Abstract: Systems and methods are disclosed for performing manufacturing testing on an autonomous driving vehicle (ADV) sensor board. A sensor unit of the ADV includes a plurality of sensor I/O channels that provide information to the ADV perception and planning module, to navigate the ADV. An array of sensors is emulated on a sensor unit test board. The sensor unit includes a small software that manages the flow of testing the sensor unit. The sensor unit test board provides emulated sensor data for, e.g., GPS, LIDAR, RADAR, inertial measurement, one or more cameras, humidity, temperature, and pressure, and throttle, braking, and steering inputs. Each emulated sensor includes its own data validity checker to ensure that each sensor I/O channel of the sensor unit is tested. The sensor unit test board can include an LED for each I/O channel that indicates a pass/fail status of the test for the I/O channel.

Abstract: The disclosure describes various embodiments of validating data synchronization between an active sensor and a passive sensor. According to an exemplary method of validating sensor synchronization between an active sensor and a passive sensor, a synchronization device receives a first signal from the active sensor, the first signal indicating that the active sensor has transmitted laser points to a measure board. In response to the first signal, the synchronization device transmits a second signal to the passive sensor to trigger the passive sensor to capture an image of the measure board. A synchronization validation application can perform an analysis of the image of the measure board in view of timing of the first signal and second signal to determine whether the passive sensor and the active sensor are synchronized with each other.

Abstract: Diagnosing a sensor processing unit of an autonomous driving vehicle is described. An example computer-implemented method can include transmitting an executable image of a sensor processing application from a host system to the sensor processing unit via at least one of a universal asynchronous receiver-transmitter (UART) or an Ethernet connection. The method also includes causing the sensor processing unit to execute and launch the executable image of the sensor processing application in the DRAM from the eMMC storage device. The method also includes transmitting a sequence of predetermined commands to the executed sensor processing application to perform a plurality of sensor data processing operations on sensor data obtained from a plurality of sensors or sensor simulators associated with an autonomous driving vehicle.

Abstract: A sensor unit includes a sensor interface, host interface, and pre-processing hardware. The sensor interface is coupled to a plurality of cameras configured to capture images around an autonomous driving vehicle (ADV). The host interface is coupled to a perception and planning system. The pre-processing hardware is coupled to the sensor interface to receive images from the plurality of cameras and to perform one or more pre-processing functions on the images and to transmit pre-processed images to the perception and planning system via the host interface. The perception and planning system is configured to perceive a driving environment surrounding the ADV based on the pre-processed images and to plan a path to control the ADV to navigate through the driving environment. The pre-processing functions can adjust for different calibrations and formats across the plurality of cameras.

Abstract: In one embodiment, a sensor unit receives a first GPS message from a GPS sensor, where the sensor unit is coupled between sensors and a perception and planning system of an autonomous driving vehicle (ADV). The sensor unit determines a type of the first GPS message by matching a predetermined field of the first GPS message with a list of predetermined data patterns. Each of the predetermined data patterns corresponds to one of the predetermined types of GPS messages and decodes a payload of the first GPS message using a decoding algorithm associated with the type of the first GPS message.

Abstract: The disclosure describes various embodiments of validating data synchronization between an active sensor and a passive sensor. According to an exemplary method of validating sensor synchronization between an active sensor and a passive sensor, a synchronization device receives a first signal from the active sensor, the first signal indicating that the active sensor has transmitted laser points to a measure board. In response to the first signal, the synchronization device transmits a second signal to the passive sensor to trigger the passive sensor to capture an image of the measure board. A synchronization validation application can perform an analysis of the image of the measure board in view of timing of the first signal and second signal to determine whether the passive sensor and the active sensor are synchronized with each other.

Abstract: Diagnosing a sensor processing unit of an autonomous driving vehicle is described. An example computer-implemented method can include transmitting an executable image of a sensor processing application from a host system to the sensor processing unit via at least one of a universal asynchronous receiver-transmitter (UART) or an Ethernet connection. The method also includes causing the sensor processing unit to execute and launch the executable image of the sensor processing application in the DRAM from the eMMC storage device. The method also includes transmitting a sequence of predetermined commands to the executed sensor processing application to perform a plurality of sensor data processing operations on sensor data obtained from a plurality of sensors or sensor simulators associated with an autonomous driving vehicle.

Abstract: Systems and methods are disclosed for performing manufacturing testing on an autonomous driving vehicle (ADV) sensor board. A sensor unit of the ADV includes a plurality of sensor I/O channels that provide information to the ADV perception and planning module, to navigate the ADV. An array of sensors is emulated on a sensor unit test board. The sensor unit includes a small software that manages the flow of testing the sensor unit. The sensor unit test board provides emulated sensor data for, e.g., GPS, LIDAR, RADAR, inertial measurement, one or more cameras, humidity, temperature, and pressure, and throttle, braking, and steering inputs. Each emulated sensor includes its own data validity checker to ensure that each sensor I/O channel of the sensor unit is tested.

