A Method for Dynamically Calculating and Evaluating the Trustworthiness of Collaborative Perception of Intelligent Connected Vehicles

Collaborative perception technology enhances the perceptual performance of intelligent connected vehicles，but abnormal vehicles and malicious attack information in the collaborative network can affect the authenticity and effectiveness of collaborative perception results. To address this problem，an intelligent connected vehicle trustworthiness dynamic aggregation and evaluation method is proposed in this paper，based on occlusion state discrimination and detection effectiveness identification strategy，combined with detection results in the vehicle collaborative network. Simulation results show that the proposed collaborative perception trust evaluation method improves the reliability of detection results for collaborative perception vehicles，enhances the robustness of the intelligent connected vehicle collaborative perception process，and realizes dynamic identification of sudden malicious attacks of high-trust vehicles by the trust management model. © 2023 SAE-China. All rights reserved.