| CPC G08G 1/0141 (2013.01) [G08G 1/0112 (2013.01); G08G 1/012 (2013.01); G08G 1/094 (2013.01); G08G 1/096775 (2013.01); H04W 4/38 (2018.02); H04W 4/40 (2018.02)] | 25 Claims |
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1. An apparatus to be employed as an Intelligent Transportation System Station (ITS-S), the apparatus comprising:
memory circuitry to store instructions of a Collective Perception Service (CPS) facility; and
processor circuitry connected to the memory circuitry, wherein the processor circuitry is to operate the CPS to:
generate a Collective Perception Message (CPM) including a layered cost map container, wherein the layered cost map container includes cost values and corresponding confidence levels of a layered cost map available at the ITS-S;
generate an aggregated cost map layer as an aggregation of each layer of a set of layers;
divide each layer in the set of layers into a set of cells;
determine respective cost values for corresponding cells in the set of cells based on sensor data obtained from one or more sensors accessible by the ITS-S, a static map available to the ITS-S, and information obtained from one or more neighboring ITS-Ss;
select the aggregated cost map layer to be included in the CPM when at least one of the cost values or confidence levels of respective cells in the aggregated cost map layer changes by more than an aggregated layer threshold; and
cause transmission of the CPM to one or more other ITS-Ss.
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