Abstract: Devices, systems, and methods are provided for enhanced sensor cleaning validation. A device may receive a signal from a sensor indicative of an obstruction on the sensor. The device may activate a cleaning system at a degree of actuation responsive to the obstruction. The device may then obtain a first post-clean performance measurement of the sensor. The device may then adjust the degree of actuation of the cleaning system based on a degradation measurement between a baseline performance measurement associated with a clean performance baseline of the sensor and the first post-clean performance measurement.

Abstract: Devices, systems, and methods are provided for testing and validation of a camera. A device may capture a first image of a target using a camera, wherein the camera is in a clean state, and wherein the target is in a line of sight of the camera. The device may apply an obstruction to a portion of a lens of the camera. The device may apply a camera cleaning system to the lens of the camera. The device may capture a post-clean image after applying the camera cleaning system. The device may determine a post-clean SSIM score based on comparing the post clean image to the first image. The device may compare the post-clean SSIM score to a validation threshold. The device may determine a validation state of the camera cleaning system based on the comparison.

Abstract: A system and method are disclosed for providing a bi-directional data communication link within a LIDAR assembly that has a stationary portion attached to an autonomous vehicle and a second portion rotatably connected to the stationary portion. The second portion may include one or more emitting/receiving devices (e.g., lasers) for detecting objects surrounding the autonomous vehicle. A first and second differential capacitive elements may rotatably operate to download data from the second portion to the stationary portion. A third and fourth differential capacitive element may rotatably operate to upload data from the stationary portion to the second portion.

Abstract: Vehicle driver assistance and warning systems that alert a driver of a vehicle to wrong-way driving and/or imminent traffic control measures (TCMs) are disclosed. The system will identify a region of interest around the vehicle, access a vector map that includes the region of interest, and extract lane segment data associated with lane segments that are within the region of interest. The system will analyze the lane segment data and the vehicle's direction of travel to determine whether motion of the vehicle indicates that either: (a) the vehicle is traveling in a wrong-way direction for its lane; or (b) the vehicle is within a minimum stopping distance to an imminent TCM in its lane. When the system detects either condition, it will cause a driver warning system of the vehicle to output a driver alert.

Abstract: Systems, methods, and computer-readable media are disclosed for a systems and methods for improved smart infrastructure data transfer. An example method may involve identifying that a software update is available for a smart infrastructure system. The example method may also involve determining, by a processor of the smart infrastructure system and using a signal strength between a first vehicle and the smart infrastructure system, that the first vehicle is within a threshold range of the smart infrastructure system. The example method may also involve establishing, by the smart infrastructure system, a first ad-hoc peer-to-peer communication link with the first vehicle. The example method may also involve sending, to the vehicle, a request for the software update. The example method may also involve receiving, from the vehicle, at least a first portion of the software update that is transferred using the first ad-hoc peer-to-peer communication link.

Abstract: Systems, methods, and computer-readable media are disclosed for a systems and methods for intra-shot dynamic LIDAR detector gain. One example method my include receiving first image data associated with a first image of an object illuminated at a first wavelength and captured by a camera at the first wavelength, the first image data including first pixel data for a first pixel of the first image and second pixel data for a second pixel of the first image. The example method may also include calculating a first reflectance value for the first pixel using the first pixel data. The example method may also include calculating a second reflectance value for the second pixel using the second pixel data. The example method may also include generating, using first reflectance value and the second reflectance value, a first reflectance distribution of the object.

Abstract: A system uses video of a vehicle to detect and classify the vehicle's pose. The system generates an image stack by scaling and shifting a set of digital image frames from the video to a fixed scale, yielding a sequence of images over a time period. The system processes the image stack with a classifier to determine the pose of the object. The system also may determine state and class of visible turn signals on the object, as well as predict the vehicle's direction of travel.

Abstract: Systems and methods for object detection. The methods comprise: obtaining, by a computing device, an image comprising a plurality of color layers superimposed on each other; generating at least one first additional layer using information contained in a road map (where the first additional layer includes ground height information, ground depth information, drivable geographical area information, map point distance-to-lane center information, lane direction information, or intersection information); generating a modified image by superimposing the first additional layer on the color layers; and causing, by the computing device, control of a vehicle's operation based on the object detection made using the modified image.

Abstract: A system and method are disclosed for providing a bi-directional data communication link within a LIDAR assembly that has a stationary portion attached to an autonomous vehicle and a second portion rotatably connected to the stationary portion. The second portion may include one or more emitting/receiving devices (e.g., lasers) for detecting objects surrounding the autonomous vehicle. A first printed circuit board including a first set of trace antennas. A second printed circuit board including a second set of trace antennas. The first printed circuit board may be configured to rotate 360-degrees in relation to the second printed circuit board so that the first set of trace antennas and the second set of trace antennas align to provide the bi-directional data link.

Abstract: A system and method are disclosed for providing a bi-directional data communication link within a LIDAR assembly that has a stationary portion attached to an autonomous vehicle and a second portion rotatably connected to the stationary portion. The second portion may include one or more emitting/receiving devices (e.g., lasers) for detecting objects surrounding the autonomous vehicle. A first printed circuit board assembly (PCBA) having a first optical transceiver may be located within the stationary portion. A second PCBA having a second optical transceiver may be located within the second portion. A hollow shaft may be positioned so as to extend between the stationary portion and the second portion.

