Vehicle-to-everything (V2X) misbehavior detection using a local dynamic map data model

Patent metadata

Field	Value
Publication number	US-12008895-B2
Application number	US-202117483593-A
Country	US
Kind code	B2
Filing date	Sep 23, 2021
Priority date	Jan 19, 2021
Publication date	Jun 11, 2024
Grant date	Jun 11, 2024

Abstract

Embodiments include methods performed by a processor of a vehicle-to-everything (V2X) system within a vehicle for detecting misbehavior conditions by comparing information received in V2X messages to local dynamic map data. Various embodiments may include receiving V2X messages from other V2X system participants, determining whether a misbehavior condition is detected by comparing data contained in the received V2X messages to information in a locally maintained or stored local dynamic map data model, detecting a misbehavior condition and generating a misbehavior report identifying the misbehavior condition in response to a conflict or inconsistency between some data in the received V2X message and the local dynamic map.

First claim

What is claimed is:

1. A method of detecting misbehavior conditions in a vehicle-to-everything (V2X) system performed by a processor of a vehicle, comprising:
receiving a V2X message from another V2X system participant, wherein the V2X message contains data regarding an environment surrounding the vehicle;
comparing data contained in the received V2X message to a locally maintained or stored local dynamic map (LDM) data model to detect misbehavior conditions;
generating a misbehavior report identifying a misbehavior condition in response to detecting the misbehavior condition based on the comparison;
transmitting the generated misbehavior report to a misbehavior managing authority; and
receiving feedback from the misbehavior managing authority, wherein the feedback includes corrective measures to mitigate the misbehavior condition.

2. The method of claim 1 , further comprising:
monitoring a plurality of sensors in the vehicle to collect additional data regarding an environment surrounding the vehicle;
generating the LDM data model representing the environment surrounding the vehicle based at least in part on an aggregation of the additional data collected from the plurality of sensors; and
storing the LDM data model in memory.

3. The method of claim 1 , further comprising:
in response to determining that a second misbehavior condition is not detected:
performing calculations based on at least one of observed dynamics of objects in the LDM data model or on new data input received from the V2X message;
modifying the LDM data model to incorporate the calculations and data included in a second V2X message; and
replacing the LDM data model maintained or stored in memory with the modified LDM data model.

4. The method of claim 1 , wherein transmitting the generated misbehavior report to a misbehavior managing authority comprises transmitting a representation of the LDM data model.

5. The method of claim 4 , wherein the representation of the LDM data model includes an incomplete data set for the LDM data model.

6. The method of claim 1 , wherein the data regarding the environment surrounding the vehicle included in the received V2X message includes traffic information.

7. The method of claim 1 , wherein the data regarding the environment surrounding the vehicle included in the received V2X message includes location information of neighboring vehicles based on global navigation satellite system data.

8. The method of claim 1 , wherein the data regarding the environment surrounding the vehicle included in the received V2X message includes map data that specifies road geometry and street furniture.

9. The method of claim 1 , wherein comparing data included in the received V2X message to the locally maintained or stored LDM data model to detect misbehavior conditions comprises determining whether any data included in the received V2X message conflicts with information in the locally maintained or stored LDM data model.

10. The method of claim 1 , wherein comparing data included in the received V2X message to the locally maintained or stored LDM data model to detect misbehavior conditions comprises:
selecting a subset of data elements within the locally maintained or stored LDM data model for comparison to data included in the received V2X message; and
determining whether any data included in the received V2X message conflicts with the selected subset of data elements within the locally maintained or stored LDM data model.

11. The method of claim 1 , wherein comparing data included in the received V2X message to the locally maintained or stored LDM data model to detect misbehavior conditions comprises determining whether status or location information of a neighboring vehicle that transmitted the received V2X message conflicts with status or location information of the neighboring vehicle in the locally maintained or stored LDM data model.

12. A vehicle-to-everything (V2X) processing device, comprising:
a processor configured with processor-executable instructions to:
receive a V2X message from another V2X system participant, wherein the V2X message contains data regarding an environment surrounding a vehicle in which the V2X processing device is installed;
compare data contained in the received V2X message to a locally maintained or stored local dynamic map (LDM) data model to detect misbehavior conditions;
generate a misbehavior report identifying a misbehavior condition in response to detecting the misbehavior condition based on the comparison;
transmit the generated misbehavior report to a misbehavior managing authority; and
receive feedback from the misbehavior managing authority, wherein the feedback includes corrective measures to mitigate the misbehavior condition.

13. The V2X processing device of claim 12 , wherein the processor is further configured with processor-executable instructions to:
monitor a plurality of sensors in the vehicle to collect additional data regarding an environment surrounding the vehicle;
generate the LDM data model representing the environment surrounding the vehicle based at least in part on an aggregation of the additional data collected from the plurality of sensors; and
store the LDM data model in memory.

14. The V2X processing device of claim 12 , wherein the processor is further configured with processor-executable instructions to:
perform calculations based on at least one of observed dynamics of objects in the LDM data model or on new data input received from the V2X message in response to determining that a second misbehavior condition is not detected;
modify the LDM data model to incorporate the calculations and data included in a second V2X message; and
replacing the LDM data model maintained or stored in memory with the modified LDM data model.

15. The V2X processing device of claim 12 , wherein the processor is further configured with processor-executable instructions to include a representation of the LDM data model in the generated misbehavior report transmitted to the misbehavior managing authority.

16. The V2X processing device of claim 15 , wherein the representation of the LDM data model includes an incomplete data set for the LDM data model.

17. The V2X processing device of claim 12 , wherein the data regarding the environment surrounding the vehicle included in the received V2X message includes traffic information.

18. The V2X processing device of claim 12 , wherein the data regarding the environment surrounding the vehicle included in the received V2X message includes location information of neighboring vehicles based on global navigation satellite system data.

19. The V2X processing device of claim 12 , wherein the data regarding the environment surrounding the vehicle included in the received V2X message includes map data that specifies road geometry and street furniture.

20. The V2X processing device of claim 12 , wherein to compare data included in the received V2X message to the locally maintained or stored LDM data model to detect misbehavior conditions the processor is further configured with processor-executable instructions to determine whether any data included in the received V2X message conflicts with information in the locally maintained or stored LDM data model.

21. The V2X processing device of claim 12 , wherein to compare data included in the received V2X message to the locally maintained or stored LDM data model to detect misbehavior conditions the processor is further configured with processor-executab

Assignees

• Qualcomm Inc

Inventors

• Whyte William
• Petit Jonathan
• Chen Cong
• Monteuuis Jean-Philippe

Classifications

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• G08G1/0145

  for active traffic flow control · CPC title

• H04W4/40

  for vehicles, e.g. vehicle-to-pedestrians [V2P] · CPC title

• G08G1/0133

  for classifying traffic situation · CPC title

• G08G1/0112

  from the vehicle, e.g. floating car data [FCD] · CPC title