A sensor apparatus includes a sensor having a field of view, a sensor window through which the field of view extends; an air nozzle positioned to direct airflow across the sensor window; a surface fixed relative to the sensor window, the surface including a plurality of heat-dissipation fins; and a cover extending over the fins and including an inlet. The inlet is positioned at an opposite edge of the sensor window from the air nozzle. The air nozzle is aimed at the inlet.

A sensor assembly includes a first sensor including a first cylindrical sensor window defining an axis; an annular member substantially centered around the axis, fixed relative to the first sensor, and supporting the first sensor; a second sensor fixed relative to the annular member and suspended from the annular member, the second sensor including a second cylindrical sensor window defining the axis; a first tubular ring fixed relative to the annular member and substantially centered around the axis, the first tubular ring including a plurality of first nozzles aimed at the first cylindrical sensor window; a second tubular ring fixed relative to the annular member and substantially centered around the axis, the second tubular ring including a plurality of second nozzles aimed at the second cylindrical sensor window; and two legs extending downward from the annular member and supporting the annular member.

An apparatus of a light detection and ranging (LiDAR) scanning system for at least partial integration with a vehicle is disclosed. The apparatus comprises an optical core assembly including an oscillating reflective element, an optical polygon element, and transmitting and collection optics. The apparatus includes a first exterior surface at least partially bounded by at least a first portion of a vehicle roof or at least a portion of a vehicle windshield. A surface profile of the first exterior surface aligns with a surface profile associated with at least one of the first portion of the vehicle roof or the portion of the vehicle windshield. A combination of the first exterior surface and the one or more additional exterior surfaces form a housing enclosing the optical core assembly including the oscillating reflective element, the optical polygon element, and the transmitting and collection optics.

Apparatus are provided for a sensor platform. The sensor platform includes a sensor mount adapted to receive a sensing device, and a first articulation system that has a first rotational axis. The sensor platform includes a second articulation system that has a second rotational axis, and the second rotational axis is different than the first rotational axis. The sensor platform includes a base that supports the first articulation system, the second articulation system and the sensor mount. The first articulation system and the second articulation system are independently movable to define two degrees of freedom for positioning the sensor platform.

Methods and apparatus are provided for controlling a movement of a sensor platform. The method includes receiving a desired position of the platform from a source. The desired position includes a first coordinate value and a second coordinate value. The method includes, based on the first coordinate value and the second coordinate value, calculating, by a processor, a first value associated with a first axis of rotation of the platform and calculating a second value associated with a second axis of rotation of the platform. The method includes outputting, by the processor, one or more control signals to at least one motor associated with the platform to move the platform based on the first value and the second value.

Embodiments herein can determine an optimal route for an autonomous electric vehicle. The system may score viable routes between the start and end locations of a trip using a numeric or other scale that denotes how viable the route is for autonomy. The score is adjusted using a variety of factors where a learning process leverages both offline and online data. The scored routes are not based simply on the shortest distance between the start and end points but determine the best route based on the driving context for the vehicle and the user.

Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes obtaining sensor data indicative of a surrounding environment of the autonomous vehicle, the surrounding environment including one or more occluded sensor zones. The method includes determining that a first occluded sensor zone of the occluded sensor zone(s) is occupied based at least in part on the sensor data. The method includes, in response to determining that the first occluded sensor zone is occupied, controlling the autonomous vehicle to travel clear of the first occluded sensor zone.

Provided herein is a method of performing, by a first apparatus, wireless communication. The method may include the steps of transmitting a first signal to a second apparatus through at least one antenna; receiving a second signal from the second apparatus through each of the at least one antenna; obtaining the sequence and a distance between the first apparatus and the second apparatus based on the second signal; obtaining information related to the second apparatus based on the sequence; and obtaining first location information related to the first apparatus, based on the distance and the information.

Generally, the present disclosure is directed to systems and methods for streaming processing within one or more systems of an autonomy computing system. When an update for a particular object or region of interest is received by a given system, the system can control transmission of data associated with the update as well as a determination of other aspects by the given system. For example, the system can determine based on a received update for a particular aspect and a priority classification and/or interaction classification determined for that aspect whether data associated with the update should be transmitted to a subsequent system before waiting for other updates to arrive.

A motor vehicle, in particular for a passenger car, having a support structure, a roof skin, which is disposed on the support structure, and at least one sensor module having at least one environment sensor for detecting a vehicle environment and having at least one housing for accommodating the environment sensor. The housing of the sensor module is disposed on the support structure and has a construction which collapses or is deformed when defined external forces are applied such that deformation forces, which are exerted by the sensor module on the support structure or on another roof module component, are reduced.