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SPADE: SPaT Attack Detection from the Connected Vehicle's Perspective

arXiv · AI, language, vision and robotics · article · Sep 2, 2026 · UTC

Signal Phase and Timing (SPaT) messages are a cornerstone of connected vehicle (CV) safety, enabling CVs to perceive and respond to intersection state through Vehicle-to-Infrastructure (V2I) and Vehicle-to-Vehicle (V2V) communication. The integrity of these messages is threatened by a range of application-layer attacks that can bypass conventional authentication when a roadside unit or peer vehicle is compromised. Existing intrusion detection research either defends the infrastructure side or targets V2V Basic Safety Message (BSM) / Cooperative Awareness Message (CAM) misbehavior, leaving the

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