Abstract: A method for localizing a vehicle on a road is disclosed. The method includes for a time step out of a plurality of consecutive time steps, obtaining a set of candidate states for the vehicle on the road. Then for each candidate state, determining a probability of the vehicle being in that candidate state based on a combined probability value. The method includes determining a sequence of candidate states, over the plurality of consecutive time steps, which is associated with a highest probability out of a plurality of possible sequences of candidate states, wherein each of them includes one candidate state from each time step of the plurality of consecutive time steps. The method further includes outputting the road that the vehicle currently is on or a lane that the vehicle currently is in based on the determined sequence of states that is associated with the highest probability.

Abstract: A method for updating HD maps in view of real-world changes and for managing the ODD of the ADS accordingly are disclosed. A fleet of vehicles are used to automatically detect mismatches between the ADS's perceived environment and the HD map, when they occur. Once a sufficient number of production vehicles have reported a mismatch event—i.e., an instance of a mismatch between the perceived environment and the HD map—or once a sufficient number of mismatch events have been reported to a remote server for a specific geographical location or area of interest, the remote server transmits a confirmation of the “mismatch” associated with that specific geographical location or area of interest to the fleet of vehicles associated with the remote server. Thereby the vehicles may configure an ODD exit for the ADS at that specific geographical location or area of interest.

Abstract: The present disclosure relates to a method for determining a vehicle pose, predicting a pose (xk, yk, ?k) of vehicle on a map based on sensor data acquired by a vehicle localization system, transforming a set of map road references of a segment of a digital map from a global coordinate system to an image-frame coordinate system of a vehicle-mounted camera based on map data and predicted pose of the vehicle. The transformed set of map road references form a set of polylines in image-frame coordinate system. Identifying a set of corresponding image road reference features in an image acquired by vehicle mounted camera, where each identified road references feature defines a set of measurement coordinates (xi, yi) in image-frame. Projecting each of identified set of image road reference features onto formed set of polylines in order to obtain a set of projection points.

Abstract: A method for adaptive high beam control for a vehicle is disclosed. At first, a pose of the vehicle is obtained. A 3D road model of a surrounding environment of the vehicle is then obtained based on HD map data and the obtained vehicle pose. Then, a 3D region of interest (3D-ROI) in the form of voxels defining a volume along the obtained 3D road model is generated. Further, a dataset is formed for processing by an AHBC unit, wherein the formed dataset is based on the generated 3D-ROI and perception data indicative of detected road users in the surrounding environment. The perception data is based on sensor data obtained from sensors for monitoring a surrounding environment of the vehicle. Finally, the formed dataset is transmitted to the AHBC unit so to control the illumination of one or more headlights of the vehicle.

Abstract: The present disclosure relates to a method to control a vehicle system. The method includes detecting a deviating vehicle having at least one of a deviating behaviour and a deviating vehicle property by means of a perception system of a first vehicle, wherein the perception system includes at least one sensor device configured to monitor a surrounding environment of the first vehicle; assigning a deviating vehicle classification to the deviating vehicle based on the deviating behaviour and/or deviating vehicle property; determining at least one second vehicle to receive information relating to the deviating vehicle; and transmitting to each determined second vehicle a set of information relating to the deviating vehicle, said set of information including at least one of the deviating vehicle classification and a predetermined instruction to be performed by the determined second vehicle, wherein the predetermined instruction is dependent on the deviating vehicle classification.

Abstract: The present invention relates to determination of a state of a vehicle on a road portion. The vehicle includes an Automated Driving System (ADS) feature. At first, map data associated with the road portion, positioning data indicating a pose of the vehicle on the road, and sensor data of the vehicle are obtained. Then, a plurality of filters for the road portion are initialized. Further, one or more sensor data point(s) in the obtained sensor data is associated to a corresponding map-element of the obtained map data to determine one or more normalized similarity score(s). Now, based on the determined one or more normalized similarity score(s), one or more multivariate time-series data are also determined and provided as input to a trained machine-learning algorithm. Then, one of the initialized filters is selected by the machine learning algorithm to indicate a current state of the vehicle on the road portion.

