US Patent 11163317 System and method for shared autonomy through cooperative sensing

Systems and methods for shared autonomy through cooperative sensing are described. According to one embodiment, a cooperative sensing system includes a rendezvous module that receives broadcast messages from a plurality of cooperating vehicles on the roadway. The rendezvous module also selects a subordinate vehicle from the plurality of cooperating vehicles based on the autonomy level of the subordinate vehicle as compared to an autonomy level of a principal vehicle. The cooperative sensing system also includes a positioning module that determines a cooperative position of the principal vehicle and the subordinate vehicle. The cooperative sensing system further includes a negotiation module that receives at least one cooperating parameter from the subordinate vehicle. The cooperative sensing system includes a perception module that initiates cooperative automation the subordinate vehicle according to the at least one cooperating parameter when the principal vehicle and the subordinate vehicle are positioned in the cooperative position.