Determining a motion state of a target object

A host vehicle, comprising:

• at least one camera sensor;
• a memory;
• and
• at least one processor coupled to the memory and the at least one camera sensor, the at least one processor configured to:
• detect the target object in one or more images captured by the at least one camera sensor;
• determine one or more first attributes of the target object based on measurements of the one or more images;
• determine one or more second attributes of the target object based on measurements of the map of the roadway on which the target object is travelling;
• and
• determine a motion state of the target object based on the one or more first attributes and the one or more second attributes of the target object.

A host vehicle, comprising:

• means for detecting a target object in one or more images captured by a camera sensor of the vehicle;
• means for determining one or more first attributes of the target object based on measurements of the one or more images;
• means for determining one or more second attributes of the target object based on measurements of a map of a roadway on which the target object is travelling;
• and
• means for determining a motion state of the target object based on the one or more first attributes and the one or more second attributes of the target object.

A non-transitory computer-readable medium storing computer-executable instructions, the computer-executable instructions comprising:

• at least one instruction instructing a host vehicle to detect a target object in one or more images captured by a camera sensor of the vehicle;
• at least one instruction instructing the host vehicle to determine one or more first attributes of the target object based on measurements of the one or more images;
• at least one instruction instructing the host vehicle to determine one or more second attributes of the target object based on measurements of a map of a roadway on which the target object is travelling;
• and
• at least one instruction instructing the host vehicle to determine a motion state of the target object based on the one or more first attributes and the one or more second attributes of the target object.