Abstract: The subject disclosure relates to estimating a grade of a road and calibrating sensors of an autonomous vehicle based on the grade. A process of the disclosed technology can include effectuating an autonomous vehicle to perform one or more maneuvers that cause the autonomous vehicle to face different directions along a road, obtaining a first set of sensor measurements of an autonomous vehicle in a first pose, wherein the first set of sensor measurements includes a first measured specific force, obtaining a second set of sensor measurements of the autonomous vehicle in a second pose, wherein the second set of sensor measurements includes a second measured specific force, determining a direction of gravity based on the first measured specific force and the second measured specific force, and calibrating at least one sensor of the autonomous vehicle based on the determined direction of gravity.

Abstract: A method includes receiving planned path data, road data, and speed profile data, determining anticipatory constraints for each of the plurality of steps along a planned path using the planned path data, the road data, and the speed profile data, determining a plurality of control actions using a Model Predictive Control (MPC). The prediction model of the MPC is updated in real time with the plurality of anticipatory constraints for each of the plurality of steps along the planned path and the road data for each of the plurality of steps along the planned path. The method further includes controlling the vehicle using the plurality of control actions to cause the vehicle to autonomously follow the planned path.

Abstract: A system includes a transmitter of a radar system to transmit transmitted signals, and a receiver of the radar system to receive received signals based on reflection of one or more of the transmitted signals by one or more objects. The system also includes a processor to train a neural network with reference data obtained by simulating a higher resolution radar system than the radar system to obtain a trained neural network. The trained neural network enhances detection of the one or more objects based on obtaining and processing the received signals in a vehicle. One or more operations of the vehicle are controlled based on the detection of the one or more objects.

Abstract: A system in a vehicle includes a lidar system to transmit incident light and receive reflections from one or more objects as a point cloud of points. The system also includes processing circuitry to identify planar points and to identify edge points of the point cloud. Each set of planar points forms a linear pattern and each edge point is between two sets of planar points, and the processing circuitry identifies each point of the points of the point cloud as being within a virtual beam among a set of virtual beams. Each virtual beam of the set of virtual beams representing a horizontal band of the point cloud.

Abstract: Systems, methods, and computer-readable media are provided for maintaining cleanliness of an autonomous vehicle. In some examples, an autonomous vehicle fleet management device may receive cleanliness data corresponding to at least one autonomous vehicle. In some aspects, the autonomous vehicle fleet management device may determine, based on the cleanliness data, one or more parameters corresponding to at least one cleanliness issue associated with the at least one autonomous vehicle. In some cases, a remediation plan for the at least one cleanliness issue may be determined based on the one or more parameters. In some instances, at least one driving instruction may be sent to the at least one autonomous vehicle that is based on the remediation plan.

Abstract: A method for forming a bipolar solid-state battery includes preparing a mixture of gel precursor solution and solid electrolyte. The gel precursor includes a polymer, a first solvent, and a liquid electrolyte. The liquid electrolyte includes a second solvent, a lithium salt, and electrolyte additive. The method includes loading the mixture onto at least one of a first electrode, a second electrode, and a third electrode. Each of the first, second, and third electrodes includes a plurality of solid-state electroactive particles. The method includes removing at least a portion of the first solvent from the mixture to form a gel and positioning one of the first, second, and third electrodes with respect to another of the first, second, and third electrodes. The method includes applying a polymer blocker to a border of the first, second, or third electrodes.

Abstract: The subject technology is related to autonomous vehicles (AV) and, in particular, to calibration of an sensors of an AV on open roads after calibrating the sensors in an undefined training area. An example method includes calibrating a plurality of sensors of the AV based on performing a plurality of training steps of increasing complexity within the undefined environment, wherein the plurality of sensors of the AV are uncalibrated with respect to each other, determining that the AV satisfies an open road requirement to navigate an open road based on completing the plurality of training steps in the undefined environment, and operating the AV on open roads subject to at least one constraint. The method of claim 1, wherein the at least one constraint comprises a list of prohibited maneuvers that limit operation of the AV on open roads. The constraints are configured to dynamically change.

