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

• US 9,701,239 B2
• Filed: 11/04/2015
• Issued: 07/11/2017
• Est. Priority Date: 11/04/2015
• Status: Active Grant

• Current Assignee: Zoox Inc. (Amazon.com, Inc.)
• Original Assignee: Zoox Inc. (Amazon.com, Inc.)
• Inventors: Kentley, Timothy David, Gamara, Rachad Youssef
• Primary Examiner(s): ANTONUCCI, ANNE MARIE
• Application Number:
  US14/756,994
• Publication Number:
  US 20170120803A1
• Time in Patent Office: 615 Days
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 3/0007 Measures or means for preventing or attenuating collisions
• CPC Class Codes: B60L 3/04 Cutting off the power supply under fault conditions protective devices and circuit arrangements in general H01H; H02H
• CPC Class Codes: B60L 50/66 Arrangements of batteries
• CPC Class Codes: B60N 2/002 Seats provided with an occupancy detection means mounted therein or thereon detection means responsive to presence or absence of children B60N2/266
• CPC Class Codes: B60N 2/003 characterised by the sensor mounting location in or on the seat
• CPC Class Codes: B60N 2/01566 key rotating about a vertical axis
• CPC Class Codes: B60N 2/42709 involving residual deformation or fracture of the structure
• CPC Class Codes: B60N 2/4279 electric or electronic triggering
• CPC Class Codes: B60N 2210/40 Force or pressure sensors
• CPC Class Codes: B60N 2230/20 Wireless data transmission
• CPC Class Codes: B60Q 1/26 the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
• CPC Class Codes: B60Q 1/507 specific to autonomous vehicles
• CPC Class Codes: B60Q 1/525 automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
• CPC Class Codes: B60Q 5/006 indicating risk of collision between vehicles or with pedestrians
• CPC Class Codes: B60R 2021/01272 Belt tensioners
• CPC Class Codes: B60R 21/01 Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents electrical circuits for transmission of signals between steering wheel and the vehicle itself B60R16/027; for electrically actuating belt retractor locking means B60R22/343
• CPC Class Codes: B60R 21/01512 Passenger detection systems
• CPC Class Codes: B60R 21/01546 using belt buckle sensors
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 : including control of braking systems
• CPC Class Codes: B60W 10/20 : including control of steering systems
• CPC Class Codes: B60W 10/30 : including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
• CPC Class Codes: B60W 2400/00 : Indexing codes relating to detected, measured or calculated conditions or factors
• CPC Class Codes: B60W 2420/403 : Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 : Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2420/54 : Audio sensitive means, e.g. ultrasound
• CPC Class Codes: B60W 2554/00 : Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 : Static objects
• CPC Class Codes: B60W 2554/4023 : large-size vehicles, e.g. trucks
• CPC Class Codes: B60W 2554/4026 : Cycles
• CPC Class Codes: B60W 2554/4029 : Pedestrians
• CPC Class Codes: B60W 2554/4041 : Position
• CPC Class Codes: B60W 2554/4044 : Direction of movement, e.g. backwards
• CPC Class Codes: B60W 2554/80 : Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2710/06 : Combustion engines, Gas turbines
• CPC Class Codes: B60W 2710/08 : Electric propulsion units
• CPC Class Codes: B60W 2710/18 : Braking system
• CPC Class Codes: B60W 2710/20 : Steering systems
• CPC Class Codes: B60W 2710/30 : Auxiliary equipments
• CPC Class Codes: B60W 30/08 : Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/09 : Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 : Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/0956 : the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/18 : Propelling the vehicle
• CPC Class Codes: B60W 60/0016 : of the vehicle or its occupants
• CPC Class Codes: B60W 60/0027 : using trajectory prediction for other traffic participants
• CPC Class Codes: G01C 21/32 : Structuring or formatting of map data
• CPC Class Codes: G01S 2013/9316 : combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 5/0018 : Transmission from mobile station to base station
• CPC Class Codes: G01S 5/16 : using electromagnetic waves other than radio waves
• CPC Class Codes: G05D 1/0027 : involving a plurality of vehicles, e.g. fleet or convoy travelling fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00
• CPC Class Codes: G05D 1/0055 : with safety arrangements
• CPC Class Codes: G05D 1/0248 : in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0255 : using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 : using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0274 : using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0297 : by controlling means in a control room
• CPC Class Codes: G06V 20/56 : exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G08G 1/20 : Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
• CPC Class Codes: G08G 1/205 : Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
• CPC Class Codes: G09B 9/04 : for teaching control of land vehicles
• CPC Class Codes: Y02P 90/60 : Electric or hybrid propulsion means for production processes
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles

