Method of detecting vehicle misbehavior using radio wave characteristic
Provided is a method of detecting vehicle misbehavior using a radio wave characteristic. Unlike an existing vehicle misbehavior detection method, according to the method of detecting vehicle misbehavior using a radio wave characteristic, a vehicle does not detect misbehavior or another vehicle, and vehicle misbehavior is detected on the basis of difference between vehicle-related information included in a message transmitted to a vehicle by a road side unit (RSU) and information derived from a radio wave characteristic of a received signal.
1 . A method of detecting vehicle misbehavior using a radio wave characteristic performed by a road side unit (RSU) installed at a fixed location on a roadside, the method comprising:
a first speed acquisition operation of acquiring a first speed of a vehicle which is traveling in a communication coverage from a basic safety message (BSM) received from a vehicle-to-everything (V2X) communication device on board the vehicle;
a second speed calculation operation of calculating a second speed of the vehicle using a frequency shift caused by a Doppler effect of a signal received from the V2X communication device;
an anomaly message reception judgment operation of comparing a difference between the first speed and the second speed with a set reference error to determine whether an anomaly message has been received; and
a misbehavior detection (MBD) judgment operation of determining, when a number of anomaly messages received from the vehicle exceeds a set first reference value, the vehicle as misbehaving vehicle to generate a misbehavior report (MBR).
2 . The method of claim 1 , wherein the MBD judgment operation additionally comprises determining the vehicle as a misbehaving vehicle to generate an MBR when a number of anomaly messages received from the vehicle during a first time period exceeds a set second reference value.
3 . The method of claim 1 , wherein the second speed calculation operation comprises analyzing an angle of arrival (AoA) of the signal received from the V2X communication device to correct the frequency shift caused by the Doppler effect.
4 . A method of detecting vehicle misbehavior using a radio wave characteristic performed by a road side unit (RSU) installed at a fixed location on a roadside, the method comprising:
a range calculation operation of calculating a range from a vehicle which is traveling in a communication coverage using a signal transmission time included in a basic safety message (BSM) received from a vehicle-to-everything (V2X) communication device on board the vehicle and a time of signal arrival;
a vehicle range reception operation of receiving range information of the vehicle, which is calculated by each of two or more neighboring RSUs using a time of signal arrival from the two or more RSUs;
a vehicle position calculation operation of calculating a position of the vehicle using triangulation on the basis of location information of the RSUs, the calculated range from the vehicle, and the received range information of the vehicle;
a position error calculation operation of calculating a position error between position information of the vehicle included in the received BSM and the calculated position of the vehicle;
an anomaly message reception judgment operation of comparing the calculated position error with a reference range error to determine whether an anomaly message has been received; and
a misbehavior detection (MBD) judgment operation of determining, when a number of anomaly messages received from the vehicle exceeds a set first reference value, the vehicle as misbehaving vehicle to generate a misbehavior report (MBR).
5 . The method of claim 4 , wherein the MBD judgment operation additionally comprises determining the vehicle as a misbehaving vehicle to generate an MBR when a number of anomaly messages received from the vehicle during a first time period exceeds a set second reference value.
6 . The method of claim 4 , wherein the range calculation operation comprises analyzing a received signal strength indicator (RSSI) of a signal received from the V2X communication device to correct the range from the vehicle.
7 . The method of claim 4 , wherein the range calculation operation comprises measuring a roundtrip time (RTT) of a signal between the RSU and the V2X communication device to correct the time of signal arrival.