Hailing a vehicle

• US 10,409,282 B2
• Filed: 03/13/2019
• Issued: 09/10/2019
• Est. Priority Date: 08/18/2016
• Status: Active Grant

• Current Assignee: Motional AD, LLC (Aptiv PLC)
• Original Assignee: nuTonomy, Inc. (Aptiv PLC)
• Inventors: Iagnemma, Karl, Robbel, Philipp
• Primary Examiner(s): Alunkal, Thomas D
• Application Number:
  US16/352,767
• Publication Number:
  US 20190208049A1
• Time in Patent Office: 181 Days
• CPC Class Codes: B60K 2360/175 Autonomous driving
• CPC Class Codes: B60K 35/28 characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/228 Command input arrangements located on-board unmanned vehicles
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G08G 1/005 including pedestrian guidance indicator
• CPC Class Codes: G08G 1/202 Dispatching vehicles on the basis of a location, e.g. taxi dispatching
• CPC Class Codes: H04M 1/72403 with means for local support of applications that increase the functionality

Abstract

In general, an indication is received through a user interface of an intention of a potential rider to use an autonomous vehicle. In response to the receipt of the indication, a hailing request is sent by a signaling mode to at least one autonomous vehicle that can receive the hailing request directly in accordance with the signaling mode.

Claims

1. A system comprising:

one or more computers and one or more storage devices on which are stored instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising;

receiving, at one or more vision sensors of a vehicle, data associated with a first sequence of physical gestures performed (i) by a first person at a first location and (ii) within a perceptual range of the one or more vision sensors;

decoding, from the first sequence of physical gestures, one or more physical gestures, wherein each physical gesture comprises respective gesture properties;

identifying a request for transportation services at the first location, based on the respective gesture properties for the one or more physical gestures;

selecting, a stopping location at or near the first location; and

causing the vehicle to stop at the stopping location.

2. The system of claim 1, wherein the one or more vision sensors comprise one or more video sensors configured to capture video of a scene proximate to the vehicle.

3. The system of claim 1, wherein the one or more vision sensors comprise one or more LiDAR sensors.

4. The system of claim 1, wherein the first sequence of physical gestures comprises one or more facial expressions.

5. The system of claim 4, wherein a first facial expression in the one or more facial expressions includes the first person gazing continuously at the vehicle for a minimum duration of time.

6. The system of claim 1, wherein gesture properties for a physical gesture include a display duration property measuring how long the physical gesture was performed by the first person, and wherein identifying a request for transportation services at the first location, based on the respective gesture properties for the one or more physical gestures, comprises:

identifying the request for transportation services based on the display duration property for the one or more physical gestures exceeding a minimum duration of time.

7. The system of claim 1, wherein identifying a request for transportation services at the first location, based on the respective gesture properties for the one or more physical gestures, comprises:

identifying a first gesture and a second gesture in the one or more physical gestures, wherein the first gesture and the second gesture performed by the first person in succession is associated with the request for transportation services.

8. The system of claim 1, wherein the transportation services comprises a plurality of service classes, wherein each service class is associated with:

(i) a particular level of service provided to the first person by the vehicle and (ii) a particular sequence of physical gestures, and wherein identifying a request for transportation services at the first location, based on the respective gesture properties for the one or more physical gestures, comprises;

determining that the first sequence of physical gestures matches a particular sequence of physical gestures associated with a particular service class in the plurality of service classes; and

in response to determining that the first sequence of physical gestures matches a particular sequence of physical gestures associated with a particular service class in the plurality of service classes;

identifying the request for transportation services as a request for the particular service class, and

providing to the first person and by the vehicle, the particular level of service associated with the particular service class.

