Abstract: Aspects of the disclosure relate to reducing the likelihood of injury to a passenger in a collision. In one example, a computing device may determine that an impact between a vehicle and an object external to the vehicle is imminent. The computing device may determine a protection range for a vehicle's airbag based on characteristics of the passenger, including the passenger's seating location within the vehicle. An airbag extension system may position an airbag package, including the vehicle's airbag, such that the vehicle's airbag is within the protection range of the passenger's seating location.

Abstract: Aspects of the disclosure relate to reducing the likelihood of injury to a passenger in a collision. In one example, a computing device may determine that an impact between a vehicle and an object external to the vehicle is imminent. The computing device may determine a protection range for a vehicle's airbag based on characteristics of the passenger, including the passenger's seating location within the vehicle. An airbag extension system may position an airbag package, including the vehicle's airbag, such that the vehicle's airbag is within the protection range of the passenger's seating location.

Abstract: The disclosure relates to assessing and responding to wheel slippage and estimating road friction for a road surface. For instance, a vehicle may be controlled in an autonomous driving mode in order to follow a trajectory. A wheel of the vehicle may be determined to be slipping such that the vehicle has limited steering control. In response to determining that the wheel is slipping, steering of one or more wheels may be controlled in order to orient the one or more wheels towards the trajectory in order to allow the vehicle to proceed towards the trajectory when the wheel is no longer slipping. In addition, the road friction may be estimated based on the determination that the wheel is slipping. The vehicle may be controlled in the autonomous driving mode based on the estimated road friction.

Abstract: Aspects of the disclosure relate to deployable structures, such as airbag systems, for vehicles. A system is disclosed for reducing likelihood of injury to a passenger in a collision. The system may include a seat configured to accommodate the passenger and an airbag system. At least a portion of the airbag system may be incorporated into a vehicle prior to deployment of the airbag system. The airbag system may include an airbag and a locking feature. The locking feature may be configured to lock the airbag with a locking portion of a vehicle when the airbag system has been deployed. The locking feature may be attached to the airbag. Aside from airbags, other confining structures, such as nets, shades, curtains, etc., may also be used as deployable structures.

Abstract: Aspects of the disclosure relate to reducing the likelihood of injury to a passenger in a collision. In one example, a computing device may determine that an impact between a vehicle and an object external to the vehicle is imminent. The computing device may determine a protection range for a vehicle's airbag based on characteristics of the passenger, including the passenger's seating location within the vehicle. An airbag extension system may position an airbag package, including the vehicle's airbag, such that the vehicle's airbag is within the protection range of the passenger's seating location.

Abstract: The disclosure relates to assessing and responding to wheel slippage and estimating road friction for a road surface. For instance, a vehicle may be controlled in an autonomous driving mode in order to follow a trajectory. A wheel of the vehicle may be determined to be slipping such that the vehicle has limited steering control. In response to determining that the wheel is slipping, steering of one or more wheels may be controlled in order to orient the one or more wheels towards the trajectory in order to allow the vehicle to proceed towards the trajectory when the wheel is no longer slipping. In addition, the road friction may be estimated based on the determination that the wheel is slipping. The vehicle may be controlled in the autonomous driving mode based on the estimated road friction.

Abstract: It is advantageous for a vehicle to detect road wetness or related environmental conditions. This is particularly true for self-driving vehicles, which can then adjust the manner of automated operation of the vehicle to increase safety by reducing speed, braking earlier, adjusting internal estimates of road traction parameters, or adjusting autonomous operation in some other manner. It is difficult to directly measure road wetness (e.g., using spectroscopy or other methods directed at the road surface), however, it is possible to indirectly estimate road wetness based on road noise audio signals detected via one or more microphones disposed on the vehicle. The location of the microphones, the type of post-processing applied to the audio signals, or other factors can be adapted to increase the useful road wetness-related content of such audio signals while reducing the presence of engine noise, road noise, or other confounding signals.

Abstract: Aspects of the disclosure relate to reducing the likelihood of injury to a passenger in a collision. In one example, a computing device may determine that an impact between a vehicle and an object external to the vehicle is imminent. The computing device may determine a protection range for a vehicle's airbag based on characteristics of the passenger, including the passenger's seating location within the vehicle. An airbag extension system may position an airbag package, including the vehicle's airbag, such that the vehicle's airbag is within the protection range of the passenger's seating location.

