Abstract: A method of transmitting vehicle information, performed at least in part at a vehicle comprising one or more sensors, one or more processors, and memory is provided. The method includes storing vehicle information on the memory; detecting, by the one or more sensors, an optical code, the optical code having encoded information; decoding, by the one or more processors, the encoded information; identifying a remote computing system based on the decoded information; and transmitting a signal comprising the vehicle information from the vehicle to the identified remote computing system.

Abstract: A method for updating a planning system of an autonomous vehicle is provided. The method comprises obtaining, at a simulator, an input comprising scene data associated with a single planning cycle of the planning system; using the simulator, apply a simulation of the planning system based on the scene data to output a plurality of autonomous vehicle metrics; updating one or more parameters of the simulation based on the plurality of autonomous vehicle metrics; outputting a plurality of updated autonomous vehicle metrics based on the one or more updated parameters; determining that a condition is satisfied based on the plurality of updated autonomous vehicle metrics; and deploying the one or more updated parameters to the planning system of the autonomous vehicle.

Abstract: A method for a driver assistance system of a driver's vehicle is provided. The method comprises detecting a location of the driver's vehicle and a lane that the driver's vehicle is traveling along; identifying a nearby vehicle in a vicinity of the driver's vehicle based on sensor data; identifying a lane that the nearby vehicle is traveling along based on the location of the driver's vehicle, map data comprising traffic lane information, and the sensor data; determining, based on the driver's vehicle lane and the nearby vehicle lane, that the driver's vehicle lane and the nearby vehicle lane will merge; and outputting a driver alert based on the determination.

Abstract: A sensor calibration system of a vehicle is provided, comprising an optical sensor configured to generate two-dimensional optical calibration data and a LiDAR sensor configured to generate three-dimensional intensity calibration data. The system extracts one or more optical images from the optical calibration data and projects one or more portions of the intensity calibration data onto one or more optical image planes corresponding to the one or more optical images to form one or more intensity images. The system detects a set of points in the one or more intensity images and another set of points in the one or more optical images corresponding to one or more environmental features. The system creates a plurality of pairings wherein each pairing comprises corresponding points from the two sets of points and computes an alignment between the optical sensor and the LiDAR sensor based on a subset of the plurality of pairings.

Abstract: A system for generating spatial audio alerts comprises one or more ultrasonic transducers disposed in a cab of a truck; one or more sensors disposed in or around the truck; one or more processors; and one or more computer readable media storing instructions that, when executed by the one or more processors, cause the system to: detect, by the one or more sensors, a hazard; identify a direction of the hazard relative to a driver of the truck; and generate a spatial audio alert, wherein generating a spatial audio alert comprises emitting, from the one or more ultrasonic transducers, an ultrasonic carrier wave modulated with audio content directed toward a location based on the direction of the hazard, wherein the ultrasonic carrier wave demodulates upon contacting an interior surface of the truck and generates a spatial audio alert audible from the location based on the direction of the hazard.

Abstract: An autonomous control system for a vehicle is provided. The control system comprises a first sensor to detect a left lane line and a right lane line of a traffic lane. The control system comprises a second sensor to detect an object located within or proximate to the traffic lane. The control system processes first image data captured by the first sensor to determine locations of the left lane line and the right lane line of the traffic lane. The system generates a first control signal based on the determined locations of the left lane line and the right lane line, wherein the first control signal causes the vehicle to follow a vehicle trajectory between the left lane line and the right lane line. The control system further processes second data captured by the second sensor to determine an object location and compute an object trajectory.

Abstract: A method for controlling an autonomous vehicle based on predicted behavior of one or more actors on a road comprises receiving input data comprising sensor data from one or more sensors of the autonomous vehicle about one or more actors on a road; generating an objective prediction based on the input data comprising a probability that a first actor will execute a driving operation; identifying one or more behavioral features associated with the driving operation; generating one or more behavioral feature predictions corresponding to the one or more behavioral features; providing the objective prediction and the one or more behavioral feature predictions to a motion planner; determining one or more responsive actions of the autonomous vehicle based on at least one of the objective prediction or the one or more behavioral feature predictions; and controlling motion of the autonomous vehicle based on the one or more responsive actions.

Abstract: A method for selecting a trajectory for a vehicle includes receiving first perception data from one or more sensors positioned on the vehicle at a first time; generating at least one nominal trajectory based on the first perception data; receiving second perception data from the one or more sensors at a second time after the first time; generating at least one fast-path trajectory based on the second perception data; selecting a trajectory from the at least one nominal trajectory and the at least one fast-path trajectory.