Abstract: A battery pack includes one or more battery modules subject to generating hot vent gasses during a thermal runaway event, a housing enclosing the battery modules therein and defining perimeter vent openings, and a plurality of perimeter vent assemblies. Each vent assembly is connected adjacent a corresponding one of the vent openings, and includes a translatable member, a gas diffuser block, and at least one sacrificial post. The gas diffuser block is connected to an outer surface of the housing, covers a respective one of the vent openings, and defines a plurality of orifices. The at least one sacrificial post is configured to melt or incinerate at a predetermined temperature to cause the translatable member to translate relative to the diffuser block and thereby prevent the vent gasses from escaping the battery pack.

Abstract: A layered catalyst structure for purifying an exhaust gas stream includes a catalyst support and a rhodium catalyst layer including an atomic dispersion of rhodium ions and/or rhodium atoms adsorbed on an exterior surface of the catalyst support. The catalyst support includes an alumina substrate, a first ceria layer disposed on and extending substantially continuously over the alumina substrate, and a second colloidal ceria layer formed directly on the first ceria layer over the alumina substrate.

Abstract: A system for displaying information to an occupant of a vehicle includes a microphone, a camera for capturing images of an environment surrounding the vehicle, a display, and a controller in electrical communication with the microphone, the camera, and the display. The controller is programmed to receive a voice command from the occupant using the microphone, determine at least one characteristic of the requested object based on the voice command, capture an image of the environment using the camera, where the environment includes a relevant object, and to identify a location of the relevant object in the environment based at least in part on the image and the at least one characteristic of the requested object. The controller is further programmed to display a graphic based at least in part on the location of the relevant object in the environment using the display.

Abstract: Examples of the present disclosure provide a computer-implemented system, comprising instructions for performing operations including: estimating locations in a region of a map where features associated with water, snow or ice are likely to be formed under certain adverse weather conditions; simulating one of the adverse weather conditions; generating the features associated with the simulated one of the adverse weather conditions at the locations; determining a response of a perception stack of an autonomous vehicle (AV) to the adverse weather conditions observed at the locations; determining a reaction of the AV to the features generated in the region, the reaction of the AV being a function of a configuration of the AV; in response to the reaction, updating the configuration; repeating the determining the reaction and the updating the configuration until a desired reaction is obtained; and exporting a final configuration corresponding to the desired reaction to a physical AV.

Abstract: A power supply system for a vehicle is provided. The power supply system includes a high-voltage battery pack having a plurality of batteries, a primary isolated converter connected to the high-voltage battery pack, and a plurality of distributed isolated converters, each of the plurality of distributed isolated converters being connected to one of the plurality of batteries. Each of the distributed isolated converters includes a primary stage configured to receive power from one of the plurality of batteries and an isolated stage configured to provide power to a low-voltage bus. The bias signals configured to control the operation of each of the plurality of distributed isolated converters are powered by the connected one of the plurality of batteries and activated based on an enable signal provided by the primary isolated converter.

Abstract: A method for use aboard a motor vehicle having a vehicle interior and a vehicle telematics unit (VTU) includes detecting, using an electronic control unit (ECU), an active voice call between the VTU and a remote call center, and processing sensor data via the ECU. The sensor data is indicative of an operator of the vehicle having exited the interior. In response to enabling conditions, the voice call is transferred to a personal mobile device, e.g., a smartphone, external to the interior. The enabling conditions may include receipt by the ECU of a call transfer approval signal. A motor vehicle includes a body and control system attached thereto. The control system includes the VTU, a sensor suite, and the ECU. A computer-readable storage medium includes instructions, the execution of which by a processor of the ECU causes the method to be performed.

Abstract: Applications supporting operations of an autonomous vehicle fleet can be implemented on and supported by cluster infrastructure. These applications have endpoints where data traffic runs in and out of these applications. Securing access to these endpoints can prevent unauthenticated and unauthorized access to these endpoints and the protected resources accessible through these endpoints. Securing access to these endpoints, managing entitlements and security policies, and maintaining security systems that can enforce the security policies are not trivial tasks. One solution addresses some of these challenges by offering a simple frontend for users to define the entitlements and security policies, leveraging an open source security solution, and ensuring backwards compatibility to other security solutions in the cluster infrastructure.