Abstract: An assessment system obtains a state of the vehicle, and identifies lane segments void from road users. Input having data associated with the lane segments, data associated with the road users states and historic data associated with the road users states and/or lane segments, is encoded into respective states-related data associated with the road users states and segment-related data associated with dynamic start and end boundaries of the lane segments. One or more neural networks encode the road users states in view of the lane segments spatially and temporally, and output spatial- and temporal-processed respective states-related data and segment-related data. The output data associated with one or more of the road users (target road users) is fed to at least a first behavior-predicting neural network to predict and output data indicating predicted near-future behavior of the target road users in view of one or more of the lane segments.

Abstract: A method performed by a vehicle pose assessment system for supporting determining a pose of a vehicle in view of a digital map. The approach provided by the method alleviates finding lane segments of the digital map corresponding to current sensor detections, which in turn may support accurate and/or improved vehicle localization. An apparatus and computer storage medium for supporting determining a pose of a vehicle in view of a digital map are also provided.

Abstract: The present disclosure relates to an overtaking estimating system for estimation of a minimum overtaking speed of a vehicle. The overtaking estimating system determines in view of a host vehicle a remaining distance of an overtaking lane contiguous to a driving lane of the host vehicle. The system further determines a delta distance between the host vehicle and a preceding vehicle positioned in the host vehicle driving lane. Moreover, the system determines a delta time for the host vehicle to reach the preceding vehicle. The system further determines, based on the delta distance, the delta time and a determined host vehicle speed, a speed of the preceding vehicle. Furthermore, the system determines, based on the remaining distance, the delta distance, the preceding vehicle speed, and an overtaking-affecting parameter, a minimum overtaking speed of the host vehicle for overtaking the preceding vehicle in the remaining distance of the overtaking lane.

Abstract: The present disclosure relates to a method for determining a state of a vehicle on a road portion having two or more lanes. The method comprises obtaining map data associated with the road portion and positioning data indicating a position of the vehicle on the road and a sensor data from a sensor system of the vehicle. The method further comprises initializing a filter per lane of the road portion based on the obtained map data, the obtained positioning data, and the obtained sensor data, wherein each filter indicates an estimated state of the vehicle on the road portion. Then, selecting one of the initialized filters using a trained machine-learning algorithm, configured to use the obtained map data, the positioning data, the sensor data, and each estimated state as indicated by each filter as input and to output a current state of the vehicle on the road portion.

Abstract: The present disclosure relates to a method, system, a vehicle and a computer-readable storage medium. The method comprises determining a fulfilment of a set of predefined Operational Design Domain (ODD) conditions for an Automated Driving System (ADS) feature of an ego-vehicle at least partly based on sensor data obtained from on-board sensors of the ego-vehicle and determining a first ODD exit boundary along an estimated route to be travelled by the ego-vehicle. The method further comprises obtaining data from at least one external vehicle located on the estimated route to be travelled by the ego-vehicle. Further, the method comprises evaluating the obtained data from the at least one external vehicle against an ODD assessment scheme to determine a fulfilment of the predefined ODD conditions in the surrounding environment of the external vehicle and determining a second ODD exit boundary along the estimated route of the ego-vehicle based on the evaluation.

Abstract: A method including recognizing at least one gesture to define at least one computer-implemented virtual boundary in a monitoring space, wherein the gesture includes a motion along a path and at a location in a monitored scene space wherein there is a correspondence between the monitoring space and the monitored scene space; causing implementation of the at least one virtual boundary in the monitoring space corresponding to the scene space, wherein at least part of the virtual boundary is determined by the path in the monitored scene space and the at least part of the virtual boundary is located in the monitoring space at a corresponding location equivalent to the path location; and processing received data to generate a response event when there is, relative to the at least one virtual boundary, a change in a portion of the monitored scene space.

Abstract: A method performed by a scenario reconstruction system for supporting assessment of unforeseen driving scenarios of a host vehicle. The scenario reconstruction system stores timestamped sensor data comprising the host vehicle's geographical position and surroundings captured with support from one or more surrounding detecting sensors onboard the host vehicle. The system detects at a scenario time instance, involvement of the host vehicle in an unforeseen driving scenario. Moreover, the scenario reconstruction system derives from the timestamped sensor data, subsets of sensor data and identifies one or more surrounding detecting sensors-provided entities respectively present in the subsets pertinent at least two respective separate timestamps.

