Abstract: Techniques are described for determining whether snow chains are permitted to be used and to deploy snow chains based on traffic signs, weather conditions, and/or road conditions. An example method of autonomous driving operation includes performing a first determination, by a computer located in an autonomous vehicle, whether a use of snow chains is permitted based at least on a location where the autonomous vehicle is operating, performing a second determination that snow chains are required for driving the autonomous vehicle on a road, and sending, in response to the first determination indicating that the use of snow chains is permitted and in response to the second determination, instruction to snow chain devices located on the autonomous vehicle, where the instruction triggers the snow chain devices to deploy snow chains on tires of the autonomous vehicle.

Abstract: A system installed in a vehicle includes a first group of sensing devices configured to allow a first level of autonomous operation of the vehicle; a second group of sensing devices configured to allow a second level of autonomous operation of the vehicle, the second group of sensing devices including primary sensing devices and backup sensing devices; a third group of sensing devices configured to allow the vehicle to perform a safe stop maneuver; and a control element communicatively coupled to the first group of sensing devices, the second group of sensing devices, and the third group of sensing devices. The control element is configured to: receive data from at least one of the first group, the second group, or the third group of sensing devices, and provide a control signal to a sensing device based on categorization information indicating a group to which the sensing device belongs.

Abstract: A method of lane detection for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs include instructions, which when executed by a computing device, cause the computing device to perform the following steps comprising: generating a ground truth associated with lane markings expressed in god's view; receiving features from at least one of a hit-map image and a fitted lane marking, wherein the hit-map image includes a classification of pixels that hit a lane marking, and the fitted lane marking includes pixels optimized based on the hit-map image; and training a confidence module based on the features and the ground truth, the confidence module configured to determine on-line whether a fitted lane marking is reasonable, using parameters that express a lane marking in an arc.

Abstract: Each of a plurality of landing pads is sized and shaped to accommodate an AV. Landing pad sensor(s) are located in or around each landing pad. A control subsystem receives landing pad sensor data from the one or more landing pad sensors and receives, from a first AV traveling to a location of the plurality of landing pads, a request for an assigned landing pad in which the first AV should park. In response to this request, the control subsystem determines, based on the received landing pad sensor data, whether a first landing pad is free of obstructions that would prevent receipt of the first AV. If the first landing pad is free of obstructions, an indication is provided to the AV that the first landing pad is the assigned landing pad.

Abstract: A power management system is disclosed for managing power in a vehicle. The system may include a power distribution unit (PDU) communicably coupled to a power controller unit located in the vehicle. The power controller unit comprises a microcontroller configured to: receive, from the PDU, a temperature value that indicates a temperature of the PDU, one or more voltage values from the one or more voltage sensors, or one or more current values from the one or more current sensors, perform a determination that the temperature value, the one or more voltage values, or the one or more current values are below one or more of their respective pre-determined threshold values, and send, after the determination, a health status message to a computer located in the vehicle, where the health status message indicates that the PDU is operating in a safe operating condition.

Abstract: Disclosed is a camera mounting apparatus for a vehicle that attaches the camera to the vehicle, isolates the camera from vibration at the mounting points, and accommodates thermal expansion and contraction of the vehicle and the mounting structure. The apparatus includes a camera mounting beam coupled to the camera, and one or more elastomeric vibration isolators coupled to an attachment device and coupled to the camera mounting beam. The apparatus also includes a spherical bearing coupled to the attachment device, wherein the spherical bearing is configured to accommodate misalignment of the attachment device, and one or more spring washers to generate a force holding the one or more elastomeric vibration isolators and spherical bearing in positions.

Abstract: Various embodiments provide a system and method for iterative lane marking localization that may be utilized by autonomous or semi-autonomous vehicles traveling within the lane. In an embodiment, the system comprises a locating device adapted to determine the vehicle's geographic location; a database; a region map; a response map; a plurality of cameras; and a computer connected to the locating device, database, and cameras, wherein the computer is adapted to receive the region map, wherein the region map corresponds to a specified geographic location; generate the response map by receiving information from the camera, the information relating to the environment in which the vehicle is located; identifying lane markers observed by the camera; and plotting identified lane markers on the response map; compare the response map to the region map; and iteratively generate a predicted vehicle location based on the comparison of the response map and the region map.

Abstract: A system and method for autonomous vehicle control to minimize energy cost are disclosed. A particular embodiment includes: generating a plurality of potential routings and related vehicle motion control operations for an autonomous vehicle to cause the autonomous vehicle to transit from a current position to a desired destination; generating predicted energy consumption rates for each of the potential routings and related vehicle motion control operations using a vehicle energy consumption model; scoring each of the plurality of potential routings and related vehicle motion control operations based on the corresponding predicted energy consumption rates; selecting one of the plurality of potential routings and related vehicle motion control operations having a score within an acceptable range; and outputting a vehicle motion control output representing the selected one of the plurality of potential routings and related vehicle motion control operations.

Abstract: Devices, systems and methods for using system-level malfunction indicators to monitor the operation and resiliency of the autonomous driving system components are described. One example of a method for diagnosing a fault in a component of an autonomous vehicle includes receiving, from an electrical sub-component of the component, an electrical signal, receiving, from an electronic sub-component of the component, a message, and determining, based on the electrical signal and the message, an operational status of the component.

