Aurora Operations, Inc.

Aurora Innovation, Inc.

Uatc, LLC

Thomas Pilarski

Ethan Eade

Nathaniel Gist, Iv

Jean-Sebastien Valois

Daniel Munoz

Matthew Sweeney

William Payne Ross

Chenggang Liu

An autonomous vehicle uses a secondary vehicle control system to supplement a primary vehicle control system to perform a controlled stop if an adverse event is detected in the primary vehicle control system. The secondary vehicle control system may use a redundant lateral velocity determined by a different sensor from that used by the primary vehicle control system to determine lateral velocity for use in controlling the autonomous vehicle to perform the controlled stop.

Redundant lateral velocity determination and use in secondary vehicle control systems

In techniques disclosed herein, machine learning models can be utilized in the control of autonomous vehicle(s), where the machine learning models are trained using automatically generated training instances. In some such implementations, a label corresponding to an object in a labeled instance of training data can be mapped to the corresponding instance of unlabeled training data. For example, an instance of sensor data can be captured using one or more sensors of a first sensor suite of a first vehicle can be labeled. The label(s) can be mapped to an instance of data captured using one or more sensors of a second sensor suite of a second vehicle.

Generating labeled training instances for autonomous vehicles

Sensor data collected via an autonomous vehicle can be labeled using sensor data collected via an additional vehicle, such as a non-autonomous vehicle mounted with a vehicle agnostic removable hardware pod. A training instance can include an instance of data collected by an autonomous vehicle sensor suite and one or more corresponding labels.

Generating targeted training instances for autonomous vehicles

A downwardly-directed optical array sensor may be used in an autonomous vehicle to enable a velocity (e.g., an overall velocity having a direction and magnitude, or a velocity in a particular direction, e.g., along a longitudinal or lateral axis of a vehicle) to be determined based upon images of a ground or driving surface captured from multiple downwardly-directed optical sensors having different respective fields of view.

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Gibsonia, PA, United States of America

Thomas Pilarski