Abstract: The disclosure relates to controlling braking behaviors a vehicle in an autonomous driving mode in the event of a hydraulic system failure. For instance, the vehicle may be controlled in the autonomous driving mode according to a first braking control behavior based on a first relationship between position of a brake pedal of the vehicle and amount of deceleration for the vehicle. While controlling the vehicle, a failure of a hydraulic system may be determined. Based on the determination, the vehicle may be controlled in the autonomous driving mode according to a second braking control behavior by moving the brake pedal until the vehicle reaches a deceleration target defined by the second braking control behavior.

Abstract: The present disclosure relates to optical systems and methods for their manufacture. An example optical system includes a first substrate having a mounting surface and a spacer structure having at least one cavity. The spacer structure is coupled to the mounting surface of the first substrate. The optical system also includes a light-emitter device that is coupled to the spacer structure and a detector device coupled to the first substrate such that the at least one detector device is disposed within the at least one cavity of the spacer structure. The optical system also includes a second substrate that mounts a lens and a waveguide and is coupled to the spacer structure. The optical system also includes a shim coupled between the second surface of the spacer structure and a mounting surface of the second substrate.

Abstract: The technology relates to identifying sensor occlusions due to the limits of the ranges of a vehicle's sensors and using this information to maneuver the vehicle. As an example, the vehicle is maneuvered along a route that includes traveling on a first roadway and crossing over a lane of a second roadway. A trajectory is identified from the lane that will cross with the route during the crossing at a first point. A second point beyond a range of the vehicle's sensors is selected. The second point corresponds to a hypothetical vehicle moving towards the route along the lane. A distance between the first point and the second point is determined. An amount of time that it would take the hypothetical vehicle to travel the distance is determined and compared to a threshold amount of time. The vehicle is maneuvered based on the comparison to complete the crossing.

Abstract: An example method includes stacking a plurality of laser diode bars proximate an alignment plate. Each respective laser diode bar has a front edge through which the respective laser diode bar emits light. The alignment plate has a first side that provides a common plane for aligning the front edges of the laser diode bars and a second side opposite the first side. The alignment plate has a plurality of microholes extending between the first and second sides. The method also includes applying suction to the plurality of laser diode bars through the plurality of microholes. The suction draws the front edges of the laser diode bars against the first side of the alignment plate such that the front edges of the laser diode bars are aligned in the common plane. Conductive plates used to clamp the plurality of laser diodes therebetween may be aligned in a similar fashion.

Abstract: Aspects of the disclosure relate to providing information about a vehicle dispatched to pick up the user. In one example, a request for the vehicle to stop at a particular location is sent. In response, information identifying a current location of the vehicle is received. A map is generated. The map includes a first marker identifying the received location of the vehicle, a second marker identifying the particular location, and a shape defining an area around the second marker at which the vehicle may stop. The shape has an edge at least a minimum distance greater than zero from the second area. A route is displayed on the map between the first marker and the shape such that the route ends at the shape and does not reach the second marker. Progress of the vehicle towards the area along the route is displayed based on received updated location information for the vehicle.

Abstract: Aspects of the disclosure relate to training and using a phrase recognition model to identify phrases in images. As an example, a selected phrase list may include a plurality of phrases is received. Each phrase of the plurality of phrases includes text. An initial plurality of images may be received. A training image set may be selected from the initial plurality of images by identifying the phrase-containing images that include one or more phrases from the selected phrase list. Each given phrase-containing image of the training image set may be labeled with information identifying the one or more phrases from the selected phrase list included in the given phrase-containing images. The model may be trained based on the training image set such that the model is configured to, in response to receiving an input image, output data indicating whether a phrase of the plurality of phrases is included in the input image.

Abstract: A method is provided that includes a vehicle receiving data from an external computing device indicative of at least one other vehicle in an environment of the vehicle. The vehicle may include a sensor configured to detect the environment of the vehicle. The at least one other vehicle may include at least one sensor. The method also includes determining a likelihood of interference between the at least one sensor of the at least one other vehicle the sensor of the vehicle. The method also includes initiating an adjustment of the sensor to reduce the likelihood of interference between the sensor of the vehicle and the at least one sensor of the at least one other vehicle responsive to the determination.

Abstract: Aspects of the disclosure relate to providing sensor data on a display of a vehicle. For instance, data points generated by a lidar sensor may be received. The data points may be representative of one or more objects in an external environment of the vehicle. A scene including a representation of the vehicle from a perspective of a virtual camera, a first virtual object corresponding to at least one of the one or more objects, and a second virtual object corresponding to at least one object identified from pre-stored map information may be generated. Supplemental points corresponding to a surface of the at least one object identified from the pre-stored map information may be generated. A pulse including at least some of the data points generated by the sensor and the supplemental points may be generated. The scene may be displayed with the pulse on the display.

Abstract: The present disclosure relates to limitation of noise on light detectors using an aperture. One example implementation includes a system. The system includes a lens disposed relative to a scene. The lens focuses light from the scene. The system also includes an opaque material that defines an aperture. The system also includes a waveguide having a first side that receives light focused by the lens and transmitted through the aperture. The waveguide guides the received light toward a second side of the waveguide opposite to the first side. The waveguide has a third side extending between the first side and the second side. The system also includes a mirror that reflects the guided light toward the third side of the waveguide. The system also includes an array of light detectors that detects the reflected light propagating out of the third side.

