Patent · US10409284B2 · B2 · US

System of configuring active lighting to indicate directionality of an autonomous vehicle

(11) Publication number

US10409284B2

(21) Application number

15/613,798

(22) Filing date

2017-06-05

(30) Priority date

2015-11-04

(43) Publication date

2019-09-10

(45) Date of grant

2019-09-10

(51) IPC

B60Q 1/26; B60Q 1/52; G05D 1/00; B60L 3/00; B60L 3/04; B60L 50/60; B60N 2/00; B60Q 1/50; B60R 21/01; B60W 10/04; B60W 10/18; B60W 10/20; B60W 10/30; B60W 30/08; B60W 30/09; B60W 30/095; B60W 30/18; G05D 1/02

(52) CPC

B60L Propulsion of electrically-propelled vehicles; supplying electric power for auxiliary equipment of electrically-propelled vehicles; electrodynamic brake systems for vehicles in general; magnetic suspension or levitation for vehicles; monitoring operating variables of electrically-propelled vehicles; electric safety devices for electrically-propelled vehicles: 3/0007, 2200/40, 3/04, 50/66
B60N Seats specially adapted for vehicles; vehicle passenger accommodation not otherwise provided for: 2/002, 2/003, 2/01566, 2/42709, 2/4279, 2210/40, 2230/20
B60Q Arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general: 1/26, 1/50, 1/507, 1/525, 5/006
B60R Vehicles, vehicle fittings, or vehicle parts, not otherwise provided for: 2021/01272, 21/01, 21/01512, 21/01546
B60W Conjoint control of vehicle sub-units of different type or different function; control systems specially adapted for hybrid vehicles; road vehicle drive control systems for purposes not related to the control of a particular sub-unit: 10/04, 10/18, 10/20, 10/30, 2400/00, 2420/403, 2420/408, 2420/52, 2420/54, 2550/10, 2550/20, 2550/30, 2554/00, 2554/20, 2554/4023, 2554/4026, 2554/4029, 2554/4041, 2554/4044, 2554/80, 2710/06, 2710/08, 2710/18, 2710/20, 2710/30, 30/08, 30/09, 30/095, 30/0956, 30/18, 60/0016, 60/0027
G01C Measuring distances, levels or bearings; surveying; navigation; gyroscopic instruments; photogrammetry or videogrammetry: 21/32
G01S Radio direction-finding; radio navigation; determining distance or velocity by use of radio waves; locating or presence-detecting by use of the reflection or reradiation of radio waves; analogous arrangements using other waves: 2013/9316, 5/0018, 5/16
G05D Systems for controlling or regulating non-electric variables: 1/0027, 1/0055, 1/0088, 1/0214, 1/0248, 1/0255, 1/0257, 1/0274, 1/0297
G06V Image or video recognition or understanding: 20/56
G08G Traffic control systems: 1/20, 1/205
G09B Educational or demonstration appliances; appliances for teaching, or communicating with, the blind, deaf or mute; models; planetaria; globes; maps; diagrams: 9/04
Y02P Climate change mitigation technologies in the production or processing of goods: 90/60
Y02T Climate change mitigation technologies related to transportation: 10/70, 10/7005, 10/705, 90/16

(73) Assignee

Zoox Inc

(72) Inventors

Timothy David Kentley-Klay; Rachad Youssef Gamara

(54) Title

System of configuring active lighting to indicate directionality of an autonomous vehicle

(57) Abstract

Systems, apparatus and methods may be configured to implement actively-controlled light emission from a robotic vehicle. A light emitter(s) of the robotic vehicle may be configurable to indicate a direction of travel of the robotic vehicle and/or display information (e.g., a greeting, a notice, a message, a graphic, passenger/customer/client content, vehicle livery, customized livery) using one or more colors of emitted light (e.g., orange for a first direction and purple for a second direction), one or more sequences of emitted light (e.g., a moving image/graphic), or positions of light emitter(s) on the robotic vehicle (e.g., symmetrically positioned light emitters). The robotic vehicle may not have a front or a back (e.g., a trunk/a hood) and may be configured to travel bi-directionally, in a first direction or a second direction (e.g., opposite the first direction), with the direction of travel being indicated by one or more of the light emitters.

