Abstract: Systems, methods, and vehicles for taking a vehicle out-of-service are provided. In one example embodiment, a method includes obtaining, by one or more computing devices on-board an autonomous vehicle, data indicative of one or more parameters associated with the autonomous vehicle. The autonomous vehicle is configured to provide a vehicle service to one or more users of the vehicle service. The method includes determining, by the computing devices, an existence of a fault associated with the autonomous vehicle based at least in part on the one or more parameters associated with the autonomous vehicle. The method includes determining, by the computing devices, one or more actions to be performed by the autonomous vehicle based at least in part on the existence of the fault. The method includes performing, by the computing devices, one or more of the actions to take the autonomous vehicle out-of-service based at least in part on the fault.

Abstract: Systems and methods for using parametric modeling to design scenarios for autonomous vehicle simulation are provided. In particular, a computing system can obtain data identifying a plurality of parameters, each parameter associated with a particular scenario component. The computing system can determine values associated with a first set of parameters in the plurality of parameters. The computing system can determine one or more parameter relationships, such that values associated with a second set of parameters in the plurality of parameters are determined, at least in part, based on the values associated with the first set of parameters. The computing system can initiate a simulation of a scenario based, at least in part, on the values associated with the first set of the parameters and the one or more parameter relationships. The computing system can determine whether the simulated autonomous vehicle has successfully completed the scenario.

Abstract: Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes obtaining, from an autonomy system, data indicative of a planned trajectory of the autonomous vehicle through a surrounding environment. The method includes determining a region of interest in the surrounding environment based at least in part on the planned trajectory. The method includes controlling one or more first sensors to obtain data indicative of the region of interest. The method includes identifying one or more objects in the region of interest, based at least in part on the data obtained by the one or more first sensors. The method includes controlling the autonomous vehicle based at least in part on the one or more objects identified in the region of interest.

Abstract: Systems, methods, and vehicles for taking a vehicle out-of-service are provided. In one example embodiment, a method includes obtaining, by one or more computing devices on-board an autonomous vehicle, data indicative of one or more parameters associated with the autonomous vehicle. The autonomous vehicle is configured to provide a vehicle service to one or more users of the vehicle service. The method includes determining, by the computing devices, an existence of a fault associated with the autonomous vehicle based at least in part on the one or more parameters associated with the autonomous vehicle. The method includes determining, by the computing devices, one or more actions to be performed by the autonomous vehicle based at least in part on the existence of the fault. The method includes performing, by the computing devices, one or more of the actions to take the autonomous vehicle out-of-service based at least in part on the fault.

Abstract: Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes receiving data indicative of an operating mode of the vehicle, wherein the vehicle is configured to operate in a plurality of operating modes. The method includes determining one or more response characteristics of the vehicle based at least in part on the operating mode of the vehicle, each response characteristic indicating how the vehicle responds to a potential collision. The method includes controlling the vehicle based at least in part on the one or more response characteristics.

Abstract: Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes obtaining, from an autonomy system, data indicative of a planned trajectory of the autonomous vehicle through a surrounding environment. The method includes determining a region of interest in the surrounding environment based at least in part on the planned trajectory. The method includes controlling one or more first sensors to obtain data indicative of the region of interest. The method includes identifying one or more objects in the region of interest, based at least in part on the data obtained by the one or more first sensors. The method includes controlling the autonomous vehicle based at least in part on the one or more objects identified in the region of interest.

Abstract: Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes receiving data indicative of an operating mode of the vehicle, wherein the vehicle is configured to operate in a plurality of operating modes. The method includes determining one or more response characteristics of the vehicle based at least in part on the operating mode of the vehicle, each response characteristic indicating how the vehicle responds to a potential collision. The method includes controlling the vehicle based at least in part on the one or more response characteristics.

Abstract: Systems and methods for using parametric modeling to design scenarios for autonomous vehicle simulation are provided. In particular, a computing system can obtain data identifying a plurality of parameters, each parameter associated with a particular scenario component. The computing system can determine values associated with a first set of parameters in the plurality of parameters. The computing system can determine one or more parameter relationships, such that values associated with a second set of parameters in the plurality of parameters are determined, at least in part, based on the values associated with the first set of parameters. The computing system can initiate a simulation of a scenario based, at least in part, on the values associated with the first set of the parameters and the one or more parameter relationships. The computing system can determine whether the simulated autonomous vehicle has successfully completed the scenario.

Abstract: Systems and methods for addressing a user-reported vehicle condition are provided. In one example embodiment, a method includes receiving a service request for a vehicle service for a user. The service request is indicative of a location associated with the user. The method includes sending first control signal(s) to an autonomous vehicle that is configured to provide the vehicle service. The first control signal(s) indicate that the autonomous vehicle is to travel to the location associated with the user. The method includes receiving a communication indicative of an existence of a condition that reduces a suitability of the autonomous vehicle to provide the vehicle service. The condition is identified by the user. The method includes determining action(s) to be performed by the autonomous vehicle based, at least in part, on the existence of the condition. The method includes sending second control signal(s) to the autonomous vehicle to perform the action(s).

Abstract: Systems and methods for disabling autonomous vehicle input devices are provided. In one example embodiment, a computer implemented method includes identifying an operating mode of an autonomous vehicle. The method includes determining one or more vehicle input devices to be disabled based at least in part on the operating mode of the autonomous vehicle. The vehicle input devices are located onboard the autonomous vehicle. The method includes disabling the one or more vehicle input devices based at least in part on the identified operating mode of the autonomous vehicle such that an input by a user with respect to the one or more vehicle input devices does not affect an operation of the autonomous vehicle.

