When a vehicle VR receives a message M with GPS

information gps and sensor data sensor data from the source
vehicle VS, VR runs the algorithm for detecting location
spoofing as shown in Algorithm 1. To begin the process, VR
checks if the timestamp contained in M is valid and within
the threshold τ. If the timestamp is valid, VR computes the
distance dRS and the angle φRS of VS from VR using gps
information of VS and VR. Note that the distance and the
angle are computed by leveraging the center point of the
target vehicle. For example, if the vehicle is located at (x1; y1)
and the target vehicle is located at (x2; y2) positions, then
the distance and angle can be calculated using Equation 1 &
Equation 2