Cooperative perception and state estimation for vehicles with compromised sensor systems
First Claim
1. A method for sharing information between independent agents, comprising:
- receiving, with a processor, signals indicative of a fault of a sensor system of a first independent agent, wherein the fault is identified by the first independent agent;
transmitting, with the processor, signals indicative of a request for sensor information to a second independent agent in response to receiving said signals indicative of the fault of the sensor system;
positioning the second independent agent relative to the first independent agent such that a sensor system of the second independent agent can collect information about a relative position and a motion state of the first independent agent;
calculating state information for the first independent agent from the relative position and motion state information collected;
receiving, with the processor, signals indicative of the state information in response to the transmitting of the request for sensor information;
applying, with the processor, the state information to a navigation system of the first independent agent in response to the receiving of the state information; and
operating the first independent agent using the state information provided by the second independent agent.
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Accused Products
Abstract
A method and system for sharing information between independent agents having a processor and memory having instructions stored thereon that, when executed by the processor, cause the system to receive signals indicative of a fault of a sensor system of a first independent agent; transmit signals indicative of a request for sensor information to a second independent agent; receive signals indicative of state information for the second independent agent in response to the receiving of the request for sensor information; and apply the state information to a navigation system of the first independent agent in response to the receiving of the state information.
10 Citations
15 Claims
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1. A method for sharing information between independent agents, comprising:
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receiving, with a processor, signals indicative of a fault of a sensor system of a first independent agent, wherein the fault is identified by the first independent agent; transmitting, with the processor, signals indicative of a request for sensor information to a second independent agent in response to receiving said signals indicative of the fault of the sensor system; positioning the second independent agent relative to the first independent agent such that a sensor system of the second independent agent can collect information about a relative position and a motion state of the first independent agent; calculating state information for the first independent agent from the relative position and motion state information collected; receiving, with the processor, signals indicative of the state information in response to the transmitting of the request for sensor information; applying, with the processor, the state information to a navigation system of the first independent agent in response to the receiving of the state information; and operating the first independent agent using the state information provided by the second independent agent. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for sharing information between independent agents, comprising
a processor; - and
memory having instructions stored thereon that, when executed by the processor, cause the system to; receive signals indicative of a fault of a sensor system of a first independent agent, wherein the first independent agent is operable to identify faults of the sensor system; transmit signals indicative of a request for sensor information to a second independent agent in response to said signals indicative of the fault of the sensor system; positioning the second independent agent relative to the first independent agent such that a sensor system of the second independent agent can collect information about a relative position and a motion state of the first independent agent; calculating state information for the first independent agent from the relative position and motion state information collected; receive signals indicative of the state information in response to the receiving of the request for sensor information; apply the state information for the second independent agent to a navigation system of the first independent agent in response to the receiving of the state information; and operate the first independent agent using the state information provided by the second independent agent. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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Specification