Vehicle pose correction by inter-vehicle communication

1 . A system comprising:

one or more processors; and

one or more non-transitory computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:

detecting, based at least in part on sensor data associated with a sensor of a first autonomous vehicle, a second autonomous vehicle in a vicinity of the first autonomous vehicle;

determining, by the first autonomous vehicle and based on the sensor data, a first pose of the first autonomous vehicle and a second pose of the second autonomous vehicle;

determining, by the first autonomous vehicle, a first time that the first autonomous vehicle navigated in an environment;

determining that the first autonomous vehicle and the second autonomous vehicle are associated with a same fleet of autonomous vehicles;

initiating, based at least in part on determining that the first autonomous vehicle and the second autonomous vehicle are associated with the same fleet of autonomous vehicles, a communication between the first autonomous vehicle and the second autonomous vehicle;

receiving, by the first autonomous vehicle and as part of the communication, a third pose of the second autonomous vehicle in the environment and a second time that the second autonomous vehicle navigated in the environment;

determining a first weight for the second pose of the second autonomous vehicle and a second weight for the third pose of the second autonomous vehicle, the second weight greater than the first weight;

modifying, as a modified pose, the first pose of the first autonomous vehicle based at least in part on the first weight and the second weight; and

controlling the first autonomous vehicle in the environment based at least in part on the modified pose.

2 . The system of claim 1 , the operations further comprising:

determining that the second time that the second autonomous vehicle navigated in the environment is less than the first time that the first autonomous vehicle navigated in the environment;

determining the first weight for the second pose of the second autonomous vehicle based at least in part on the first time that the first autonomous vehicle navigated in the environment; and

determining the second weight for the third pose of the second autonomous vehicle based at least in part on the second time that the second autonomous vehicle navigated in the environment,

wherein the second weight is greater than the first weight based at least in part on determining that the second time that the second autonomous vehicle navigated in the environment is less than the first time that the first autonomous vehicle navigated in the environment.

3 . The system of claim 1 , the operations further comprising:

receiving position data relative to a fixed reference system of the first autonomous vehicle,

wherein modifying the first pose is further based at least in part on the position data.

4 . The system of claim 1 , the operations further comprising:

determining that the first time of the first autonomous vehicle is above a time threshold; and

modifying a trajectory of the second autonomous vehicle to cause the second autonomous vehicle to navigate to within a threshold distance of the first autonomous vehicle,

wherein detecting the second autonomous vehicle is based at least in part on modifying the trajectory of the second autonomous vehicle.

5 . The system of claim 1 , the operations further comprising:

determining, based at least in part on the third pose in the communication, a difference between a first determination of the first autonomous vehicle and a second determination associated with the second autonomous vehicle; and

determining an alignment score for the sensor based at least in part on the difference.

6 . One or more non transitory computer readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:

determining, by a first vehicle, a first position of the first vehicle and a second position of a second vehicle, the first vehicle and the second vehicle associated with a same fleet of vehicles;

determining, by the first vehicle, a first attribute associated with the first vehicle navigating in an environment;

determining a first weight for the second position of the second vehicle based at least in part on the first attribute;

receiving, by the first vehicle and from the second vehicle, a third position of the second vehicle in the environment and a second attribute associated with the second vehicle navigating in the environment;

determining a second weight for the third position of the second vehicle based at least in part on the second attribute, wherein the second weight is greater than the first weight;

determining, by the first vehicle, a difference between the second position and the third position of the second vehicle;

modifying, as a modified position, the first position of the first vehicle based at least in part on the difference, the first weight, and the second weight; and

controlling the first vehicle in the environment based at least in part on the modified position.

7 . The one or more non transitory computer readable media of claim 6 , the operations further comprising:

initiating, based at least in part on determining that the first vehicle and the second vehicle are associated with the same fleet of vehicles, a communication between the first vehicle and the second vehicle,

wherein receiving the third position of the second vehicle is based at least in part on initiating the communication.

8 . The one or more non transitory computer readable media of claim 6 , the operations further comprising:

determining sensor data associated with one or more sensor associated with the first vehicle, wherein:

the first position, the second position, and the first attribute are determined based on the sensor data,

the third position is determined based on receiving a communication from the second vehicle, and

the communication is initiated by one of: the first vehicle or the second vehicle based on a proximity between the first vehicle and the second vehicle being within a threshold distance.

9 . The one or more non transitory computer readable media of claim 6 , the operations further comprising:

receiving position data relative to a fixed reference system of the first vehicle,

wherein modifying the first position is further based at least in part on the position data.

