Adaptive sensor data sharing for a connected vehicle
View Patent ↗The disclosure includes embodiments for adaptive sensor data sharing by a connected vehicle. A method includes calculating, by a processor of an ego vehicle, a view angle overlap between a first sensor of the ego vehicle and a second sensor of a roadway device, wherein the view angle overlap is an amount of sensor view overlap shared by first sensor and the second sensor. The method includes determining an amount of ego sensor data to share with the roadway device based on the view angle overlap. The method includes building a sharing message that includes the amount of ego sensor data in a payload of the sharing message. The method includes transmitting, by a communication unit of the ego vehicle, the sharing message to the roadway device.
1 . A method comprising:
calculating a view angle overlap between a first sensor of an ego vehicle and a second sensor of a roadway device, wherein the view angle overlap is an amount of sensor view overlap shared by first sensor and the second sensor; and
determining, by a processor, an amount of ego sensor data recorded by the first sensor to share with the roadway device based at least in part on the view angle overlap, wherein the first sensor is a type of sensor selected from a group including a lidar sensor and a camera and the first sensor and the second sensor are a different type of sensor.
2 . The method of claim 1 , further comprising building a sharing message that includes the amount of ego sensor data.
3 . The method of claim 2 , further comprising transmitting the sharing message to the roadway device.
4 . The method of claim 1 , wherein the roadway device is a remote vehicle.
5 . The method of claim 1 , wherein the roadway device is not a remote vehicle.
6 . The method of claim 1 , wherein the first sensor is a lidar sensor and the ego sensor data describes lidar measurements recorded by the lidar sensor, and wherein the step of determining the amount of ego sensor data to share with the roadway device based on the view angle overlap includes applying the following rule: when the view angle shared by the ego vehicle and the roadway device is greater, then less of the lidar measurements described by the ego sensor data is included in the amount relative to how many lidar measurements are included in the amount when the view angle is less.
7 . The method of claim 1 , wherein the first sensor is a lidar sensor and the ego sensor data describes lidar measurements recorded by the lidar sensor, and wherein the step of determining the amount of ego sensor data to share with the roadway device based on the view angle overlap includes applying the following rule: when the view angle shared by the ego vehicle and the roadway device is greater, then less of the lidar measurements are included in the amount relative to how much lidar measurements are included in the amount when the view angle is less.
8 . The method of claim 1 , wherein the first sensor is a lidar sensor and the ego sensor data describes lidar measurements recorded by the lidar sensor, and wherein the step of determining the amount of ego sensor data to share with the roadway device based on the view angle overlap includes applying the following rule: when the view angle shared by the ego vehicle and the roadway device is less, then the amount is selected from a group that includes: (1) sharing more lidar measurements relative to how much lidar measurements are included in the amount when the view angle is more; (2) sharing a same amount of lidar measurements relative to how much lidar measurements are included in the amount when the view angle is more; and (3) sharing all of the lidar measurements that are recorded by the lidar sensor.
9 . The method of claim 1 , wherein the first sensor is a camera and the ego sensor data describes images recorded by the camera, and wherein the step of determining the amount of ego sensor data to share with the roadway device based on the view angle overlap includes applying the following rule: when the view angle shared by the ego vehicle and the roadway device is greater, then more of the images described by the ego sensor data is included in the amount relative to how many images are included in the amount when the view angle is less.
10 . The method of claim 1 , wherein the first sensor is a camera and the ego sensor data describes images recorded by the camera, and wherein the step of determining the amount of ego sensor data to share with the roadway device based on the view angle overlap includes applying the following rule: when the view angle overlap described by the view overlap data is less, then less of the images are included in the amount relative to how many images are included in the amount when the view angle overlap is less.
11 . A computer program product included in at least one onboard vehicle computer of an ego vehicle, the computer program product comprising computer code that is operable, when executed by the onboard vehicle computer, to cause the onboard vehicle computer to execute steps including:
calculating a view angle overlap between a first sensor of an ego vehicle and a second sensor of a roadway device, wherein the view angle overlap is an amount of sensor view overlap shared by first sensor and the second sensor; and
determining, by a processor, an amount of ego sensor data recorded by the first sensor to share with the roadway device based at least in part on the view angle overlap, wherein the first sensor is a type of sensor selected from a group including a lidar sensor and a camera and the first sensor and the second sensor are a different type of sensor.
12 . A system included in an ego vehicle, the system comprising:
a processor;
a non-transitory memory communicatively coupled to the processor, wherein the non-transitory memory stores executable code that is operable, when executed by the processor, to cause the processor to:
calculate a view angle overlap between a first sensor of an ego vehicle and a second sensor of a roadway device, wherein the view angle overlap is an amount of sensor view overlap shared by first sensor and the second sensor; and
determine an amount of ego sensor data recorded by the first sensor to share with the roadway device based at least in part on the view angle overlap, wherein the first sensor is a type of sensor selected from a group including a lidar sensor and a camera and the first sensor and the second sensor are a different type of sensor.
13 . The system of claim 12 , wherein the executable code is further operable, when executed by the processor, to cause the processor to build a sharing message that includes the amount of ego sensor data.
14 . The system of claim 13 , further comprising a communication unit communicatively coupled to the processor, wherein the executable code is further operable, when executed by the processor, to cause the processor to transmit the sharing message to the roadway device using the communication unit.
15 . The system of claim 12 , wherein the roadway device is a remote vehicle.
16 . The system of claim 12 , wherein the roadway device is not a remote vehicle.
17 . The system of claim 12 , wherein the first sensor is a lidar sensor and the ego sensor data describes lidar measurements recorded by the lidar sensor, and wherein the step of determining the amount of ego sensor data to share with the roadway device based on the view angle overlap includes applying the following rule: when the view angle shared by the ego vehicle and the roadway device is greater, then less of the lidar measurements described by the ego sensor data is included in the amount relative to how many lidar measurements are included in the amount when the view angle is less.
18 . The system of claim 12 , wherein the first sensor is a lidar sensor and the ego sensor data describes lidar measurements recorded by the lidar sensor, and wherein the step of determining the amount of ego sensor data to share with the roadway device based on the view angle overlap includes applying the following rule: when the view angle shared by the ego vehicle and the roadway device is greater, then less of the lidar measurements are included in the amount relative to how much lidar measurements are included in the amount when the view angle is less.
19 . The system of claim 12 , wherein the first sensor is a lidar sensor and the ego sensor data describes lidar measurements recorded by the lidar sensor, and wherein the step of determining the amount of ego sensor data to share with the roadway device based on the view angle overlap includes applying the following rule: when the view angle shared by the ego vehicle and the roadway device is less, then the amount is selected from a group that includes: (1) sharing more lidar measurements relative to how much lidar measurements are included in the amount when the view angle is more; (2) sharing a same amount of lidar measurements relative to how much lidar measurements are included in the amount when the view angle is more; and (3) sharing all of the lidar measurements that are recorded by the lidar sensor.
20 . The system of claim 12 , wherein the first sensor is a camera and the ego sensor data describes images recorded by the camera, and wherein the step of determining the amount of ego sensor data to share with the roadway device based on the view angle overlap includes applying the following rule: when the view angle shared by the ego vehicle and the roadway device is greater, then more of the images described by the ego sensor data is included in the amount relative to how many images are included in the amount when the view angle is less.