Systems and techniques are disclosed for improving a comfort, safety, and/or operation of an autonomous vehicle (AV) in an environment including a potential occlusion. An example method can include determining, by a computer of an AV and based on a first trajectory of an occluded hypothetical object, a dissipation boundary associated with the AV, wherein the dissipation boundary comprises a location where the AV is predicted to perceive the occluded hypothetical object given the first trajectory of the occluded hypothetical object; determining, based on the first trajectory of the occluded hypothetical object and a second trajectory of the AV, a hard brake boundary for the AV; and based on the dissipation boundary and the hard brake boundary, calibrating, by the computer, a speed of the AV.
The disclosed technology provides solutions for localizing a robotic arm to facilitate entry into and cleaning of an autonomous vehicle (AV) cabin. A process of the disclosed technology can include steps for locating a door handle of an AV, actuating the door handle to open a door of the AV, and positioning a robotic arm inside a cabin of the AV. The process may further include steps for collecting image data representing the cabin using an optical sensor disposed on a distal end of the robotic arm, identifying one or more features within the cabin based, and localizing the robotic arm within the cabin of the AV. Systems and machine-readable media are also provided.
The disclosed technology provides solutions for facilitating automated cleaning of an autonomous vehicle (AV) and in particular, for identifying objects and maintenance areas within an AV cabin. A process of the disclosed technology can include steps for collecting sensor data representing a cabin of an autonomous vehicle (AV) using an optical sensor disposed on a robotic arm, identifying one or more objects represented by the sensor data, and determining if the cabin of the AV can be cleaned using one or more tools associated with the robotic arm based on an identification of at least one of the one or more objects. Systems and machine-readable media are also provided.
Various technologies described herein pertain to mitigating motion misalignment of a time-of-flight sensor system and/or generating transverse velocity estimate data utilizing the time-of-flight sensor system. A stream of frames outputted by a sensor of the time-of-flight sensor system is received. A pair of non-adjacent frames in the stream of frames is identified. Computed optical flow data is calculated based on the pair of non-adjacent frames in the stream of frames. Estimated optical flow data for at least one differing frame can be generated based on the computed optical flow data, and the at least one differing frame can be realigned based on the estimated optical flow data. Moreover, transverse velocity estimate data for an object can be generated based on the computed optical flow data.
Systems and techniques are provided for learning deep learning compute paths. An example method can determine a neural network element of a first compute path within a neural network, the first compute path comprising neural network elements including the neural network element, the neural network element comprising a neural network layer and/or a neural network node; determine a second compute path comprising the neural network element and different neural network elements, the second compute path having a smaller size than the first compute path, a lower latency than the first compute path, and/or a smaller compute cost than the second compute path; determine, based on one or more conditions, whether to process data from the neural network element through the first compute path or the second compute path; and process the data from the neural network element through one of the first compute path or the second compute path.
Systems and techniques are provided for high dynamic range (HDR) with time-of-flight (TOF) cameras. An example method can include obtaining, from a TOF camera, correlation samples including a first set of correlation samples with a first integration time and a second set of correlation samples with a second integration time; determining that a first correlation sample from the first set of correlation samples is saturated; based on the determining that the first correlation sample is saturated, inferring that a second correlation sample from the first set of correlation samples is also saturated; replacing the first correlation sample and the second correlation sample with one or more scaled versions of one or more correlation samples from the second set of correlation samples; and generating an HDR TOF frame based on the one or more scaled versions of the one or more correlation samples and the second set of correlation samples.
G01S 17/894 - Imagerie 3D avec mesure simultanée du temps de vol sur une matrice 2D de pixels récepteurs, p. ex. caméras à temps de vol ou lidar flash
G01S 17/36 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes continues, soit modulées en amplitude, en fréquence ou en phase, soit non modulées avec comparaison en phase entre le signal reçu et le signal transmis au même moment
7.
SYSTEM AND METHOD FOR EVALUATING RIDE SERVICE FACILITATED BY AUTONOMOUS VEHICLE
A ride evaluation platform can evaluate ride services provided by AVs to users, e.g., to determine whether the users are satisfied with the rider services so that the users will request more ride services. The ride evaluation platform may identify and classify operational behaviors of an AV based on a record of the AV's operation for providing a ride service. The ride evaluation platforms can further detect defects in the ride service based on the classifications of operational behaviors of AVs, user expressions that indicate one or more user sentiments towards the ride service, one or more conditions of an environment in which the AV operated for providing the ride service, or some combination thereof. The ride evaluation platform may determine a score for the ride service based on the defects. The score may indicate a likelihood of the user would request another ride service provided by an AV.
The technologies described herein relate to a radar system that is configured to generate point clouds based upon radar tensors generated by the radar system. More specifically, the radar system is configured to identify bins in radar tensors that correspond to objects in an environment of the radar system, and to use energy values in other bins to construct a point cloud. A computing system detects objects in an environment of the radar system based upon the point clouds.
G01S 7/41 - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe utilisant l'analyse du signal d'écho pour la caractérisation de la cibleSignature de cibleSurface équivalente de cible
G01S 13/524 - Discrimination entre objets fixes et mobiles ou entre objets se déplaçant à différentes vitesses utilisant la transmission de trains discontinus d'ondes modulées par impulsions basée sur le décalage de phase ou de fréquence résultant du mouvement des objets, avec référence aux signaux transmis, p. ex. MTI cohérent
G01S 13/536 - Discrimination entre objets fixes et mobiles ou entre objets se déplaçant à différentes vitesses utilisant la transmission d'ondes continues non modulées, ou modulées en amplitude, en fréquence ou en phase
G01S 13/58 - Systèmes de détermination de la vitesse ou de la trajectoireSystèmes de détermination du sens d'un mouvement
G01S 13/931 - Radar ou systèmes analogues, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
G01S 13/86 - Combinaisons de systèmes radar avec des systèmes autres que radar, p. ex. sonar, chercheur de direction
G01S 17/86 - Combinaisons de systèmes lidar avec des systèmes autres que lidar, radar ou sonar, p. ex. avec des goniomètres
Object detection for ranging sensor data may detect objects which are not actually present in the environment. To identify certain of these phantom objects, objects detected in the environment are analyzed to determine whether they are enclosed by another object and if the enclosed object has a distance from the ranging sensor higher than the enclosing object. This may suggest that the enclosing object has a surface or other feature that is sensed as additional depth that manifests as a separate detectable object. These phantom objects are identified and removed from further perception processing.
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
G01S 7/41 - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe utilisant l'analyse du signal d'écho pour la caractérisation de la cibleSignature de cibleSurface équivalente de cible
G01S 7/48 - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 13/46 - Détermination indirecte des données relatives à la position
G01S 17/42 - Mesure simultanée de la distance et d'autres coordonnées
G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
10.
METHOD FOR DETECTING AN IMMINENT COLLISION OF A VEHICLE
Systems and methods for imminent collision detection are provided. A method includes collecting sensor data (302) generated by one or more sensors (210) of a vehicle; detecting, by a fallback control system (230, 330) of the vehicle based on the sensor data, an imminent collision between the vehicle and an object in an environment of the vehicle using a first process different from a second process of a primary control system (220, 320) of the vehicle, wherein the first process and the second process are associated with at least one of a perception or a prediction; and transmitting, by the fallback control system to the primary control system, an indication of the detected imminent collision.
B60W 30/09 - Entreprenant une action automatiquement pour éviter la collision, p. ex. en freinant ou tournant
B60W 50/023 - Élimination des défaillances en utilisant des éléments redondants
B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
B60W 50/06 - Détails des systèmes d'aide à la conduite des véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier pour améliorer la réponse dynamique du système d'aide à la conduite, p. ex. pour améliorer la vitesse de régulation, ou éviter le dépassement de la consigne ou l'instabilité
11.
