A system within an ego vehicle for robust association of a physical identity and a virtual identity of a target vehicle includes a data processor, including a wireless communication module and a visible light communication module, positioned within an ego vehicle, and a plurality of perception sensors, positioned within the ego vehicle and adapted to collect data related to a physical identity of the target vehicle and to communicate the data related to the physical identity of the target vehicle to the data processor via a communication bus, the data processor within the ego vehicle adapted to receive, via a wireless communication channel, data related to a virtual identity of the target vehicle, associate the physical identity of the target vehicle with the virtual identity of the target vehicle, and initiate, via the wireless communication channel and a visible light communication channel, a challenge-response protocol between the ego vehicle and the target vehicle.