Abstract: Techniques described herein are directed to classifying lanes in an environment of a vehicle for, for example, performing lane handling. In an example, system(s) of a vehicle can determine a signal indicative of a presence of the vehicle in a lane of a drivable surface in an environment within which the vehicle is located. The system(s) can determine, based at least in part on the signal, a classification of the lane as at least one of occupied (an object is at least partially in the lane), unoccupied (no object in the lane), and/or established (e.g., where an object has established a priority in the lane). The system(s) can control the vehicle based at least in part on the classification of the lane to improve safety in scenarios, for example, including merging.

Abstract: Junction queueing for vehicles is described, in which vehicles may be queued based on arrival time at a junction, position relative to a stopping location at the junction, and/or an amount of time waiting for other vehicles to proceed through the junction (timeout). In some examples, the queue may be first generated based on the arrival times of any other vehicle relative to a particular vehicle generating the queue. The queue may be updated based on arrival times of other vehicles (e.g., after the particular vehicle), whether another vehicle has proceeded out-of-turn (e.g., based on a position at the junction), and/or a timeout for vehicles that wait for others to yield at the junction. In some examples, hysteresis and alterations of the score for safety reasons may alter queue order. The queue may be used to control the particular vehicle to traverse the junction.

Abstract: Techniques are discussed for controlling a vehicle, such as an autonomous vehicle, to navigate a junction in an environment. In some cases, the techniques can be used to navigate a turn at the junction or traverse through the junction. Operations include the vehicle detecting a stop signal and preparing the vehicle to stop at a location associated with the junction. The vehicle can determine a time to execute a maneuver and a visibility distance that a sensor can observe in the environment. A speed of the vehicle to execute the maneuver can be determined based on the time to execute the maneuver and the visibility distance.

Abstract: Techniques are discussed for controlling a vehicle, such as an autonomous vehicle, based on occluded areas in an environment. An occluded area can represent areas where sensors of the vehicle are unable to sense portions of the environment due to obstruction by another object or sensor limitation. An occluded region for an object is determined, along with one or more visible regions proximate the occluded region. Entry and/or exit regions may be determined based on known directions of traffic and/or drivable surface boundaries. Based on a threshold speed, the vehicle can designate portions of the occluded region as pseudo-visible. Additionally, if a dynamic object traverses through the occluded region from the entry region, a portion of the occluded region may be considered pseudo-visible. Pseudo-visibility may also be determined based on movement of an occluded area. The vehicle can be controlled to traverse the environment based on the pseudo-visibility.

Abstract: Drive envelope determination is described. In an example, a vehicle can capture sensor data while traversing an environment and can provide the sensor data to computing system(s). The sensor data can indicate agent(s) in the environment and the computing system(s) can determine, based on the sensor data, a planned path through the environment relative to the agent(s). The computing system(s) can also determine lateral distance(s) to the agent(s) from the planned path. In an example, the computing system(s) can determine modified distance(s) based at least in part on the lateral distance(s) and information about the agents. The computing system can determine a drive envelope based on the modified distance(s) and can determine a trajectory in the drive envelope.

Abstract: Techniques are discussed for controlling a vehicle, such as an autonomous vehicle, based on predicted occluded areas in an environment. An occluded area can represent areas where sensors of the vehicle are unable to sense portions of the environment due to obstruction by another object. A first occluded region for an object is determined at a first time based on a location of the object. A predicted location for the object can be used to determine a predicted occluded region caused by the object at a second time after the first time. Predicted occluded regions can be determined for multiple trajectories for the vehicle to follow and/or at multiple points along such trajectories, and a trajectory can be selected based on associated occlusion scores and/or trajectory scores associated therewith. The vehicle can be controlled to traverse the environment based on the selected trajectory.