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Claims (20)

A method comprising: causing an autonomous vehicle to navigate in a first direction of travel within an environment, the autonomous vehicle configured to navigate in the first direction of travel in which a first end of the autonomous vehicle is leading and a second end of the autonomous vehicle is trailing and a second direction of travel in which the second end is leading and the first end is trailing; identifying a location of an object within the environment; determining an orientation of the autonomous vehicle relative to the location of the object; selecting, based at least in part on the orientation of the autonomous vehicle, a light emitter of the autonomous vehicle to emit a light pattern to visually convey the first direction of travel; and causing the light emitter to emit the light pattern to visually convey the first direction of travel.
The method as recited in claim 1, further comprising: determining a trajectory of the autonomous vehicle within the environment, wherein determining the orientation of the autonomous vehicle relative to the location of the object is based at least in part on the location of the object and the trajectory of the autonomous vehicle.
The method as recited in claim 1, wherein the location comprises a first location and the orientation comprises a first orientation, and wherein the method further comprises: receiving sensor data indicating a second location of the autonomous vehicle within the environment; determining a second orientation of the autonomous vehicle relative to the first location of the object when the autonomous vehicle is in the second location; selecting, based at least in part on the second orientation of the autonomous vehicle, the light emitter of the autonomous vehicle to emit a second light pattern, the second light pattern different than the first light pattern; and causing the light emitter to emit the second light pattern to visually convey the second direction of travel.
The method as recited in claim 1, further comprising: determining, based at least in part on the orientation of the autonomous vehicle relative to the location of the object, that a portion of the autonomous vehicle is within view of the object, wherein selecting the light emitter of the autonomous vehicle is based at least in part on the light emitter being disposed on the portion of the autonomous vehicle.
The method as recited in claim 1, wherein the location comprises a first location and the trajectory of the autonomous vehicle comprises a first trajectory of the autonomous vehicle, and wherein the method further comprises: determining an initial location of the object within the environment; determining a second trajectory of the object within the environment; determining a predicted location for the object based at least in part on the initial location and the second trajectory; determining a threshold distance based at least in part on the predicted location and a third trajectory of the autonomous vehicle; and determining that the object is located within the threshold distance, where causing the light emitter to emit the light pattern is based at least in part on determining that the object is located within the threshold distance.
The method as recited in claim 1, wherein the object comprises a first object, the location comprises a first location, the light emitter comprises a first light emitter, and the light pattern comprises a first light pattern, and wherein the method further comprises: identifying a second location of a second object within the environment; selecting, based at least in part on the orientation and the second location of the second object, a second light emitter of the autonomous vehicle to emit a second light pattern to visually convey the first direction of travel; and causing the second light emitter to emit the second light pattern to visually convey the first direction of travel.
The method as recited in claim 1, further comprising; determining a classification associated with the object; and selecting the light pattern based at least in part on the classification.
The method as recited in claim 7, wherein the classification is one of pedestrian or bicyclist.
The method as recited in claim 1, wherein the location is a first location, the object is a first object, the orientation is a first orientation, and the light pattern is a first light pattern, and wherein the method further comprises: causing the autonomous vehicle to navigate in the second direction of travel; identifying a second location of a second object; determining a second orientation of the autonomous vehicle relative to the second location of the second object; selecting, based at least in part on the second orientation of the autonomous vehicle, the light emitter of the autonomous vehicle to emit a second light pattern to visually convey the second direction of travel; and causing the light emitter to emit the second light pattern to visually convey the second direction of travel.
A system comprising: one or more light emitters; one or more processors; and one or more computer-readable media storing instructions that, when executed by the one or more processors, cause the system to perform operations comprising: causing an autonomous vehicle to navigate in a first direction of travel within an environment, the autonomous vehicle configured to navigate in the first direction of travel in which a first end of the autonomous vehicle is leading and a second end of the autonomous vehicle is trailing and a second direction of travel in which the second end is leading and the first end is trailing; determining a trajectory of the autonomous vehicle; identifying an object within the environment; determining a location of the object within the environment; selecting a light emitter of the one or more light emitters to emit a light pattern to visually convey the first direction of travel; and causing the light emitter to emit the light pattern to visually convey the first direction of travel.
