Waymo LLC

Presidio Medical, Inc.

James Harris

Nolan McPeek-Bechtold

Daniel Trawick Egnor

Andrew Barton-Sweeney

Ruslan Kurdyumov

Spencer Alexander

Douglas Michael Ackermann, Jr

Kenneth S Wu

Ryan Cash

Michael A Faltys

Justin Zaydel

Aaron Hardinger

Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode. For instance, a control command identifying a steering control position may be received by a steering system of the vehicle from an autonomous driving control system. Orientation of one or more wheels of the vehicle may be controlled according to the steering control position. After receiving the control command, that the steering system has not received a valid control command from the control system for a first predetermined duration may be determined. Based on the determination that the steering system has not received a valid control command from the control system for the first predetermined duration, the orientation of the one or more wheels may be continue to be controlled based on the steering control position.

Steering system fault response for autonomous vehicles

Disclosed herein are systems and methods for electrically modulating tissue. Systems can include a current generator; at least one implantable working electrode, the at least one implantable working electrode configured to be in electrical communication with the current generator; at least one indifferent electrode; and a controller configured to signal the current generator to: generate a set of currents with a set of initial polarities to be delivered to the working electrodes; and wherein the at least one indifferent electrode absorbs a bias current which is equal in magnitude and opposite in polarity to a summation of the set of currents.

Current bias as a control mechanism for electrode operation

Disclosed herein are systems and methods that can involve a neuromodulation device configured to perform in multiple electrical modulation modes with a single architecture.

Pulse generation and stimulation engine systems

A method and system are provided for controlling braking a vehicle in an autonomous driving mode. For instance, the vehicle is controlled in the autonomous driving mode according to a first braking control mode using a first model to adjust the position of a vehicle relative to an expected position of a current trajectory of the vehicle. Using a second model how close to a maximum deviation threshold the vehicle would come if a maximum braking strength for the vehicle was applied is predicted. The maximum deviation threshold provides an allowed forward deviation from the current trajectory. Based on the prediction, the vehicle is controlled in the autonomous driving mode according to a second braking control mode by automatically applying the maximum braking strength.

Braking control behaviors for autonomous vehicles

The disclosure relates to controlling braking behaviors a vehicle in an autonomous driving mode in the event of a hydraulic system failure. For instance, the vehicle may be controlled in the autonomous driving mode according to a first braking control behavior based on a first relationship between position of a brake pedal of the vehicle and amount of deceleration for the vehicle. While controlling the vehicle, a failure of a hydraulic system may be determined. Based on the determination, the vehicle may be controlled in the autonomous driving mode according to a second braking control behavior by moving the brake pedal until the vehicle reaches a deceleration target defined by the second braking control behavior.

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San Francisco, CA, United States of America

James Harris