Abstract: A method generating planning-based attention signals includes receiving driving-scene data. The driving-scene data is indicative of a driving scene around a host vehicle. The driving-scene data includes map data and localization data. The driving scene includes a plurality of actors. The method further includes converting the driving-scene data into a scene-graph. The method further includes inputting the scene-graph into a deep neural network (DNN). Further, the method includes determining an attention score for each of the plurality of actors using the DNN and the scene-graph. The attention score of each of the plurality of actors represents a priority given to each of the plurality of actors in the driving scene. The method further includes commanding the host vehicle to autonomously drive according to a trajectory determined by taking into account the attention score of each of the plurality of actors.

Abstract: A method for efficient autonomous driving planning includes receiving a current driving-scene data and a predicted driving-scene data. The current driving-scene data is indicative of a current driving scene around a host vehicle. The predicted driving-scene data is indicative of a predicted driving scene around the host vehicle. The predicted driving scene around the host vehicle is different from the current driving scene around the host vehicle. The method further includes converting the current driving-scene data and the predicted driving-scene data into a first scene-graph and a second scene-graph, respectively. The method further includes determining a plurality of scene change metrics using the first scene-graph and the second scene-graph. The method further includes selecting between a first trajectory planning process and a second trajectory planning process based on the plurality of scene change metrics.

Abstract: A system for estimating cloud cover from moving vehicles includes: vehicle mounted sensors communicating with one or more control modules. The control modules have processors, memory, and input/output (I/O) ports. The I/O ports of the control modules of the vehicles communicate with the sensors. The control modules execute program code stored in the memory including first and second algorithm portions. The first algorithm portion, collects sensor data from the sensors, estimates atmospheric parameters from the sensor data; and computes measurement coordinates from the sensor data and atmospheric parameters. The second algorithm portion generates and selectively updates a cloud map based on from data received from the first algorithm portion, and from high-definition map (HD Map) data.

Abstract: A system for determining relevance of a light source to an automobile includes at least one camera adapted to capture images of light sources in proximity to the automobile, a controller in communication with the at least one camera and adapted to receive captured images from the at least one camera, the controller further adapted to estimate an orientation of at least one light source relative to the automobile, classify the at least one light source as one of relevant and irrelevant, and, when the at least one light source is classified as relevant, send information about the at least one light source to a planning module for the automobile.

Abstract: A system that determines a nominal path based on interpolated lane edge data can include a processor and a memory. The memory includes instructions such that the processor is configured to receive a sensor data representing a perceived lane edge; receive map data including a lane edge; interpolate the sensor data and interpolate the map data; fuse the interpolated sensor data and the interpolated map data; and generate predicted lane edge lane edge centers based on the fused interpolated sensor data.

Abstract: A system for associating perceived and mapped lane edges can include a processor and a memory. The memory includes instructions such that the processor is configured to receive a sensor data representing a perceived object; receive map data representing a map object; determine a cost matrix a cost matrix indicative of an association cost for associating the map object to the perceived object; compare the association cost with an association cost threshold; and associate the perceived object with the map object based on the association cost.

Abstract: A system to map an outdoor environment includes at least one map including an access point (AP) position map, and a reflector map generated from multiple wireless signals collected by multiple automobile vehicles. A set of crowd-sourced data is collected from individual ones of the multiple automobile vehicles derived from multiple perception sensors when the at least one of the multiple automobile vehicles pass a mapping area. A data package is created from the set of crowd-sourced data including a group of wireless positioning samples and a group of visual features, the data package being forwarded to an On-Cloud database where On-Cloud Mapping is conducted. Multiple range measurements yield circular AP candidate positions within a free-space operating window of vehicle operation of the multiple automobile vehicles. Application of the range measurement plus multiple reflectors defined at multiple planar reflective surfaces improves the AP candidate positions.

Abstract: An automobile vehicle visual wireless-based positioning system, incudes an automobile vehicle having a radio receiver. A map contains candidate locations of access-points (APs) and access-point corresponding media-access-control (MAC) IDs. A wireless range sensor determines different ranges of various detected APs visible to the automobile vehicle. An image collection feature identifies image data visible to the automobile vehicle. A real-time feature matching element matching features identified by image collection feature with data from the map. A filter receives an output from the real-time feature matching element to generate an automobile vehicle pose.

Abstract: A system of a motor vehicle includes a radar unit for generating a radar signal associated with a target positioned about the vehicle. The system further includes a tracker generating a tracker signal associated with a radar heading and a doppler based on the radar signal. The system further includes a wheel speed sensor for generating a wheel speed signal associated with a velocity of the vehicle. The system further includes a gyroscope for generating a gyro signal associated with a measured yaw rate. The system further includes a computer having a processor and a computer readable medium. The processor is programmed to determine a gyro drift and a corrected yaw rate while the vehicle is in motion, with the gyro drift and the corrected yaw rate being based on at least the radar heading, the doppler effect, and the velocity of the vehicle, and the measured yaw rate.

Abstract: A system that determines a nominal path based on interpolated lane edge data can include a processor and a memory. The memory includes instructions such that the processor is configured to receive a sensor data representing a perceived lane edge; receive map data including a lane edge; interpolate the sensor data and interpolate the map data; fuse the interpolated sensor data and the interpolated map data; and generate predicted lane edge lane edge centers based on the fused interpolated sensor data.

Abstract: A system for associating perceived and mapped lane edges can include a processor and a memory. The memory includes instructions such that the processor is configured to receive a sensor data representing a perceived object; receive map data representing a map object; determine a cost matrix a cost matrix indicative of an association cost for associating the map object to the perceived object; compare the association cost with an association cost threshold; and associate the perceived object with the map object based on the association cost.

Abstract: A system for determining relevance of a light source to an automobile includes at least one camera adapted to capture images of light sources in proximity to the automobile, a controller in communication with the at least one camera and adapted to receive captured images from the at least one camera, the controller further adapted to estimate an orientation of at least one light source relative to the automobile, classify the at least one light source as one of relevant and irrelevant, and, when the at least one light source is classified as relevant, send information about the at least one light source to a planning module for the automobile.