# US 11,113,959 B2 · Crowdsourced detection, identification and sharing of hazardous road objects in HD maps > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,113,959 B2 - Document ID: US11113959B2 - Status: Granted - Kind: B2 - Application number: 16/235,694 - Filed: 2018-12-28 - Published: 2019-05-09 - Granted: 2021-09-07 - Earliest claimed: 2018-12-28 - Assignees: Intel Corporation - Applicants: S M Iftekharul Alam; David I. Gonzalez Aguirre; Sridhar Sharma; Kathiravetpillai Sivanesan; Ignacio Alvarez - Inventors: S M Iftekharul Alam; David I. Gonzalez Aguirre; Sridhar Sharma; Kathiravetpillai Sivanesan; Ignacio Alvarez - Web page: https://patentgrep.com/patent/US11113959B2 ## CPC - G08G 1/0141: {for traffic information dissemination} - G01C 21/3461: {Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types or segments such as motorways, toll roads or ferries} - G01C 21/3841: {Data obtained from two or more sources, e.g. probe vehicles} - G01C 21/3878: {Hierarchical structures, e.g. layering} - G06F 16/29: Geographical information databases - G06T 17/005: {Tree description, e.g. octree, quadtree} - G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]} - G08G 1/012: {from other sources than vehicle or roadside beacons, e.g. mobile networks} - G08G 1/0133: {for classifying traffic situation} - H04W 4/40: for vehicles, e.g. vehicle-to-pedestrians [V2P] - H04W 4/02: Services making use of location information - H04W 4/06: Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services - H04W 4/46: for vehicle-to-vehicle communication [V2V] - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract Systems, apparatuses and methods may provide for vehicle technology that detects one or more differences between a crowdsourced map of an ambient environment and a real-time volumetric map of the ambient environment and sends a first message via a vehicle-to-vehicle (V2V) link, wherein the difference(s) are represented in the first message at a first resolution. Additionally, the vehicle technology sends a second message via a vehicle-to-infrastructure (V2I) link, wherein the difference(s) are represented in the second message at a second resolution, and wherein the first resolution is less than the second resolution. Moreover, server technology may integrate a first octree representation and a second octree representation into a dynamic layer associated with the crowdsourced map. ## Claims ### Claim 1 A semiconductor apparatus comprising: one or more substrates; and logic coupled to the one or more substrates, wherein the logic is implemented at least partly in configurable logic or fixed-functionality hardware logic, the logic coupled to the one or more substrates to: detect one or more differences between a crowdsourced map of an ambient environment and a real-time volumetric map of the ambient environment; send a first message via a vehicle-to-vehicle link, wherein the one or more differences are represented in the first message at a first resolution; and send a second message via a vehicle-to-infrastructure link, wherein the one or more differences are represented in the second message at a second resolution, and wherein the first resolution is less than the second resolution. ### Claim 2 (depends on 1) The semiconductor apparatus of claim 1, wherein the one or more differences are represented in the first message and the second message as an octree. ### Claim 3 (depends on 1) The semiconductor apparatus of claim 1, wherein the second message further includes appearance sensor data. ### Claim 4 (depends on 1) The semiconductor apparatus of claim 1, wherein the logic coupled to the one or more substrates is to classify the one or more differences as one or more objects based on size and temporal existence. ### Claim 5 (depends on 4) The semiconductor apparatus of claim 4, wherein the first message and the second message are dedicated to objects exceeding a size threshold and a temporal existence threshold. ### Claim 6 (depends on 1) The semiconductor apparatus of claim 1, wherein the logic coupled to the one or more substrates is to: initiate a timer in response to detection of the one or more differences; cancel the timer if a redundant volumetric representation is received via the vehicle-to-vehicle link prior to expiration of the timer, wherein the first message is sent in response to an expiration of the timer if the redundant volumetric representation is not received via the vehicle-to-vehicle link prior to expiration of the timer; and generate a consensus decision with regard to the one or more differences. ### Claim 7 (depends on 6) The semiconductor apparatus of claim 6, wherein the timer is initiated to a value that is inversely proportional to a confidence score associated with the detection of the one or more differences. ### Claim 8 At least one non-transitory computer readable storage medium comprising a set of instructions, which when executed by a vehicle, cause the vehicle to: detect one or more differences between a crowdsourced map of an ambient environment and a real-time volumetric map of the ambient environment; send a first message via a vehicle-to-vehicle link, wherein the one or more differences are represented in the first message at a first resolution; and send a second message via a vehicle-to-infrastructure link, wherein the one or more differences are represented in the second message at a second resolution, and wherein the first resolution is less than the second resolution. ### Claim 9 (depends on 8) The at least one non-transitory computer readable storage medium of claim 