Electronic control device, recording medium, and gateway device
An electronic control device includes: an acquisition unit that acquires state information indicating at least one of a state of a movable body and a state of an external environment in which the movable body is moving, and a control instruction indicating at least one of a steering control instruction for steering the movable body and an acceleration control instruction for adjusting acceleration of the movable body; and a determining unit that determines whether the control instruction is a false control instruction based on the at least one state indicated by the state information acquired and control indicated by the control instruction acquired.
1. An electronic control device, comprising:
an acquisition unit configured to acquire state information indicating at least one state of a state of a movable body or a state of an external environment in which the movable body is moving, and a control instruction indicating at least one instruction of a steering control instruction for steering the movable body or an acceleration control instruction for adjusting acceleration of the movable body; and
a determining unit configured to determine whether the control instruction is a false control instruction by comparing the at least one state indicated by the state information with control indicated by the control instruction, the false control instruction being made by an attacker and being different from a normal control instruction transmitted by at least one of the electronic control device or an electronic control unit,
wherein the determining unit determines that the control instruction is the false control instruction when the state indicated by the state information is inconsistent with the control indicated by the control instruction.
2. The electronic control device according to claim 1 , wherein
the acquisition unit is configured to acquire the control instruction as an acceleration control instruction.
3. The electronic control device according to claim 2 , further comprising:
a disabling unit configured to disable or discard the acceleration control instruction in a case where the determining unit determines that the acceleration control instruction is the false control instruction.
4. The electronic control device according to claim 2 , wherein
the determining unit determines that the acceleration control instruction is the false control instruction in a case where the acceleration control instruction indicates control which is not consistent with the at least one state indicated by the state information.
5. The electronic control device according to claim 4 , wherein
the determining unit determines that the acceleration control instruction is the false control instruction in a case where the at least one state indicated by the state information indicates a set speed of the movable body or a regulation speed at a place that the movable body is moving, and the acceleration control instruction indicates control which causes the movable body to move at a speed exceeding the set speed or the regulation speed.
6. The electronic control device according to claim 4 , wherein
the determining unit determines that the acceleration control instruction is the false control instruction in a case where the at least one state indicated by the state information indicates a vehicle speed of the movable body or a relative speed with respect to an object that is in a traveling direction of the movable body, and the acceleration control instruction indicates control which causes the movable body to move at a speed exceeding a first predetermined value.
7. The electronic control device according to claim 4 , wherein
the determining unit determines that the acceleration control instruction is the false control instruction in a case where the at least one state indicated by the state information indicates a distance to an object that is in a direction of travel of the movable body, and the acceleration control instruction indicates control which causes the movable body to move at a speed exceeding a first predetermined value that corresponds to the distance to the object.
8. The electronic control device according to claim 4 , wherein
the determining unit determines that the acceleration control instruction is the false control instruction in a case where the acceleration control instruction indicates control for causing the movable body to accelerate, and the at least one state indicated by the state information indicates a state that the movable body should be caused to decelerate.
9. The electronic control device according to claim 4 , wherein
the determining unit determines that the acceleration control instruction is the false control instruction in a case where the at least one state indicated by the state information indicates that information the movable body uses to determine speed control has been received from a preceding movable body with respect to the movable body, and the acceleration control instruction indicates control which is not consistent with the speed control.
10. The electronic control device according to claim 4 , wherein
the determining unit determines that the acceleration control instruction is the false control instruction in:
(1) a case where the at least one state indicated by the state information indicates that an advanced driver assistance system provided in the movable body is off, and the acceleration control instruction indicates control that causes the movable body to move at a speed exceeding a predetermined value, or
(2) a case where the at least one state indicated by the state information indicates that the advanced driver assistance system provided in the movable body is off, and the acquisition unit acquires the acceleration control instruction within a predetermined time period.
11. The electronic control device according to claim 1 , wherein
the acquisition unit is configured to acquire a steering control instruction as the control instruction.
12. The electronic control device according to claim 11 , further comprising:
a disabling unit configured to disable or discard the steering control instruction in a case where the determining unit determines that the steering control instruction is the false control instruction.
13. The electronic control device according to claim 11 , wherein
the determining unit determines that the steering control instruction is the false control instruction in a case where the steering control instruction indicates control which is not consistent with the at least one state indicated by the state information.
