Lean V2X security processing strategy using kinematics information of vehicles
View Patent ↗A vehicle-to-vehicle communication filtering system is provided to selectively process broadcast messages between a host vehicle and a remote vehicle. A processing unit evaluates a time-to-collision status between the host vehicle and the remote vehicle sending the message. The time-to-collision status is a function of a relative distance and a relative velocity between the host vehicle and the remote vehicle which are determined from data provided within a first portion of the message received from the remote vehicle. An attentive factor is assigned to each of the remote vehicles based on the time-to-collision with respect to each remote vehicle. The attentive factor identifies a proportion of messages broadcast from the remote vehicle to be targeted for security processing. Security processing of the message is performed based on a second portion of the message unless the attentive factor indicates the message should be ignored.
1. A method of selectively verifying and processing messages within a vehicle-to-vehicle communication system, the method comprising the steps of:
(a) a host vehicle receiving a message in the vehicle-to-vehicle communication system from a remote vehicle;
(b) evaluating a time-to-collision status between the host vehicle and the remote vehicle sending the message, the time-to-collision status being a function of a relative distance and a relative velocity between the host vehicle and the remote vehicle which are determined from data provided within a first portion of the message received from the respective remote vehicle;
(c) assigning an attentive factor to the remote vehicle based on the time-to-collision status, the attentive factor for a remote vehicle identifying a non-zero proportion of messages broadcast from the remote vehicle to be targeted for security processing, the proportion of messages being less than 100 percent;
(d) performing security processing of the message using a second portion of the message unless the attentive factor indicates the message should be ignored; and
(e) returning to step (a) for each subsequent message.
2. The method of claim 1 wherein the host vehicle maintains recorded data in a memory, the recorded data obtained from the first portion of the broadcast messages for determining the attentive factor of each remote vehicle.
3. The method of claim 2 wherein the recorded data includes a vehicle identification for identifying each remote vehicle in communication with the host vehicle, a determined distance between the host vehicle and each remote vehicle, and a relative velocity between the host vehicle and each remote vehicle.
4. The method of claim 3 wherein the recorded data is stored in a data table.
5. The method of claim 3 wherein the recorded data for a respective remote vehicle is updated when a message from the respective remote vehicle is received and processed.
6. The method of claim 1 wherein the time-to-collision is determined by the following formula:
T
T
C
=
-
Dist
(
A
,
B
)
R
V
(
A
,
B
)
where Dist(A,B) is the determined distance between the host vehicle and the remote vehicle and |RV(A,B)| is the relative velocity between host vehicle and the remote vehicle.
7. The method of claim 2 wherein the attentive factor is determined by the following formula:
τ
=
{
τ
safety
,
T
T
C
≤
α
min
(
⌊
T
T
C
α
⌋
,
β
)
*
τ
safety
,
T
T
C
>
α
}
where α is a predetermined constant relating to an average driver's reaction time, τ safety is a predetermined time interval, and TTC is the time-to-collide.
8. The method of claim 7 wherein the attentive factor identifies a time interval of broadcast messages that are disregarded prior to a respective broadcast message being processed.
9. The method of claim 7 wherein the attentive factor identifies a respective message out of predetermined number of consecutive broadcast messages that is to be processed by the host vehicle.
10. The method of claim 7 wherein processing the respective broadcast message includes conducting a security verification on the respective broadcast message for determining authenticity of the received broadcast message.
11. The message of claim 7 wherein the message is processed for determining a threat of the remote vehicle in relation to the host vehicle.
12. The message of claim 7 wherein τ safety is approximately 100 msec.
13. A vehicle-to-vehicle communication filtering system for selectively processing broadcast messages between a host vehicle and a remote vehicle, the system comprising:
a processing unit for processing messages broadcast from a remote vehicle;
a communication device for wirelessly broadcasting and receiving wireless messages;
a GPS device for identifying a global position of the host vehicle;
wherein the processing unit evaluates a time-to-collision status between the host vehicle and the remote vehicle sending the message, the time-to-collision status being a function of a relative distance and a relative velocity between the host vehicle and the remote vehicle which are determined from data provided within a first portion of the message received from the remote vehicle, wherein an attentive factor is assigned to each of the remote vehicles based on the time-to-collision with respect to each remote vehicle, the attentive factor for a remote vehicle identifying a non-zero proportion of messages broadcast from the remote vehicle to be targeted for security processing, the proportion of messages being less than 100 percent, wherein security processing of the message is performed based on a second portion of the message unless the attentive factor indicates the message should be ignored.
14. The system of claim 13 further comprising a memory for maintaining recorded data for determining the attentive factor of each remote vehicle.
15. The system of claim 14 further wherein the recorded data is stored as a data table.
16. The system of claim 13 wherein the communication device is a dedicated short range communication radio.
17. The system of claim 13 wherein the time-to-collision is characterized by the following formula:
T
T
C
=
-
Dist
(
A
,
B
)
R
V
(
A
,
B
)
where Dist(A,B) is the determined distance between the host vehicle and the remote vehicle and |RV(A,B)| is the relative velocity between host vehicle and the remote vehicle.
18. The system of claim 13 wherein the attentive factor is characterized by the following formula:
τ
=
{
τ
safety
,
T
T
C
≤
α
min
(
⌊
T
T
C
α
⌋
,
β
)
*
τ
safety
,
T
T
C
>
α
}
where α is a predetermined constant relating to an average driver's reaction time, τ safety is a predetermined time interval, and TTC is the time-to-collide.
19. The system of claim 18 wherein the attentive factor identifies a time interval of broadcast messages that are disregarded prior to a respective broadcast message being processed.
20. The system of claim 18 wherein the attentive factor identifies a respective message out of predetermined number of consecutive broadcast messages that is to be processed by the host vehicle.