Abstract: Techniques are discussed for controlling a vehicle, such as an autonomous vehicle, based on occluded areas in an environment. An occluded area can represent areas where sensors of the vehicle are unable to sense portions of the environment due to obstruction by another object. An occlusion grid representing the occluded area can be stored as map data or can be dynamically generated. An occlusion grid can include occlusion fields, which represent discrete two- or three-dimensional areas of driveable environment. An occlusion field can indicate an occlusion state and an occupancy state, determined using LIDAR data and/or image data captured by the vehicle. An occupancy state of an occlusion field can be determined by ray casting LIDAR data or by projecting an occlusion field into segmented image data. The vehicle can be controlled to traverse the environment when a sufficient portion of the occlusion grid is visible and unoccupied.

Abstract: A system and method for 3-Dimensional location of a mobile device in which the mobile device is enhanced with an emulation of a wireless communications beacon, in addition to global positioning system (GPS) location capabilities. To pinpoint the location of the mobile device within the general location, a plurality of devices within a wireless communication range of the mobile device ping each other with the emulated wireless communications beacon. The plurality of mobile devices determined within the wireless communication range can send information to one another in order to supply for example their own unprecise GPS coordinates, the relative distance to any mobile device that responded to the virtual beacon ping of the mobile device and a mobile device identification or alias. The information received at each mobile device can be provided from each mobile device to a central location.

Abstract: Techniques for determining to modify a trajectory based on an object are discussed herein. A vehicle can determine a drivable area of an environment, capture sensor data representing an object in the environment, and perform a spot check to determine whether or not to modify a trajectory. Such a spot check may include processing to incorporate an actual or predicted extent of the object into the drivable area to modify the drivable area. A distance between a reference trajectory and the object can be determined at discrete points along the reference trajectory, and based on a cost, distance, or intersection associated with the trajectory and the modified area, the vehicle can modify its trajectory. One trajectory modification includes following, which may include varying a longitudinal control of the vehicle, for example, to maintain a relative distance and velocity between the vehicle and the object.

Abstract: Techniques are discussed for controlling a vehicle, such as an autonomous vehicle, based on occluded areas in an environment. An occluded area can represent areas where sensors of the vehicle are unable to sense portions of the environment due to obstruction by another object. An occlusion grid representing the occluded area can be stored as map data or can be dynamically generated. An occlusion grid can include occlusion fields, which represent discrete two- or three-dimensional areas of driveable environment. An occlusion field can indicate an occlusion state and an occupancy state, determined using LIDAR data and/or image data captured by the vehicle. An occupancy state of an occlusion field can be determined by ray casting LIDAR data or by projecting an occlusion field into segmented image data. The vehicle can be controlled to traverse the environment when a sufficient portion of the occlusion grid is visible and unoccupied.

Abstract: Drive envelope determination is described. In an example, a vehicle can capture sensor data while traversing an environment and can provide the sensor data to computing system(s). The sensor data can indicate agent(s) in the environment and the computing system(s) can determine, based on the sensor data, a planned path through the environment relative to the agent(s). The computing system(s) can also determine lateral distance(s) to the agent(s) from the planned path. In an example, the computing system(s) can determine modified distance(s) based at least in part on the lateral distance(s) and information about the agents. The computing system can determine a drive envelope based on the modified distance(s) and can determine a trajectory in the drive envelope.

Abstract: The present invention is directed to an adjustable footwear system to provide varying degrees of tightness in different areas of the footwear before and after the footwear is received on the foot. An extensor system is activated to open or close a cavity of the footwear between the upper and an insole. The extensor system can provide loosen the footwear to the foot.

Abstract: The present invention is directed to an adjustable footwear system to provide varying degrees of tightness in different areas of the footwear before and after the footwear is received on the foot. The footwear is, in its initial form, tightest on the inner cavity with an upper comprised of one or more elastic materials. An extensor system is activated to create a rigid infra-structure to open a cavity of the footwear between the upper and an insole. A decrease of pressure in the extensor system decreases the cavity volume and allows for the elastic upper to apply pressure to the foot.

