Tag the coded signs on a GPS map. If the detected "sign" is not on the GPS map the system can label it as "probably malicious".
Whether or not that's a problem in practice is not clear to me. Among others, taxis, construction vehicles, emergency vehicles, garbage and delivery trucks, municipal busses, school buses, bicycles, motorcycles, and vehicles in funeral processions all play by different rules than the average motorist.
This mostly doesn't cause disasters. Of course they're visibly different for the most part and make up a comparatively small percentage of traffic.
Ride hailing vehicles might be an interesting point of comparison: they're visibly similar to normal vehicles, comparatively common, and play by something resembling taxi rules.