Abstract: A vehicle data display system includes an electronic display installed within a vehicle, a 3-D sensor and an electronic controller. The 3-D sensor configured to scan areas forward of and along lateral sides of the vehicle producing point cloud. Each data point of the cloud data corresponding to a surface portion of a physical feature. Each data point includes distance, direction and vertical location of each surface point. The electronic controller is connected to the electronic display and the 3-D sensor. The electronic controller receives and evaluates the point cloud from the 3-D sensor generating a 3-D model of detected ones of the physical features around the vehicle including ground surfaces, non-drivable features and driving limiting features relative to the vehicle. The non-drivable features are features that have predetermined geometric relationships with adjacent ground surfaces such that caution is to be taken when driving over or on driving limiting features.

Abstract: A vehicle data display system includes an electronic display installed within a vehicle, a 3-D sensor and an electronic controller. The 3-D sensor configured to scan areas forward of and along lateral sides of the vehicle producing point cloud. Each data point of the cloud data corresponding to a surface portion of a physical feature. Each data point includes distance, direction and vertical location of each surface point. The electronic controller is connected to the electronic display and the 3-D sensor. The electronic controller receives and evaluates the point cloud from the 3-D sensor generating a 3-D model of detected ones of the physical features around the vehicle including ground surfaces, non-drivable features and driving limiting features relative to the vehicle. The non-drivable features are features that have predetermined geometric relationships with adjacent ground surfaces such that caution is to he taken when driving over or on driving limiting features.

Abstract: A vehicle drivable area detection system includes a vehicle, at least one 3D sensor and an electronic controller. The at least one 3D sensor is installed to the vehicle and is configured to scan and capture data using laser imaging, detection and distance ranging relative to the vehicle. The data collected represents ground surface features including vertical obstacles, non-vertical obstacles and a drivable area proximate the vehicle within a line-of-sight of the 3D sensor. The electronic controller is installed within the vehicle and is electronically connected to the 3D sensor and at least one driver assist component. The electronic controller conducts the following: a vertical obstacle extraction from the data; terrain estimating from the data; curb detection from the data; and generating a plurality of data elements identifying vertical obstacles including curbs and the drivable area to the at least one driver assist component.

Abstract: A vehicle lane marking detection system includes a 3D sensor, a driver assist component and an electronic controller. The 3D sensor is installed to a vehicle and is configured to scan physical objects around the vehicle outputting a plurality of data points each corresponding to a surface point of a physical feature. Each data point being defined by distance, direction, intensity and vertical location relative to the vehicle. The electronic controller is connected to the 3D sensor and the driver assist component. The electronic controller evaluates a point cloud defined by the data points identifying lane markings based on the intensity of the data points. The data points having intensities greater than a predetermined level are determined to correspond to lane marking and are provided to the driver assist component with the lane markings for use thereby.

Abstract: An occlusion is identified in a vehicle transportation network. A visibility grid is identified on a second side of the occlusion for a vehicle that is on a first side of the occlusion. The visibility grid is identified with respect to a region of interest that is at least a predefined distance above ground. The visibility grid is used to identify first portions of roads sensed by a sensor positioned on the vehicle and second portions of the roads that are not sensed by the sensor. A driving behavior of the vehicle is altered based on the visibility grid.

Abstract: A first method includes identifying an occlusion in the vehicle transportation network; identifying, for a first world object that is on a first side of the occlusion, a visibility grid on a second side of the occlusion; and altering a driving behavior of the first vehicle based on the visibility grid. The visibility grid is used in determining whether other world objects exist on the second side of the occlusion. A second includes identifying a first trajectory of a first world object in the vehicle transportation network; identifying a visibility grid of the first world object; identifying, using the visibility grid, a second world object that is invisible to the first world object; and, in response to determining that the first world object is predicted to collide with the second world object, alerting at least one of the first world object or the second world object.

