# V2X Misbehavior and Collective Perception Service: Considerations for Standardization

arXiv: https://arxiv.org/abs/2112.02184 · HTML: https://mlsanity.com/paper/2112.02184/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 Dec 2021.

## Built on by (most cited first, 2 of 2)

- [A Survey on Machine Learning-based Misbehavior Detection Systems for 5G and Beyond Vehicular Networks](https://mlsanity.com/paper/2201.10500/) (2022)
- [Scaling Datasets for Multi-Sensor, Multi-Agent, and Multi-Domain Learning in Autonomous Systems](https://mlsanity.com/paper/2606.04444/) (2026)

## Abstract (arXiv)

Connected and Automated Vehicles use sensors and wireless communication to improve road safety and efficiency. However, attackers may target Vehicle-to-Everything communication. Indeed, an attacker may send authenticated but wrong data to send false location information, alert incorrect events or report a bogus object endangering the safety of other CAVs. Currently, Standardization Development Organizations are working on developing security standards against such attacks. Unfortunately, current standardization efforts do not include misbehavior specifications for advanced V2X services such as Collective Perception yet. This work assesses the security of Collective Perception Messages and proposes inputs for consideration in existing standards.