Abstract: This disclosure provides systems and methods for providing a failsafe braking system to independently backup various braking controls, such as longitudinal control, stability control, and standstill control. For example, in addition to providing the longitudinal control, the stability control, and the standstill control in a primary braking system (PBS), a secondary braking system (SBS) may independently intervene a malfunctioning braking procedure (e.g., any one of the longitudinal control, the stability control, and the standstill control) of the PBS. The PBS malfunctions may be caused by power failure, actuation failure (e.g., failure of electric motor or otherwise loss of actuation pressure), or control failure (e.g., electronic control unit (ECU) or control circuitry failure). Thus, the SBS uses an independent set of power supply, actuation devices (e.g., motors, pumps, and/or valves), and provides a redundant control circuitry to back up the control circuitry of the PBS.

Abstract: In one embodiment, a system determines a signal fault at a communication bus of an autonomous driving vehicle (ADV). In response to determining the signal fault, the system sends a brake pre-charge command to a brake system of the ADV to pre-charge a brake of the ADV. The system determines a preset tolerance time to validate the signal fault. In response to a time elapse of the preset tolerance time, the system validates the signal fault at the communication bus or determine a signal fault at another communication bus. In response to validating the signal fault at the communication bus or determining the signal fault at the another communication bus, the system sends a brake command to the brake system of the ADV to engage brakes for the ADV.

Abstract: In one embodiment, a system determines activation parameters for an autonomous driving vehicle (ADV), where the activation parameters include historical usages of a primary brake system or a secondary brake system. In response to determining that a brake is to be applied, the system determines whether to activate a primary or a secondary brake system based on the activation parameters. The system sends an activation flag to activate the primary or the secondary brake system based on the determining whether to activate the primary or the secondary brake system. The system sends a brake command to the primary and the secondary brake system to activate either the primary or the secondary brake system according to the activation flag.

Abstract: In one embodiment, a system determines selection parameters to apply an adaptive braking scheme for an autonomous driving vehicle (ADV). The system determines a brake mode based on the selection parameters using a driving scenario mapping table. In response to determining that a brake is to be applied, the system applies a brake for the ADV according to the brake mode. The brake can be applied in three stages, where the three stages include a brake pre-charge stage, an increasing rate of deceleration stage, and a constant rate of deceleration stage for the adaptive braking scheme.

Abstract: This disclosure provides systems and methods for electrical power conservation during braking for autonomous or assisted driving vehicles, such as when electrical currents are continuously supplied to the brake system when the vehicle is temporarily halted at a slope. Braking hysteresis is the relationship between the input (e.g., operating pressure, caused by an electrical motor to increase the fluid pressures in the brake system) and the output (e.g., braking pressure applied by the brake pads on the rotors), in which the change of the output is different during the increase of the input and during the decrease of the input. The present disclosure provides techniques for conserving electrical power consumption by using the brake hysteresis.

Abstract: In one embodiment, a light detection and range (LIDAR) device includes an array of light transmitting and receiving (TX/RX) units arranged to sense a physical range associated with a target. Each of the light TX/RX units includes a mounting board having a light pass-through opening and a light emitter mounted adjacent to the light pass-through opening. The light emitter is configured to emit a light beam towards the target according to a transmitting path. The LIDAR device further includes a light detector positioned behind the mounting board to receive at least a portion of the light beam reflected from the target through the light pass-through opening according to a light receiving path. The light transmitting path and the light receiving path are substantially in parallel and close to each other.

Abstract: In an embodiment, an autonomous driving system (ADS) determines that a corresponding autonomous driving vehicle (ADV) has stopped on a gradient. The ADS determines a first brake hold pressure based on a first gradient value of the ADV measured at a first point in time. The ADS then applies the first brake hold pressure to a brake system in the ADV. Then, the ADS determines a second brake hold pressure based on a second gradient value of the ADV measured at a second point in time. The ADS then applies the second brake hold pressure to the brake system accordingly.

Abstract: In an embodiment, a brake control system determines a brake pedal travel value and a brake actuation position based on a brake pedal travel sensor and a motor actuation sensor of an autonomous driving vehicle (ADV). The brake control system determines a first threshold value based on the brake actuation position. The brake control system determines a deviation of the observed brake pedal travel value from the brake actuation position or the raw brake pedal sensor value are above the first threshold value and detects an intention of an operator to apply a brake control in response to determining that the deviation is above the first threshold value. This way, brake intervention can be detected prior to steady state and detection of an operator intervention is robust and reliable.

Abstract: In some implementations, a method is provided. The method includes determining a first set of data acquisition characteristics of a first sensor of an autonomous driving vehicle. The method also includes determining a second set of data acquisition characteristics of a second sensor of the autonomous driving vehicle. The method further includes synchronizing a first data acquisition time of the first sensor and a second data acquisition time of the second sensor, based on the first set of data acquisition characteristics and the second set of data acquisition characteristics. The first sensor obtains first sensor data at the first data acquisition time. The second sensor obtains second sensor data at the second data acquisition time.

Abstract: In one embodiment, a LIDAR device of an autonomous driving vehicle (ADV) includes an array of light emitters to emit a number of light beams to sense a physical range associated with a target. The LIDAR device further includes a slope mirror having a slope surface and a flat surface supported by a rotatable platform. The rotatable platform is configured to rotate with respect to a vertical axis perpendicular to the flat surface. The light emitters are configured to project the light beams onto the slope surface of the slope mirror, which are deflected towards the target. The slope mirror rotates along with the rotatable platform while the array of light emitters remains steady. The LIDAR device further includes one or more light detectors to receive at least a portion of the light beams reflected from the target.

