Abstract: A sensor housing is provided that is configured to be mounted to a roof of a vehicle. The sensor housing includes a frame defining a plurality of cavities and a plurality of windows opening into respective cavities. The sensor housing also includes a plurality of sensors, at least some of which are disposed within the respective cavities defined by the frame. The sensors disposed within the respective cavities are oriented relative to the frame such that fields of view of the sensors that are disposed within the respective cavities defined by the frame are directed through the windows that open into the respective cavities. At least one of the plurality of sensors may include a camera mounted to the frame so as to be exterior to the vehicle and oriented such that a field of view of the camera is directed into a cabin of the vehicle.

Abstract: Systems and methods for deploying emergency roadside signaling devices are disclosed. In one aspect, a control system for an object placing device of an autonomous vehicle includes a processor, and a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to: receive a signal comprising instructions to activate the object placing device; and provide instructions to the object placing device to place a plurality of signaling devices in accordance with predetermined criteria.

Abstract: Disclosed are devices, systems, and methods for a LiDAR mirror assembly mounted on a vehicle, such as an autonomous or semi-autonomous vehicle. For example, a LiDAR mirror assembly may include a base plate mounted on a hood of a vehicle, where the base plate is coupled to one end of a support arm. The opposite end of the support arm is attached to a housing. The housing includes a top housing enclosure coupled to a bottom housing platform, where a sensor and a mirror is coupled to the housing, and where the sensor is at least partially exposed through an opening in the top housing enclosure. The opening for the sensor is situated near an end of the housing furthest away from the base plate.

Abstract: Techniques are described for measuring angle and/or orientation of a rear drivable section (e.g., a trailer unit of a semi-trailer truck) relative to a front drivable section (e.g., a tractor unit of the semi-trailer truck) using an example rotary encoder assembly. The example rotary encoder assembly comprises a base surface; a housing that includes a second end that is connected to the base surface and a first end that is at least partially open and is coupled to a housing cap; and a rotary encoder that is located in the housing in between the base surface and the housing cap, where the rotary encoder includes a rotatable shaft that protrudes from a first hole located in the housing cap, and where a top of the rotatable shaft located away from the rotary encoder is coupled to magnet(s).

Abstract: A method for controlling an autonomous vehicle includes collecting data about a surrounding of the autonomous vehicle, the data including global information of where the autonomous vehicle is positioned; deriving, at least in part based on the collected data, a perceived environment based on localizing the global information; determining a driving condition of the autonomous vehicle based on the perceived environment; modifying, according to the determined driving condition, a first configuration parameter of a sensor to adjust an amount of output data from the sensor; and simultaneously adjusting, according to the determined driving condition, a second configuration parameter for processing the output data to allow consistent data capturing and processing of the output data. A control system can employ such a method, and an autonomous vehicle can utilize such a control system.

Abstract: Techniques are described for measuring angle and/or orientation of a rear drivable section (e.g., a trailer unit of a semi-trailer truck) relative to a front drivable section (e.g., a tractor unit of the semi-trailer truck) using an example rotary encoder assembly. The example rotary encoder assembly comprises a base surface; a housing that includes a second end that is connected to the base surface and a first end that is at least partially open and is coupled to a housing cap; and a rotary encoder that is located in the housing in between the base surface and the housing cap, where the rotary encoder includes a rotatable shaft that protrudes from a first hole located in the housing cap, and where a top of the rotatable shaft located away from the rotary encoder is coupled to magnet(s).

Abstract: Disclosed are devices, systems, and methods for a LiDAR mirror assembly mounted on a vehicle, such as an autonomous or semi-autonomous vehicle. For example, a LiDAR mirror assembly may include a base plate mounted on a hood of a vehicle, where the base plate is coupled to one end of a support arm. The opposite end of the support arm is attached to a housing. The housing includes a top housing enclosure coupled to a bottom housing platform, where a sensor and a mirror is coupled to the housing, and where the sensor is at least partially exposed through an opening in the top housing enclosure. The opening for the sensor is situated near an end of the housing furthest away from the base plate.

Abstract: Provided herein is a system and method for sensor cleaning and positioning of the sensor on a vehicle. A system can include a mount attached to a vehicle; a sensor base; a sensor supported on the sensor base; a boom connecting the mount to the sensor base; and a tether, where the tether is connected at a first end, at least indirectly, to the sensor, and at a second end to a structure within the vehicle. The system may include a sensor cleaning array of nozzles, where combined spray patterns of the array of nozzles cover a sensor window of the sensor about a field-of-view of the sensor.

Abstract: Provided herein is a system and method for sensor cleaning and positioning of the sensor on a vehicle. A system can include a mount attached to a vehicle; a sensor base; a sensor supported on the sensor base; a boom connecting the mount to the sensor base; and a tether, where the tether is connected at a first end, at least indirectly, to the sensor, and at a second end to a structure within the vehicle. The system may include a sensor cleaning array of nozzles, where combined spray patterns of the array of nozzles cover a sensor window of the sensor about a field-of-view of the sensor.