14. The electronic control device according to claim 13 , wherein
the determining unit determines that the steering control instruction is the false control instruction in
(1) a case where the at least one state indicated by the state information indicates a state that the movable body should move in a first direction, and the steering control instruction indicates control that causes the movable body to move in a second direction that is different from the first direction,
(2) a case where the at least one state indicated by the state information indicates a state that the movable body should be steered by a steering amount that is less than or equal to a first predetermined value, and the steering control instruction indicates control for a steering amount that is greater than the first predetermined value, or
(3) a case where the at least one state indicated by the state information indicates a state that the movable body should be steered by a steering amount that is greater than or equal to a second predetermined value, and the steering control instruction indicates control for a steering amount that is less than the second predetermined value.
15. The electronic control device according to claim 13 , wherein
the determining unit determines that the steering control instruction is the false control instruction in:
(1) a case where the at least one state indicated by the state information indicates a state that the movable body should be moved by manual steering, and the steering control instruction indicates control for a steering amount that is outside a first predetermined range,
(2) a case where the at least one state indicated by the state information indicates a state that the movable body should be moved by manual steering, and the acquisition unit acquires the steering control instruction within a first predetermined time period,
(3) a case where the at least one state indicated by the state information indicates a state that the movable body should be moved by automatic steering, and the steering control instruction indicates control for a steering amount that is outside a second predetermined range, or
(4) a case where the at least one state indicated by the state information indicates a state that the movable body should be moved by automatic steering, and the acquisition unit fails to acquire the steering control instruction within a second predetermined time period.
16. The electronic control device according to claim 11 , wherein
the state information indicates a state relating to a lane keeping function of the movable body, and
the determining unit determines that the steering control instruction is the false control instruction in:
(1) a case where the state information indicates that the lane keeping function is off, and the steering control instruction indicates control for a steering amount that is outside a first predetermined range,
(2) a case where the state information indicates that the lane keeping function is on and indicates a travel route of the movable body according to the lane keeping function, and the steering control instruction indicates control that specifies steering control that causes the movable body to deviate from the travel route, or
(3) a case where the state information indicates that the lane keeping function is on and indicates a speed of the movable body, and the steering control instruction indicates control for a steering amount that is outside a second predetermined range.
17. The electronic control device according to claim 11 , wherein
the state information indicates a state relating to a parking assistance function of the movable body, and
the determining unit determines that the steering control instruction is the false control instruction in a case where the state information indicates a target parking position of the movable body according to the parking assistance function, and the steering control instruction indicates control that causes the movable body to move in a direction that is different from a direction toward the target parking position.
18. The electronic control device according to claim 11 , wherein
the state information indicates a state relating to a lane changing function of the movable body, and
the determining unit determines that the steering control instruction is the false control instruction in:
(1) a case where the state information indicates a state that a traffic lane in which the movable body moves should be changed to an adjacent traffic lane in a first direction, and the steering control instruction indicates control that causes the movable body to move in a second direction that is different from the first direction, or
(2) a case where the state information indicates a state that a traffic lane in which the movable body moves should be changed, and the steering control instruction indicates control that specifies a steering amount that keeps the movable body in the traffic lane in which the movable body is moving.
19. The electronic control device according to claim 1 ,
wherein the false control instruction is transmitted by the attacker and is different from the normal control instruction transmitted by the at least one of the electronic control device or the electronic control unit.
20. A non-transitory computer-readable recording medium for use in a computer, the non-transitory computer-readable recording medium having a computer program recorded thereon for causing the computer to execute:
acquiring state information indicating at least one state of a state of a movable body or a state of an external environment in which the movable body is moving, and a control instruction indicating at least one instruction of a steering control instruction for steering the movable body or an acceleration control instruction for adjusting acceleration of the movable body; and
determining whether the control instruction is a false control instruction by comparing the at least one state indicated by the state information with control indicated by the control instruction, the false control instruction being made by an attacker and being different from a normal control instruction transmitted by at least one of the computer or an electronic control unit,
wherein, in the determining, the control instruction is determined to be the false control instruction when the state indicated by the state information is inconsistent with the control indicated by the control instruction.
21. A gateway device, comprising:
an acquisition unit configured to acquire state information indicating at least one state of a state of a movable body or a state of an external environment in which the movable body is moving, and a control instruction indicating at least one instruction of a steering control instruction for steering the movable body or an acceleration control instruction for adjusting acceleration of the movable body;
a determining unit configured to determine whether the control instruction is a false control instruction by comparing the at least one state indicated by the state information with control indicated by the control instruction, the false control instruction being made by an attacker and being different from a normal control instruction transmitted by at least one of the gateway device or an electronic control unit; and
a disabling unit configured to avoid transferring the control instruction in a case where the determining unit determines that the control instruction is the false control instruction,
wherein the determining unit determines that the control instruction is the false control instruction when the state indicated by the state information is inconsistent with the control indicated by the control instruction.