Abstract: The techniques described herein relate to controlling and/or influencing the routes driven by vehicles, autonomous or otherwise, such as vehicles in a fleet of vehicles managed by a fleet management system. In some cases, the techniques described herein relate to centrally generating road weights using a remote system such as a fleet management system and providing those pre-calculated weights to vehicles to simplify onboard route planning. Rather than transmitting large amounts of raw traffic, road condition, and other data to each vehicle, the remote system pre-processes the data into condensed road weights optimized for route planning. This architecture provides various technical advantages such as reduced data transmission, decreased computational load on vehicles, and decentralized control of fleet-wide routing.

Abstract: Techniques for validating operation of vehicle systems using map data are described herein. The techniques may include receiving sensor data associated with an environment in which a vehicle is operating and generating estimated map data based at least in part on the sensor data. Additionally, stored map data may be received and compared with the estimated map data. If it is determined that an inconsistency exists between the estimated map data and the stored map data, the techniques may include determining whether the inconsistency is attributable to an error associated with the stored map data, the sensor data, or a localization system of the vehicle. As such, one or more specific remedial actions may then be performed based at least in part on determining that the error is associated with at least one of the stored map data, the sensor data, or the localization system.

Abstract: In examples, a method comprises receiving input from a first user relating to a first variable of a first portion of a road network, determining first semantic data associated with the first variable, determining the absence of a lock for the first portion based on the first semantic data, and causing a first lock to be implemented for the first portion based on the first semantic data. The first lock in examples indicates that users other than the first user are to be prevented from making changes to a first set of variables of the first portion that are associated with the first semantic data.

Abstract: The present disclosure is related to generating map data explicitly indicating a total drivable surface, which may include multiple types of drivable surfaces. For instance, a given portion of a map may include map data indicating a combination of various drivable surfaces, such as road segments, lane properties, intersections, parking areas, shoulders, driveways, etc. Examples of the present disclosure join these different types of drivable surfaces into combined map data that explicitly indicates a total drivable surface, such as a perimeter boundary indicating or representing a transition from a drivable surface to a non-drivable surface. The map data indicating the total drivable surface may be searched to determine information related to a drivable surface boundary, such as location and type. This boundary information may be used in various contexts, such as when planning a trajectory or remotely controlling a vehicle.

Abstract: Techniques related to generating map data explicitly indicating a total drivable surface, which may include multiple types of drivable surfaces, are described herein. For instance, a given portion of a map may include map data indicating a combination of various drivable surfaces, such as road segments, lane properties, intersections, parking areas, shoulders, driveways, etc. Examples include joining these different types of drivable surfaces into combined map data that explicitly indicates a total drivable surface, such as a perimeter boundary indicating or representing a transition from a drivable surface to a non-drivable surface. The map data indicating the total drivable surface may be searched to determine information related to a drivable surface boundary, such as location and type. This boundary information may be used in various contexts, such as when planning a trajectory or remotely controlling a vehicle.

Abstract: The present disclosure is related to generating map data explicitly indicating a total drivable surface, which may include multiple types of drivable surfaces. For instance, a given portion of a map may include map data indicating a combination of various drivable surfaces, such as road segments, lane properties, intersections, parking areas, shoulders, driveways, etc. Examples of the present disclosure join these different types of drivable surfaces into combined map data that explicitly indicates a total drivable surface, such as a perimeter boundary indicating or representing a transition from a drivable surface to a non-drivable surface. The map data indicating the total drivable surface may be searched to determine information related to a drivable surface boundary, such as location and type. This boundary information may be used in various contexts, such as when planning a trajectory or remotely controlling a vehicle.

Abstract: The present disclosure is related to generating map data explicitly indicating a total drivable surface, which may include multiple types of drivable surfaces. For instance, a given portion of a map may include map data indicating a combination of various drivable surfaces, such as road segments, lane properties, intersections, parking areas, shoulders, driveways, etc. Examples of the present disclosure join these different types of drivable surfaces into combined map data that explicitly indicates a total drivable surface, such as a perimeter boundary indicating or representing a transition from a drivable surface to a non-drivable surface. The map data indicating the total drivable surface may be searched to determine information related to a drivable surface boundary, such as location and type. This boundary information may be used in various contexts, such as when planning a trajectory or remotely controlling a vehicle.

