Cross-type improper behavior detection in vehicle-to-everything (V2X) messages

Abstract

Various embodiments include methods and systems for performing improper behavior detection in a vehicle to everything (V2X) message. Various embodiments may include a V2X system of a vehicle that compares a first field in a first V2X message of a first V2X message type with a second field in a second V2X message of a second V2X message type, where the second V2X message type is different from the first V2X message type, identifies an improper behavior in the first V2X message or the second V2X message based on the comparison, and transmits the improper behavior to the vehicle. And taking an action in response to identifying an inappropriate behavior in the first V2X message or the second V2X message.

Description

[0001] Related Applications

[0002] This application claims priority to U.S. Non-Provisional Application No. 17 / 812,749, filed on July 15, 2022; the entire contents of which are incorporated herein by reference. Background Art

[0003] Vehicle-to-everything (V2X) systems support vehicle-to-vehicle and vehicle-to-highway system communications according to communication protocols and message formats defined under relevant standards, such as cellular vehicle-to-everything (C-V2X), dedicated short-range communications (DSRC), and ITS-G5. These standards serve as the basis for vehicle-based wireless communications and can be used to support smart highways, autonomous and semi-autonomous vehicles, and improve the overall efficiency and safety of highway transportation systems.

[0004] An element of a V2X processing system is the ability of a vehicle to broadcast V2X messages, which other vehicles can receive and process to improve traffic safety, such as performing safe path planning, collision avoidance, etc. V2X messages can be various message types, such as basic safety messages (BSM), cooperative awareness messages (CAM), collective awareness messages (CPM), maneuver sharing coordination messages (MSCM), etc. The various V2X message types may include similar or analogous information, but the information may be arranged or formatted differently depending on the message type. Summary of the invention

[0005] Various aspects include methods that may be performed by a vehicle-to-everything (V2X) vehicle processing system for misbehavior detection in V2X messages. Various aspects may include comparing a first field in a first V2X message of a first V2X message type with a second field in a second V2X message of a second V2X message type, wherein the second V2X message type is different from the first V2X message type, identifying misbehavior in the first V2X message or the second V2X message based on the comparison, and taking an action in response to identifying misbehavior in the first V2X message or the second V2X message.

[0006] Some aspects may include selecting a first field in the first V2X message and a second field in the second V2X message by identifying a field in the first V2X message and a field in the second V2X message that include similar information. In some aspects, identifying misconduct in the first V2X message or the second V2X message based on the comparison may include identifying misconduct in the first V2X message or the second V2X message when information in the first field is inconsistent with information in the second field.

[0007] In some aspects, comparing a first field in a first V2X message of a first V2X message type with a second field in a second V2X message of a second V2X message type may include selecting a first detector based on the first V2X message type and selecting a second detector based on the second V2X message type, and comparing the first field in the first V2X message of the first V2X message type with a second field in the second V2X message of the second V2X message type using the selected first and second detectors. In some aspects, comparing the first field in the first V2X message of the first V2X message type with a second field in the second V2X message of the second V2X message type using the selected first and second detectors may include comparing a result of applying the first detector to information in the first V2X message with a result of applying the second detector to information in the second V2X message.

[0008] Some aspects may include comparing a time value and a location value associated with a first field in a first V2X message of a first V2X message type and a second field in a second V2X message, wherein taking an action in response to identifying misbehavior in the first V2X message or the second V2X message may include taking an action in response to identifying misbehavior in the first V2X message or the second V2X message when the time value and the location value associated with the first field in the first V2X message of the first V2X message type and the second field in the second V2X message are substantially the same. In some aspects, taking an action in response to identifying misbehavior in the first V2X message or the second V2X message may include generating a correction to information in the first field or the second field when one of the time value and the location value associated with the first field in the first V2X message of the first V2X message type and the second field in the second V2X message is not substantially the same. In some aspects, taking an action in response to identifying misbehavior in the first V2X message or the second V2X message may include sending a misbehavior report indicating the identified misbehavior to a network computing device.

[0009] Additional aspects include a vehicle processing system including a memory and a processor configured to perform operations of any of the methods outlined above. Additional aspects may include a vehicle processing system having various means for performing functions corresponding to any of the methods outlined above. Additional aspects may include a non-transitory processor-readable storage medium having processor-executable instructions stored thereon, the processor-executable instructions configured to cause a processor of the vehicle processing system to perform various operations corresponding to any of the methods outlined above. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the claims and, together with the general description and detailed description given herein, serve to explain the features herein.

[0011] Figure 1A is a system block diagram illustrating an example communication system suitable for implementing the various embodiments.

[0012] Figure 1B is a system block diagram illustrating an example decomposed base station architecture suitable for implementing various embodiments.

[0013] Figure 1C is a system block diagram illustrating a communication system suitable for implementing various embodiments.

[0014] Figure 2A is a component diagram of an exemplary vehicle V2X processing system suitable for implementing various embodiments.

[0015] Figure 2B is a component block diagram illustrating components of an example vehicle autonomous / semi-autonomous driving system suitable for implementing various embodiments.

[0016] Figure 3A is a block diagram illustrating components of a system on a chip for use in a vehicle V2X processing system according to various embodiments.

[0017] Figure 3B is a component block diagram illustrating elements of a vehicle V2X processing system configured in accordance with various embodiments.

[0018] Figure 4A is a process flow diagram of an exemplary method for misbehavior detection in V2X messages performed by a processor of a V2X processing system in a vehicle in accordance with various embodiments.

[0019] Figure 4B and Figure 4C is a process flow diagram of exemplary operations in accordance with various embodiments and which may be performed by a processor of a vehicle V2X processing system as part of a method for misbehavior detection in V2X messages.

[0020] Figure 5 is a component block diagram of a computing device suitable for use with various embodiments. DETAILED DESCRIPTION

[0021] Various embodiments will be described in detail with reference to the accompanying drawings. Wherever possible, the same reference numerals will be used throughout the drawings to refer to the same or similar parts. References to specific examples and implementations are for illustrative purposes and are not intended to limit the scope of the claims.

[0022] Various embodiments include methods for detecting misbehavior conditions in V2X messages, and V2X processing systems and network computing device processing systems that implement the methods. In various embodiments, the V2X processing system may include one or more processors and / or other components configured to perform various operations for misbehavior detection in V2X messages. In various embodiments, a V2X processing system of a vehicle may compare a first field in a first V2X message of a first V2X message type with a second field in a second V2X message of a second V2X message type, wherein the first V2X message type and the second V2X message type are different. Based on the comparison, the V2X processing system may identify misbehavior in the first V2X message or the second V2X message. In response to identifying misbehavior in the first V2X message or the second V2X message, the V2X processing system may take action, such as sending a misbehavior report.

[0023] As used herein, the term “vehicle” generally refers to any of a car, motorcycle, truck, bus, train, boat, and any other type of V2X-capable vehicle system that may be configured to manage the transmission of misbehavior reports.

[0024] The term "system on chip" (SOC) is used herein to refer to a single integrated circuit (IC) chip that contains multiple resources and / or processors integrated on a single substrate. A single SOC may contain circuits for digital, analog, mixed signal, and radio frequency functions. A single SOC may also include any number of general and / or special-purpose processors (digital signal processors, modem processors, video processors, etc.), memory blocks (e.g., ROM, RAM, flash memory, etc.), and resources (e.g., timers, voltage regulators, oscillators, etc.). The SoC may also include software for controlling the integrated resources and processors and for controlling peripheral devices.

[0025] The term "system-in-package" (SIP) may be used herein to refer to a single module or package that contains multiple resources, computing units, cores, and / or processors on two or more IC chips, substrates, or SoCs. For example, a SIP may include a single substrate on which multiple IC chips or semiconductor dies are stacked in a vertical configuration. Similarly, a SIP may include one or more multi-chip modules on which multiple ICs or semiconductor dies are packaged into a unified substrate. A SIP may also include multiple independent SOCs coupled together via high-speed communication circuits and packaged in close proximity (such as on a single motherboard or in a single wireless device). The proximity of the SOCs facilitates high-speed communication and sharing of memory and resources.

[0026] In V2X communication, a V2X processing system in a vehicle may be configured to send and receive V2X messages, which the vehicle may receive and process to improve traffic safety, such as performing safe path planning, avoiding collisions, etc. V2X messages may be various message types, such as basic safety messages (BSM), cooperative awareness messages (CAM), collective awareness messages (CPM), maneuver coordination messages (MCM) such as maneuver sharing coordination messages (MSCM), signal phase and timing (SPAT) messages, signal phase and timing extension messages (SPATEM), MAP messages with road lane and topology information (MAP messages), MAP extension messages (MAPEM), signal request messages (SRM), and other similar V2X messages. Various V2X message types may include similar or similar information, but the information may be arranged or formatted differently according to the message type. For example, BSM and MCM may each include information about the size of the vehicle, the trajectory of the vehicle, the planned vehicle path, or other suitable information arranged and / or formatted according to the difference in message types. Similar or similar information in different V2X message types should be consistent. For example, information about vehicle dimensions, vehicle trajectory, planned path, and other vehicle information should be the same in V2X messages of different message types. Current V2X processing systems can be configured to detect inaccurate or intentionally false information in a BSM or CAM received from another vehicle or from an Intelligent Transportation System (ITS) infrastructure device such as a roadside unit (RSU). Misbehavior detected in such messages can be transmitted to other vehicles and network systems in a Misbehavior Report Message (MBR).

[0027] However, misbehavior detection methods implemented in current V2X processing systems cannot detect inconsistent information in V2X messages of different message types (sometimes referred to as cross-type misbehavior detection). Inconsistencies between similar or similar information in different V2X message types may indicate V2X misbehavior. For example, information in a CPM may indicate an occupied space (i.e., a road portion or area in which a vehicle is present), and a BSM having information indicating the location of a vehicle in the occupied space will be consistent with the information in the CPM. However, a BSM having information indicating that a vehicle is located in a particular space (i.e., a road portion or area in which no vehicle is present) will be inconsistent with information in the CPM indicating that the space is unoccupied or idle. Such inconsistencies in information in the BSM and CPM may indicate V2X misbehavior. As another example, vehicle size information contained in the BSM and the MCM should be consistent, because size information contained in the BSM that is inconsistent with information in the MCM may indicate potential V2X misbehavior. As another example, an MCM indicating an intended maneuvering vehicle should have maneuvering information and information about local road conditions that is consistent with information about local road conditions in the BSM from the vehicle and / or nearby vehicles.

