Vehicle data spoofing detection and mitigation

A vehicle comprising:

• one or more vehicle controllers and sensors;
• and
• one or more processors configured to
• collect sensor signals from the one or more vehicle controllers and sensors via a vehicle bus of the vehicle,
• combine the sensor signals and reference signals into first combined signals based on a predefined timing pattern,
• transmit the combined signals to a cloud server over a communication network,
• receive a data select command from the cloud server specifying adjustments to the combined signals, and
• collect second combined signals to be sent subsequent to the first combined signals, based on the adjustments received in the data select command.

A cloud server for validating vehicle signal integrity, comprising:

• a storage configured to maintain predefined reference signals and a predefined timing pattern;
• and
• one or more processors configured to:
• receive, from a vehicle, combined signals comprising sensor signals and test reference signals,
• extract the test reference signals from the combined signals based on the predefined timing pattern,
• generate a reference output by processing the predefined reference signals using an analysis model,
• generate a test output by processing the test reference signals using the analysis model,
• calculate an error signal as a difference between the reference output and the test output,
• compare the error signal to a predefined threshold to determine whether a spoofing condition exists, and
• transmit a data select command to the vehicle responsive to determining the spoofing condition to mitigate unreliable signals.