Current rule NoMissingVehicleTypeIdInVehicleStatusWhenVehicleTypesExist only checks, if a vehicle_type_id is defined for vehicles, when a vehicle_types feed exists, but it does not validate that the id is defined.
I suggest to rename this rule to NoMissingOrInvalidVehicleTypeIdInVehicleStatusWhenVehicleTypesExist and add the appropriate schema check. I'll provide a PR implementing this.
(see mobidata-bw/lamassu#1 for an example of an invalid feed)