SYSTEMS AND METHODS FOR SPECIFYING GOALS AND BEHAVIORAL PARAMETERS FOR PLANNING SYSTEMS OF AUTONOMOUS VEHICLES
Disclosed are systems and methods for specifying goals and behavioral parameters for planning systems of autonomous vehicles. In some aspects, a method includes receiving, by a mission manager in an autonomous vehicle (AV), a mission from an input source of the AV, the mission comprising a request for a task that the AV is to fulfill; deconflicting the mission with one or more other missions of the AV to generate a ranked list of missions; selecting a target mission from the ranked list of missions in accordance with priorities corresponding to each mission in the ranked list of missions; generating one or more scenarios based on the target mission, the one or more scenarios comprising encoded representations of local and geometric terms to cause the target mission to be fulfilled by the AV; and dispatching the one or more scenarios to a planner layer of the AV.
G06Q 10/06 - Ressources, gestion de tâches, des ressources humaines ou de projetsPlanification d’entreprise ou d’organisationModélisation d’entreprise ou d’organisation
H04L 67/12 - Protocoles spécialement adaptés aux environnements propriétaires ou de mise en réseau pour un usage spécial, p. ex. les réseaux médicaux, les réseaux de capteurs, les réseaux dans les véhicules ou les réseaux de mesure à distance
H04W 4/40 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques pour les véhicules, p. ex. communication véhicule-piétons
12.
NAVIGATING MINOR-MAJOR INTERSECTIONS WITH AN AUTONOMOUS VEHICLE
Approaches to managing navigation of autonomous vehicles through minor-major intersections are disclosed. A minor-major intersection is detected. Shadow tracks are generated for occlusions associated with the minor-major intersection. A maneuver evaluation is performed based on induced kinematic discomfort and post-encroachment time. Preliminary lateral and longitudinal planning is performed based on shadow tracks, induced kinematic discomfort and post-encroachment time to generate one or more proposed trajectories. Final trajectory generation is performed by refining at least one of the one or more proposed trajectories to generate the final trajectory. The autonomous vehicle performs a selected maneuver corresponding to the final trajectory within the minor-major intersection.
For one embodiment of the present invention, a computer implemented method of determining tire road limit nearness estimation is described. The computer implemented method includes obtaining sensor signals from a sensor system of a vehicle to monitor driving operations and to determine localization of the vehicle. The method further includes determining lateral force disturbances for front and rear lateral accelerations and a bulk longitudinal force disturbance for the vehicle based on the localization and the sensor signals and determining a tire road limit nearness estimation for the vehicle based on the sensor signals, the lateral force disturbances for front and rear lateral accelerations and the bulk longitudinal force disturbance.
B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
B60W 40/068 - Calcul ou estimation des paramètres de fonctionnement pour les systèmes d'aide à la conduite de véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier liés aux conditions ambiantes liés à l'état de la route coefficient de friction de la route
The present technology pertains to generating hybrid scenario information for use during closed course testing of an autonomous vehicle (AV). Such hybrid scenario information may be generated by combining sensor data from an AV, simulated environment information, simulated object information, and information obtained using perceivable marker information of a perceivable marker perceived by the AV in the closed course environment. The hybrid scenario information may be provided to the AV during the closed course testing. The AV may respond to the hybrid scenario information by performing one or more AV control actions.
Particular embodiments described herein provide for a system and method for facilitating autonomous delivery using a delivery assembly transported by an autonomous vehicle, the system and method can include determining a location of the delivery assembly and in response to determining the location of the delivery assembly, configuring a user interface to facilitate the autonomous delivery. The user interface has at least a point of origination configuration and a user configuration. In addition, the user interface can authenticate a user, allow the user to access one or more cubbies of the delivery assembly, and inform the user through one or more indicators on the user interface that the user can access a specific cubby.
There is disclosed herein examples of a securement structure for a delivery container in a vehicle, the securement structure comprising a frame removably attached to a chassis of the vehicle, and the frame supports the delivery container securely when the vehicle is in motion. In some embodiments, the frame comprises tubes in a shape that conforms to a space corresponding to a rear-seat of the vehicle, the frame comprising a front frame, a base frame, and a back frame.
B60R 7/04 - Accessoires de rangement ou fixation, intérieurs aux véhicules, essentiellement destinés aux objets personnels de dimension plus petite qu'une valise, p. ex. articles de voyage ou cartes à l'emplacement du conducteur ou du passager
A delivery container (100) is designed to fit into the rear passenger compartment of a vehicle. The delivery container (100) has a drawer (190) that can move from one side of the delivery container (100) near a first rear door to the other side of the delivery container (100) near the opposite rear door. A single load of items can be accessed from the same side of the vehicle, or two different loads may be accessed from the same side. The drawer (190) can automatically or manually move items from one side of the vehicle to the other.
B60R 7/04 - Accessoires de rangement ou fixation, intérieurs aux véhicules, essentiellement destinés aux objets personnels de dimension plus petite qu'une valise, p. ex. articles de voyage ou cartes à l'emplacement du conducteur ou du passager
A delivery container (100) is designed to fit into the rear passenger compartment of a vehicle. The delivery container (100) includes a base (110), two sides (140a, 140b), and a top (160). The sides are angled (140a, 140b) and the top (160) is smaller than the base (110), which creates a large opening that is easy for a user to access and can adequately store large or bulky goods. The delivery container (100) may be accessed from either side of the vehicle, and may include a drawer (190) for moving items from one side of the vehicle to the other, so that items may be easily accessed from either side.
B60R 7/04 - Accessoires de rangement ou fixation, intérieurs aux véhicules, essentiellement destinés aux objets personnels de dimension plus petite qu'une valise, p. ex. articles de voyage ou cartes à l'emplacement du conducteur ou du passager
An AV receives a delivery request made by a user. The AV navigates to the user's location. The AV's onboard controller determines that the AV has arrived at the location. The onboard controller then commands the AV's motor to pause motion. The onboard controller provides the user an access to a delivery assembly in the AV. The onboard controller or the delivery assembly detects, by using sensors in the delivery assembly, whether an item has been removed from or placed into the container. Subsequent to detecting that the item has been removed from or placed into the container, the onboard controller commands the AV's motor to resume motion. The onboard controller or delivery assembly may also control a movable element in the container to allow the user to load or unload the item from a safe spot or control a divider in the container to protect the user's privacy.
The disclosed technology provides solutions provides solutions for improving sensor data accuracy and in particular, for improving radar data by de-noising radar elevation measurements using a height-map. In some aspects, a process of the disclosed technology can include steps for receiving camera data corresponding with a first location, receiving radar data comprising a plurality of radar points, and processing the radar data to generate height-corrected radar data. In some aspects, the process can further include steps for projecting the height-corrected radar data into an image space to generate radar-image data. Systems and machine-readable media are also provided.
The disclosed technology provides solutions for validating operation of a sensor assembly by performing an assembly test. In some aspects, a process of performing the assembly test includes steps for collecting motor controller measurements, wherein the motor controller measurements include an amount of current supplied to a motor coupled when performing a sensor sweep, calculating an average current drawn by the motor based on the current measurements, and calculating a peak current drawn by the motor based on the current measurements. In some aspects, the process can further include steps for determining if the sensor assembly passes the sensor assembly test based on the average current drawn and the peak current drawn. Systems and machine-readable media are also provided.
B60L 3/00 - Dispositifs électriques de sécurité sur véhicules propulsés électriquementContrôle des paramètres de fonctionnement, p. ex. de la vitesse, de la décélération ou de la consommation d’énergie
G01R 19/00 - Dispositions pour procéder aux mesures de courant ou de tension ou pour en indiquer l'existence ou le signe
G01R 19/165 - Indication de ce qu'un courant ou une tension est, soit supérieur ou inférieur à une valeur prédéterminée, soit à l'intérieur ou à l'extérieur d'une plage de valeurs prédéterminée
G01R 31/30 - Tests marginaux, p. ex. en faisant varier la tension d'alimentation
22.
SYSTEMS AND METHODS FOR GENERATING A CORRECTED IMAGE OUTPUT BY A CAMERA HAVING A GLOBAL SHUTTER
Technologies are described herein that are configured to generate a corrected image by addressing photo response nonuniformity (PRNU) in a camera having a global shutter. A calibration procedure is described, where correction factors for each pixel in an image sensor are computed and subsequently employed to generate improved images.
