Method for controlling platooning and autonomous vehicle based on blockchain

1. A method for controlling platooning vehicles in an autonomous driving system, comprising:

acquiring driving data of a plurality of platooning vehicles;

determining a staying time in a platoon of the vehicles based on the driving data;

creating a routing table including a routing sequence for transmitting blockchain data between the plurality of vehicles according to the staying time;

transmitting the created routing table to a slave vehicle;

forming a blockchain between the plurality of vehicles according to the routing sequence;

executing blockchain agreements between a plurality of platooning vehicles participating in a blockchain exchange for distributing event information relate to vehicle operation, and

identifying the blockchain data being modulated by comparing a hash value of second block with hash values of the first and third blocks in response to the execution of blockchain agreements,

wherein the second block is the block which is subject to data modulating inspection, the first and the third blocks are closest blocks to the second block based on the routing sequence.

2. The method of claim 1 , wherein the driving data includes at least one of a position at which the vehicle is separated from the platoon, an amount of fuel remaining in the vehicle, a year model of the vehicle, a size of the vehicle, a type of the vehicle, or a position of the vehicle in the platoon.

3. The method of claim 1 , wherein in the block, at least one of the driving data, sensing data of the vehicle, autonomous driving control data of the vehicle, or external object data acquired by a camera of the vehicle is encrypted.

4. The method of claim 1 , wherein the forming of the blockchain includes:

transmitting and receiving the driving data between the plurality of vehicles;

encrypting the driving data of a leading vehicle with a V2X key;

calculating the hash value based on the encrypted driving data and forming the block formed of the encrypted driving data and the hash value; and

transmitting the block to the vehicle corresponding to a subsequent sequence according to the routing sequence.

5. The method of claim 1 , further comprising:

identifying an event which causes a hazard to driving or is highly likely to cause a hazard to driving based on external information of the vehicle which is acquired by a camera of the vehicle; and

controlling a generation speed of the blockchain according to a degree of danger when the event is identified.

6. The method of claim 5 , further comprising:

transmitting the blockchain data related to the event to a server when the event is identified.

7. The method of claim 5 , wherein the event includes at least one of a dangerous situation in which where the vehicle is likely to crash on a road, a situation in which where the platooning vehicles do not respond to a control signal of a leading vehicle, or a situation in which where it is determined that the blockchain data are modulated.

8. The method of claim 1 , further comprising:

determining whether the blockchain data are modulated at a predetermined period and transmitting the determined blockchain data to a server.

9. The method of claim 8 , wherein when the blockchain data including modulated data and consecutively transmitted, the vehicle transmitting the modulated data is determined to be a vehicle which is likely to be hacked and the routing sequence is changed to a lower ranking.

10. The method of claim 8 , further comprising:

requesting unmodulated blockchain data to the server when it is determined that the blockchain data are modulated; and

updating the blockchain data, which are determined to be modulated, based on the unmodulated blockchain data.

11. The method of claim 1 , further comprising:

receiving a join request message to the platoon from the new vehicle when a new vehicle join the platoon;

determining a position of the new vehicle in the platoon and transmitting the join request message to the platoon to the new vehicle; and

recreating the routing table according to the staying time in the platoon of the new vehicle.

12. The method of claim 1 , further comprising:

sensing a resource for sidelink mode 4 transmission in a first window;

selecting the resource for the mode 4 transmission in a second window based on the sensed result;

transmitting SCI format 1 for scheduling of a blockchain data transmission of a leading vehicle to the slave vehicle on PSCCH based on the selected resource; and

transmitting the blockchain data of the leading vehicle to the slave vehicle on PSSCH.

13. A platooning leading vehicle constituting a blockchain, comprising:

an antenna;

a memory; and

a processor;

wherein the antenna transmits a routing table and driving data to a slave vehicle and receives the driving data from the slave vehicle, and

the processor determines a staying time in the platoon of the vehicle based on the driving data of at least one of the platooning vehicles, creates the routing table including a routing sequence transmitting blockchain data between the plurality of vehicles according to the staying time, forms a blockchain between the plurality of vehicles based on the routing sequence, executes blockchain agreements between a plurality of platooning vehicles participating in a blockchain exchange for distributing event information relate to vehicle operation, and identifies the blockchain data being modulated by comparing a hash value of second block with hash values of the first and third blocks in response to the execution of blockchain agreements,

wherein the second block is the block which is subject to data modulating inspection, the first and the third blocks are closest blocks to the second block based on the routing sequence.

14. The platooning leading vehicle of claim 13 , wherein the driving data includes at least one of a position at which vehicle is separated from the platoon, an amount of fuel remaining in the vehicle, a year model of the vehicle, a size of the vehicle, a type of the vehicle, or a position of the vehicle in the platoon.

15. The platooning leading vehicle of claim 13 , wherein the processor identifies an event which causes a hazard to driving or is highly likely to cause a hazard to driving based on external information of the vehicle which is acquired by a camera of the vehicle, and controls a generation speed of the blockchain according to a degree of danger when the event is identified.

16. The platooning leading vehicle of claim 15 , wherein when the processor identifies the event, the antenna transmits the blockchain data related to the event to a server.

17. The platooning leading vehicle of claim 13 , wherein the processor determines whether the blockchain data are modulated at a predetermined period, and

the antenna transmits the determined blockchain data to a server.

18. The platooning leading vehicle of claim 13 , wherein when the blockchain data of the platooning vehicle are consecutively modulated and transmitted, the processor determines the vehicle transmitting the modulated data to be a vehicle which is likely to be hacked and changes the routing sequence to a lower ranking.

19. The platooning leading vehicle of claim 13 , wherein the antenna requests unmodulated blockchain data to the server when the processor determines that the blockchain data are modulated, and

the memory updates and stores the blockchain data determined to be modulated to the unmodulated blockchain received from the server.