Abstract: Disclosed herein are system, method, and computer program product aspects for enabling an autonomous vehicle (AV) to detect objects and forecast their predicted positions. The system can monitor an object within a vicinity of the AV. A plurality of trajectories predicting paths the object will take at a future time can be generated, the plurality of trajectories being based on a generated three-dimensional (3D) point cloud map indicating current and past characteristics of the object. Using a learned model, a forecasted position of the object at an instance in time can be generated along one or more of the plurality of trajectories. A maneuver for the AV can be performed based on the forecasted position.

Abstract: A test module is provided with a housing for mounting within a cabin of an autonomous vehicle (AV). At least two user input devices are supported by the housing. A controller is disposed within the housing and programmed to: generate a first request to control an AV system of the AV based on manual activation of one of the at least two user input devices, and generate a second request to control the AV system based on manual activation of the other of the at least two user input devices. At least one transceiver provides the first request to the AV on a first communication interface and provides the second request to the AV system on a second communication interface.

Abstract: A system for testing an autonomous vehicle obtains a list of required tests the autonomous vehicle is to run, where each test is part of a commissioning process for the autonomous vehicle. The system causes the list to be displayed on a display device of the autonomous vehicle, receives a selection of a selected test from an operator of the autonomous vehicle, and receives a test input profile associated with the selected test. The system causes the autonomous vehicle to execute at the instructions of the test input profile, and logs response data to one or more log files. During execution of the test instructions, the system generates metadata associated with the selected test. The system logs the metadata to the one or more log files, and transmits at least a portion of the one or more log files to an electronic device located remotely from the autonomous vehicle.

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: Systems and methods for retrieving and using data stored in a data warehouse. The methods comprise performing the following operations by a computing device: receiving a query for information directed to a plurality of fact tables (each fact table comprising sets of source data that are arranged so as to be respectively associated with a plurality of first publication identifiers); obtaining second publication identifiers from a publication table, in response to the query; and obtaining at least one of the sets of source data from each fact table that is associated with a first publication identifier of the plurality of first publication identifiers which matches one of the second publication identifiers.

Abstract: A method of determining a trajectory for an autonomous vehicle (AV) is disclosed. When the AV's on-board system detects another actor near the AV, it will generate a virtual doppelganger that is co-located with the autonomous vehicle. The system will predict possible modalities for the other actor and, for each of the modalities, one or more possible trajectories for the other actor. The system then forecast candidate actions of the virtual doppelganger, each of which corresponds to one or more of the possible trajectories of the other actor. The computing system will then determine candidate trajectories of the autonomous vehicle, and it will select one of the candidate trajectories as a selected trajectory for the autonomous vehicle to follow.

Abstract: Systems and methods for processing point cloud data are disclosed. The methods include receiving a 3D image including point cloud data, displaying a 2D image of the 3D image, and generating a 2D bounding box that envelops an object of interest in the 2D image. The methods further include generating a projected image frame comprising a projected plurality of points by projecting a plurality of points in a first direction. The methods may then include displaying an image frame that includes the 2D image and the 2D bounding box superimposed by the projected image frame, receiving a user input that includes an identification of a set of points in the projected plurality of points that correspond to the object of interest, identifying a label for the object of interest, and storing the set of points that correspond to the object of interest in association with the label.

Abstract: Systems and methods of maneuvering an autonomous vehicle in a local region using topological planning, while traversing a route to a destination location, are disclosed. The system includes an autonomous vehicle including one or more sensors and a processor. The processor is configured to determine the local region on the route and receive real-time information corresponding to the local region. The processor performs topological planning to identify on or more topologically distinct classes of trajectories, compute a constraint set for each of the one or more topologically distinct classes of trajectories, optimize a trajectory to generate a candidate trajectory for each constraint set, and select a trajectory for the autonomous vehicle to traverse the local region from amongst the one or more candidate trajectories.

Abstract: Systems, methods, and computer-readable media are disclosed for obtaining data from multiple internal vehicle networks. An example method may include receiving, using a first internal communication network of a vehicle, a first query for data from one or more devices of the vehicle, wherein the first query is formatted for communication over the first internal communication network. The example method may also include generating, based on the first query, a second query associated with a supplemental communication network, wherein the supplemental communication network is also internal to the vehicle. The example method may also include sending, using the supplemental communication network, the second query to a first device, the first device being located on the supplemental communication network. The example method may also include receiving, from the first device, data relating to the second query.