Abstract: Flexible hardware designs for camera calibration and image pre-processing are disclosed for vehicles including autonomous driving (AD) vehicles. For one example, a sensor unit includes a sensor interface, host interface, and pre-processing hardware. The sensor interface is coupled to a plurality of cameras configured to capture images around an autonomous driving vehicle (ADV). The host interface is coupled to a perception and planning system. The pre-processing hardware is coupled to the sensor interface to receive images from the plurality of cameras and to perform one or more pre-processing functions on the images and to transmit pre-processed images to the perception and planning system via the host interface. The perception and planning system is configured to perceive a driving environment surrounding the ADV based on the pre-processed images and to plan a path to control the ADV to navigate through the driving environment.

Abstract: In one embodiment, a sensor unit receives a first GPS message from a GPS sensor, where the sensor unit is coupled between sensors and a perception and planning system of an autonomous driving vehicle (ADV). The sensor unit determines a type of the first GPS message by matching a predetermined field of the first GPS message with a list of predetermined data patterns. Each of the predetermined data patterns corresponds to one of the predetermined types of GPS messages and decodes a payload of the first GPS message using a decoding algorithm associated with the type of the first GPS message.

Abstract: A display device is disclosed. The display device includes a condenser unit, an illumination lens system, a plurality of diffractive light modulators, a mirror for separating illumination light from diffracted light, a polarized beam separator, a filter unit and a projection unit. The condenser unit converges polarized light, and outputs the converged polarized light. The illumination lens system converts the polarized light into linear parallel light. The diffractive light modulators produce diffracted light beams having a plurality of diffraction orders. The mirror passes the polarized light therethrough using slits, and reflects the diffracted light beams toward a filter system. The polarized beam separator separates the polarized light on a wavelength basis and then allows the separated beams to be incident on corresponding diffractive light modulators, and converges the diffracted light beams and then outputs the converged light to the mirror.

Abstract: Disclosed herein is an order separation- and multibeam formation-based printing apparatus using an optical modulator, in which diffracted beams having two or more diffraction numbers, formed by reflecting and diffracting multibeam light, are assigned to respective photosensitive surface sections of a photosensitive drum according to wavelength and diffraction order to form latent images on the surface of the photosensitive drum at an improved resolution.

Abstract: A display device is disclosed. The display device includes a condenser unit, an illumination lens system, a plurality of diffractive light modulators, a mirror for separating illumination light from diffracted light, a polarized beam separator, a filter unit and a projection unit. The condenser unit converges polarized light, and outputs the converged polarized light. The illumination lens system converts the polarized light into linear parallel light. The diffractive light modulators produce diffracted light beams. The mirror passes the polarized light therethrough using slits, and reflects the diffracted light beams toward the filter system. The polarized beam separator separates the polarized light on a wavelength basis and then allows the separated beams to be incident on the diffractive light modulators, and converges the diffracted light beams and then outputs the converged light to the mirror.

Abstract: The present invention relates to a scanning apparatus for a laser printer. More particularly, the present invention relates to a scanning apparatus, which is formed to allow a light modulator to be non-perpendicular to the shaft of a photosensitive drum, which is a scanning object, thus performing scanning at a higher resolution and speed within the allowable limits of other devices. The scanning apparatus of the present invention includes an optical means, a rotating mirror, a conversion means, and a drum-shaped scanning object.

Abstract: A color display apparatus having a virtual single light origin is disclosed. The color display apparatus includes an illumination lens system, a combining system, a Fourier filter and a projection system. The illumination lens system converts a plurality of light beams, which are radiated from a plurality of light sources, into linear, parallel light beams. The combining system produces a plurality of diffracted light beams having a plurality of diffraction orders by modulating each of the parallel light beams incident from the illumination lens, and outputs the plurality of diffracted light beams so that the diffracted light beams have a same virtual light origin and are adjacently located. The Fourier filter passes only some of the diffracted light beams, which have desired diffraction orders, therethrough. The projection system focuses the diffracted light beams, which are passed through the Fourier filter, on an object, and then allows the focused diffracted light beams to scan the object.

Abstract: A color display device is disclosed. The color display device includes an illumination lens system, a diffractive light modulation system, a combining system, a Fourier filter system, and a projection system. The illumination lens system converts a plurality of light beams into linear parallel light beams. The diffractive light modulation system produces a plurality of diffracted light beams having a plurality of diffraction orders by modulating each of the plurality of parallel light beams that are almost perpendicularly incident from the illumination lens system, The combining system focuses the plurality of diffracted light beams having the plurality of diffraction orders. The Fourier filter system selects diffracted light beams having desired diffraction orders using a dichroic filter. The projection system focuses the diffracted light beams on an object, and allowing the focused diffracted light beams to scan the object.