Detecting misbehavior in vehicle-to-vehicle (V2V) comminications

• US 9,865,168 B2
• Filed: 05/15/2015
• Issued: 01/09/2018
• 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
• Primary Examiner(s): SHAW, PETER C
• Application Number:
  US14/714,169
• Publication Number:
  US 20160335897A1
• Time in Patent Office: 970 Days
• Field of Search: 726 22
• 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), wherein the plurality of messages are Basic Safety Messages (BSM) with a part for core safety data and a part for optional safety data;

determining a heading angle and a speed of a remote vehicle according to the plurality of messages received using V2V communications;

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 determined according to plurality of messages received using V2V communications;

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;

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; and

performing automatic control of the host vehicle according to received V2V messages excluding the plurality of messages in response to determining that the plurality of messages were not transmitted from the remote vehicle.

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 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, wherein the plurality of messages are Basic Safety Messages (BSM) with a part for core safety data and a part for optional safety data;

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 determined according to the plurality of messages received using V2V communications;

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;

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; and

program instructions that perform automatic control of the host vehicle according to received V2V messages excluding the plurality of messages in response to determining that the plurality of messages were not transmitted from the remote vehicle.