The system as recited in claim 10, wherein the location is a first location, and wherein the system further comprises: one or more sensors, wherein the operations further comprise receiving, from the one or more sensors, data representing a second location of the autonomous vehicle within the environment, wherein determining the trajectory is based at least in part on the data representing the second location.
The system as recited in claim 10, wherein the location comprises a first location, and wherein the operations further comprise: determining a second location of the autonomous vehicle within the environment; and determining an event based at least in part on the first location and the second location, wherein causing the light emitter to emit the light pattern to visually convey the first direction of travel is based at least in part on determining the event.
The system as recited in claim 10, wherein the trajectory comprises a first trajectory, the location comprises a first location, the light emitter comprises a first light emitter, and the light pattern comprises first light pattern, and wherein the operations further comprise: determining a second trajectory of the autonomous vehicle; determining a second location of the object within the environment; selecting, based at least in part on the second trajectory and the second location, a second light emitter of the one or more light emitters to emit a second light pattern to visually convey the first direction of travel; and causing the second light emitter to emit the second light pattern to visually convey the first direction of travel.
The system as recited in claim 10, wherein the object comprises a first object, the location comprises a first location, the light emitter comprises a first light emitter, and the light pattern comprises first light pattern, and wherein the operations further comprise: identifying a second object within the environment; determining a second location of the second object within the environment; selecting, based at least in part on the trajectory and the second location, a second light emitter of the one or more light emitters to emit a second light pattern to visually convey the first direction of travel; and causing the second light emitter to emit the second light pattern to visually convey the first direction of travel.
The system as recited in claim 10, the operation further comprising: determining, based at least in part on the trajectory of the autonomous vehicle and the location of the object, that a portion of the autonomous vehicle is within view of the object, wherein selecting the light emitter of the autonomous vehicle to emit the light pattern is based at least in part on the light emitter being disposed on the portion of the autonomous vehicle.
The system as recited in claim 10, the operations further comprising; determining a classification associated with the object; and selecting the light pattern based at least in part on the classification.
The system as recited in claim 10, further comprising: determining that the location of the object is within a threshold distance to the autonomous vehicle, wherein causing the light emitter to emit the light pattern is based at least in part on determining that the location of the object is within the threshold distance.
One or more computer-readable media storing instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising: causing an autonomous vehicle to navigate in a first direction of travel within an environment, the autonomous vehicle configured to navigate in the first direction of travel in which a first end of the autonomous vehicle is leading and a second end of the autonomous vehicle is trailing and a second direction of travel in which the second end is leading and the first end is trailing; determining a first location of the autonomous vehicle within the environment; determining a second location of an object within the environment; selecting light emitter on the autonomous vehicle based at least in part on the first location and the second location; selecting data representing a light pattern that indicates the first direction of travel of the autonomous vehicle; and causing, using the data, the light emitter to emit light to visually convey the first direction of travel.
The one or more computer-readable media as recited in claim 18, wherein the object comprises a first object, the light emitter comprises a first light emitter, the data comprises first data, the light pattern comprises a first light pattern, and the light comprises first light, and wherein the operations further comprises: determining a third location of a second object within the environment; selecting, based at least in part on the first location of the autonomous vehicle and the third location of the second object, a second light emitter on the autonomous vehicle; selecting second data representing a second light pattern that indicates the first direction of travel of the autonomous vehicle; and causing, using the second data, the second light emitter to emit second light to visually convey the first direction of travel.
The one or more computer-readable media as recited in claim 19, the operations further comprising: determining a first classification associated with the first object; and determining a second classification associated with the second object, wherein selecting the first data representing the first light pattern is based at least in part on the first classification, and wherein selecting the second data representing the second light pattern is based at least in part on the second classification.

