Method and apparatus for determining validity of message received by vehicle in automated vehicle & highway systems

A first vehicle for determining a validity of a message received from automated vehicle & highway systems, the first vehicle comprising:

• a sensor;
• a transceiver;
• a memory;
• and
• a processor, wherein
• the processor receives intersection status information and a Signal Phase and Timing (SPaT) message related to an intersection where the first vehicle tries to enter through the transceiver, sets a traveling route of the first vehicle on a High-Definition (HD) map generated using the intersection status information, acquires lane information having the same lane status as that of a travel lane of the first vehicle based on the intersection status information and the SPaT message, and executes a first validity determination for determining whether the intersection status information and the SPaT message are valid based on the lane information and the HD map, and
• the intersection status information includes center point position information of the intersection, entry lane information of the intersection, and exit lane information of the intersection, the lane status indicates a traffic light signal, and the first validity determination is based on a collision risk between a second vehicle traveling a lane having the same lane status and the first vehicle.