Abstract: An autonomous vehicle can implement a primary motion planner to continuously determine an first motion plan for the AV, and a secondary motion planner to continuously determine a backup motion plan for the AV. The secondary motion planner can comprise one or more cost metrics that act to diverge the backup motion plan from the first motion plan. A control system of the AV may then analyze a live sensor view generated by a sensor suite of the AV to operate acceleration, braking, and steering systems of the AV along sequential route trajectories selected between the first motion plan and the backup motion plan.

Abstract: A system for monitoring a vehicle used in providing a service is disclosed. The system detects when the service is complete, and upon detecting that the service is complete, the system determines, from one or more sensors of the vehicle, that an object which should have been removed from the vehicle after completion of the transport service, remains in the vehicle. The system then automatically initiates performance of a remedial action.

Abstract: A virtual reality system provides autonomous vehicle (AV) sensor data to applications such as games and augmented reality overlays to enhance experiences for riders in the autonomous vehicle. Virtual reality headsets offer users unique and interesting experiences, but when used in a changing environment such as a moving vehicle, external stimuli can impair the virtual reality experience. AV sensors can predict these stimuli so that applications can take measures to reduce their impacts on virtual reality experiences. In addition, sensors can include cameras that send live video feeds to virtual reality devices to render improved views of the environment around the AV and of landmarks in a city. Furthermore, virtual reality devices can take advantage of the AV's computing resources in order to offer better performance and more features to applications.

Abstract: The present disclosure provides autonomous vehicle systems and methods that include or otherwise leverage a machine-learned yield model. In particular, the machine-learned yield model can be trained or otherwise configured to receive and process feature data descriptive of objects perceived by the autonomous vehicle and/or the surrounding environment and, in response to receipt of the feature data, provide yield decisions for the autonomous vehicle relative to the objects. For example, a yield decision for a first object can describe a yield behavior for the autonomous vehicle relative to the first object (e.g., yield to the first object or do not yield to the first object). Example objects include traffic signals, additional vehicles, or other objects. The motion of the autonomous vehicle can be controlled in accordance with the yield decisions provided by the machine-learned yield model.

Abstract: A computer system operates to determine a traction value for each of a plurality of regions of the road network. A region of the road network for which the traction value is unknown is identified. A vehicle is directed to operate over the region of the road network to obtain additional data that is indicative of a current traction value.

Abstract: A vehicle work environment provides capabilities for working and participating in meetings while riding in a vehicle such as a driverless autonomous vehicle (AV). In some examples, mobile meeting features are added to a calendaring system so that a meeting organizer can schedule a teleconference or in-vehicle meeting while some or all participants in the meeting are commuting to/from work or another destination. When attempting to schedule a meeting, a transport facilitation system in communication with the calendaring system calculates optimal times when attendees can meet inside a vehicle or teleconference in multiple vehicles simultaneously. The transport facilitation system sends AVs to the pick-up addresses for the attendees. The AVs provide a vehicle work environment including secure audio and visual communications with a conferencing system between vehicles and any non-mobile participants.

Abstract: A system for monitoring a vehicle used in providing a service is disclosed. The system detects when the service is complete, and upon detecting that the service is complete, the system determines, from one or more sensors of the vehicle, that an object which should have been removed from the vehicle after completion of the transport service, remains in the vehicle. The system then automatically initiates performance of a remedial action.

Abstract: A vehicle sensor calibration system can detect an SDV on a turntable surrounded by a plurality of fiducial targets, and rotate the turntable using a control mechanism to provide the sensor system of the SDV with a sensor view of the plurality of fiducial targets. The vehicle sensor calibration system can receive, over a communication link with the SDV, a data log corresponding to the sensor view from the sensor system of the SDV recorded as the SDV rotates on the turntable. Thereafter, the vehicle sensor calibration system can analyze the sensor data to determine a set of calibration parameters to calibrate the sensor system of the SDV.

Abstract: A virtual reality system is disclosed that provides autonomous vehicle (AV) sensor data to applications such as games and augmented reality overlays to enhance experiences for riders in the autonomous vehicle. Virtual reality headsets offer users unique and interesting experiences, but when used in a changing environment such as a moving vehicle, external stimuli can impair the virtual reality experience. AV sensors can predict these stimuli so that applications can take measures to reduce their impacts on virtual reality experiences. In addition, sensors can include cameras that send live video feeds to virtual reality devices to render improved views of the environment around the AV and of landmarks in a city. Furthermore, virtual reality devices can take advantage of the AV's computing resources in order to offer better performance and more features to applications.

Abstract: A vehicle sensor calibration system for self-driving vehicles can include a turntable on which a sensor system including a LIDAR sensor is positioned. A plurality of fiducial targets can be positioned around the turntable to enable calibration of the sensor system, and a control mechanism can automatically rotate the turntable when the sensor system is positioned on the turntable. The system can include one or more computing systems that receive a data log corresponding to sensor data recorded by the sensor system as the sensor system rotates on the turntable, and analyze the sensor data to determine a set of calibration parameters to calibrate the sensor system.

