Collaborative perception is based on recognition that a fleet of AVs and stationary infrastructure objects equipped with sensors may be configured to communicate with one another in sharing their sensor data, thus benefiting from collaborative perception, rather than being limited to their individual perception. Three specific scenarios of collaborative perception are disclosed. The first scenario relates to two AVs in the vicinity of one another exchanging complexity scores indicative of their respective environments. The second scenario relates to an AV detecting that it has a blind spot and seeking other AVs or infrastructure objects to provide information indicative of the environment in the blind spot. The third scenario relates to providing infrastructure objects equipped with sensors in appropriate locations so that, when an AV is in the vicinity of such objects, the AV may receive information from their sensors.