Abstract: An in-vehicle stable platform system employing active suspension and a control method thereof is provided. The system includes a vehicle body, an in-vehicle stable platform, an inertial measurement device, an electronic control device, a servo controller set, multiple wheels, and suspension servo actuation cylinders and displacement sensors respectively corresponding to the wheels. The wheels are divided into three groups, which form three support points. The heights of the three support points are controlled to control orientation of the vehicle body. An amount of extension/retraction of the suspension servo actuation cylinders required to cause the in-vehicle stable platform to return to a horizontal level is calculated according to a measured pitch angle and a roll angle of the in-vehicle stable platform, and when a vehicle travels on an uneven road, the extension/retraction of each suspension servo actuation cylinder is controlled to cause the in-vehicle stable platform to be horizontal.

Abstract: The disclosure relates to a method for actuating an electrical drive of a trailer vehicle with a towing vehicle. According to an embodiment, the method include the steps of: determining a current mass of the towing vehicle; determining a current drive force of the towing vehicle; determining an acceleration demand in dependence upon the current mass and the current drive force; and, actuating the electric drive via an actuating signal in dependence upon the acceleration demand. The disclosure also relates to a control device for executing the method, a towing vehicle, a trailer vehicle and a semi-trailer truck.

Abstract: The invention relates to a payload frame for deploying a payload underwater. The payload frame includes at least three lead screws, each lead screw connected near a top end of the lead screw to the payload by a corresponding spherical bearing; at least three motors, each motor connected to a bottom end of one of the lead screws, the motor to rotate the lead screw through the corresponding spherical bearing; at least three feet, each foot attached to one of the motors, the feet to support and secure the payload frame on a water body bed; an accelerometer attached to the payload, the accelerometer to measure gravity vectors of the payload; and a microcontroller connected to the accelerometer and the motors. The microcontroller to receive the gravity vectors from the accelerometer and control each of the motors based on the gravity vectors to position the payload in a target orientation.

Abstract: A method of solving a graph simultaneous localization and mapping (graph SLAM) for HD maps using a computing system includes partitioning a graph into a plurality of subgraphs, each of the subgraphs having all of the vertices of the graph and a subset of the edges of the graph. Constrained and non-constrained vertices are defined for the subgraphs. An alternating direction method of multipliers (ADMM) formulation for Graph SLAM is defined using the partitioned graph. A distributed Graph SLAM algorithm is then defined in terms of the constrained and non-constrained vertices based on the ADMM formulation. The distributed Graph SLAM algorithm is then used to solve the Graph SLAM problem for HD maps.

Abstract: The present application discloses an improved transportation matching system, and corresponding methods and computer-readable media. According to disclosed embodiments, a transportation matching system trains a predictive request model to generate a metric predicted to trigger an increase in transportation provider activity within the geographic area for a given time period. Furthermore, the system determines a predicted gap between expected request activity and expected transportation provider activity for the geographic area during a future time period, utilizes the predictive request model and the predicted gap to generate a metric for the geographic area, and generates an interactive map associated with a customized schedule for the geographic area and the future time period based on the generated metric.

Abstract: Systems and methods for detecting and classifying objects proximate to an autonomous vehicle can include a sensor system and a vehicle computing system. The sensor system includes at least one LIDAR system configured to transmit ranging signals relative to the autonomous vehicle and to generate LIDAR data. The vehicle computing system receives the LIDAR data from the sensor system. The vehicle computing system also determines at least a range-view representation of the LIDAR data and a top-view representation of the LIDAR data, wherein the range-view representation contains a fewer number of total data points than the top-view representation. The vehicle computing system further detects objects of interest in the range-view representation of the LIDAR data and generates a bounding shape for each of the detected objects of interest in the top-view representation of the LIDAR data.

Abstract: The present application discloses is a scheduling method and system for fully autonomous waterborne inter terminal transportation, and belongs to the field of transportation. The method includes: establishing a dynamic scheduling model for waterborne Autonomous guided vessels (wAGVs); quickly inserting the dynamically arriving transportation tasks into all the existing wAGV paths, calculating the insertion cost and selecting the path and position with the lowest insertion cost to obtain updated initial paths; improving the initial path using a heuristic algorithm based on tabu search to obtain quasi-optimal wAGV paths; executing the scheduling wAGV paths.

Abstract: The invention provides systems and methods for an Intelligent Road Infrastructure System (IRIS), which facilitates vehicle operations and control for connected automated vehicle highway (CAVH) systems. IRIS systems and methods provide vehicles with individually customized information and real-time control instructions for vehicle to fulfill the driving tasks such as car following, lane changing, and route guidance. IRIS systems and methods also manage transportation operations and management services for both freeways and urban arterials. In some embodiments, the IRIS comprises or consists of one of more of the following physical subsystems: (1) Roadside unit (RSU) network, (2) Traffic Control Unit (TCU) and Traffic Control Center (TCC) network, (3) vehicle onboard unit (OBU), (4) traffic operations centers (TOCs), and (5) cloud information and computing services.

Abstract: A method for setting a working point of a slip controller for a wheel of a vehicle. Upon activating the slip controller, a torque at the wheel is controlled on the basis of the working point using a slip at the wheel, wherein the torque is monitored and a value of the working point is set to a previous value of the torque if the slip satisfies a condition.