H04N 5/365 - Traitement du bruit, p.ex. détection, correction, réduction ou élimination du bruit appliqué au bruit à motif fixe, p.ex. non-uniformité de la réponse
23.
IMPROVING OBJECT CLASSIFICATION USING DATA AUGMENTATION
The disclosed technology provides solutions for improving object classification using machine-learning techniques. In particular, solutions for improving detection/classification in rare-event scenarios are provided. In some approaches, a process of the invention can include steps for: receiving road data, wherein the road data comprises sensor data associated with a driving scene, receiving object data from an object database, and inserting a virtual object, at a first location, within the driving scene, wherein the virtual object is based on the object data. In some aspects, the process can further include steps for performing an object identification process to classify the virtual object at the first location in the driving scene. Systems and machine-readable media are also provided.
G06V 10/774 - Génération d'ensembles de motifs de formationTraitement des caractéristiques d’images ou de vidéos dans les espaces de caractéristiquesDispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant l’intégration et la réduction de données, p. ex. analyse en composantes principales [PCA] ou analyse en composantes indépendantes [ ICA] ou cartes auto-organisatrices [SOM]Séparation aveugle de source méthodes de Bootstrap, p. ex. "bagging” ou “boosting”
G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p. ex. véhicules ou piétonsReconnaissance des objets de la circulation, p. ex. signalisation routière, feux de signalisation ou routes
Various technologies described herein pertain to a heat spreader (100) for an autonomous vehicle computing device. The heat spreader includes a top surface (102), a bottom surface (104), and a side surface (106). The top surface of the heat spreader is thermally conductive. The top surface of the heat spreader includes a section (112) that is sized and shaped to align with a heat generating component (e.g., on a printed circuit board assembly). The top surface of the heat spreader is configured to receive heat from the heat generating component. The bottom surface of the heat spreader includes externally integrated fins (114). The heat spreader is configured to dissipate the heat from the heat generating component such that the heat from the heat generating component flows from the top surface to the externally integrated fins on the bottom surface.
H05K 7/20 - Modifications en vue de faciliter la réfrigération, l'aération ou le chauffage
H01L 23/473 - Dispositions pour le refroidissement, le chauffage, la ventilation ou la compensation de la température impliquant le transfert de chaleur par des fluides en circulation par une circulation de liquides
25.
AN AUTONOMOUS VEHICLE THAT COMPRISES ULTRASONIC SENSORS
An autonomous vehicle includes a first ultrasonic sensor and a second ultrasonic sensor that is included in a daisy chain with the first ultrasonic sensor, wherein the first ultrasonic sensor is electrically connected to the second ultrasonic sensor in the daisy chain by way of a twisted pair wire. The autonomous vehicle further includes an electronic control unit (ECU) for the first ultrasonic sensor and the second ultrasonic sensor, the ECU is included in the daisy chain with the first ultrasonic sensor and the second ultrasonic sensor, wherein the ECU is electrically connected to the first ultrasonic sensor and the second ultrasonic sensor by way of the twisted pair wire, and further wherein the ECU is in bidirectional communication with the first ultrasonic sensor and the second ultrasonic sensor by way of differential signaling over the twisted pair wire.
G01S 7/54 - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe avec des récepteurs séparés
G01S 15/04 - Systèmes de détermination de la présence d'une cible
G01S 15/10 - Systèmes pour mesurer la distance uniquement utilisant la transmission de trains discontinus d'ondes modulées par impulsions
G01S 15/42 - Mesure simultanée de la distance et d'autres coordonnées
G01S 15/46 - Détermination indirecte des données relatives à la position
G01S 15/86 - Combinaisons de systèmes sonar avec des systèmes lidarCombinaisons de systèmes sonar avec des systèmes n'utilisant pas la réflexion des ondes
A method for storing shard data and data formats for storing shard data are proposed. Shard data entries are generated and stored, wherein each shard data entry comprises a definition of one or more semantic objects covered by the shard data entry. Shard metadata is generated and stored, wherein the metadata comprises references to the shard data entries and, for each of the shard data entries, data representative of a bounding box indicative of an area in a geographical area that is covered by the shard data entry.
A component for diffusing light emitted by a laser source in a lidar system of an autonomous vehicle. The component comprises a component body. The component body comprises an aspheric lens shaped to direct laser illumination from a laser source in the lidar system to produce a particular illumination profile by directing a portion of the laser illumination to a part of a field of view of the lidar system. The component body further comprises an attachment structure configured for securing the component body to a printed circuit board of the lidar system. The attachment structure is further configured to space a central axis of the aspheric lens a distance from a central axis of the laser source in the lidar system.
Systems and methods for determining a passenger destination given a destination type. In particular, based on one or more conditions, a rideshare application selects one or more destination options for the user, and presents the one or more destination options to the user. The conditions can include user input criteria such as type of destination, pricing, and popularity, and external factors such as time of day and traffic.
A map database stores data describing a set of connected roadways, each having one or more lanes. A coverage system selects lanes from the map database along which AVs can stop, such as parking lanes. The coverage system generates buffer regions for each of the stopping lanes, where each buffer region includes an area within a given distance of the respective lane. The coverage system combines the buffer regions to generate a coverage area, and provides a display of the coverage area overlayed over a map of roads corresponding to the coverage area.
Systems and methods for detecting when a mobile device is left in a vehicle, and returning forgotten devices to owners. Additionally, systems and methods are provided for preventing mobile devices from being left in vehicles. In particular, sensors inside a vehicle as well as sensors on mobile devices can be used to identify when a mobile device remains in a vehicle after the owner has exited the vehicle and ended their trip. Systems and methods are provided for notifying the user of the forgotten device and intelligently returning the device to the user.
H04W 4/48 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques pour les véhicules, p. ex. communication véhicule-piétons pour la communication dans le véhicule
H04W 8/00 - Gestion de données relatives au réseau
31.
TRANSPARENT CUBBY SYSTEM FOR AUTONOMOUS DELIVERY SERVICES
An autonomous delivery system for a vehicle is described and includes a plurality of cubbies for retaining items for delivery to users, wherein each of the cubbies comprises a door for selectively enabling access to contents of the cubby, wherein each of the doors comprises a selectively transparent display and wherein upon arrival at a delivery destination, the selectively transparent displays communicate to a recipient associated with the delivery destination in which one of the cubbies a delivery associated with the recipient is retained; and an authentication system for authenticating the recipient and, subsequent to successful authentication of the recipient, permitting access to contents of the one of the cubbies in which the delivery associated with the recipient is retained.
G06Q 20/18 - Architectures de paiement impliquant des terminaux en libre-service, des distributeurs automatiques, des bornes ou des terminaux multimédia
G01C 21/26 - NavigationInstruments de navigation non prévus dans les groupes spécialement adaptés pour la navigation dans un réseau routier
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
G06Q 20/32 - Architectures, schémas ou protocoles de paiement caractérisés par l'emploi de dispositifs spécifiques utilisant des dispositifs sans fil
G06Q 20/40 - Autorisation, p. ex. identification du payeur ou du bénéficiaire, vérification des références du client ou du magasinExamen et approbation des payeurs, p. ex. contrôle des lignes de crédit ou des listes négatives
G07F 11/62 - Appareils déclenchés par des pièces de monnaie pour distribuer ou délivrer d'une façon analogue, des articles d'une façon discontinue dans lesquels les articles sont stockés en compartiments dans des casiers fixes
G07F 17/00 - Appareils déclenchés par pièces de monnaie pour la location d'articlesInstallations ou services déclenchés par pièces de monnaie
G07F 17/12 - Appareils déclenchés par pièces de monnaie pour la location d'articlesInstallations ou services déclenchés par pièces de monnaie pour moyens pour mettre en sûreté un bien momentanément abandonné, p. ex. en attachant ce bien comportant des récipients pouvant être verrouillés, p. ex. pour déposer des vêtements à nettoyer
Various technologies described herein pertain to reserving seats in an autonomous vehicle. The autonomous vehicle includes a plurality of seats that can be occupied by passengers when riding in the autonomous vehicle. The autonomous vehicle is configured to assign a particular seat from the plurality of seats in the autonomous vehicle to a passenger based on information pertaining to the passenger and information pertaining to a ride-sharing trip. The autonomous vehicle is to transport at least the passenger and a differing passenger during at least a portion of the ride-sharing trip. Moreover, the passenger and the differing passenger independently request rides in the autonomous vehicle. The autonomous vehicle is further configured to output, to the passenger, an indication of the particular seat assigned to the passenger.
