Abstract: Data is received from a vehicle in a stationary support structure. One or more physical attributes of an infrastructure element is determined based on the vehicle data.

Abstract: A target location from a set of points that define a road can be selected. A path, from a plurality of candidate paths, to the target location, from a current vehicle location outside the set of points, based on a path length, a collision risk, a curvature of the path, and a traffic condition on the road can be selected. The vehicle can be navigated according to the selected path.

Abstract: A method for performing advanced driver assistance system (ADAS) functions for a vehicle includes receiving a plurality of inputs from a plurality of sensors disposed on the vehicle, determining a pool of location candidates of the vehicle based on a first subset of the plurality of inputs, iteratively updating the pool of location candidates based on a second subset of the plurality of inputs, generating an estimate of vehicle location based on an average of location candidates, evaluating a confidence level of the estimate of vehicle location, generating a beyond line-of-sight situation awareness based on the plurality of inputs and locating the vehicle on a digital map based on the confidence level and the estimate of vehicle location, and performing ADAS functions based on the beyond line-of-sight situation awareness and location of the vehicle on the digital map.