Abstract: An exemplary vehicle comprises: one or more sensors; one or more processors; and one or more computer readable media storing instructions that, when executed by the one or more processors, cause the vehicle to: operate in an autonomous driving mode, wherein an operation in the autonomous driving mode comprises performing one or more driving operations based on road and environmental conditions detected by the one or more sensors; detect, by the one or more sensors, a first visual fiducial; and in response to detecting the first visual fiducial, operate in a semi-autonomous follower mode, wherein an operation in the semi-autonomous follower mode comprises performing one or more driving operations based on road and environmental conditions detected by the one or more sensors and one or more behaviors of a guide vehicle.

Abstract: A method for deploying a plurality of emergency signaling drones from a base vehicle includes detecting an emergency condition of the base vehicle; deploying the plurality of emergency signaling drones from the base vehicle based on the detected emergency condition; maneuvering the plurality of emergency signaling drones from the base vehicle to a respective plurality of signaling locations; and activating a plurality of emergency signaling assemblies on the plurality of emergency signaling drones to display an emergency signal at the respective plurality of signaling locations.

Abstract: A method for predicting lane line locations, the method comprises: detecting, by one or more sensors on a vehicle, image data comprising a first portion of one or more lane lines of a roadway; determining a plurality of location points indicating locations of the one or more lane lines based on the image data; determining one or more continuous functions to respectively represent the one or more lane lines based on the plurality of location points, wherein determining the one or more continuous functions comprises determining a plurality of responsibility metrics indicating respective likelihoods that each continuous function represents a lane line; and predicting a location of a second portion of one or more lane lines on the roadway based on the one or more continuous functions and the plurality of responsibility metrics.

Abstract: Methods and apparatus for platoon behaviors that discourage other vehicles from interfering.

Abstract: Methods and apparatus that reduce demands on behavior of autonomous vehicles operating in a convoy, such as lane following or leader swap. A follower vehicle receives information regarding a path that a leader vehicle has followed. The follower generally follows the leader's path while being free to also observe its own lateral or lane constraints. In particular, lateral control of the follower, that is control of its relative location transverse to the road (e.g., its position relative to travel lanes) may deviate temporarily from the leader's path. This can make it easier for the follower to observe lane discipline, such as by eliminating the tendency, using line-of-sight distance, for the follower to speed up and close a gap to the leader while negotiating a curve.

Abstract: Methods and apparatus for controlling two or more vehicles travelling in formation. Selected vehicles may be fully or partially autonomously controlled; at least one vehicle is partially controlled by a human driver. Information is collected at each vehicle and from the drivers and it is shared with other vehicles and drivers to create a shared world model. Aspects of the shared world model may be presented to the human driver, who may then respond with a control input. Autonomy systems and the drivers on the vehicles then collaborate to make a collective decision to act or not to act and execute any such action in a coordinated manner.

Abstract: Techniques for operating an autonomous follower vehicle that is following a leader vehicle. A desired path to be traversed by the follower may be determined from a Leader Follower Relative Pose (LFRP) derived from sensor data. A pursuit pose is derived along the desired path from the present leader pose, such as either interpolating backward or forward. As a result, the pursuit distance no longer needs to be the same as the distance derived solely from the LFRP. This permits steering controls (lateral position) to be freed from requirements to satisfy safety constraints that might otherwise be imposed by other considerations (such as longitudinal spacing between vehicles).

Abstract: In some scenarios, the approach may be used with two or more vehicles travelling in formation where selected vehicles may be fully or partially autonomously controlled. Information is collected at each vehicle and from the drivers and it is shared with other vehicles and drivers to make a collective decision to enter or leave autonomy.

Abstract: Methods and apparatus for controlling two or more vehicles travelling in formation. Selected vehicles may be fully or partially autonomously controlled; at least one vehicle is partially controlled by a human driver. Information is collected at each vehicle and from the drivers and it is shared with other vehicles and drivers to create a shared world model. Aspects of the shared world model may be presented to the human driver, who may then respond with a control input. Autonomy systems and the drivers on the vehicles then collaborate to make a collective decision to act or not to act and execute any such action in a coordinated manner.

Abstract: An approach to arrange sensors needed for automated driving, especially where semitrailer trucks are operating in an autonomous convoy with one automated or semi-automated truck following another. The sensors are fitted to a location adjacent to or within the exterior rearview mirrors, on each of the left- and right-hand side of the tractor. The sensors provide overlapping fields of view looking forward of the vehicle and to both the left and right hand sides at the same time.