Abstract: The technology relates to camera systems for vehicles having an autonomous driving mode. An example system includes a first camera mounted on a vehicle in order to capture images of the vehicle's environment. The first camera has a first exposure time and being without an ND filter. The system also includes a second camera mounted on the vehicle in order to capture images of the vehicle's environment and having an ND filter. The system also includes one or more processors configured to capture images using the first camera and the first exposure time, capture images using the second camera and the second exposure time, use the images captured using the second camera to identify illuminated objects, use the images captured using the first camera to identify the locations of objects, and use the identified illuminated objects and identified locations of objects to control the vehicle in an autonomous driving mode.

Abstract: This disclosure provides systems and methods for controlling a vehicle. The method comprises receiving data from a set of sensors, wherein the data represents objects or obstacles in an environment of the autonomous vehicle; identifying objects or obstacles from the received data; determining multiple sets of attributes of the objects or obstacles, wherein each set of attributes of the objects or obstacles are determined based on data received by an individual sensor; determining a candidate trajectory for the autonomous vehicle based on the multiple sets of attributes of the objects or obstacles; and controlling the autonomous vehicle according to the candidate trajectory.

Abstract: Examples described may related to an imaging sensor used by a vehicle, including a light sensor. The light sensor comprises a plurality of cells aligned in a plurality of horizontal rows and a plurality of vertical columns. The apparatus further includes an optical system configured to provide the light sensor with a field of view of an external environment of the apparatus. Additionally, the system includes a processing unit configured to: divide the plurality of horizontal rows of the light sensor into one or more enabled rows and one or more disabled rows; obtain image data from the light sensor by sampling one or more cells in the one or more enabled rows; and store the received image data in a memory.

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: This disclosure provides systems and methods for controlling a vehicle in response to an abnormal condition. The method may include generating, by a main computing system, a nominal motion plan and a fallback motion plan for each predetermined interval from a location of the vehicle. The method may also include sending, by the main computing system, the nominal motion plan and the fallback motion plan for each predetermined interval to a redundant ACE system. The method may include detecting, by the redundant ACE system, an abnormal condition of the vehicle, and in response to the abnormal condition, controlling the vehicle, by the redundant ACE system, to perform a predetermined vehicle action comprising navigating the vehicle to a safe stop according to the last received fallback motion plan.

Abstract: Systems (e.g., remote station systems) and methods for remotely controlling a vehicle are provided. The remote station system may comprise a transmitter configured to receive one or more data points and a processor configured to identify one or more objects within a field of view of the vehicle, using the one or more data points and generate a signal to magnify a section of the field of view of the vehicle containing the one or more objects. The remote station system may comprise a display configured to display the one or more data points generated by the one or more sensors and display the one or more objects in a magnified state. The remote station system may comprise one or more remote actuation controls configured generate one or more driving actions. The one or more driving actions may correlate to one or more actuator commands.

Abstract: Systems and methods for controlling a vehicle are provided. The system may comprise a vehicle, one or more sensors configured to generate one or more data points, one or more actuation controls configured to enable the vehicle to perform one or more driving actions and a controller, configured to automatically generate an automatic trajectory command, generate, based on the one or more automatic trajectory plot points, one or more driving actions, determine whether a remote trajectory command is present for a predetermined timeframe, determine whether the remote trajectory command is different from the automatic trajectory command when the remote trajectory command is present for the predetermined timeframe, and cause the vehicle, via the one or more actuation controls, to perform the one or more driving actions during the predetermined timeframe in accordance with the remote trajectory command when the remote trajectory command is different from the automatic trajectory command.

Abstract: Systems and methods for controlling a vehicle are provided. The system may comprise a vehicle and one or more sensors, coupled to the vehicle, configured to generate one or more data points pertaining to one or more of an environment of the vehicle and one or more system component measurements of the vehicle. The system may comprise one or more actuation controls configured to enable the vehicle to perform one or more driving actions and a remote station system configured to receive the one or more data points generated by the one or more sensors, generate one or more driving actions, and transmit the one or more driving actions to the vehicle. The system may comprise a switch configured to switch command of the vehicle between automatic trajectory control and remote station system control.

Abstract: Systems and methods for controlling a vehicle are provided. The system may comprise a vehicle, one or more sensors, one or more actuation controls configured to enable the vehicle to perform one or more driving actions, and a controller, comprising a processor, configured to receive one or more trajectory commands, automatically generate an automatic trajectory command, and generate one or more driving actions. The one or more driving actions may correlate to one or more actuator commands configured to cause the vehicle to be positioned in accordance with the one or more trajectory plot points of the automatic trajectory command. The system may comprise a remote station system comprising one or more remote actuation controls configured generate the one or more driving actions of the remote trajectory command. The remote station system may be configured to generate one or more driving actions.

Abstract: This disclosure provides systems and methods for controlling a vehicle in response to an abnormal condition. The method may include generating, by a main computing system, a nominal motion plan and a fallback motion plan for each predetermined interval from a location of the vehicle. The method may also include sending, by the main computing system, the nominal motion plan and the fallback motion plan for each predetermined interval to a redundant ACE system. The method may include detecting, by the redundant ACE system, an abnormal condition of the vehicle, and in response to the abnormal condition, controlling the vehicle, by the redundant ACE system, to perform a predetermined vehicle action comprising navigating the vehicle to a safe stop according to the last received fallback motion plan.

