Abstract: According to an aspect of an embodiment, operations may comprise receiving, from a LIDAR mounted on a vehicle, a first 3D point cloud comprising points of a region around the vehicle as observed by the LIDAR. The operations may also comprise accessing an HD map comprising a second 3D point cloud comprising points of the region around the vehicle. The operations may also comprise segmenting LIDAR ground points from LIDAR non-ground points in the first 3D point cloud. The operations may also comprise segmenting map ground points from map non-ground points in the second 3D point cloud. The operations may also comprise determining a pose of the vehicle by matching the LIDAR ground points to the map ground points and by matching the LIDAR non-ground points to the map non-ground points.

Abstract: Disclosed are a method and a control system adapted to making it possible to use, or prolong a use of, a higher transmission mode in a vehicle. The control system comprises a simulation unit configured for simulating at least one future speed profile for an actual speed for the vehicle along a section of road ahead of the vehicle, which simulation is conducted at a time when the section of road is still ahead of the vehicle, and is based on information related to a gradient of the section of road. The system further comprises an evaluation unit configured for evaluating whether a raising of an actual speed for the vehicle is appropriate to achieving the making possible or prolongation, which evaluation is based on the simulation of at least one future speed profile, and a use unit configured for using the evaluation during control of the actual speed.

Abstract: Disclosed are a method and a control system adapted to making it possible to use, or prolong a use of, a higher transmission mode in a vehicle. The control system comprises a simulation unit configured for simulating at least one future speed profile for an actual speed for the vehicle along a section of road ahead of the vehicle, which simulation is conducted at a time when the section of road is still ahead of the vehicle, and is based on information related to a gradient of the section of road. The system further comprises an evaluation unit configured for evaluating whether a raising of an actual speed for the vehicle is appropriate to achieving the making possible or prolongation, which evaluation is based on the simulation of at least one future speed profile, and a use unit configured for using the evaluation during control of the actual speed.