Abstract: A system and method for generating simulated vehicles with configured behaviors for analyzing autonomous vehicle motion planners are disclosed. A particular embodiment includes: obtaining configuration instructions and data for each of a plurality of simulated vehicles, a specific driving behavior for each of the plurality of simulated vehicles corresponding to perception data obtained from perception data sensors; and generating a plurality of trajectories and acceleration profiles to transition each of the plurality of simulated vehicles from a current position and speed to a corresponding target position and target speed, the target position and the target speed corresponding to the specific driving behavior for each of the plurality of simulated vehicles.

Abstract: A system and method for lateral vehicle detection is disclosed. A particular embodiment can be configured to: receive lateral image data from at least one laterally-facing camera associated with an autonomous vehicle; warp the lateral image data based on a line parallel to a side of the autonomous vehicle; perform object extraction on the warped lateral image data to identify extracted objects in the warped lateral image data; and apply bounding boxes around the extracted objects.

Abstract: A system and method for providing multiple agents for decision making, trajectory planning, and control for autonomous vehicles are disclosed.

Abstract: A control device associated with an autonomous vehicle receives sensor data and detects that the autonomous vehicle is approaching a railroad crossing based on the sensor data. The control device determines that the railroad crossing is closed from the sensor data. The control device determines one or more re-routing options from map data. The control device determines whether at least one re-routing option reaches a predetermined destination of the autonomous vehicle. In response to determining that the at least one re-routing option reaches the predetermined destination, the control device selects a particular re-routing option based at least on determining that the autonomous vehicle is able to travel according to the particular re-routing option autonomously. The control device instructs the autonomous vehicle to re-route according to the particular re-routing option.

Abstract: A camera cleaning system for an autonomous vehicle may include a platform that can accommodate multiple cameras, wiper systems, as well as a fluid delivery system. The wiper system may include a wiper, rail, and a hydraulic motion component for each camera. The platform surface that contacts the wiper system's wipers and cleaning fluid may be angled and may include a window or lens for each camera. The autonomous vehicle may include a controller that may decide when a camera cleaning protocol should be executed. Alternatively, or additionally, a camera cleaning protocol may be executed periodically, as indicated by a controller.

Abstract: A system and method for instance-level roadway feature detection for autonomous vehicle control are disclosed.

Abstract: A system and method for real world autonomous vehicle trajectory simulation may include: receiving training data from a data collection system; obtaining ground truth data corresponding to the training data; performing a training phase to train a plurality of trajectory prediction models; and performing a simulation or operational phase to generate a vicinal scenario for each simulated vehicle in an iteration of a simulation. Vicinal scenarios may correspond to different locations, traffic patterns, or environmental conditions being simulated. Vehicle intention data corresponding to a data representation of various types of simulated vehicle or driver intentions.

Abstract: Disclosed are devices, systems and methods for capturing an image. In one aspect an electronic camera apparatus includes an image sensor with a plurality of pixel regions. The apparatus further includes an exposure controller. The exposure controller determines, for each of the plurality of pixel regions, a corresponding exposure duration and a corresponding exposure start time. Each pixel region begins to integrate incident light starting at the corresponding exposure start time and continues to integrate light for the corresponding exposure duration. In some example embodiments, at least two of the corresponding exposure durations or at least two of the corresponding exposure start times are different in the image.

Abstract: The angle of a trailer with respect to a tow vehicle is an important parameter to the stability of the vehicle and trailer. A tow vehicle pulling a trailer in a straight line is generally more stable than when the vehicle is turning. While turning, the angle between the tow vehicle and the trailer is not a straight line but is another angle depending on how sharply the tow vehicle is turning. To safely operate a vehicle towing a trailer, for a given steering input and speed, there is a maximum angle between the tow vehicle and trailer whereby exceeding the angle causes instability and may cause the trailer or tow vehicle to roll over or jackknife. Accordingly, the angle between the trailer and tow vehicle must be determined to ensure the vehicle and trailer will continue to be in control.

Abstract: A system and method for real world autonomous vehicle perception simulation are disclosed. A particular embodiment includes: configuring a sensor noise modeling module to produce simulated sensor errors or noise data with a configured degree, extent, and timing of simulated sensor errors or noise based on a set of modifiable parameters; using the simulated sensor errors or noise data to generate simulated perception data by simulating errors related to constraints of one or more of a plurality of sensors, and by simulating noise in data provided by a sensor processing module corresponding to one or more of the plurality of sensors; and providing the simulated perception data to a motion planning system for the autonomous vehicle.

Abstract: A system includes an autonomous vehicle (AV) configured to travel along a road and a control device communicatively coupled to the AV. The control device determines that the AV should move from a current lane of the road to an adjacent lane of the road. The control device determines two or more candidate windows into which the AV may move in the adjacent lane. Each candidate window corresponds to a space in the adjacent lane between two vehicles traveling in the adjacent lane. The control device determines that the AV should move into a first candidate window, and, in response to this determination, causes the AV to begin moving along a trajectory leading to the first candidate window (e.g., by accelerating or decelerating).