Abstract: In one embodiment, a three-dimensional LIDAR system includes a light source (e.g., laser) to emit a light beam (e.g., a laser beam) to sense a physical range associated with a target. The system includes a camera and a light detector (e.g., a flash LIDAR unit) to receive at least a portion of the light beam reflected from the target. They system includes a dichroic mirror situated between the target and the light detector, the dichroic mirror configured to direct the light beam reflected from the target to the light detector to generate a first image, wherein the dichroic mirror further directs optical lights reflected from the target to the camera to generate a second image. The system includes an image processing logic coupled to the light detector and the camera to combine the first image and the second image to generate a 3D image.

Abstract: In one embodiment, a method for monitoring a localization function in an autonomous driving vehicle (ADV) can use known static objects as ground truths to determine when the localization function encounter errors. The known static objects are marked on a high definition (HD) map for the real-time driving environment. When the ADV detects one or more known static objects, the ADV can use sensor data, locations of the one or more static objects, and one or more error tolerance parameters to create a localization error tolerance area surrounding a current location of the ADV. The ADV can project the tolerance area on the HD map, performs a localization operation to generate an expected location of the ADV on the HD map, and determines whether the generated location falls within the projected tolerance area.

Abstract: A two dimensional (2D) LIDAR scanning system that uses a combination of a rotating polygonal mirror and a rotatable prism to scan an area of an object. The polygonal mirror and prism are rotated in combination to generate a scanning pattern. A pulsed laser is directed to the polygonal mirror and the prism is held in a fixed position. The polygonal mirror is then incremented a plurality of times to generate a scan line of LIDAR data. The prism is then incremented and a next scan line, e.g., up or down from the first scan line, is generated. An avalanche photodiode (APD) can read the reflections of objects for each scan point. Object reflections can be directed to the APD using either a polarizing beam splitter with a quarter wave plate, or a 50-50 beam splitter.

Abstract: In some implementations, a method of verifying operation of a sensor is provided. The method includes causing a sensor to obtain sensor data at a first time, wherein the sensor obtains the sensor data by emitting waves towards a detector. The method also includes determining that the detector has detected the waves at a second time. The method further includes receiving the sensor data from the sensor at a third time. The method further includes verifying operation of the sensor based on at least one of the first time, the second time, or the third time.

Abstract: In one embodiment, a LIDAR device of an autonomous driving vehicle (ADV) includes a light emitter to emit a light beam towards a target, wherein at least a portion of the light beam is reflected from the target. The LIDAR device further includes an optical sensing unit including a first photodetector and a second photodetector. The first photodetector is a different type of photodetector from the second photodetector, where the optical sensing unit is to receive the portion of the light beam reflected from the target. When the optical sensing unit receives the portion of the light beam, the first photodetector generates a first optical sensor output signal and the second photodetector generates a second optical sensor output signal. The LIDAR device further includes a first circuitry portion to generate an intensity signal indicative of an intensity of the received portion of the light beam responsive to the first optical sensor output signal.

Abstract: A LIDAR scanning system uses a combination of a time-to-digital conversion (TDC) device and a multi-pixel photon counter (MPPC) to determine the peak location (time) and magnitude of a reflection of a laser beam off of an object. A configurable trigger threshold of the TDC indicates that a sufficient number of MPPC pixels have triggered that the peak detection module should begin sampling and storing MPPC counts of triggered pixels. When the light received from the reflected laser beam falls below the trigger threshold of the TDC, the MPPC stops sampling the MPPC counts. The peak magnitude of the reflection of the laser beam is determined from the highest sample count of the MPPC. A time at which the peak magnitude occurred is determined as the midpoint of TDC trigger points. The peak magnitude MPPC count is correlated to an intensity value.

Abstract: The disclosure describes various embodiments of validating data synchronization between an active sensor and a passive sensor. According to an exemplary method of validating sensor synchronization between an active sensor and a passive sensor, a synchronization device receives a first signal from the active sensor, the first signal indicating that the active sensor has transmitted laser points to a measure board. In response to the first signal, the synchronization device transmits a second signal to the passive sensor to trigger the passive sensor to capture an image of the measure board. A synchronization validation application can perform an analysis of the image of the measure board in view of timing of the first signal and second signal to determine whether the passive sensor and the active sensor are synchronized with each other.

Abstract: In some implementations, a method of verifying operation of a sensor is provided. The method includes causing a sensor to obtain sensor data at a first time, wherein the sensor obtains the sensor data by emitting waves towards a detector. The method also includes determining that the detector has detected the waves at a second time. The method further includes receiving the sensor data from the sensor at a third time. The method further includes verifying operation of the sensor based on at least one of the first time, the second time, or the third time.

Abstract: In some implementations, a method is provided. The method includes determining a first set of data acquisition characteristics of a first sensor of an autonomous driving vehicle. The method also includes determining a second set of data acquisition characteristics of a second sensor of the autonomous driving vehicle. The method further includes synchronizing a first data acquisition time of the first sensor and a second data acquisition time of the second sensor, based on the first set of data acquisition characteristics and the second set of data acquisition characteristics. The first sensor obtains first sensor data at the first data acquisition time. The second sensor obtains second sensor data at the second data acquisition time.

Abstract: A system for processing a substrate is provided. The system includes a process chamber including one or more sidewalls enclosing a processing region; and a substrate support. The system further includes a passageway connected to the process chamber; and a first particle detector disposed at a first location along the passageway. The first particle detector includes an energy source configured to emit a first beam; one or more optical devices configured to direct the first beam along one or more paths, where the one or more paths extend through at least a portion of the passageway. The first particle detector further includes a first energy detector disposed at a location other than on the one or more paths. The system further includes a controller configured to communicate with the first particle detector, wherein the controller is configured to identify a fault based on signals received from the first particle detector.