Abstract: An autonomous vehicle (AV) computing device including at least one processor may be provided. The at least processor may be programmed to (i) receive a proposed trip including a destination location and a departure time, (ii) determine environmental conditions data based on the destination location and the departure time, (iii) retrieve current software ecosystem data for the AV, (iv) retrieve aggregated data for a plurality of AVs, the aggregated data including a plurality of correlations, each correlation including a) an interaction between at least one software application and at least one environmental condition and b) an adverse performance outcome associated with the interaction, (v) compare the environmental conditions data for the proposed trip and the current software ecosystem data for the AV to the plurality of correlations to identify an adverse performance outcome, and (vi) execute a remedial action to avoid the adverse performance outcome.

Abstract: A system providing a barrier for an autonomous floor cleaner includes an artificial barrier generator that radiates one or more infrared emission patterns. An autonomous floor cleaner can be configured to detect an overlapping emission pattern made of partially overlapping encoded infrared emissions. Methods for containing an autonomous floor cleaner within a user-determined boundary are disclosed.

Abstract: A computer includes a processor and a memory. The memory stores instructions executable by the processor to receive, in a vehicle, object data from an external node, and upon identifying a point, in the received object data, that is within a volume defined based on vehicle position data received from a vehicle sensor, to determine an adjusted vehicle position based on the identified point and the vehicle position data.

Abstract: Methods and systems are provided for cruise control velocity tracking. In one example, the method or system may generate a torque command output via a velocity controller that allows for an error within bounds to reduce a fuel consumption amount, the torque command output selected from outcomes of a leader and follower game.

Abstract: In one example embodiment, a computer-implemented method includes receiving data representing a motion plan of the autonomous vehicle via a plurality of control lanes configured to implement the motion plan to control a motion of the autonomous vehicle, the plurality of control lanes including at least a first control lane and a second control lane, and controlling the first control lane to implement the motion plan. The method includes detecting one or more faults associated with implementation of the motion plan by the first control lane or the second control lane, or in generation of the motion plan, and in response to one or more faults, controlling the first control lane or the second control lane to adjust the motion of the autonomous vehicle based at least in part on one or more fault reaction parameters associated with the one or more faults.

Abstract: Disclosed herein are systems for navigating an autonomous or semi-autonomous fleet comprising a plurality of autonomous or semi-autonomous vehicles within a plurality of navigable pathways within an unstructured open environment.

Abstract: In embodiments, an apparatus for safety collaboration in autonomous or semi-autonomous vehicles may include an input interface to obtain sensor data from one or more sensors of a computer-assisted or autonomous driving (CA/AD) vehicle, an output interface, and an analyzer coupled to the input and output interfaces to process the sensor data to identify an emergency condition of the CA/AD vehicle, and in response to the identified emergency condition, cause a communication interface of the CA/AD vehicle, via the output interface, to broadcast a request for assistance to be received by one or more nearby CA/AD vehicles. In embodiments, the apparatus may be disposed in the CA/AD vehicle.

Abstract: The present technology provides for establish a direct ad hoc communication link between a first vehicle and a second vehicle for exchanging the map changes. The present technology provides an efficient propagation of map changes, which can be large data files, while keeping the use of such changes under the control of a central authority.

Abstract: Approaches presented herein enable cooperative traffic flow optimization. More specifically, a current position and route information for a plurality of vehicles traveling on a road segment are obtained. Common routes between the vehicles are determined and a first longest common route between two first vehicles is identified. A first vehicle chain navigation instruction based on the identified route is generated and sent to the two first vehicles, instructing the two vehicles to form a first vehicle chain. Further common routes are determined among the vehicles and the vehicle chain using the route information and a second longest common route is identified between a second vehicle and: another vehicle or the first vehicle chain. A second vehicle chain navigation instruction is generated instructing the second vehicle to form a second vehicle chain with the other vehicle or to join the first vehicle chain.

Abstract: Systems and methods for controlling a fully or semi autonomous vehicle. The methods comprise: receiving first sensor information specifying a person's emotion and physiological response to the autonomous vehicle's operation, or a person's general mood; predicting a first mood of the person based on at least one of the first sensor information and demographic information indicating a level of distrust, fear, anxiety or stress relating or not relating to autonomous vehicles by people having at least one characteristic in common; selecting a first vehicle operational mode from a plurality of pre-defined vehicle operational modes based on the predicted first mood of the person; and causing control of the autonomous vehicle in accordance with rules associated with the selected first vehicle operational mode.

