Abstract: A vehicle includes a ranged sensor that generates time-series data indicating positions of objects in an environment surrounding the vehicle, a user interface configured to warn the driver of a predicted collision between the vehicle and one of the objects in the environment, and at least one processor including an ECU operatively connected to the ranged sensor and the user interface. The processor records control inputs by the driver driving the vehicle, and develops a driver behavior model associated with the driver driving the vehicle based on the control inputs. The processor also predicts trajectories of the objects and the vehicle based on the time-series data and the driver behavior model, and predicts a collision between the vehicle and one of the objects based on the predicted trajectories. The processor also generates a warning indicating the predicted collision to the driver.

Abstract: According to one aspect, causal graph chain reasoning predictions may be implemented by generating a causal graph of one or more participants within an operating environment including an ego-vehicle, one or more agents, and one or more potential obstacles, generating a prediction for each participant within the operating environment based on the causal graph, and generating an action for the ego-vehicle based on the prediction for each participant within the operating environment. Nodes of the causal graph may represent the ego-vehicle or one or more of the agents. Edges of the causal graph may represent a causal relationship between two nodes of the causal graph. The causal relationship may be a leader-follower relationship, a trajectory-dependency relationship, or a collision relationship.

Abstract: Disclosed are techniques for determining a motion state of a target object. In an aspect, an on-board computer of an ego vehicle detects the target object in one or more images, determines one or more first attributes of the target object based on measurements of the one or more images, determines one or more second attributes of the target object based on measurements of a map of a roadway on which the target object is travelling, and determines the motion state of the target object based on the one or more first attributes and the one or more second attributes of the target object.