Misbehavior detection using data consistency checks for collective perception messages

This invention describes a system for detecting when vehicles send out bad information about their surroundings, specifically in messages called Collective Perception Messages (CPMs). It works by checking the data in these messages for inconsistencies, like if a reported object is outside the sensor's view or if the reported clear space doesn't match up. If inconsistencies are found, the system reports the potential misbehavior to a central authority.