Abstract: A method is provided for establishing determining lane-level route guidance, and more particularly, to establishing recommended lane-level guidance between an origin and a destination based on a safe, efficient, or popular path. Methods may include receiving a plurality of probe data points from a plurality of probe apparatuses, each probe apparatus traveling between a respective origin and destination pair; determining a lane-level maneuver pattern for each probe apparatus between the origin and the destination; providing for storage of the lane-level maneuver patterns for each probe apparatus in the memory; grouping together lane-level maneuver patterns for probe apparatuses having an origin and destination pair within a predefined similarity of origin and destination pairs of other apparatuses; and generating a lane-level maneuver pattern for each group based on at least one of a popularity, efficiency, or relatively safe lane-level maneuver pattern for the respective group.

Abstract: Systems and methods disclosed relate to autonomous vehicle technology. A follow vehicle having driving controls for use by humans may be equipped with a wireless transceiver, controller, sensors, and interfaces for use with control systems such that the follow vehicle may be caused to follow the lead vehicle without human interaction with the follow vehicle. The follow vehicle may wirelessly receive information from the lead vehicle regarding position, movement, acceleration or deceleration, steering, or other information relevant to following the lead vehicle. The follow vehicle may include sensors for sensing the position, movement, acceleration, deceleration, steering, or other properties of the lead vehicle. The lead vehicle may be equipped with RF transmitters that provide indicators to the follow vehicle, such that the sensors can more readily sense the lead vehicle. Multiple follow vehicles may be wirelessly linked to form a train that is not mechanically linked.

Abstract: Systems and methods are provided for generating a vehicle path to operate an autonomous vehicle. A method includes using a lateral re-entry planner system to correct for a lateral reentry error. A longitudinal re-entry planner system is used to correct a longitudinal reentry error. Path correction commands are generated based upon the corrections provided by the lateral re-entry planner system and the longitudinal re-entry planner system.

Abstract: A navigational system for a host vehicle may comprise at least one processing device. The processing device may be programmed to receive a first output and a second output associated with a host vehicle, wherein at least one of the outputs is received from a sensor onboard the host vehicle. The processing device may identify a target object in the first output and determine whether a characteristic of the target object triggers a navigational constraint by verifying the identification of the target object based on the first output; and, if the navigational constraint is not verified based on the first output, then verifying the identification of the target object based on a combination of the first output and the second output. In response to the verification, the processing device may cause at least one navigational change to the host vehicle.

Abstract: A vehicle control system includes a recognition unit that is configured to recognize nearby vehicles traveling around a subject vehicle, an automated driving control unit that is configured to implement a plurality of automated driving modes in which at least one of speed control and steering control of the subject vehicle is automatically implemented, the plurality of automated driving modes having different degrees of surroundings monitoring obligation of the subject vehicle imposed on an occupant of the subject vehicle, and a management unit that is configured to manage the surroundings monitoring obligation of the subject vehicle, the management unit being configured to reduce the surroundings monitoring obligation of the subject vehicle when vehicle platooning in which the subject vehicle travels while following a preceding vehicle traveling in front of the subject vehicle among the nearby vehicles recognized by the recognition unit is implemented by the automated driving control unit.

Abstract: Systems, methods, and devices of the various embodiments enable local visual identification and verification of robotic vehicles. Various embodiments may enable disambiguation of a robotic vehicle from among a plurality of robotic vehicles.

Abstract: System, methods, and other embodiments described herein relate to providing auto-parking for a vehicle according to the presence of a passenger. In one embodiment, a method includes, in response to receiving a request for the vehicle to auto-park and to determining the passenger is present within the vehicle, analyzing sensor data about the passenger to generate passenger characteristics that indicate at least an age group for the passenger. The method includes determining whether the age group for the passenger satisfies an auto-park threshold that is based, at least in part, on regulations of a locality in which the vehicle is presently located. The method includes selectively executing auto-parking of the vehicle according to whether the age group of the passenger satisfies the auto-park threshold.

