Abstract: Systems and methods for vehicle motion planning. The system includes an electronic controller configured to access a manifold describing a driving surface in three dimensions from a memory, perform parameterization of the manifold to obtain a plurality of local charts describing the driving surface in two dimensions, determine a driving path of a vehicle based using the plurality of local charts, and generate a command to navigate the vehicle along the driving path.

Abstract: A system and method for automated semantic map generation includes at least a processing system with at least one processing device. The processing system is configured to generate a probabilistic road model for road elements. The processing system is configured to generate a probabilistic traffic model for the road model. The processing system is configured to perform statistical inference on the road model and the traffic model. The processing system is configured to generate an estimate of a semantic road model based on the statistical inference. The processing system is configured to generate a semantic map that includes the estimate of the semantic road model.

Abstract: A system and method for automated semantic map generation includes at least a processing system with at least one processing device. The processing system is configured to generate a probabilistic road model for road elements. The processing system is configured to generate a probabilistic traffic model for the road model. The processing system is configured to perform statistical inference on the road model and the traffic model. The processing system is configured to generate an estimate of a semantic road model based on the statistical inference. The processing system is configured to generate a semantic map that includes the estimate of the semantic road model.