Abstract: The technology involves evaluating components of an autonomous vehicle that can be meaningfully evaluated over a single operational iteration. One or more snapshots of single iteration scenarios can be tested quickly and efficiently, either on vehicle or via a back-end system. Each snapshot corresponds to a particular point in time when a given component runs. Each snapshot contains a serialized set of inputs necessary to evaluate the particular component. These inputs comprise the minimal amount of information needed to accurately and faithfully recreate what the component did or does. Each snapshot is triggered at the particular point in time based on one or more criteria associated with either a driving scenario or a component of the vehicle during autonomous driving. A serialized snapshot may be retrieved from storage and deserialized, so that the system may evaluate the state of the component at the particular point in time.

Abstract: The present disclosure relates to light detection and ranging (LIDAR) devices and related methods of their use. An example LIDAR device includes a transmitter configured to transmit one or more light pulses into an environment of the LIDAR device via a transmit optical path. The LIDAR device also includes a detector configured to detect a first portion of the one or more transmitted light pulses and a second portion of the one or more transmitted light pulses, such that the detector receives at a first time the first portion of the one or more transmitted light pulses via an internal optical path within the LIDAR device and receives at a second time the second portion of the one or more transmitted light pulses via reflection by one or more objects in the environment of the LIDAR device. The second time occurs after the first time.

Abstract: Example embodiments relate to user interface techniques for recommending remote assistance actions. A remote computing device may display a representation of the forward path for an autonomous vehicle based on sensor data received from the vehicle. The computing device may augment the representation of the forward path to further depict one or more proposed trajectories available for the autonomous vehicle to perform. Each proposed trajectory conveys one or more maneuvers positioned relative to road boundaries in the forward path. The computing device may receive a selection of a proposed trajectory from the one or more proposed trajectories available for the autonomous vehicle to perform and provide navigation instructions to the vehicle based on the proposed trajectory.

Abstract: The subject matter of this specification can be implemented in, among other things, systems and methods that enable lidar channel multiplexing using optical locking of separate lasers while simultaneously imparting different frequency offsets to beams output by different lasers. As a result, received beams reflected from various objects, which are present in an outside environment, can have Doppler-shifted frequencies that do not overlap, facilitating concurrent identification of distances to and velocities of multiple objects.

Abstract: Aspects of the present disclosure relate to a vehicle for maneuvering a passenger to a destination autonomously. The vehicle includes one or more computing devices and a set of user input buttons for communicating requests to stop the vehicle and to initiate a trip to the destination with the one or more computing devices. The set of user input buttons consisting essentially of a dual-purpose button and an emergency stopping button different from the dual-purpose button configured to stop the vehicle. The dual-purpose button has a first purpose for communicating a request to initiate the trip to the destination and a second purpose for communicating a request to pull the vehicle over and stop the vehicle. The vehicle has no steering wheel and no user inputs for the steering, acceleration, and deceleration of the vehicle other than the set of user input buttons.

Abstract: The technology relates to autonomous vehicles suffering a breakdown along a roadway. Onboard systems may utilize various proactive operations to alert specific vehicles or other objects on or near the roadway about the breakdown. This can be done alternatively or in addition to turning on the hazard lights or calling for remote assistance. The disabled vehicle is able to detect nearby and approaching objects. The detection may be performed in combination with a determination of the type of object or predicted behavior for that object, enables the vehicle to generate a targeted alert that can be transmitted or otherwise presented to that particular object. This approach provides the other object, such as a vehicle, bicyclist or pedestrian, sufficient time and information about the breakdown to take appropriate corrective action. Different communication options are available and may be selected based on the particular object, environmental conditions and other factors.

Abstract: Aspects of the disclosure provide methods of generating blockages in map information for use by a fleet of autonomous vehicles. For instance, information from an autonomous vehicle of the fleet may be received by one or more processors of a server computing system. That the received information meets at least one set of rules for generating blockages may be determined. Based on the determination that the received information meets at least one set of rules for generating blockages, blockage data identifying a specific area of a blockage may be generated. The blockage data may be sent to the autonomous vehicles of the fleet in order to enable the autonomous vehicles of the fleet to avoid the specific area of the blockage.

Abstract: Aspects of the disclosure relate to generating scouting objectives in order to update map information used to control a fleet of vehicles in an autonomous driving mode. For instance, a notification from a vehicle of the fleet identifying a feature and a location of the feature may be received. A first bound for a scouting area may be identified based on the location of the feature. A second bound for the scouting area may be identified based on a lane closest to the feature. A scouting objective may be generated for the feature based on the first bound and the second bound.

Abstract: Aspects of the disclosure relate to evaluating pullovers for autonomous vehicles. In one instance, a set of potential pullover locations within a predetermined distance of a destination may be identified. Whether any of the potential pullover locations of the set include one or more of a plurality of predetermined types of regions of interest where a vehicle should not park for an extended period of time may be determined. A pullover location is identified based on the determination. The identified pullover location may be compared to a pullover location identified by autonomous vehicle control software in order to evaluate the pullover location identified by the autonomous vehicle control software.

