Abstract: Aspects of the subject technology relate to systems, methods, and computer-readable media for image classification through a two-stage classifier. Raw image data of an image gathered by a sensor associated with an AV during operation of the AV is accessed. A first stage of a two-stage classifier is applied. The first stage is trained by first raw AV data captured at varying values of one or more capture parameters associated with one or more sensors of the AV in capturing the first raw AV data. A second stage of the two-stage classifier is applied to the raw image data to generate a final classification output. The second stage of the two-stage classifier if formed by a plurality of image calibration classifiers that are trained by second raw AV data at varying values of one or more image calibration parameters.

Abstract: A load distributing thermal runaway barrier for an energy storage battery cell pack includes a first separator plate, a second separator plate, and at least one first elastic member arranged between the first and second separator plates. Each first elastic member is configured to maintain a first load in response to a pressure applied to at least one of the first and second separator plates. The load distributing thermal runaway barrier also includes a third separator plate, a fourth separator plate, and at least one second elastic member arranged between the third and fourth separator plates. Each first elastic member is configured to maintain a second load in response to a pressure applied to at least one of the third and fourth separator plates. The load distributing thermal runaway barrier additionally includes a thermally insulating pad arranged between the second and third separator plates.

Abstract: A charging system for an electric vehicle includes: a memory configured to store terminal clamp voltage (CV) and a cutoff current (CC) combination pairs; a charging receptacle configured to connect to an offboard charging station; and an onboard charging circuit. The onboard charging circuit includes: a high-voltage direct current bus connected to a rechargeable energy storage system; and a control module configured to communicate with the offboard charging station and determine charging capabilities of the offboard charging station and the onboard charging circuit, to select one of the CV and CC combination pairs based on the charging capabilities of the offboard charging station and the onboard charging circuit, and to initiate charging of the rechargeable energy storage system based on the selected one of the CV and CC combination pairs.

Abstract: A method for controlling an autonomous vehicle includes receiving road data. The road data includes information about a plurality of potential events along the road ahead of the autonomous vehicle. The method further includes determining, in real time, a probability that the plurality of potential events along the road ahead of the autonomous vehicle will occur while the autonomous vehicle moves along the road and determining, in real time, an adjusted planned path using a probabilistic predictive control that takes into account the probability that the plurality of potential events along the road ahead of the autonomous vehicle will occur. Further, the method includes controlling the autonomous vehicle to cause the autonomous vehicle to autonomously follow the adjusted planned path.

Abstract: A system in a vehicle includes an image sensor to obtain images in an image sensor coordinate system and a depth sensor to obtain point clouds in a depth sensor coordinate system. Processing circuitry implements a neural network to determine a validation state of a transformation matrix that transforms the point clouds in the depth sensor coordinate system to transformed point clouds in the image sensor coordinate system. The transformation matrix includes rotation parameters and translation parameters.

Abstract: A system for detecting and mitigating window condensation for a vehicle includes an interior camera and a heating, ventilation, and air conditioning (HVAC) system. The system also includes a controller in electrical communication with the interior camera and the HVAC system. The controller is programmed to determine an opacity of a first window of the vehicle using the interior camera, compare the opacity of the first window to an opacity threshold, and adjust the HVAC system to decrease the opacity of the first window of the vehicle in response to determining that the opacity of the first window is greater than or equal to the opacity threshold.

Abstract: Disclosed are embodiments for facilitating autonomous vehicle simulated mileage data collection-guided operational design domain testing and test generation. In some aspects, an embodiment includes receiving performance results corresponding to simulated mileage accumulation of simulated autonomous vehicles (AVs); determining, from the performance results, performance metrics and corresponding confidence intervals for the performance metrics; identifying at least one of the performance metrics that does not satisfy a performance metric threshold or at least one of the corresponding confidence intervals that does not satisfy a confidence interval threshold; determining an identified domain corresponding to the at least one of the performance metrics or the at least one of the corresponding confidence intervals; and causing at least one of on-road supervised driving of one or more AVs to be initiated or one or more synthetic tests to be generated in accordance with the identified domain.

Abstract: A global positioning system (GPS)-bias detection and reduction system including a GPS-bias model having GPS statistical data creating a database representing data collected from a vehicle group having thousands or multiple thousands of vehicles saved in a database. At least one newly collected vehicle GPS data point is compared to the GPS statistical data to reduce negative effects of GPS-bias and to update the vehicle GPS-bias correction based on a previous GPS-bias model. A selected road node and a segment of a roadway have a map matching performed using a nearest service from a collection location of the GPS statistical data. A GPS-bias is calculated using a look-up of the database. An estimated horizontal position error (EHPE) defining a quality indicator is applied to distinguish a good quality GPS statistical data from a poor quality GPS statistical data.

Abstract: A multiview campfire display includes a light source configured to emit a light beam and a spatial light modulator (SLM) positioned to receive the light beam emitted by the light source. The holographic display also includes a user tracker configured to track the head and eyes of the vehicle occupants. The display also includes a controller in communication with the user tracker, the light source, and the SLM. The controller is programmed to receive a eye-tracking signal from the user tracker and control a polarization optics of the light beam emitted by the light source and modulated by the SLM to reroute the image encoded by the SLM for the plurality of vehicle occupants based on the eye-tracking signal, thereby allowing each of the plurality of vehicle occupants to view the image.

Abstract: A system for generating an image for passengers in a vehicle includes a display adapted to project an image, a polarization rotator actuatable to rotate the polarization of an image to one of S-polarization and P-polarization, a reflector unit adapted to reflect S-polarized images to a first beam splitter, and to reflect P-polarized images to a second beam splitter, each of the first and second beam splitters adapted to receive an image and to reflect the image to an associated passenger, and a controller in communication with the display and the polarization rotator, the controller adapted to simultaneously actuate the display to alternate between projecting a first image and a second image, actuate the polarization rotator to alternate between rotating the polarization of an image to S-polarization and P-polarization, and synchronize the display and the polarization rotator.