Abstract: A vehicle control device (100) includes a recognition unit (130) that is configured to recognize a surrounding situation of a subject vehicle that is able to be automatically driven, and a control unit (120, 160) that is configured to perform a predetermined operation with respect to a cause of obstruction to traffic of a traffic participant due to a predetermined contact of the subject vehicle in a case that the recognition unit recognizes that the predetermined contact of the subject vehicle has occurred, and the control unit differentiates an operation that is executed in a case that it is recognized that an occupant is not onboard the subject vehicle from an operation that is executed in a case that it is recognized that the occupant is onboard the subject vehicle.

Abstract: A navigation system and a navigation method for an autonomous vehicle (AV) includes a system controller and an environmental sensor. The system controller determines an AV positional pose, which identifies the location of the AV, which further includes an AV position and an AV orientation in three-dimensional space. Additionally, the system controller determines a frame of reference that is associated with the AV positional pose. The frame of reference includes a coordinate system for the AV position and the AV orientation. A localization module determines the AV positional pose and the corresponding frame of reference. The localization module is associated with the system controller. The system controller then identifies at least one asset feature frame (AFF), which associates the AV positional pose with the feature in the AV environment. The system controller generates a motion control command based the AV positional pose and the AFF.

Abstract: A method and system for a reconfigurable robotic platform through a plurality of interchangeable service modules and adapted to engage in both autonomous and interactive maintenance and monitoring of a service area, the robotic platform configured to execute a stored service plan for the service area, the service plan comprising a service plan sequence comprising a service treatment step, alter the service plan sequence based on detecting an object that is a treatment obstacle in the service area as detected by the sensor, the treatment obstacle preventing execution of the service treatment step at a service treatment location within the service area, wherein the altered service plan sequence comprises moving around the treatment obstacle and skipping the service treatment step, store the service treatment location for later treatment, and resume execution of the service plan.

Abstract: Methods and systems for monitoring use, determining risk, and pricing insurance policies for a vehicle having autonomous or semi-autonomous operation features are provided. According to certain aspects, a computer-implemented method for generating or updating usage-based insurance policies for autonomous or semi-autonomous vehicles may be provided. A request to generate an insurance quote may be received via wireless communication, and with the customer's permission, risk levels associated with intended usage by the customer of an autonomous or semi-autonomous vehicle may be determined. An insurance policy may be adjusted based upon the risk levels and the intended vehicle usage. The insurance policy may then be presented on the customer's mobile device for review and approval. In some aspects, the vehicle may be rented, and the intended vehicle usage is measured in distance or duration of vehicle operation. Insurance discounts may be provided to risk averse vehicle owners based upon low risk levels.

Abstract: An alert control apparatus that notifies a driver in advance of a transfer of control relating to a driving operation from an automatic driving function to the driver by controlling an alert device mounted on a vehicle, which is equipped with the automatic driving function, includes: an estimator that estimates an occurrence of a change execution situation that requires a lane change under a condition in which the driving operation of the vehicle is controlled by the automatic driving function; a determiner that determines a level of difficulty of lane change control based on a plurality of travel environment factors in the change execution situation; and a notification device that notifies the driver of a possibility of the transfer of the control together with a reason of the transfer of the control with a notification mode corresponding to the level using the alert device.

Abstract: A vehicle control system including a recognizer that is configured to recognize a surroundings status of a vehicle and a driving controller that is configured to control at least steering of the vehicle on the basis of the surroundings status recognized by the recognizer, and, in a case in which a obstacle present in an advancement direction of the vehicle and traffic participants present near the obstacle are recognized by the recognizer, and the vehicle is caused to avoid the obstacle, the driving controller is configured to control the vehicle on the basis of advancement directions of the traffic participants.

Abstract: An autonomous driving control apparatus for a vehicle may include: a communication control unit (CCU) configured to communicate with at least one electronic control unit (ECU) included in the vehicle and an external server; and a controller configured to diagnose the at least one ECU, to transmit a result of the diagnosis of the at least one ECU to the external server through the CCU, to receive alternative function information, indicating one or more alternative functions, generated by the external server based on the result of the diagnosis of the at least one ECU, and to perform autonomous driving control of the vehicle using the one or more alternative functions.