Abstract: Aspects of the disclosure provide a method of facilitating communications from an autonomous vehicle to a user. For instance, a method may include, while attempting to pick up the user and prior to the user entering an vehicle, inputting a current location of the vehicle and map information into a model in order to identify a type of communication action for communicating a location of the vehicle to the user; enabling a first communication based on the type of the communication action; determining whether the user has responded to the first communication from received sensor data; and enabling a second communication based on the determination of whether the user has responded to the communication.

Abstract: Aspects of the disclosure relate to reducing the likelihood of injury to a passenger in a collision. In one example, a system for reducing the likelihood of a passenger submarining, may include a restraining device for restraining the passenger. A second restraining device for further restraining the passenger may also be included in the system. A locking mechanism may be configured to prevent a seat back from reclining when the second restraining device is not activated.

Abstract: Aspects of the disclosure relate to generating a grid or a visual list to facilitate operator review of labels. The system receives a first set of labels generated by a first labeling source and a second set of labels generated by a second labeling source. The first set of labels and the second set of labels each classify one or more objects perceived in one or more scenes captured by a sensor of a vehicle, such that each of the one or more objects has a corresponding first label and a corresponding second label. The system determines discrepancies between the corresponding first label and the corresponding second label for each of the one or more objects, and generates a grid or a visual list using the determined discrepancies. The system provides the grid or the visual list for display to a human operator.

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. The apparatus also includes a waveguide configured to propagate an electromagnetic signal. The apparatus further includes a coupling port configured to couple a signal between the circuit board and the waveguide, where the coupling port has dimensions based on a desired impedance of the port.

Abstract: The present disclosure relates to a fiber encapsulation mechanism for energy dissipation in a fiber amplifying system. One example embodiment includes an optical fiber amplifier. The optical fiber amplifier includes an optical fiber that includes a gain medium, as well as a polymer layer that at least partially surrounds the optical fiber. The polymer layer is optically transparent. In addition, the optical fiber amplifier includes a pump source. Optical pumping by the pump source amplifies optical signals in the optical fiber and generates excess heat and excess photons. The optical fiber amplifier additionally includes a heatsink layer disposed adjacent to the polymer layer. The heatsink layer conducts the excess heat away from the optical fiber. Further, the optical fiber amplifier includes an optically transparent layer disposed adjacent to the polymer layer. The optically transparent layer transmits the excess photons away from the optical fiber.

Abstract: Examples relating to vehicle motion detection using radar technology are described. An example method may involve a computing system receiving, from a radar sensor mounted on an autonomous vehicle, radar data representative of an environment of the vehicle. The method may involve the computing system, based on the radar data, detecting at least one scatterer present in the environment. The method may involve the computing system making a determination of a likelihood that the at least one scatterer is stationary with respect to the vehicle. The method may involve the computing system, based on the determination being that the likelihood is at least equal to a predefined confidence threshold, determining an indication that the vehicle is stationary. And the method may involve the computing system controlling movement of the vehicle based on the determined indication.

Abstract: A route for a trip to a destination is generated using map information. A set of no-go roadway segments, where the vehicle is not able to drive in an autonomous mode, relevant to the route from the plurality of no-go roadway segments is identified from the map information. A local region around a current location of the vehicle is determined. A local map region including roadway segments of the map information that correspond to locations within the local region is determined. The set of the plurality of no-go roadway segments is filtered from the roadway segments of the local map region. A cost value is assigned to each roadway segment of the filtered roadway segments of the local map region. Any assigned cost values are used to determining a plan for maneuvering the vehicle for a predetermined period into the future. The vehicle is maneuvered according to the plan.

Abstract: The technology relates to a wiper systems. For instance, a system may include a sensor including a sensor housing and a housing window in the sensor housing. The system may also include a rotating drive mechanism. A first portion of the rotating drive mechanism is positioned adjacent to a top of the housing window. The system also includes a plurality of pulleys, and the rotating drive mechanism may be wrapped around at least a portion of the pulleys. The system also includes a wiper attached to the rotating drive mechanism and a motor. The motor may be configured to rotate at least one of the pulleys in order to cause at least the first portion of the rotating drive mechanism to rotate in a first direction. As a result, the wiper may move across the housing window from an initial position to a second position in order to move contaminants on the housing window.

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: A route is selected for travel by an autonomous vehicle based on at least a level of difficulty of traversing the driving environment along that route. Vehicle signals, provided by one or more autonomous vehicles, indicating a difficulty associated with traveling a portion of a route are collected and used to predict a most favorable driving route for a given time. The signals may indicate a probability of disengaging from autonomous driving mode, a probability of being stuck for an unduly long time, traffic density, etc. A difficulty score may be computed for each road segment of a route, and then the scores of all of the road segments of the route are added together. The scores are based on number of previous disengagements, previous requests for remote assistance, unprotected left or right turns, whether parts of the driving area are occluded, etc. The difficulty score is used to compute a cost for a particular route, which may be compared to costs computed for other possible routes.