Secure remote commands to an autonomous vehicle

Patent metadata

Field	Value
Publication number	US-12448005-B2
Application number	US-202117539056-A
Country	US
Kind code	B2
Filing date	Nov 30, 2021
Priority date	Nov 30, 2021
Publication date	Oct 21, 2025
Grant date	Oct 21, 2025

Abstract

There is disclosed an AV, comprising a vehicle motive system comprising hardware to operate the AV; and an AV controller to autonomously or semi-autonomously control the vehicle motive system, the AV controller comprising a hardware platform comprising a processor circuit and a memory, and instructions encoded within the memory to: provide an operating system (OS), including a utility set comprising a plurality of OS utility commands; provide a remote procedure server to accept incoming remote procedure requests from a host outside the AV; provide remote procedure stubs for a set of whitelisted commands, wherein the whitelisted commands comprise a subset of utility commands permissible to run on an AV with a production status; receive an incoming remote procedure request via the remote procedure server; map the incoming remote procedure request to a whitelisted command; and provide the remote procedure request to a remote procedure stub for the whitelisted command.

First claim

What is claimed is:

1. An autonomous vehicle (AV), comprising:
a vehicle motive system comprising hardware to operate the AV; and
an AV controller to autonomously or semi-autonomously control the vehicle motive system, the AV controller comprising a hardware platform comprising a processor circuit and a memory, and instructions encoded within the memory to:
provide an operating system (OS), including a utility set comprising a plurality of OS utility commands;
provide a remote procedure server to accept incoming remote procedure requests from a host outside the AV;
provide remote procedure stubs for a set of whitelisted commands, wherein the whitelisted commands comprise a subset of utility commands permissible to run on an AV with a production status;
receive an incoming remote procedure request via the remote procedure server; map the incoming remote procedure request to a whitelisted command; and
provide the remote procedure request to a remote procedure stub for the whitelisted command.

2. The AV of claim 1 , wherein the remote procedure server is an RPC server.

3. The AV of claim 2 , wherein the RPC server is a gRPC server.

4. The AV of claim 1 , wherein the OS is a Linux or Unix OS.

5. The AV of claim 1 , wherein the OS utility commands comprise POSIX or GNU utilities.

6. The AV of claim 1 , wherein the whitelisted commands comprise exclusively read-only commands.

7. The AV of claim 1 , wherein the whitelisted commands comprise exclusively read-only versions of the OS utility commands.

8. The AV of claim 1 , wherein the whitelisted commands comprise a subset including fewer than all of the OS utility commands.

9. The AV of claim 1 , wherein the OS includes a remote shell server, and wherein the remote shell server is disabled.

10. The AV of claim 1 , wherein the remote procedure server is to receive command line arguments for the whitelisted commands, and parameterize the command line arguments.

11. The AV of claim 1 , wherein the AV controller is one of a plurality of AV controllers, and wherein the remote procedure server is to identify a target AV controller selected from among a plurality of AV controllers of the AV and forward the remote procedure request to the selected AV controller.

12. The AV of claim 11 , wherein the selected AV controller is a follower controller.

13. A method of maintaining device security within a control computer of an autonomous vehicle (AV), comprising:
receiving a command request for execution on the control computer;
verifying that the command request is directed to a command that is on a list of commands permitted on the control computer;
if the command is on the list, converting the command request to a remote procedure request, comprising marshalling parameters from the command request and calling a stub associated with the command, wherein the remote procedure request is directed to the control computer;
receiving remote procedure response from the control computer, the remote procedure response comprising output of the command; and
providing a response to the command request, wherein the response to the command request comprises the remote procedure response.

14. The method of claim 13 , wherein the remote procedure request and remote procedure response are a gRPC request and response.

15. The method of claim 13 , further comprising receiving an incoming connection from the control computer, and identifying the control computer as available if the incoming connection is made via an authorized network.

16. The method of claim 15 , wherein the authorized network is a wireless network of a service facility for the AV.

17. A system for servicing an autonomous vehicle (AV), comprising:
an AV, comprising an AV controller with software to provide shell commands, and a remote procedure server comprising stubs to encapsulate a whitelisted subset of the shell commands;
a gateway comprising a hardware platform and software to provide a remote procedure client and a web-based service including a user interface to:
receive a command request from a remote user, connect to the AV controller, convert the command request to a remote procedure call, send the remote procedure call to the AV controller, receive a remote procedure response from the AV controller; and
provide a response to the command request,
wherein the response to the command request is based at least in part on the remote procedure response.

18. The system of claim 17 , wherein the remote procedure server and client are a gRPC server and client.

19. The system of claim 17 , wherein the whitelisted subset comprises exclusively read-only shell commands.

20. The system of claim 17 , wherein the whitelisted subset comprises exclusively read-only versions of the shell commands.

Assignees

• Gm Cruise Holdings Llc

Inventors

• Valasek Christopher
• Misuraca Graziano Giuseppe

Classifications

• G07C5/008

  communicating information to a remotely located station (transmission systems for measured values G08C) · CPC title

• B60W2556/45

  External transmission of data to or from the vehicle · CPC title

• G06F9/4406

  Loading of operating system · CPC title

• H04W4/44

  for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H] · CPC title

• B60W2554/4049

  Relationship among other objects, e.g. converging dynamic objects · CPC title