US 12,470,901 B2
Cooperative sensor sharing
Syed Amaar Ahmad, Canton, MI (US); and Jayanthi Rao, West Bloomfield, MI (US)
Assigned to FORD GLOBAL TECHNOLOGIES, LLC, Dearborn, MI (US)
Filed by FORD GLOBAL TECHNOLOGIES, LLC, Dearborn, MI (US)
Filed on Jan. 12, 2023, as Appl. No. 18/153,670.
Prior Publication US 2024/0244409 A1, Jul. 18, 2024
Int. Cl. H04W 4/44 (2018.01); H04W 4/38 (2018.01); H04W 28/02 (2009.01); H04W 76/10 (2018.01)
CPC H04W 4/44 (2018.02) [H04W 4/38 (2018.02); H04W 28/0226 (2013.01); H04W 76/10 (2018.02)] 21 Claims
OG exemplary drawing
 
1. A system for cooperate sensor sharing, comprising:
a transceiver of a host vehicle;
sensors of the host vehicle; and
a controller of the host vehicle, programmed to
receive a first connected message from a remote vehicle via the transceiver, the first connected message indicating a first object along a roadway detected by the remote vehicle,
identify presence of a second object along the roadway using the sensors,
utilize a probability function to determine a result indicative of whether to send a second connected message indicating the second object, wherein the probability function is a decreasing function of channel busy percentage (CBP) and confidence percentage that the first and second objects correspond to the same object, such that increasing CBP and/or increasing confidence percentage results in decreasing likelihood to send the second connected message,
send the second connected message responsive to the result indicating to send the second connected message, and
suppress the second connected message responsive to the result indicating not to send the second connected message.