Abstract: The disclosure provides for a system. The system may include a rotational control system configured to rotate a seat of a vehicle, and one or more computing devices. The one or more computing devices may have one or more processors that are configured to determine that an impact is imminent at a location on the vehicle along a collision axis. A most favorable orientation may be determined by the one or more processors based on the determined location and collision axis. Using the rotational control system, the one or more processors may rotate the seat of the vehicle to the most favorable orientation in order to reduce risks of serious injury to a passenger in the seat caused by the imminent impact. A translational control system may be used by the one or more processors to translate the seat of the vehicle to a position relative to the determined location.

Abstract: Aspects of the disclosure relate to reducing the likelihood of injury to a passenger in a collision. In one example, a computing device may determine that an impact between a vehicle and an object external to the vehicle is imminent. The computing device may determine a protection range for a vehicle's airbag based on characteristics of the passenger, including the passenger's seating location within the vehicle. An airbag extension system may position an airbag package, including the vehicle's airbag, such that the vehicle's airbag is within the protection range of the passenger's seating location.

Abstract: Aspects of the disclosure relate to deployable structures, such as airbag systems, for vehicles. A system is disclosed for reducing likelihood of injury to a passenger in a collision. The system may include a seat configured to accommodate the passenger and an airbag system. At least a portion of the airbag system may be incorporated into a vehicle prior to deployment of the airbag system. The airbag system may include an airbag and a locking feature. The locking feature may be configured to lock the airbag with a locking portion of a vehicle when the airbag system has been deployed. The locking feature may be attached to the airbag. Aside from airbags, other confining structures, such as nets, shades, curtains, etc., may also be used as deployable structures.

Abstract: Aspects of the disclosure relate to reducing the likelihood of injury to a passenger in a collision. In one example, a computing device may determine that an impact between a vehicle and an object external to the vehicle is imminent. The computing device may determine a protection range for a vehicle's airbag based on characteristics of the passenger, including the passenger's seating location within the vehicle. An airbag extension system may position an airbag package, including the vehicle's airbag, such that the vehicle's airbag is within the protection range of the passenger's seating location.

Abstract: Aspects of the disclosure provide methods for controlling a first vehicle having an autonomous driving mode. In one instance, sensor data generated by one or more sensors of the first vehicle may be received. A splash and characteristics of the splash may be detected from the sensor data using a classifier. A severity of a puddle may be determined based on the characteristics of the splash and a speed of a second vehicle that caused the splash. The first vehicle may be controlled based on the severity. In another instance, a location of a puddle relative to a tire of a second vehicle is estimated using sensor data generated by one or more sensors of the first vehicle. A severity of the puddle may be determined based on the estimated location. The first vehicle may be controlled based on the severity.

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 deployable structures, such as airbag systems, for vehicles. A system is disclosed for reducing likelihood of injury to a passenger in a collision. The system may include a seat configured to accommodate the passenger and an airbag system. At least a portion of the airbag system may be incorporated into a vehicle prior to deployment of the airbag system. The airbag system may include an airbag and a locking feature. The locking feature may be configured to lock the airbag with a locking portion of a vehicle when the airbag system has been deployed. The locking feature may be attached to the airbag. Aside from airbags, other confining structures, such as nets, shades, curtains, etc., may also be used as deployable structures.

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 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: The disclosure provides for a system. The system may include a rotational control system configured to rotate a seat of a vehicle, and one or more computing devices. The one or more computing devices may have one or more processors that are configured to determine that an impact is imminent at a location on the vehicle along a collision axis. A most favorable orientation may be determined by the one or more processors based on the determined location and collision axis. Using the rotational control system, the one or more processors may rotate the seat of the vehicle to the most favorable orientation in order to reduce risks of serious injury to a passenger in the seat caused by the imminent impact. A translational control system may be used by the one or more processors to translate the seat of the vehicle to a position relative to the determined location.

Abstract: The disclosure relates to assessing and responding to wheel slippage and estimating road friction for a road surface. For instance, a vehicle may be controlled in an autonomous driving mode in order to follow a trajectory. A wheel of the vehicle may be determined to be slipping such that the vehicle has limited steering control. In response to determining that the wheel is slipping, steering of one or more wheels may be controlled in order to orient the one or more wheels towards the trajectory in order to allow the vehicle to proceed towards the trajectory when the wheel is no longer slipping. In addition, the road friction may be estimated based on the determination that the wheel is slipping. The vehicle may be controlled in the autonomous driving mode based on the estimated road friction.

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.