CoWiPS: Cooperative Wireless Positioning to Identify Position Mis-reports in Vehicular Scenarios

Autonomous driving (AD) is advancing rapidly, but enhancing situational awareness beyond the internal sensors (cameras, radar, and Lidar) requires cooperative perception services enabled by Vehicle-to-Everything (V2X) links. However, some vehicles can inject incorrect information, either intentionally or by hardware malfunction. Wireless positioning offers a set of physical-layer mechanisms, such as Angle-of-Arrival (AoA) and RSS-based ranging, that can verify the correctness of shared data, particularly position data. We introduce Cooperative Wireless Positioning System (CoWiPS), an innovative mechanism in which a set of cooperating vehicles cooperate to estimate the position of a Vehicle-of-Interest. Our positioning solution achieves accurate position estimations, with $70.16 \%$ accuracy within a 10 m error margin under 0dB amplitude noise variance, and $50.01 \%$ accuracy under 5dB variance.