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: Devices, systems, and methods are provided for enhanced sensor alignment. A device may determine a first array of displacement sensors proximate to a first test structure. The device may determine a second array of displacement sensors proximate to a second test structure. The device may apply a test condition to the first array, the second array, the first test structure, and the second test structure. The device may collect a first output from applying the test condition to the first test structure. The device may collect a second output from applying the test condition to the second test structure. The device may generate a first deviation vector associated with the first output. The device may generate a second deviation vector associated with the second output. The device may determine a first design status of the first structure based on the first deviation vector. The device may determine a second design status of the second structure based on the second deviation vector.

Abstract: This document describes methods and systems for enabling an autonomous vehicle (AV) to determine a path to a stopping location. The AV will determine a desired stop location (DSL) that is associated with a service request. The AV's motion control system will move the AV along a path to the DSL. While moving along the path, the AV's perception system will detect ambient conditions near the DSL. The ambient conditions will be parameters associated with a stopping rule. The AV will apply the stopping rule to the ambient conditions to determine whether the stopping rule permits the AV to stop at the DSL. If the stopping rule permits the AV to stop at the DSL, the motion control system will move the AV to, and stop at, the DSL. Otherwise, the motion control system will not stop the AV at the DSL.

Abstract: Systems and methods for operating a vehicle are disclosed. The methods comprise: generating, by a computing device, a vehicle trajectory for the vehicle while the vehicle is in motion; detecting an object within a given distance from the vehicle; generating at least one possible object trajectory for the object which was detected; performing a collision check to determine whether a collision between the vehicle and the object can be avoided based on the vehicle trajectory and the at least one possible object trajectory; performing a plausibility check to determine whether the collision is plausible based on content of a map, when a determination is made in the collision check that a collision between the vehicle and the object cannot be avoided; and performing operations to selectively cause the vehicle to perform an emergency maneuver based on results of the plausibility check.

Abstract: Methods and systems are disclosed for correlating synthetic LiDAR data to a real-world domain for use in training an model for use by autonomous vehicle when operating in an environment. To do this, the system will obtain a data set of synthetic LiDAR data, along with images of a real-world environment. The system will transfer the synthetic LiDAR data to a two-dimensional representation, use the two-dimensional representation and the images to train a model that a vehicle can use to operate in a real-world environment.

Abstract: Devices, systems, and methods are provided for testing and validation of a camera. For example, a system includes a camera that is configured to capture an image of a content object. A processor is programmed to: receive a signal indicative of the image of the content object during an electromagnetic event; generate an image quality score of the image; and generate a validation status of the camera based on a comparison of the image quality score to a validation threshold.

Abstract: A system for communicating with multiple vehicles or other electronic devices that share a common media access control (MAC) or other address is disclosed. Upon receiving a certificate signing request (CSR) from a connected device and determining that the device does not have a unique address, the system will generate a unique address for the device and embedding the unique addresses in a certificate, sign the certificate, and transfer the certificate to the device. Then, when the system communicates with the device, the system may use that unique address to identify the device.

Abstract: Systems and methods for forecasting trajectories of objects. The method includes obtaining a prediction model trained to predict future trajectories of objects. The prediction model is trained over a first prediction horizon selected to encode inertial constraints in a predicted trajectory and over a second prediction horizon selected to encode behavioral constraints in the predicted trajectory. The method also include generating a planned trajectory of an autonomous vehicle by receiving state data corresponding to the autonomous vehicle, receiving perception data corresponding to an object, predicting a future trajectory of the object based on the perception data and the prediction model, and generating the planned trajectory of the autonomous vehicle based on the future trajectory of the object and the state data.

Abstract: Disclosed herein are systems, methods, and computer program products for predicting movement of an object in a real-world environment. The methods comprise: obtaining a plurality of image frames captured in a sequence during a period of time; identifying first image frames of the plurality of image frames that contain an image of at least one object with one or more turn signals; analyzing the first image frames to obtain a classification for a pose of the at least one object; using the classification of the pose of the at least one object to further obtain a type classification for at least one of the turn signals and a state classification for a state of at least one of the turn signals; and predicting movement of the at least one object based at least on the type and state classifications obtained for at least one of the turn signals.

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: Systems and methods are provided for navigating a vehicle to veer around a lane obstruction safely into a neighboring lane. The system may plan a trajectory around the obstructed lane. Over a temporal horizon, the system determines temporal margins by measuring an amount of time between a predicted state of a moving actor in the neighboring lane and a predicted state of the vehicle. The system identifies a minimum temporal margin of the temporal margins and determines whether the minimum temporal margin is equal to or larger than a required temporal buffer. If the minimum temporal margin is equal to or larger than the required temporal buffer, the system generates a motion control signal to cause the vehicle to follow the trajectory to veer around the obstruction into the neighboring lane. Otherwise, the system generates a motion control signal to cause the vehicle to reduce speed or stop.