US 12,420,827 B2
System for verifying sensor data of autonomous vehicle and method thereof
Hong Yeol Lim, Incheon (KR); and Bong Ju Kim, Yongin-si (KR)
Assigned to HYUNDAI MOTOR COMPANY, Seoul (KR); KIA CORPORATION, Seoul (KR); and HYUNDAI AUTOEVER CORP., Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); Kia Corporation, Seoul (KR); and Hyundai Autoever Corp., Seoul (KR)
Filed on Dec. 20, 2022, as Appl. No. 18/068,804.
Claims priority of application No. 10-2022-0100083 (KR), filed on Aug. 10, 2022.
Prior Publication US 2024/0051571 A1, Feb. 15, 2024
Int. Cl. B60W 60/00 (2020.01); G01S 17/931 (2020.01); G06V 20/56 (2022.01); H04L 9/32 (2006.01)
CPC B60W 60/001 (2020.02) [G01S 17/931 (2020.01); G06V 20/56 (2022.01); H04L 9/3242 (2013.01); H04L 2209/84 (2013.01)] 11 Claims
OG exemplary drawing
 
1. An autonomous vehicle comprising:
a radar controller to be coupled to a radar sensor and configured to generate a first message authentication code (MAC) that includes radar detection data, the first MAC being generated using a first secret key;
a camera controller to be coupled to a camera and configured to generate a second MAC that includes camera detection data, the second MAC being generated using a second secret key;
a LiDAR controller to be coupled to a LiDAR sensor and configured to generate a third MAC that includes LiDAR detection data, the third MAC being generated using a third secret key;
an autonomous driving controller configured to:
generate a fourth MAC using the first secret key and compare the first MAC with the fourth MAC to verify integrity of the radar detection data;
generate a fifth MAC using the second secret key and compare the second MAC with the fifth MAC to verify integrity of the camera detection data; and
generate a sixth MAC using the third secret key and compare the third MAC with the sixth MAC to verify integrity of the LiDAR detection data; and
an autonomous driving domain gateway configured to:
generate a CAN integration packet by integrating a data packet that includes the radar detection data and a data packet that includes the camera detection data;
generate a ninth MAC of the CAN integration packet using a fourth secret key; and
transmit the CAN integration packet and the ninth MAC to the autonomous driving controller.