Methods for diagnosing error of an ego vehicle and/or a surrounding vehicle

1. A method for diagnosing error of at least one of an ego vehicle and a surrounding vehicle, comprising:

receiving, by the ego vehicle, sensor data about the surrounding vehicle from an on-board sensor of the ego vehicle and vehicle to vehicle data from the surrounding vehicle;

comparing, by the ego vehicle, the received sensor data and the received vehicle to vehicle data; and

detecting, by the ego vehicle, a difference between the received sensor data and the received vehicle to vehicle data;

stopping, by the ego vehicle, receiving vehicle to vehicle data from the surrounding vehicle;

registering, by the ego vehicle, a potential error of the ego vehicle; and

reporting, by the ego vehicle, a potential error of the surrounding vehicle to at least one of the surrounding vehicle and a remote server.

2. The method of claim 1 , further comprising:

increasing, by the ego vehicle, a fault counter of the ego vehicle based on each registered potential error of the ego vehicle, and

declaring, by the ego vehicle, an error of the ego vehicle if the fault counter of the ego vehicle exceeds a predetermined threshold.

3. The method of claim 2 , wherein at least two registered potential errors with respect to different surrounding vehicles are needed to exceed the predetermined threshold and declare an error of the ego vehicle.

4. The method of claim 2 , wherein further comprising inhibiting, by the ego vehicle, use of sensor data from the on-board sensor if an error of the ego vehicle is declared.

5. The method of claim 2 , further comprising decreasing, by the ego vehicle, the fault counter of the ego vehicle over time.

6. The method of claim 2 , further comprising detecting, by the ego vehicle, a match between received sensor data and received vehicle to vehicle data of at least one other surrounding vehicle, wherein each match decreases the fault counter of the ego vehicle.

7. The method of claim 6 , further comprising increasing, by the ego vehicle, the fault counter of the ego vehicle, based on each registered potential error of the ego vehicle, by a greater amount than what each match decreases the fault counter of the ego vehicle.

8. The method of claim 5 , wherein the fault counter of the ego vehicle cannot be decreased below a predetermined limit.

9. The method of claim 1 , wherein the ego vehicle reports the potential error to the remote server, which maintains a fault counter based on each registered potential error of the ego vehicle.

10. The method of claim 1 ,

wherein the ego vehicle reports the potential error to the surrounding vehicle which increases a fault counter of the surrounding vehicle.

11. The method of claim 1 , further comprising:

receiving, by the ego vehicle, a potential error of the ego vehicle reported from another ego vehicle;

increasing, by the ego vehicle, a fault counter of the ego vehicle, based on each received potential error of the ego vehicle; and

declaring, by the ego vehicle, an error of the ego vehicle if the fault counter of the ego vehicle exceeds a predetermined threshold.

12. A method for diagnosing error of a surrounding vehicle, comprising:

receiving a potential error of the surrounding vehicle reported from an ego vehicle; and

receiving at least one other potential error of the surrounding vehicle reported from at least one other ego vehicle, wherein each received potential error increases a fault counter of the surrounding vehicle, and wherein an error of the surrounding vehicle is declared if the fault counter of the surrounding vehicle exceeds a predetermined threshold.