Method for encoding a signal at a first communication node and for decoding the signal at a second communication node, wherein the first and the second communication nodes (N1, N2) are comprised by an arrangement for use in a road vehicle, the method comprising: - by means of an on-board sensor on the road vehicle, detecting environmental information associated with the road vehicle, in the first communication node: - encoding a signal representing the detected environmental information associated with the road vehicle using a first encoding scheme (a), - encoding the thus formed single encoded sensor signal using a second encoding scheme (b), - sending the thus formed double encoded sensor signal to the second communication node, - storing at least one of the single encoded sensor signal and the double encoded sensor signal in the first communication node, in the second communication node; - decoding the double encoded sensor signal received from the first communication node based on the second encoding scheme (b), forming a decoded single encoded sensor signal, - sending the decoded single encoded sensor signal to the first communication node, and in the first communication node: performing a comparison analysis, comprising at least one of the following: comparing the decoded single encoded sensor signal received from the second communication node with the stored single encoded sensor signal, in case the first communication node stored the single encoded sensor signal, or after encoding the decoded single encoded sensor signal received from the second communication node with the second encoding scheme (b), comparing the thus formed double encoded sensor signal (1a'b) with the stored double encoded sensor signal, in case the first communication node stored the double encoded sensor signal, wherein if the compared sensor signals (1a',1a; 1ab,1a'b) match, then sending a signal to the second communication node validating the sensor signal, if the compared sensor signals (1a',1a;1ab, 1a'b) do not match, then initiating a corrective action. - by means of an on-board sensor on the road vehicle, detecting environmental information associated with the road vehicle, - encoding a signal representing the detected environmental information associated with the road vehicle using a first encoding scheme (a), - encoding the thus formed single encoded sensor signal using a second encoding scheme (b), - sending the thus formed double encoded sensor signal to the second communication node, - storing at least one of the single encoded sensor signal and the double encoded sensor signal in the first communication node, in the second communication node; - decoding the double encoded sensor signal received from the first communication node based on the second encoding scheme (b), forming a decoded single encoded sensor signal, - sending the decoded single encoded sensor signal to the first communication node, and comparing the decoded single encoded sensor signal received from the second communication node with the stored single encoded sensor signal, in case the first communication node stored the single encoded sensor signal, or after encoding the decoded single encoded sensor signal received from the second communication node with the second encoding scheme (b), comparing the thus formed double encoded sensor signal (1a'b) with the stored double encoded sensor signal, in case the first communication node stored the double encoded sensor signal,