[0028] Inconsistencies between similar or similar information in different V2X message types (i.e., V2X misbehavior) may result in performance degradation or deactivation of one or more vehicle V2X processing systems and may have a greater impact on many vehicles in the area or the V2X network itself, such as potentially reducing the available automation level (e.g., Level 3 (conditional automation), Level 4 (high automation), or Level 5 (full automation) of driving automation as defined by the Society of Automotive Engineers) for autonomous or semi-autonomous vehicles in the area. Inconsistencies between V2X messages may also reduce overall safety in a traffic network.

[0029] Current V2X processing systems are generally not configured to detect V2X misbehavior in V2X messages of different message types. For example, current V2X processing systems do not store previously received or historical V2X messages, making it impossible for current V2X processing systems to perform cross-type misbehavior detection. Previously received V2X messages that have been analyzed and authenticated or found to be "non-misbehavior" may provide valuable information for identifying inconsistencies in newly received V2X messages. In addition, current V2X processing systems do not store digital signatures of historical V2X messages, but instead typically remove the security header of the V2X message once the message is properly authenticated. The absence of a V2X message security header prevents the V2X processing system or a misbehavior authority in the V2X network from ensuring the authenticity of past V2X messages.

[0030] Various embodiments include a method implemented in a vehicle processing system for detecting misbehavior in a V2X message by analyzing and comparing two or more V2X messages of different message types. The V2X processing system may compare similar or similar information in a first V2X message and a second V2X message, each V2X message having a different message type, and may identify misbehavior in the first V2X message or the second V2X message based on the comparison of similar information. The V2X processing system may take action in response to identifying misbehavior in the first V2X message or the second V2X message. For example, the V2X processing system may generate a misbehavior report indicating the identified misbehavior and send it to a network computing device, such as a misbehavior authority server device.

[0031] In some embodiments, the V2X processing system may compare information in a first field in a first V2X message with information in a second field in a second V2X message. The V2X processing system may select the first field in the first V2X message and the second field in the second V2X message by identifying a field in the first V2X message and a field in the second V2X message that include similar or comparable information. In some embodiments, the V2X processing system may identify misconduct in the first V2X message or the second V2X message when the information in the first field is inconsistent with the information in the second field.

[0032] The V2X processing system may use various misbehavior detectors to detect misbehavior in V2X messages. The misbehavior detectors applied to different types of V2X messages may be different because the type of information and the field location of the information are different from one type of V2X message to the next type of V2X message. In some embodiments, the V2X processing system may select a detector of the misbehavior detection system based on the message type of the first V2X message and at least the second V2X message (and possibly other V2X messages, such as other V2X messages stored in memory). For example, the V2X processing system may select a first detector based on the first V2X message type and select a second detector based on the second V2X message type. In some embodiments, the V2X processing system may select a different detector for each V2X message based on the V2X message type. For example, in response to receiving a decentralized environment notification message (DENM), the V2X processing device may select a DENM-CAM detector. As another example, in response to receiving a CAM message, the V2X processor may select a DENM-CAM detector and a CAM-CPM detector.

[0033] In some embodiments, after the V2X processing system has selected one or more first detectors suitable for a first V2X message of a first type and selected one or more second (and different) detectors suitable for a second V2X message of a second and different type, the V2X processing system may use the selected detectors to compare the two (or more messages). In some embodiments, the V2X processing system may use the selected first and second detectors to compare information in a first field in a first V2X message of a first V2X message type with information in a second field in a second V2X message of a second V2X message type. In some embodiments, the V2X processing system may identify misbehavior in the first V2X message or the second V2X message when the information in the first field is inconsistent with the information in the second field. In some embodiments, the V2X processing system may compare one or more results of applying the first detector(s) to the information in the first V2X message with one or more results of applying the second detector(s) to the information in the second V2X message.

[0034] In some embodiments, the V2X processing system may select a detector to detect cross-type inauthenticity. Using the detector selected based on the V2X message type, the V2X processing system may compare similar information in V2X messages of different message types. For example, the V2X processing system may select a position detector for BSM and CPM. Determining that a vehicle position in the BSM shares the same position as an object indicated in the CPM will indicate cross-type inauthenticity of the BSM vehicle position or the CPM object position. As another example, the V2X processing system may select a trajectory detector for the BSM and MCM. Determining that a vehicle trajectory in the BSM is inconsistent with the vehicle maneuvering information in the MCM will indicate cross-type inauthenticity of the BSM vehicle trajectory or the MCM vehicle maneuvering information.

[0035] In some embodiments, the V2X processing system may select a detector to detect cross-type inconsistencies.

[0036] In some embodiments, the V2X processing system may select a vehicle size detector for message types including BSM, CAM, MCM, map data (MAP), SRM, and other message types. Using the detector selected based on the V2X message type, the V2X processing system may compare similar size information in V2X messages of different message types, and may identify misconduct in one of the V2X messages based on the inconsistency of the identified similar information. Examples include: determining that the vehicle width in the BSM or CAM is not equal to the vehicle width in the maneuvering message (e.g., MCM); determining that the vehicle length in the BSM or CAM is not equal to the vehicle length announced in the MCM; determining that the vehicle width in the BSM or CAM is greater than the lane width indicated in the MCM; determining that the vehicle length in the BSM or CAM is less than the vehicle length indicated in the MCM; determining that the vehicle width in the BSM or CAM is greater than the lane width indicated in the map message; determining that the lane width indicated in the MAP message is not equal to the lane width indicated in the MCM; and determining that the vehicle type indicated in the BSM or CAM is different from the vehicle type indicated in the SRM. Other examples are also possible.

[0037] In some embodiments, the V2X processing system may select a vehicle position detector based on one or more V2X message types, and may use the selected detector to compare similar position information in V2X messages of different message types. Based on the identified inconsistencies in similar information, the V2X processing system may identify improper behavior in one of the V2X messages. Examples include: determining that the vehicle position indicated in the BSM or CAM is too far from the start point of the trajectory indicated in the MCM; determining that the vehicle position indicated in the BSM or CAM is too far from the end point of the trajectory indicated in the MCM; and determining that the position of the vehicle requested to maneuver in the SRM or MCM is farther than a threshold distance from the position of the requesting vehicle indicated in the BSM or CAM. Other examples are also possible.

[0038] In some embodiments, the V2X processing system may select a vehicle speed detector based on one or more V2X message types, and may use the selected detector to compare similar speed information in V2X messages of different message types. Based on the identified inconsistencies in similar information, the V2X processing system may identify improper behavior in one of the V2X messages. Examples include: determining that the vehicle speed indicated in the BSM or CAM is greater than the speed limit (i.e., the allowed speed) indicated in the MAP message; determining that the vehicle speed indicated in the BSM or CAM is greater than the maximum allowed speed of the maneuver indicated in the MCM; determining that the current vehicle speed indicated in the BSM or CAM is lower than the minimum allowed speed of the maneuver indicated in the MCM; determining that the minimum allowed speed of the maneuver indicated in the MCM is greater than the maximum authorized speed (speed limit) indicated in the MAP message; and determining that the maximum allowed speed of the maneuver indicated in the MCM is greater than the speed limit indicated in the MAP message. Other examples are also possible.

[0039] In some embodiments, the V2X processing system may select a vehicle acceleration detector based on one or more V2X message types, and may use the selected detector to compare similar acceleration information in V2X messages of different message types. Based on the identified inconsistencies in similar information, the V2X processing system may identify improper behavior in one of the V2X messages. For example, the V2X processing system may determine that the vehicle acceleration indicated in the BSM or CAM message is greater than the vehicle acceleration reported in the MCM when the vehicle performed a maneuver. As another example, the V2X processing system may determine that the current vehicle acceleration indicated in the BSM or CAM is lower than the vehicle acceleration indicated in the MCM when the vehicle performed a maneuver. Other examples are also possible.

[0040] In some embodiments, the V2X processing system may select a vehicle heading detector based on one or more V2X message types, and may use the selected detector to compare similar heading information in V2X messages of different message types. Based on the identified inconsistencies in similar information, the V2X processing system may identify misbehavior in one of the V2X messages. For example, the V2X processing system may determine that the current vehicle heading indicated in the BSM or CAM is different from the vehicle heading indicated in the MCM when the vehicle performed the maneuver. Other examples are also possible.

[0041] In some embodiments, the V2X processing system may select a vehicle free space detector based on one or more V2X message types, and may use the selected detector to compare similar heading information in V2X messages of different message types. For example, the V2X processing system may determine that a V2X object indicated in a BSM or an obstacle indicated in a CPM is allegedly in an area or location that is also indicated as unoccupied, such as in a CPM that indicates that the field of view of the vehicle sensor is unoccupied. In response to determining an inconsistency in the free space information, the V2X processing system may generate a misbehavior report that includes the coordinates of an occupied (or allegedly occupied) area.

[0042] In some embodiments, the V2X processing system may select an inauthentic maneuver detector based on one or more V2X message types, and may use the selected detector to compare similar maneuver information in V2X messages of different message types. For example, the V2X processing system may determine inconsistencies between an MCM indicating an intended maneuver (which may include a lane ID and driving direction of a vehicle), a lane ID and / or driving direction indicated in a map message, and lane state information in space and time provided in a SPAT message.

[0043] In some embodiments, the V2X processing system may be configured with a memory device and a storage manager function to store previously received V2X messages for comparison with newly received V2X messages. The V2X processing device may be configured to store V2X messages with associated security data (such as a digital signature associated with each V2X message). Storing the security data with the V2X message may enable the V2X processing device or another device such as a misconduct agency computing device to verify the signature of each message in the misconduct report, thereby achieving authentication of the V2X message. The storage manager may also be configured to delete V2X messages based on a storage policy or a retention policy. For example, V2X messages older than a threshold age from a particular sender may be deleted (e.g., the sending vehicle may have left the communication range of the receiving vehicle). As another example, the MCM may be deleted once the manipulation associated with the MCM has been completed. As another example, a certain number of V2X messages, such as ten consecutive BSMs, may be stored to enable the consistency of the information over time to be determined, and redundant V2X messages may be deleted.

