Collective Perception Messaging With Layered Cost Map Updates

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Solution Overview

Problem

Existing Collective Perception Messages (CPMs) in Intelligent Transport Systems (ITS) face limitations in efficiently reporting large numbers of perceived objects and free spaces due to bandwidth constraints, requiring multiple messages and detailed individual reporting that can overwhelm the network.

Innovation Solution

Implementing a dual reporting mechanism using Independent CPMs (I-CPMs) with predetermined policies and Dependent CPMs (P-CPMs) that leverage a layered cost map and enhanced identifiers to optimize data transmission, combining detailed object reporting with area-based reporting to minimize data size while ensuring sufficient information for decision-making.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Loss of information

If individual reporting of each perceived object is used, then complete environmental information is provided, but network bandwidth is overwhelmed and multiple CPMs are required

Engineering Contradiction:

Improveenvironmental information completenessVSAvoiddata transmission volume

Core Design Contradiction:

Loss of informationVSQuantity of substance

Solution Approach 1:

The patent segments the reporting mechanism into two distinct types: Independent CPMs that provide complete environmental information periodically, and Dependent CPMs that provide incremental updates only when changes occur. This segmentation allows the system to balance information completeness with bandwidth efficiency by choosing the appropriate CPM type based on environmental dynamics.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Independent CPMs are transmitted periodically to provide complete environmental snapshots, while Dependent CPMs are transmitted event-driven based on changes in the layered cost map. This periodic and event-driven combination reduces overall transmission volume while maintaining information freshness.

Inventive Principle:

Principle #19Periodic action

2Measurement precision

If detailed individual reporting of perceived objects is implemented, then precise environmental data is achieved, but network overhead increases

Engineering Contradiction:

Improveenvironmental perception accuracyVSAvoidnetwork overhead

Core Design Contradiction:

Measurement precisionVSLoss of energy

Solution Approach 1:

The patent extracts only the essential change information from the environment and transmits it via Dependent CPMs. Instead of reporting all perceived objects continuously, the system extracts and reports only those elements that have changed in the layered cost map, significantly reducing network overhead while preserving measurement precision for changed elements.

Inventive Principle:

Principle #2Taking out (Extraction)

Solution Approach 2:

The system monitors parameter changes in the layered cost map (such as changes in cost values, object positions, or environmental conditions) and triggers Dependent CPM transmission only when parameters exceed predefined thresholds or change significantly. This parameter-based triggering reduces unnecessary transmissions while maintaining accuracy.

Inventive Principle:

Principle #35Parameter changes

3Loss of information

If multiple CPMs are used to report perceived objects, then complete coverage is achieved, but message complexity and processing overhead increase

Engineering Contradiction:

Improveperceived objects coverageVSAvoidmessage structure complexity

Core Design Contradiction:

Loss of informationVSDevice complexity

Solution Approach 1:

The patent merges the functionality of multiple CPMs into a single Dependent CPM structure that references a previously transmitted Independent CPM. Instead of sending multiple independent messages with redundant headers and structures, the system combines incremental updates into one streamlined message format that includes references to the base CPM, reducing message complexity.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The Independent CPM is transmitted first as a preliminary action, establishing the baseline environmental state with complete information. Subsequent Dependent CPMs then reference this pre-established baseline, eliminating the need to repeat baseline information in each message and thereby reducing overall message complexity.

Inventive Principle:

Principle #10Preliminary action

4Reliability

If complete environmental data is transmitted, then decision-making accuracy is improved, but bandwidth consumption increases

Engineering Contradiction:

Improvedecision-making accuracyVSAvoidbandwidth usage

Core Design Contradiction:

ReliabilityVSQuantity of substance

Solution Approach 1:

The system dynamically adapts the reporting mechanism based on environmental conditions. When the environment is stable, Dependent CPMs with minimal updates are used to conserve bandwidth. When significant changes occur in the layered cost map, the system transitions to more frequent or complete reporting via Independent CPMs, ensuring decision-making accuracy is maintained when needed while optimizing bandwidth during stable periods.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS12467764B2Enhanced reporting in CPM based on layered cost map

Publication Date: 2025.11.11 CANON KK

AI summary

A communication method for an Intelligent Transport System (ITS) comprising at least one first transmitting ITS station, the method taking place at the first transmitting ITS station including 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.