Abstract: A system and method including receiving an image of a first lane of a road, the image being captured by a first sensor; defining the first lane as a set of N ordered points; representing the first lane by a combination of N ordered points and a predefined number of types of lane components, C; generating images, each image representing one of the types of lane components; and combining the generated images to generate a topology representation for the first lane.

Abstract: Methods and systems are provided for a wastegate of a turbocharger including a valve plate, valve actuation mechanism, and a wastegate passage. In one example design, the wastegate may include a valve plate having flow formations such as a multiplane curved surface on an interior of the valve plate and a side opening; a passage including a constricted section positioned upstream of the valve plate, the valve plate positioned at an end of the passage. In this way, the flow formations on the wastegate valve may act in conjunction with the constricted section in the passage to guide exhaust flow to an exhaust catalyst.

Abstract: Methods and systems are provided for a wastegate of a turbocharger including a valve plate, valve actuation mechanism, and a wastegate passage. In one example design, the wastegate may include a valve plate having flow formations such as a multiplane curved surface on an interior of the valve plate and a side opening; a passage including a constricted section positioned upstream of the valve plate, the valve plate positioned at an end of the passage. In this way, the flow formations on the wastegate valve may act in conjunction with the constricted section in the passage to guide exhaust flow to an exhaust catalyst.