[0044] The V2X processing system may determine whether information from two (or more) V2X messages is consistent or inconsistent in time and space. If the information is associated with different locations and / or different times, the information in the fields of different V2X messages may not be inconsistent. For example, a lane indicated as occupied in a first V2X message at a first time may be indicated as unoccupied in a second V2X message at a second time, and the two V2X messages may be correct (e.g., because the vehicle that previously occupied the lane has moved to a different location), so the first V2X message and the second V2X message are not inconsistent. In some embodiments, the V2X processing system may compare the time value and the location value associated with the first field in the first V2X message of the first V2X message type and the second field in the second V2X message. In response to identifying misbehavior in the first V2X message or the second V2X message, identifying that the time value and the location value associated with the first field in the first V2X message of the first V2X message type and the second field in the second V2X message are substantially the same, the V2X processing system may take action, such as transmitting a misbehavior report indicating the identified misbehavior to a network computing device. In response to identifying improper behavior in the first V2X message or the second V2X message by identifying that the time value and the location value associated with a first field in the first V2X message of the first V2X message type and a second field in the second V2X message are not substantially the same, the V2X processing system may generate a correction to the information in the first V2X message (or the first field) or the second V2X message (the second field).

[0045] Various embodiments improve the safety and efficiency of V2X processing systems in vehicles by enabling the V2X processing systems to identify and take appropriate actions in response to misbehavior detected based on comparison of different types of V2X messages. Various embodiments improve the safety and operation of V2X networks and communication systems by enabling the V2X processing systems to reduce or eliminate disruptions to network communications and road traffic that may be caused by misbehavior in V2X messages.

[0046] Figure 1A 1 is a system block diagram illustrating an example communication system 100 suitable for implementing various embodiments. The communication system 100 includes a 5G New Radio (NR) network, an ITS V2X wireless network, and / or any other suitable network, such as a Long Term Evolution (LTE) network. References to 5G networks and 5G network elements in the following description are for illustrative purposes and are not intended to be limiting.

[0047] The communication system 100 may include a heterogeneous network architecture including a core network 140, a plurality of base stations 110, and various mobile devices, including a vehicle 102 equipped with a V2X processing system 104 including wireless communication capabilities. The base stations 110 may communicate with the core network 140 via a wired communication link 126. The communication system 100 may also include a roadside unit 112 that supports V2X communication with the vehicle 102 via the V2X wireless communication link 124.

[0048] The base station 110 is a network element that communicates with a wireless device (e.g., the V2X processing system 104 of the vehicle 102) via a wireless communication link 122, and may be referred to as a Node B, an LTE evolved Node B (eNodeB or eNB), an access point (AP), a radio head, a transmit receive point (TRP), a new radio base station (NR BS), a 5G Node B (NB), a next generation Node B (gNodeB or gNB), etc. Each base station 110 may provide communication coverage for a particular geographic area or "cell". In 3GPP, the term "cell" may refer to the coverage area of ​​a base station, a base station subsystem serving the coverage area, or a combination thereof, depending on the context in which the term is used. The core network 140 may be any type of core network, such as an LTE core network (e.g., an evolved packet core (EPC) network), a 5G core network, as referenced herein. Figure 1B Described disaggregated network et al.

[0049] The roadside unit 112 may communicate with the core network 140 via a wired or wireless communication link 128. The roadside unit 112 may communicate with a vehicle 102 equipped with a V2X processing system via a V2X wireless communication link 124 for downloading information useful for the V2X processing system autonomous and semi-autonomous driving functions, and for receiving information from the V2X processing system 104, such as misbehavior reports.

[0050] A misbehavior authority network computing device (MA) 132 may communicate with the core network 140 via a wired or wireless communication link 127. The MA 132 may receive misbehavior reports from the V2X processing system 104 as may be sent by the V2X processing system 104 from time to time.

[0051] The wireless communication link 122 may include multiple carrier signals, frequencies, or frequency bands, each of which may include multiple logical channels. The wireless communication links 122 and 124 may utilize one or more radio access technologies. Examples of RATs that may be used in the wireless communication links include 3GPP LTE, 3G, 4G, 5G (e.g., NR), GSM, Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Worldwide Interoperability for Microwave Access (WiMAX), Time Division Multiple Access (TDMA), and other mobile phone communication technology cellular RATs. Further examples of RATs that may be used in one or more of the various wireless communication links within the communication system 100 include medium-range protocols (such as Wi-Fi, LTE-U, LTE-Direct, LAA, MuLTEfire) and relatively short-range RATs (such as ZigBee, Bluetooth, and Bluetooth Low Energy (LE)).

[0052] Figure 1B is a system block diagram illustrating an example decomposed base station 160 architecture that may be part of a V2X and / or 5G network (e.g., communication system 100) in accordance with any of the various embodiments. Figure 1A and Figure 1B , the decomposed base station 160 architecture may include one or more central units (CU) 162, which may communicate directly with the core network 180 via a backhaul link, or indirectly with the core network 180 through one or more decomposed base station units, such as a near real-time (near-RT) RAN intelligent controller (RIC) 164 via an E2 link, or a non-real-time (non-RT) RIC 168 associated with a service management and orchestration (SMO) framework 166, or both. The CU 162 may communicate with one or more distributed units (DU) 170 via corresponding midhaul links (e.g., F1 interfaces). The DU 170 may communicate with one or more radio units (RU) 172 via corresponding fronthaul links. The RU 172 may communicate with corresponding UEs 120 via one or more radio frequency (RF) access links. In some embodiments, a user equipment (UE) such as the V2X processing system 104 may be served by multiple RUs 172 simultaneously.

[0053] Each of the units (i.e., CU 162, DU 170, RU 172) and near-RT RIC 164, non-RT RIC 168, and SMO framework 166 may include one or more interfaces, or be coupled to one or more interfaces configured to receive or send signals, data, or information (collectively, signals) via a wired or wireless transmission medium. Each of the units or an associated processor or controller that provides instructions to the communication interface of the unit may be configured to communicate with one or more of the other units via a transmission medium. For example, a unit may include a wired interface that is configured to receive signals or send signals to one or more other units via a wired transmission medium. In addition, a unit may include a wireless interface that may include a receiver, transmitter, or transceiver (such as a radio frequency (RF) transceiver) that is configured to receive or send signals or both to one or more other units via a wireless transmission medium.

[0054] In some aspects, CU 162 may host one or more high-level control functions. Such control functions may include radio resource control (RRC), packet data convergence protocol (PDCP), service data adaptation protocol (SDAP), etc. Each control function can be implemented using an interface configured to transmit signals with other control functions hosted by CU 162. CU 162 can be configured to handle user plane functions (i.e., central unit-user plane (CU-UP)), control plane functions (i.e., central unit-control plane (CU-CP)) or a combination thereof. In some embodiments, CU 162 may be logically split into one or more CU-UP units and one or more CU-CP units. When implemented in an O-RAN configuration, the CU-UP unit can communicate bidirectionally with the CU-CP unit via an interface (e.g., an E1 interface). CU 162 can be implemented to communicate with DU 170 when necessary for network control and signaling.

[0055] DU 170 may correspond to a logical unit including one or more base station functions for controlling the operation of one or more RU 172. In some aspects, DU 170 may host one or more of a radio link control (RLC) layer, a medium access control (MAC) layer, and one or more high physical (PHY) layers (e.g., modules for forward error correction (FEC) encoding and decoding, scrambling, modulation and demodulation, etc.) depending at least in part on a functional partition (e.g., those defined by the Third Generation Partnership Project (3GPP)). In some aspects, DU 170 may also host one or more low PHY layers. Each layer (or module) may be implemented using an interface configured to transmit signals with other layers (and modules) hosted by DU 170 or with control functions hosted by CU 162.

[0056] The lower layer functions may be implemented by one or more RUs 172. In some deployments, the RUs 172 controlled by the DUs 170 may correspond to logical nodes that host RF processing functions or low PHY layer functions (e.g., performing fast Fourier transforms (FFTs), inverse FFTs (iFFTs), digital beamforming, physical random access channel (PRACH) extraction and filtering, etc.), or both, based at least in part on functional partitioning (e.g., lower layer functional partitioning). In such an architecture, (one or more) RUs 172 may be implemented to handle over-the-air (OTA) communications with one or more UEs 120. In some embodiments, real-time and non-real-time aspects of control and user plane communications with (one or more) RUs 172 may be controlled by the corresponding DUs 170. In some scenarios, the configuration may enable (one or more) DUs 170 and CUs 162 to be implemented in a cloud-based radio access network (RAN) architecture (e.g., a vRAN architecture).

[0057] The SMO framework 166 may be configured to support RAN deployment and provisioning of non-virtualized and virtualized network elements. For non-virtualized network elements, the SMO framework 166 may be configured to support the deployment of dedicated physical resources for RAN coverage requirements, which may be managed via an operation and maintenance interface (such as an O1 interface). For virtualized network elements, the SMO framework 166 may be configured to interact with a cloud computing platform (such as an open cloud (O-Cloud) 176) to perform network element lifecycle management (such as instantiating virtualized network elements) via a cloud computing platform interface (such as an O2 interface). Such virtualized network elements may include, but are not limited to, CU 162, DU 170, RU 172, and near-RT RIC 164. In some embodiments, the SMO framework 166 may communicate with hardware aspects of the 4G RAN (e.g., open eNB (O-eNB) 174) via the O1 interface. In addition, in some implementations, the SMO framework 166 may communicate directly with one or more RUs 172 via the O1 interface. The SMO framework 166 may also include a non-RT RIC 168 configured to support the functionality of the SMO framework 166 .