Abstract: Systems and methods for brake redundancy for an autonomous vehicle are provided. An autonomous vehicle braking system can include a primary brake control module comprising one or more processors. The primary brake control module can be configured to brake an autonomous vehicle in response to receiving a braking command from a vehicle autonomy system of the autonomous vehicle. The autonomous vehicle braking system can further include a secondary brake control module comprising one or more processors. The secondary brake control module can be configured to determine a failure of the primary brake control module to brake the autonomous vehicle in response to receiving the braking command. In response to determining the failure of the primary brake control module to brake the autonomous vehicle, the secondary brake control module can be configured to implement a braking action for the autonomous vehicle.

Abstract: A system, comprising a first computer that includes a processor and a memory. The memory stores instructions executable by the processor to input an expected control input to a second computer, and then, to determine a response resulting from the expected control input. The memory stores instructions to determine a compensated control input based on the expected control input and the response, and to input the compensated control input to the second computer to achieve the expected control input. The second computer is provided to actuate a vehicle component to achieve the expected control input.

Abstract: A vehicle control apparatus includes a detecting unit that detects an surrounding object around a vehicle; a first setting unit that sets a first potential for multiple divided areas resulting from division of a road area based on the road area; a second setting unit that sets a second potential for the divided areas based on the detected surrounding object; an evaluating unit that calculates an index value by evaluating a potential of a target divided area based on the first potential and the second potential set for the target divided area in the multiple divided areas and foreseen information generated for surrounding divided areas selected from a periphery of the target divided area; and a selecting unit that selects one or more divided areas along a moving direction of the vehicle from the multiple divided areas based on the calculated index value.

Abstract: A drone identifies situational context (based on signals from at least one sensor) and selects an action in response to the situational context, based on a personality of the drone. The drone then communicates its personality to other drones within a swarm of drones, the drone being a member of the swarm of drones.

Abstract: Systems and methods are disclosed for recommending media assets based on objects captured in visual assets. A location of a visual asset is determined, where the location is associated with the visual asset. A location score is determined based on one or more of: a user travel score, a user travel frequency score, and a popularity score. A determination is made whether the location score exceeds a threshold. Responsive to a determination that the location score exceeds the threshold, the system detects an object within the visual asset and generates a recommendation of a media asset that is associated with the object.

Abstract: A vehicle computer includes a memory and a processor programmed to execute instructions stored in the memory. The instructions include determining whether to operate a host vehicle in a mini-platoon based at least in part on at least one of a powertrain type and emissions of at least one of a plurality of nearby vehicles.

Abstract: An autonomous cleaning apparatus includes a chassis, a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor for generating a debris signal, a bump sensor for generating a bump signal, and an obstacle following sensor disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system.

Abstract: The present disclosure provides an apparatus and method for maneuver platooning of a vehicle. The apparatus may include a communication circuit that communicates with one or more external vehicles included in a vehicle platooning group together with the vehicle, a filter that filters particulate matter generated by the vehicle, and a controller electrically connected with the communication circuit. The controller is configured to control at least one of a behavior of the vehicle or a regeneration of the filter based on information about an order of the vehicle in the vehicle platooning group, when the controller determines that regenerating the filter is required.

Abstract: Logic may implement protocols and procedures for vehicle-to-vehicle communications for platooning. Logic may implement a communications topology to distinguish time-critical communications from non-time-critical communications. Logic may sign time-critical communications with a message authentication code (MAC) algorithm with a hash function such as Keccak MAC or a Cipher-based MAC. Logic may generate a MAC based on pairwise, symmetric keys to sign the time-critical communications. Logic may sign non-time-critical communications with a digital signature. Logic may encrypt non-time-critical communications. Logic may append a certificate to non-time-critical communications. Logic may append a header to messages to create data packets and may include a packet type to identify time-critical communications. Logic may decode and verify the time-critical messages with a pairwise symmetric key. And logic may prioritize time-critical communications to meet a specified latency.

