Abstract: The present disclosure relates to optical receiver systems. An example optical receiver system includes a first substrate with a plurality of photodetectors and a bias circuit. The bias circuit is electrically coupled to each photodetector of the plurality of photodetectors. The bias circuit is configured to provide a bias voltage to each photodetector. The optical receiver system also includes a plurality of capacitors. Each capacitor of the plurality of capacitors is electrically-coupled to a respective photodetector of the plurality of photodetectors. The optical receiver system also includes a second substrate with a read-out circuit having a plurality of channels. Each channel of the plurality of channels is capacitively-coupled to a respective photodetector via the respective capacitor.

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: Aspects of the present disclosure relate generally to identifying and displaying traffic lanes that are available for autonomous driving. This information may be displayed to a driver of a vehicle having an autonomous driving mode, in order to inform the driver of where he or she can use the autonomous driving mode. In one example, the display may visually distinguishing between lanes that are available for auto-drive from those that are not. The display may also include an indicator of the position of a lane (autodrive or not) currently occupied by the vehicle. In addition, if that lane is an autodrive lane the display may include information indicating how much further the vehicle may continue in the autonomous driving mode in that particular lane. The display may also display information indicating the remaining autodrive distance in other lanes as well as the lane with the greatest remaining autodrive distance.

Abstract: Autonomous vehicles use various computing systems to transport passengers from one location to another. A control computer sends messages to the various systems of the vehicle in order to maneuver the vehicle safely to the destination. The control computer may display information on an electronic display in order to allow the passenger to understand what actions the vehicle may be taking in the immediate future. Various icons and images may be used to provide this information to the passenger.

Abstract: Aspects of the disclosure relate controlling autonomous vehicles or vehicles having an autonomous driving mode. More particularly, these vehicles may identify and respond to other vehicles engaged in a parallel parking maneuver by receiving sensor data corresponding to objects in an autonomous vehicle's environment and including location information for the objects over time. An object corresponding to another vehicle in a lane in front of the first vehicle may be identified from the sensor data. A pattern of actions of the other vehicle identified form the sensor data is used to determine that the second vehicle is engaged in a parallel parking maneuver based on a pattern of actions exhibited by the other vehicle identified from the sensor data. The determination is then used to control the autonomous vehicle.

Abstract: A method is provided for mounting a plurality of radar units to a vehicle. The method involves determining, for each radar unit, a measured pitch direction and a measured yaw direction based on data obtained using a photogrammetry system. The method also involves determining yaw angles between at least two of the radar units based on at least one of the measured yaw directions. The method also involves determining, for each radar unit, a pitch offset and a yaw offset. The method also involves adjusting at least one of the radar units based on at least one of the determined pitch offsets and at least one of the determined yaw offsets. Also provided is a device for performing the method.

Abstract: In one example, a device includes a first platform having a first side and a second platform having a second side that overlaps the first side. The device also includes an actuator that rotates the first platform relative to the second platform. The device also includes a plurality of light sources mounted to the first platform in a substantially circular arrangement around the axis of rotation of the first platform. The plurality of light sources emit a plurality of light beams such that respective adjacent light beams intersect at least at a predetermined distance to the first side. The first side remains at least at the predetermined distance to the second side in response to the actuator rotating the first platform. The device also includes a light detector mounted to the second platform and positioned to at least partially overlap at least one of the plurality of light beams.

Abstract: One example device includes a rotor platform that rotates about an axis of rotation. The device also includes a rotor coil comprising a first plurality of conductive loops disposed along a planar mounting surface of the rotor platform. The device also includes a stator platform and a stator coil comprising a second plurality of conductive loops disposed along a planar mounting surface of the stator platform. The rotor coil and the stator coil are coaxially arranged about the axis of rotation. The stator coil remains within a first predetermined distance to the rotor coil in response to rotation of the rotor platform. The device also includes a magnetic core extending along the axis of rotation and through the stator coil. The magnetic core remains within a second predetermined distance to the stator coil in response to rotation of the rotor platform.

Abstract: A radar system includes a plurality of radiating elements configured to radiate electromagnetic energy and a plurality of feed waveguides defining a common plane and configured to guide electromagnetic energy to the plurality of radiating elements. The radar system also includes a plurality of waveguides arranged as a dividing network, where the dividing network includes one or more coupling apertures located in the common plane. The dividing network is configured to receive electromagnetic energy from a source and split the electromagnetic energy among the plurality of feed waveguides, such that each feed waveguide receives a respective portion of the electromagnetic energy. The splitting and adjusting of the radar system are based in part on the one or more coupling apertures in the dividing network.