10 . The one or more non transitory computer readable media of claim 6 , the operations further comprising:

determining, based at least in part on the third position, a misalignment score between a first sensor of the first vehicle and a second sensor associated with the second vehicle; and

modifying a parameter of the first sensor based at least in part on the misalignment score.

11 . The one or more non transitory computer readable media of claim 6 , wherein the difference is a first difference, and the operations further comprising:

receiving, by the first vehicle, velocity information of the second vehicle;

determining a second difference between a predicted velocity and the velocity information; and

estimating a degradation of a sensor of the first vehicle based at least in part on the second difference.

12 . The one or more non transitory computer readable media of claim 6 , the operations further comprising:

determining a first score associated with the first vehicle based at least in part on the first attribute; and

determining a second score associated with the second vehicle based at least in part on the second attribute;

wherein determining the difference between the second position and the third position of the second vehicle is further based at least in part on the first score and the second score.

13 . A method comprising:

determining, by a first vehicle, a first position of the first vehicle and a second position of a second vehicle, the first vehicle and the second vehicle associated with a same fleet of vehicles;

determining, by the first vehicle, a first attribute associated with the first vehicle navigating in an environment, wherein the first attribute is a time period that the first vehicle navigated in the environment;

determining that the time period of the first vehicle is above a time threshold;

modifying a trajectory of the second vehicle to cause the second vehicle to navigate to within a threshold distance of the first vehicle;

receiving, by the first vehicle and from the second vehicle and based at least in part on modifying the trajectory of the second vehicle, a third position of the second vehicle in the environment and a second attribute associated with the second vehicle navigating in the environment;

determining, by the first vehicle, a difference between the second position and the third position of the second vehicle;

modifying, as a modified position, the first position of the first vehicle based at least in part on the difference; and

controlling the first vehicle in the environment based at least in part on the modified position.

14 . The method of claim 13 , further comprising:

determining a first weight for the second position of the second vehicle based at least in part on the first attribute; and

determining a second weight for the third position of the second vehicle based at least in part on the second attribute,

wherein:

the second weight greater than the first weight, and

modifying the first position of the first vehicle based at least in part on the first weight and the second weight.

15 . The method of claim 13 , further comprising:

initiating, based at least in part on determining that the first vehicle and the second vehicle are associated with the same fleet of vehicles, a communication between the first vehicle and the second vehicle,

wherein receiving the third position of the second vehicle is based at least in part on initiating the communication.

16 . The method of claim 13 , further comprising:

determining sensor data associated with one or more sensor associated with the first vehicle, wherein:

the first position, the second position, and the first attribute are determined based on the sensor data,

the third position is determined based on receiving a communication from the second vehicle, and

the communication is initiated by one of: the first vehicle or the second vehicle based on a proximity between the first vehicle and the second vehicle being within the threshold distance.

17 . A method comprising:

determining, by a first vehicle, a first position of the first vehicle and a second position of a second vehicle, the first vehicle and the second vehicle associated with a same fleet of vehicles;

determining, by the first vehicle, a first attribute associated with the first vehicle navigating in an environment, wherein the first attribute is a time that the first vehicle navigated in the environment;

determining that the time of the first vehicle is above a time threshold;

modifying a trajectory, a speed, or a location of the first vehicle based at least in part on determining that the time of the first vehicle is above the time threshold;

receiving, by the first vehicle and from the second vehicle, a third position of the second vehicle in the environment and a second attribute associated with the second vehicle navigating in the environment;

determining, by the first vehicle, a difference between the second position and the third position of the second vehicle;

modifying, as a modified position, the first position of the first vehicle based at least in part on the difference; and

controlling the first vehicle in the environment based at least in part on the modified position.

18 . A method comprising:

determining, by a first vehicle, a first position of the first vehicle and a second position of a second vehicle, the first vehicle and the second vehicle associated with a same fleet of vehicles;

determining, by the first vehicle, a first attribute associated with the first vehicle navigating in an environment, wherein the first attribute is based at least in part on a first deployment time of the first vehicle in the environment;

receiving, by the first vehicle and from the second vehicle, a third position of the second vehicle in the environment and a second attribute associated with the second vehicle navigating in the environment, wherein the second attribute is based at least in part on a second deployment time of the second vehicle in the environment;

determining, by the first vehicle, a difference between the second position and the third position of the second vehicle;

modifying, as a modified position, the first position of the first vehicle based at least in part on the difference; and

controlling the first vehicle in the environment based at least in part on the modified position.

19 . The method of claim 18 , wherein the first vehicle or the second vehicle comprises an autonomous vehicle.

20 . The method of claim 18 , wherein the first position, the second position, or the first attribute are determined based at least in part on sensor data associated with a sensor.