[0058] The non-RT RIC 168 may be configured to include logic functions that implement non-real-time control and optimization of RAN elements and resources, artificial intelligence / machine learning (AI / ML) workflows including model training and updating, or policy-based guidance of applications / features in the near-RT RIC 164. The non-RT RIC 168 may be coupled to or in communication with the near-RT RIC 164 (e.g., via an A1 interface). The near-RT RIC 164 may be configured to include logic functions that implement near-real-time control and optimization of RAN elements and resources via data collection and actions through an interface that connects one or more CUs 162, one or more DUs 170, or both, and O-eNBs to the near-RT RIC 164 (e.g., via an E2 interface).

[0059] In some embodiments, in order to generate an AI / ML model to be deployed in the near-RT RIC 164, the non-RT RIC 168 may receive parameters or external enrichment information from an external server. Such information may be used by the near-RT RIC 164 and may be received from a non-network data source or from a network function at the SMO framework 166 or the non-RT RIC 168. In some examples, the non-RT RIC 168 or the near-RT RIC 164 may be configured to adjust RAN behavior or performance. For example, the non-RT RIC 168 may monitor long-term trends and patterns of performance and employ AI / ML models to perform corrective actions through the SMO framework 166 (such as via reconfiguration of O1) or via the creation of RAN management policies (such as A1 policies).

[0060] Figure 1C 1 is a system block diagram illustrating a communication system 103 suitable for implementing various embodiments. Figure 1A-Figure 1C, the communication system 103 may include three vehicles 12, 14, 16. Each vehicle 12, 14, 16 may include a V2X processing system 104, 106, 108, respectively, each V2X processing system being configured to periodically broadcast V2X messages 30, 40, 50, such as BSM, CAM, MCM, MAP, SRM, and other types of V2X messages, for reception and processing by the V2X processing systems of other vehicles (e.g., 104, 106, 108). By sharing vehicle position, speed, direction, braking, and other information, vehicles can maintain safe separation and identify and avoid potential collisions. For example, a trailing vehicle 12 receiving a V2X message 40 from a leading vehicle 16 can determine the speed and position of the vehicle 16, which in turn enables the vehicle 12 to match speed and maintain a safe separation distance 20. By being notified via the V2X message 40 when the leading vehicle 16 applies brakes, the V2X processing system 102 in the trailing vehicle 12 can simultaneously apply brakes to maintain a safe separation distance 20 even when the leading vehicle 16 stops suddenly. As another example, the V2X processing system 104 within the truck vehicle 14 can receive V2X messages 30, 50 from both vehicles 12, 16, and thus be notified that the truck vehicle 14 should stop at the intersection to avoid a collision. Each of the vehicle V2X onboard devices 104, 106, 108 can communicate with each other using any of a variety of short-range communication protocols. In addition, the vehicle may be able to transmit data and information about detected V2X messages and misbehavior reports about detected V2X misbehavior to the original equipment manufacturer (OEM) (70, 72) and / or the MA 74 (e.g., 132) via the communication network 18 via the communication links 60, 61, 62. The misbehavior report can be sent directly to the MA 74 (e.g., via the communication links 64, 66). In other embodiments, the misconduct report may first be transmitted to a misconduct report pre-processing unit (e.g., OEM server 70, 72) for pre-processing via communication link 64, 66. The pre-processed misconduct report may then be sent from the misconduct report pre-processing server 70, 72 to the MA 74 via communication link 64, 66. In other embodiments, the misconduct report may be received from a vehicle (e.g., from vehicle 16) at the MA 74. The MA 74 may relay the misconduct report received from the vehicle 16 to the OEM server 70, 72 via communication link 64, 66. In addition, the OEM server 70, 72 may provide a confirmation report to the MA 74 via communication link 64, 66.

[0061] Figure 2A is a component diagram of an exemplary vehicle V2X processing system 200 suitable for implementing various embodiments. Figure 1A-Figure 2A, the processing system 200 may include a vehicle 102, which includes a V2X processing system 104. The vehicle V2X processing system 104 may communicate with various systems and devices, such as an in-vehicle network 210, an infotainment system 212, various sensors 214, various actuators 216, and a radio module 218 coupled to an antenna 219. The vehicle V2X processing system 104 may also communicate with a roadside unit 112, a cellular communication network base station 110, and other external devices.

[0062] The V2X processing system 104 may include a processor 205, a memory 206, an input module 207, an output module 208, and a radio module 218. The processor 205 may be coupled to the memory 206 (i.e., a non-transitory storage medium) and may be configured with processor-executable instructions stored in the memory 206 to perform operations according to the methods of the various embodiments described herein. In addition, the processor 205 may be coupled to the output module 208, which may control an onboard display, and to the input module 207 to receive information from vehicle sensors and driver input.

[0063] The V2X processing system 104 may include a V2X antenna 219 coupled to a radio module 218, the radio module 218 being configured to communicate with one or more ITS participants (e.g., stations), roadside units 112, and base stations 110 or another suitable network access point. The V2X antenna 219 and radio module 218 may be configured to receive dynamic traffic flow characteristic information via vehicle-to-everything (V2X) communications. In various embodiments, the V2X processing system may receive information from multiple information sources such as the vehicle network 210, the infotainment system 212, various sensors 214, various actuators 216, and the radio module 218. The V2X processing system may be configured to use map data in addition to sensor data to perform autonomous or semi-autonomous driving functions, as further described below.

[0064] Examples of vehicle networks 210 include controller area networks (CAN), local interconnect networks (LIN), networks using the FlexRay protocol, media oriented systems transport (MOST) networks, and automotive Ethernet networks. Examples of vehicle sensors 214 include location determination systems (such as global navigation satellite systems (GNSS) systems), cameras, radars, lidars, ultrasonic sensors, infrared sensors, and other suitable sensor devices and systems. Examples of vehicle actuators 216 include various physical control systems, such as for steering, braking, engine operation, lights, direction signals, etc.

[0065] Figure 2Bis a component block diagram illustrating components of an exemplary vehicle autonomous / semi-autonomous driving system 220 that can be coupled to the V2X processing system 104 and is suitable for implementing various embodiments. The autonomous / semi-autonomous driving system 220 may include various subsystems, communication elements, computing elements, computing devices, or units that may be used within the vehicle 102. Figure 1A-Figure 2A The various computing elements, computing devices, or units within the autonomous / semi-autonomous driving system 220 may be implemented within a system of computing devices (i.e., subsystems) that communicate data and commands to each other via the vehicle network 210 (e.g., by Figure 2B In some embodiments, various computing elements, computing devices, or units within the autonomous / semi-autonomous driving system 220 may be implemented within a single computing device, such as separate threads, processes, algorithms, or computing elements. Figure 2B Each subsystem / computing element shown in is also generally referred to herein as a "layer" within the computing "stack" that makes up the vehicle autonomous / semi-autonomous driving system 220. However, the use of the terms layer and stack in describing various embodiments is not intended to imply or require that the corresponding functions be implemented within a single vehicle computing device, although this is a potential implementation embodiment. Instead, the use of the term "layer" is intended to cover subsystems with independent processors, computing elements (e.g., threads, algorithms, subroutines, etc.) running in one or more computing devices, and combinations of subsystems and computing elements.

[0066] The autonomous / semi-autonomous driving system 220 may include a radar and / or lidar perception layer 222, a camera perception layer 224, a positioning engine layer 226, a map database 228, a map fusion and arbitration layer 230, a route planning layer 232, an operating mode evaluation layer 234, a sensor fusion and road world model (RWM) management layer 236, a motion planning and control layer 238, and a behavior planning and prediction layer 240. The layers 222-240 are merely examples of some of the layers in one example configuration of the autonomous / semi-autonomous driving system 220. In other configurations, other layers may be included, such as additional layers for other perception sensors (e.g., a lidar perception layer, etc.), additional layers for planning and / or control, additional layers for modeling, etc., and / or some of the layers 222-240 may be excluded from the autonomous / semi-autonomous driving system 220. Each of the layers 222-240 may exchange data, calculation results, and commands, such as Figure 2B As indicated by the arrow in .

[0067] In addition, the autonomous / semi-autonomous driving system 220 can receive and process data from sensors (e.g., radar, lidar, camera, inertial measurement unit (IMU), etc.), navigation information sources (e.g., global positioning system (GPS) receiver, IMU, etc.), vehicle networks (e.g., controller area network (CAN) bus), and databases in memory (e.g., digital map data). The autonomous / semi-autonomous driving system 220 can output vehicle control commands or signals to an autonomous driving system (ADS) vehicle control unit 242, which is a system, subsystem, or computing device that directly interfaces with the vehicle steering, throttle, and brake controls. Figure 2A The configuration of the autonomous / semi-autonomous driving system 220 and the ADS vehicle control unit 242 shown is merely an example configuration, and other configurations of the vehicle management system and other vehicle components may be used.

[0068] The radar and / or lidar perception layer 222 may receive data from one or more detection and ranging sensors such as radar (e.g., 132) and / or lidar (e.g., 138), and process the data to identify and determine the location of other vehicles and objects in the vicinity of the vehicle 100. The radar perception layer 222 may include the use of neural network processing and artificial intelligence methods to identify objects and vehicles, and pass this information to the sensor fusion and RWM management layer 236.

[0069] The camera perception layer 224 may receive data from one or more cameras, such as cameras, and process the data to identify and determine the location of other vehicles and objects in the vicinity of the vehicle 100. The camera perception layer 224 may include the use of neural network processing and artificial intelligence methods to identify objects and vehicles and pass such information to the sensor fusion and RWM management layer 236.

[0070] The positioning engine layer 226 can receive data from the radar and / or lidar perception layer 222, the camera perception layer 224, and various navigation information sources, and process the data and information to determine the location of the vehicle 100. The various navigation information sources may include, but are not limited to, GPS receivers, IMUs, and / or other sources and sensors connected via a CAN bus. The positioning engine layer 226 can also utilize input from one or more cameras, such as cameras and / or any other available sensors capable of identifying and determining the direction and distance to objects near the vehicle, such as radar, lidar, etc.

