US 12,172,668 B2
Vehicles and methods for sharing sensor data based on criticality
Sergei S. Avedisov, Los Gatos, CA (US); Onur Altintas, Mountain View, CA (US); and Takamasa Higuchi, Mountain View, CA (US)
Assigned to Toyota Motor Engineering & Manufacturing North America, Inc., Plano, TX (US)
Filed by Toyota Motor Engineering & Manufacturing North America, Inc., Plano, TX (US)
Filed on Dec. 20, 2021, as Appl. No. 17/555,735.
Prior Publication US 2023/0192117 A1, Jun. 22, 2023
Int. Cl. B60W 30/095 (2012.01); B60W 40/105 (2012.01); B60W 40/11 (2012.01); B60W 60/00 (2020.01); G07C 5/00 (2006.01)
CPC B60W 60/001 (2020.02) [B60W 40/105 (2013.01); B60W 40/11 (2013.01); G07C 5/008 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle comprising:
a controller programmed to perform operations comprising:
collecting information about an unconnected vehicle;
receiving messages from another connected vehicle;
predicting motions of the unconnected vehicle and the another connected vehicle based on the information about the unconnected vehicle and the messages;
estimating an occlusion area of the another connected vehicle based on the predicted motions of the unconnected vehicle and the another connected vehicle and an occlusion estimation algorithm, the messages including a position of an object, and the occlusion area being an area blocked by the object from a field of view of sensors of the another connected vehicle;
identifying a scenario of the another connected vehicle being in conflict with the vehicle or the unconnected vehicle at a future time based on determining whether the unconnected vehicle is within the estimated occlusion area; and
in response to identifying the scenario of the another connected vehicle being in conflict with the vehicle or the unconnected vehicle at the future time, transmitting a first message including the information about the unconnected vehicle to the another connected vehicle.