Systems and methods for customizable autonomous vehicle service for large scale events. A centralized ride management system allows event hosts to integrate with a rideshare vehicle fleet for booking, customizing, tracking, and managing guest rides. The centralized ride management system collects basic event information from the host, such as event location, event start time, number of event guests, and guest pick-up locations. Using this information, the centralized ride management system schedules various guest pick-up times and determines routes to the event location that optimize traffic conditions and reduce congestion at the drop-off location.
G06Q 10/06 - Ressources, gestion de tâches, des ressources humaines ou de projetsPlanification d’entreprise ou d’organisationModélisation d’entreprise ou d’organisation
34.
AUTONOMOUS VEHICLE HIGH-PRIORITY DATA OFFLOAD SYSTEM
The disclosed technology provides solutions for managing autonomous vehicle (AV) collisions. In some aspects, a process of preserving collected environmental data associated with a collision event is provided. The process can include steps for collecting environmental data using one or more autonomous vehicle (AV) sensors, processing the environmental data to identify at least one emergency event, and analyzing the emergency event to determine an associated criticality level. In some approaches, the process can further include steps for automatically uploading the environmental data to a remote entity or server. Systems and machine-readable media are also provided.
Systems and methods are provided for monitoring the structural integrity of a vehicle. In particular, systems and methods are provided for using transducers positioned at various location in and on a vehicle to measure parameters related vehicle structural health. In various implementations, the integrity of the vehicle frame and the integrity of the vehicle body are monitored using a multi-axis accelerometer and/or microphone. The use of transducers for monitoring can replace time-consuming and expensive manual inspections.
G07C 5/08 - Enregistrement ou indication de données de marche autres que le temps de circulation, de fonctionnement, d'arrêt ou d'attente, avec ou sans enregistrement des temps de circulation, de fonctionnement, d'arrêt ou d'attente
G07C 5/00 - Enregistrement ou indication du fonctionnement de véhicules
The present disclosure provides a method comprising receiving a rideshare request from a user, the rideshare request including a destination; transporting the passenger to the destination using an autonomous vehicle (AV) having a plurality of windows comprising electrically switchable smart glass; during the transporting, monitoring a metric related to arrival of the AV at the destination; and untinting the windows when the monitored metric has a prescribed relationship to a threshold value.
The subject disclosure relates to solutions for arbitrating traffic blockages along vehicle routes. In some aspects, the disclosed technology encompasses a method including steps for determining a vehicle route, wherein the vehicle route comprises at least one lane plan to be followed by an autonomous vehicle (AV), identifying a blockage along the vehicle route, analyzing the blockage to determine if the blockage constitutes a persistent blockage, and if the blockage constitutes a persistent blockage, associating a time value with the blockage. Systems and machine-readable media are also provided.
G01C 21/34 - Recherche d'itinéraireGuidage en matière d'itinéraire
G08G 1/01 - Détection du mouvement du trafic pour le comptage ou la commande
G08G 1/0967 - Systèmes impliquant la transmission d'informations pour les grands axes de circulation, p. ex. conditions météorologiques, limites de vitesse
38.
ROTATING BLADE MECHANISM FOR CLEANING CYLINDRICAL SENSORS
The subject disclosure relates to features that facilitate the automatic cleaning of optical sensors and in particular Light Detection and Ranging (LiDAR) sensors used in autonomous vehicle deployments. The disclosed technology includes a sensor cleaning apparatus (300) having a housing (304), wherein the housing is configured to be rotatably coupled to an optical sensor (302), a wiper blade (306) coupled to the housing, wherein the wiper blade is disposed at a downward angle relative to a top-surface of the optical sensor, and one or more nozzles (308) disposed within the wiper blade, wherein the nozzles are configured to apply compressed gas to a surface of the optical sensor.
B60S 1/56 - Nettoyage des pare-brise, fenêtres ou dispositifs optiques spécialement adaptés pour nettoyer d'autres parties ou dispositifs que les fenêtres avant ou les pare-brise
G01S 17/00 - Systèmes utilisant la réflexion ou la reradiation d'ondes électromagnétiques autres que les ondes radio, p. ex. systèmes lidar
G02B 27/00 - Systèmes ou appareils optiques non prévus dans aucun des groupes ,
B60S 1/54 - Nettoyage des pare-brise, fenêtres ou dispositifs optiques utilisant un gaz, p. ex. air chaud
39.
ROUTING AUTONOMOUS VEHICLES BASED ON LANE-LEVEL PERFORMANCE
A map database stores data describing a set of connected roadways, each having one or more lanes, A navigation system selects a route for an autonomous vehicle (AV) by identifying a set of candidate lanes for routing the AV in the map database and retrieving at least one parameter of each candidate lane from the map database. The navigation system determines a performance metric for each of the candidate lanes, the performance metric for a given candidate lane based on the retrieved at least one parameter of the given candidate lane. The navigation system selects a candidate lane for routing the AV based at least in part on the determined performance metrics.
The subject disclosure relates to ways to identify self-hit data collected by autonomous vehicle (AV) sensors. In some aspects, a method of the disclosed technology includes steps for generating a geometric model of an autonomous vehicle (AV), wherein the geometric model specifies physical boundaries of the AV in three-dimensional (3D) space, collecting sensor data for an environment around the AV, and identifying one or more data points, from among the collected sensor data, that correspond with a surface of the AV. Systems and machine-readable media are also provided.
The subject disclosure relates to ways to determine the mass of a vehicle, such as an autonomous vehicle (AV), based on the vehicle pose. In some aspects, a method of the disclosed technology includes steps for measuring a first pose of a vehicle using one or more environmental sensors, measuring a second pose of the vehicle using the one or more environmental sensors, and calculating a mass of the vehicle based on the first pose and the second pose. Systems and machine-readable media are also provided.
G01G 19/02 - Appareils ou méthodes de pesée adaptés à des fins particulières non prévues dans les groupes pour peser des objets à roues ou roulants, p. ex. des véhicules
G01G 19/08 - Appareils ou méthodes de pesée adaptés à des fins particulières non prévues dans les groupes pour incorporation dans des véhicules
42.
TWO-PHASE COOLING SYSTEMS FOR AUTONOMOUS DRIVING SUPER COMPUTERS
Two-phase cooling systems for autonomous driving super computers (ADSC) are described herein. In some examples, a two-phase cooling system can include a flow channel configured to circulate a flow; an evaporative heat exchanger comprising an inlet for receiving fluid from the flow channel and an outlet for releasing vapor generated from the fluid, the evaporative heat exchanger being configured to collect heat from components of the ADSC and transfer the heat away via the vapor released from the first outlet; a condensing heat exchanger configured to condense the vapor and remove latent heat associated with the vapor, the condensing heat exchanger comprising an inlet to the flow channel for receiving the vapor and an outlet to the flow channel for discharging fluid generated by condensing the vapor; and a pump configured to receive the fluid from the condensing heat exchanger and circulate the fluid to the evaporative heat exchanger.
A vehicle includes one or more cameras that capture a plurality of two-dimensional images of a three-dimensional object. A light detector and/or a semantic classifier search within those images for lights of the three-dimensional object. A vehicle signal detection module fuses information from the light detector and/or the semantic classifier to produce a semantic meaning for the lights. The vehicle can be controlled based on the semantic meaning. Further, the vehicle can include a depth sensor and an object projector. The object projector can determine regions of interest within the two-dimensional images, based on the depth sensor. The light detector and/or the semantic classifier can use these regions of interest to efficiently perform the search for the lights.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
G06K 9/62 - Méthodes ou dispositions pour la reconnaissance utilisant des moyens électroniques
G06K 9/72 - Méthodes ou dispositions pour la reconnaissance utilisant des moyens électroniques utilisant une analyse de contexte basée sur l'identité provisoire attribuée à une série de formes successives, p.ex. d'un mot
44.