Abstract: Techniques for generating and validating map data that may be used by a vehicle to traverse an environment are described herein. The techniques may include receiving sensor data representing an environment and receiving map data indicating a traffic control annotation. The traffic control annotation may be associated, as projected data, with the sensor data based at least in part on a position or orientation associated with a vehicle. Based at least in part on the association, the map data may be updated and sent to a fleet of vehicles. Additionally, based at least in part on the association the vehicle may determine to trust the sensor data more than the map data while traversing the environment.

Abstract: Techniques for determining a location and type of traffic-related features and using such features in route planning are discussed herein. The techniques may include determining that sensor data represents a feature such as a traffic light, road segment, building type, and the like. The techniques further include determining a cost of a feature, whereby the cost is associated with the effect of a feature on a vehicle traversing an environment. A feature database can be updated based on features in the environment. A cost of the feature can be used to update costs of routes associated with the location of the feature.

Abstract: Techniques are disclosed for updating map data. The techniques may include detecting a traffic light in a first image, determining, based at least in part on the traffic light detected in the first image, a proposed three-dimensional position of the traffic light in a three-dimensional coordinate system associated with map data. The proposed three-dimensional position may then be projected into a second image to determine a two-dimensional position of the traffic light in the second image and the second image may be annotated, as an annotated image, with a proposed traffic light location indicator associated with the traffic light. The techniques further include causing a display to display the annotated image to a user, receiving user input associated with the annotated images, and updating, as updated map data, the map data to include a position of the traffic light in the map data based at least in part on the user input.

Abstract: Techniques are disclosed for updating map data. The techniques may include detecting a traffic light in a first image, determining, based at least in part on the traffic light detected in the first image, a proposed three-dimensional position of the traffic light in a three-dimensional coordinate system associated with map data. The proposed three-dimensional position may then be projected into a second image to determine a two-dimensional position of the traffic light in the second image and the second image may be annotated, as an annotated image, with a proposed traffic light location indicator associated with the traffic light. The techniques further include causing a display to display the annotated image to a user, receiving user input associated with the annotated images, and updating, as updated map data, the map data to include a position of the traffic light in the map data based at least in part on the user input.

Abstract: Apparatus comprising a radiation source which can rotate in an arc around the radiation beam axis, a multi-leaf collimator (MLC), and a controller for the source dose/time rate, the source rotation speed, and the MLC position. The controller calculates the time required for (i) an MLC leaf movement from start to end of an arc-segment at a maximum leaf speed, (ii) rotation of the source from start to end of the arc-segment at a maximum speed, and (iii) delivery of the dose at a maximum dose rate per time, selects the longest of (i), (ii) and (iii), and operates the selected one at its maximum and the others at a reduced rate matching that longest time, the time required for (i) and/or (ii) being the greater of the time to complete the segment at a continuous speed and the time to accelerate the item to that speed.

Abstract: A radiotherapeutic apparatus comprises a source able to emit a beam of therapeutic radiation along a beam axis, a multi-leaf collimator arranged to collimate the beam to a desired shape, wherein the source is rotateable about a rotation axis that is substantially orthogonal and intersects with the beam axis thereby to describe an arc around that axis, and further comprises a control means able to control the dose/time rate of the source, the rotation speed of the source, and the multi-leaf collimator position. The control means is arranged to receive a treatment plan in which the arc is divided into a plurality of notional arc-segments, and specifying the total dose for the arc-segment and a Start and end MLC position.

Abstract: A geometry item (such as a gantry arm or an MLC leaf) of a radiotherapeutic apparatus needs to be moved in an accurate manner. The effect of inertia introduces a potential inaccuracy. A radiotherapeutic apparatus is therefore disclosed, comprising a geometry item, a radiation source capable of emitting a beam of therapeutic radiation, and a control unit, the geometry item being moveable to adjust the geometry of the beam, the radiation source having a variable dose rate, and the control unit being arranged to cause variations in the speed of movement of the geometry item and to adjust the dose rate of the radiation source for a period of time after a change in the speed of the geometry item.