Misbehavior detection using sensor sharing and collective perception
Systems and techniques are described for validating object detection. For example, an apparatus can receive a message from a wireless device. The message includes object data corresponding to one or more objects reported by the wireless device to be within a field-of-view of the apparatus. The apparatus can further determine, based on the object data, whether the wireless device has misreported at least one of the one or more objects.
1. An apparatus for validating object detection, the apparatus comprising:
at least one transceiver;
at least one memory; and
at least one processor coupled to the at least one transceiver and the at least one memory, the at least one processor configured to:
receive, via the at least one transceiver, a first message from a wireless device, wherein the first message comprises object data corresponding to one or more objects reported by the wireless device to be within a field-of-view of the apparatus, the object data comprising a location of an object of the one or more objects;
determine, based on the object data, the wireless device has misreported the location of the object of the one or more objects; and
transmit, via the at least one transceiver to a remote vehicle, a second message indicating that the wireless device has misreported the location of the object, the second message comprising a detected location of the object and the misreported location of the object included in the first message, wherein the remote vehicle is different from the wireless device.
2. The apparatus of claim 1 , wherein the first message is a Sensor Data Sharing Message (SDSM).
3. The apparatus of claim 1 , wherein at least one extension field of the second message comprises an identity of the wireless device.
4. The apparatus of claim 1 , wherein at least one extension field of the second message comprises object data corresponding to one or more objects detected by the apparatus from collected sensor data.
5. The apparatus of claim 4 , wherein the object data corresponding to the one or more objects detected by the apparatus comprises data identifying at least one of a Vulnerable Road User (VRU), a physical obstacle, a wireless obstacle, a detected vehicle, or any combination thereof.
6. The apparatus of claim 1 , wherein the one or more objects reported by the wireless device are not included among one or more objects detected by the apparatus from collected sensor data.
7. The apparatus of claim 6 , wherein the sensor data comprises data collected from one or more: Light Detection and Ranging (LiDAR) sensors, radar sensors, camera sensors, or a combination thereof.
8. The apparatus of claim 1 , wherein the apparatus is a vehicle.
9. The apparatus of claim 1 , wherein the apparatus is a wireless device.
10. The apparatus of claim 1 , wherein the at least one processor is configured to:
detect the detected location of the object.
11. A method for validating object detection, the method comprising:
receiving a first message from a wireless device, wherein the first message comprises object data corresponding to one or more objects reported by the wireless device to be within a field-of-view of an apparatus, the object data comprising a location of an object of the one or more objects;
determining, based on the object data, the wireless device has misreported the location of the object of the one or more objects; and
transmitting, to a remote vehicle, a second message indicating that the wireless device has misreported the location of the object, the second message comprising a detected location of the object and the misreported location of the object included in the first message, wherein the remote vehicle is different from the wireless device.
12. The method of claim 11 , wherein the first message is a Sensor Data Sharing Message (SDSM).
13. The method of claim 11 , wherein at least one extension field of the second message comprises an identity of the wireless device.
14. The method of claim 11 , wherein at least one extension field of the second message comprises object data corresponding to one or more objects detected by the apparatus from collected sensor data.
15. The method of claim 14 , wherein the object data corresponding to the one or more objects detected by the apparatus comprises data identifying at least one of a Vulnerable Road User (VRU), a physical obstacle, a wireless obstacle, a detected vehicle, or any combination thereof.
16. The method of claim 11 , wherein the one or more objects reported by the wireless device are not included among one or more objects detected by the apparatus from collected sensor data.
17. The method of claim 16 , wherein the sensor data comprises data collected from one or more: Light Detection and Ranging (LiDAR) sensors, radar sensors, camera sensors, or a combination thereof.
18. The method of claim 11 , wherein the apparatus is a vehicle.
19. The method of claim 11 , wherein the apparatus is a wireless device.
20. The method of claim 11 , further comprising:
detecting the detected location of the object.
21. A non-transitory computer-readable storage medium comprising at least one instruction for causing a computer or processor to:
receive a first message from a wireless device, wherein the first message comprises object data corresponding to one or more objects reported by the wireless device to be within a field-of-view of an apparatus, the object data comprising a location of an object of the one or more objects;
determine, based on the object data, the wireless device has misreported the location of the object of the one or more objects; and
transmit, to a remote vehicle, a second message indicating that the wireless device has misreported the location of the object, the second message comprising a detected location of the object and the misreported location of the object included in the first message, wherein the remote vehicle is different from the wireless device.
22. The non-transitory computer-readable storage medium of claim 21 , wherein the first message is a Sensor Data Sharing Message (SDSM).
23. The non-transitory computer-readable storage medium of claim 21 , wherein at least one extension field of the second message comprises an identity of the wireless device.
24. The non-transitory computer-readable storage medium of claim 21 , wherein at least one extension field of the second message comprises object data corresponding to one or more objects detected by the apparatus from collected sensor data.
25. The non-transitory computer-readable storage medium of claim 24 , wherein the object data corresponding to the one or more objects detected by the apparatus comprises data identifying at least one of a Vulnerable Road User (VRU), a physical obstacle, a wireless obstacle, a detected vehicle, or any combination thereof.
26. The non-transitory computer-readable storage medium of claim 21 , wherein the one or more objects reported by the wireless device are not included among one or more objects detected by the apparatus from collected sensor data.
27. The non-transitory computer-readable storage medium of claim 26 , wherein the sensor data comprises data collected from one or more: Light Detection and Ranging (LiDAR) sensors, radar sensors, camera sensors, or a combination thereof.
28. The non-transitory computer-readable storage medium of claim 21 , wherein the apparatus is a vehicle.
29. An apparatus for validating object detection, comprising:
means for receiving a first message from a wireless device, wherein the first message comprises object data corresponding to one or more objects reported by the wireless device to be within a field-of-view of the apparatus, the object data comprising a location of an object of the one or more objects;
means for determining, based on the object data, the wireless device has misreported the location of the object of the one or more objects; and
means for transmitting, to a remote vehicle, a second message indicating that the wireless device has misreported the location of the object, the second message comprising a detected location of the object and the misreported location of the object included in the first message, wherein the remote vehicle is different from the wireless device.