Rear camera stub detection

A system comprising:

• two or more sensors of a vehicle that generate different data types, the two or more sensors comprising a rear facing camera and at least one of a light detection and ranging (LIDAR) system or a radar system;
• a computing system comprising a processor configured to perform the following:
• receive perception data from the two or more sensors, wherein the perception data comprises information for a region behind the vehicle on a current roadway on which the vehicle is located;
• generate fused data based on the perception data using weighted averages for the different data types;
• detect, based on the fused data, an intersecting roadway connecting with the current roadway;
• determine a driving maneuver for the vehicle based on an indication of a location and a direction of the intersecting roadway with respect to the current roadway;
• and
• actuate one or more controllers of the vehicle to execute the driving maneuver.

Non-transitory computer readable storage media storing instructions that, when executed by one or more processors, cause the one or more processors to:

• receive perception data from at least two sensors of a vehicle that generate different data types, the at least two sensors comprising a rear facing camera and at least one of a light detection and ranging (LIDAR) system or a radar system, wherein the perception data comprises information for a region behind the vehicle on a current roadway on which the vehicle is located;
• generate fused data based on the perception data using weighted averages for the different data types;
• detect, based on the fused data, an intersecting roadway connecting with the current roadway;
• and
• provide an indication of a location and a direction of the intersecting roadway with respect to the current roadway to an automated driving system or driver assistance system, whereby the automated driving system or driver assistance system actuates one or more vehicle controllers based on the indication.