Abstract: Systems, methods, and vehicles for taking a vehicle out-of-service are provided. In one example embodiment, a method includes obtaining, by one or more computing devices on-board an autonomous vehicle, data indicative of one or more parameters associated with the autonomous vehicle. The autonomous vehicle is configured to provide a vehicle service to one or more users of the vehicle service. The method includes determining, by the computing devices, an existence of a fault associated with the autonomous vehicle based at least in part on the one or more parameters associated with the autonomous vehicle. The method includes determining, by the computing devices, one or more actions to be performed by the autonomous vehicle based at least in part on the existence of the fault. The method includes performing, by the computing devices, one or more of the actions to take the autonomous vehicle out-of-service based at least in part on the fault.

Abstract: Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes obtaining, from an autonomy system, data indicative of a planned trajectory of the autonomous vehicle through a surrounding environment. The method includes determining a region of interest in the surrounding environment based at least in part on the planned trajectory. The method includes controlling one or more first sensors to obtain data indicative of the region of interest. The method includes identifying one or more objects in the region of interest, based at least in part on the data obtained by the one or more first sensors. The method includes controlling the autonomous vehicle based at least in part on the one or more objects identified in the region of interest.

Abstract: Systems, methods, and vehicles for taking a vehicle out-of-service are provided. In one example embodiment, a method includes obtaining, by one or more computing devices on-board an autonomous vehicle, data indicative of one or more parameters associated with the autonomous vehicle. The autonomous vehicle is configured to provide a vehicle service to one or more users of the vehicle service. The method includes determining, by the computing devices, an existence of a fault associated with the autonomous vehicle based at least in part on the one or more parameters associated with the autonomous vehicle. The method includes determining, by the computing devices, one or more actions to be performed by the autonomous vehicle based at least in part on the existence of the fault. The method includes performing, by the computing devices, one or more of the actions to take the autonomous vehicle out-of-service based at least in part on the fault.

Abstract: Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes obtaining, from an autonomy system, data indicative of a planned trajectory of the autonomous vehicle through a surrounding environment. The method includes determining a region of interest in the surrounding environment based at least in part on the planned trajectory. The method includes controlling one or more first sensors to obtain data indicative of the region of interest. The method includes identifying one or more objects in the region of interest, based at least in part on the data obtained by the one or more first sensors. The method includes controlling the autonomous vehicle based at least in part on the one or more objects identified in the region of interest.

Abstract: Systems and methods for repositioning light electric vehicles are provided. A method can include obtaining, by a computing system, sensor data from one or more sensors located onboard an autonomous light electric vehicle, determining, by the computing system, one or more navigational instructions to reposition the autonomous light electric vehicle based at least in part on the sensor data, and causing, by the computing system, the autonomous light electric vehicle to initiate travel based at least in part on the one or more navigational instructions. The one or more navigational instructions can be one or more navigational instructions associated with repositioning the autonomous light electric vehicle at a light electric vehicle designated parking location, a light electric vehicle charging station, a light electric vehicle collection point, a light electric vehicle rider location, or a light electric vehicle supply positioning location.

Abstract: Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes receiving data indicative of an operating mode of the vehicle, wherein the vehicle is configured to operate in a plurality of operating modes. The method includes determining one or more response characteristics of the vehicle based at least in part on the operating mode of the vehicle, each response characteristic indicating how the vehicle responds to a potential collision. The method includes controlling the vehicle based at least in part on the one or more response characteristics.

Abstract: Systems and methods for brake redundancy for an autonomous vehicle are provided. An autonomous vehicle braking system can include a primary brake control module comprising one or more processors. The primary brake control module can be configured to brake an autonomous vehicle in response to receiving a braking command from a vehicle autonomy system of the autonomous vehicle. The autonomous vehicle braking system can further include a secondary brake control module comprising one or more processors. The secondary brake control module can be configured to determine a failure of the primary brake control module to brake the autonomous vehicle in response to receiving the braking command. In response to determining the failure of the primary brake control module to brake the autonomous vehicle, the secondary brake control module can be configured to implement a braking action for the autonomous vehicle.

Abstract: Systems and methods for controlling an autonomous vehicle steering mechanism are provided. In one example embodiment, a computer implemented method includes obtaining, by a computing system that includes one or more computing devices, data associated with a steering mechanism of an autonomous vehicle. The method includes identifying, by the computing system, a rate of change associated with the steering mechanism of the autonomous vehicle based at least in part on the data associated with the steering mechanism. The method includes determining, by the computing system, that the rate of change exceeds a rate limit associated with the steering mechanism of the autonomous vehicle. In response to determining that the rate of change exceeds the rate limit, the method includes adjusting, by the computing system, the steering mechanism of the autonomous vehicle.

Abstract: Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes receiving data indicative of an operating mode of the vehicle, wherein the vehicle is configured to operate in a plurality of operating modes. The method includes determining one or more response characteristics of the vehicle based at least in part on the operating mode of the vehicle, each response characteristic indicating how the vehicle responds to a potential collision. The method includes controlling the vehicle based at least in part on the one or more response characteristics.

Abstract: Devices, systems, and methods for controlling an autonomous vehicle are provided. In one example embodiment, a control device for user control of an autonomous vehicle includes a communication interface configured to physically couple the control device to an autonomous vehicle to allow communication with the autonomous vehicle. The control device includes an input device configured to receive user input for controlling one or more features of the autonomous vehicle when the communication interface is coupled to the autonomous vehicle. The control device includes one or more computing devices configured to provide one or more control signals to the autonomous vehicle via the communication interface to allow a user to control the autonomous vehicle via the input device. The autonomous vehicle is in a control mode that allows the user to control the autonomous vehicle.