Abstract: The present disclosure relates to a method for determining a vehicle pose, predicting a pose (xk, yk, ?k) of vehicle on a map based on sensor data acquired by a vehicle localization system, transforming a set of map road references of a segment of a digital map from a global coordinate system to an image-frame coordinate system of a vehicle-mounted camera based on map data and predicted pose of the vehicle. The transformed set of map road references form a set of polylines in image-frame coordinate system. Identifying a set of corresponding image road reference features in an image acquired by vehicle mounted camera, where each identified road references feature defines a set of measurement coordinates (xi, yi) in image-frame. Projecting each of identified set of image road reference features onto formed set of polylines in order to obtain a set of projection points.

Abstract: The present disclosure relates to a method performed by a deviation assessment system of a vehicle for supporting transitioning of speed control from an ADAS or AD system of the vehicle, to a vehicle driver. The deviation assessment system derives a current system-initiated value of a speed-affecting system parameter pertinent speed control by the ADAS or AD system. The deviation assessment system further derives a value of a corresponding speed-affecting intervention parameter pertinent a driver-initiated speed-affecting intervention of the speed control. Moreover, the deviation assessment system presents on a vehicle display a graphical representation indicative of a discrepancy between the system-initiated value and the driver-initiated value. The disclosure also relates to a deviation assessment system in accordance with the foregoing, a vehicle comprising such a deviation assessment system, and a respective corresponding computer program product and non-volatile computer readable storage medium.

Abstract: The present disclosure relates to an overtaking estimating system for estimation of a minimum overtaking speed of a vehicle. The overtaking estimating system determines in view of a host vehicle a remaining distance of an overtaking lane contiguous to a driving lane of the host vehicle. The system further determines a delta distance between the host vehicle and a preceding vehicle positioned in the host vehicle driving lane. Moreover, the system determines a delta time for the host vehicle to reach the preceding vehicle. The system further determines, based on the delta distance, the delta time and a determined host vehicle speed, a speed of the preceding vehicle. Furthermore, the system determines, based on the remaining distance, the delta distance, the preceding vehicle speed, and an overtaking-affecting parameter, a minimum overtaking speed of the host vehicle for overtaking the preceding vehicle in the remaining distance of the overtaking lane.

Abstract: The present disclosure relates to a method to control a vehicle system. The method includes detecting a deviating vehicle having at least one of a deviating behaviour and a deviating vehicle property by means of a perception system of a first vehicle, wherein the perception system includes at least one sensor device configured to monitor a surrounding environment of the first vehicle; assigning a deviating vehicle classification to the deviating vehicle based on the deviating behaviour and/or deviating vehicle property; determining at least one second vehicle to receive information relating to the deviating vehicle; and transmitting to each determined second vehicle a set of information relating to the deviating vehicle, said set of information including at least one of the deviating vehicle classification and a predetermined instruction to be performed by the determined second vehicle, wherein the predetermined instruction is dependent on the deviating vehicle classification.

Abstract: The embodiments relate to a method and to technical equipment for implementing the method. The method includes receiving an image with location information from a client; requesting processed region data from a media server based on the location information, said processed region data including one or more images with the corresponding location information; applying a first process for determining a pose of a device for the received image by means of the processed region data; if the first process fails to result the pose of the device, applying a second process for determining a pose of a device for the received image by means of the processed region data; saving the image with the determined pose of the device to the media server; providing the image and the pose of the device to a client for client rendering.

Abstract: The invention relates to a method comprising obtaining a desired field of view (FOV) for an image arranged to be captured, determining a required field of view (r_fov) of the FOV for each active camera sensor of a camera array having a field of view (fov), comparing the r_fov and the fov, and determining a bend angle between adjacent camera sensors to achieve the FOV by camera sensors of the camera sensor array, if the r_fov is less than or equal to the fov. The invention further relates to an apparatus, a system and a computer program product that perform the method.

Abstract: A method including recognizing at least one gesture to define at least one computer-implemented virtual boundary in a monitoring space, wherein the gesture includes a motion along a path and at a location in a monitored scene space wherein there is a correspondence between the monitoring space and the monitored scene space; causing implementation of the at least one virtual boundary in the monitoring space corresponding to the scene space, wherein at least part of the virtual boundary is determined by the path in the monitored scene space and the at least part of the virtual boundary is located in the monitoring space at a corresponding location equivalent to the path location; and processing received data to generate a response event when there is, relative to the at least one virtual boundary, a change in a portion of the monitored scene space.