Abstract: Hybrid electric propulsion systems includes a combustion engine and an electric motor. The hybrid electric propulsion systems may include or utilize a non-transitory computer-readable medium comprising computer-executable instructions, which when executed by a processor associated with the hybrid electric propulsion system, cause the processor to perform a method that includes determining an occurrence of a thrust asymmetry in the hybrid electric propulsion system, and controlling the electric motor to decrease an efficiency of the electric motor for a transient time period sufficient to reduce a torque output of the combustion engine to match an electrical load on the combustion engine.

Abstract: A vegetative health mapping system which creates two- or three-dimensional maps and associates moisture content, soil density, ambient light, surface temperature, and/or additional indications of vegetative health with the map. Moisture content is inferred using radar return signals of near-field and/or far-field radar. By tuning various parameters of the one or more radar (e.g. frequency, focus, power), additional data may be associated with the map from subterranean features (such as rocks, soil density, sprinklers, etc.). Additional sensors (camera(s), lidar, IMU, GPS, etc.) may be fused with radar returns to generate maps having associated moisture content, surface temperature, ambient light levels, additional indications of vegetative health (as may be determined by machine learned algorithms), etc. Such vegetative health maps may be provided to a user who, in turn, may indicate additional areas for the vegetative health device to scan or otherwise used to recommend and/or perform treatments.

Abstract: The technology relates to detecting and responding to processions. For instance, sensor data identifying two or more objects in an environment of a vehicle may be received. The two or more objects may be determined to be disobeying a predetermined rule in a same way. Based on the determination that the two or more objects are disobeying a predetermined rule, that the two or more objects are involved in a procession may be determined. The vehicle may then be controlled autonomously in order to respond to the procession based on the determination that the two or more objects are involved in a procession.

Abstract: An apparatus, method, and computer readable medium related to determining the position of a device, for example determining the pose of a camera. Varying embodiments discuss the use of sensors and captured images to construct an environment property map, which provides reference information in the form of environment properties that are associated with positions, such as camera poses. Embodiments of the disclosure discuss using the environment property map online (e.g. in real time) in order to determine the position of a device. In some embodiments, the environment property map provides a coarse position that is used to refine or limit the necessary work for determining a more precise position.

Abstract: Embodiments discussed herein refer to systems and methods that compensate for debris and water obfuscation that affect operation of LiDAR systems. A debris management system can direct air and/or fluid over a portion of the LiDAR system to remove any debris or water.

Abstract: A method for controlling slip of at least one wheel of a vehicle. In the method, at least one parameter of an action to be performed is read out from a matrix using a slip state of the wheel if the slip state is outside a target slip region of the matrix, wherein, for reading this out, a data field of the matrix associated with the slip state is determined and the at least one parameter is read out from the data field, wherein, for performing the action, at least one actuator of the vehicle is actuated using the parameter.

Abstract: A system and method for instance-level lane detection for autonomous vehicle control are disclosed.

Abstract: Techniques for utilizing microphone or audio data to detect and responding to low velocity impacts to a system such as an autonomous vehicle. In some cases, the system may be equipped with a plurality of microphones that may be used to detect impacts that fail to register on the data captured by the vehicle's inertial measurement units and may go undetected by the vehicle's perception system and sensors. In one specific example, the perception system of the autonomous vehicle may identify a period of time in which a potential low velocity impact may occur. The autonomous vehicle may then utilize the microphone or audio data associated with the period of time to determine if an impact occurred.

Abstract: Techniques for presenting a user interface on a display for monitoring and/or controlling a vehicle. The user interface may include a digital representation of an environment in which the vehicle is operation. Additionally, the user interface may include system interface that is configured to display one or more notifications associated with systems or components of the vehicle. The system interface may additionally, or alternatively, comprise one or more control inputs for controlling systems or components of the vehicle. The user interface may also include a mission interface that includes a map interface and a mission selection interface for selecting routes the vehicle is to navigate. The user interface may additionally cause presentation of visual indicators that indicate the presence of an object that is not shown on the user interface, but that is moving in a direction such that the object will soon be visibly displayed on the user interface.

Abstract: Systems, methods, and apparatus related to dynamically adjusting sensing and/or processing resources of a vehicle. In one approach, sensor data is collected by sensing devices of the vehicle. A controller of the vehicle uses the sensor data to control one or more functions of the vehicle. The controller evaluates the sensor data to determine a context of operation (e.g., weather, lighting, and/or traffic) for the vehicle. Based on the context of operation, the controller adjusts the operation of one or more of the sensing or processing devices in real-time during operation of the vehicle. In one example, the adjustment reduces power consumption by the vehicle.

Abstract: A method of monitoring a protected zone of a vehicle, wherein the protected zone is bounded at least regionally by a boundary contour, comprises the following steps: positioning the vehicle at a teaching zone comprising the boundary contour; teaching a reference contour by means of measuring the boundary contour by an environmental sensor arranged at the vehicle; and monitoring the protected zone on the basis of the reference contour and on measured values detected by the environmental sensor.