[0071] According to various embodiments, the autonomous / semi-autonomous driving system 220 may include or be coupled to the vehicle V2X processing system 104. One or more of the layers 222-240 may provide information to or receive information from the V2X processing system 104. The V2X processing system 104 may be configured to communicate with a highway communication system, such as via a V2X communication link (e.g., 124) and / or communicate with a remote information source (e.g., computing device 132) via a cellular wireless communication link (e.g., 122), such as via a 5G cellular network.

[0072] The map fusion and arbitration layer 230 can access the map database 228 to obtain location information about nearby objects and features, and receive the positioning / navigation information output from the positioning engine layer 226, and process the data to further determine the location of the vehicle 102 within the map, such as the location within the traffic lane, the location within the street map, etc. The sensor data can be stored in a memory (e.g., memory 312). The location information of map objects and features, sensors, and GPS location fixes all include some errors, so the map fusion and arbitration layer 230 can be used to determine the best guess location of the vehicle within the road based on arbitration between GPS coordinates, sensor data, and map data about objects and features in and near the road. The map fusion and arbitration layer 230 can pass the arbitrated map location information to the sensor fusion and RWM management layer 236.

[0073] The route planning layer 232 can utilize sensor data and input from an operator or dispatcher to plan a route for the vehicle 102 to follow to a particular destination. The route planning layer 232 can pass map-based location information to the sensor fusion and RWM management layer 236.

[0074] In embodiments including an operating mode evaluation layer 234, the processing layer may use safety and / or confidence information about nearby objects and features to select an appropriate ADS driving mode. In some embodiments, the operating mode evaluation layer 234 may determine whether the current autonomous or semi-autonomous driving mode is consistent or appropriate given the safety and / or confidence information about nearby objects and features in the driving environment.

[0075] The sensor fusion and RWM management layer 236 may receive data and outputs generated by the radar and / or lidar perception layer 222, the camera perception layer 224, the map fusion and arbitration layer 230, the route planning layer 232, and the operating mode evaluation layer 234, and use some or all of these inputs to estimate or refine the position and state of the vehicle 102 relative to the road, other vehicles on the road, and other objects near the vehicle 100. The sensor fusion and RWM management layer 236 may output the refined position and state information of the vehicle 100 and the refined position and state information of other vehicles and objects near the vehicle to the motion planning and control layer 238 and / or the behavior planning and prediction layer 240.

[0076] The behavior planning and prediction layer 240 of the autonomous vehicle V2X processing system 220 may use the refined position and state information of the vehicle 102 and the position and state information of other vehicles and objects output from the sensor fusion and RWM management layer 236 to predict the future behavior of other vehicles and / or objects. The motion planning and control layer 238 may receive data and information output from the sensor fusion and RWM management layer 236, map data from the map database 232, and other vehicle and object behavior and position predictions from the behavior planning and prediction layer 240, and use this information to plan and generate control signals for controlling the motion of the vehicle 102, and verify that such control signals meet the safety requirements of the vehicle 100.

[0077] The ADS vehicle control unit 242 may receive commands or instructions from the motion planning and control layer 238 and convert such information into mechanical control signals for controlling the wheel angles, brakes, and throttle of the vehicle 100. For example, the ADS vehicle control unit 242 may respond to a calculated steering wheel command angle by sending a corresponding control signal to a steering wheel controller.

[0078] In various embodiments, the V2X processing system 104 may communicate with other V2X processing system participants (e.g., other vehicles 12, 14, 16) via wireless communication links to transmit sensor data, location data, vehicle data, and data about the vehicle's surroundings collected by onboard sensors. Such information may be used by other V2X processing system participants to update stored sensor data for relaying to other V2X processing system participants.

[0079] In addition to identifying improper behavior in V2X messages, in some embodiments, the vehicle V2X processing system 220 may also include functionality to perform safety checks or oversight of various commands, plans, or other decisions at various layers that may affect vehicle and occupant safety. Such safety checks or oversight functionality may be implemented within a dedicated layer, or distributed between various layers and included as part of the functionality.

[0080] Figure 3A is a block diagram illustrating example components of a system on a chip (SOC) 300 for use in a vehicle V2X processing system according to various embodiments. Figure 1A-Figure 3A , the processing device SOC 300 may include a plurality of heterogeneous processors, such as a digital signal processor (DSP) 303, a modem processor 304, an image and object recognition processor 306, a mobile display processor 307, an application processor 308, and a resource and power management (RPM) processor 317. The processing device SOC 300 may also include one or more coprocessors 310 (e.g., vector coprocessors) connected to one or more of the heterogeneous processors 303, 304, 306, 307, 308, 317.

[0081] Each of the processors may include one or more cores and an independent / internal clock. Each processor / core may perform operations independently of other processors / cores. For example, the processing device SOC 300 may include a processor that executes a first type of operating system (e.g., FreeBSD, LINUX, OS X, etc.) and a processor that executes a second type of operating system (e.g., Microsoft Windows). In some embodiments, the application processor 308 may be the main processor, central processing unit (CPU), microprocessor unit (MPU), arithmetic logic unit (ALU), etc. of the SOC 300. The graphics processor 306 may be a graphics processing unit (GPU).

[0082] The processing device SOC 300 may include analog and custom circuits 314 for managing sensor data, analog-to-digital conversion, wireless data transmission, and for performing other specialized operations, such as processing encoded audio and video signals for presentation in a web browser. The processing device SOC 300 may further include system components and resources 316, such as voltage regulators, oscillators, phase-locked loops, peripheral bridges, data controllers, memory controllers, system controllers, access ports, timers, and other similar components for supporting processors and software clients (e.g., web browsers) running on the computing device.

[0083] The processing device SOC 300 also includes dedicated circuitry for camera actuation and management (CAM) 305, which includes, provides, controls and / or manages the operation of one or more cameras (e.g., main camera, web camera, 3D camera, etc.), video display data from camera firmware, image processing, video pre-processing, video front end (VFE), inline JPEG, high-definition video codec, etc. The CAM 305 can be an independent processing unit and / or include an independent or internal clock.

[0084] In some embodiments, the image and object recognition processor 306 can be configured with processor executable instructions and / or dedicated hardware that is configured to perform image processing and object recognition analysis involved in various embodiments. For example, the image and object recognition processor 306 can be configured to perform operations to process images received from the camera via the CAM 305 to recognize and / or identify other vehicles, and otherwise perform the functions of the camera perception layer 224 as described. In some embodiments, the processor 306 can be configured to process radar or lidar data and perform the functions of the radar and / or lidar perception layer 222 as described.

[0085] System components and resources 316, analog and custom circuits 314, and / or CAM 305 may include circuits that interface with peripheral devices such as cameras, radars, lidars, electronic displays, wireless communication devices, external memory chips, etc. Processors 303, 304, 306, 307, 308 may be interconnected to one or more memory elements 312, system components and resources 316, analog and custom circuits 314, CAM 305, and RPM processor 317 via interconnect / bus modules 324, which may include reconfigurable logic gate arrays and / or implement bus architectures (e.g., CoreConnect, AMBA, etc.). Communications may be provided by advanced interconnects such as high-performance on-chip networks (NoCs).

[0086] The processing device SOC 300 may further include an input / output module (not illustrated) for communicating with resources external to the SOC, such as a clock 318 and a voltage regulator 320. The resources external to the SOC (e.g., clock 318, voltage regulator 320) may be shared by two or more of the internal SOC processors / cores (e.g., DSP 303, modem processor 304, graphics processor 306, application processor 308, etc.).

[0087] In some embodiments, the processing device SOC 300 may be included in a control unit (e.g., 140) for use in a vehicle (e.g., 100). The control unit may include a communication link for communicating with the described telephone network (e.g., 180), the Internet, and / or a network server (e.g., 184).

[0088] The processing device SOC 300 may also include additional hardware and / or software components suitable for collecting sensor data from sensors, including motion sensors (e.g., accelerometers and gyroscopes of an IMU), user interface elements (e.g., input buttons, touch screen displays, etc.), microphone arrays, sensors for monitoring physical conditions (e.g., position, direction, motion, orientation, vibration, pressure, etc.), cameras, compasses, GPS receivers, communication circuit systems (e.g., WLAN, WiFi, etc.), and other well-known components of modern electronic devices.

[0089] Figure 3B is a component block diagram illustrating elements of a vehicle V2X processing system 104 configured in accordance with various embodiments. Figure 1A-Figure 3B , the V2X processing system 104 of a vehicle (e.g., 102) can be configured to communicate with a roadside unit 112, a cellular network base station 110, and / or one or more other vehicles 12, 14, 16.

[0090] The vehicle V2X processing system 104 may include one or more processors 205, memory 206, radio modules 218, and other components. The vehicle processing system 104 may include multiple hardware, software, and / or firmware components that operate together to provide the functionality attributed herein to the processor 205.

[0091] The memory 206 may include a non-transitory storage medium that electronically stores information. The electronic storage medium of the memory 206 may include a system storage device that is provided integrally (i.e., substantially non-removable) with the vehicle processing system 104 and / or one or both of a removable storage device that is removably connected to the vehicle V2X processing system 104 via, for example, a port (e.g., a universal serial bus (USB) port, a FireWire port, etc.) or a drive (e.g., a disk drive, etc.). In various embodiments, the memory 206 may include one or more of a charge-based storage medium (e.g., EEPROM, RAM, etc.), a solid-state storage medium (e.g., a flash drive, etc.), an optically readable storage medium (e.g., an optical disk, etc.), a magnetically readable storage medium (e.g., a magnetic tape, a magnetic hard drive, a floppy disk drive, etc.), and / or other electronically readable storage media.

[0092] The memory 206 may include one or more virtual storage resources (e.g., cloud storage, a virtual private network, and / or other virtual storage resources). The memory 206 may store software algorithms, information determined by the processor(s) 205, information received from one or more other vehicles 12, 14, 16, information received from a roadside unit 112, information received from a base station 110, and / or other information that enables the vehicle V2X processing system 104 to function as described herein.

