Abstract: An exemplary vehicle comprises: one or more sensors; one or more processors; and one or more computer readable media storing instructions that, when executed by the one or more processors, cause the vehicle to: operate in an autonomous driving mode, wherein an operation in the autonomous driving mode comprises performing one or more driving operations based on road and environmental conditions detected by the one or more sensors; detect, by the one or more sensors, a first visual fiducial; and in response to detecting the first visual fiducial, operate in a semi-autonomous follower mode, wherein an operation in the semi-autonomous follower mode comprises performing one or more driving operations based on road and environmental conditions detected by the one or more sensors and one or more behaviors of a guide vehicle.

Abstract: A system for generating spatial audio alerts comprises one or more ultrasonic transducers disposed in a cab of a truck; one or more sensors disposed in or around the truck; one or more processors; and one or more computer readable media storing instructions that, when executed by the one or more processors, cause the system to: detect, by the one or more sensors, a hazard; identify a direction of the hazard relative to a driver of the truck; and generate a spatial audio alert, wherein generating a spatial audio alert comprises emitting, from the one or more ultrasonic transducers, an ultrasonic carrier wave modulated with audio content directed toward a location based on the direction of the hazard, wherein the ultrasonic carrier wave demodulates upon contacting an interior surface of the truck and generates a spatial audio alert audible from the location based on the direction of the hazard.

Abstract: An autonomous control system for a vehicle is provided. The control system comprises a first sensor to detect a left lane line and a right lane line of a traffic lane. The control system comprises a second sensor to detect an object located within or proximate to the traffic lane. The control system processes first image data captured by the first sensor to determine locations of the left lane line and the right lane line of the traffic lane. The system generates a first control signal based on the determined locations of the left lane line and the right lane line, wherein the first control signal causes the vehicle to follow a vehicle trajectory between the left lane line and the right lane line. The control system further processes second data captured by the second sensor to determine an object location and compute an object trajectory.

Abstract: An exemplary vehicle comprises: one or more sensors; one or more processors; and one or more computer readable media storing instructions that, when executed by the one or more processors, cause the vehicle to: operate in an autonomous driving mode, wherein an operation in the autonomous driving mode comprises performing one or more driving operations based on road and environmental conditions detected by the one or more sensors; detect, by the one or more sensors, a first visual fiducial; and in response to detecting the first visual fiducial, operate in a semi-autonomous follower mode, wherein an operation in the semi-autonomous follower mode comprises performing one or more driving operations based on road and environmental conditions detected by the one or more sensors and one or more behaviors of a guide vehicle.

Abstract: Systems and methods for autonomous vehicle testing are provided. In one example embodiment, a computer implemented method includes obtaining, by a computing system including one or more computing devices, simulated perception data indicative of one or more simulated states of at least one simulated object within a surrounding environment of an autonomous vehicle. The computer-implemented method includes determining, by the computing system, a motion of the autonomous vehicle based at least in part on the simulated perception data. The computer-implemented method includes causing, by the computing system, the autonomous vehicle to travel in accordance with the determined motion of the autonomous vehicle through the surrounding environment of the autonomous vehicle.

Abstract: A method and system for controlling an apparatus including receiving data indicative of an actual state of the apparatus, defining a first viewpoint relative to at least one of the environment and the apparatus, determining a first predicted state of the apparatus at time T, determining a first predicted state of the environment at time T, producing a first virtualized view from the first viewpoint, sending a first control signal to the apparatus after producing the first virtualized view, defining a second viewpoint relative to at least one of the apparatus and the environment, determining a second predicted state of the apparatus at time T+delta T, determining a second predicted state of the environment at time T+delta T, producing the second virtualized view from the second viewpoint, sending a second control signal to the apparatus after producing the second virtualized view, and changing the actual state of the apparatus based on the first control signal.

Abstract: A method and system for controlling an apparatus including receiving data indicative of an actual state of the apparatus, defining a first viewpoint relative to at least one of the environment and the apparatus, determining a first predicted state of the apparatus at time T, determining a first predicted state of the environment at time T, producing a first virtualized view from the first viewpoint, sending a first control signal to the apparatus after producing the first virtualized view, defining a second viewpoint relative to at least one of the apparatus and the environment, determining a second predicted state of the apparatus at time T+delta T, determining a second predicted state of the environment at time T+delta T, producing the second virtualized view from the second viewpoint, sending a second control signal to the apparatus after producing the second virtualized view, and changing the actual state of the apparatus based on the first control signal.