Abstract: Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.

Abstract: The technology relates to determining a future heading of an object. In order to do so, sensor data, including information identifying a bounding box representing an object in a vehicle's environment and locations of sensor data points corresponding to the object, may be received. Based on dimensions of the bounding box, an area corresponding to a wheel of the object may be identified. An orientation of the wheel may then be estimated based on the sensor data points having locations within the area. The estimation may then be used to determine a future heading of the object.

Abstract: Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.

Abstract: The technology relates to determining a future heading of an object. In order to do so, sensor data, including information identifying a bounding box representing an object in a vehicle's environment and locations of sensor data points corresponding to the object, may be received. Based on dimensions of the bounding box, an area corresponding to a wheel of the object may be identified. An orientation of the wheel may then be estimated based on the sensor data points having locations within the area. The estimation may then be used to determine a future heading of the object.

Abstract: A system and method for avoiding or mitigating collisions by an autonomous vehicle is provided. Raw sensor data for the vehicle's environment is received, such as through a perception system of the vehicle. A trajectory is also received, the trajectory having a width corresponding to a distance that is at least as wide as the vehicle. The trajectory and raw sensor data are projected onto a grid, such as a static occupancy grid, having a plurality of cells. It is determined whether any cell that overlaps with the trajectory includes the raw sensor data. It is further determined, based on the raw sensor data, whether an obstacle is present along the trajectory. When no obstacles are determined to be present along the trajectory, the trajectory may be verified. However, where obstacles are determined to be present, the vehicle may take an action to avoid collision.

Abstract: Aspects of the disclosure relate to controlling a first vehicle in an autonomous driving mode. While doing so, a second vehicle may be identified. Geometry for a future trajectory of the first vehicle may be identified, and an initial allowable discomfort value may be identified. Determining a speed profile for the geometry that meets the value may be attempted by determining a discomfort value for the speed profile based on a set of factors relating to at least discomfort of a passenger of the first vehicle and discomfort of a passenger of the second vehicle. When a speed profile that meets the value cannot be determined, the value may be adjusted until a speed profile that meets the value is determined. The speed profile that meets an adjusted value is used to control the first vehicle in the autonomous driving mode.

Abstract: The technology relates to determining a future heading of an object. In order to do so, sensor data, including information identifying a bounding box representing an object in a vehicle's environment and locations of sensor data points corresponding to the object, may be received. Based on dimensions of the bounding box, an area corresponding to a wheel of the object may be identified. An orientation of the wheel may then be estimated based on the sensor data points having locations within the area. The estimation may then be used to determine a future heading of the object.

Abstract: Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.

Abstract: The technology relates to determining a future heading of an object. In order to do so, sensor data, including information identifying a bounding box representing an object in a vehicle's environment and locations of sensor data points corresponding to the object, may be received. Based on dimensions of the bounding box, an area corresponding to a wheel of the object may be identified. An orientation of the wheel may then be estimated based on the sensor data points having locations within the area. The estimation may then be used to determine a future heading of the object.

Abstract: The technology relates to determining a future heading of an object. In order to do so, sensor data, including information identifying a bounding box representing an object in a vehicle's environment and locations of sensor data points corresponding to the object, may be received. Based on dimensions of the bounding box, an area corresponding to a wheel of the object may be identified. An orientation of the wheel may then be estimated based on the sensor data points having locations within the area. The estimation may then be used to determine a future heading of the object.

Abstract: Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.

Abstract: Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.

Abstract: Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.

Abstract: Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle's computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.

Abstract: A fixing element fixes a part to a support wall. When the fixing element is inserted into an opening in the support wall and reaches a predetermined end position, the fixing element locks to the support wall. The fixing element includes a stop element, a snap-on element, and an unlocking element. The stop element bears against a side of the support wall when the fixing element is locked to the support wall. The snap-on element is positioned on an inner side of the support wall when the fixing element is locked to the support wall. The unlocking element is connected to the snap-on element. The unlocking element is configured to permit the snap-on element to be unlocked and the fixing element to be removed from the opening. An installation tool and a testing tool may be used in conjunction with the fixing element.

Abstract: In a method and a device for the control of a vehicle brake system, the setpoint values for each wheel are corrected based on the difference between brake pressures in at least one wheel brake of two different brake circuits.

Abstract: A gas flow distributor for an airbag module distributing a gas flow generated by a gas generator to inflate an airbag, including fastening structures for fastening the gas flow distributor to a gas generator, the gas flow distributor being formed in the shape of a sleeve from a flexible material, wherein the fastening structures include at least one fastening tab that is formed at one end of the gas flow distributor and via which the gas flow distributor can be fastened to the gas generator.

Abstract: A fixing element fixes a part to a support wall. When the fixing element is inserted into an opening in the support wall and reaches a predetermined end position, the fixing element locks to the support wall. The fixing element includes a stop element, a snap-on element, and an unlocking element. The stop element bears against a side of the support wall when the fixing element is locked to the support wall. The snap-on element is positioned on an inner side of the support wall when the fixing element is locked to the support wall. The unlocking element is connected to the snap-on element. The unlocking element is configured to permit the snap-on element to be unlocked and the fixing element to be removed from the opening. An installation tool and a testing tool may be used in conjunction with the fixing element.

Abstract: A fixing element fixes a part to a support wall. When the fixing element is inserted into an opening in the support wall and reaches a predetermined end position, the fixing element locks to the support wall. The fixing element includes a stop element, a snap-on element, and an unlocking element. The stop element bears against a side of the support wall when the fixing element is locked to the support wall. The snap-on element is positioned on an inner side of the support wall when the fixing element is locked to the support wall. The unlocking element is connected to the snap-on element. The unlocking element is configured to permit the snap-on element to be unlocked and the fixing element to be removed from the opening. An installation tool and a testing tool may be used in conjunction with the fixing element.

Abstract: An airbag arrangement for a vehicle occupant restraint system includes an airbag on a side of a backrest of a vehicle seat that when inflated first extends substantially in a direction of a vertical vehicle axis and then forward from a backrest in a direction of travel of the vehicle. The airbag includes at least one inflatable chamber extending substantially forward from the backrest in the direction of travel and that is assigned to a body region of a vehicle occupant to support the vehicle occupant in a side collision. The at least one chamber is extended by a section that extends forward in the direction of travel when the airbag is inflated so that the airbag supports the vehicle occupant if vehicle occupant moves obliquely forward in the direction of travel because the section intercepts the associated body region of the vehicle occupant.