# US 12,762,947 B2 · Reporting method within an intelligent transport system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,762,947 B2 - Document ID: US12762947B2 - Status: Granted - Kind: B2 - Application number: 18/565,480 - Filed: 2022-05-30 - Published: 2024-08-01 - Granted: 2026-10-13 - Earliest claimed: 2021-06-01 - Assignees: Canon Kabushiki Kaisha - Applicants: Canon Kabushiki Kaisha - Inventors: Julien Sevin; Isabelle Morvan; Eric Nassor - Web page: https://patentgrep.com/patent/US12762947B2 ## CPC - G08G 1/0141: {for traffic information dissemination} - G08G 1/0133: {for classifying traffic situation} - 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}) ## Abstract A method for transmitting a Collective Perception Message, CPM, the method being intended for an Intelligent Transport System, ITS, comprising at least one originating ITS station, ITS-S, the method comprising the following steps, at the at least one originating ITS-S: transmitting a CPM reporting information related to at least one object detected within an area monitored by the originating ITS-S; wherein the reported information comprises a safety-critical categorization information, indicating whether the detected object is critical for the safety of the monitored area. ## Claims ### Claim 1 A method for transmitting a Collective Perception Message, CPM, the method being intended for an Intelligent Transport System, ITS, comprising at least one originating ITS station, ITS-S, the method comprising the following steps, at the at least one originating ITS-S: transmitting a CPM reporting information related to at least one object detected within an area monitored by the originating ITS-S; wherein the reported information comprises a safety-critical categorization information, indicating whether the detected object is critical for the safety of the monitored area, wherein the safety-critical categorization information comprises a safety-critical level; and disabling any mechanism preventing a detected object associated with a safety-critical level higher than a corresponding safety-critical level threshold from being reported in the CPM. ### Claim 2 (depends on 1) The method of claim 1, wherein the detected object is reported individually when the detected object is categorized as critical for the safety of the monitored area. ### Claim 3 (depends on 2) The method of claim 2, wherein the CPM comprises a data element that is a Perceived Object Container, configured to contain information related to either the individually reported object or the group of detected objects comprising the reported object. ### Claim 4 (depends on 3) The method of claim 3 wherein the Perceived Object Container comprises a data field dedicated to indicate safety-critical categorization information of either the individually reported object or the group of detected objects comprising the reported object. ### Claim 5 (depends on 1) The method of claim 1, wherein previously to the transmitting step, the method comprises, when the detected object is not categorized as critical for the safety of the monitored area: determining whether the detected object may be reported with at least one another detected object not categorized as critical for the safety of the monitored area thereby forming a group of detected objects, according to predefined grouping rules; wherein the CPM reporting information related to the detected object is reported within said group, according to the determining step. ### Claim 6 (depends on 1) The method of claim 1, wherein previously to the transmitting step, the method comprises: determining the safety-critical categorization information of the detected object; determining at least one another detected object with which the detected object may be reported according to predefined grouping rules, wherein the at least one another detected object is associated with a safety-critical categorization information identical to the determined safety-critical categorization information of the detected object. ### Claim 7 (depends on 1) The method of claim 1, wherein previously to the transmitting step, the method comprises: determining the safety-critical categorization information of the detected object, wherein the safety-critical categorization information comprises a safety-critical level; determining whether the safety-critical level of the detected object is higher than a corresponding safety-critical level threshold; if the safety-critical level of the detected object is higher than the corresponding safety-critical level threshold, decreasing a minimum time elapsing between two consecutive CPM generation events. ### Claim 8 (depends on 1) The method of claim 1, wherein previously to the transmitting step, the method comprises: determining an event constituting a safety risk for the monitored area; wherein in response to the detection of the event, triggering the transmitting step. ### Claim 9 (depends on 1) The method of claim 1, wherein the method further comprises: reporting the at least one detected object with at least one another detected object thereby forming a group of detected objects; wherein all the objects reported within a group of detected objects are categorized as not critical for the safety. ### Claim 10 (depends on 1) The method of claim 1, wherein the safety-critical categorization information is a one-bit flag set to 1 when the object is categorized as critical for the safety of the monitored area and set to 0 otherwise. ### Claim 11 (depends on 1) The method of claim 1, wherein previously to the