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.

An information generating device according to an embodiment includes one or more hardware processors. The one or more hardware processors: acquire environmental information indicating a state of environment around a vehicle; acquire abnormality information indicating an abnormality on a road, the abnormality having possibility of affecting traveling of the vehicle; acquire vehicle information including at least one of information on a traveling operation of the vehicle and information on specifications of the vehicle; and generate notification information indicating an operation to be performed by the vehicle against the abnormality on the road, the notification information being generated based on the environmental information, the abnormality information, and the vehicle information.

Methods and systems address a situation in which an autonomous vehicle encounters an object while driving. A system may include determining a vehicle trajectory of a subject vehicle passing over the object detected in front of the subject vehicle, and in response to determining the vehicle trajectory, generating a vehicle deceleration plan for approaching the object and traveling over the object. The system may include executing the vehicle deceleration plan as the subject vehicle travels over the object, where the vehicle deceleration plan is based on a preceding vehicle located behind the subject vehicle and a reaction time of the preceding vehicle as it reacts to deceleration of the subject vehicle.

A system for mapping traffic lights and for determining traffic light relevancy for use in autonomous vehicle navigation. The system may include at least one processor programmed to: receive at least one location identifier associated with a traffic light; receive a state identifier associated with the traffic light; receive navigational information indicative of one or more aspects of motion of the first vehicle along the road segment, and determine, based on the navigational information, a lane of travel traversed by the first vehicle along the road segment. The processor may also determine whether the traffic light is relevant to the lane of travel traversed by the first vehicle; update an autonomous vehicle road navigation model relative to the road segment; and distribute the updated autonomous vehicle road navigation model to a plurality of autonomous vehicles.

Systems and methods are provided for constructing, using, and updating the sparse map for autonomous vehicle navigation. A system may comprise a processor and a memory. The memory may include instructions, which when executed on the processor, cause the processor to maintain a map; determine, based on analysis of image data, an existence of a non-transient condition that is inconsistent with the map, the image data from a camera integrated with the autonomous vehicle; and update the map.

A comfort-based self-driving planning method is provided, including the steps of: a) establishing a relationship model of vibration road surface quality and driving comfort on the basis of a vehicle type; b) obtaining road ahead condition parameters, including abnormal condition information, road flatness and road surface anti-slide performance; c) obtaining the road ahead condition parameters, and adjusting a vehicle expected driving trajectory; d) respectively designing vehicle acceleration, deceleration and constant speed processes, and generating a speed change curve; and e) optimizing the speed change curve. Based upon changeable road surface quality and vehicle vibration action mechanism analysis and image-based road surface anti-slide coefficient evaluation technology, a GIS and vehicle-road communication technology are used to acquire road condition parameters, and vehicle acceleration, deceleration and constant speed processes are respectively designed on the basis of changes in the parameters.

A drive mode switch control device acquires operation information. The drive mode switch control device switches a drive state among at least an autonomous drive state, a manual drive state, and a coordination drive state. The operation detection unit detects a first operation and a second operation based on the operation information when the drive state is not in the manual drive state. The second operation is the drive operation different from the first operation and input after the input of the first operation. The drive mode switch control device switches the drive state from the autonomous drive state to the coordination drive state based on a detection determination of the first operation. The drive mode switch control device switches the drive state from the coordination drive state to the manual drive state based on a detection determination of the first operation.

Systems and methods are provided for autonomous navigation based on user intervention. In one implementation, a navigation system for a vehicle may include least one processor. The at least one processor may be programmed to receive from a camera, at least one environmental image associated with the vehicle, determine a navigational maneuver for the vehicle based on analysis of the at least one environmental image, cause the vehicle to initiate the navigational maneuver, receive a user input associated with a user's navigational response different from the initiated navigational maneuver, determine navigational situation information relating to the vehicle based on the received user input, and store the navigational situation information in association with information relating to the user input.

Systems and methods are provided for constructing, using, and updating the sparse map for autonomous vehicle navigation. A method may comprise processing, by a mapping server, collected navigation information from a plurality of vehicles obtained by sensors coupled to the plurality of vehicles, wherein the navigation information describes road lanes of a road segment; collecting data about landmarks identified proximate to the road segment, the landmarking including a traffic sign; generating, by the mapping server, an autonomous vehicle map for the road segment, wherein the autonomous vehicle map includes a spline corresponding to a lane in the road segment and the landmarks identified proximate to the road segment; and distributing, by the mapping server, the autonomous vehicle map to an autonomous vehicle for use in autonomous navigation over the road segment.

Systems and methods are provided for autonomous navigation based on user intervention. In one implementation, a navigation system for a vehicle may include least one processor. The at least one processor may be programmed to receive images acquired by a camera from an environment of a vehicle; determine a navigational maneuver for the vehicle based on analysis of one or more of the plurality of images; cause the vehicle to initiate the navigational maneuver; receive a user input causing an override to alter the initiated navigational maneuver; determine navigational situation information relating to the vehicle via analysis of the images; determine, based on the navigational situation information, whether the user input is associated with a transient condition; and when the user input is not associated with a transient condition, store the navigational situation information in association with information relating to the user input.