JOINT SIGNATURE-VIRTUAL FIELD REPRESENTATION

A method of joint signature-virtual field representation of road elements for driving, the method includes receiving, at a machine learning process associated with a vehicle, multiple sensed information units representing a road element captured at different points of time; generating, by the machine learning process, a joint representation of the road element accounting for a class indication of the road element and of a virtual field indication of an impact of the road element on the vehicle; and determining in real time in a driving of the vehicle, based on the joint representation, a driving related output affecting the vehicle.