Abstract: Decision-making for a vehicle uses a data determining interface between perception and decision-making. The interface receives, from at least two data sources, operational environment data representing objects external to the vehicle while the vehicle is traversing a vehicle transportation network. The operational environment data is modified to determine output data for data types needed to determine a candidate vehicle control action responsive to the distinct vehicle operation scenario identified using the operational environment data. The solution is the same candidate vehicle control action for the same conditions regardless of the data types available from the data sources. That is, even where different data sources are available, consistent output is provided to a decision-making system. Consistent decision-making results whether the vehicle has a high-definition map, a standard-definition map, or no map as a data source, for example.

Abstract: A vehicle receives sensor data from at least one of its sensors as it approaches an intersection and determines whether a traffic flow control device for the intersection is detected. When detected, a detected type, a detected state, or both of the traffic flow control device is determined. Using a type of the intersection, at least one of an existing type or an existing state of the traffic flow control device is determined, where the traffic flow control device is undetected or the detected type, the detected state, or both are determined with a detection confidence less than a defined level of detection confidence. The traffic flow control device is tagged with a label including its location and existing type, the existing state, or both within at least one control system for the vehicle. The vehicle is operated within vehicle transportation network using a control system that incorporates the label.

Abstract: A vehicle receives sensor data from at least one of its sensors as it approaches an intersection and determines whether a traffic flow control device for the intersection is detected. When detected, a detected type, a detected state, or both of the traffic flow control device is determined. Using a type of the intersection, at least one of an existing type or an existing state of the traffic flow control device is determined, where the traffic flow control device is undetected or the detected type, the detected state, or both are determined with a detection confidence less than a defined level of detection confidence. The traffic flow control device is tagged with a label including its location and existing type, the existing state, or both within at least one control system for the vehicle. The vehicle is operated within vehicle transportation network using a control system that incorporates the label.