Abstract: System, methods, and computer-readable media for localizing an autonomous vehicle to a location in a stored LIDAR map relative to lane markings labeled in the stored LIDAR map. The labeled lane marking may be associated with a dashed line, a solid line, a double line, or an unmarked line. The autonomous vehicle may fit the set of lane marking points with the labeled lane marking via a point-to-line solver that locates the set of lane marking points to the line, excluding a longitudinal variable. The lane matching localizing system utilities a point-to-line iterative closet point, wherein the matched point pairs are calculated by perpendicular point of line from the query point instead of finding the closest sampled point.

Abstract: A system in a vehicle includes a controller to implement a neural network to provide current commands based on inputs. The inputs include a torque input. The system also includes a current controller to provide a three-phase voltage through an inverter based on the current commands from the controller. An electric traction motor provides drive power to a transmission of the vehicle based on injection of the three-phase voltage. The current commands resulting from implementation of the neural network are corrected based on estimated torque resulting from the injection of the three-phase voltage to the electric traction motor.

Abstract: An optically transparent coplanar microwave slot antenna formed between a first glass layer and a second glass layer is provided including a metal oxide layer, a first slot element and a second slot element formed in a dipole arrangement within the metal oxide layer wherein the first slot element is formed by a first triangular slot, a first trapezoidal slot, and a first rectangular slot and the second slot element is formed by a second triangular slot, a second trapezoidal slot, and a second rectangular slot, and a waveguide feedline for carrying microwave signals to the first slot element and the second slot element.

Abstract: The present technology provides systems, methods, and devices that can dynamically augment aspects of a map as an autonomous vehicle navigates a route, and therefore avoids the need for dispatching a special purpose mapping vehicle to keep navigating a route. As the autonomous vehicle navigates a route, the autonomous vehicle can determine that current data captured by at least one sensor of the autonomous vehicle describing a location is inconsistent with the primary map of the location. The autonomous vehicle can determine that a portion of the current data describes a second feature that is distinct from a first feature described by a primary map. The second feature can be added to an augmented map that is based on the primary map, and the position of the autonomous vehicle can be located with respect to the first feature rather than the second feature on the augmented map.

Abstract: A design for repair casting having a repairable ultra-large single-piece casting and a replacement part. The ultra-large single-piece casting includes a main body portion, at least one predefined replaceable portion integrally cast with the main body portion, and a cut-guide delineating the predefined replaceable portion from the main body portion. The cut-guide includes a continuous channel defined on an exterior surface of the single-piece casting. The cut-guide further includes a rib extending from a channel wall on the main body portion. A damaged replaceable portion is excisable from the main-body portion by cutting through the single-piece casting along the cut-guide. The excised damaged replaceable portion may be replaced with the replacement part, which has substantially the same geometry, dimensions, and mechanical properties as an undamaged replaceable portion. The replacement part may be joined to the main body portion by mechanical means or by welding.

Abstract: A system includes a reference speed module and a motor control module. The reference speed module is configured to determine a reference speed range based on a speed of a left wheel of a pair of front or rear wheels of a vehicle and a speed of a right wheel of the pair of front or rear wheels. The right wheel is disconnected from the left wheel. The motor control module is configured to control at least one of a first electric motor and a second electric motor based on the reference speed range. The first electric motor is connected to the left wheel. The second electric motor is connected to the right wheel.

Abstract: Aspects of the disclosed technology provide solutions for splitting power between different parts of a waveguide. Features inside of a waveguide may include an input and interconnected vertical and horizontal hollow spaces (i.e. channels). Other features may include structures (i.e. septum features) that reflect a portion of electromagnetic energy moving in a channel and may allow another portion of that electromagnetic (EM) energy to pass around those septum features. A horizontal channel of a waveguide may lead to several vertical channel of the waveguide and the septum features may reflect EM energy toward one particular vertical channel such that an amount of EM energy output from that particular vertical channel may be increased as compared to amounts of EM energy output from other vertical channels of the waveguide. Geometries of the waveguide features may focus emitted EM energy by splitting the EM energy into several different parts.