[0093] The processor(s) 205 may include one or more local processors that may be configured to provide information processing capabilities in the vehicle V2X processing system 104. As such, the processor(s) 205 may include one or more of a digital processor, an analog processor, a digital circuit designed to process information, an analog circuit designed to process information, a state machine, and / or other mechanisms for electronically processing information. Although the processor(s) 205 may be configured to provide information processing capabilities in the vehicle V2X processing system 104, the processor(s) 205 may include one or more of a digital processor, an analog processor, a digital circuit designed to process information, an analog circuit designed to process information, a state machine, and / or other mechanisms for electronically processing information. Figure 3B 205 is shown as a single entity, but this is for illustration purposes only. In some embodiments, processor(s) 205 may include multiple processing units. These processing units may be physically located within the same device, or processor(s) 205 may represent processing functionality of multiple devices distributed in the vehicle and operating in coordination.

[0094] The vehicle V2X processing system 104 may be configured by machine readable instructions 332, which may include one or more instruction modules. The instruction modules may include computer program modules. In various embodiments, the instruction modules may include one or more of a V2X message receiving module 334, a detector selection module 336, a comparison module 338, a misbehavior detection module 340, a misbehavior reporting module 342, a TX / RX module 344, and / or other modules.

[0095] The V2X message receiving module 334 may be configured to receive a V2X message from another vehicle (eg, 12 , 14 , 16 ).

[0096] The detector selection module 336 may be configured to select a first detector based on the first V2X message type and a second detector based on the second V2X message type. The detector selection module 336 may be configured to select one or more detectors based on the V2X message type in the received V2X message and / or the V2X message stored in the memory 206. The detector selection module 336 may be configured to select a first field in the first V2X message and a second field in the second V2X message by identifying a field in the first V2X message and a field in the second V2X message that include similar information.

[0097] The comparison module 338 may be configured to compare a first field in a first V2X message of a first V2X message type with a second field in a second V2X message of a second V2X message type. The first V2X message type and the second V2X message type may be different. The comparison module 338 may be configured to compare the first field in the first V2X message of the first V2X message type with the second field in the second V2X message of the second V2X message type using the selected (e.g., first and second) detectors. In some embodiments, the comparison module 330 may be configured to compare the result of applying the first detector to the information in the first V2X message with the result of applying the second detector to the information in the second V2X message. The comparison module 330 may also be configured to compare the time value and the position value associated with the first field in the first V2X message of the first V2X message type and the second field in the second V2X message.

[0098] The misbehavior detection module 340 may be configured to identify misbehavior in the first V2X message or the second V2X message based on a comparison of the first V2X message and the second V2X message. The misbehavior detection module 340 may be configured to identify misbehavior in the first V2X message or the second V2X message when information in the first field is inconsistent with information in the second field.

[0099] The misbehavior reporting module 342 may be configured to take action in response to identifying misbehavior in the first V2X message or the second V2X message. The misbehavior reporting module 342 may be configured to generate a misbehavior report indicating the identified misbehavior. The misbehavior reporting module 342 may also be configured to generate a correction to information in the first field or the second field when one of a time value and a position value associated with a first field in the first V2X message of the first V2X message type and a second field in the second V2X message is not substantially the same.

[0100] The TX / RX module 344 may be configured to control the operation of a communication device of the vehicle processing system (e.g., the wireless module 218). The TX / RX module 344 may be configured to send a generated misconduct report indicating the identified misconduct to a network computing device (e.g., the misconduct authority computing device 132).

[0101] Processor(s) 207 may be configured to execute modules 332-344 and / or other modules via software, hardware, firmware, some combination of software, hardware, and / or firmware, and / or other mechanisms for configuring processing capabilities on processor(s) 205.

[0102] The description of the functionality provided by different modules 332-344 is for illustrative purposes and is not intended to be limiting, as any of the modules 332-344 may provide more or less functionality than described. For example, one or more of the modules 332-344 may be eliminated, and some or all of their functionality may be provided by other modules in the modules 332-344. As another example, the processor(s) 207 may be configured to execute one or more additional modules that may perform some or all of the functionality attributed below to one of the modules 332-344.

[0103] Figure 4A is a process flow diagram of an example method 400a for misbehavior detection in V2X messages performed by a processor of a V2X processing system in a vehicle according to various embodiments. Figure 1A-Figure 4A , method 400a can be performed by one or more processors of a V2X processing system (e.g., 205, 300) or other vehicle processors (e.g., 205, 220, 300) that can be implemented in hardware elements, software elements, or a combination of hardware and software elements.

[0104] In block 402, the V2X processing system may compare a first field in a first V2X message of a first V2X message type with a second field in a second V2X message of a second V2X message type, wherein the second V2X message type is different from the first V2X message. Means for performing the operations of block 402 may include a processor (e.g., 205, 303, 304, 306, 307, 308, 310) executing the V2X message receiving module 334 and the detector selection module 336 and the radio module 218.

[0105] In block 404, the V2X processing system may identify improper behavior in the first V2X message or the second V2X message based on the comparison. In some embodiments, the V2X processing system may identify improper behavior in the first V2X message or the second V2X message when the information in the first field is inconsistent with the information in the second field. The means for performing the operations of block 404 may include a processor (e.g., 205, 303, 304, 306, 307, 308, 310) executing the V2X message receiving module 334 and the detector selection module 336.

[0106] In block 406, the V2X processing system may take action in response to identifying misbehavior in the first V2X message or the second V2X message. In some embodiments, the V2X processing system may send a misbehavior report indicating the identified misbehavior to the network computing device. The means for performing the operations of block 406 may include: executing the misbehavior reporting module 342 and the TX / RX module 344 and a processor (e.g., 205, 303, 304, 306, 307, 308, 310) of the wireless module 218.

[0107] The V2X processing system may repeat the operations of blocks 402 - 406 from time to time, such as periodically or in response to receiving one or more V2X messages.

[0108] Figure 4B and Figure 4C is a process flow diagram of exemplary operations 400b and 400c that may be performed by a processor of a vehicle V2X processing system as part of a method 400a for misbehavior detection in V2X messages in accordance with various embodiments. Figure 1A-Figure 4C , operations 400b and 400c may be performed by a processor of a V2X processing system (e.g., 205, 300) or other vehicle processor (e.g., 104, 205, 220, 300) that may be implemented in hardware elements, software elements, or a combination of hardware and software elements.

[0109] refer to Figure 4B , the V2X processing system may receive a first V2X message from the V2X transmitter in block 410. For example, the V2X processing system may receive a V2X message from another vehicle 12, 14, 16. Means for performing the operations of block 406 may include a processor (e.g., 205, 303, 304, 306, 307, 308, 310) executing the V2X method receiving module 334 and the TX / RX module 344 and the radio module 218.

[0110] In block 412, the V2X processing system may obtain a second V2X message from a memory (e.g., memory 206). In some embodiments, the V2X processing system may be configured with a storage manager function, which may be implemented in hardware, software, or any combination of hardware and software. The storage manager may store the received V2X message in the memory, and may obtain (one or more) second V2X messages for comparison with the first V2X message. In some embodiments, the storage manager may store each V2X message with associated security data of the V2X message (such as a digital signature associated with each V2X message). Storing the security data with the V2X message may enable the V2X processing device or another device such as a misconduct authority computing device to verify the signature of each message in the misconduct report, thereby achieving authentication of the V2X message. The storage manager may also be configured to delete V2X messages based on a storage policy or a retention policy. For example, V2X messages from a particular V2X sender that are older than a threshold age may be deleted (e.g., the sending vehicle may have left the communication range of the receiving vehicle). As another example, once the manipulation associated with the MCM has been completed, the MCM may be deleted. As another example, a certain number of V2X messages, such as ten consecutive BSMs, may be stored to enable information consistency to be determined, and redundant V2X messages may be deleted.

[0111] In some embodiments, the V2X processing system may determine the second V2X message based on the message type of the first V2X message or may be configured to select the second V2X message based on the message type of the first V2X message. For example, the V2X processing system may be configured with a data structure, such as a lookup table or another suitable data structure, indicating one or more types of second V2X messages that may include information similar to information in the message type of the first V2X message. As another example, the V2X processing system may be configured with a data structure, such as a lookup table or another suitable data structure indicating one or more types of second V2X messages that may include information that is not similar to information in the message type of the first V2X message but may be used to confirm information in the first V2X message or otherwise identify misconduct in the first V2X message. As another example, the V2X processing system may select the second V2X message based on a first field in the first V2X message and a second field in the second V2X message having the same, similar, or analogous information type. As another example, the V2X processing system may select the second V2X message based on information about whether the first V2X message and the second V2X message are used or will be used in a vehicle operation (e.g., a proposed maneuver, a maneuver request received from another vehicle, a safety determination, or another suitable vehicle operation). The means for performing the operations of block 412 may include a processor (e.g., 205, 303, 304, 306, 307, 308, 310) executing the detector selection module 336.

[0112] In block 414, the V2X processing system may identify fields in the first V2X message and fields in the second V2X message that include similar information. Such similar information may include, for example, maneuver-related information, size information, position information, speed information, acceleration information, vehicle heading information, free space information, and other suitable information that the V2X processing system may compare to determine or detect inconsistencies between such information. Means for performing the operations of block 414 may include a processor (e.g., 205, 303, 304, 306, 307, 308, 310) that executes the detector selection module 336.

[0113] In block 416, the V2X processing system may select the first detector based on the first V2X message type and the second detector based on the second V2X message. For example, the V2X processing system may select the first and second detectors based on the message types of the first and second V2X messages. In some embodiments, the V2X processing system may select the first and second detectors based on first and second fields identified in the first and second V2X messages. In some embodiments, the V2X processing system may select the first and second detectors based on one or more types of information in the first and second fields identified in the first and second V2X messages. The means for performing the operations of block 416 may include a processor (e.g., 205, 303, 304, 306, 307, 308, 310) that executes the detector selection module 336.

