US 11,794,762 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 Apr. 10, 2020, as Appl. No. 16/845,765.
Prior Publication US 2021/0316746 A1, Oct. 14, 2021
Int. Cl. B60W 50/14 (2020.01); B60W 60/00 (2020.01); G05D 1/00 (2006.01); 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); G05D 2201/0213 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for prioritizing occlusion information, comprising:
observing, at a first location of an ego agent, a spatial area from a first viewpoint, at the first location, of one or more sensors associated with the ego agent;
observing, at a second location of the ego agent, the spatial area from a second viewpoint of the one or more sensors associated with the ego agent;
determining the spatial area was occluded at the first viewpoint based on observing the spatial area from the second viewpoint;
determining a level of risk associated with the spatial area based on observing the spatial area at the second location;
prioritizing transmission of occlusion information corresponding to the spatial area based on the determined level of risk; and
transmitting, to a target agent, the occlusion information corresponding to the spatial area based on the priority.