Abstract: A vehicle sensor calibration system can detect an SDV on a turntable surrounded by a plurality of fiducial targets, and rotate the turntable using a control mechanism to provide the sensor system of the SDV with a sensor view of the plurality of fiducial targets. The vehicle sensor calibration system can receive, over a communication link with the SDV, a data log corresponding to the sensor view from the sensor system of the SDV recorded as the SDV rotates on the turntable. Thereafter, the vehicle sensor calibration system can analyze the sensor data to determine a set of calibration parameters to calibrate the sensor system of the SDV.

Abstract: A system for monitoring a vehicle used in providing a service is disclosed. The system detects when the service is complete, and upon detecting that the service is complete, the system determines, from one or more sensors of the vehicle, that an object which should have been removed from the vehicle after completion of the transport service, remains in the vehicle. The system then automatically initiates performance of a remedial action.

Abstract: A sensory stimulation system for autonomous vehicle (AV) can monitor AV data indicating actions to be performed by the AV. The sensory stimulation system can further provide a user interface the enables riders of the AV to adjust output parameters of the sensory stimulation system. Based at least in part on the AV data, the sensory stimulation system can generate a set of stimulation commands for one or more of the output systems. Based on adjustments made by the at least one rider on the user interface, the sensory stimulation system can execute the stimulation commands on individual output systems.

Abstract: A virtual reality system is disclosed that provides autonomous vehicle (AV) sensor data to applications such as games and augmented reality overlays to enhance experiences for riders in the autonomous vehicle. Virtual reality headsets offer users unique and interesting experiences, but when used in a changing environment such as a moving vehicle, external stimuli can impair the virtual reality experience. AV sensors can predict these stimuli so that applications can take measures to reduce their impacts on virtual reality experiences. In addition, sensors can include cameras that send live video feeds to virtual reality devices to render improved views of the environment around the AV and of landmarks in a city. Furthermore, virtual reality devices can take advantage of the AV's computing resources in order to offer better performance and more features to applications.

Abstract: A virtual reality system is disclosed that provides autonomous vehicle (AV) sensor data to applications such as games and augmented reality overlays to enhance experiences for riders in the autonomous vehicle. Virtual reality headsets offer users unique and interesting experiences, but when used in a changing environment such as a moving vehicle, external stimuli can impair the virtual reality experience. AV sensors can predict these stimuli so that applications can take measures to reduce their impacts on virtual reality experiences. In addition, sensors can include cameras that send live video feeds to virtual reality devices to render improved views of the environment around the AV and of landmarks in a city. Furthermore, virtual reality devices can take advantage of the AV's computing resources in order to offer better performance and more features to applications.

Abstract: A vehicle sensor calibration system can detect an SDV on a turntable surrounded by a plurality of fiducial targets, and rotate the turntable using a control mechanism to provide the sensor system of the SDV with a sensor view of the plurality of fiducial targets. The vehicle sensor calibration system can receive, over a communication link with the SDV, a data log corresponding to the sensor view from the sensor system of the SDV recorded as the SDV rotates on the turntable. Thereafter, the vehicle sensor calibration system can analyze the sensor data to determine a set of calibration parameters to calibrate the sensor system of the SDV.

Abstract: A system for monitoring a vehicle used in providing a service is disclosed. The system detects when the service is complete, and upon detecting that the service is complete, the system determines, from one or more sensors of the vehicle, that an object which should have been removed from the vehicle after completion of the transport service, remains in the vehicle. The system then automatically initiates performance of a remedial action.

Abstract: A system for monitoring a vehicle used in providing a service is disclosed. The system detects when the service is complete, and upon detecting that the service is complete, the system determines, from one or more sensors of the vehicle, that an object which should have been removed from the vehicle after completion of the transport service, remains in the vehicle. The system then automatically initiates performance of a remedial action.

Abstract: A system for monitoring a vehicle used in providing a service is disclosed. The system detects when the service is complete, and upon detecting that the service is complete, the system determines, from one or more sensors of the vehicle, that an object which should have been removed from the vehicle after completion of the transport service, remains in the vehicle. The system then automatically initiates performance of a remedial action.

Abstract: A sensory stimulation system for autonomous vehicle (AV) can monitor AV data indicating actions to be performed by the AV. The sensory stimulation system can further provide a user interface the enables riders of the AV to adjust output parameters of the sensory stimulation system. Based at least in part on the AV data, the sensory stimulation system can generate a set of stimulation commands for one or more of the output systems. Based on adjustments made by the at least one rider on the user interface, the sensory stimulation system can execute the stimulation commands on individual output systems.