Abstract: Provided are methods for graph forward search exploration, which can include detecting a plurality of obstacles along a first trajectory of a vehicle. Some methods described also include determining a plurality of valid combinations of a plurality of trajectories to handle the plurality of obstacles. Some methods described also include generating a reduced decision tree based at least on the valid combinations of the plurality of trajectories by at least excluding a second trajectory of the plurality of trajectories associated with an obstacle of a plurality of obstacles based on a position of the obstacle being outside of a corridor defined by a spatial range and/or a temporal range. Some methods described also include selecting an optimal trajectory of the vehicle from the plurality of trajectories of the reduced decision tree. Systems and computer program products are also provided.

Abstract: Provided are methods for attribute verification to enable destination which can include obtaining a ride request requesting a ride for an item from a starting location to a destination, obtaining, credential data indicative of one or more credentials indicative of the item, verifying the one or more credentials indicative of the item, and generating, route data indicative of a route indicative of the ride by an autonomous vehicle based on the ride request. Systems and computer program products are also provided.

Abstract: Disclosed is a method including obtaining, using at least one processor, a user destination; obtaining, using the at least one processor, preference data indicative of a user route preference; determining, using the at least one processor, based on the user destination and the preference data, a set of routes towards a set of destinations, wherein at least one route of the set of routes is associated with one or more operational metrics; ranking, using the at least one processor, based on the preference data, the routes of the set of routes; and controlling, using the at least one processor, based on at least one of the ranked routes, navigation of an autonomous vehicle Systems and computer program products are also provided.

Abstract: Among other things, techniques are described for driver data guided spatial planning. A spatial structure is generated comprising a plurality of nodes connected by edges. At least some of the nodes and edges represent a path to navigate a vehicle from a first point to a second point. Edges of the spatial structure are labeled as useful based on a distance metric. The spatial structure is pruned by removing one or more edges from the spatial structure according to a respective label of the edges, wherein an extent of the removal is based on a predetermined graph size, a predetermined performance, or any combinations thereof to obtain a pruned graph. A path from the first point to the second point on the pruned graph is identified and the vehicle is navigated in accordance with the path from the first point to the second point on the pruned graph.

Abstract: Provided are methods for ride experience enhancements with external services, which can include receiving a request for transportation of a passenger to a service provider, and determining route information corresponding to the request. Some methods described also include providing service information associated with the service provider to the passenger, and receiving at least one requested service from the passenger based on the provided service information. Some methods described also include transmitting the at least one requested service and at least a portion of the route information to the service provider. Systems and computer program products are also provided.

Abstract: Among other things, techniques are described for notifying and explaining the action performed by an autonomous vehicle, including but not limited to: receiving a planned path of a vehicle, a state of the vehicle and environment data of an environment in which the vehicle is operating, receiving a deviation signal, determining whether the deviation signal was reported by a first system or a second system of the vehicle, in response selecting a first set of simulators or a second set of simulators for simulating the vehicle in the environment, simulating the vehicle in the environment using the selected first or second set of simulators, based on results of the simulating, generating a message and presenting the message to at least one occupant of the vehicle.

Abstract: A method that includes obtaining, using at least one processor, sensor data associated with an environment in which an autonomous vehicle (AV) is in operation. The method includes determining, using the at least one processor, an intended action of the AV based on the environment in which the AV is in operation. The method includes determining, using the at least one processor, an action for the AV based on the intended action of the AV and an agent prediction.

Abstract: Provided are methods for completing an errand request prior to fulfilling a ride request. Some methods described include obtaining a ride request from a passenger; obtaining an errand request from the passenger, wherein the errand request comprises performing an activity at a third location prior to pickup of the passenger at the first location; planning a route comprising the third location, the first location, and the second location; navigating the planned route to complete the errand request from the passenger at the third location; and navigating the planned route to transport the passenger from the first location to the second location upon completion of the errand request. Systems and computer program products are also provided.

Abstract: Provided are methods and systems for semantic behavior filtering for prediction improvement. A method for operating an autonomous vehicle, is provided. The method includes obtaining, by at least one processor, semantic image data associated with an environment where an autonomous vehicle is operating. The method includes determining, by the at least one processor, a set of agents in the environment based on the semantic image data. The method includes determining a set of predicted actions for at least one agent of the set of agents. The method includes determining, from the set of predicted actions, a set of secondary predicted actions for the at least one primary agent using semantic data. The method includes determining, from the set of predicted actions, a set of primary predicted actions other than secondary predicted actions The method includes generating a path for the autonomous vehicle based on the set of primary predicted actions.

Abstract: Provided are methods and systems for semantic behavior filtering for prediction improvement. A method for operating an autonomous vehicle is provided. The method includes obtaining, by at least one processor, semantic image data associated with an environment in which an autonomous vehicle is operating. The method includes determining, by the at least one processor, at least one agent in the environment. The method includes determining a predicted action for the at least one agent. The method includes determining an agent predicted path for the at least one agent. The method includes determining a vehicle path of the autonomous vehicle. The method includes determining a predicted collision of the at least one agent and the autonomous vehicle. The method includes simulating actions to avoid the predicted collision. The method includes categorizing the predicted collision as a primary predicted collision based on the simulating actions.

