Abstract: Among other things, sensor signals are received using a vehicle comprising an autonomous driving capability. A risk associated with operating the vehicle is identified based on the sensor signals. The autonomous driving capability is modified in response to the risk. The operation of the vehicle is updated based on the modifying of the autonomous capability.

Abstract: Among other things, planning a motion of a machine having moving capabilities is based on strategic guidelines derived from various basic principles, such as laws, ethics, preferences, driving experiences, and road environments.

Abstract: Provided are methods for graph exploration for rulebook trajectory generation. Some methods described include generating a next set of alternative trajectories for the vehicle from a next pose, the next set of alternative trajectories representing operation of the vehicle from the next pose, wherein the next pose is located at an end of an identified trajectory. Next trajectories are iteratively identified from corresponding next sets of alternative trajectories, wherein a next trajectory violates a lowest behavioral rule of the hierarchical plurality of rules, the lowest behavioral rule having a priority less than a priority of behavioral rules associated with other trajectories in a corresponding next set of alternative trajectories until a goal pose or timeout is reached to generate a graph. Systems and computer program products are also provided.

Abstract: Enclosed are embodiments for scenario-based behavior specification and validation.

Abstract: Among other things, an apparatus includes a processor, and storage for instructions executable by the processor to, in connection with a trip of a person in an autonomous vehicle, select a specific location at which the person will be picked up for the trip or a specific location at a destination of the trip, and present through a user interface of a device visible information that depicts the specific location.

Abstract: Among other things, a vehicle having autonomous driving capabilities is operated in a mixed driving mode.

Abstract: Among other things, we describe systems and method for validating sensor calibration. For validating calibration of a system of sensors having several types of sensors, an object may be configured to have a substantially reflective portion such that the sensors can isolate the substantially reflective portion, and their sensor data can be compared to determine, if the detected locations of the substantially reflective portion by each sensor are aligned. For calibrating a system of sensors, an object having known calibration features can be used and detected by each sensor, and the detected data can be compared to known calibration data associated with the object to determine if each sensor is correctly calibrated.

Abstract: Among other things, a vehicle having autonomous driving capabilities is operated in a mixed driving mode.

Abstract: Technology described in this document can be embodied in a method that includes generating, using one or more processing devices of a vehicle operating in an environment, a discretized representation of the environment, including a plurality of cells. The cells are occupied by particles representing at least one of: an object, or a free space in the environment. Sensor data indicative of a state of at least one particle is received, and an update to a time-varying particle density function associated with a location of the particle in the dynamic occupancy grid is calculated from the sensor data and one or more models. The method further includes generating a prediction of occupancy of at least one cell in the discretized representation based on the updated particle density function, and operating the vehicle, using a controller circuit of the vehicle, based at least in part on the prediction.

Abstract: Among other things, we describe systems and method for validating sensor calibration. For validating calibration of a system of sensors having several types of sensors, an object may be configured to have a substantially reflective portion such that the sensors can isolate the substantially reflective portion, and their sensor data can be compared to determine, if the detected locations of the substantially reflective portion by each sensor are aligned. For calibrating a system of sensors, an object having known calibration features can be used and detected by each sensor, and the detected data can be compared to known calibration data associated with the object to determine if each sensor is correctly calibrated.

Abstract: Among other things, planning a motion of a machine having moving capabilities is based on strategic guidelines derived from various basic principles, such as laws, ethics, preferences, driving experiences, and road environments.

Abstract: Among other things, planning a motion of a machine having moving capabilities is based on strategic guidelines derived from various basic principles, such as laws, ethics, preferences, driving experiences, and road environments.

Abstract: Enclosed are embodiments for scenario-based behavior specification and validation.

Abstract: Among other things, a determination is made that intervention in an operation of one or more autonomous driving capabilities of a vehicle is appropriate. Based on the determination, a person is enabled to provide information for an intervention. The intervention is caused in the operation of the one or more autonomous driving capabilities of the vehicle.

Abstract: Methods for vehicle operation using behavioral rule checks include receiving first sensor data from first sensors and second sensor data from second sensors of the vehicle. The first sensor data represents operation of the vehicle in accordance with a first trajectory. The second sensor data represents at least one object. It is determined that the first trajectory violates a first behavioral rule of operation based on the first sensor data and the second sensor data. The first behavioral rule has a first priority. Multiple alternative trajectories are generated using control barrier functions. A second trajectory is identified that violates a second behavioral rule having a second priority less than the first priority. Responsive to identifying the second trajectory, a message is transmitted to a control circuit of the vehicle to operate the vehicle based on the second trajectory.

Abstract: Methods for vehicle operation using a behavioral rule model include receiving sensor data from a first set of sensors and a second set of sensors. The sensor data represents operation of the vehicle with respect to one or more objects. Violations of a behavioral model of the operation of the vehicle are determined based on the sensor data. A first risk level of the one or more violations is determined based on a distribution of events of the operation of the vehicle with respect to the one or more objects. Responsive to the first risk level being greater than a threshold risk level, a trajectory is generated. The trajectory has a second risk level lower than the threshold risk level. The vehicle is operated based on the trajectory to avoid a collision of the vehicle and the one or more objects.

Abstract: An autonomous vehicle receives sensor data from one or more sensors of the autonomous vehicle, and generates a request for remote control of the autonomous vehicle by a computer system remote from the autonomous vehicle. Generating the request includes determining a quality metric associated with a network connection between the autonomous vehicle and the computer system, and upon determining that the quality metric is greater than a threshold quality level, transmitting, from the autonomous vehicle to the computer system the request for remote control and a first data item representing the sensor data. The first data item meets one or more conditions associated with the threshold quality level.

Abstract: Among other things, a determination is made that intervention in an operation of one or more autonomous driving capabilities of a vehicle is appropriate. Based on the determination, a person is enabled to provide information for an intervention. The intervention is caused in the operation of the one or more autonomous driving capabilities of the vehicle.

Abstract: An autonomous vehicle receives sensor data from one or more sensors of the autonomous vehicle, and generates a request for remote control of the autonomous vehicle by a computer system remote from the autonomous vehicle. Generating the request includes determining a quality metric associated with a network connection between the autonomous vehicle and the computer system, and upon determining that the quality metric is greater than a threshold quality level, transmitting, from the autonomous vehicle to the computer system the request for remote control and a first data item representing the sensor data. The first data item meets one or more conditions associated with the threshold quality level.

Abstract: Among other things, planning a motion of a machine having moving capabilities is based on strategic guidelines derived from various basic principles, such as laws, ethics, preferences, driving experiences, and road environments.