IMAGE-BASED GENERATION OF DESCRIPTIVE AND PERCEPTIVE MESSAGES OF AUTOMOTIVE SCENES

A system includes: a traffic object detection module detecting traffic objects in an environment; an attention map highlighting module generating an attention map, highlighting relevant ones of the traffic objects or regions in which the relevant ones of the traffic objects are located; an image encoder, based on the attention map, encoding an image of the environment and generating an image embedding vector; a PLM module iteratively selecting and appending text to create a text message including selecting the text based on a score, the text message being a specific description of what is perceived in the environment; a text encoder encoding a portion of the text message created thus far to generate a text embedding vector; and a module, based on the image and text embedding vectors, to score the portion to generate the score, where the PLM module is configured to update the portion based on the score.