Abstract: A vehicle, system and method of navigating the vehicle. The system includes a sensor and a processor. The sensor is configured to obtain a first set of detection points representative of a lane of a road section at a first time step and a second set of detection points representative of the lane at a second time step. The processor is configured to determine a set of predicted points for the second time step from the first set of detection points, obtain a set of fused points from the second set of detection points and the set of predicted points, and navigate the vehicle using the set of fused points.

Abstract: Systems and methods include obtaining observation points of a lane line using a sensor of a vehicle. Each observation point indicates a location of a point on the lane line. A method includes generating or updating a lane model with the observation points. The lane model indicates a path of the lane line and the lane model is expressed in a lane-specific coordinate system that differs from a vehicle coordinate system that is defined by an orientation of the vehicle. The method also includes transforming the lane-specific coordinate system to maintain a correspondence between the lane-specific coordinate system and the vehicle coordinate system based on a change in orientation of the vehicle resulting in a change in the vehicle coordinate system.

Abstract: Systems and methods involve obtaining observation points of a lane line using one or more sensors of a vehicle. Each observation point indicates a location of a point on the lane line. A method includes obtaining uncertainty values, each uncertainty value corresponding with one of the observation points. A lane model is generated or updated using the observation points. The lane model indicates a path of the lane line. An uncertainty model is generated or updated using the uncertainty values corresponding with the observation points. The uncertainty model indicates uncertainty associated with each portion of the lane model.

Abstract: A vehicle, system and method of navigating the vehicle. The system includes a sensor and a processor. The sensor is configured to obtain a first set of detection points representative of a lane of a road section at a first time step and a second set of detection points representative of the lane at a second time step. The processor is configured to determine a set of predicted points for the second time step from the first set of detection points, obtain a set of fused points from the second set of detection points and the set of predicted points, and navigate the vehicle using the set of fused points.

Abstract: Systems and methods include obtaining observation points of a lane line using a sensor of a vehicle. Each observation point indicates a location of a point on the lane line. A method includes generating or updating a lane model with the observation points. The lane model indicates a path of the lane line and the lane model is expressed in a lane-specific coordinate system that differs from a vehicle coordinate system that is defined by an orientation of the vehicle. The method also includes transforming the lane-specific coordinate system to maintain a correspondence between the lane-specific coordinate system and the vehicle coordinate system based on a change in orientation of the vehicle resulting in a change in the vehicle coordinate system.

Abstract: Systems and methods involve obtaining observation points of a lane line using one or more sensors of a vehicle. Each observation point indicates a location of a point on the lane line. A method includes obtaining uncertainty values, each uncertainty value corresponding with one of the observation points. A lane model is generated or updated using the observation points. The lane model indicates a path of the lane line. An uncertainty model is generated or updated using the uncertainty values corresponding with the observation points. The uncertainty model indicates uncertainty associated with each portion of the lane model.