DETECTING MISBEHAVIOR IN VEHICLE-TO-VEHICLE (V2V) COMMINICATIONS

• US 20160335897A1
• Filed: 05/15/2015
• Published: 11/17/2016
• Est. Priority Date: 05/15/2015
• Status: Active Grant

• Current Assignee: Hyundai America Technical Center, Inc. (Hyundai Mobis Co., Ltd.), Hyundai Motor Company (Hyundai Motor Group), Kia Motors Corporation (Kia Corp.)
• Original Assignee: Hyundai America Technical Center, Inc. (Hyundai Mobis Co., Ltd.), Hyundai Motor Company (Hyundai Motor Group), Kia Motors Corporation (Kia Corp.)
• Inventors: Naserian, Mohammad, Lewis, Allan
• Granted Patent: US 9,865,168 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: H04L 63/126 the source of the received data
• CPC Class Codes: H04W 12/108 Source integrity
• CPC Class Codes: H04W 12/122 Counter-measures against attacks; Protection against rogue devices
• CPC Class Codes: H04W 4/027 using movement velocity, acceleration information
• CPC Class Codes: H04W 4/46 for vehicle-to-vehicle communication [V2V]
• CPC Class Codes: H04W 4/80 Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
• CPC Class Codes: H04W 56/0035 detecting errors in frequency or phase

Abstract

A method includes: receiving, at a host vehicle, a plurality of messages transmitted using Vehicle-to-Vehicle (V2V) communications indicating a heading angle and a speed of a remote vehicle; calculating an expected change in frequency of the plurality of messages received at the host vehicle based on the heading angle and the speed of the remote vehicle; measuring an actual change in frequency of the plurality of messages received at the host vehicle due to the Doppler effect; comparing the expected change in frequency to the actual change in frequency; and determining that the plurality of messages were not transmitted from the remote vehicle when a difference between the expected change in frequency and the actual change in frequency exceeds a predefined frequency change threshold.

Claims

1. A method comprising:

receiving, at a host vehicle, a plurality of messages transmitted using Vehicle-to-Vehicle (V2V) communications indicating a heading angle and a speed of a remote vehicle;

calculating an expected change in frequency of the plurality of messages received at the host vehicle based on the heading angle and the speed of the remote vehicle;

measuring an actual change in frequency of the plurality of messages received at the host vehicle due to the Doppler effect;

comparing the expected change in frequency to the actual change in frequency; and

determining that the plurality of messages were not transmitted from the remote vehicle when a difference between the expected change in frequency and the actual change in frequency exceeds a predefined frequency change threshold.

2. The method of claim 1, further comprising:

counting a number of times that the difference between the expected change in frequency and the actual change in frequency exceeds the predefined frequency change threshold; and

determining whether the number of times exceeds a predefined event threshold.

3. The method of claim 1, further comprising:

calibrating one or more of the frequency change threshold and the number of times threshold.

4. The method of claim 1, further comprising:

determining a heading angle and a speed of the host vehicle.

5. The method of claim 4, wherein the expected change in frequency is calculated based on the heading angle and the speed of the remote vehicle and the heading angle and the speed of the host vehicle.

6. The method of claim 5, wherein the expected change in frequency is calculated according to the following formula:

7. The method of claim 1, further comprising:

reporting that the plurality of messages were not transmitted from the remote vehicle.

8. The method of claim 1, further comprising:

determining that the remote vehicle is a virtual vehicle emulated by a remote attacker.

9. The method of claim 1, wherein the plurality of messages are Basic Safety Messages (BSMs).

10. A method comprising:

receiving, at a host vehicle, a plurality of messages transmitted using Vehicle-to-Vehicle (V2V) communications indicating a heading angle and a speed of a remote vehicle;

calculating an expected angular offset of the plurality of messages received at the host vehicle based on the heading angle of the remote vehicle;

measuring an actual angular offset of the plurality of messages received at the host vehicle;

comparing the expected angular offset to the actual angular offset; and

determining that the plurality of messages were not transmitted from the remote vehicle when a difference between the expected angular offset and the actual angular offset exceeds a predefined angular offset threshold.

11. The method of claim 10, further comprising:

counting a number of times that the difference between the expected angular offset and the actual angular offset exceeds the predefined angular offset threshold; and

determining whether the number of times exceeds a predefined event threshold.

12. The method of claim 10, further comprising:

calibrating one or more of the angular offset threshold and the number of times threshold.

13. The method of claim 10, further comprising:

determining a heading angle and a speed of the host vehicle.

14. The method of claim 13, wherein:

the expected angular offset is calculated based on the heading angle of the remote vehicle and the heading angle of the host vehicle, and

the actual angular offset is measured based on based on a change in frequency of the plurality of messages received at the host vehicle due to the Doppler effect, the speed of the remote vehicle, and the speed of the host vehicle.

15. The method of claim 14, wherein:

the expected angular offset is calculated according to the following formula;

θ

_Calculated=H_RV−

H_HV,

where θ

_calculated is the calculated expected angular offset, H_RV is the heading angle of the remote vehicle, and H_HV is the heading angle of the host vehicle, and

the actual angular offset is measured according to the following formula;

16. The method of claim 10, further comprising:

reporting that the plurality of messages were not transmitted from the remote vehicle.

17. The method of claim 10, further comprising:

determining that the remote vehicle is a virtual vehicle emulated by a remote attacker.

18. The method of claim 10, wherein the plurality of messages are Basic Safety Messages (BSMs).

19. A non-transitory computer readable medium containing program instructions for performing a method, the computer readable medium comprising:

program instructions that receive, at a host vehicle, a plurality of messages transmitted using Vehicle-to-Vehicle (V2V) communications indicating a heading angle and a speed of the remote vehicle;

program instructions that calculate an expected change in frequency of the plurality of messages received at the host vehicle based on the heading angle and the speed of the remote vehicle;

program instructions that measure an actual change in frequency of the plurality of messages received at the host vehicle due to the Doppler effect;

program instructions that compare the expected change in frequency to the actual change in frequency; and

program instructions that determine that the plurality of messages were not transmitted from the remote vehicle when a difference between the expected change in frequency and the actual change in frequency exceeds a predefined frequency change threshold.

20. A non-transitory computer readable medium containing program instructions for performing a method, the computer readable medium comprising:

program instructions that receive, at a host vehicle, a plurality of messages transmitted using Vehicle-to-Vehicle (V2V) communications indicating a heading angle and a speed of the remote vehicle;

program instructions that calculate an expected angular offset of the plurality of messages received at the host vehicle based on the heading angle of the remote vehicle;

program instructions that measure an actual angular offset of the plurality of messages received at the host vehicle;

program instructions that compare the expected angular offset to the actual angular offset; and

program instructions that determine that the plurality of messages were not transmitted from the remote vehicle when a difference between the expected angular offset and the actual angular offset exceeds a predefined angular offset threshold.