Description

Embodiments of the present application relate generally to methods, systems and apparatus for safety systems in robotic vehicles.

Autonomous vehicles, such as the type configured to transport passengers in an urban environment, may encounter many situations in which an autonomous vehicle ought to notify persons, vehicles, and the like, of an operational intent of the vehicle, such as a direction the autonomous vehicle is driving in or will be driving in, for example. Moreover, passengers of an autonomous vehicle may experience some uncertainty as to determining which autonomous vehicle is tasked to service their transportation needs. For example, if there are many autonomous vehicles present, a passenger who has scheduled a ride in one of those autonomous vehicles may wish to easily distinguish which autonomous vehicle is intended for him/her.

Accordingly, there is a need for systems, apparatus and methods for implementing operational status and intent of robotic vehicles.

Various embodiments or examples (“examples”) are disclosed in the following detailed description and the accompanying drawings:

FIG. 1 depicts one example of a system for implementing an active safety system in an autonomous vehicle;

FIG. 2A depicts one example of a flow diagram for implementing an active safety system in an autonomous vehicle;

FIG. 2B depicts another example of a flow diagram for implementing an active safety system in an autonomous vehicle;

FIG. 2C depicts yet another example of a flow diagram for implementing an active safety system in an autonomous vehicle;

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Record as JSON

{
  "publication_number": "US10409284B2",
  "country": "US",
  "kind": "B2",
  "title": "System of configuring active lighting to indicate directionality of an autonomous vehicle",
  "abstract": "Systems, apparatus and methods may be configured to implement actively-controlled light emission from a robotic vehicle. A light emitter(s) of the robotic vehicle may be configurable to indicate a direction of travel of the robotic vehicle and/or display information (e.g., a greeting, a notice, a message, a graphic, passenger/customer/client content, vehicle livery, customized livery) using one or more colors of emitted light (e.g., orange for a first direction and purple for a second direction), one or more sequences of emitted light (e.g., a moving image/graphic), or positions of light emitter(s) on the robotic vehicle (e.g., symmetrically positioned light emitters). The robotic vehicle may not have a front or a back (e.g., a trunk/a hood) and may be configured to travel bi-directionally, in a first direction or a second direction (e.g., opposite the first direction), with the direction of travel being indicated by one or more of the light emitters.",
  "claims": [
    "1. A method comprising: causing an autonomous vehicle to navigate in a first direction of travel within an environment, the autonomous vehicle configured to navigate in the first direction of travel in which a first end of the autonomous vehicle is leading and a second end of the autonomous vehicle is trailing and a second direction of travel in which the second end is leading and the first end is trailing; identifying a location of an object within the environment; determining an orientation of the autonomous vehicle relative to the location of the object; selecting, based at least in part on the orientation of the autonomous vehicle, a light emitter of the autonomous vehicle to emit a light pattern to visually convey the first direction of travel; and causing the light emitter to emit the light pattern to visually convey the first direction of travel.",
    "2. The method as recited in claim 1, further comprising: determining a trajectory of the autonomous vehicle within the environment, wherein determining the orientation of the autonomous vehicle relative to the location of the object is based at least in part on the location of the object and the trajectory of the autonomous vehicle.",
    "3. The method as recited in claim 1, wherein the location comprises a first location and the orientation comprises a first orientation, and wherein the method further comprises: receiving sensor data indicating a second location of the autonomous vehicle within the environment; determining a second orientation of the autonomous vehicle relative to the first location of the object when the autonomous vehicle is in the second location; selecting, based at least in part on the second orientation of the autonomous vehicle, the light emitter of the autonomous vehicle to emit a second light pattern, the second light pattern different than the first light pattern; and causing the light emitter to emit the second light pattern to visually convey the second direction of travel.",
    "4. The method as recited in claim 1, further comprising: determining, based at least in part on the orientation of the autonomous vehicle relative to the location of the object, that a portion of the autonomous vehicle is within view of the object, wherein selecting the light emitter of the autonomous vehicle is based at least in part on the light emitter being disposed on the portion of the autonomous vehicle.",
