Abstract: This invention refers to a vehicle, comprising a drivable road detection part (32) is configured to receive map data from a storage device (33) and localization data from a localization device (22), and to create a first occupancy grid, each cell of which represents a first confidence of surrounding environment being drivable, based on the map data and/or localization data, an optical sensor based drivable road detection part (32c) configured to receive image data from an optical sensing device (20) and to create a second occupancy grid, each cell of which represents a second confidence of surrounding environment being drivable, based on the image data, and a fusing part (32d) configured to create a third occupancy grid, each cell of which represents a third confidence of surrounding environment being drivable, by fusing the first occupancy grid and the second occupancy grid.

Abstract: A computer program product comprising computer-readable instructions that, when executed in a computer system including one or more computers, cause the computer system to receive a data set of a machine driven by a human or robot driver; condition said data set by grouping the data based on predefined or definable machine-control parameters; search the conditioned data for determining data imbalances within groups or sub-groups of the conditioned data; balance the data for which an imbalance was determined; and output the balanced data.