Secure communication between vehicle components via bus guardians

A system associated with an actuator of a vehicle comprising:

• one or more processors in communication with the actuator;
• and
• one or more computer-readable non-transitory storage media in communication with the one or more processors that are in communication with the actuator, the one or more computer-readable non-transitory storage media comprising instructions operable, when executed by the one or more processors, to cause the system associated with the actuator, to perform operations comprising:
• receiving, by a processor of the one or more processors in communication with an actuator of a vehicle, an instruction associated with an environment external to the vehicle and configured for controlling the actuator of the vehicle;
• receiving, by the processor, sensor data associated with the environment and generated by one or more sensors associated with the vehicle;
• determining, by the processor, a state associated with an operation mode of the vehicle based on the sensor data;
• evaluating, by the processor, whether the instruction is invalid based on the state associated with the operating mode of the vehicle;
• and
• subsequent to determining that the instruction is invalid, based on the evaluation, preventing transmission of the instruction to the actuator of the vehicle.

One or more computer-readable non-transitory storage media embodying software that is operable, when executed, to cause one or more processors in communication with an actuator of a vehicle to perform operations comprising:

• receiving, by a processor in communication with an actuator of a vehicle, an instruction associated with an environment external to the vehicle and configured for controlling the actuator of the vehicle;
• receiving, by the processor, sensor data associated with the environment and generated by one or more sensors associated with the vehicle;
• determining, by the processor, a state associated with an operation mode of the vehicle based on the sensor data;
• evaluating, by the processor, whether the instruction is invalid based on the state associated with the operating mode of the vehicle;
• and
• subsequent to determining that the instruction is invalid, based on the evaluation, preventing transmission of the instruction to the actuator of the vehicle.