In one embodiment, a method for generating a reference line for operating an autonomous driving vehicle includes determining a first ending reference point having a smallest curvature among a plurality of points within a first defined distance along a path, generating a first reference line based on a first initial reference point and the first ending reference point, determining a second ending reference point having a smallest curvature among a plurality of points within a second defined distance along the path, generating a second reference line based on the first and second ending reference points and an end section of the first reference line, connecting the first and second reference lines, and controlling the autonomous driving vehicle along the connected first reference line and the second reference line.

Techniques for generating earthmoving flow vectors for assisting control of a construction machine are disclosed. A design elevation map of an earthmoving site may be obtained. The design elevation map may include a plurality of design elevation points of the earthmoving site. An actual elevation map of the earthmoving site may be obtained. The actual elevation map may include a plurality of actual elevation points of the earthmoving site. A dual-layer input graph may be formed based on the design elevation map and the actual elevation map. The dual-layer input graph may include a plurality of nodes related through a plurality of connections. A flow graph may be generated by solving the dual-layer input graph. The flow graph may include a set of flow vectors indicating movement of the earth within the earthmoving site.

A method and apparatus are provided for creating a navigation data source for use with a navigation system configured for route determination based on associated costs. The navigation data source comprises a cost data set associated with a navigation data set that represents a map of a geographic region and defines at least a plurality of gateways. Each of the gateways of the plurality of gateways may be associated with a position located within the geographic region and associated with a gateway of a further navigation data set representing a map of another geographic region. The cost data set comprises cost data that defines, for at least some of the possible gateway pairs of the plurality of gateways, at least a cost value with each cost value indicating a cost for a route between gateways of a respective gateway pair.

A computing device configured to: obtain images representative of an environment of a host vehicle, the host vehicle traveling on a roadway; detect, from the images, a mark located on the roadway; identify, from the images, points corresponding to the mark on the roadway; identify the mark as a type of roadway marking, corresponding to the identified points, the type of roadway marking selected from multiple types of roadway markings; determine a position of the mark on the roadway relative to the host vehicle, using the identified points corresponding to the mark; and determine a trajectory to navigate the host vehicle on the roadway, based on the position of the mark within the roadway and the type of roadway marking.

A vehicle control device of the embodiments includes a recognizer, and a driving controller, in which the driving controller includes a lane change controller that changes lanes from a host vehicle traveling lane in which a host vehicle travels to an adjacent lane adjacent to the host vehicle traveling lane, the lane change controller includes a first operation of changing lanes according to a request from an occupant of the host vehicle and a second operation of changing lanes on the basis of a result of recognition, and, when changing lanes is stopped at the time of execution of the first operation, causes the host vehicle to continue traveling in the host vehicle traveling lane and prohibits a lane change by the second operation within a first period including a distance or time from a first time at which changing lanes is stopped.

An apparatus, a method and a computer program product are provided for updating link information on a client device. The method may include determining at least one map area comprising one or more links, said map area having at least one map area identifier and sending, to a data service, a request for at least one categorized link. The method may further include receiving, from the data service, at least one bloom filter, said at least one bloom filter encoding the at least one categorized link, determining one or more link identifiers for the one or more links in the at least one map area and associating, at least one candidate link of the one or more links to the at least one categorized link, based on the link identifier of the at least one candidate link satisfying the at least one received bloom filter, to update the link information on the client device.

An autonomous driving apparatus and method for an ego vehicle that autonomously travels includes a first sensor to detect a vehicle nearby the ego vehicle, a memory to store map information, and a processor to control autonomous driving of the ego vehicle based on the nearby vehicle detected by the first sensor and the map information stored in the memory.

A system for mapping road segment free spaces for use in autonomous vehicle navigation. The system includes at least one processor programmed to: receive from a first vehicle one or more location identifiers associated with a lateral region of free space adjacent to a road segment; update an autonomous vehicle road navigation model for the road segment to include a mapped representation of the lateral region of free space based on the received one or more location identifiers; and distribute the updated autonomous vehicle road navigation model to a plurality of autonomous vehicles.

A system for mapping traffic lights and associated traffic light cycle times for use in autonomous vehicle navigation. The system includes at least one processor programmed to: receive at least one location identifier associated with a traffic light detected along a road segment; receive at least one indicator of traffic light state timing associated with the detected traffic light; and update an autonomous vehicle road navigation model relative to the road segment. The update can be based on the at least one location identifier and based on the at least one indicator of traffic light state timing associated with the traffic light detected along the road segment. The processor may also include distribute the updated autonomous vehicle road navigation model to a plurality of autonomous vehicles.

A navigation system for a vehicle is provided. The system includes at least one processor programmed to: receive from an image capture device one or more images representative of an environment of the vehicle; analyze the one or more images to determine navigational information related to the vehicle; determine based on analysis of at least one of: the one or more images, an output of one or more sensors, or the determined navigational information, whether a fault condition exists relative to the determined navigational information; transmit the navigational information from the vehicle to a server if a fault condition is determined not to exist; and forego transmission of the navigational information from the vehicle to a server if a fault condition is determined to exist.