Abstract: Example embodiments relate to devices, systems, and methods involving three-dimensional time-of-flight/visible image sensors. An example embodiment includes a device that includes a plurality of time of flight sensor (ToF) pixels and a plurality of visible image sensor (VIS) pixels. The device also includes a ToF communication channel configured to provide ToF image data indicative of one or more ToF pixels and a VIS communication channel configured to provide VIS image data indicative of one or more VIS pixels. The plurality of ToF pixels and the plurality of VIS pixels are arranged along a plane. The plurality of ToF pixels is disposed in an arrangement among the plurality of VIS pixels.

Abstract: The subject matter of this specification can be implemented in, among other things, systems and methods of optical sensing that use optimization techniques to improve quality of optical modulation of sensing beams in optical sensing devices. Described, among other things, is a system that uses a control signal to impart modulation to a transmitted (TX) beam generated by a sensing device. The system generates, using the modulated TX beam, a first reference beam and a second reference beam, the first reference beam being time-delayed relative to the second reference beam. The system identifies, using the first reference beam and the second reference beam, a tuning correction to the control signal. The tuning correction is identified based on a loss function evaluating a difference between the modulation and a target modulation. The system then uses the tuning correction to reduce this difference.

Abstract: Example embodiments relate to light detection and ranging (lidar) devices having vertical-cavity surface-emitting laser (VCSEL) emitters. An example lidar device includes an array of individually addressable VCSELs configured to emit light pulses into an environment surrounding the lidar device. The lidar device also includes a firing circuit configured to selectively fire the individually addressable VCSELs in the array. In addition, the lidar device includes a controller configured to control the firing circuit using a control signal. Further, the lidar device includes a plurality of detectors. Each detector in the plurality of detectors is configured to detect reflections of light pulses that are emitted by one or more individually addressable VCSELs in the array and reflected by one or more objects in the environment surrounding the lidar device.

Abstract: Aspects of the present disclosure relate to protecting the privacy of a user of a dispatching service for driverless vehicles. For example, a request for a vehicle identifying user information is received. A client computing device may be identified based on the user information. In response to the request, a driverless vehicle may be dispatched to the location of the client device. Signaling information may be generated based on a set of rules including a first rule that the signaling information does not identify, indirectly or directly, the user as well as a second rule that the signaling information does not identify, indirectly or directly, the user information. The location of the client computing device and the signaling information may be sent to the driverless vehicle for display. In addition, the signaling information may also be sent to the client computing device for display.

Abstract: Example embodiments described herein involve reducing the formation of ice on external modules by incorporating a heater within the module. The system may include a microphone module for an autonomous vehicle. The microphone module may include a housing and a microphone inside an opening of the housing. The system may further include a cover abutting the opening of the housing. The cover may enclose the microphone within the housing and seal the opening of the housing. The system may also include a heater adjacent to the opening of the housing and configured to prevent ice from forming over the opening. The heater may at least partially surround the opening.

Abstract: Example embodiments relate to an air cooling system for an electronic spinning assembly. An example embodiment includes a plurality of vanes coupled to a static base. A vane cover is rotatably coupled to the static base. The vane cover includes at least one air inlet, at least one air duct extending from the vane cover, and at least one choke point disposed in the cover. The at least one choke point is configured to increase a pressure of the airflow.

Abstract: Aspects of the disclosure provide systems and methods for confirming the identity of a passenger and changing destination of a vehicle. This may include receiving dispatching instructions to pick up a first passenger at a pickup location and to drop off the first passenger at a first destination as well as authentication information for authenticating a first client computing device of the first passenger. Once the client device is authenticated and a second passenger enters the vehicle, the vehicle is maneuvered towards the first destination. While doing so, a location of the vehicle is compared to location information received from the client computing devices. A notification is sent to a dispatching server based on the comparison and a second destination location is received in response. The vehicle is then maneuvered towards the second destination instead of the first destination.

Abstract: The technology provides ride hailing systems and methods. This can include receiving, by a ride hailing system, a ride hail request from a user's client device. The ride hail request includes information about a pickup or a drop-off to be scheduled. The process includes obtaining real-time information including fleet constraint information associated with a fleet of vehicles, and applying the received information and the real-time information to a ride hailing model that was trained on training data including customer preference data and historical fleet trip information. The process includes obtaining from the model a set of ride hail suggestions including pickup positions, drop-off positions, walking paths from a given pickup position to a vehicle, and/or walking paths from a given drop-off position to a destination. The process also includes sending the set of ride hail suggestions to the client device for presentation to the user.

Abstract: Aspects of the technology relate to exception handling for a vehicle. For instance, a current trajectory for the vehicle and sensor data corresponding to one or more objects may be received. Based on the received sensor data, projected trajectories of the one or more objects may be determined. Potential collisions with the one or more objects may be determined based on the projected trajectories and the current trajectory. One of the potential collisions that is earliest in time may be identified. Based on the one of the potential collisions, a safety-time-horizon (STH) may be identified. When a runtime exception occurs, before performing a precautionary maneuver to avoid a collision, waiting no longer than the STH for the runtime exception to resolve.