Abstract: Aspects of the disclosure relate to detecting spurious objects. For instance, a model may be trained using raining data including a plurality of LIDAR data points generated by a LIDAR sensor of a vehicle. Each given LIDAR data point includes location information and intensity information, and is associated with waveform data for that given LIDAR data point. At least one of the plurality of LIDAR data points is further associated with a label identifying spurious objects through which the vehicle is able to drive. The model and/or a plurality of heuristics may then be provided to a vehicle in order to allow the vehicle to determine LIDAR data points that correspond to spurious objects. These LIDAR data points may then be filtered from sensor data, and the filtered sensor data may be used to control the vehicle in an autonomous driving mode.

Abstract: An apparatus includes a lens assembly that includes at least one lens that defines an optical axis, a lens holder coupled to the lens assembly, a substrate, an image sensor disposed on the substrate, and an actuator coupled between the lens holder and the substrate and configured to adjust a position of the substrate relative to the lens assembly to reposition the image sensor along the optical axis. The apparatus also includes a position sensor that includes a magnet and a magnetic field sensor. The position sensor is coupled to the substrate and the lens holder. The magnetic field sensor is configured to generate magnetic field data indicating a position of the substrate relative to the lens holder. The apparatus additionally includes circuitry configured to control the actuator based on the magnetic field data to place the image sensor within a depth of focus of the lens assembly.

Abstract: The present application discloses embodiments that relate to an electromagnetic apparatus. In one aspect, the present apparatus includes a circuit board configured to propagate an electromagnetic signal, a waveguide configured to propagate an electromagnetic signal, and a coupling port configured to couple the electromagnetic signal between the circuit board and the waveguide. The apparatus further includes a radiating structure disposed on the circuit board. The radiating structure includes an electric field coupling component configured to an electric field between the circuit board and the coupling port and a magnetic field coupling component configured to couple a magnetic field between the circuit board and the coupling port.

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: Aspects of the disclosure relate to an autonomous vehicle that may detect other nearby vehicles and designate stationary vehicles as being in one of a short-term stationary state or a long-term stationary state. This determination may be made based on various indicia, including visible indicia displayed by the detected vehicle and traffic control factors relating to the detected vehicle. For example, the autonomous vehicle may identify a detected vehicle as being in a long-term stationary state based on detection of hazard lights being displayed by the detected vehicle, as well as the absence of brake lights being displayed by the detected vehicle. The autonomous vehicle may then base its control strategy on the stationary state of the detected vehicle.

Abstract: The technology relates to detecting possible imaging sensor occlusion. In one example, a system including an imaging sensor and one or more processors may be configured to capture first image data using the imaging sensor. The one or more processors may encode the first image data into an uncompressed image file and generate a compressed image file based on the uncompressed image file. The file size of the compressed image file may be determined and based on the file size of the compressed image file, the system may determine that the imaging sensor is possibly occluded.

Abstract: The disclosure provides for a method for determining a pullover spot for a vehicle. The method includes using a computing device to detect information related to a system of the vehicle or an environment surrounding the vehicle using a sensor of a vehicle and determine a local failure of the vehicle based on the information. The computing device may then be used to determine that the vehicle should pullover before completing a current trip related to transporting a passenger or good by comparing vehicle requirements for the trip with the local failure and determine a pullover spot by identifying a first area for the vehicle to park in part based on a second area being available for a second vehicle to pick up the passenger or good. The computing device may operate the vehicle to the pullover spot and transmit a request for a second vehicle.

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: Aspects of the disclosure relate to detecting an emergency vehicle. For instance, a plurality of images may be taken from a perspective of an autonomous vehicle. One or more gates representing a region of interest at a respective distance from the vehicle may be generated for the images. A plurality of lights may be detected within the one or more gates. A first candidate emergency vehicle may be identified from a detected plurality of lights in one or more gates of one of the images, and a second candidate emergency vehicle may be identified from a detected plurality of lights in one or more gates of another of the images. The first and second candidate emergency vehicles are determined to be the same emergency vehicle and to be active. An operational system of the autonomous vehicle is controlled based on the determination that the given emergency vehicle is active.

Abstract: A vehicle display apparatus is disclosed. The apparatus may comprise a housing configured to support a display cover and a backlight assembly configured to provide light to at least a portion of the display cover. The apparatus may also comprise a masking layer disposed between the backlight assembly and the display cover. Further, the apparatus may also include a first interface module having a connector body and a port extending from the connector body. The apparatus may also comprise a first support member disposed between the connector body of the first interface module and the backlight assembly.

