Provided herein is a system and method implemented on a vehicle. The system comprises one or more sensors, one or more processors, and a memory storing instructions that, when executed by the one or more processors, causes the system to perform: obtaining data from the one or more sensors; comparing the obtained data from the one or more sensors with reference data; determining whether one or more characteristics of the obtained data deviate from corresponding characteristics of the reference data by more than a respective threshold; in response to determining that one or more characteristics of the data obtained deviate from corresponding characteristics of the reference data by more than a respective threshold, determining an action of the vehicle based on amounts of the one or more deviations; and performing the determined action.