Cooperative v2x sensor sharing

A method for sharing sensor data between a vehicle and a plurality of remote systems, the method comprising:

• generating an initial 3D point cloud of an environment surrounding a vehicle using a 3D sensor, wherein each point in the initial 3D point cloud has an x, y, and z coordinate relative to the vehicle;
• generating an occupancy grid map based on the initial 3D point cloud including a first blindspot;
• selecting a producer remote system to provide data for the first blindspot in the occupancy grid map;
• sending a data request to the producer remote system using a vehicle communication system based at least in part on the first blindspot in the occupancy grid map;
• receiving data from the producer remote system including information about the first blindspot in the occupancy grid map;
• generating a merged 3D point cloud by merging the data received from the producer remote system with the initial 3D point cloud;
• and
• identifying objects in the environment surrounding the vehicle using the merged 3D point cloud.

A system for sharing sensor data between a vehicle and a plurality of remote systems, the system comprising:

• a vehicle communication system;
• a global navigation satellite system (GNSS);
• a three-dimensional (3D) sensor, wherein the 3D sensor includes at least one of:
• a LIDAR sensor and a stereoscopic camera system;
• and
• a controller in electrical communication with the vehicle communication system, the GPS, and the 3D sensor, wherein the controller is programmed to:
• generate an initial 3D point cloud of an environment surrounding the vehicle using the 3D sensor, wherein each point in the initial 3D point cloud has an x, y, and z coordinate relative to the vehicle;
• generate an occupancy grid map based on the initial 3D point cloud, wherein the occupancy grid map represents the environment surrounding the vehicle as a 2D grid of a plurality of cells, each of the plurality of cells defined by a set of x and y coordinates relative to the vehicle;
• classify each of the plurality of cells in the occupancy grid map as a drivable cell, an undrivable cell, or a blindspot cell based at least in part on the x, y, and z coordinates of a plurality of points in the initial 3D point cloud having x and y coordinates within each of the plurality of cells;
• select a producer remote system to provide data for a first blindspot cell in the occupancy grid map;
• send a data request to the producer remote system using the vehicle communication system based at least in part on the first blindspot cell in the occupancy grid map;
• receive data from the producer remote system including information about the first blindspot in the occupancy grid map;
• generate a merged 3D point cloud by merging the data received from the producer remote system with the initial 3D point cloud;
• and
• identify objects in the environment surrounding the vehicle using the merged 3D point cloud.