Abstract: Systems and techniques are provided for expanding a scope of coverage of test scenarios for training an autonomous vehicle (AV). An example method can include identifying a maneuver of an AV; receiving, from a test repository, a plurality of tests that includes the maneuver; identifying one or more segments on a map of an operational design domain (ODD) that include a driving environment for the maneuver; determining a similarity between a driving scene of each of the plurality of tests and the one or more segments on the map of the ODD; and determining a degree of test coverage for each of the one or more segments for the maneuver based on the determined similarity.

Abstract: Systems and techniques are provided for simulating movement of an articulated vehicle. An example method can include generating a simulation environment for an autonomous vehicle, wherein the simulation environment includes at least one articulated vehicle that includes a tractor coupled to a first trailer using a first pivot joint; determining a first velocity of the first pivot joint based on a first simulated movement associated with the tractor; and determining a second simulated movement associated with the first trailer based on the first velocity of the first pivot joint and a first distance between the first pivot joint and a first point on the first trailer.

Abstract: A vehicle suspension control system includes a central suspension spring core, a first suspension spring surrounding an upper portion of the central suspension spring core, a second suspension spring surrounding a lower portion of the central suspension spring core, the first suspension spring and the second suspension spring coupled between a wheel and a fixed structure of a vehicle to inhibit movement of the wheel, a spring seat surrounding the central suspension spring core and coupled between the first and second suspension springs, the spring seat including an outer sleeve and multiple seals for retaining magnetorheological fluid between the outer sleeve and the central suspension spring core, one or more electromagnets adjacent the spring seat, and a suspension control module configured to energize the one or more electromagnets to selectively modify a viscosity of the magnetorheological fluid to inhibit movement of the first suspension spring or the second suspension spring.

Abstract: A method of monitoring a propulsion system of a vehicle includes determining a health indicator from a diagnostic signal based on electrical outputs from a resolver connected to an electric motor of the propulsion system, the diagnostic signal related to a resolver offset and/or a resolver wobble, calculating a reference value based on values of the health indicator determined during a first time period, and monitoring the health indicator over a second time period, where the monitoring includes continuously or periodically calculating a trend value of the health indicator over a plurality of cycles. The method also includes comparing each trend value to the reference value and estimating a difference between the trend value and the reference value for each cycle, predicting whether a fault will occur based on the difference, and based on the predicting indicating that a fault will occur, outputting a fault indication.

Abstract: Systems and methods for failover handling at a vehicle in response to a degraded state of operation are provided. For example, a method includes receiving, from a fallback vehicle path planner of a vehicle, data indicative of a fallback path; storing, at a memory of the vehicle, the data indicative of the fallback path; receiving, from a primary vehicle path planner of the vehicle, data indicative of a primary path; receiving an event trigger indicative of a degraded operating condition associated with the primary vehicle path planner; selecting, in response to the event trigger, the fallback path over the primary path; and sending, to a control system of the vehicle in response to the selecting, the stored data indicative of the fallback path.

Abstract: Systems and methods for measuring autonomous vehicle (AV) capabilities in a simulation environment are provided. A method includes selecting, by a computer-implemented system, a first plurality of sampling points in an N-dimensional parameter space associated with a vehicle capability test, classifying, by the computer-implemented system, each sampling point of the first plurality of sampling points into a first class based on a vehicle passing a test scenario associated with the respective sampling point; or a second class based on the vehicle failing the test scenario associated with the respective sampling point; and determining, by the computer-implemented system based on the classifying, a capability of the vehicle. The classifying can include computing a first hyperplane in the N-dimensional parameter space to separate the first plurality of sampling points into the first class and the second class.

Abstract: Multi-sensor radar microDoppler holography is described. An example of a method includes performing a 2D Fourier transform calculation for multiple sets of raw Radar sensor data to generate Doppler spatial frequency map data, the raw sensor data including at least a first set of raw sensor data associated with a first Radar sensor at a first location and a second set of raw sensor data associated with a second Radar sensor at a second, different location; performing a DWT calculation of the Doppler spatial frequency map data; applying phase compensation to generate phase compensated data transforms; adding the phase compensated data transforms to generate a sum; performing an inverse 2D Fourier transform calculation to generate a transform result; and extracting microDoppler information and Doppler information extraction from the transform result.

Abstract: A method is described and includes acquiring sensor data produced by sensors of a plurality of vehicles traversing an area including a location of a user, wherein the vehicles traversing the area comprise a subset of a fleet of vehicles for providing rideshare services; processing the acquired sensor data to determine a category of the user; selecting a vehicle from the fleet of vehicles based on the category of the user, wherein the selected vehicle comprises at least one accommodation corresponding to the category of the user; and dispatching the selected vehicle to a pick-up location designated by the user.

Abstract: Build, execution, and testing on software may be performed remotely on cluster infrastructure. Tests can be scheduled on workers in the cluster infrastructure, and results of the tests are reported to the developer. If a test fails, the developer may receive an exit code from the failed test. For tests that are flaky, an exit code provides little to no benefit to identify the cause of the flakiness. To make it easier for the developer to debug flaky tests, a test identified to be flaky can be run many times in parallel, one or more parallel executions that result in failure can be paused, and one or more remote debugging sessions can be created for the one or more parallel executions. A developer can access the remote debugging session to inspect the paused execution of the test equipped with debugging tools to determine the cause of the flakiness.