Abstract: Path extraction for a vehicle on a guideway, the vehicle having two or more sensors. Two or more sensor inputs are received from two or more sensors including at least one active 3D sensor input from at least one active 3D sensor and at least one passive 2D sensor input from at least one passive 2D sensor. At least one active 3D sensor path is extracted based on the at least one active 3D sensor input and at least one passive 2D sensor path based on the at least one passive 2D sensor input. At least one 3D sensor ground surface model is generated based on the at least one passive 2D sensor path. At least one passive 3D path is generated based on the at least one passive 2D sensor path and the at least one 3D sensor ground surface model. The at least one passive 3D path and the at least one active 3D sensor path are fused to produce a consolidated 3D path. In a path extraction pipeline, at least one supervision check is performed for providing integrity to the consolidated 3D path.

Abstract: In some embodiments, a non-transitory computer-readable storage medium includes instructions to identify, based upon Doppler-speed determination from one or more radars, radar targets within a hitbox for determining a first stationary status of a vehicle based on tracking Doppler-speed radar targets in a hitbox region. The medium also includes instructions to identify, based upon the Doppler speed determination from the one or more radars, field-of-view (FOV) radar targets for determining a second stationary status based on a substantial number and a distribution of Doppler-speed determinations for the FOV radar targets. The medium also includes instructions to confirm, based on detecting a change in either of the first or the second stationary status of the vehicle, an acceleration sensed by an inertial measurement unit onboard the vehicle.

Abstract: In some embodiments, a non-transitory computer-readable storage medium includes instructions to identify, based upon Doppler-speed determination from one or more radars, radar targets within a hitbox for determining a first stationary status of a vehicle based on tracking Doppler-speed radar targets in a hitbox region. The medium also includes instructions to identify, based upon the Doppler speed determination from the one or more radars, field-of-view (FOV) radar targets for determining a second stationary status based on a substantial number and a distribution of Doppler-speed determinations for the FOV radar targets. The medium also includes instructions to confirm, based on detecting a change in either of the first or the second stationary status of the vehicle, an acceleration sensed by an inertial measurement unit onboard the vehicle.