An object recognition apparatus includes at least one processor and at least one memory communicably coupled to the processor. The processor sets one or more object presence regions in each of which an object is likely to be present, on the basis of observation data of a distance sensor. The processor estimates an attribute of the object that is likely to be present in each of the one or more object presence regions. The processor sets, on the basis of the attribute of the object, a level of processing load to be spent on object recognition processing to be executed for each of the one or more object presence regions by using at least image data generated by an imaging device. The processor performs, for each of the one or more object presence regions, the object recognition processing corresponding to the set level of the processing load.

A method comprises receiving, at a vehicle system of a vehicle, sensor data from one or more sensors; detecting an object based on the sensor data; determining whether a dynamic map maintained by a remote computing device includes the detected object; upon determination that the dynamic map includes the detected object, determining a remaining time-to-live associated with the detected object based on data associated with the dynamic map; and transmitting data about the detected object to the remote computing device if the determined remaining time-to-live associated with the detected object is less than a predetermined threshold time.

A small-object perception system, for use in a vehicle, includes a stereo vision system that captures stereo images and outputs information identifying an object having a dimension in a range of ˜20 cm to about ˜100 cm in a perception range of ˜3 meters to ˜150 meters from the vehicle, and a system controller configured to receive output signals from the stereo vision system and to provide control signals to control a path of movement of the vehicle. The stereo vision system includes cameras separated by a baseline of ˜1 meter to ˜4 meters. The stereo vision system includes a stereo matching module configured to perform stereo matching on left and right initial images and to output a final disparity map based on a plurality of preliminary disparity maps generated from the left and right initial images, with the preliminary disparity maps having different resolutions from each other.

A system for method for future forecasting using action priors that include receiving image data associated with a surrounding environment of an ego vehicle and dynamic data associated with dynamic operation of the ego vehicle. The system and method also include analyzing the image data and detecting actions associated with agents located within the surrounding environment of the ego vehicle and analyzing the dynamic data and processing an ego motion history of the ego vehicle. The system and method further include predicting future trajectories of the agents located within the surrounding environment of the ego vehicle and a future ego motion of the ego vehicle within the surrounding environment of the ego vehicle.

The application disclose an autonomous-driving-based control method performed by a computer device. The method includes: acquiring scene information of a target vehicle; determining a current lane changing scene type of the target vehicle according to the scene information; recognizing, when the current lane changing scene type is a mandatory lane changing scene type, a first lane for completing a navigation travel route, and, when the first lane satisfies a lane changing safety check condition, controlling the target vehicle to perform lane changing operation according to the first lane. The second lane for optimizing the travel time is recognized according to the scene information when the current lane changing scene type is the free lane changing scene type. When the second lane satisfies the lane changing safety check condition, the target vehicle is controlled to perform lane changing operation according to the second lane.

The present invention is to obtain a control device and a control method capable of appropriately assisting driving of a straddle-type vehicle by a rider.

In a control device (12) and a control method of the present invention, an acquisition section of the control device (12) configured to control an operation of a straddle-type vehicle (10) acquires prediction information about a future lane change by a preceding vehicle that travels ahead of the straddle-type vehicle (10), and a control section of the control device (12) causes the straddle-type vehicle (10) to execute a safety operation (for example, causes a notification device (15) to issue a warning of the lane change to the rider), when the prediction information satisfies a determination criterion during a slipping-through traveling of the straddle-type vehicle (10).

A vehicle and a system method of operating the vehicle is disclosed. The system includes a monitoring module and a mitigation module operating on a processor. The monitoring module is configured to measure a degradation in an operation parameter of the vehicle, the vehicle operating in a first state based on a first value of a set of adaptive parameters. The mitigation module is configured to determine a threat to the vehicle due to operating the vehicle in the first state with the degradation in the operation parameter and adjust the set of adaptive parameters from the first value to a second value that mitigates the threat to the vehicle, wherein the processor operates the vehicle in a second state based on the second value.

Example embodiments relate to identification of proxy calibration targets for a fleet of sensors. An example method includes collecting, using a sensor coupled to a vehicle, data about one or more objects within an environment of the vehicle. The sensor has been calibrated using a ground-truth calibration target. The method also includes identifying, based on the collected data, at least one candidate object, from among the one or more objects, to be used as a proxy calibration target for other sensors coupled to vehicles within a fleet of vehicles. Further, the method includes providing, by the vehicle, data about the candidate object for use by one or more vehicles within the fleet of vehicles.

Method and system for narrow passage path sampling based on levy flight is disclosed. The disclosed technique is an improvisation of Random Walk to Surface (RWS), wherein, instead of performing a random walk, the disclosed technique utilizes levy flight mechanism to identify samples in narrow passages (on the obstacle boundaries). The disclosed technique for identification of narrow passages sampling points in the narrow passage is based on several techniques that include random uniform sampling technique, a levy flight function (step size) and a collision detection technique. Moreover, in addition to identification of narrow passages sampling points, the disclosed technique also performs an additional check to ensure that the identified narrow passages sampling points are present in the narrow passage based on a levy flight bridge sampler technique.

A control system for a mobile object includes: a first sensor; a second sensor, different from the first sensor, that is mounted in the mobile object and is configured to detect an object by causing the mobile object to contact or approach the object; and a control device configured to recognize circumstances of the mobile object on the basis of a detection result from the first sensor and to control movement of the mobile object on the basis of the circumstances. The control device assumes that a second object which is not recognizable or hard to recognize is present at a reference position which is determined on the basis of a position of a prescribed first object when the first object has been recognized and causes the mobile object to move to a position at which the second sensor is able to detect the second object.