Malicious User Detection for Cooperative Mobility Tracking in Autonomous Driving

The mobility status of self and surrounding vehicles provides important information to various tasks in autonomous driving (AD) and intelligent transportation system (ITS). Accordingly, a precise, stable, and robust mobility tracking framework is essential. Compared with self-tracking that relies only on mobility observations from onboard sensors [e.g., global positioning system (GPS), inertial measurement unit (IMU), and camera], cooperative tracking markedly increases the precision and reliability of the mobility information by integrating observations from roadside units (RSUs) and nearby vehicles through vehicle-to-everything (V2X) communications in the Internet of Vehicles (IoV). Nevertheless, cooperative tracking can be quite vulnerable if there are malicious users sending bogus observations in the cooperative network. In this article, we present a malicious user detection framework, which includes two sequential detection algorithms and a secure mobility data exchange and fusion model to detect and remove bogus mobility information and integrate proposed detection algorithms with previous data fusion algorithms, which secures the cooperative mobility tracking in AD, ITS. Simulations validate the effectiveness and robustness of the proposed framework under different types of attacks.