  Cooperative automated vehicles exchange information to assist each other in
creating a more precise and extended view of their surroundings, with the aim
of improving automated-driving decisions. This paper addresses the need for
scalable communication among these vehicles. To this end, a general
communication framework is proposed through which automated cars exchange
information derived from multi-resolution maps created using their local
sensing modalities. This method can extend the region visible to a car beyond
the area directly sensed by its own sensors. An adaptive, probabilistic,
distance-dependent strategy is proposed that controls the content of the
messages exchanged among vehicles based on performance measures associated with
the load on the communication channel.
