Abstract: Testing autonomous vehicle control systems in the real world can be difficult, because creating and re-creating physical scenarios for repeated testing may be impractical. In some implementations, detailed map data and data acquired through driving in a region can be used to identify similar segments of a drivable surface. Simulation scenarios used to test one of the similar segments may be used to test other of the similar segments. The driving data may also be used to generate and/or validate the simulation scenarios, e.g., by re-creating scenarios encountered while driving in a first segment in a simulation scenario for use in the second segment and comparing simulated driving behavior with the driving data.

Abstract: Techniques for determining map data for localizing a vehicle in an environment are discussed herein. A vehicle can capture sensor data such as image data and can detect objects in the sensor data. Detected objects can include semantic object such as traffic lights, lane lines, street signs, poles, and the like. Rays based on a pose of the sensor and the detected objects can be determined. Intersections between the rays can be determined. The intersections can be utilized to determine candidate landmarks in the environment. The candidate landmarks can be utilized to determine landmarks and to eliminate other candidate landmarks. The map data can be determined based on the three-dimensional locations and utilized to localize vehicles.

Abstract: An evaluation computing system may implement techniques to validate a vehicle controller, such as based on a detection of a systematic fault. The evaluation computing system may access data (e.g., log data and/or map data) associated with an operation of the vehicle in an environment as controlled by the controller. The evaluation computing system may modify a portion of the map data representative of a simulated change associated with a portion of the environment. The evaluation computing system may run a simulation with a simulated environment, generated based on the modified map data, to determine whether the controller detects and/or mitigates the simulated change in a sufficient manner. Based on a determination of whether or not the controller detects and/or mitigates the simulated change in a sufficient manner, the evaluation computing system may determine an error associated with the controller or may validate the controller.

Abstract: Localization error monitoring using vehicle state information is described. A computing system associated with a vehicle may determine a current state of the vehicle, such as a location, position, orientation, velocity, acceleration, or the like. The vehicle computing system may determine one or more metrics associated with the state of the vehicle. The metrics may include a variance associated with the state, a residual associated with a measurement corresponding to the state, or a correction factor applied to correct an input error. The computing system may determine whether the metric exceeds a threshold value. Based on a threshold exceedance, the computing system may determine one or more errors associated with a state of the vehicle. The vehicle computing system may control the vehicle based on the one or more errors.

Abstract: Localization error monitoring using vehicle state information is described. A computing system associated with a vehicle may determine a current state of the vehicle, such as a location, position, orientation, velocity, acceleration, or the like. The vehicle computing system may determine one or more metrics associated with the state of the vehicle. The metrics may include a variance associated with the state, a residual associated with a measurement corresponding to the state, or a correction factor applied to correct an input error. The computing system may determine whether the metric exceeds a threshold value. Based on a threshold exceedance, the computing system may determine one or more errors associated with a state of the vehicle. The vehicle computing system may control the vehicle based on the one or more errors.

Abstract: A filter cleaning system and method utilizes stationary conduit frames to discharge a cleaning fluid onto a filter without requiring removal of the filter. An intake valve positions on a housing upper end for receiving the fluid from an external source. A primary conduit extends along a longitudinal axis of the housing to carry the fluid from the housing upper end to a housing lower end, and in proximity to the filter. A plurality of conduit frames join the primary conduit at predetermined intervals along the longitudinal axis of the housing. The fluid flows through the conduit frames. Each conduit frame includes a plurality of apertures oriented to face the filter and discharge fluid onto the filter. Throughout the process, the conduit frames remain stationary. Support rods provide longitudinal stability, while wedges provide lateral stability to the conduit frames. A release valve discharges fluid and debris after cleaning.