Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for selecting locations in an environment of a vehicle where objects are likely centered and determining properties of those objects. One of the methods includes receiving an input characterizing an environment external to a vehicle. For each of a plurality of locations in the environment, a respective first object score that represents a likelihood that a center of an object is located at the location is determined. Based on the first object scores, one or more locations from the plurality of locations are selected as locations in the environment at which respective objects are likely centered. Object properties of the objects that are likely centered at the selected locations are also determined.

Abstract: An apparatus includes a lens assembly that includes at least one lens that defines an optical axis. The apparatus also includes a substrate, an image sensor disposed on the substrate, and an actuator coupled to the substrate and configured to adjust a position of the substrate relative to the lens assembly to move the image sensor along the optical axis. The apparatus additionally includes a capacitive position sensor that includes a first capacitive plate coupled to the substrate and a second capacitive plate coupled to the lens assembly. The capacitive position sensor may be configured to generate a capacitance measurement indicative of the position of the substrate relative to the lens assembly. The apparatus further includes circuitry configured to control the actuator based on (i) the capacitance measurement and (ii) a target position of the image sensor relative to the lens assembly.

Abstract: The technology involves an in-vehicle communication system with a console that is positioned within the cabin of the vehicle, for instance between the front seats so that passengers in the second row can view and access it. The console is configured to provide contextual information to passengers. The console includes a monitor assembly that has a display screen and a notification region. The notification region includes one or more displayable icons and at least one receptacle for a communication device of a passenger. The notification region has a first section comprising an outer cover layer with a first series of masking, diffuser and illuminating layers to selectively illuminate the one or more displayable icons. The notification region has a second section comprising the outer cover layer with a second series of masking, diffuser and illuminating layers to selectively illuminate the at least one receptacle for the communication device.

Abstract: Example embodiments described herein involve a system for testing a light-emitting module. The light-emitting module may include a mounting platform configured to hold a light-emitting module for a camera. The mounting platform may also be configured to rotate. The system may further include a housing holding a plurality of photodiodes arranged in an array over at least a 90 degree arc of a hemisphere. The system may also include a controller configured to control the photodiodes and the rotation of the mounting platform.

Abstract: An example circuit includes a light detector and a biasing capacitor having (i) a first terminal that applies to the light detector an output voltage that can either bias or debias the light detector and (ii) a second terminal for controlling the output voltage. The circuit includes a first transistor connected to the second terminal of the biasing capacitor and configured to drive the output voltage to a first voltage level above a biasing threshold of the light detector and thereby biasing the light detector. The circuit includes a second transistor connected to the second terminal of the biasing capacitor and configured to drive the output voltage to a second voltage level below the biasing threshold of the light detector and thereby debiasing the light detector. The second voltage is a non-zero voltage that corresponds to a charge level of the biasing capacitor.

Abstract: A method and apparatus is provided for controlling the operation of an autonomous vehicle. According to one aspect, the autonomous vehicle may track the trajectories of other vehicles on a road. Based on the other vehicle's trajectories, the autonomous vehicle may generate a pool of combined trajectories. Subsequently, the autonomous vehicle may select one of the combined trajectories as a representative trajectory. The representative trajectory may be used to change at least one of the speed or direction of the autonomous vehicle.

Abstract: A method for determining runout error includes generating a first magnetic field to interact with a second magnetic field generated by four or more poles of a magnet ring mounted to a first platform. The interaction may cause the first platform to rotate relative to a second platform. The method may further include receiving, from a magnetic field sensor, data including respective boundaries between neighboring poles of the four or more poles relative to a corresponding nominal boundary defined by substantially uniform boundary spacing. The method may include determining a magnetic field pattern from the data and, based on the pattern, determining an angular position of the four or more poles. The method may further include determining an angular difference between the determined angular position and a nominal angular position. The method may also include determining a runout error based on an amplitude of the angular difference.

Abstract: The present disclosure relates to limitation of noise on light detectors using an aperture. One example embodiment includes a system. The system includes a lens disposed relative to a scene and configured to focus light from the scene onto a focal plane. The system also includes an aperture defined within an opaque material disposed at the focal plane of the lens. The aperture has a cross-sectional area. In addition, the system includes an array of light detectors disposed on a side of the focal plane opposite the lens and configured to intercept and detect diverging light focused by the lens and transmitted through the aperture. A cross-sectional area of the array of light detectors that intercepts the diverging light is greater than the cross-sectional area of the aperture.