Abstract: Systems and methods for controlling a vehicle are provided. The method may comprise generating one or more data points from one or more sensors coupled to a vehicle and performing remote station system control of the vehicle using a remote station system. The performing the remote station system control of the vehicle may comprise, using the remote station system, receiving the one or more data points generated by the one or more sensors and generating a remote trajectory command, and generating, based on the one or more trajectory plot points, one or more driving actions. The method may comprise transmitting the trajectory command to the vehicle and performing a fallback function. Performing the fallback function may comprise determining whether command of the vehicle should fall back to one or more secondary control modes and switching, using a switch, control of the vehicle to the one or more secondary control modes.

Abstract: Systems and methods for controlling a vehicle is provided. The system may comprise a vehicle, one or more sensors, coupled to the vehicle, configured to generate one or more data points, one or more actuation controls configured to enable the vehicle to perform one or more driving actions, and an automatic trajectory control system, comprising a processor, configured to perform automatic trajectory control. The automatic trajectory control system may be configured to receive one or more data points generated by the one or more sensors, automatically generate an automatic trajectory command, generate one or more driving actions, and cause the vehicle, via the one or more actuation controls, to perform the one or more driving actions in accordance with the automatic trajectory command. The system may comprise a switch configured to switch command of the vehicle between automatic trajectory control and a remote station system control.

Abstract: Systems and methods for controlling a vehicle are provided. The system may comprise a vehicle, one or more sensors configured to generate one or more data points, one or more actuation controls configured to enable the vehicle to perform one or more driving actions, and an automatic trajectory control system, comprising a processor, configured to perform automatic trajectory control. In the performing the automatic trajectory control, the automatic trajectory control system may be configured to transmit an automatic trajectory command to a remote station system. The system may comprise the remote station system. The remote station system may be configured to receive the one or more data points generated by the one or more sensors and generate one or more driving actions. The one or more driving actions may correlate to one or more actuator commands configured to cause the vehicle to perform the one or more driving actions.

Abstract: The technology relates to camera systems for vehicles having an autonomous driving mode. An example system includes a first camera mounted on a vehicle in order to capture images of the vehicle's environment. The first camera has a first exposure time and being without an ND filter. The system also includes a second camera mounted on the vehicle in order to capture images of the vehicle's environment and having an ND filter. The system also includes one or more processors configured to capture images using the first camera and the first exposure time, capture images using the second camera and the second exposure time, use the images captured using the second camera to identify illuminated objects, use the images captured using the first camera to identify the locations of objects, and use the identified illuminated objects and identified locations of objects to control the vehicle in an autonomous driving mode.

Abstract: One example system comprises a LIDAR sensor that rotates about an axis to scan an environment of the LIDAR sensor. The system also comprises one or more cameras that detect external light originating from one or more external light sources. The one or more cameras together provide a plurality of rows of sensing elements. The rows of sensing elements are aligned with the axis of rotation of the LIDAR sensor. The system also comprises a controller that operates the one or more cameras to obtain a sequence of image pixel rows. A first image pixel row in the sequence is indicative of external light detected by a first row of sensing elements during a first exposure time period. A second image pixel row in the sequence is indicative of external light detected by a second row of sensing elements during a second exposure time period.

Abstract: Aspects of the disclosure relate to determining and responding to an internal state of a self-driving vehicle. For instance, an image of an interior of the vehicle captured by a camera mounted in the vehicle is received. The image is processed in order to identify one or more visible markers at predetermined locations within the vehicle. The internal state of the vehicle is determined based on the identified one or more visible markers. A responsive action is identified action using the determined internal state, and the vehicle is controlled in order to perform the responsive action.

Abstract: Example implementations may relate to sun-aware vehicle routing. In particular, a computing system of a vehicle may determine an expected position of the sun relative to a geographic area. Based on the expected position, the computing system may make a determination that travel of the vehicle through certain location(s) within the geographic area is expected to result in the sun being proximate to an object within a field of view of the vehicle's image capture device. Responsively, the computing system may generate a route for the vehicle in the geographic area based at least on the route avoiding travel of the vehicle through these certain location(s), and may then operate the vehicle to travel in accordance with the generated route. Ultimately, this may help reduce or prevent situations where quality of image(s) degrades due to sunlight, which may allow for use of these image(s) as basis for operating the vehicle.

Abstract: One example system comprises a LIDAR sensor that rotates about an axis to scan an environment of the LIDAR sensor. The system also comprises one or more cameras that detect external light originating from one or more external light sources. The one or more cameras together provide a plurality of rows of sensing elements. The rows of sensing elements are aligned with the axis of rotation of the LIDAR sensor. The system also comprises a controller that operates the one or more cameras to obtain a sequence of image pixel rows. A first image pixel row in the sequence is indicative of external light detected by a first row of sensing elements during a first exposure time period. A second image pixel row in the sequence is indicative of external light detected by a second row of sensing elements during a second exposure time period.

Abstract: A roof mounted sensor pod assembly for a vehicle. The roof mounted sensor pod assembly having a bracket comprising a first distal side surface and a second distal side surface, the first distal side surface configured to attach to the vehicle, a connecting assembly located at the second distal side surface of the bracket, and a sensor pod configured to couple to the second distal side surface of the bracket, with the connecting assembly. The connecting assembly is configured to support the weight of the sensor pod during installation of the sensor pod and prior to securing of the sensor pod to the bracket. A vehicle includes a roof mounted sensor pod assembly.

Abstract: A roof mounted sensor pod assembly for a vehicle. the roof mounted sensor pod having a frame configured to attach to the vehicle, a connecting assembly located on the frame, and a sensor pod configured to couple to the frame with the connecting assembly. The connecting assembly is configured to support the weight of the sensor pod during installation of the sensor pod and prior to securing of the sensor pod to the frame. A vehicle includes a roof mounted sensor pod assembly.