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: Aspects of the disclosure relate to validating autonomous control software for operating a vehicle autonomously. For instance, the autonomous control software is run through a driving scenario to observe an outcome for the autonomous control software. A validation model is run through the driving scenario a plurality of times to observe an outcome for the model for each of the plurality of times. Whether the software passed the driving scenario is determined based on whether the outcome for the software indicates that a virtual vehicle under control of the software collided with another object during the single time. Whether the validation model passed the driving scenario is determined based on whether the outcome for the model indicates that a virtual vehicle under control of the model collided with another object in any one of the plurality of times. The software is validated based on the determinations.

Abstract: In one example, a vehicle includes a platform and a yaw sensor mounted on the platform. The yaw sensor provides an indication of a yaw rate of rotation of the yaw sensor. The vehicle also includes an actuator that rotates the platform. The vehicle also includes a controller coupled to the yaw sensor and the actuator. The controller receives the indication of the yaw rate from the yaw sensor. The controller also causes the actuator to rotate the platform (i) along a direction of rotation opposite to a direction of the rotation of the yaw sensor and (ii) at a rate of rotation based on the yaw rate of the yaw sensor. The controller also estimates a direction of motion of the vehicle in an environment of the vehicle based on at least the rate of rotation of the platform.

Abstract: Aspects of the disclosure relate to arranging a pick up and drop off locations between a driverless vehicle and a passenger. As an example, a method of doing so may include receiving a request for a vehicle from a client computing device, wherein the request identifies a first location. Pre-stored map information and the first location are used to identify a recommended point according to a set of heuristics. Each heuristic of the set of heuristics has a ranking such that the recommended point corresponds to a location that satisfies at least one of the heuristics having a first rank and such that no other location satisfies any other heuristic of the set of heuristics having a higher rank than the first rank. The pre-stored map information identifying a plurality of pre-determined locations for the vehicle to stop, and the recommended point is one of the plurality of pre-determined locations.

Abstract: The present disclosure relates to optical systems and methods of their manufacture. An example system includes a printed circuit board assembly (PCBA) and an image sensor package coupled to the PCBA by way of a plurality of bond members. The system additionally includes a sensor holder coupled to the PCBA. The image sensor package and the sensor holder are coupled to the PCBA so as to minimize thermally-induced stresses in at least one of: the plurality of bond members, the PCBA, the sensor holder, or the image sensor package.

Abstract: The technology relates to facilitating transportation services between a user and a vehicle having an autonomous driving mode. For instance, one or more server computing devices having one or more processors may information identifying the current location of the vehicle. The one or more server computing devices may determine that the user is likely to want to take a trip to a particular destination based on prior location history for the user. The one or more server computing devices may dispatch the vehicle to cause the vehicle to travel in the autonomous driving mode towards a location of the user. In addition, after dispatching, the one or more server computing devices sending a notification to a client computing device associated with the user indicating that the vehicle is currently available to take the passenger to the particular destination.

Abstract: Aspects of the disclosure relate to reducing the likelihood of injury to a passenger in a collision. In one example, a computing device may determine that an impact between a vehicle and an object external to the vehicle is imminent. The computing device may determine a protection range for a vehicle's airbag based on characteristics of the passenger, including the passenger's seating location within the vehicle. An airbag extension system may position an airbag package, including the vehicle's airbag, such that the vehicle's airbag is within the protection range of the passenger's seating location.

Abstract: The present disclosure relates to optical systems and methods of their manufacture. An example optical system includes a lens assembly having at least one lens. The lens assembly defines an optical axis, a focal distance, and a corresponding focal plane. The optical system includes a substrate having a first surface and an image sensor attached to the first surface of the substrate. The optical system also includes a sensor holder attached to the first surface of the substrate. The sensor holder positions the image sensor along the optical axis and substantially at the focal plane. The optical system includes a registration body having a first registration surface and a second registration surface. The lens assembly is coupled to the first registration surface and the sensor holder is coupled to the second registration surface.

Abstract: A LIDAR device may transmit light pulses originating from one or more light sources and may receive reflected light pulses that are then detected by one or more detectors. The LIDAR device may include a lens that both (i) collimates the light from the one or more light sources to provide collimated light for transmission into an environment of the LIDAR device and (ii) focuses the reflected light onto the one or more detectors. The lens may define a curved focal surface in a transmit path of the light from the one or more light sources and a curved focal surface in a receive path of the one or more detectors. The one or more light sources may be arranged along the curved focal surface in the transmit path. The one or more detectors may be arranged along the curved focal surface in the receive path.