Abstract: The technology relates to cargo vehicles. National, regional and/or local regulations set requirements for operating cargo vehicles, including how to distribute and secure cargo, and how often the cargo should be inspected during a trip. However, such regulations have been focused on traditional human-driven vehicles. Aspects of the technology address various issues involved with securement and inspection of cargo before a trip, as well as monitoring during the trip so that corrective action may be taken as warranted. For instance, imagery and other sensor information may be used to enable proper securement of cargo before starting a trip. Onboard sensors along the vehicle monitor the cargo and securement devices/systems during the trip to identify issues as they arise. Such information is used by the onboard autonomous driving system (or a human driver) to take corrective action depending on the nature of the issue.

Abstract: A laser diode firing circuit for a light detection and ranging device is disclosed. The firing circuit includes a laser diode coupled in series to a transistor, such that current through the laser diode is controlled by the transistor. The laser diode is configured to emit a pulse of light in response to current flowing through the laser diode. The firing circuit includes a capacitor that is configured to charge via a charging path that includes an inductor and to discharge via a discharge path that includes the laser diode. The transistor controlling current through the laser diode can be a Gallium nitride field effect transistor.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating realistic full-scene point clouds. One of the methods includes obtaining an initial scene point cloud characterizing an initial scene in an environment; obtaining, for each of one or more objects, an object point cloud that characterizes the object; and processing a first input comprising the initial scene point cloud and the one or more object point clouds using a first neural network that is configured to process the first input to generate a final scene point cloud that characterizes a transformed scene that has the one or more objects added to the initial scene.

Abstract: This technology relates to a display mounted messaging system. The display mounted messaging system may include a light emitting diode (LED) display attached to a housing of a sensor. The housing of the sensor may rotate. The display mounted messaging system may also include an LED controller which is configured to selectively activate and deactivate at least one LED in the LED display, to provide a message in the direction of an intended recipient.

Abstract: The technology relates to route planning and performing driving operations in autonomous vehicles, such as cargo trucks, articulating buses, as well as other vehicles. A detailed kinematic model of the vehicle in evaluated in conjunction with roadgraph and other information to determine whether a route or driving operation is feasible for the vehicle. This can include evaluating a hierarchical set of driving rules and whether current driving conditions impact any of the rules. Driving trajectories and cost can be evaluated when pre-planning a route for the vehicle to follow. This can include determining an ideal trajectory for the vehicle to take a particular driving action. Pre-planned routes may be shared with a fleet of vehicles, and can be modified based on information obtained by different vehicles of the fleet.

Abstract: Aspects of the present disclosure relate to a vehicle having one or more computing devices that may receive instructions to pick up a passenger at a location, determine when the vehicle is within a first distance of the location, provide a first notification that the vehicle is within the first distance, and stop the vehicle. When the vehicle is stopped, the computing device may initiate a countdown. When a client computing device associated with the passenger has not been authenticated, the computing devices may provide a second notification based on a first amount of time remaining in the countdown and a third notification indicating that the trip is cancelled based on a second amount of time remaining in the countdown less than the first amount of time. Once the third notification is provided, the computing devices move the vehicle from the where the vehicle is stopped without the passenger.

Abstract: Example embodiments relate to multiple operating modes to expand dynamic range. An example embodiment includes a camera system. The camera system may include a first image sensor having a first dynamic range corresponding to a first range of luminance levels in a scene. The system may also include a second image sensor having a second dynamic range corresponding to a second range of luminance levels in the scene. The camera system may further include a processor coupled to the first image sensor and the second image sensor. The processor may be configured to execute instructions to identify objects of a first type in a first image of the scene captured by the first image sensor and identify objects of a second object type in a second image of the scene captured by the second image sensor.

Abstract: The technology relates to partially redundant equipment architectures for vehicles able to operate in an autonomous driving mode. Aspects of the technology employ fallback configurations, such as two or more fallback sensor configurations that provide some minimum amount of field of view (FOV) around the vehicle. For instance, different sensor arrangements are logically associated with different operating domains of the vehicle. Fallback configurations for computing resources and/or power resources are also provided. Each fallback configuration may have different reasons for being triggered, and may result in different types of fallback modes of operation. Triggering conditions may relate, e.g., to a type of failure, fault or other reduction in component capability, the current driving mode, environmental conditions in the vicinity of vehicle or along a planned route, or other factors.

Abstract: A rotary joint includes a shaft having a first end, a second end, and a cavity. The rotary joint includes a first waveguide section having a first proximal end and a first distal end. The first proximal end of the first waveguide section is positioned within the cavity and secured to the inner surface of the shaft. The rotary joint includes a second waveguide section that includes a second proximal end and a second distal end. The second proximal end of the second waveguide section is positioned within the cavity of the shaft and unsecured to the inner surface of the shaft to form a radial gap between an outer surface of the second proximal end and a laterally adjacent portion of the inner surface of the shaft. The shaft and the first waveguide section are configured to rotate about the rotational axis and relative to the second waveguide section.