Abstract: Disclosed herein are systems, methods, and computer program products for generating a reference path for an autonomous vehicle. The methods comprising: receiving, by a computing device, a reference trajectory for the autonomous vehicle; generating, by the computing device, a first alternative trajectory for the autonomous vehicle based on an objective identified by the reference trajectory; comparing, by the computing device, the first alternative trajectory to the reference trajectory or a previously generated alternative trajectory; selecting, by the computing device, whether to generate a second alternative trajectory based on a result of said comparing; and generating, by the computing device, the second alternative trajectory for the autonomous vehicle in response to said selecting.

Abstract: A system for testing an autonomous vehicle obtains a list of required tests the autonomous vehicle is to run, where each test is part of a commissioning process for the autonomous vehicle. The system causes the list to be displayed on a display device of the autonomous vehicle, receives a selection of a selected test from an operator of the autonomous vehicle, and receives a test input profile associated with the selected test. The system causes the autonomous vehicle to execute at the instructions of the test input profile, and logs response data to one or more log files. During execution of the test instructions, the system generates metadata associated with the selected test. The system logs the metadata to the one or more log files, and transmits at least a portion of the one or more log files to an electronic device located remotely from the autonomous vehicle.

Abstract: A system of linearizing a trajectory of an autonomous vehicle about a reference path includes a computing device and a computer-readable storage medium.

Abstract: Systems and methods for determining one or more juke events are provided. The method includes generating, for an initial trajectory cycle, an initial planned trajectory of an autonomous vehicle, using a motion planning module, and generating, for a subsequent trajectory cycle, a subsequent planned trajectory of the autonomous vehicle, using the motion planning module. Each of the initial planned trajectory and the subsequent planned trajectory includes a series of planned steering wheel angles over a period of time and a steering wheel angle rate of change over the period of time. The method further includes identifying one or more first juke event qualifiers and one or more second juke event qualifiers, and identifying one or more juke events, wherein each juke event correlates to a time interval at which a first juke event qualifier and a second juke event qualifier occur within a threshold length of time from each other.

Abstract: A system for testing an autonomous vehicle obtains a list of required tests the autonomous vehicle is to run, where each test is part of a commissioning process for the autonomous vehicle. The system causes the list to be displayed on a display device of the autonomous vehicle, receives a selection of a selected test from an operator of the autonomous vehicle, and receives a test input profile associated with the selected test. The system causes the autonomous vehicle to execute at the instructions of the test input profile, and logs response data to one or more log files. During execution of the test instructions, the system generates metadata associated with the selected test. The system logs the metadata to the one or more log files, and transmits at least a portion of the one or more log files to an electronic device located remotely from the autonomous vehicle.

Abstract: A system of linearizing a trajectory of an autonomous vehicle about a reference path includes a computing device and a computer-readable storage medium.

Abstract: A computer is programmed to predict, based at least in part on a stored road topology for a predetermined vehicle route, a vehicle body orientation based on lateral, longitudinal, and vertical accelerations predicted for the route. The computer is programmed to, based on the predicted vehicle body orientation, adjust at least one of an orientation of the vehicle body and an orientation of an object in the vehicle as the vehicle traverses the route.

Abstract: A computer is programmed to predict, based at least in part on a stored road topology for a predetermined vehicle route, a vehicle body orientation based on lateral, longitudinal, and vertical accelerations predicted for the route. The computer is programmed to, based on the predicted vehicle body orientation, adjust at least one of an orientation of the vehicle body and an orientation of an object in the vehicle as the vehicle traverses the route.