Abstract: A vehicle computing system may implement techniques to control a vehicle to avoid collisions between the vehicle and agents (e.g., dynamic objects) in an environment. The techniques may include generating a representation of a path of the vehicle through an environment as a polygon. The vehicle computing system may compare the two-dimensional path with a trajectory of an agent determined using sensor data to determine a collision zone between the vehicle and the agent. The vehicle computing system may determine a risk of collision based on predicted velocities and probable accelerations of the vehicle and the agent approaching and traveling through the collision zone. Based at least in part on the risk of collision, the vehicle computing system may cause the vehicle to perform an action.

Abstract: Techniques are discussed for controlling a vehicle, such as an autonomous vehicle, based on occluded areas in an environment. An occluded area can represent areas where sensors of the vehicle are unable to sense portions of the environment due to obstruction by another object. An occlusion grid representing the occluded area can be stored as map data or can be dynamically generated. An occlusion grid can include occlusion fields, which represent discrete two- or three-dimensional areas of driveable environment. An occlusion field can indicate an occlusion state and an occupancy state, determined using LIDAR data and/or image data captured by the vehicle. An occupancy state of an occlusion field can be determined by ray casting LIDAR data or by projecting an occlusion field into segmented image data. The vehicle can be controlled to traverse the environment when a sufficient portion of the occlusion grid is visible and unoccupied.

Abstract: Techniques are discussed for controlling a vehicle, such as an autonomous vehicle, based on occluded areas in an environment. An occluded area can represent areas where sensors of the vehicle are unable to sense portions of the environment due to obstruction by another object. An occlusion grid representing the occluded area can be stored as map data or can be dynamically generated. An occlusion grid can include occlusion fields, which represent discrete two- or three-dimensional areas of driveable environment. An occlusion field can indicate an occlusion state and an occupancy state, determined using LIDAR data and/or image data captured by the vehicle. An occupancy state of an occlusion field can be determined by ray casting LIDAR data or by projecting an occlusion field into segmented image data. The vehicle can be controlled to traverse the environment when a sufficient portion of the occlusion grid is visible and unoccupied.

Abstract: Drive envelope determination is described. In an example, a vehicle can capture sensor data while traversing an environment and can provide the sensor data to computing system(s). The sensor data can indicate agent(s) in the environment and the computing system(s) can determine, based on the sensor data, a planned path through the environment relative to the agent(s). The computing system(s) can also determine lateral distance(s) to the agent(s) from the planned path. In an example, the computing system(s) can determine modified distance(s) based at least in part on the lateral distance(s) and information about the agents. The computing system can determine a drive envelope based on the modified distance(s) and can determine a trajectory in the drive envelope.

Abstract: A method and system of a training aid to assist a user to learn to catch including a pair of gloves in which at least a portion of an outer surface of a trainee's glove is attached to at least a portion of an inner surface of a trainer's glove to allow the trainer to guide the trainee's glove into proper positions used during catching. Alternatively, a belt portion is attached around the thumb and pinky of the trainee's glove and trainer's glove to attach the gloves to one another.

Abstract: A system and method for global resolution of a network path to one or more file types based on a specific sound or a specific combination of words, phrases and/or sounds. An application with a user interface at a networked device has access to a remote speech to text server via an advanced programmer interface (API) and to a globally accessible database. The globally accessible database can contain text translations of distinct words, phrases, and sounds that are associated with distinct network paths. Converted audio in a searchable format is queried at the global database for a match, if a match is found at the global database for the query, the network path associated with the match is returned from the global database to the networked device, and one or more files associated with the returned network path are opened at the networked device.

Abstract: A system and method for regionalized resolution of a network path to one or more file types based on a specific sound or a specific combination of words, phrases and/or sounds. An application with a user interface at a networked device has access to a remote speech to text server via an advanced programmer interface (API) and to a regionalized, accessible database. The regionalized, accessible database can contain text translations of distinct words, phrases, and sounds along with region(s) where the entries are valid that are associated with distinct network paths. Converted audio in a searchable format and location of the networked device are queried at the global database for a match, if a match is found at the regionalized database for the query, the network path associated with the match is returned from the regionalized database to the networked device, and one or more files associated with the returned network path are opened at the networked device.