MULTI-MODAL, MULTI-TECHNIQUE VEHICLE SIGNAL DETECTION
A vehicle includes one or more cameras that capture a plurality of two-dimensional images of a three-dimensional object. A light detector and/or a semantic classifier search within those images for lights of the three-dimensional object. A vehicle signal detection module fuses information from the light detector and/or the semantic classifier to produce a semantic meaning for the lights. The vehicle can be controlled based on the semantic meaning. Further, the vehicle can include a depth sensor and an object projector. The object projector can determine regions of interest within the two-dimensional images, based on the depth sensor. The light detector and/or the semantic classifier can use these regions of interest to efficiently perform the search for the lights.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
G06K 9/62 - Méthodes ou dispositions pour la reconnaissance utilisant des moyens électroniques
G06K 9/72 - Méthodes ou dispositions pour la reconnaissance utilisant des moyens électroniques utilisant une analyse de contexte basée sur l'identité provisoire attribuée à une série de formes successives, p.ex. d'un mot
45.
THERMAL RUNAWAY DETECTION AND MITIGATION FOR ELECTRIC VEHICLES
A system for mitigating thermal runaway in a battery-powered electric vehicle (EV). The system includes a gas sensor configured to measure a level of at least one type of gas in a vicinity of a battery of the EV, a thermal event detector configured to determine, based on the measured level of the at least one type of gas, that the battery is experiencing out-gassing, and a communications interface configured to transmit an alert to a fleet management system regarding the out-gassing of the battery. The fleet management system alters an assignment of the EV in response to the out-gassing of the battery.
B60L 3/00 - Dispositifs électriques de sécurité sur véhicules propulsés électriquementContrôle des paramètres de fonctionnement, p. ex. de la vitesse, de la décélération ou de la consommation d’énergie
B60H 1/00 - Dispositifs de chauffage, de refroidissement ou de ventilation
B60L 58/26 - Procédés ou agencements de circuits pour surveiller ou commander des batteries ou des piles à combustible, spécialement adaptés pour des véhicules électriques pour la surveillance et la commande des batteries pour la commande de la température des batteries par refroidissement
H01M 10/613 - Refroidissement ou maintien du froid
A base for a vehicle container (104), comprising a body (202) to mount to a seat of a vehicle, and an attachment element (208) embedded within the body (202), the attachment element (208) comprising a mounting element (210, 212) to receive a portion (242) of the vehicle container (104), and wherein the mounting element (210, 212) is to maintain a vertical position of the portion (246) of the vehicle container (104) when received.
B60R 7/04 - Accessoires de rangement ou fixation, intérieurs aux véhicules, essentiellement destinés aux objets personnels de dimension plus petite qu'une valise, p. ex. articles de voyage ou cartes à l'emplacement du conducteur ou du passager
A01K 1/02 - PorcheriesNichesClapiers à lapins ou similaires
There is disclosed herein examples of systems and procedures for performing software updates for vehicles. The vehicles may be scheduled for the software updates based on information related to the vehicles. Update systems may determine when the vehicles have entered service ranges of the update systems for the scheduled software updates and may initiate the software updates in response to determining that the vehicles have entered the service ranges. Progress of the software updates may be monitored and displayed on a dashboard system overseeing the software updates of the vehicles.
There is disclosed herein examples of system and procedure for assigning state-of-charge profiles to vehicles to extend battery lives of batteries of the vehicles. Determining an optimal state-of-charge profile for the vehicle may take into account battery degradation of the battery of the vehicle and/or characteristics of an operational assignment to which the vehicle is being assigned. The state-of-charge profiles assigned to the vehicles may extend the battery life of the battery of the vehicle and reduce battery replacements of the battery.
B60L 58/12 - Procédés ou agencements de circuits pour surveiller ou commander des batteries ou des piles à combustible, spécialement adaptés pour des véhicules électriques pour la surveillance et la commande des batteries en fonction de l'état de charge [SoC]
B60L 58/13 - Maintien de l’état de charge [SoC] à l'intérieur d'une plage déterminée
B60L 58/16 - Procédés ou agencements de circuits pour surveiller ou commander des batteries ou des piles à combustible, spécialement adaptés pour des véhicules électriques pour la surveillance et la commande des batteries en fonction du vieillissement de la batterie, p. ex. du nombre de cycles de charge ou de l'état de santé [SoH]
49.
ASSERTIVE VEHICLE DETECTION MODEL GENERATION AND IMPLEMENTATION
There is disclosed herein examples of system and procedure for generating a model to be implemented within autonomous vehicles for identifying assertive vehicles at an intersection having stop indicators. The model can be generated via data-driven procedure where captures of the movement of vehicles through an intersection are analyzed and utilized for generating the model. The model may be provided may be provided to the autonomous vehicles and may be implemented by the autonomous vehicles for identifying assertive vehicles.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
B60W 30/095 - Prévision du trajet ou de la probabilité de collision
B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
G06K 9/62 - Méthodes ou dispositions pour la reconnaissance utilisant des moyens électroniques
An autonomous vehicle having a user interface and a computing system that is in communication with the user interface. The computing system may have at least one processor and at least one memory that stores computer-executable instructions. When executed by the at least one processor, the instructions may cause the at least one processor to output information through the user interface to inform the passenger of an action that the passenger needs to enact prior to the autonomous vehicle beginning to move and determine, based upon an occurrence of the action that the passenger needs to enact, whether the autonomous vehicle is permitted to begin moving.
B60W 50/10 - Interprétation des requêtes ou demandes du conducteur
B60W 50/14 - Moyens d'information du conducteur, pour l'avertir ou provoquer son intervention
B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
B60K 28/12 - Dispositifs de sécurité pour la commande des ensembles de propulsion spécialement adaptés aux véhicules ou aménagés dans ceux-ci, p. ex. empêchant l'alimentation en carburant ou l'allumage en cas de danger sensibles à des conditions relatives au véhicule sensibles à des conditions relatives aux portes ou aux serrures, p. ex. porte ouverte
Technologies for steering sensors in a sensor carrier structure on an autonomous vehicle (AV) are described herein. In some examples, a sensor positioning platform on an AV can include an actuator system including a motor configured to move and reposition a sensor carrier structure having a plurality of sensors; a motor controller configured to receive instructions for controlling the motor to reposition the sensor carrier structure and, based on the instructions, send to the motor control signals configured to control the motor to reposition the sensor carrier structure; one or more hoses arranged within tubes mounted to a portion of the actuator system and configured to output sensor cleaning substances through a thru-bore on the actuator system; and one or more cleaning systems configured to receive the sensor cleaning substances and spray the sensor cleaning substances on one or more sensors on the sensor carrier structure.
B60S 1/60 - Nettoyage des pare-brise, fenêtres ou dispositifs optiques spécialement adaptés pour nettoyer d'autres parties ou dispositifs que les fenêtres avant ou les pare-brise pour dispositifs de signalisation, p. ex. réflecteurs
G01S 7/03 - Détails de sous-ensembles HF spécialement adaptés à ceux-ci, p. ex. communs à l'émetteur et au récepteur
G01S 7/481 - Caractéristiques de structure, p. ex. agencements d'éléments optiques
Various technologies described herein pertain to a vertically stacked lidar assembly of an autonomous vehicle. The vertically stacked lidar assembly includes a first lidar sensor system configured to spin about an axis and a second lidar sensor system configured to spin about the axis. The first lidar sensor system is vertically stacked above the second lidar sensor system in the vertically stacked lidar assembly. Moreover, the first lidar sensor system and the second lidar sensor system are coaxially aligned. Redundancy is provided by the vertically stacked lidar assembly including the first lidar sensor system and the second lidar sensor system.
Technologies for providing augmented reality wayfinding experiences in ridesharing applications are provided. In some examples, a method for providing augmented reality wayfinding experiences can include determining a first location of an autonomous vehicle (AV) relative to a second location of a client device associated with a user that requested a ride from the AV; based on the first location of the AV relative to the second location of the client device, determining a direction from the second location of the client device to the first location of the AV; presenting, at the client device, a feed from a camera sensor associated with the client device, the feed including a local scene captured by the camera sensor; and presenting a virtual content overlay on the feed, the virtual content overlay including an indication of the direction from the second location of the client device to the first location of the AV.