Abstract: Systems and techniques are provided for vehicle safety technologies. An example method can include determining, based on sensor data captured by an autonomous vehicle, a first position of a different vehicle and a second position of one or more objects; determining, based on the first position of the different vehicle and the second position of the one or more objects, a risk of a collision between the different vehicle and the one or more objects; and based on a determination that the risk of the collision exceeds a threshold, outputting an alert representing a warning of the collision between the different vehicle and the one or more objects, the alert being directed to at least one of the different vehicle and the one or more objects.

Abstract: A system for sharing sensor data between a vehicle and a plurality of remote system generally includes a vehicle communication system, a three-dimensional (3D) sensor, and a controller. The controller is programmed to generate an initial 3D point cloud using the 3D sensor, generate an occupancy grid map based on the initial 3D point cloud, and select a producer remote system to provide data for a cell of the occupancy grid map classified as a first blindspot. The controller is further programmed to send a data request to the producer remote system using the vehicle communication system, receive data from the producer remote system including information about the cell of the occupancy grid map classified as the first blindspot, generate a merged 3D point cloud by merging the data received from the producer remote system with the initial 3D point cloud, and identify objects using the merged 3D point cloud.

Abstract: Systems and methods for dynamic sensor data adaptation using a deep learning loop are provided. A method includes classifying, using a discriminator model, a first object from first sensor data associated with a first sensing condition, wherein the discriminator model is trained for a second sensing condition different from the first sensing condition; generating, using a generator model in response to the discriminator model failing to classify the first object, second sensor data representing a second object comprising at least a modified element of the first object; classifying, using the discriminator model, the second object from the second sensor data; and adapting, based at least in part on a difference between the first object and the second object in response to the discriminator model successfully classifying the second object, a machine learning model associated with object classification for the first sensing condition.

Abstract: A method of repairing an ultra-large single-piece cast component of a vehicle body. The method includes the steps of locating a damaged portion of the cast component, determining an extent of the damaged portion of the ultra-large cast component, defining a cut-line sectioning off the damaged portion from an undamaged portion of the ultra-large cast component, cutting along the cut-line to excise the damaged portion from the undamaged portion of the ultra-large cast component, and joining a replacement piece to the undamaged portion of the ultra-large cast component. The replacement piece is fabricated based on the original manufacturer's geometry and dimensional data of the excised damaged portion. The undamaged portion of the ultra-large cast component remains on the vehicle body during the repair.

Abstract: A sensor alignment method including detecting, detecting an object within a first sensor field of view and a second sensor field of view, detecting a plurality of depth point clouds of the first field of view in response to the object being stationary, the host vehicle being stationary, and the distance between the object and the host vehicle being less than a threshold distance, aggregating the plurality of depth point clouds into an aggregated depth point cloud, detecting a first location of an edge of the object in response to the aggregated depth point cloud, detecting a second location of the edge of the object using an edge detection algorithm on the image, generating a lidar to camera alignment in response to a difference between the first location and the second location.

Abstract: Presented are charger coupler locking systems with control logic for managing vehicle charging, methods for making/using such systems, and vehicles equipped with such systems. A method of controlling charging of a vehicle includes a vehicle controller receiving a signal indicating a charger coupler of a vehicle charging system is inserted into a charger port of the vehicle and, when received, responsively commanding an actuator device of a coupler locking system to move a locking element against a latching element of the charger coupler. The controller then receives sensor data from a position sensing device indicative of a travel position of the locking element; from this sensor data, the controller determines if the locking element's travel position is displaced from a predefined lock position at which the locking element contacts the latching element. If so, the controller responsively commands the vehicle's battery charging system to disable charging of the battery assembly.

Abstract: Method for sensor alignment including detecting a depth point cloud including a first object and a second object, generating a first control point in response to a location of the first object within the depth point cloud and a second control point in response to a location of the second object within the depth point cloud, capturing an image of a second field of view including a third object, generating a third control point in response to a location of the third object detected in response to the image, calculating a first reprojection error in response to the first control point and the third control point and a second reprojection error in response to the second control point and the third control point, generating an extrinsic parameter in response to the first reprojection error in response to the first reprojection error being less than the second reprojection error.

Abstract: A system for unsupervised radar calibration of a vehicle is contemplated. The system may include a radar having a plurality of antennas configured to transmit radar signals and responsively receive reflected signals. The system may further include a calibration controller configured to determine a plurality of detections from the reflected signals corresponding with unsupervised objects in the vicinity of the vehicle, and based on the detections, to generate a calibration matrix sufficient for calibrating the radar.