[0114] In box 418, the V2X processing system may compare a first field in a first V2X message of a first V2X message type with a second field in a second V2X message of a second V2X message type using the selected first and second detectors. In some embodiments, the V2X processing system may compare the result of applying the first detector to the information in the first V2X message with the result of applying the second detector to the information in the second V2X message. For example, the V2X processing system may apply a CAM vehicle size detector to a V2X message (CAM type message) from a first vehicle, and the CAM vehicle size detector may determine the size (e.g., length and width) of the first vehicle. The V2X processing system may also apply an MCM vehicle size detector to a second V2X message (MCM type message) from a second vehicle. The MCM vehicle size detector may determine that the MCM reports the size of the first vehicle, and the first vehicle size reported in the MCM message may be different from the first vehicle size reported in the CAM message. Although each of the CAM vehicle size detector and the MCM vehicle size detector acting alone may not detect improper behavior in the first V2X message or the second V2X message, the V2X processing system can detect an inconsistency between a first vehicle size reported in the CAM message and a different first vehicle size reported in the MCM message. The means for performing the operations of block 418 may include a processor (e.g., 205, 303, 304, 306, 307, 308, 310) executing the comparison module 338.

[0115] The V2X processor may identify misconduct in the first V2X message or the second V2X message based on the comparison in block 404 and may take action in response to identifying misconduct in the first V2X message or the second V2X message in block 406 as described.

[0116] The V2X processing system may repeat the operations of blocks 410 - 418 , 404 , and 406 from time to time, such as periodically or in response to receiving one or more V2X messages.

[0117] refer to Figure 4C After the V2X processing system identifies misbehavior in the first or second V2X message based on a comparison of the first field in the first V2X message with the second field in the second V2X message in block 404 as described above, the V2X processing system may compare the time value and the position value associated with the first field in the first V2X message of the first V2X message type and the second field in the second V2X message in block 430. Means for performing the operations of block 430 may include a processor (e.g., 205, 303, 304, 306, 307, 308, 310) executing the comparison module 338.

[0118] In determination block 432, the processor may determine whether the time value and the location value associated with the first field and the second field are substantially the same. In some embodiments, the allowable location difference may be limited to a relatively short distance, such as one or a few meters. In some embodiments, the allowable time difference may be limited to a relatively short time, such as a small number of milliseconds (ms). Means for performing the operations of determination block 432 may include a processor (e.g., 205, 303, 304, 306, 307, 308, 310) executing comparison module 338.

[0119] In response to determining that the time value and the location value associated with the first field and the second field are substantially the same (i.e., determination block 432 = "Yes"), the V2X processing system may take action in response to identifying misbehavior in the first V2X message or the second V2X message in block 432. For example, the V2X processing system may send a misbehavior report indicating the identified misbehavior to the network computing device. The means for performing the operations of block 434 may include executing the misbehavior reporting module 342 and the TX / RX module 344 and a processor (e.g., 205, 303, 304, 306, 307, 308, 310) of the wireless module 218.

[0120] In response to determining that the time value and the location value associated with the first field and the second field are not substantially the same (i.e., determination block 432 = "No"), the V2X processing system may generate a correction for the information in the first field or the second field. For example, a first V2X message (e.g., MCM) may indicate that the vehicle intends to change lanes, and a second V2X message (e.g., CPM) may indicate that the target lane is occupied (e.g., by applying an MCM free space detector and / or a CPM free space detector). The V2X processing system may also determine that the location associated with the first V2X message and the second V2X message is the same, but the second V2X message (CPM) is older than the first V2X message (MCM). The V2X processing system may generate a correction for the outdated information in the second V2X message. In some embodiments, the V2X processing system may provide the correction to a V2X application executing in the V2X processing system. Means for performing the operations of block 436 may include a processor (eg, 205 , 303 , 304 , 306 , 307 , 308 , 310 ) executing the misconduct detection module 340 and the misconduct reporting module 342 .

[0121] After performing the operations of block 434 or 436 , the V2X processing system may compare a first field in a first V2X message of a first V2X message type with a second field in a second V2X message of a second V2X message type in block 402 , as described.

[0122] Figure 5 is a component block diagram of a network computing device 500 suitable for use with various embodiments. Figures 1A to 5 , various embodiments (including but not limited to reference Figures 1A to 4C The embodiments described herein can be implemented on various computing devices, examples of which are Figure 5 500 is shown in the form of a server device. The network computing device 500 may include a processor 501 coupled to a volatile memory 502 and a large capacity non-volatile memory (such as a disk drive 503). The network computing device 500 may also include a peripheral memory access device coupled to the processor 501, such as a floppy disk drive, a compact disk (CD) or a digital video disk (DVD) drive 506. The network computing device 500 may also include a network access port 504 (or interface) coupled to the processor 501 for establishing a data connection with a network, such as the Internet and / or a local area network coupled to other system computers and servers. The network computing device 500 may include one or more transceivers 505 for sending and receiving electromagnetic radiation, which may be connected to a wireless communication link. The network computing device 500 may include additional access ports for coupling to peripheral devices, external memory or other devices, such as USB, Firewire, Thunderbolt, etc.

[0123] Implementation examples are described in the following paragraphs. Although some of the following implementation examples are described according to example methods, other example implementations may include: the example methods discussed in the following paragraphs are implemented by a V2X processing system, which may be a vehicle-mounted unit, a mobile device unit, or a mobile computing unit, or a processing system of a network computing device, including a processor configured with processor-executable instructions to perform the operations of the following implementation example methods; the example methods discussed in the following paragraphs are implemented by a V2X processing system, the V2X processing system including a device for performing the functions of the following implementation example methods; and the example methods discussed in the following paragraphs may be implemented on a non-transitory processor-readable storage medium having processor-executable instructions stored thereon, the processor-executable instructions being configured to cause the processor of the V2X processing system to perform the operations of the following implementation example methods.

[0124] Example 1. A method for misbehavior detection in a vehicle-to-everything (V2X) message performed by a vehicle-to-everything (V2X) processing system of a vehicle, comprising comparing a first field in a first V2X message of a first V2X message type with a second field in a second V2X message of a second V2X message type, wherein the second V2X message type is different from the first V2X message type, identifying misbehavior in the first V2X message or the second V2X message based on the comparison, and taking action in response to identifying misbehavior in the first V2X message or the second V2X message.

[0125] Example 2. The method of Example 1, further comprising selecting the first field in the first V2X message and the second field in the second V2X message by identifying fields in the first V2X message and fields in the second V2X message that include similar information.

[0126] Example 3. A method according to any one of Examples 1 and 2, wherein identifying improper behavior in the first message or the second V2X message based on the comparison includes: identifying improper behavior in the first V2X message or the second V2X message when information in the first field is inconsistent with information in the second field.

[0127] Example 4. A method according to any of Examples 1-3, wherein comparing a first field in a first V2X message of a first V2X message type with a second field in a second V2X message of a second V2X message type includes: selecting a first detector based on the first V2X message type and selecting a second detector based on the second V2X message type, and comparing the first field in the first V2X message of the first V2X message type with the second field in the second V2X message of the second V2X message type using the selected first and second detectors.

[0128] Example 5. A method according to Example 4, wherein comparing a first field in a first V2X message of a first V2X message type with a second field in a second V2X message of a second V2X message type using the selected first detector and second detector includes: comparing the result of applying the first detector to information in the first V2X message with the result of applying the second detector to information in the second V2X message.

[0129] Example 6. The method according to any one of Examples 1-5 further includes comparing time values ​​and position values ​​associated with the first field in the first V2X message of the first V2X message type and the second field in the second V2X message, wherein taking action in response to identifying improper behavior in the first V2X message or the second V2X message includes: taking action in response to identifying improper behavior in the first V2X message or the second V2X message when the time values ​​and position values ​​associated with the first field in the first V2X message of the first V2X message type and the second field in the second V2X message are substantially the same.

[0130] Example 7. A method according to Example 6, wherein taking action in response to identifying improper behavior in the first V2X message or the second V2X message includes: when one of the time value and the position value associated with the first field in the first V2X message of the first V2X message type and the second field in the second V2X message is not substantially the same, generating a correction to the information in the first field or the second field.

[0131] Example 8. A method according to any of Examples 1-7, wherein taking action in response to identifying misbehavior in the first V2X message or the second V2X message includes sending a misbehavior report indicating the identified misbehavior to a network computing device.

[0132] The various embodiments shown and described are provided as examples only to illustrate the various features of the claims. However, the features shown and described with respect to any given embodiment are not necessarily limited to the associated embodiment and may be used or combined with other embodiments shown and described. In addition, the claims are not intended to be limited by any one example embodiment. For example, one or more operations of a method may replace or be combined with one or more operations of a method.

[0133] The foregoing method descriptions and process flow charts are provided only as illustrative examples, and are not intended to require or imply that the operations of the various embodiments must be performed in the order presented. As will be appreciated by those skilled in the art, the order of operations in the foregoing embodiments may be performed in any order. Words such as "thereafter", "then", "next". It is not intended to limit the order of operations; these words are only used to guide the reader through the description of the method. In addition, any reference to a claim element in the singular form, such as using the article "one", "an" or "the" should not be interpreted as limiting the element to the singular.

[0134] The various illustrative logical blocks, modules, circuits, and algorithmic operations described in conjunction with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and operations have been generally described above with respect to their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the entire system. Those skilled in the art may implement the described functionality in different ways for each specific application, but such implementation decisions should not be interpreted as resulting in a departure from the scope of the claims.

[0135] The hardware for implementing the various illustrative logics, logic blocks, modules, and circuits described in conjunction with the embodiments disclosed herein may be implemented or executed with a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in an alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, a plurality of microprocessors, a combination of one or more microprocessors and a DSP core, or any other such configuration. Alternatively, some operations or methods may be performed by circuits specific to a given function.

[0136] In one or more embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, these functions may be stored as one or more instructions or codes on a non-transitory computer-readable medium or a non-transitory processor-readable medium. The operation of the method or algorithm disclosed herein may be embodied in a processor-executable software module, which may reside on a non-transitory computer-readable or processor-readable storage medium. A non-transitory computer-readable or processor-readable storage medium may be any storage medium that can be accessed by a computer or processor. As an example and not limitation, such non-transitory computer-readable or processor-readable media may include RAM, ROM, EEPROM, flash memory, CD-ROM or other optical disk storage, disk storage or other magnetic storage devices, or any other medium that can be used to store desired program codes in the form of instructions or data structures and can be accessed by a computer. As used herein, disks and optical disks include compact disks (CDs), laser optical disks, optical optical disks, digital versatile disks (DVDs), floppy disks, and Blu-ray disks, wherein disks typically reproduce data magnetically, and optical disks reproduce data optically with lasers. Combinations of the above items are also included within the scope of non-transitory computer-readable and processor-readable media. Additionally, the operations of a method or algorithm may reside as one or any combination or set of codes and / or instructions on a non-transitory processor-readable medium and / or computer-readable medium, which may be incorporated into a computer program product.

