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Cooperative driving is an emerging paradigm to enhance the safety andefficiency of autonomous vehicles. To ensure successful cooperation, road usersmust reach a consensus for making collective decisions, while recordingvehicular data to analyze and address failures related to such agreements. Thisdata has the potential to provide valuable insights into various vehicularevents, while also potentially improving accountability measures. Furthermore,vehicles may benefit from the ability to negotiate and trade services amongthemselves, adding value to the cooperative driving framework. However, themajority of proposed systems aiming to ensure data security, consensus, orservice trading, lack efficient and thoroughly validated mechanisms thatconsider the distinctive characteristics of vehicular networks. Theselimitations are amplified by a dependency on the centralized support providedby the infrastructure. Furthermore, corresponding mechanisms must diligentlyaddress security concerns, especially regarding potential malicious ormisbehaving nodes, while also considering inherent constraints of the wirelessmedium. We introduce the Verifiable Event Extension (VEE), an applicationalextension designed for Intelligent Transportation System (ITS) messages. TheVEE operates seamlessly with any existing standardized vehicular communicationsprotocol, addressing crucial aspects of data security, consensus, and tradingwith minimal overhead. To achieve this, we employ blockchain techniques,Byzantine fault tolerance (BFT) consensus protocols, and cryptocurrency-basedmechanics. To assess our proposal's feasibility and lightweight nature, weemployed a hardware-in-the-loop setup for analysis. Experimental resultsdemonstrate the viability and efficiency of the VEE extension in overcoming thechallenges posed by the distributed and opportunistic nature of wirelessvehicular communications.

Enabling Seamless Data Security, Consensus, and Trading in Vehicular Networks