块，用于获取目标车辆的BSM信息与当前环境信息；The information acquisition module is used to acquire the BSM information and current environment information of the target vehicle;

所述异常检测模块，用于根据所述BSM信息与所述当前环境信息对目标车辆进行异常检测；The abnormality detection module is configured to perform abnormality detection on the target vehicle according to the BSM information and the current environment information;

所述级别确认模块，用于根据异常检测结果生成不正当行为报告，并确定所述不正当行为报告的级别；The level confirmation module is used to generate an improper behavior report according to the abnormal detection result, and determine the level of the improper behavior report;

所述策略执行模块，用于根据所述不正当行为报告的级别执行对应的预设不正当行为处理策略。The policy execution module is configured to execute a corresponding preset illegal behavior processing policy according to the level of the illegal behavior report.

D16、如D15所述的车辆不正当行为管理装置，所述异常检测模块，还用于对所述BSM信息中的参数信息进行遍历，将遍历到的参数信息记为目标参数信息；D16. The vehicle illegal behavior management device according to D15, wherein the abnormality detection module is further configured to traverse the parameter information in the BSM information, and record the traversed parameter information as target parameter information;

所述异常检测模块，还用于对所述目标参数信息分别进行格式检测与误差检测；The abnormality detection module is further configured to perform format detection and error detection respectively on the target parameter information;

所述异常检测模块，还用于在格式检测与误差检测合格时，基于所述BSM信息与所述当前环境信息对目标车辆进行合理性检测。The abnormality detection module is further configured to perform rationality detection on the target vehicle based on the BSM information and the current environment information when the format detection and error detection are qualified.

D17、如D16所述的车辆不正当行为管理装置，所述异常检测模块，还用于对所述BSM信息进行安全性检测；D17. The device for managing improper behavior of vehicles according to D16, wherein the abnormality detection module is further configured to perform security detection on the BSM information;

所述异常检测模块，还用于在所述安全性检测合格时，执行对所述BSM信息的参数信息进行遍历，将遍历到的参数信息记为目标参数信息的步骤。The abnormality detection module is further configured to perform the step of traversing the parameter information of the BSM information when the security detection is qualified, and recording the traversed parameter information as target parameter information.

D18、如D17所述的车辆不正当行为管理装置，所述异常检测模块，还用于获取所述BSM信息对应的目标车辆的安全证书信息；D18. The vehicle illegal behavior management device according to D17, wherein the abnormality detection module is further configured to obtain the safety certificate information of the target vehicle corresponding to the BSM information;

所述异常检测模块，还用于验证所述安全证书信息的有效日期及权限状态信息。The abnormality detection module is further configured to verify the validity date and authority status information of the security certificate information.

D19、如D18所述的车辆不正当行为管理装置，所述异常检测模块，还用于确定所述目标参数信息对应的参数格式，并将所述参数格式与预设协议格式进行对比；D19. The vehicle improper behavior management device according to D18, wherein the abnormality detection module is further configured to determine a parameter format corresponding to the target parameter information, and compare the parameter format with a preset protocol format;

所述异常检测模块，还用于确定所述目标参数信息类型，并提取所述目标参数信息的参数值；The abnormality detection module is further configured to determine the type of the target parameter information, and extract the parameter value of the target parameter information;

所述异常检测模块，还用于将所述参数值与所述目标参数信息类型对应的预设第一参数区间进行对比。The abnormality detection module is further configured to compare the parameter value with a preset first parameter interval corresponding to the target parameter information type.

D20、如D19所述的车辆不正当行为管理装置，所述异常检测模块，还用于若格式检测与误差检测合格，则获取所述BSM信息的序号；D20. The vehicle illegal behavior management device according to D19, wherein the abnormality detection module is further configured to obtain the serial number of the BSM information if the format detection and error detection are qualified;

所述异常检测模块，还用于检测相邻BSM信息序号是否连续；The abnormality detection module is also used to detect whether the sequence numbers of adjacent BSM information are continuous;

所述异常检测模块，还用于在相邻BSM信息序号连续时，基于所述BSM信息与所述当前环境信息对目标车辆进行合理性检测。The abnormality detection module is further configured to perform rationality detection on the target vehicle based on the BSM information and the current environment information when the serial numbers of adjacent BSM information are consecutive.