US 12,467,764 B2
Enhanced reporting in CPM based on layered cost map
Julien Sevin, Saint Aubin du Cormier (FR); Eric Nassor, Thorigne-Fouillard (FR); Brice Le Houerou, Acigne (FR); Isabelle Morvan, Chantepie (FR); Hervé Ruellan, Rennes (FR); and Lionel Tocze, Saint Domineuc (FR)
Assigned to Canon Kabushiki Kaisha, Tokyo (JP)
Filed by CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed on Nov. 2, 2022, as Appl. No. 18/052,167.
Claims priority of application No. 2115846 (GB), filed on Nov. 4, 2021.
Prior Publication US 2023/0194297 A1, Jun. 22, 2023
Int. Cl. G01C 21/00 (2006.01); G08G 1/16 (2006.01); H04W 4/40 (2018.01)
CPC G01C 21/3807 (2020.08) 14 Claims
OG exemplary drawing
 
1. A communication method for improving communication in an Intelligent Transport System (ITS) comprising at least one first transmitting ITS station and at least one first receiving ITS station, the method comprising at the first transmitting ITS station:
transmitting a second Collective Perception Message (CPM) comprising at least one identifier of a first element previously transmitted in a first CPM, the first element being not present in the second CPM,
wherein the first element is of a first element type and the second CPM comprises a second element of a second element type, the second element comprising the identifier of the first element and information related to the first element to update the first element, the first and the second element being representative of a perceived object and/or of a perception region, and
wherein the perceived object and/or the perception region of the first element notified by the first CPM is updated by the perceived object and/or the perception region of the second element notified by the second CPM.