Abstract: Methods and systems determine resistance related constants for use by a vehicle towing a trailer. A system for controlling functions of the vehicle and the trailer includes sensors that provide sensor data. A processor performs a readiness check, based on the sensor data, by determining whether the sensor data exceeds predetermined thresholds. When the readiness check is passed, meaning the thresholds are not exceeded, and based on the sensor data, the processor computes values for constants that represent aerodynamic resistance and rolling resistance of the vehicle and the trailer. Based on the constants, the processor controls functions of the vehicle.

Abstract: Systems and techniques are described for improving the accuracy of autonomous vehicle simulations by dynamically assigning friction coefficients to road features based on sensor data. A method of the disclosed technology can include steps for associating a predetermined friction coefficient to road features; receiving sensor data from a sensor on an autonomous vehicle; identifying, from the sensor data, the presence of a road feature; assigning in a simulation, a friction coefficient corresponding to the road feature based on the predetermined friction coefficient associated with road feature; and generating, based on the assigned friction coefficient, a simulation of a trip by the autonomous vehicle as the autonomous vehicle traverses the road feature.

Abstract: Systems and methods for dynamically suppressing noise at electric vehicle charging sites. In particular, systems and methods are provided for measuring the ambient noise at a charging site and adjusting electric vehicle chargers to reduce noise pollution. In some examples, electric vehicle charger cooling fans potentially generate a high level of noise, and the power output of a charger can be decreased to decrease the heat generated by the chargers, thereby reducing the need for fans. In various examples, reduction of noise pollution can be especially important in specified geographies (e.g., residential neighborhoods) and/or during selected timeframes (e.g., overnight). In various examples, the system interfaces with a central computer service (e.g., a dispatch service) to intelligently route autonomous vehicles to charging sites based on noise levels at various available charging sites.

Abstract: Systems and techniques are provided for rare scenario handling in autonomous vehicles. In some aspects, an AV management system can determine a target likelihood value range for identifying relevant rare scenarios. In some cases, the AV management system may use the target likelihood value range to generate new relevant rare scenarios that have a likelihood value that falls within the target likelihood value range. In some examples, the AV management system may initiate simulations of the generated relevant rare scenarios and capture synthetic AV scene data, which can be used to train machine learning models used in AVs. As a result, the performance of the AVs may be improved when faced with rare scenarios.

Abstract: Platforms to support and manage an autonomous vehicle (AV) fleet can be implemented on and supported by cluster infrastructure. Cluster infrastructure may include different clusters, such as a cluster for an AV fleet with safety drivers, and a cluster for an AV fleet without safety drivers. Updates to the cluster infrastructure can be made to multiple clusters at once. Such updates may cause an outage that impacts multiple clusters and create a massive vehicle retrieval event for all AV fleets. To mitigate the risk and allow for prioritization of clusters, updates can be rolled out in a staged and ordered manner according to order values associated with different clusters. After applying an update to a cluster at a stage of the roll out, the cluster may be evaluated to confirm the success of the update, before the roll out can be moved to the next stage.

Abstract: A power transfer system may include a rotating magnetic core; a rotating high index core winding within the rotating magnetic core; a stationary high index core winding within the rotating high index core winding; and a stator referenced magnetic core within the stationary high index core winding. The power transfer system may include a rotor rectifier mounting plate, operatively attached to the rotating magnetic core, and/or a first and a second stationary high index core winding; and/or the stationary high index core winding and the stator referenced magnetic core do not rotate and/or the rotor rectifier mounting plate includes rectifiers to convert AC to DC; and/or the rotor rectifier mounting plate is further configured as a heat sink; and/or the rotor rectifier mounting plate is operatively attached to the rotating magnetic core via adhesive; and/or cooling fluid is allowed to pass through the power transfer system.