A method includes receiving first driving data associated with a first vehicle, receiving second driving data associated with one or more vehicles around the first vehicle, creating training data by labeling the first driving data as positive data and treating the second driving data as unlabeled, and using the training data to train a classifier to predict whether driving data input to the classifier is positive or unlabeled.

A system for an attention-based perception includes a camera device configured to provide an image of an operating environment of a vehicle. The system further includes a computerized device monitoring the image, analyzing sensor data to identify a feature in the image as corresponding to an object in the operating environment and assign a score for the feature based upon an identification, a location, or a behavior of the object. The computerized device is further operable to define candidate regions of interest upon the image, correlate the score for the feature to the candidate regions of interest to accrue a total region score, select some of the candidate regions for analysis based upon the total region scores, and analyze the portion of the candidate regions to generate a path of travel output. The system further includes a device controlling the vehicle based upon the output.

Systems and methods are provided for vehicle navigation. In one implementation, a system may comprise at least one processor. The processor may be programmed to receive images representative of an environment of the host vehicle and analyze the images to identify a first object and a second object. The processor may determine a first predefined navigational constraint implicated by the first object and a second predefined navigational constraint implicated by the second object, wherein the first and second predefined navigational constraints cannot both be satisfied, and the second predefined navigational constraint has a priority higher than the first predefined navigational constraint. The processor may determine a navigational action for the host vehicle satisfying the second predefined navigational constraint, but not satisfying the first predefined navigational constraint and, cause an adjustment of a navigational actuator of the host vehicle in response to the determined navigational action.

A driving assist device includes a driving assist controller. The driving assist controller is configured to perform driving assistance when the vehicle changes a course by crossing the oncoming lane. The driving assist controller sets a predicted travel region based on behavior of the oncoming vehicle when the oncoming vehicle is approaching the vehicle that enters an intersection. When the vehicle enters the predicted travel region in a travel path of the vehicle, the driving assist controller determines whether there is a possibility of contact between the vehicle and the oncoming vehicle based on the predicted travel region and the travel path of the vehicle. The driving assist controller causes the vehicle to stop outside of the predicted travel region when there is a possibility of the contact.

A driving assist device includes a driving assist controller. The driving assist controller includes an oncoming vehicle detection unit, a prediction determination unit, a predicted travel region setting unit and a stop controller. The oncoming vehicle detection unit is configured to, when a vehicle enters an intersection, determine whether an oncoming vehicle going to enter the intersection is present. The prediction determination unit is configured to, when the oncoming vehicle detection unit determines that the oncoming vehicle is going to enter the intersection, determine whether a course of the oncoming vehicle is predictable based on vehicle behavior of the oncoming vehicle. The predicted travel region setting unit is configured to set a predicted travel region of the oncoming vehicle based on the vehicle behavior. The stopping controller is configured to cause the vehicle to stop outside of the predicted travel region set by the predicted travel region setting unit.

Aspects of the disclosure provide a method of managing maneuvering of an autonomous vehicle in certain situations. For instance, a state of the autonomous vehicle may be identified, for example by one or more processors of a planning system of a vehicle, a state of the autonomous vehicle. Based on the state of the autonomous vehicle, the one or more processors of the forward planning system may determine whether the autonomous vehicle has become stuck. Based on the determination that the autonomous vehicle has become stuck, engaging a maneuver planning system having one or more processors capable of generating trajectories that allow the autonomous vehicle to maneuver in reverse may be engaged. After engaging the maneuver planning system, a new trajectory for the autonomous vehicle to follow may be generated. The autonomous vehicle may be controlled according to the new trajectory.

A driving assist device includes, a traveling environment information acquisition unit, an intersection determination unit, a vehicle position information acquisition unit, a predicted travel path setting unit, a blinker signal acquisition unit, a traffic division information acquisition unit, a determination unit, and a notifier. The determination unit determines whether directions indicated by three factors of traffic division information acquired by the traffic division information acquisition unit; a blinker signal acquired by the blinker signal acquisition unit, and a predicted travel path predicted by the predicted travel path setting unit match each other. When the determination unit determines that directions indicated by two factors of the three factors match each other and a mismatch occurs between the directions indicated by the two factors and a direction indicated by a remaining factor of the three factors, the notifier issues a notification about the mismatch of the direction indicated by the remaining factor.

Systems and methods for situational behavior of an autonomous vehicle are disclosed. In one aspect, an autonomous vehicle includes at least one perception sensor configured to generate perception data indicative of at least one other vehicle on a roadway, a non-transitory computer readable medium, and a processor. The processor is configured to determine that the other vehicle is violating one or more rules of the roadway based on the perception data, tag the other vehicle as a non-compliant driver, and modify control of the autonomous vehicle in response to tagging the other vehicle as a non-compliant driver.

A method predicts the trajectory of an ego vehicle travelling in a main lane. A lane change by the ego vehicle from the main lane to an adjacent lane is determined according to an estimate of the dynamic behavior of a group of vehicles travelling in the adjacent lane. The group of vehicles includes at least one main vehicle which is located near the ego vehicle and a secondary vehicle which is located behind the ego vehicle.

A traffic congestion determination unit is configured to determine whether a traffic congestion occurs in an automatic travel period in which the vehicle travels by an automatic driving function. A cut-in prediction unit is configured to detect a sign of cut-in of an adjacent vehicle, which is adjacent to a subject vehicle as the vehicle, on determination by the traffic congestion determination unit that a traffic congestion occurs. A provision restricting unit is configured to restrict display of content provided in the automatic travel period on detection of a sign of cut-in of the adjacent vehicle by the cut-in prediction unit.