    "5. The method as recited in claim 1, wherein the location comprises a first location and the trajectory of the autonomous vehicle comprises a first trajectory of the autonomous vehicle, and wherein the method further comprises: determining an initial location of the object within the environment; determining a second trajectory of the object within the environment; determining a predicted location for the object based at least in part on the initial location and the second trajectory; determining a threshold distance based at least in part on the predicted location and a third trajectory of the autonomous vehicle; and determining that the object is located within the threshold distance, where causing the light emitter to emit the light pattern is based at least in part on determining that the object is located within the threshold distance.",
    "6. The method as recited in claim 1, wherein the object comprises a first object, the location comprises a first location, the light emitter comprises a first light emitter, and the light pattern comprises a first light pattern, and wherein the method further comprises: identifying a second location of a second object within the environment; selecting, based at least in part on the orientation and the second location of the second object, a second light emitter of the autonomous vehicle to emit a second light pattern to visually convey the first direction of travel; and causing the second light emitter to emit the second light pattern to visually convey the first direction of travel.",
    "7. The method as recited in claim 1, further comprising; determining a classification associated with the object; and selecting the light pattern based at least in part on the classification.",
    "8. The method as recited in claim 7, wherein the classification is one of pedestrian or bicyclist.",
    "9. The method as recited in claim 1, wherein the location is a first location, the object is a first object, the orientation is a first orientation, and the light pattern is a first light pattern, and wherein the method further comprises: causing the autonomous vehicle to navigate in the second direction of travel; identifying a second location of a second object; determining a second orientation of the autonomous vehicle relative to the second location of the second object; selecting, based at least in part on the second orientation of the autonomous vehicle, the light emitter of the autonomous vehicle to emit a second light pattern to visually convey the second direction of travel; and causing the light emitter to emit the second light pattern to visually convey the second direction of travel.",
    "10. A system comprising: one or more light emitters; one or more processors; and one or more computer-readable media storing instructions that, when executed by the one or more processors, cause the system to perform operations comprising: causing an autonomous vehicle to navigate in a first direction of travel within an environment, the autonomous vehicle configured to navigate in the first direction of travel in which a first end of the autonomous vehicle is leading and a second end of the autonomous vehicle is trailing and a second direction of travel in which the second end is leading and the first end is trailing; determining a trajectory of the autonomous vehicle; identifying an object within the environment; determining a location of the object within the environment; selecting a light emitter of the one or more light emitters to emit a light pattern to visually convey the first direction of travel; and causing the light emitter to emit the light pattern to visually convey the first direction of travel.",
    "11. The system as recited in claim 10, wherein the location is a first location, and wherein the system further comprises: one or more sensors, wherein the operations further comprise receiving, from the one or more sensors, data representing a second location of the autonomous vehicle within the environment, wherein determining the trajectory is based at least in part on the data representing the second location.",
    "12. The system as recited in claim 10, wherein the location comprises a first location, and wherein the operations further comprise: determining a second location of the autonomous vehicle within the environment; and determining an event based at least in part on the first location and the second location, wherein causing the light emitter to emit the light pattern to visually convey the first direction of travel is based at least in part on determining the event.",
    "13. The system as recited in claim 10, wherein the trajectory comprises a first trajectory, the location comprises a first location, the light emitter comprises a first light emitter, and the light pattern comprises first light pattern, and wherein the operations further comprise: determining a second trajectory of the autonomous vehicle; determining a second location of the object within the environment; selecting, based at least in part on the second trajectory and the second location, a second light emitter of the one or more light emitters to emit a second light pattern to visually convey the first direction of travel; and causing the second light emitter to emit the second light pattern to visually convey the first direction of travel.",
    "14. The system as recited in claim 10, wherein the object comprises a first object, the location comprises a first location, the light emitter comprises a first light emitter, and the light pattern comprises first light pattern, and wherein the operations further comprise: identifying a second object within the environment; determining a second location of the second object within the environment; selecting, based at least in part on the trajectory and the second location, a second light emitter of the one or more light emitters to emit a second light pattern to visually convey the first direction of travel; and causing the second light emitter to emit the second light pattern to visually convey the first direction of travel.",
