Abstract: Systems and methods for operating a vehicle. The methods comprise: generating, by a computing device, a vehicle trajectory for the vehicle that is in motion; detecting an object within a given distance from the vehicle; generating, by the computing device, at least one possible object trajectory for the object which was detected; performing, by the computing device, a collision check to determine that there remains time to react safely to worst-case behavior by the object (the collision check being based on the vehicle trajectory and at least one possible object trajectory); and performing operations, by the computing device, to selectively cause the vehicle to perform an emergency maneuver based on results of the collision check.

Abstract: A system will generate a vector map of a geographic area using a method that includes receiving a birds-eye view image of a geographic area. The birds-eye view image comprises various pixels. The system will process the birds-eye view image to generate a spatial graph representation of the geographic area, and it will save the node pixels and the lines to a vector map data set. The processor may be a component of a vehicle such as an autonomous vehicle. If so, the system may use the vector map data set to generate a trajectory for the vehicle as the vehicle moves in the geographic area.

Abstract: System and methods for causing movement of an autonomous vehicle. The methods comprise: determining candidate trajectories of the autonomous vehicle using candidate actions forecasted for a virtual doppelganger and reactive actions predicted for a non-Ego actor that is located in proximity to the autonomous vehicle; selecting first candidate trajectories of the candidate trajectories in which the autonomous vehicle has an influence on a response of the non-Ego actor; using the first candidate trajectories for the autonomous vehicle to refine the reactive actions that were predicted for the non-Ego actor; using the reactive actions that were refined to select one of the first candidate trajectories as a selected trajectory for the autonomous vehicle to follow; and causing an automation subsystem of the autonomous vehicle to move the autonomous vehicle along the selected trajectory.

Abstract: Devices, systems, and methods are provided for mitigating vehicle power loss. A vehicle charging system may include a power supply, and a voltage control device associated with receiving first voltage from the power supply, providing the first voltage to a hybrid vehicle or a battery electric vehicle, and blocking a second voltage from the hybrid vehicle or the battery electric vehicle, wherein the vehicle charging system is external to the hybrid vehicle or the battery electric vehicle.

Abstract: Methods and systems for controlling navigation of a vehicle are disclosed. The system will first identify a plurality of goal points corresponding to a drivable area that a vehicle is traversing or will traverse, where the plurality of goal points are potential targets that an uncertain road user (URU) within the drivable area can use to exit the drivable area. The system will then receive perception information relating to the URU within the drivable area, and identify a target exit point from the plurality goal points based on a score. The score is computed based on the received perception information and a loss function. The system will generate a trajectory of the URU from a current position of the URU to the target exit point, and control navigation of the vehicle to avoid collision with the URU.

Abstract: Methods and systems for detecting objects near an autonomous vehicle (AV) are disclosed. An AV will capture an image. A trained network will process the image at a lower resolution and generate a first feature map that classifies object(s) within the image. The system will crop the image and use the network to process the cropped section at a higher resolution to generate a second feature map that classifies object(s) that appear within the cropped section. The system will crop the first feature map to match a corresponding region of the cropped section of the image. The system will fuse the cropped first and second feature maps to generate a third feature map. The system may output the object classifications in the third feature map to an AV system, such as a motion planning system that will use the object classifications to plan a trajectory for the AV.

Abstract: Methods, systems, and products for parallax estimation for sensors for autonomous vehicles may include generating a two-dimensional grid based on a field of view of a first sensor. For each respective point in the grid, a three-dimensional position of an intersection point between a first ray from the first sensor and a second ray from a second sensor may be determined. For each respective intersection point, a respective solid angle may be determined based on a first three-dimensional vector from the first sensor and a second three-dimensional vector from the second sensor to the intersection point. A matrix may be generated based on a distance from the first sensor, a distance from the second sensor, and the solid angle for each respective intersection point. At least one metric may be extracted from the matrix. An arrangement of the first and second sensors may be adjusted based on the metric(s).

Abstract: Devices, systems, and methods are provided for radar elevation angle validation. A radar elevation angle validation device transmit, from a radar, one or more signals towards a corner reflector situated in a direction of the radar. The radar elevation angle validation device may receive, at the radar, reflected signals from the corner reflector. The radar elevation angle validation device may measure signal energy of at least one of the reflected signals. The radar elevation angle validation device may access a baseline dataset based on the measured signal energy. The radar elevation angle validation device may retrieve a radar elevation angle from the baseline dataset corresponding to the measured signal energy. The radar elevation angle validation device may compare the radar elevation angle to a validation threshold. The radar elevation angle validation device may determine a radar validation status based on the comparison.

Abstract: Systems and methods for predicting actions of an actor before entering a conflicted area are disclosed. The methods may include detecting the presence of an actor in an environment of an autonomous vehicle while the autonomous vehicle and the actor are approaching the conflicted area, determining whether the autonomous vehicle has precedence over the actor for traversing the conflicted area, assigning a kinematic target to the moving object that requires the moving object to come to a stop at an yield point before entering the conflicted area if the autonomous vehicle has precedence over the actor, determining whether a plurality of forecasted trajectories for the actor need to be generated, and controlling movement of the autonomous vehicle to traverse the conflicted area accordingly.

Abstract: A mounting device for selectively positioning an optical element within a field-of-view of an optical sensor of a vehicle includes: a housing defining an opening sized to fit over an aperture of the optical sensor; a holder for the optical element connected to the housing and positioned such that, when the holder is in a first position, the optical element is at least partially within the field-of-view of the optical sensor; and a motorized actuator. The motorized actuator can be configured to move the holder to adjust the position of the optical element relative to the field-of-view of the optical sensor.

