Abstract: Aspects of the disclosure relate to detecting and responding to malfunctioning traffic signals for a vehicle having an autonomous driving mode. For instance, information identifying a detected state of a traffic signal for an intersection. An anomaly for the traffic signal may be detected based on the detected state and prestored information about expected states of the traffic signal. The vehicle may be controlled in the autonomous driving mode based on the detected anomaly.

Abstract: Aspects of the disclosure relate to detecting and responding to malfunctioning traffic signals for a vehicle having an autonomous driving mode. For instance, information identifying a detected state of a traffic signal for an intersection. An anomaly for the traffic signal may be detected based on the detected state and prestored information about expected states of the traffic signal. The vehicle may be controlled in the autonomous driving mode based on the detected anomaly.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that create lane graph geometries from lane graph topologies. One of the methods includes receiving data representing a topological lane path through a plurality of cells of a drivable region. From the topological lane path, an initial polyline that traverses the same plurality of cells as the topological lane path can be generated. The initial polyline can be defined by vertices located on edges of a triangulated decomposition of the drivable region. A geometry optimization process can be performed on the initial polyline to generate a final polyline according to optimization criteria. From the final polyline, a geometric lane path representing a geometry of a drivable lane that traverses the drivable region can be generated.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that create lane graph topologies. One of the methods includes receiving data representing a drivable region of space that includes road obstacles. The representation of the drivable region can include data representing cells that represent interconnected drivable regions between the road obstacles. Each cell can contain edges, and each edge can represent that a drivable region exists between two cells. A request to generate a predicted lane graph topology for the drivable region can be received. A plurality of lane graph topologies can be enumerated, and each lane graph topology can include paths through the drivable region. A score can be computed for each lane graph topology. In response to the request, and based on the computed scores, at least one particular enumerated lane graph topology can be provided.

Abstract: Aspects of the disclosure relate to detecting and responding to malfunctioning traffic signals for a vehicle having an autonomous driving mode. For instance, information identifying a detected state of a traffic signal for an intersection. An anomaly for the traffic signal may be detected based on the detected state and prestored information about expected states of the traffic signal. The vehicle may be controlled in the autonomous driving mode based on the detected anomaly.

Abstract: A history preserving data pipeline computer system and method. In one aspect, the history preserving data pipeline system provides immutable and versioned datasets. Because datasets are immutable and versioned, the system makes it possible to determine the data in a dataset at a point in time in the past, even if that data is no longer in the current version of the dataset.

Abstract: A history preserving data pipeline computer system and method. In one aspect, the history preserving data pipeline system provides immutable and versioned datasets. Because datasets are immutable and versioned, the system makes it possible to determine the data in a dataset at a point in time in the past, even if that data is no longer in the current version of the dataset.

Abstract: A history preserving data pipeline computer system and method. In one aspect, the history preserving data pipeline system provides immutable and versioned datasets. Because datasets are immutable and versioned, the system makes it possible to determine the data in a dataset at a point in time in the past, even if that data is no longer in the current version of the dataset.

Abstract: A history preserving data pipeline computer system and method. In one aspect, the history preserving data pipeline system provides immutable and versioned datasets. Because datasets are immutable and versioned, the system makes it possible to determine the data in a dataset at a point in time in the past, even if that data is no longer in the current version of the dataset.

Abstract: A history preserving data pipeline computer system and method. In one aspect, the history preserving data pipeline system provides immutable and versioned datasets. Because datasets are immutable and versioned, the system makes it possible to determine the data in a dataset at a point in time in the past, even if that data is no longer in the current version of the dataset.

Abstract: A history preserving data pipeline computer system and method. In one aspect, the history preserving data pipeline system provides immutable and versioned datasets. Because datasets are immutable and versioned, the system makes it possible to determine the data in a dataset at a point in time in the past, even if that data is no longer in the current version of the dataset.

Abstract: A history preserving data pipeline computer system and method. In one aspect, the history preserving data pipeline system provides immutable and versioned datasets. Because datasets are immutable and versioned, the system makes it possible to determine the data in a dataset at a point in time in the past, even if that data is no longer in the current version of the dataset.

Abstract: A history preserving data pipeline computer system and method. In one aspect, the history preserving data pipeline system provides immutable and versioned datasets. Because datasets are immutable and versioned, the system makes it possible to determine the data in a dataset at a point in time in the past, even if that data is no longer in the current version of the dataset.

Abstract: A history preserving data pipeline computer system and method. In one aspect, the history preserving data pipeline system provides immutable and versioned datasets. Because datasets are immutable and versioned, the system makes it possible to determine the data in a dataset at a point in time in the past, even if that data is no longer in the current version of the dataset.