G01C 21/20 - Instruments pour effectuer des calculs de navigation
G01C 21/34 - Recherche d'itinéraireGuidage en matière d'itinéraire
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
G08G 1/005 - Systèmes de commande du trafic pour véhicules routiers comprenant un indicateur pour guider les piétons
G06T 19/00 - Transformation de modèles ou d'images tridimensionnels [3D] pour infographie
Systems and methods are disclosed for detecting crosswalk locations. Crosswalk locations can be detected by determining at least two painted lines on a road surface, and then combining the at least two painted lines on the road surface into a grouping of related elements. The grouping of related elements can be classified into a crosswalk (or in some embodiments a type of crosswalk) based on attributes of the grouping of related elements, where the attributes of the grouping of the elements includes a distance between the at least two painted lines, and an orientation of the grouping of related elements on the road surface.
G01C 21/30 - Mise en coïncidence avec des cartes ou des contours
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
G06T 7/73 - Détermination de la position ou de l'orientation des objets ou des caméras utilisant des procédés basés sur les caractéristiques
Systems, methods, and devices are disclosed for mapping historical information about behaviors of objects (vehicles, bicycles, pedestrians, etc.) at a location. Based on the mapped historical information, a prediction is determined about a behavior of an object proximate to an autonomous vehicle at the location, where the prediction is based on a statistical analysis of the historical information that is applied to the object. One or more behaviors of the AV are affected based on the prediction.
An asymmetric whispering gallery mode resonator device is described. The resonator device includes an asymmetric whispering gallery mode resonator disk (e.g., transparent material, electrooptic material). The resonator disk includes an axial surface along a perimeter of the resonator disk, a top surface, and a bottom surface. A first midplane passes through the axial surface dividing the axial surface into symmetrical halves. The top surface and the bottom surface are substantially parallel, and a second midplane is substantially equidistant between the top surface and the bottom surface. The first midplane and the second midplane are non-coextensive. The asymmetric whispering gallery mode resonator disk can further include a first chamfered edge between the top surface and the axial surface, and a second chamfered edge between the bottom surface and the axial surface. Moreover, the resonator device includes a first electrode on the top surface and a second electrode on the bottom surface.
G01S 17/34 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes continues, soit modulées en amplitude, en fréquence ou en phase, soit non modulées utilisant la transmission d'ondes continues modulées en fréquence, tout en faisant un hétérodynage du signal reçu, ou d’un signal dérivé, avec un signal généré localement, associé au signal transmis simultanément
G01S 17/42 - Mesure simultanée de la distance et d'autres coordonnées
G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
The present technology provides a cargo adapter that can be inserted into a passenger compartment of a mixed-use vehicle that can be anchored to existing anchor points in the vehicle. The cargo adapter can then receive, secure, and support a cargo locker in a way that safely secures the cargo and avoids wear on the interior surfaces of the passenger compartment. The present technology further provides a system for transporting a cargo locker to a vehicle and inserting the cargo adapter and cargo locker into the vehicle quickly and easily.
Systems, methods, and devices are disclosed for predicting yield behaviors of objects (vehicles, bicycles, pedestrians, etc.) at a location. An autonomous vehicle (1204) located at a first road segment connecting to an intersection having a stop sign can detect a first vehicle (1206) approaching the intersection from a second road segment connecting to the intersection. Using a model indicating an average yield location and yield time where both are specific to the second road segment connecting to the intersection, the autonomous vehicle (1204) can predict that the first vehicle (1206) will yield at the average yield location (1212b) that is specific to the second road segment.
G01C 21/26 - NavigationInstruments de navigation non prévus dans les groupes spécialement adaptés pour la navigation dans un réseau routier
B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
G01C 21/36 - Dispositions d'entrée/sortie pour des calculateurs embarqués
G08G 1/0962 - Dispositions pour donner des instructions variables pour le trafic avec un indicateur monté à l'intérieur du véhicule, p. ex. délivrant des messages vocaux
Systems, methods, and devices are disclosed for predicting behaviors of objects (vehicles, bicycles, pedestrians, etc.) at a location. A model descriptive of a possible object behavior can be received by an autonomous vehicle, where the model provides conditional predictions about a future behavior of an object based on a position of the object in a lane. The autonomous vehicle can detect the position of a specific object in the lane, and the model can then be applied to determine probabilities of a future behavior of the specific object.
G08G 1/01 - Détection du mouvement du trafic pour le comptage ou la commande
G08G 1/0967 - Systèmes impliquant la transmission d'informations pour les grands axes de circulation, p. ex. conditions météorologiques, limites de vitesse
A non-reciprocal optical assembly for injection locking a laser to a resonator is described. The laser emits a light beam, and the resonator receives the light beam and returns a feedback light beam to the laser such that the feedback light beam causes injection locking. The non-reciprocal optical assembly is interposed between and optically coupled to the laser and the resonator. The non-reciprocal optical assembly includes a first port that receives the light beam from the laser, and a second port that outputs the light beam to the resonator and receives the feedback light beam from the resonator. The first port also outputs the feedback light beam to the laser. The light beam passes through the non-reciprocal optical assembly with a first power loss, and the feedback light beam passes through the non-reciprocal optical assembly with a second power loss (the first power loss differs from the second power loss).
H01S 5/02 - Détails ou composants structurels non essentiels au fonctionnement laser
H01S 5/10 - Structure ou forme du résonateur optique
H01S 5/12 - Structure ou forme du résonateur optique le résonateur ayant une structure périodique, p. ex. dans des lasers à rétroaction répartie [lasers DFB]
G01S 17/06 - Systèmes déterminant les données relatives à la position d'une cible
61.
OPTICAL RESONATOR WITH LOCALIZED ION-IMPLANTED VOIDS
A high Q whispering gallery mode resonator with ion-implanted voids is described. A resonator device includes a resonator disk formed of an electrooptic material. The resonator disk includes a top surface, a bottom surface substantially parallel to the top surface, and a side structure between the top surface and the bottom surface. The side structure includes an axial surface along a perimeter of the resonator disk, where a midplane passes through the axial surface dividing the axial surface into symmetrical halves. The whispering gallery mode resonator disk includes voids localized at a particular depth from the top surface. At least one of the voids localized at the particular depth from the top surface is located at an outer extremity towards the perimeter of the resonator disk. The resonator device can further include a first electrode on the top surface and a second electrode on the bottom surface.
G02F 1/21 - Dispositifs ou dispositions pour la commande de l'intensité, de la couleur, de la phase, de la polarisation ou de la direction de la lumière arrivant d'une source lumineuse indépendante, p. ex. commutation, ouverture de porte ou modulationOptique non linéaire pour la commande de l'intensité, de la phase, de la polarisation ou de la couleur par interférence
G02B 6/293 - Moyens de couplage optique ayant des bus de données, c.-à-d. plusieurs guides d'ondes interconnectés et assurant un système bidirectionnel par nature en mélangeant et divisant les signaux avec des moyens de sélection de la longueur d'onde
H01S 3/107 - Commande de l'intensité, de la fréquence, de la phase, de la polarisation ou de la direction du rayonnement, p. ex. commutation, ouverture de porte, modulation ou démodulation par commande de dispositifs placés dans la cavité utilisant des dispositifs électro-optiques, p. ex. produisant un effet Pockels ou Kerr
H01S 5/065 - Accrochage de modesSuppression de modesSélection de modes
Various aspects of the subject technology relate to an automotive camera unit. The automotive camera unit comprises a housing comprising an aperture, a lens positioned to receive an optical image through the aperture of the housing, and an image sensor board mounted within the housing, the image sensor board comprising an image sensor configured to convert the optical image into sensor data. The automotive camera unit further includes an image signal processor (ISP) board mounted within the housing and above the image sensor board, the image signal processor board comprising an image signal processor configured to covert the sensor data into image data for use by an automotive system.
