Distributed sensing for vehicle navigation

A method implemented by a computing system including one or more processors and storage media storing machine-readable instructions, wherein the method is performed using the one or more processors, the method comprising:

• obtaining a location and first sensor information associated with a first vehicle, wherein the first sensor information includes information relating to objects around the first vehicle;
• based on a current navigation action and a planned navigation action of the first vehicle:
• determining a boundary and a shape of a maneuver environment of the first vehicle based on a degree of curvature of a road through which the first vehicle is traversing, wherein the maneuver environment represents surrounding areas of planned navigation of the first vehicle and which affect the planned navigation of the first vehicle and the maneuver environment changes according to the planned navigation;
• obtaining information from a second sensor disposed on a second vehicle, wherein the boundary and the shape of the maneuver environment are further determined based on a movement of the second vehicle and one or more other vehicles;
• obtaining information from a third sensor, wherein the third sensor comprises a stationary, non-vehicular sensor, and wherein the second sensor, and the third sensor are within the maneuver environment, and the information from the second sensor and the information from the third sensor comprise alerts;
• processing the information of the second sensor and the information of the third sensor, wherein the processing of the information comprises filtering the alerts based on degrees of severity of the alerts;
• compensating, based on movement information of objects detected by the second sensor and the third sensor, the information for delays of obtaining and processing the information;
• in response to compensating the information for delays, transmitting the information from the second sensor to the first vehicle and from the first sensor to the second vehicle, and transmitting the information from the third sensor to the first vehicle;
• determining movements of objects around the first vehicle based on the first sensor information and based on the information from the second sensor and the third sensor;
• estimating, based on the movements of the objects, and based on the delays, a subset of the objects in an environment associated with the first vehicle;
• updating, by a recipient vehicle of the transmitted information, the transmitted information based on the estimated subset of the objects;
• issuing a command to the first vehicle to modify the planned navigation action of the first vehicle based on the updated transmitted information;
• and
• controlling, by the first vehicle, a navigation according to the command, wherein the navigation comprises a physical action.

A non-transitory computer readable medium comprising instructions that, when executed, cause one or more processors to perform:

• obtaining a location and first sensor information associated with a first vehicle, wherein the first sensor information includes information relating to objects around the first vehicle;
• based on a current navigation action and a planned navigation action of the first vehicle:
• determining a boundary and a shape of a maneuver environment of the first vehicle based on a degree of curvature of a road through which the first vehicle is traversing, wherein the maneuver environment represents surrounding areas of planned navigation of the first vehicle and which affect the planned navigation of the first vehicle and the maneuver environment changes according to the planned navigation;
• obtaining information from a second sensor disposed on a second vehicle, wherein the boundary and the shape of the maneuver environment is further determined based on a movement of the second vehicle and one or more other vehicles;
• obtaining information from a third sensor, wherein the third sensor comprises a stationary, non-vehicular sensor, and wherein the second sensor, and the third sensor are within the maneuver environment, and the information from the second sensor and the information from the third sensor comprise alerts;
• processing the information of the second sensor and the information of the third sensor, wherein the processing of the information comprises filtering the alerts based on degrees of severity of the alerts;
• compensating, based on movement information of objects detected by the second sensor and the third sensor, the information for delays of obtaining and processing the information;
• in response to compensating the information for delays, transmitting the information from the second sensor to the first vehicle and from the first sensor to the second vehicle, and transmitting the information from the third sensor to the first vehicle;
• determining movements of objects around the first vehicle based on the first sensor information and based on the information from the second sensor and the third sensor;
• estimating, based on the movements of the objects, and based on the delays, a subset of the objects in an environment associated with the first vehicle;
• updating, by a recipient vehicle of the transmitted information, the transmitted information based on the estimated subset of the objects;
• issuing a command to the first vehicle to modify the planned navigation action of the first vehicle based on the updated transmitted information;
• and
• controlling, by the first vehicle, a navigation according to the command, wherein the navigation comprises a physical action.