Abstract: A system and method includes an autonomous agent having a communication interface that enables the autonomous agent to communicate with a plurality of infrastructure sensing devices; a plurality of distinct health monitors that monitor distinct operational aspects of the autonomous agent; an autonomous state machine that computes a plurality of allowed operating states of the autonomous agent based on inputs from the plurality of distinct health monitors; a plurality of distinct autonomous controllers that generate a plurality of distinct autonomous control instructions; and an arbiter of autonomous control instructions that: collects, as a first input, the plurality of autonomous control instructions generated by each of the plurality of distinct autonomous controllers; collects, as a second input, data relating to the plurality of allowed operating state of the autonomous agent; and selectively enables only a subset of the autonomous control instructions to pass to driving components of the autonomous agent

Abstract: A movable body utilization system includes: a vehicle configured to perform automated driving; and a server configured to communicate with the vehicle. The server selects the vehicle conforming to a demand of a user who is not an owner of the vehicle when the server receives a utilization application for utilizing the vehicle for a predetermined purpose by the user, the demand including the vehicle utilizable for the predetermined purpose and a utilization fee of the vehicle. Then, the server transmits, to the selected vehicle, an instruction for allowing the user to utilize the vehicle. In accordance with the instruction, the vehicle is configured to move to the user who has made the utilization application.

Abstract: Disclosed is a cooperative driving method including transmitting information on a merging request to a lead vehicle which is singly driving or cooperatively driving, receiving information indicating whether merging is possible from the lead vehicle which has determined whether the merging is possible, a merging step in which, when information indicating that the merging is possible is received, the follow vehicle merges, transmitting information indicating that the merging is being performed to the lead vehicle, determining whether the merging of the follow vehicle has been completed based on a longitudinal distance from a first preceding vehicle or a transverse distance from a lane line, and a merging completion step of, when it is determined that the merging has been completed, releasing the transmission of the information indicating that the merging is being performed.

Abstract: A method, an optimization controller, and combustion engine are disclosed. The method includes determining, by an optimization controller, values of a performance parameter of a target vehicle using characteristics of at least two platoons travelling on a roadway, each of the values corresponding to a platoon of the at least two platoons; selecting, by the optimization controller, one of the at least two platoons based on a comparison of the values of the performance parameter, and coordinating, by the optimization controller, for the target vehicle to join the selected of the at least two platoons.

Abstract: A device is provided to extract scan lines data from images of a route, said scan line data comprising only a portion of the an image that extends along a scan line, and to store this data in memory together with respective positional data pertaining to the position of the device traveling along the route in a navigable network. This scan line and positional data can be obtained from a plurality of devices in a network and transmitted to computing apparatus, for example, for use in a production of a realistic view of a digital map.

Abstract: A travel route selection system is provided and includes historical latency data and travel route modules. The historical latency data module includes data and characterization modules. The data module collects historical latency data. The historical latency data are associated with transmission of signals in a network for one or more vehicle applications of a vehicle. The characterization module: obtains characteristic distributions of the historical latency data at selected locations along travel routes; based on the characteristic distributions, (i) calculates metrics along the travel routes for the vehicle, or (ii) combines the characteristic distributions to obtain an overall distribution for each of the travel routes; and based on the metrics or the overall distribution, performs a statistical process to predict latencies of the signals along each of the travel routes. The travel route module selects one of the travel routes based on the predicted latencies of the signals.

Abstract: An autonomously moveable storage unit includes one or more processors, a storage container configured to contain a stored item, a moveable base coupled to the storage container and communicatively coupled to the one or more processors, and one or more memory modules communicatively coupled to the one or more processors. The one or more memory modules store logic that, when executed by the one or more processors, cause the autonomously moveable storage unit to actuate the moveable base to automatically move the autonomously moveable storage unit from a docked position coupled to the wheelchair to an undocked position uncoupled from the wheelchair, and actuate the moveable base to automatically move the autonomously moveable storage unit from the undocked position to the docked position.

Abstract: A method for switching driving modes of a subject vehicle to support the subject vehicle to perform a platoon driving by using platoon driving information is provided. And the method includes steps of: (a) a basement server, which interworks with the subject vehicle driving in a first mode, acquiring first platoon driving information, to N-th platoon driving information by referring to a real-time platoon driving information DB; (b) the basement server (i) calculating a first platoon driving suitability score to an N-th platoon driving suitability score by referring to first platoon driving parameters to N-th platoon driving parameters and (ii) selecting a target platoon driving group to be including the subject vehicle; (c) the basement server instructing the subject vehicle to drive in a second mode.