[0137] The foregoing description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the claims. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments without departing from the scope of the claims. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but should be consistent with the widest scope consistent with the appended claims and the principles and novel features disclosed herein.

Claims

1. A method for misbehavior detection in a vehicle-to-everything (V2X) message performed by a vehicle-to-everything (V2X) processing system of a vehicle, comprising: comparing a first field in a first V2X message of a first V2X message type with a second field in a second V2X message of a second V2X message type, wherein the second V2X message type is different from the first V2X message type; identifying improper behavior in the first V2X message or the second V2X message based on the comparing; as well as An action is taken in response to identifying improper behavior in the first V2X message or the second V2X message.

2. The method of claim 1 , further comprising selecting the first field in the first V2X message and the second field in the second V2X message by identifying fields in the first V2X message and fields in the second V2X message that include similar information.

3. The method of claim 1 , wherein identifying improper behavior in the first V2X message or the second V2X message based on the comparison comprises: When the information in the first field is inconsistent with the information in the second field, misbehavior in the first V2X message or the second V2X message is identified.

4. The method of claim 1, wherein comparing the first field in the first V2X message of the first V2X message type with the second field in the second V2X message of the second V2X message type comprises: selecting a first detector based on the first V2X message type, and selecting a second detector based on the second V2X message type; as well as The first field in the first V2X message of the first V2X message type is compared with the second field in the second V2X message of the second V2X message type using the selected first and second detectors.

5. The method of claim 4, wherein comparing the first field in the first V2X message of the first V2X message type with the second field in the second V2X message of the second V2X message type using the selected first and second detectors comprises: A result of applying the first detector to information in the first V2X message is compared with a result of applying the second detector to information in the second V2X message.

6. The method of claim 1 , further comprising comparing a time value and a position value associated with the first field in the first V2X message of the first V2X message type and the second field in the second V2X message, Wherein taking action in response to identifying improper behavior in the first V2X message or the second V2X message comprises: When the time value and the location value associated with the first field in the first V2X message of the first V2X message type and the second field in the second V2X message are substantially the same, an action is taken in response to identifying misconduct in the first V2X message or the second V2X message.

7. The method of claim 6, wherein taking action in response to identifying improper behavior in the first V2X message or the second V2X message comprises: When one of the time value and the position value associated with the first field in the first V2X message of the first V2X message type and the second field in the second V2X message are not substantially the same, a correction to information in the first field or the second field is generated.

8. The method of claim 1, wherein taking action in response to identifying misbehavior in the first V2X message or the second V2X message comprises sending a misbehavior report indicating the identified misbehavior to a network computing device.

9. A vehicle-to-everything (V2X) processing system comprising: A processor configured with processor-executable instructions to: comparing a first field in a first V2X message of a first V2X message type with a second field in a second V2X message of a second V2X message type, wherein the second V2X message type is different from the first V2X message type; identifying improper behavior in the first V2X message or the second V2X message based on the comparing; as well as An action is taken in response to identifying improper behavior in the first V2X message or the second V2X message.

10. The V2X processing system of claim 9, wherein the processor is further configured with processor-executable instructions to select the first field in the first V2X message and the second field in the second V2X message by identifying fields in the first V2X message and fields in the second V2X message that include similar information.

11. The V2X processing system of claim 9, wherein the processor is further configured with processor-executable instructions to identify improper behavior in the first V2X message or the second V2X message when information in the first field is inconsistent with information in the second field.

12. The V2X processing system according to claim 9, wherein: The processor is also configured with processor-executable instructions to: selecting a first detector based on the first V2X message type, and selecting a second detector based on the second V2X message type; and The first field in the first V2X message of the first V2X message type is compared with the second field in the second V2X message of the second V2X message type using the selected first and second detectors.

13. The V2X processing system of claim 12, wherein the processor is further configured with processor-executable instructions to compare a result of applying the first detector to information in the first V2X message with a result of applying the second detector to information in the second V2X message.

14. The V2X processing system according to claim 9, wherein: The processor is also configured with processor-executable instructions to: comparing a time value and a position value associated with the first field in the first V2X message of the first V2X message type and the second field in the second V2X message; as well as When the time value and the location value associated with the first field in the first V2X message of the first V2X message type and the second field in the second V2X message are substantially the same, an action is taken in response to identifying misconduct in the first V2X message or the second V2X message.

15. The V2X processing system of claim 14, wherein the processor is further configured with processor-executable instructions to generate a correction to information in the first field or the second field when one of the time value and the position value associated with the first field in the first V2X message and the second field in the second V2X message of the first V2X message type is not substantially the same.

16. The V2X processing system according to claim 9, wherein: The processor is also configured with processor-executable instructions to send a misconduct report indicating the identified misconduct to the network computing device.

17. A vehicle-to-everything (V2X) processing system for a vehicle, comprising: means for comparing a first field in a first V2X message of a first V2X message type with a second field in a second V2X message of a second V2X message type, wherein the second V2X message type is different from the first V2X message type; means for identifying misconduct in the first V2X message or the second V2X message based on the comparing; as well as Means for taking action in response to identifying improper behavior in the first V2X message or the second V2X message.

18. The V2X processing system of claim 17, further comprising means for selecting the first field in the first V2X message and the second field in the second V2X message by identifying fields in the first V2X message and fields in the second V2X message that include similar information.

19. The V2X processing system of claim 17, wherein the means for identifying improper behavior in the first V2X message or the second V2X message based on the comparison comprises: Means for identifying misconduct in the first V2X message or the second V2X message when information in the first field is inconsistent with information in the second field.

20. The V2X processing system of claim 17, wherein the means for comparing the first field in the first V2X message of the first V2X message type with the second field in the second V2X message of the second V2X message type comprises: means for selecting a first detector based on the first V2X message type and selecting a second detector based on the second V2X message type; as well as means for comparing the first field in the first V2X message of the first V2X message type with the second field in the second V2X message of the second V2X message type using the selected first and second detectors.

21. The V2X processing system of claim 20, wherein the means for comparing the first field in the first V2X message of the first V2X message type with the second field in the second V2X message of the second V2X message type using the selected first and second detectors comprises: Means for comparing a result of applying the first detector to information in the first V2X message with a result of applying the second detector to information in the second V2X message.

22. The V2X processing system of claim 17, further comprising means for comparing a time value and a position value associated with the first field in the first V2X message of the first V2X message type and the second field in the second V2X message, The means for taking action in response to identifying improper behavior in the first V2X message or the second V2X message comprises: Means for taking action in response to identifying misconduct in the first V2X message or the second V2X message of the first V2X message type when the time value and the position value associated with the first field in the first V2X message and the second field in the second V2X message are substantially the same.

23. The V2X processing system of claim 22, wherein the means for taking action in response to identifying improper behavior in the first V2X message or the second V2X message comprises: means for generating a correction to information in the first field or the second field of the first V2X message type when one of the time value and the position value associated with the first field in the first V2X message and the second field in the second V2X message are not substantially the same.

24. The V2X processing system of claim 17, wherein the means for taking action in response to identifying misbehavior in the first V2X message or the second V2X message comprises means for sending a misbehavior report indicating the identified misbehavior to a network computing device.

25. A non-transitory processor-readable medium having stored thereon processor-executable instructions configured to cause a processor of a vehicle-to-everything (V2X) processing system of a vehicle to perform operations comprising: comparing a first field in a first V2X message of a first V2X message type with a second field in a second V2X message of a second V2X message type, wherein the second V2X message type is different from the first V2X message type; identifying improper behavior in the first V2X message or the second V2X message based on the comparing; as well as An action is taken in response to identifying improper behavior in the first V2X message or the second V2X message.

26. The non-transitory processor-readable medium of claim 25, wherein: The stored processor-executable instructions are also configured to cause the processor of the V2X processing system to perform operations, the operations also including: selecting the first field in the first V2X message and the second field in the second V2X message by identifying fields in the first V2X message and fields in the second V2X message that include similar information.

27. The non-transitory processor-readable medium of claim 25, wherein: The stored processor-executable instructions are also configured to cause the processor of the V2X processing system to perform operations such that identifying improper behavior in the first V2X message or the second V2X message based on the comparison includes: identifying improper behavior in the first V2X message or the second V2X message when information in the first field is inconsistent with information in the second field.

28. The non-transitory processor-readable medium of claim 25, wherein: The stored processor-executable instructions are further configured to cause the processor of the V2X processing system to perform operations such that comparing the first field in the first V2X message of the first V2X message type with the second field in the second V2X message of the second V2X message type comprises: selecting a first detector based on the first V2X message type, and selecting a second detector based on the second V2X message type; and The first field in the first V2X message of the first V2X message type is compared with the second field in the second V2X message of the second V2X message type using the selected first and second detectors.

29. The non-transitory processor-readable medium of claim 25, wherein: The stored processor-executable instructions are also configured to cause the processor of the V2X processing system to perform operations such that comparing the first field in the first V2X message of the first V2X message type with the second field in the second V2X message of the second V2X message type using the selected first detector and second detector includes: comparing a result of applying the first detector to information in the first V2X message with a result of applying the second detector to information in the second V2X message.

30. The non-transitory processor-readable medium of claim 25, wherein: The stored processor-executable instructions are further configured to cause the processor of the V2X processing system to perform operations further comprising: comparing a time value and a position value associated with the first field in the first V2X message of the first V2X message type and the second field in the second V2X message, Wherein taking action in response to identifying improper behavior in the first V2X message or the second V2X message includes: taking action in response to identifying improper behavior in the first V2X message or the second V2X message when the time value and the position value associated with the first field in the first V2X message of the first V2X message type and the second field in the second V2X message are substantially the same.

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