Autonomous vehicle to pedestrian communication using directional sound

• US 10,497,255 B1
• Filed: 08/21/2018
• Issued: 12/03/2019
• Est. Priority Date: 08/21/2018
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Shmueli Friedland, Yael, Tzirkel-Hancock, Eli, Malka, Ilan
• Primary Examiner(s): Wilson, Brian
• Application Number:
  US16/107,076
• Time in Patent Office: 469 Days
• CPC Class Codes: B60Q 5/005 automatically actuated
• CPC Class Codes: B60R 11/0217 for loud-speakers
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• 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: G08G 1/005 including pedestrian guidance indicator
• CPC Class Codes: H04R 1/323 for loudspeakers H04R1/34 and H04R1/40 take precedence
• CPC Class Codes: H04R 1/345 for loudspeakers
• CPC Class Codes: H04R 1/403 loud-speakers
• CPC Class Codes: H04R 2217/03 Parametric transducers where sound is generated or captured by the acoustic demodulation of amplitude modulated ultrasonic waves
• CPC Class Codes: H04R 2499/13 Acoustic transducers and sound field adaptation in vehicles

Abstract

Systems and methods are provided in an autonomous vehicle for providing auditory guidance to a pedestrian. In one embodiment, a processor-implemented method in a vehicle for providing auditory guidance includes: identifying a desire to communicate with a pedestrian; determining a message to communicate to the pedestrian; calculating a travel path about which to make the pedestrian aware; positioning a directional acoustic device to project directional sound waves to a starting point of the travel path; modulating the message in the directional sound waves; and repositioning the directional acoustic device to project the directional sound waves with the modulated message along the travel path, wherein as the directional sound waves contact with a travel path surface the message is demodulated and a sound conveying the message appears to originate from and travel along the travel path.

Claims

1. A processor-implemented method in a vehicle for providing auditory guidance, the method comprising:

identifying, by a processor in the vehicle, a desire to communicate with a first pedestrian;

determining, by the processor, a message to communicate to the first pedestrian;

calculating, by the processor, a travel path to instruct the first pedestrian to follow or that the vehicle intends to follow, the travel path having a surface; and

identifying the surface of the travel path by causing a rolling sound conveying the message to appear to emanate and travel, point by point, from a starting point along the surface of the travel path to an ending point along the surface of the travel path by;

positioning, using a vehicle actuator, a directional acoustic device to project directional sound waves to the starting point on the surface of the travel path;

modulating the message in the directional sound waves; and

repositioning, using the vehicle actuator, the directional acoustic device to project the directional sound waves with the modulated message along the surface of the travel path to the ending point, wherein as the directional sound waves contact with the surface of the travel path the message is demodulated and the rolling sound conveying the message appears to originate from and travel along the surface of the travel path.

2. The method of claim 1, wherein the identifying a desire to communicate comprises identifying a first pedestrian who is to enter or exit the vehicle.

3. The method of claim 1, wherein the identifying a desire to communicate comprises identifying a first pedestrian who may cross a pathway to be traversed by the vehicle.

4. The method of claim 3, wherein the identifying a desire to communicate further comprises identifying a first pedestrian who is positioned near to, moving toward, or entering the pathway to be traversed by the vehicle.

5. The method of claim 1, wherein determining a message to communicate comprises identifying a message to communicate that instructs the first pedestrian to enter or exit the vehicle via the travel path communicated via the message.

6. The method of claim 1, wherein determining a message to communicate comprises identifying a message to communicate that informs the first pedestrian that the vehicle is waiting for the first pedestrian to travel along the travel path communicated via the message.

7. The method of claim 1, wherein determining a message to communicate comprises identifying a message to communicate that informs the first pedestrian that the vehicle intends to follow the travel path.

8. The method of claim 1, wherein calculating a travel path comprises calculating a pedestrian travel path to or away from the vehicle.

9. The method of claim 1, wherein calculating a travel path comprises calculating a pedestrian travel path that crosses an intended vehicle travel path.

10. The method of claim 1, wherein calculating a travel path comprises calculating a vehicle travel path that crosses a potential pedestrian travel path.

11. The method of claim 1, further comprising repositioning the directional acoustic device to project a second set of directional sound waves with a second modulated message to a point to provide a second message to a second pedestrian that is different from the message to the first pedestrian.

12. A pedestrian alerting system in a vehicle, the pedestrian alerting system comprising:

a first module configured to;

identify a desire to communicate with a first pedestrian;

determine a message to communicate to the first pedestrian; and

calculate a travel path to instruct the first pedestrian to follow or that the vehicle intends to follow, the travel path having a surface; and

a second module configured to identify the surface of the travel path by causing a rolling sound conveying the message to appear to emanate and travel, point by point, from a starting point along the surface of the travel path to an ending point along the surface of the travel path, to identify the surface of the travel path the second module is configured to;

position a directional acoustic device to project directional sound waves to the starting point on the surface of the travel path;

modulate the message in the directional sound waves; and

reposition the directional acoustic device to project the directional sound waves with the modulated message along the surface of the travel path, wherein as the directional sound waves contact with the surface of the travel path the message is demodulated and the rolling sound conveying the message appears to originate from and travel along the surface of the travel path.

13. The pedestrian alerting system of claim 12, wherein the second module is further configured to reposition the directional acoustic device to project a second set of directional sound waves with a second modulated message to a point to provide a second message to a second pedestrian that is different from the message to the first pedestrian.

14. The pedestrian alerting system of claim 12, wherein calculating a travel path comprises calculating a pedestrian travel path to or away from the vehicle.

15. The pedestrian alerting system of claim 12, wherein calculating a travel path comprises calculating a pedestrian travel path that crosses an intended vehicle travel path.

16. The pedestrian alerting system of claim 12, wherein calculating a travel path comprises calculating a vehicle travel path that crosses a potential pedestrian travel path.

18. The autonomous vehicle of claim 16, wherein the directional acoustic device comprises a directional speaker containing piezoelectric transducers configured to produce ultrasonic sound waves.

19. The autonomous vehicle of claim 16, wherein the directional sound waves comprise a focused column of ultrasonic sound waves.

20. The autonomous vehicle of claim 16, wherein the pedestrian alerting module is configured to calculate the travel path using vehicle sensor data and/or a map.

17. An autonomous vehicle comprising:

a directional acoustic device; and

a pedestrian alerting module configured to;

identify a desire to communicate with a first pedestrian;

determine a message to communicate to the first pedestrian;

calculate a travel path to instruct the first pedestrian to follow or that the vehicle intends to follow, the travel path having a surface; and

identify the surface of the travel path by causing a rolling sound conveying the message to appear to emanate and travel, point by point, from a starting point along the surface of the travel path to an ending point along the surface of the travel path, to identify the surface of the travel path the pedestrian alerting module is configured to;

position the directional acoustic device to project directional sound waves to the starting point on the surface of the travel path;

modulate the message in the directional sound waves; and

reposition the directional acoustic device to project the directional sound waves with the modulated message along the surface of the travel path, wherein as the directional sound waves contact with the surface of the travel path the message is demodulated and the rolling sound conveying the message appears to originate from and travel along the surface of the travel path.