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: 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: Example embodiments relate to multistage camera calibration. An example embodiment includes a method. The method includes positioning a calibration target relative to a camera. The method also includes capturing a focused image of the calibration target. Further, the method includes determining one or more approximate locations of calibration points of the calibration target within the focused image of the calibration target. In addition, the method includes adjusting the focal length of the camera. Still further, the method includes capturing an unfocused image of the calibration target. Additionally, the method includes determining, based on the one or more approximate locations of calibration points of the calibration target within the focused image of the calibration target, one or more refined locations of calibration points of the calibration target within the unfocused image of the calibration target. Yet further, the method includes correcting for one or more optical aberrations within the camera.

Abstract: A method is provided that involves identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects. The method also involves operating a first sensor to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region. The method also involves determining whether a second sensor has a sufficiently clear view of the target region based on at least the scan obtained by the first sensor. The method also involves operating the second sensor to monitor the target region for presence of moving objects based on at least a determination that the second sensor has a sufficiently clear view of the target region. Also provided is an autonomous vehicle configured to perform the method.

Abstract: Aspects of the disclosure relate to providing an end of trip sequence when a vehicle is nearing its destination. One or more computing devices may generate and display a video indicating a projected trajectory of the vehicle and objects detected by sensors on the vehicle, on a map corresponding to a route the vehicle is currently following, where the video is generated from a perspective of a virtual camera at a default position and default pitch A determination that the vehicle has reached a threshold relative to the route of the vehicle may be made and the position and pitch of the virtual camera may be adjusted to an updated position above the vehicle and a perspective which looks downwards towards a roof of the vehicle. The video may then be generated and displayed from the perspective of the virtual camera at the updated position.

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 pickup location and determine when the vehicle is within a first distance of the pickup location. When the vehicle is within the first distance, the computing devices may make a first attempt to find a spot to park the vehicle and wait for the passenger. When the vehicle is unable to find a spot to park the vehicle on the first attempt, the computing devices may maneuvering the vehicle in order to make a second attempt to find a spot to park the vehicle and wait for the passenger. When the vehicle is unable to find a spot to park the vehicle on the second attempt, the computing devices may stop the vehicle in a current lane to wait for the passenger.

Abstract: A device is provided that includes a first waveguide configured to guide propagation of RF waves inside the first waveguide. A first side of the first waveguide is configured to emit an evanescent field associated with the propagation of the RF waves inside the first waveguide. The device also includes a second waveguide having a second side positioned within a predetermined distance to the first side of the first waveguide. The second waveguide is configured to guide propagation, inside the second waveguide, of induced RF waves associated with the evanescent field from the first waveguide. The device also includes a first probe coupled to the first waveguide and configured to emit the RF waves for propagation inside the first waveguide. The device also includes a second probe coupled to the second waveguide and configured to receive induced RF waves propagating inside the second waveguide.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for implementing an interactive autonomous vehicle agent. One of the methods includes receiving a request to generate an experience tuple for a vehicle in a particular driving context. A predicted environment observation representing a predicted environment of the autonomous vehicle after the candidate action is taken by the autonomous vehicle in an initial environment is generated, including providing an initial environment observation and the candidate action as input to a vehicle behavior model neural network trained to generate predicted environment observations. An immediate quality value is generated from a context-specific quality model that generates immediate quality values that are specific to the particular driving context.

Abstract: The present disclosure relates to systems and circuits that may facilitate sub-5 nanosecond laser diode operation. An example system includes a trigger source, a laser diode, a first field effect transistor and a second field effect transistor. The laser diode is coupled to a supply voltage and a drain terminal of the first field effect transistor. A source terminal of the first field effect transistor is coupled to ground and a gate terminal of the first field effect transistor is coupled to the trigger source. A drain terminal of the second field effect transistor is coupled to the supply voltage. A source terminal of the second field effect transistor and a gate terminal of the second field effect transistor are coupled to ground. In an example embodiment, the first field effect transistor and the second field effect transistor comprise gallium nitride (GaN).

Abstract: Example methods and systems for detecting weather conditions using vehicle onboard sensors are provided. An example method includes receiving laser data collected for an environment of a vehicle, and the laser data includes a plurality of laser data points. The method also includes associating, by a computing device, laser data points of the plurality of laser data points with one or more objects in the environment, and determining given laser data points of the plurality of laser data points that are unassociated with the one or more objects in the environment as being representative of an untracked object. The method also includes based on one or more untracked objects being determined, identifying by the computing device an indication of a weather condition of the environment.