Abstract: Systems and methods for optimizing traffic flow through an intersection are disclosed. In an embodiment, the method includes receiving positional data indicating a current location of a first vehicle intending to pass through the intersection, receiving directional data indicating an intended direction of the first vehicle through the intersection from the current location, determining, based on the positional data and the directional data, whether an intended path of the first vehicle through the intersection interferes with an alternative path through the intersection, and adjusting a traffic signal at the intersection to decrease an amount of time to pass through the intersection via the alternative path.

Abstract: An apparatus for remote support of autonomous operation of a vehicle includes a processor that is configured to perform a method including receiving, from a vehicle traversing a driving route from a start point to an end point at a destination, an assistance request signal identifying an inability of the vehicle at the destination to reach the end point, generating a first map display including a representation of a geographical area and the vehicle within the geographical area, receiving, from the vehicle, sensor data from one or more sensing devices of the vehicle, generating a remote support interface including the first map display and the sensor data, and transmitting instruction data to the vehicle that includes an alternative end point at the destination responsive to an input signal provided to the remote support interface.

Abstract: Route planning in automated driving of an autonomous vehicle includes obtaining an indication that a standard definition map is to be used in addition to a high definition map for obtaining a route; obtaining the route for automatically driving a vehicle to a destination, where the route includes a road of the standard definition map; obtaining a policy from a safety decision component, where the policy provides actions for states the road, and the actions constrain a trajectory of the autonomous vehicle along the road; receiving the actions from the safety decision component; and autonomously traversing the road according to the actions.

Abstract: A remote system for an autonomous vehicle, includes a receiver, a controller, and a display device. The receiver is configured to receive road information. The controller is programmed to receive input related to the road information and create a supervision zone when the road information impacts road drivability. The display device is disposed at a control center area and configured to display a visual indication on a map of the supervision zone.

Abstract: Methods and systems for controlling a vehicle are herein disclosed. A method includes receiving vehicle data and external data from a vehicle control system of a vehicle and generating an environment representation of an area of the transportation network proximate to the vehicle location. The method includes displaying the environment representation in a GUI and receiving a solution path via the graphical user interface, the solution path indicating a route and one or more stop points. The method includes transmitting the route to the vehicle including a respective geolocation of each of the one or more stop points. The vehicle receives the route and begins traversing the transportation network based on the solution path. The method includes receiving updated vehicle data and/or updated external data from the vehicle and updating the environment representation based thereon. The method includes displaying, the updated environment representation via the graphical user interface.

Abstract: An apparatus for traveling through a transportation network performs a method including generating a display that includes a geographical area about a starting location for route assistance through the transportation network and a virtual vehicle at the starting location, and forming a virtual path for the route assistance using the virtual vehicle. The virtual path includes a first portion obtained from advancing the virtual vehicle from the starting location while an autonomous vehicle (AV) is at the starting location and a second portion obtained from, after the virtual vehicle departs from the starting location, extrapolating from the virtual vehicle through the geographical area to a stopping location or an ending location of the route assistance. Points along the virtual path are continually transmitted to a trajectory planner of the AV while the virtual vehicle advances through the geographical area, and the trajectory planner generates a route for the AV conforming to the virtual path.

Abstract: Systems and methods for optimizing traffic flow through an intersection are disclosed. In an embodiment, the method includes receiving positional data indicating a current location of a first vehicle intending to pass through the intersection, receiving directional data indicating an intended direction of the first vehicle through the intersection from the current location, determining, based on the positional data and the directional data, whether an intended path of the first vehicle through the intersection interferes with an alternative path through the intersection, and adjusting a traffic signal at the intersection to decrease an amount of time to pass through the intersection via the alternative path.

Abstract: An autonomous vehicle service system having a display device, a receiver, and a controller. The receiver is configured to receive transmitted data from an autonomous vehicle related to status of the autonomous vehicle and information from a third party related to road conditions. The controller is programmed to monitor the transmitted data related to the status of the autonomous vehicle and the road conditions, determine when the autonomous vehicle requires assistance based on the transmitted data, and, when the autonomous vehicle requires assistance, cause information related to the autonomous vehicle to be displayed on the display device.

