Abstract: Among other things, techniques are described for determining precedence order at a multiway stop. In embodiments, identifications are assigned to tracks, and young tracks are compared to stale tracks. A young track matches a stale track based on one or more factors. An identification of the young track is reassigned to an identification of the stale track, wherein the young track is determined to match the stale track based on the one or more factors. An earliest time of appearance of agents is determined based on identifications and in view of perception obscured areas. A precedence order for navigating through the intersection is determined based on local rules, the identifications, and the earliest time of appearance of agents, and the vehicle proceeds through the multiway stop intersection in accordance with the precedence order.

Abstract: Provided are systems and methods related to a multiple position rolling shutter camera. A system can include an imaging device, an actuator, a processor, and a storage media. The imaging device can be configured to capture an image within a field of view using a rolling shutter that operates in a shutter direction. The actuator can be coupled to the imaging device and configured to rotate the imaging device between a first orientation, wherein the shutter direction comprises a first direction, and a second orientation, wherein the shutter direction comprises a second direction that is different than the first direction. The instructions can, when executed by the processor, cause the processor to cause the actuator to rotate the imaging device between the first orientation and the second orientation.

Abstract: Among other things, techniques are described for implementing occlusion representations over road features. In general, one innovative aspect of the subject matter described in this specification can be embodied in methods that include: obtaining area information of at least one area of interest for a vehicle, identifying occlusion data associated with the at least one area of interest, determining occlusion information associated with the at least one area of interest based on the area information and the occlusion data, providing the occlusion information for planning a route for the vehicle, and operating the vehicle in accordance with the planned route. The occlusion data includes data associated with the occlusion information, and the occlusion information has a smaller data size than the occlusion data.

Abstract: Provided are methods for sensor operation, which can include obtaining first location data of a first sensor associated with an autonomous vehicle and determining a first position parameter and a first configuration parameter of the first sensor. Some methods described also include operating the first sensor based on the first configuration parameter. Systems and computer program products are also provided.

Abstract: Among other things, techniques are described for implementing occlusion representations over road features. In general, one innovative aspect of the subject matter described in this specification can be embodied in methods that include: obtaining area information of at least one area of interest for a vehicle, identifying occlusion data associated with the at least one area of interest, determining occlusion information associated with the at least one area of interest based on the area information and the occlusion data, providing the occlusion information for planning a route for the vehicle, and operating the vehicle in accordance with the planned route. The occlusion data includes data associated with the occlusion information, and the occlusion information has a smaller data size than the occlusion data.

Abstract: Among other things, techniques are described for determining precedence order at a multiway stop. In embodiments, identifications are assigned to tracks, and young tracks are compared to stale tracks. A young track matches a stale track based on one or more factors. An identification of the young track is reassigned to an identification of the stale track, wherein the young track is determined to match the stale track based on the one or more factors. An earliest time of appearance of agents is determined based on identifications and in view of perception obscured areas. A precedence order for navigating through the intersection is determined based on local rules, the identifications, and the earliest time of appearance of agents, and the vehicle proceeds through the multiway stop intersection in accordance with the precedence order.

Abstract: Provided are methods for efficient vehicle extent estimation, which can include bounding box generation. Some methods described include determining bounding boxes surrounding detected point clusters according to tangents to convex hulls of the point clusters, and minimizing continuous functions of distances between points and bounding box sides. Accordingly, best-fit bounding boxes are determined more efficiently and quickly, as well as more accurately. Systems and computer program products are also provided.

Abstract: Among other things, techniques are described for implementing occlusion representations over road features. In general, one innovative aspect of the subject matter described in this specification can be embodied in methods that include: obtaining area information of at least one area of interest for a vehicle, identifying occlusion data associated with the at least one area of interest, determining occlusion information associated with the at least one area of interest based on the area information and the occlusion data, providing the occlusion information for planning a route for the vehicle, and operating the vehicle in accordance with the planned route. The occlusion data includes data associated with the occlusion information, and the occlusion information has a smaller data size than the occlusion data.