The present disclosure provides perception system for a vehicle that includes a plurality of imaging devices for producing images of an environment of the vehicle; a perception filter for receiving the images produced by the imaging devices, wherein the perception filter determines compute resource priority instructions based on an intent of the vehicle and a current state of the vehicle; and a compute module for receiving the compute resource priority instructions from the perception filter and allocating compute resources among the imaging devices in accordance with the compute resource priority instructions.
G06T 3/40 - Changement d'échelle d’images complètes ou de parties d’image, p. ex. agrandissement ou rétrécissement
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
An autonomous vehicle having a LIDAR system that scans a field of view is described herein. With more specificity, a computing system of the autonomous vehicle defines a region of interest in the field of view for a scan of the field of view by the LIDAR system. The region of interest is a portion of the field of view. Based on the region of interest, the computing system transmits a control signal to the LIDAR system that causes the LIDAR system to emit first light pulses with a first intensity within the region of interest during the scan and second light pulses with a second intensity outside the region of interest during the scan. The first intensity is different from the second intensity to provide different ranges for distance measurements inside and outside the region of interest.
An autonomous vehicle having a lidar sensor system is described. A computing system is configured to determine that the lidar sensor system is to update a code that is included in light signals emitted by the lidar sensor system. The computing system transmits a command signal to the lidar sensor system, wherein the command signal causes the lidar sensor system to transition from emitting light signals with a first code therein to emitting light signals with a second code therein, wherein the first code is different from the second code.
The present disclosure provides perception system for a vehicle that includes a plurality of imaging devices for producing images of an environment of the vehicle; a perception filter for receiving the images produced by the imaging devices, wherein the perception filter crops and filters the received images based on an intent of the vehicle and a current state of the vehicle; and a perception module for receiving at least one of the cropped and filtered images from the perception filter and perceiving the environment of the vehicle based on the received at least one of the cropped and filtered images.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
67.
JOURNEY VERIFICATION FOR RIDESHARING VIA AUDIBLE SIGNALS
A system has a communication system that is in communication with a computing system. The computing system runs computer-executable instructions that may examine a profile of a passenger. Furthermore, the system may determine based upon the profile that support is to be provided audibly to the passenger whenever support is provided to the passenger. The system may also detect divergences from a predetermined path or route, which is determined may be determined by comparing a position signal output against the predetermined path. In response to detecting divergences, the system may further output an audible support message having content based on the detected divergences. Moreover, the system may be configured to contact authorities and stop the autonomous vehicle.
Color filter array patterns are provided for enhancing an image sensor's light sensitivity while preserving a color accuracy for image signal processing applications. In one example, an image sensor can include a substrate layer containing a first set of photodiodes and a second set of photodiodes, wherein each the photodiodes of the first set is larger than each of the photodiodes of the second set; a first color filter array (CFA) covering the first set of photodiodes, wherein the first CFA includes a first set of color filters and a portion of the first set of color filters includes one or more clear filters; a second CFA covering the second set of photodiodes, wherein the second CFA includes a second set of color filters that is different than the first set of color filters; and one or more lenses covering the first CFA and the second CFA.
Technologies for providing real-time visualizations of a behavior of an autonomous vehicle (AV) associated with a ride request. In some examples, a method for providing real-time visualizations of a behavior of an AV associated with a ride request can include receiving a user request for a ride from an AV, wherein the user request specifies a pick-up location associated with a user; receiving sensor data from one or more sensors associated with the AV; determining, based on the sensor data, a state and context of the AV while the AV is en route to the pick-up location; and presenting, at a display interface, a map depicting one or more visual indicators of the state and context of the AV, the state and context of the AV including a location of the AV and one or more AV operations.
H04W 4/40 - Services spécialement adaptés à des environnements, à des situations ou à des fins spécifiques pour les véhicules, p. ex. communication véhicule-piétons
G01C 21/36 - Dispositions d'entrée/sortie pour des calculateurs embarqués
G07C 5/00 - Enregistrement ou indication du fonctionnement de véhicules
G07C 5/08 - Enregistrement ou indication de données de marche autres que le temps de circulation, de fonctionnement, d'arrêt ou d'attente, avec ou sans enregistrement des temps de circulation, de fonctionnement, d'arrêt ou d'attente
A data management platform for Autonomous Vehicles (AVs) is provided. An AV can partition raw data into ingestion objects. The AV can transform the ingestion objects and generate associated manifests. The AV can offload first copies of the manifests in real-time to a data center. At a later time, the AV can offload second copies of the manifests to an AV servicing station. The station can upload the second copies to the data center. If the manifests match, then the station can notify the AV that it is safe to erase the manifests and transformed objects from local storage after offloading completes. If the manifests do not match and a Service Level Agreement (SLA) is violated, then the AV can be docked for further diagnosis. If no SLA is applicable, then the error can be annotated and the transformed objects can be discarded.
The present technology provides systems, methods, and devices that can dynamically augment aspects of a map as an autonomous vehicle navigates a route, and therefore avoids the need for dispatching a special purpose mapping vehicle to keep navigating a route. As the autonomous vehicle navigates a route, the autonomous vehicle can determine that current data captured by at least one sensor of the autonomous vehicle describing a location is inconsistent with the primary map of the location. The autonomous vehicle can determine that a portion of the current data describes a second feature that is distinct from a first feature described by a primary map. The second feature can be added to an augmented map that is based on the primary map, and the position of the autonomous vehicle can be located with respect to the first feature rather than the second feature on the augmented map.
An example method for assisting autonomous vehicle (AV) riders reach their destination after drop-off can include navigating the AV to a drop-off location associated with a user in the AV, receiving sensor data from sensors associated with the AV, determining, based on the sensor data, an orientation of the user in the AV and a location of the AV relative to a final destination of the user, generating a recommendation for how to exit the AV at the drop-off location based on the orientation of the user in the AV and the location of the AV relative to the final destination of the user, and providing the recommendation via a display, a speaker, a light-emitting device, and/or a client device, the recommendation including a visual indication of an exit direction or an AV door to use to exit the AV, audio instructions for exiting the AV, and/or visual exit instructions.
The present technology pertains to utilizing an autonomous transportation service to deliver items offered for sale in a peer-to-peer marketplace. The peer-to-peer marketplace can include an integration that will offer autonomous transportation and direct a buyer and seller to enter locations for pick-up and drop-off, respectively. The autonomous transportation system can transport the item from the seller to the buyer and avoid many conventional drawbacks of peer-to-peer marketplaces.
G01C 21/20 - Instruments pour effectuer des calculs de navigation
G06Q 10/08 - Logistique, p. ex. entreposage, chargement ou distributionGestion d’inventaires ou de stocks
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
G01C 21/34 - Recherche d'itinéraireGuidage en matière d'itinéraire
G06Q 50/28 - Logistique, p.ex. stockage, chargement, distribution ou expédition
74.
IMPROVING USER RECOMMENDATIONS AND REVIEWS USING AUTONOMOUS VEHICLE INFORMATION
The subject disclosure provides techniques for enriching user reviews and providing improved user recommendations using data collected by autonomous vehicles (AVs). In some aspects, a process of the disclosed technology includes steps for receiving a ride request wherein the ride request specifies a pick-up location associated with a user identifier (ID), navigating an autonomous vehicle to the pick-up location to provide ride service for a user associated with the user ID, and receiving review information from the user, wherein the review information relates to a product or service consumed by the user. In some aspects, the process can also include steps for associating the review information with the user ID, and enriching the review information using trip information associated with the user ID. Systems and computer-readable media are also provided.
Technologies for steering sensors in a payload carrier structure on an autonomous vehicle (AV) are described herein. An example method can include receiving, by a motor control system on the AV, instructions for controlling a motor on the motor control system to reposition the payload carrier structure from a first position to a second position; based on the instructions, sending, by a controller on the motor control system to a motor driver on the motor control system, a command instructing the motor driver to reposition the payload carrier structure from the first position to the second position; sending, by the motor driver to the motor, a control signal generated by the motor driver based on the command, the control signal controlling the motor to reposition the payload carrier structure to the second position; and moving, by the motor, the payload carrier structure and sensors to the second position.