Abstract: An autonomous vehicle service system having a display device, a receiver, and a controller. The receiver is remote from an autonomous vehicle and configured to receive transmitted data from a third party and the autonomous vehicle. The controller is configured to monitor the transmitted data related to the status of the autonomous vehicle, and cause information related to the autonomous vehicle to be displayed on the display device, the controller further configured to enable the autonomous vehicle service system to be accessed by the third party so as to be capable of forming and updating a supervision zone to restrict access to an area by the autonomous vehicle.

Abstract: A first method includes identifying an occlusion in the vehicle transportation network; identifying, for a first world object that is on a first side of the occlusion, a visibility grid on a second side of the occlusion; and altering a driving behavior of the first vehicle based on the visibility grid. The visibility grid is used in determining whether other world objects exist on the second side of the occlusion. A second includes identifying a first trajectory of a first world object in the vehicle transportation network; identifying a visibility grid of the first world object; identifying, using the visibility grid, a second world object that is invisible to the first world object; and, in response to determining that the first world object is predicted to collide with the second world object, alerting at least one of the first world object or the second world object.

Abstract: An apparatus for traveling through a transportation network performs a method including generating a display that includes a geographical area about a starting location for route assistance through the transportation network and a virtual vehicle at the starting location, and forming a virtual path for the route assistance using the virtual vehicle. The virtual path includes a first portion obtained from advancing the virtual vehicle from the starting location while an autonomous vehicle (AV) is at the starting location and a second portion obtained from, after the virtual vehicle departs from the starting location, extrapolating from the virtual vehicle through the geographical area to a stopping location or an ending location of the route assistance. Points along the virtual path are continually transmitted to a trajectory planner of the AV while the virtual vehicle advances through the geographical area, and the trajectory planner generates a route for the AV conforming to the virtual path.

Abstract: A method for contingency planning for an autonomous vehicle (AV) includes determining a nominal trajectory for the AV; detecting a hazard object that does not intrude into a path of the AV at a time of the detecting the hazard object; determining a hazard zone for the hazard object; determining a time of arrival of the AV at the hazard zone; determining a contingency trajectory for the AV; controlling the AV according to the contingency trajectory; and, in response to the hazard object intruding into the path of the AV, controlling the AV to perform a maneuver to avoid the hazard object. The contingency trajectory includes at least one of a lateral contingency or a longitudinal contingency. The contingency trajectory is determined using the time of arrival of the AV at the hazard zone.

Abstract: An apparatus for remote support of autonomous operation of a vehicle includes a processor that is configured to perform a method including receiving, from a vehicle traversing a driving route from a start point to an end point at a destination, an assistance request signal identifying an inability of the vehicle at the destination to reach the end point, generating a first map display including a representation of a geographical area and the vehicle within the geographical area, receiving, from the vehicle, sensor data from one or more sensing devices of the vehicle, generating a remote support interface including the first map display and the sensor data, and transmitting instruction data to the vehicle that includes an alternative end point at the destination responsive to an input signal provided to the remote support interface.

Abstract: Methods and systems for controlling a vehicle are herein disclosed. A method includes receiving vehicle data and external data from a vehicle control system of a vehicle and generating an environment representation of an area of the transportation network proximate to the vehicle location. The method includes displaying the environment representation in a GUI and receiving a solution path via the graphical user interface, the solution path indicating a route and one or more stop points. The method includes transmitting the route to the vehicle including a respective geolocation of each of the one or more stop points. The vehicle receives the route and begins traversing the transportation network based on the solution path. The method includes receiving updated vehicle data and/or updated external data from the vehicle and updating the environment representation based thereon. The method includes displaying, the updated environment representation via the graphical user interface.