Abstract: A system of linearizing a trajectory of an autonomous vehicle about a reference path includes a computing device and a computer-readable storage medium.

Abstract: Systems, methods, and computer-readable media are disclosed for a systems and methods for improved LIDAR return light capture efficiency. One example method may include comparing, by a controller including a processor and at a first time, a first temperature of a first computing element to a first threshold temperature and a second temperature of a second computing element to a second threshold temperature. The example method may also include sending, based on a determination that the first temperature is below the first threshold temperature and the second temperature is above the second threshold temperature, a first signal to a switch to activate a data output corresponding to the second computing element. The example method may also include sending, to the second computing element, a second signal to cause a third computing element to increase heat dissipation from the third computing element to the first computing element.

Abstract: Lidar systems may use highly sensitive GmAPD detectors to track obstacles in the environment of an autonomous vehicle. Data sensed by a lidar GmAPD detector can be pre-conditioned to facilitate differentiating low intensity signals from background noise. By sampling raw avalanche counts accumulated by the detector as Bernoulli trials, binomial statistics can be leveraged to transform raw data to a probability distribution, and then to a normalized data set suitable for signal processing.

Abstract: Systems, methods, and computer-readable media are disclosed for identifying light flares in images. An example method may involve receiving an image from an imaging device, the image including data indicative of a flare artifact originating from a region of the image. The example method may also involve determining, based on the image data, a first array of pixels extending radially outwards from the region and a second array of pixels extending radially outwards from the region. The example method may also involve creating, based on the image data, a flare array, the flare array including the first array of pixels and the second array of pixels. The example method may also involve determining, based on the flare array, a peak flare artifact value indicative of a size of the flare artifact. The example method may also involve determining, based on the peak flare artifact value, a flare artifact score for the imaging device.

Abstract: A single photon counting sensor array includes one or more emitters configured to emit a plurality of pulses of energy, and a detector array comprising a plurality of pixels. Each pixel includes one or more detectors, a plurality of which are configured to receive reflected pulses of energy that were emitted by the one or more emitters. A mask material is positioned to cover some but not all of the detectors of the plurality of pixels to yield blocked pixels and unblocked pixels so that each blocked pixel is prevented from detecting the reflected pulses of energy and therefore only detects intrinsic noise.

Abstract: At compile-time, a processor develops a computer program by receiving an input that includes multiple nodes and connections between pairs of the nodes. The nodes represent object properties such as properties of objects that an autonomous vehicle (AV) detects while moving about an environment. For each node, the system will identify a depth that represents a number of nodes along a longest path from that node to any available input node. The system will order the nodes by depth in a sequence, and it will build a graph-based program specification that includes the nodes in the sequence, along with the connections. The graph-based program specification may correspond to a directed acyclic graph (DAG). The system will compile the graph-based program specification into a computer-readable program, and it will save the computer-readable program to a memory so that the AV or other system can use it at run-time.

Abstract: Systems, methods, and computer-readable media are disclosed for context aware verification for sensor pipelines. Autonomous vehicles (AVs) may include an extensive number of sensors to provide sufficient situational awareness to perception and control systems of the AV. For those systems to operate reliably, the data coming from the different sensors should be checked for integrity. To this end, the systems and methods described herein may use contextual clues to ensure that the data coming from the different the sensors is reliable.

Abstract: A system provides navigational control information to a fleet of vehicles and includes a network of nodes within a geographical area. Each node is located at a different intersection in the geographical area. Each node includes a node vision range and a processor which generates augmented perception data (APD) for each moving object of interest monitored in the node vision range. The system includes a remote server system that includes a database of the APD and receives a query from a vehicle of the fleet for the APD associated with an imminent path of the vehicle. The server system, in response to the query, searches the database for APD associated with the imminent path, and communicates, over a communication network, the resultant APD associated with the imminent path to the vehicle. The APD controls navigation of the vehicle through one or more imminent intersections along the imminent path.

Abstract: Devices, systems, and methods are provided for counter-steering penalization. A device may analyze, by one or more processors, lane geometry associated with one or more lanes at a geographic location. The device may identify one or more corners in the lane geometry. The device may select one or more desired maximum steering angles of a steering wheel of an autonomous vehicle. The device may select weight values associated with the one or more desired maximum steering angles. The device may execute a path planning optimization based on the one or more desired maximum steering angles and the weight values.

Abstract: Systems, methods, and computer-readable media are disclosed for closed-loop control of a motor in a LIDAR system over a wireless power interface using data feedback over a unidirectional data communications interface. An example method may include receiving, by a controller on a first portion in a LIDAR system, from a second portion including a second motor, and over a unidirectional data communication interface, data associated with the second motor, wherein the second portion is configured to rotate relative to the first portion. An example method may also include providing, over a wireless power transfer interface, to the second portion, and based on the data, a power signal, wherein the power signal is used to provide power to the second motor.