Autonomous vehicles can include systems and apparatus for performing signal processing on point cloud data from Light Detection and Ranging (LiDAR) devices located on the autonomous vehicles. A method includes obtaining, by a computer located in an autonomous vehicle, a combined point cloud data that describes a plurality of areas of an environment in which the autonomous vehicle is operating; determining that a first set of points from the combined point cloud data are located within fields of view of cameras located on the autonomous vehicle; assigning one or more labels to a second set of points from the first set of points in response to determining that the second set of points are located within bounding box(es) around object(s) in images obtained from the cameras; and causing the autonomous vehicle to operate based on characteristic(s) of the object(s) determined from the second set of points.

A system 100 for autonomous vehicle operation can include: a low-level safety platform 130; and can optionally include and/or interface with any or all of: an autonomous agent 102, a sensor system, a computing system 120, a vehicle communication network 140, a vehicle control system 150, and/or any suitable components. The system functions to facilitate fallback planning and/or execution at the autonomous agent. Additionally or alternatively, the system can function to transition the autonomous agent between a primary (autonomous) operation mode and a fallback operation mode.

Disclosed are methods, systems, and non-transitory computer readable media that control an autonomous vehicle via at least two sensors. One aspect includes capturing an image of a scene ahead of the vehicle with a first sensor, identifying an object in the scene at a confidence level based on the image, determining the confidence level of the identifying is below a threshold, in response to the confidence level being below the threshold, directing a second sensor having a field of view smaller than the first sensor to generate a second image including a location of the identified object, further identifying the object in the scene based on the second image, controlling the vehicle based on the further identification of the object.

A system 100 for autonomous vehicle operation can include: a low-level safety platform 130; and can optionally include and/or interface with any or all of: an autonomous agent 102, a sensor system, a computing system 120, a vehicle communication network 140, a vehicle control system 150, and/or any suitable components. The system functions to facilitate fallback planning and/or execution at the autonomous agent. Additionally or alternatively, the system can function to transition the autonomous agent between a primary (autonomous) operation mode and a fallback operation mode.

A system for deterministic trajectory selection based on uncertainty estimation includes a set of one or more computing systems. A method for deterministic trajectory selection includes receiving a set of inputs; determining a set of outputs; determining uncertainty parameters associated with any or all of the set of inputs and/or any or all of the set of outputs; and evaluating the uncertainty parameters and optionally triggering a process and/or action in response.

Methods and devices for detecting traffic signals and their associated states are disclosed. In one embodiment, an example method includes a scanning a target area using one or more sensors of a vehicle to obtain target area information. The vehicle may be configured to operate in an autonomous mode, and the target area may be a type of area where traffic signals are typically located. The method may also include detecting a traffic signal in the target area information, determining a location of the traffic signal, and determining a state of the traffic signal. Also, a confidence in the traffic signal may be determined. For example, the location of the traffic signal may be compared to known locations of traffic signals. Based on the state of the traffic signal and the confidence in the traffic signal, the vehicle may be controlled in the autonomous mode.

A method, apparatus, and computer program product are provided for identifying the reliability of objects within a mapped region for localization and facilitating autonomous control of a vehicle. Methods may include: receiving an indication of an event having event data; assigning at least one object at a location of the event an impact score based on an estimated impact of the event; and providing an indication of a reduction in autonomous vehicle capability in response to the impact score failing to satisfy a predetermined value. The impact score may include a probability that the corresponding object is reliable for localization or autonomous vehicle control. Methods may include providing the indication of a reduction in autonomous vehicle capability to at least one device associated with a vehicle in response to the at least one device associated with the vehicle having a travel path including the at least one road link.

An example operation includes one or more of detecting, by a transport, an environment via a first sensor, determining, by the transport, an event related to the environment is imminent, powering, by the transport, a second sensor associated with the imminent event, and detecting, by the transport, the event as it is occurring via the second sensor.

Signals are from a plurality of sources representing aspects of the vehicle and an environment surrounding the vehicle. An autonomous confidence factor is developed based on component confidence levels for at least one of the signals. Control of the vehicle is transitioned between levels of autonomous control based at least in part on the autonomous confidence factor.

Devices, systems, and methods are provided for enhanced sensor cleaning validation. A device may determine a baseline performance measurement associated with a clean performance baseline of a sensor. The device may actuate a cleaning mechanism to remove at least a portion of an obstruction deposited on the sensor. The device may determine a first post-clean performance measurement associated with the sensor. The device may determine a degradation measurement between the baseline performance measurement and the first post-clean performance measurement, wherein the degradation measurement indicates an effectiveness of the cleaning mechanism.