9. One or more non-transitory computer-readable storage media encoded with instructions that, when executed by one or more computers, cause the one or more computers to perform operations comprising:

receiving, at one or more vision sensors of a vehicle, data associated with a first sequence of physical gestures performed (i) by a first person at a first location and (ii) within a perceptual range of the one or more vision sensors;

decoding, from the first sequence of physical gestures, one or more physical gestures, wherein each physical gesture comprises respective gesture properties;

identifying a request for transportation services at the first location, based on the respective gesture properties for the one or more physical gestures;

selecting, a stopping location at or near the first location; and

causing the vehicle to stop at the stopping location.

10. The computer-readable storage media of claim 9, wherein the one or more vision sensors comprise one or more video sensors configured to capture video of a scene proximate to the vehicle.

11. The computer-readable storage media of claim 9, wherein the one or more vision sensors comprise one or more LiDAR sensors.

12. The computer-readable storage media of claim 9, wherein the first sequence of physical gestures comprises one or more facial expressions.

13. The computer-readable storage media of claim 12, wherein a first facial expression in the one or more facial expressions includes the first person gazing continuously at the vehicle for a minimum duration of time.

14. The computer-readable storage media of claim 9, wherein gesture properties for a physical gesture include a display duration property measuring how long the physical gesture was performed by the first person, and wherein identifying a request for transportation services at the first location, based on the respective gesture properties for the one or more physical gestures, comprises:

identifying the request for transportation services based on the display duration property for the one or more physical gestures exceeding a minimum duration of time.

15. The computer-readable storage media of claim 9, wherein the transportation services comprises a plurality of service classes, wherein each service class is associated with:

(i) a particular level of service provided to the first person by the vehicle and (ii) a particular sequence of physical gestures, and wherein identifying a request for transportation services at the first location, based on the respective gesture properties for the one or more physical gestures, comprises;

determining that the first sequence of physical gestures matches a particular sequence of physical gestures associated with a particular service class in the plurality of service classes; and

in response to determining that the first sequence of physical gestures matches a particular sequence of physical gestures associated with a particular service class in the plurality of service classes;

identifying the request for transportation services as a request for the particular service class, and

providing to the first person and by the vehicle, the particular level of service associated with the particular service class.

16. A method, comprising:

receiving, at one or more vision sensors of a vehicle, data associated with a first sequence of physical gestures performed (i) by a first person at a first location and (ii) within a perceptual range of the one or more vision sensors;

decoding, from the first sequence of physical gestures, one or more physical gestures, wherein each physical gesture comprises respective gesture properties;

identifying a request for transportation services at the first location, based on the respective gesture properties for the one or more physical gestures;

selecting, a stopping location at or near the first location; and

causing the vehicle to stop at the stopping location.

17. The method of claim 16, wherein the first sequence of physical gestures comprises one or more facial expressions.

18. The method of claim 16, wherein gesture properties for a physical gesture include a display duration property measuring how long the physical gesture was performed by the first person, and wherein identifying a request for transportation services at the first location, based on the respective gesture properties for the one or more physical gestures, comprises:

identifying the request for transportation services based on the display duration property for the one or more physical gestures exceeding a minimum duration of time.

19. The method of claim 16, wherein identifying a request for transportation services at the first location, based on the respective gesture properties for the one or more physical gestures, comprises:

identifying a first gesture and a second gesture in the one or more physical gestures, wherein the first gesture and the second gesture performed by the first person in succession is associated with the request for transportation services.

20. The method of claim 16, wherein the transportation services comprises a plurality of service classes, wherein each service class is associated with:

(i) a particular level of service provided to the first person by the vehicle and (ii) a particular sequence of physical gestures, and wherein identifying a request for transportation services at the first location, based on the respective gesture properties for the one or more physical gestures, comprises;

determining that the first sequence of physical gestures matches a particular sequence of physical gestures associated with a particular service class in the plurality of service classes; and

in response to determining that the first sequence of physical gestures matches a particular sequence of physical gestures associated with a particular service class in the plurality of service classes;

identifying the request for transportation services as a request for the particular service class, and

providing to the first person and by the vehicle, the particular level of service associated with the particular service class.