8, wherein the one or more differences are represented in the first message and the second message as an octree. ### Claim 10 (depends on 8) The at least one non-transitory computer readable storage medium of claim 8, wherein the second message further includes appearance sensor data. ### Claim 11 (depends on 8) The at least one non-transitory computer readable storage medium of claim 8, wherein the instructions, when executed, cause the vehicle to classify the one or more differences as one or more objects based on size and temporal existence. ### Claim 12 (depends on 11) The at least one non-transitory computer readable storage medium of claim 11, wherein the first message and the second message are dedicated to objects exceeding a size threshold and a temporal existence threshold. ### Claim 13 (depends on 8) The at least one non-transitory computer readable storage medium of claim 8, wherein the instructions, when executed, cause the vehicle to: initiate a timer in response to detection of the one or more differences; cancel the timer if a redundant volumetric representation is received via the vehicle-to-vehicle link prior to expiration of the timer, wherein the first message is sent in response to an expiration of the timer if the redundant volumetric representation is not received via the vehicle-to-vehicle link prior to expiration of the timer; and generate a consensus decision with regard to the one or more differences. ### Claim 14 (depends on 13) The at least one non-transitory computer readable storage medium of claim 13, wherein the timer is initiated to a value that is inversely proportional to a confidence score associated with the detection of the one or more differences. ### Claim 15 A semiconductor apparatus comprising: one or more substrates; and logic coupled to the one or more substrates, wherein the logic is implemented at least partly in configurable logic or fixed-functionality hardware logic, the logic coupled to the one or more substrates to: receive a first message from a first vehicle, wherein the first message includes a first octree representation, from a first vantage point, of one or more differences between a crowdsourced map of an environment and a first real-time volumetric map of the environment; receive a second message from a second vehicle, wherein the second message includes a second octree representation of the one or more differences from a second vantage point; and integrate the first octree representation and the second octree representation into a dynamic layer associated with the crowdsourced map. ### Claim 16 (depends on 15) The semiconductor apparatus of claim 15, wherein the logic coupled to the one or more substrates is to: identify a first set of voxels corresponding to the first octree representation; identify a second set of voxels corresponding to the second octree representation; and generate a Gaussian density distribution based on the first set of voxels and the second set of voxels. ### Claim 17 (depends on 16) The semiconductor apparatus of claim 16, wherein the logic coupled to the one or more substrates is to identify one or more fuse object regions based on the Gaussian density distribution. ### Claim 18 (depends on 17) The semiconductor apparatus of claim 17, wherein the logic coupled to the one or more substrates is to add one or more safety margin regions around the one or more fuse object regions. ### Claim 19 (depends on 15) The semiconductor apparatus of claim 15, wherein the logic coupled to the one or more substrates is to send the dynamic layer to the first vehicle and the second vehicle. ### Claim 20 At least one non-transitory computer readable storage medium comprising a set of instructions, which when executed by a computing system, cause the computing system to: receive a first message from a first vehicle, wherein the first message includes a first octree representation, from a first vantage point, of one or more differences between a crowdsourced map of an environment and a first real-time volumetric map of the environment; receive a second message from a second vehicle, wherein the second message includes a second octree representation of the one or more differences from a second vantage point; and integrate the first octree representation and the second octree representation into a dynamic layer associated with the crowdsourced map. ### Claim 21 (depends on 20) The at least one non-transitory computer readable storage medium of claim 20, wherein the instructions, when executed, cause the computing system to: identify a first set of voxels corresponding to the first octree representation; identify a second set of voxels corresponding to the second octree representation; and generate a Gaussian density distribution based on the first set of voxels and the second set of voxels. ### Claim 22 (depends on 21) The at least one non-transitory computer readable storage medium of claim 21, wherein the instructions, when executed, cause the computing system to identify one or more fuse object regions based on the Gaussian density distribution. ### Claim 23 (depends on 22) The at least one non-transitory computer readable storage medium of claim 22, wherein the instructions, when executed, cause the computing system to add one or more safety margin regions around the one or more fuse object regions. ### Claim 24 (depends on 20) The at least one non-transitory computer readable storage medium of claim 20, wherein the instructions, when executed, cause the computing system to send the dynamic layer to the first vehicle and the second vehicle.