    "15. The system as recited in claim 10, the operation further comprising: determining, based at least in part on the trajectory of the autonomous vehicle and the location of the object, that a portion of the autonomous vehicle is within view of the object, wherein selecting the light emitter of the autonomous vehicle to emit the light pattern is based at least in part on the light emitter being disposed on the portion of the autonomous vehicle.",
    "16. The system as recited in claim 10, the operations further comprising; determining a classification associated with the object; and selecting the light pattern based at least in part on the classification.",
    "17. The system as recited in claim 10, further comprising: determining that the location of the object is within a threshold distance to the autonomous vehicle, wherein causing the light emitter to emit the light pattern is based at least in part on determining that the location of the object is within the threshold distance.",
    "18. One or more computer-readable media storing instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising: causing an autonomous vehicle to navigate in a first direction of travel within an environment, the autonomous vehicle configured to navigate in the first direction of travel in which a first end of the autonomous vehicle is leading and a second end of the autonomous vehicle is trailing and a second direction of travel in which the second end is leading and the first end is trailing; determining a first location of the autonomous vehicle within the environment; determining a second location of an object within the environment; selecting light emitter on the autonomous vehicle based at least in part on the first location and the second location; selecting data representing a light pattern that indicates the first direction of travel of the autonomous vehicle; and causing, using the data, the light emitter to emit light to visually convey the first direction of travel.",
    "19. The one or more computer-readable media as recited in claim 18, wherein the object comprises a first object, the light emitter comprises a first light emitter, the data comprises first data, the light pattern comprises a first light pattern, and the light comprises first light, and wherein the operations further comprises: determining a third location of a second object within the environment; selecting, based at least in part on the first location of the autonomous vehicle and the third location of the second object, a second light emitter on the autonomous vehicle; selecting second data representing a second light pattern that indicates the first direction of travel of the autonomous vehicle; and causing, using the second data, the second light emitter to emit second light to visually convey the first direction of travel.",
    "20. The one or more computer-readable media as recited in claim 19, the operations further comprising: determining a first classification associated with the first object; and determining a second classification associated with the second object, wherein selecting the first data representing the first light pattern is based at least in part on the first classification, and wherein selecting the second data representing the second light pattern is based at least in part on the second classification."
  ],
  "description_excerpt": "Embodiments of the present application relate generally to methods, systems and apparatus for safety systems in robotic vehicles.\n\nAutonomous vehicles, such as the type configured to transport passengers in an urban environment, may encounter many situations in which an autonomous vehicle ought to notify persons, vehicles, and the like, of an operational intent of the vehicle, such as a direction the autonomous vehicle is driving in or will be driving in, for example. Moreover, passengers of an autonomous vehicle may experience some uncertainty as to determining which autonomous vehicle is tasked to service their transportation needs. For example, if there are many autonomous vehicles present, a passenger who has scheduled a ride in one of those autonomous vehicles may wish to easily distinguish which autonomous vehicle is intended for him/her.\n\nAccordingly, there is a need for systems, apparatus and methods for implementing operational status and intent of robotic vehicles.\n\nVarious embodiments or examples (“examples”) are disclosed in the following detailed description and the accompanying drawings:\n\nFIG. 1 depicts one example of a system for implementing an active safety system in an autonomous vehicle;\n\nFIG. 2A depicts one example of a flow diagram for implementing an active safety system in an autonomous vehicle;\n\nFIG. 2B depicts another example of a flow diagram for implementing an active safety system in an autonomous vehicle;\n\nFIG. 2C depicts yet another example of a flow diagram for implementing an active safety system in an autonomous vehicle;",
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  "assignees": [
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  "inventors": [
    "Timothy David Kentley-Klay",
    "Rachad Youssef Gamara"
  ],
  "filing_date": "2017-06-05",
  "publication_date": "2019-09-10",
  "grant_date": "2019-09-10",
  "priority_date": "2015-11-04",
  "application_number": "US-201715613798-A",
  "family_id": "57235011",
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