Abstract: Techniques are described for compensating for movements of sensors. A method includes receiving two sets of sensor data from two sets of sensors, where a first set of sensors are located on a roof of a cab of a semi-trailer truck and a second set of sensor data are located on a hood of the semi-trailer truck. The method also receives from a height sensor a measured value indicative of a height of the rear of a rear portion of the cab of the semi-trailer truck relative to a chassis of the semi-trailer truck, determines two correction values, one for each of the two sets of sensor data, and compensates for the movement of the two sets of sensors by generating two sets of compensated sensor data. The two sets of compensated sensor data are generated by adjusting the two sets of sensor data based on the two correction values.

Abstract: Systems and methods for deploying emergency roadside signaling devices are disclosed. In one aspect, a control system for an object placing device of an autonomous vehicle includes a processor, and a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to: receive a signal comprising instructions to activate the object placing device; and provide instructions to the object placing device to place a plurality of signaling devices in accordance with predetermined criteria.

Abstract: Systems and methods for deploying emergency roadside signaling devices are disclosed. In one aspect, system for an autonomous vehicle includes one or more signaling devices configured to visually notify other vehicles when placed on or near a roadway, and an object placing device configured to place the one or more signaling devices. The system further includes a processor and a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to: determine that the autonomous vehicle has experienced a malfunction, and provide instructions to the object placing device to place the one or more signaling devices on or near the roadway.

Abstract: Systems and methods for deploying emergency roadside signaling devices are disclosed. In one aspect, a control system for an object placing device of an autonomous vehicle includes a processor, and a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to: receive a signal comprising instructions to activate the object placing device; and provide instructions to the object placing device to place a plurality of signaling devices in accordance with predetermined criteria.

Abstract: Techniques are described for compensating for movements of sensors. A method includes receiving two sets of sensor data from two sets of sensors, where a first set of sensors are located on a roof of a cab of a semi-trailer truck and a second set of sensor data are located on a hood of the semi-trailer truck. The method also receives from a height sensor a measured value indicative of a height of the rear of a rear portion of the cab of the semi-trailer truck relative to a chassis of the semi-trailer truck, determines two correction values, one for each of the two sets of sensor data, and compensates for the movement of the two sets of sensors by generating two sets of compensated sensor data. The two sets of compensated sensor data are generated by adjusting the two sets of sensor data based on the two correction values.

Abstract: Methods, systems, apparatus for mitigating adverse effects of road vibrations on radars mounted on a vehicle include an apparatus used for mounting a radar on a rear side of the vehicle. The apparatus includes a base plate, a bracket, one or more fasteners, and one or more washers. The washers may include a vibration dampener material that dampens horizontal and vertical vibration force.

Abstract: One aim of autonomous vehicle (AV) technologies is to provide vehicles that can safely navigate towards a destination with limited or no driver assistance. An AV may include multiple cameras mounted on it for several purposes including security purposes, driving aid, or facilitating autonomous driving. Systems, apparatus, and methods are provided to calibrate intrinsic parameters of AV cameras. AV cameras and calibration targets are moved in a systematic, predictable, and repeatable manner for calibration of camera intrinsic parameters.

Abstract: Techniques are described for measuring angle and/or orientation of a rear drivable section (e.g., a trailer unit of a semi-trailer truck) relative to a front drivable section (e.g., a tractor unit of the semi-trailer truck) using an example rotary encoder assembly. The example rotary encoder assembly comprises a base surface; a housing that includes a second end that is connected to the base surface and a first end that is at least partially open and is coupled to a housing cap; and a rotary encoder that is located in the housing in between the base surface and the housing cap, where the rotary encoder includes a rotatable shaft that protrudes from a first hole located in the housing cap, and where a top of the rotatable shaft located away from the rotary encoder is coupled to magnet(s).

Abstract: Disclosed are devices, systems, and methods for a LiDAR mirror assembly mounted on a vehicle, such as an autonomous or semi-autonomous vehicle. For example, a LiDAR mirror assembly may include a base plate mounted on a hood of a vehicle, where the base plate is coupled to one end of a support arm. The opposite end of the support arm is attached to a housing. The housing includes a top housing enclosure coupled to a bottom housing platform, where a sensor and a mirror is coupled to the housing, and where the sensor is at least partially exposed through an opening in the top housing enclosure. The opening for the sensor is situated near an end of the housing furthest away from the base plate.

Abstract: Techniques are described for measuring angle and/or orientation of a rear drivable section (e.g., a trailer unit of a semi-trailer truck) relative to a front drivable section (e.g., a tractor unit of the semi-trailer truck) using an example rotary encoder assembly. The example rotary encoder assembly comprises a base surface; a housing that includes a second end that is connected to the base surface and a first end that is at least partially open and is coupled to a housing cap; and a rotary encoder that is located in the housing in between the base surface and the housing cap, where the rotary encoder includes a rotatable shaft that protrudes from a first hole located in the housing cap, and where a top of the rotatable shaft located away from the rotary encoder is coupled to magnet(s).