Abstract: A method for controlling an autonomous vehicle using an external interface is disclosed. The method includes an external interface that is in operable communication with one or more control systems of the autonomous vehicle. The method allows an entity in proximity of an outside of the autonomous vehicle to interact with the external interface; receives from the entity one or more control inputs, and controls one or more operations of the autonomous vehicle based on the one or more control inputs.

Abstract: Systems and methods are provided for remotely assisting an autonomous vehicle. The method includes: aggregating sensor data from the autonomous vehicle; identifying an assistance-desired scenario; generating an assistance request based on the sensor data; transmitting the assistance request to a remote assistance interface; and receiving and processing a response to the assistance request. The remote assistance interface includes a remote assistance interface that is used in generating the response to the assistance request.

Abstract: A method for image-based vehicle localization includes measuring, at a vehicle, a position and a heading of the vehicle; capturing, at an image capture system of the vehicle, road surface image data of a road surface; processing the road surface image data to correct for distortion in the road surface image data due to pitch and roll of the vehicle; performing feature detection on the processed road surface image data to detect lane markers on the road surface; generating a local map based on the detected lane markers; wherein generating the local map comprises identifying a lane demarcated by the detected lane markers; and controlling the vehicle according to the local map.

Abstract: An autonomous vehicle retrofit system includes: a central computer; and a braking interface to decelerate a wheel of a vehicle via actuation of a brake caliper, the braking interface further including a brake pedal; a first master cylinder assembly, mechanically coupled to the brake pedal such that actuation of the brake pedal causes actuation of the first master cylinder assembly; a second master cylinder assembly, coupled to the central computer such that the central computer controls actuation of the second master cylinder assembly; and an actuator selector, hydraulically coupled to the brake caliper, that selectively actuates the brake caliper in response to actuation of at least one of the first master cylinder assembly and the second master cylinder assembly.