Abstract: Among other things, we describe techniques for estimating a speed profile for a proposed trajectory for a vehicle and operating the vehicle along the proposed trajectory according to the speed profile, including a method for: obtaining, by a planning circuit on a vehicle, a proposed trajectory for the vehicle in response to a driving scenario; obtaining, by the planning circuit, an estimated speed profile, and a confidence score, wherein the confidence score represents a similarity of the estimated speed profile to an actual speed profile that would be generated by a control circuit for the proposed trajectory; determining whether the confidence score meets a confidence threshold; and in accordance with a determination that the confidence score exceeds the confidence threshold, operating, by a control circuit on the vehicle, the vehicle along the proposed trajectory.

Abstract: The present disclosure is directed to a computer system and techniques for updating map data used for navigating an autonomous vehicle. In some embodiments, the computer system is configured to obtain map data including a starting location and a destination location; obtain a plurality of travel times corresponding to a plurality of respective possible routes for traveling from the starting location to the destination location; obtain benefit information for at least a first respective possible route; and determine a selected route based on the travel times and the benefit information. In some embodiments, the computer system is configured to obtain a route between a starting location and a destination location; obtain map-age information for the route; determine a first set of driving parameters for the autonomous vehicle based on the map-age information; and navigate the autonomous vehicle along the route using the first set of driving parameters.

Abstract: Among other things, we describe techniques for adjusting lateral clearance for a vehicle using a multi-dimensional envelope. A trajectory is generated for the vehicle. A multi-dimensional envelope is generated indicating a drivable region for the vehicle and containing the trajectory. One or more objects are identified located along or adjacent to the trajectory. At least one dimension of the generated multi-dimensional envelope is adjusted to adjust a lateral clearance between the vehicle and the identified one or more objects. A control module of the vehicle navigates the vehicle along the multi-dimensional envelope.

Abstract: Among other things, we describe techniques for estimating a speed profile for a proposed trajectory for a vehicle and operating the vehicle along the proposed trajectory according to the speed profile, including a method for: obtaining, by a planning circuit on a vehicle, a proposed trajectory for the vehicle in response to a driving scenario; obtaining, by the planning circuit, an estimated speed profile, and a confidence score, wherein the confidence score represents a similarity of the estimated speed profile to an actual speed profile that would be generated by a control circuit for the proposed trajectory; determining whether the confidence score meets a confidence threshold; and in accordance with a determination that the confidence score exceeds the confidence threshold, operating, by a control circuit on the vehicle, the vehicle along the proposed trajectory.

Abstract: Among other things, techniques are described for steering angle calibration. An autonomous vehicle receives a steering angle measurement and a yaw rate measurement, and estimates a steering angle offset using the steering angle measurement, the yaw rate measurement, and a wheel base of the autonomous vehicle. An estimated yaw rate is determined based on a yaw rate model, the steering angle measurement and the estimated steering angle offset. The yaw rate measurement and the estimated yaw rate are compared and an action is initiated on the autonomous vehicle in response to the comparing.

Abstract: Among other things, we describe techniques for electric power steering torque compensation. Techniques are provided for a method implemented by a computer, e.g., a computer onboard an autonomous vehicle. A planning circuit onboard the vehicle and connected to an EPS of the vehicle determines a compensatory torque signal to modify an actual steering angle of a steering wheel of the vehicle to match an expected steering angle of the steering wheel. The planning circuit transmits the compensatory torque signal to a control circuit that controls the steering angle of the steering wheel. The EPS modifies the actual steering angle based on the compensatory torque signal resulting in a modified steering angle. The control circuit operates the vehicle based on the modified steering angle.

Abstract: The present disclosure is directed to a computer system and techniques for updating map data used for navigating an autonomous vehicle. In some embodiments, the computer system is configured to obtain map data including a starting location and a destination location; obtain a plurality of travel times corresponding to a plurality of respective possible routes for traveling from the starting location to the destination location; obtain benefit information for at least a first respective possible route; and determine a selected route based on the travel times and the benefit information. In some embodiments, the computer system is configured to obtain a route between a starting location and a destination location; obtain map-age information for the route; determine a first set of driving parameters for the autonomous vehicle based on the map-age information; and navigate the autonomous vehicle along the route using the first set of driving parameters.

Abstract: Among other things, we describe techniques for redundancy in autonomous vehicles. For example, an autonomous vehicle can include two or more redundant autonomous vehicle operations subsystems.

Abstract: Among other things, we describe techniques for electric power steering torque compensation. Techniques are provided for a method implemented by a computer, e.g., a computer onboard an autonomous vehicle. A planning circuit onboard the vehicle and connected to an EPS of the vehicle determines a compensatory torque signal to modify an actual steering angle of a steering wheel of the vehicle to match an expected steering angle of the steering wheel. The planning circuit transmits the compensatory torque signal to a control circuit that controls the steering angle of the steering wheel. The EPS modifies the actual steering angle based on the compensatory torque signal resulting in a modified steering angle. The control circuit operates the vehicle based on the modified steering angle.

Abstract: Among other things, we describe techniques for estimating a speed profile for a proposed trajectory for a vehicle and operating the vehicle along the proposed trajectory according to the speed profile, including a method for: obtaining, by a planning circuit on a vehicle, a proposed trajectory for the vehicle in response to a driving scenario; obtaining, by the planning circuit, an estimated speed profile, and a confidence score, wherein the confidence score represents a similarity of the estimated speed profile to an actual speed profile that would be generated by a control circuit for the proposed trajectory; determining whether the confidence score meets a confidence threshold; and in accordance with a determination that the confidence score exceeds the confidence threshold, operating, by a control circuit on the vehicle, the vehicle along the proposed trajectory.

Abstract: Among other things, we describe techniques for electric power steering torque compensation. Techniques are provided for a method implemented by a computer, e.g., a computer onboard an autonomous vehicle. A planning circuit onboard the vehicle and connected to an EPS of the vehicle determines a compensatory torque signal to modify an actual steering angle of a steering wheel of the vehicle to match an expected steering angle of the steering wheel. The planning circuit transmits the compensatory torque signal to a control circuit that controls the steering angle of the steering wheel. The EPS modifies the actual steering angle based on the compensatory torque signal resulting in a modified steering angle. The control circuit operates the vehicle based on the modified steering angle.

Abstract: Among other things, techniques are described for steering angle calibration. An autonomous vehicle receives a steering angle measurement and a yaw rate measurement, and estimates a steering angle offset using the steering angle measurement, the yaw rate measurement, and a wheel base of the autonomous vehicle. An estimated yaw rate is determined based on a yaw rate model, the steering angle measurement and the estimated steering angle offset. The yaw rate measurement and the estimated yaw rate are compared and an action is initiated on the autonomous vehicle in response to the comparing.

Abstract: Among other things, we describe techniques for adjusting lateral clearance for a vehicle using a multi-dimensional envelope. A trajectory is generated for the vehicle. A multi-dimensional envelope is generated indicating a drivable region for the vehicle and containing the trajectory. One or more objects are identified located along or adjacent to the trajectory. At least one dimension of the generated multi-dimensional envelope is adjusted to adjust a lateral clearance between the vehicle and the identified one or more objects. A control module of the vehicle navigates the vehicle along the multi-dimensional envelope.