Abstract: Provided are methods and systems for semantic behavior filtering for prediction improvement. A method for operating an autonomous vehicle is provided. The method includes obtaining, by at least one processor, semantic image data associated with an environment in which an autonomous vehicle is operating. The method includes determining, by the at least one processor a set of agents in the environment based on the semantic image data. The method includes determining, by the at least one processor, a set of secondary agents from the set of agents based on a relative location of a respective secondary agent to a respective object and a set of object semantic behavior data associated with the respective object. The method includes determining, from the set of agents, a set of primary agents other than secondary agents. The method includes generating a path for the autonomous vehicle based on the set of primary agents.

Abstract: Among other things, techniques are described for receiving, from at least one sensor of a vehicle, a sensor measurement indicative of at least one of a sound or a vibration associated with a road element; identifying the road element based on a pattern in the sensor measurement; determining, based on the road element, a vehicle behavior for the vehicle; and controlling the vehicle to operate according to vehicle behavior.

Abstract: Provided are methods for post drop-off passenger assistance, which can include obtaining location data indicative of an environment where an autonomous vehicle is operating, determining a completion parameter indicative of a completion of a ride of the autonomous vehicle, determining, an assistance parameter indicative of an assistance of the autonomous vehicle to a passenger of the autonomous vehicle to be provided after the completion of the ride, and controlling an operation of the autonomous vehicle for assisting the passenger. Some methods described also include obtaining sensor data and controlling operation of the autonomous vehicle based on the sensor data. Systems and computer program products are also provided.

Abstract: Among other things, techniques are described for conditional motion predictions. The techniques include generating, by a planning circuit, a set of candidate trajectories for a vehicle based on possible macro actions by the vehicle, predicting, by the planning circuit and for at least some trajectories in the set of candidate trajectories, a response by a target vehicle to the respective trajectory and a probability of the response by the target vehicle, selecting, by the planning circuit, a trajectory from the set of candidate trajectories based at least in part on the response by the target vehicle to the trajectory, the probability of the response by the target vehicle, and characteristics of the trajectory, and operating, by a control circuit, the vehicle based on the selected trajectory.

Abstract: An autonomous vehicle notification system, method, and a computer program product. One or more travel trajectories associated with at least one of a vehicle and at least one object present in an environment of the vehicle are determined. A presence of at least one event occurring in the environment of the vehicle is detected. A determination is made that the detected event meets a notification threshold. At least one notification in a plurality of notifications for presentation using at least one user interface component of the vehicle is generated. The notification corresponds to the detected event. The generated notification is selectively presented using the user interface component.

Abstract: Among other things, techniques are described for receiving, from at least one sensor of a vehicle, sensor data associated with a surface along a path to be traveled by a vehicle; using a surface classifier to determine a classification of the surface based on the sensor data; determining, based on the classification of the surface, drivability properties of the surface; planning, based on the drivability properties of the surface, a behavior of the vehicle when driving near the surface or on the surface; and controlling the vehicle based on the planned behavior.

Abstract: Provided are methods for light-based object localization, which can include comparing unexpected light sources to expected light sources for determination of an agent, such as a partially and/or fully occluded agent. Some methods described also include generating a trajectory for an autonomous vehicle based on the comparison. Systems and computer program products are also provided.

Abstract: Disclosed is a method including obtaining, using at least one processor, a user destination; obtaining, using the at least one processor, preference data indicative of a user route preference; determining, using the at least one processor, based on the user destination and the preference data, a set of routes towards a set of destinations, wherein at least one route of the set of routes is associated with one or more operational metrics; ranking, using the at least one processor, based on the preference data, the routes of the set of routes; and controlling, using the at least one processor, based on at least one of the ranked routes, navigation of an autonomous vehicle Systems and computer program products are also provided.

Abstract: Among other things, techniques are described for conditional motion predictions. The techniques include generating, by a planning circuit, a set of candidate trajectories for a vehicle based on possible macro actions by the vehicle, predicting, by the planning circuit and for at least some trajectories in the set of candidate trajectories, a response by a target vehicle to the respective trajectory and a probability of the response by the target vehicle, selecting, by the planning circuit, a trajectory from the set of candidate trajectories based at least in part on the response by the target vehicle to the trajectory, the probability of the response by the target vehicle, and characteristics of the trajectory, and operating, by a control circuit, the vehicle based on the selected trajectory.

Abstract: Provided are methods for thermal sensor data vehicle perception, which can include obtaining thermal sensor data, obtaining non-thermal sensor data, and determining, based on the thermal sensor data and the non-thermal sensor data, a perception parameter indicative of an object. Some methods described also include generating a trajectory for an autonomous vehicle. Systems and computer program products are also provided.