Abstract: A driver's driving tendency determination apparatus includes: an image sensor for obtaining video information of nearby driving scenes; a speed sensor for obtaining speed information of the vehicle; a navigation system for obtaining traffic information of a road on which the vehicle travels; and a controller configured to calculate a number of overtaking vehicles and a number of overtaken vehicles by tracking movement directions of nearby vehicles through the video information, and determine driver's traffic flow following tendency by comparing the calculated numbers with a predetermined condition.

Abstract: Methods and apparatus to enable vehicle-to-vehicle guidance and tracking are disclosed. An example method includes transmitting, from a first vehicle, a first message to a second vehicle. The first message requests the second vehicle to become a leader vehicle. The example method further includes receiving a second message from the second vehicle. The second message includes leader information indicative of a travel path of the second vehicle. The example method also includes receiving authorization from the second vehicle for the first vehicle to follow the second vehicle.

Abstract: Controlling autonomous vehicles in interface regions of multilane roads by receiving, from at least one first autonomous vehicle entering an interface region of a multilane road in a first direction, a current first autonomous vehicle destination. Receiving, from at least one second autonomous vehicle exiting the interface region from the first direction, a current second autonomous vehicle status as exiting the road. Receiving, from at least one traffic system covering the interface region, traffic data applicable to the interface region. Determining, based at least in part on each received destination, each received exiting status, and the received traffic data, an operating parameters envelope for each autonomous vehicle entering the interface region in the first direction. Transmitting, to each corresponding autonomous vehicle entering the interface region in the first direction, instructions to apply the corresponding determined operating parameters envelope.

Abstract: A method providing vehicle incident call services to a user is disclosed. A third-party service center receives a communication from a vehicle over at least one data channel. Signaling is automatically sent to the vehicle from the third-party service center and, in response to the signaling, die third-party service center receives from the vehicle, location information comprising at least the latitude and longitude coordinates of the vehicle. An interactive voice recognition (IVR) system located at the third-party service center is used to determine if the latitude and longitude coordinates are valid. If the coordinates are determined to be valid, the third-party service center provides the user with a selection of vehicle-incident non-emergency response services.

Abstract: An automatic moving object obtains, from a sensor, operating data and external environment data of the automatic moving object, constructs a plurality of operation models based on the operating data and the external environment data, and controls automatic movement of the automatic moving object based on the constructed plurality of operation models. An automatic moving object transmits the constructed plurality of operation models to another automatic moving object. An automatic moving object receives a plurality of operation models from another automatic moving object, and controls automatic movement based on the received plurality of operation models.

Abstract: A method and a device for vehicle platooning in which a leader vehicle of a group of vehicles provides a control signal and one or more follower vehicles in the group travel according to the control signal, the method can include determining a communication state of the group of vehicles; and adjusting, by the leader vehicle, a distance between at least two vehicles included in the group of vehicles based on the communication state of the group of vehicles.

Abstract: A system for an autonomous vehicle can receive profile data of a passenger of the autonomous vehicle, the profile data indicating a need of the passenger for audio assistance. Based on the profile data, the system can execute a set of configurations to assist the passenger over a trip duration between a pick-up location and a destination. Execution of the set of configurations can include dynamically monitoring the passenger to determine a state of the passenger, and based on the state of the passenger, output the audio assistance to at least aid the passenger in entering and exiting the autonomous vehicle.

Abstract: An apparatus for controlling platooning in a leading vehicle can determine whether a collision between a leading vehicle and an object in front of the leading vehicle will occur based on data measured by one or more sensors; when the collision between the leading vehicle and an object in front of the leading vehicle is determined to occur, determine a possibility of a collision when a following vehicle brakes or a possibility that the following vehicle will change its lane; determine a command associated with a lane change of the following vehicle based on the determined possibility; transmit the command associated with the lane change of the following vehicle and an emergency braking command to the following vehicle via the communication circuit; and release the platooning.

Abstract: A method of characterizing the environment with respect to a host vehicle, said vehicle including one or more systems adapted to detect single objects in the vehicle vicinity; comprising: i) determining the spatial location of a plurality of single objects in the vicinity of said vehicle; ii) grouping a plurality of said single objects based on one or more attributes of each single object into at least one group; iii) subsequently processing said group of objects as a single group object.