VEHICLE ENVIRONMENT SENSOR RELIABILITY DETERMINATION

An environment perception method, at an ego vehicle, includes: receiving, from a device external to the ego vehicle, one or more first reliability factors associated with the device and with a first value of a parameter of an environment; determining, based on the one or more first reliability factors, a first reliability of the first value; determining, based on one or more second reliability factors associated with the ego vehicle and with a second value of the parameter of the environment provided by one or more sensors of the ego vehicle, a second reliability of the second value; and providing a reliability indication indicating which of the first value and the second value is more reliable based on which of the first reliability and the second reliability is a higher reliability.