Abstract: Disclosed herein are systems, methods, and computer program products for operating a robotic system. For example, the methods include by a processor: receiving a plurality of first signals that each comprise data produced by at least two sources of the robotic system and first keys respectively defined by identifiers for the at least two sources; generating second signals derived from the plurality of signals; combining second keys of the second signals to produce a third key; detecting an existence of an operational condition in the robotic system when the third key has a value different than an expected value; and causing a given action to be taken by the robotic system responsive to the existence of the operational condition.

Abstract: Systems and methods for managing permissions and authorizing access to a service supported by a computing device. The methods comprise by a computing device: intercepting a request to access the service sent along with a certificate including a first tenant identifier (the first tenant identifier identifying a first business entity other than a second business entity providing the service); using the first tenant identifier to obtain permission information from a datastore (the permission information specifying which resources of a plurality of resources can be returned in response to requests from the first business entity); generating a web authentication token including the first tenant identifier and the permission information; and initiating operations of the service in response to a validation of the web authentication token.

Abstract: A mounting device includes an elongated beam having a first end portion, a second end portion, and a side surface extending between the first end portion and the second end portion. The mounting device also includes a first camera mount attached to the first end portion configured to support a first camera, a second camera mount attached to the second end portion configured to support a second camera, and a bracket for fixedly connecting the elongated beam to a vehicle. The bracket is positioned between the first end portion and the second end portion. The bracket includes at least one base configured to be attached to the vehicle and a wall extending from the at least one base comprising an opening sized to receive the elongated beam, such that engagement between the wall and the elongated beam restricts rotation of the elongated beam about multiple axes.

Abstract: A ride service system will determine a stopping location for an autonomous vehicle (AV) before the AV picks up a passenger in response to a ride service request. The system will determine a pickup area for the request, along with a loading point within a pickup area, and the AV will navigate along the route toward the pickup area. Before the AV reaches the pickup area, the system will determine whether it received a departure confirmation indicating that the passenger is at the loading point. If the system received the departure confirmation, the AV will navigate into the pickup area and stop at the loading point; otherwise, the AV will either (a) navigate to an intermediate stopping location before reaching the pickup area or (b) pass through the pickup area.

Abstract: To identify sources of data resulting from an execution flow in a robotic device such as an autonomous vehicle, an operating system receives sensor data from various sensors of the robotic device. For each sensor, the system generates a data log comprising an identifier of a first checkpoint associated with that sensor, as well as a first timestamp. The system performs an execution flow on the sensor data from that sensor. The system updates the data log to include an identifier and timestamp for one or more additional checkpoints during the execution flow. The system then fuses results, uses the fused data as an input for a decision process, and causes a component of the robotic device to take an action in response to an output of the decision process. The system may record the action, an action timestamp and the data logs for each sensor in a memory.

Abstract: A system and method for inferring a stop line for a vehicle at an intersection are provided. The system includes a processor configured to detect from accessed map data that a traffic control measure is positioned before an intersection and determine whether a stop line for the detected traffic control measure is painted. The processor, in response to determining that no stop line is painted, identifies a restricted lane and infers a stop line. The processor infers the stop line by identifying, as a nearest lane conflict, a lane segment of a second road intersecting the first road at the intersection and advancing a location of the entry line as an intermediate stop line a distance toward the nearest lane conflict, until the intermediate stop line is at a target distance from a nearest boundary of the nearest lane conflict to form an inferred stop line.

Abstract: Systems, methods, and computer-readable media are disclosed for smart infrastructure data transfer. An example system is provided with a processor and a memory storing computer-executable instructions that are executed by the processor. The processor sends, over a network, a first software image to a first smart device of a system of smart devices to update a first group of smart devices of the system; and performs a discovery process to identify a second group of smart devices of the system. The second group of smart devices being based on a number or type of smart devices accessible on the system. The processor also creates a second software image including a software update for the second group of smart devices; and sends, over the network, the second software image to the first smart device to update the second group of smart devices.

Abstract: A system and method for performing visual localization is disclosed. In aspects, the system implements methods to generate a global point cloud, the global point cloud representing a plurality of point clouds. The global point cloud can be mapped to a prior map information to locate a position of an autonomous vehicle, the prior map information representing pre-built geographic maps. The position of the autonomous vehicle can be estimated based on applying sensor information obtained from sensors and software of the autonomous vehicle to the mapped global point cloud.

Abstract: Devices, systems, and methods are provided for radar elevation angle measurement. A radar elevation angle measurement system may transmit one or more signals from a radar towards a reflection structure comprised of individually controlled motors operable to rotate one or more corner reflectors. The radar elevation angle measurement system may receive echo signals at the radar from each of the one or more corner reflectors that sequentially transitioned to an ON position based on each of the one or more corner reflectors being sequentially rotated to be in an ON then an OFF positions. The radar elevation angle measurement system may collect data associated with the echo signals received from the one or more corner reflectors. The device may identify peak signal values based on the collected data. The radar elevation angle measurement system may calculate a radar pitch angle of the radar based on the peak signal values.

Abstract: Systems for managing access to an autonomous vehicle includes an autonomous vehicle including a plurality of storage compartments, wherein each of the plurality of storage compartments comprises a locking mechanism and at least one processor to receive data associated with an item to be positioned in a storage compartment of the plurality of storage compartments, determine that one of the plurality of storage compartments has storage capacity for the item, designate one of the plurality of storage compartments for storage of the item, activate the locking mechanism of the designated storage compartment to lock the designated storage compartment after the item is positioned in the designated storage compartment, and activate the locking mechanism of the designated storage compartment to unlock the designated storage compartment to allow removal of the item from the designated storage compartment. Methods, computer program products, and autonomous vehicles are also disclosed.