G01S 13/931 - Radar ou systèmes analogues, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
B60R 11/04 - Montage des caméras pour fonctionner pendant la marcheDisposition de leur commande par rapport au véhicule
B60W 30/00 - Fonctions des systèmes d'aide à la conduite des véhicules routiers non liées à la commande d'un sous-ensemble particulier, p. ex. de systèmes comportant la commande conjuguée de plusieurs sous-ensembles du véhicule
76.
RADAR CROSS SECTION COMPENSATION FOR CALIBRATION OF VEHICLE RADAR
One or more radar sensors coupled to a vehicle receive readings during a calibration time period. Each radar sensor receives data covering a field of view of the sensor, which may be split into angle-based bins. A noise-reducing filter (e.g., median filter) may be applied. A function is generated by processing raw radar cross section (RCS) returns into values plotted against angles compared to the direction that the sensor is facing. The function may be smoothed. Radar sensor measurements captured after calibration are corrected using the function, for example by automatically subtracting or dividing amounts corresponding to the function.
Systems and methods provide for enabling an autonomous vehicle to automatically and dynamically monitor and maintain itself. The autonomous vehicle can analyze diagnostic data captured by one or more of its sensors. Based on the analysis of the diagnostic data, the autonomous vehicle can determine that it needs maintenance and, based on that determination, send the analysis of the diagnostic data to a routing service. The autonomous vehicle can receive instruction from the routing service to dynamically route the autonomous vehicle in accordance with a maintenance action.
The present technology provides a system that can update aspects of an authoritative map portion stored on an autonomous vehicle using low-resolution data from the at least one sensor of the autonomous vehicle, and therefore avoids the need for dispatching the special purpose mapping vehicle for these updates. The captured low-resolution data can be compared with the high-resolution map portion to determine that the sensor data reflects a feature in a way that is inconsistent with how that feature is represented in the authoritative map portion. The sensor data can then be used to relabel the authoritative map portion.
Systems and methods systems provide for client control over an Autonomous Vehicle (AV). The AV can determine sets of mechanical operations that it can take at a future time. The AV can determine a ranking for each of the sets of mechanical operations, including a first ranked set and at least one second ranked set. Client or user selection can be given a certain score, weight, or other value. The AV can apply the value to the second ranked set to determine an adjusted ranking. If the adjusted ranking outranks a ranking of the first ranked set, then the AV can expose the first ranked set and the second ranked set to a client interface. If the AV receives a selection of the second ranked set, the AV can perform that set of mechanical operations. Otherwise, the AV can perform the first ranked set of mechanical operations.
An autonomous vehicle (AV, 110) is described herein. The AV (110) is configured to identify an occluded region (126) where a portion of a field of view of a sensor is occluded by an object (108). The AV (110) is further configured to hypothesize that an object (128) exists in the occluded region and is moving in the occluded region. The AV (110) is still further configured to perform a driving maneuver based upon the hypothesized object (128) existing in the occluded region (126).
Technologies relating to an autonomous vehicle are described. The autonomous vehicle is configured to determine that a person is attempting to hail the autonomous vehicle through use of a passenger identifier. The autonomous vehicle identifies a passenger account associated with the passenger identifier being presented by the person, and responsive to identifying the passenger account, determines whether the autonomous vehicle should pick up the person.
Technologies disclosed herein facilitate identification of a trip route from an origin of a user to a desired destination of the user, wherein the trip route includes multiple transportation modalities, at least one of which is an autonomous vehicle (AV), and dispatching of the AV to a pickup location for the user in connection with providing transportation to the user along a portion of the identified trip route.
Various technologies described herein pertain to context aware real-time power adjusting for steerable lidar. A lidar system includes a laser source (e.g., FMCW) configured to emit an optical signal. The lidar system further includes a scanner configured to direct the optical signal emitted by the laser source from the lidar system into an environment. The optical signal can be directed over a field of view in the environment during time periods of frames. The lidar system can further include a controller configured to modulate a power of the optical signal emitted by the laser source between the frames and/or within one or more of the frames. The controller can modulate the power of the optical signal emitted by the laser source based on a position of the lidar system in the environment and a direction in which the optical signal is to be transmitted into the environment.
G01S 17/32 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes continues, soit modulées en amplitude, en fréquence ou en phase, soit non modulées
G01S 17/58 - Systèmes de détermination de la vitesse ou de la trajectoireSystèmes de détermination du sens d'un mouvement
G01S 17/86 - Combinaisons de systèmes lidar avec des systèmes autres que lidar, radar ou sonar, p. ex. avec des goniomètres
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
G01S 7/4865 - Mesure du temps de retard, p. ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
G01S 17/36 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes continues, soit modulées en amplitude, en fréquence ou en phase, soit non modulées avec comparaison en phase entre le signal reçu et le signal transmis au même moment
Various technologies described herein pertain to multiple laser, single optical resonator lidar systems. A lidar system includes a single optical resonator optically coupled to at least a first laser and a second laser. The optical resonator is formed of an electrooptic material. The first laser and the second laser are optically injection locked to the optical resonator. A modulator applies a time-varying voltage to the optical resonator to control modulation of an optical property of the electrooptic material, which causes the first laser to generate a first frequency modulated optical signal comprising a first series of optical chirps and/or the second laser to generate a second frequency modulated optical signal comprising a second series of optical chirps. Further, front end optics transmits at least a portion of the first frequency modulated optical signal and/or the second frequency modulated optical signal into an environment from the lidar system.
G01S 7/481 - Caractéristiques de structure, p. ex. agencements d'éléments optiques
G01S 17/26 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues dans lesquels les impulsions transmises utilisent une onde porteuse modulée en fréquence ou en phase, p. ex. pour la compression d'impulsion des signaux reçus
G01S 17/58 - Systèmes de détermination de la vitesse ou de la trajectoireSystèmes de détermination du sens d'un mouvement
H01S 5/062 - Dispositions pour commander les paramètres de sortie du laser, p. ex. en agissant sur le milieu actif en faisant varier le potentiel des électrodes
85.
LIDAR SYSTEM THAT IS CONFIGURED TO COMPUTE RANGES WITH DIFFERING RANGE RESOLUTIONS
A lidar system is described herein. The lidar system includes a transmitter that is configured to emit a frequency-modulated lidar signal. The lidar system further includes processing circuitry that is configured to compute a distance between the lidar system and an object based upon the frequency -modulated lidar signal, the processing circuitry configured to compute the distance with a first resolution when the distance is at or beneath a predefined threshold, the processing circuitry configured to compute the distance with a second resolution when the distance is above the predefined threshold, wherein the first resolution is different from the second resolution.
G01S 17/34 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes continues, soit modulées en amplitude, en fréquence ou en phase, soit non modulées utilisant la transmission d'ondes continues modulées en fréquence, tout en faisant un hétérodynage du signal reçu, ou d’un signal dérivé, avec un signal généré localement, associé au signal transmis simultanément
G01S 13/34 - Systèmes pour mesurer la distance uniquement utilisant la transmission d'ondes continues, soit modulées en amplitude, en fréquence ou en phase, soit non modulées utilisant la transmission d'ondes continues modulées en fréquence, tout en faisant un hétérodynage du signal reçu, ou d’un signal dérivé, avec un signal généré localement, associé au signal transmis simultanément
86.
SYSTEMS AND METHODS FOR ACTIVE NOISE CANCELLATION FOR INTERIOR OF AUTONOMOUS VEHICLE
Various technologies described herein pertain to active noise cancellation in the interior of a vehicle. In exemplary embodiments, a microphone mounted on the vehicle outputs an audio signal indicative of noise emitted by a noise source. A computing system of the vehicle determines a position of the noise source based upon sensor signals output by sensors mounted on the vehicle. The computing system further determines a position of a passenger in the vehicle based upon a sensor mounted inside the vehicle. The computing system generates a complementary signal that is configured to attenuate the noise based upon the audio signal, the position of the noise source, and the position of the passenger. The complementary signal is then output by way of a speaker in the interior of the vehicle.
G10K 11/178 - Procédés ou dispositifs de protection contre le bruit ou les autres ondes acoustiques ou pour amortir ceux-ci, en général utilisant des effets d'interférenceMasquage du son par régénération électro-acoustique en opposition de phase des ondes acoustiques originales
brevets