transmitting step, the method comprises: selecting among the objects detected by the originating ITS-S, the objects to be reported within the CPM to be transmitted; wherein the CPM reports information related to each selected object. ### Claim 12 (depends on 11) The method of claim 11, wherein the selecting step comprises, for each detected object: obtaining a current safety-critical categorization information of the detected object; retrieving a former safety-critical categorization information of the detected object, previously sent in a previous CPM; selecting the detected object when the current safety-critical categorization information is different from the former safety-critical categorization information. ### Claim 13 (depends on 12) The method of claim 12, wherein the former safety-critical categorization information and the current safety-critical categorization information are the same, and further comprising: retrieving a former value of at least one reported parameter of the detected object, previously sent in a previous CPM; obtaining a current value of the reported parameter of the detected object; selecting the detected object when the difference between the current value and the former value of the reported parameter is greater than a predefined threshold. ### Claim 14 (depends on 13) The method of claim 13, wherein the reported parameter is one among a position, a speed or an acceleration relatively to the originating station. ### Claim 15 (depends on 11) The method of claim 11, wherein the selected object is one among a Vulnerable Road User, VRU, or a vehicle. ### Claim 16 (depends on 1) A non-transitory computer-readable medium storing a program comprising a sequence of instructions for implementing a method according to claim 1. ### Claim 17 An originating ITS station, ITS-S, within an Intelligent Transport System, ITS, the originating ITS-S comprising: one or more embedded sensors, configured to monitor a given area in order to detect objects; an analytical module configured to process data provided by the sensors in order to provide a list of detected objects in the monitored area; a safety-critical categorization module configured to process the list of detected objects in order to provide a safety-critical categorization information related to each detected object, wherein the safety-critical categorization information comprises a safety-critical level; a communication module configured to transmit a Collective Perception Message, CPM, comprising information related to at least one of the detected objects in the monitored area, wherein the information related to at least one of the detected objects comprises the associated safety-critical categorization information provided by the safety-critical categorization module; and disabling any mechanism preventing a detected object associated with a safety-critical level higher than a corresponding safety-critical level threshold from being reported in the CPM. ### Claim 18 A method for processing a Collective Perception Message, CPM, the method being intended for an Intelligent Transport System, ITS, comprising at least one originating ITS station, ITS-S, and at least one receiving ITS-S, the method comprising the following steps, at the at least one receiving ITS-S: receiving a CPM reporting information related to at least one object detected within an area monitored by the originating ITS-S; retrieving, from the reported information, a safety-critical categorization information, indicating whether the object is critical for the safety of the monitored area, wherein the safety-critical categorization information comprises a safety-critical level; determining whether the object is categorized as critical for the safety of the monitored area; and disabling any mechanism preventing a detected object associated with a safety-critical level higher than a corresponding safety-critical level threshold from being reported in the CPM. ### Claim 19 (depends on 18) The method of claim 18, wherein the at least one object is reported with at least one another detected object thereby forming a group of detected objects; categorizing as not critical for the safety of the monitored area all detected objects that belong to the group. ### Claim 20 (depends on 18) A receiving ITS station, ITS-S, within an Intelligent Transport System, ITS, the receiving ITS-S comprising at least one microprocessor configured to performed the method according to claim 18. ### Claim 21 A method for processing a Collective Perception Message, CPM, the method being intended for an Intelligent Transport System, ITS, comprising at least one originating ITS station, ITS-S, and at least one receiving ITS-S, the method comprising the following steps, at the at least one receiving ITS-S: receiving a CPM reporting information related to at least one object detected within an area monitored by the originating ITS-S, wherein the at least one object is reported with at least one another detected object thereby forming a group of detected objects; retrieving from the reported information a safety-critical categorization information common to all the objects of the group of detected objects, indicating whether the group of detected objects is categorized as critical for the safety of the monitored area, wherein the safety-critical categorization information comprises a safety-critical level; and disabling any mechanism preventing a detected object associated with a safety-critical level higher than a corresponding safety-critical level threshold from being reported in the CPM.