US 12,291,227 B2
Peer-to-peer occupancy estimation
Stephen G. McGill, Cambridge, MA (US); Guy Rosman, Newton, MA (US); and Luke S. Fletcher, Cambridge, MA (US)
Assigned to TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed by TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed on Sep. 8, 2023, as Appl. No. 18/464,123.
Application 18/464,123 is a continuation of application No. 16/845,765, filed on Apr. 10, 2020, granted, now 11,794,762.
Prior Publication US 2023/0415762 A1, Dec. 28, 2023
Int. Cl. B60W 50/14 (2020.01); B60W 60/00 (2020.01); G05D 1/00 (2024.01); G06V 20/56 (2022.01)
CPC B60W 50/14 (2013.01) [B60W 60/0011 (2020.02); B60W 60/0015 (2020.02); G05D 1/0094 (2013.01); G06V 20/56 (2022.01); B60W 2050/143 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for indicating occlusion information at an ego agent, comprising:
observing a spatial area from a first viewpoint of one or more first sensors associated with the ego agent;
identifying the spatial area as an occluded area in accordance with observing the spatial area from a second viewpoint of the one or more first sensors after observing the spatial area from the first viewpoint;
assigning a priority level to the occlusion information associated with the spatial area based on a risk level associated with the occluded area, the risk level corresponding to an expected incident value for an incident occurring for a second vehicle at the spatial area;
receiving, from a target agent, a message indicating the spatial area is occluded from one or more second sensors associated with the target agent; and
transmitting, to the target agent in accordance with receiving the message, the occlusion information indicating information associated the spatial area based on the priority level being greater than a priority threshold.