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 for visual indication of direction of travel of a bidirectional autonomous vehicle, comprising:

receiving data representing a trajectory of the bidirectional autonomous vehicle in an environment;

causing the bidirectional autonomous vehicle to navigate in a first direction of travel that corresponds to the trajectory, wherein a first end of the bidirectional autonomous vehicle is facing the first direction of travel;

selecting data representing a first directional light pattern, wherein the first directional light pattern is configured to indicate the first direction of travel of the bidirectional autonomous vehicle;

selecting a light emitter of the bidirectional autonomous vehicle to emit light into the environment;

causing, using the data representing the first directional light pattern, the light emitter to emit the light to visually convey the first direction of travel of the bidirectional autonomous vehicle;

detecting that the bidirectional autonomous vehicle is switching from navigating in the first direction of travel to a second direction of travel, wherein a second end of the bidirectional autonomous vehicle is facing the second direction of travel;

selecting data representing a second directional light pattern, wherein the second directional light pattern is configured to indicate the second direction of travel of the bidirectional autonomous vehicle; and

causing, using the data representing the second directional light pattern, the light emitter to emit the light to visually convey the second direction of travel of the bidirectional autonomous vehicle,

wherein the second directional light pattern and the first directional light pattern are substantially symmetric about an axis of the bidirectional autonomous vehicle.

2. The method of claim 1, wherein:

the data representing the first directional light pattern includes at least data representing a light color that indicates the first direction of travel; and

causing the light emitter to emit the light to visually convey the first directional light pattern comprises causing, using the data representing the light color, the light emitter to emit the light in the light color to visually convey the first direction of travel of the bidirectional autonomous vehicle.

3. The method of claim 1, wherein:

the data representing the first directional light pattern includes at least data representing a light sequence that indicates the first direction of travel; and

causing the light emitter to emit the light to visually convey the first directional light pattern comprises causing, using the data representing the light sequence, the light emitter to emit the light in the light sequence to visually convey the first direction of travel of the bidirectional autonomous vehicle.

4. The method of claim 1,

wherein selecting the light emitter comprises selecting at least one light emitter that is disposed at the first end of the bidirectional autonomous vehicle.

5. The method of claim 1,

wherein the light emitter is disposed at a first side of the bidirectional autonomous vehicle, wherein the first side is different than the first end and the second end.

6. The method of claim 1, further comprising:

selecting an additional light emitter of the bidirectional autonomous vehicle, the additional light emitter being configured to emit additional light into the environment; and

causing, using the data representing the first directional light pattern, the additional light emitter to emit the additional light to visually convey the first direction of travel of the bidirectional autonomous vehicle.

7. The method of claim 6,

wherein the light emitter is disposed at a first side of the bidirectional autonomous vehicle, the first side being different than the first end and the second end;

and

the additional light emitter is disposed at a second side of the bidirectional autonomous vehicle, the second side being different than the first end and the second end.

8. The method of claim 7, wherein the first side of the bidirectional autonomous vehicle and the second side of the bidirectional autonomous vehicle are on opposite sides of the bidirectional autonomous vehicle, and the at least one light emitter and the at least one additional light emitter are symmetrically disposed relative to the first side of the bidirectional autonomous vehicle and the second side of the bidirectional autonomous vehicle.

9. The method of claim 1, wherein selecting the light emitter comprises selecting at least one light emitter that is disposed on a wheel of the bidirectional autonomous vehicle.

10. A bidirectional autonomous vehicle 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 one or more processors to;

receive data representing a trajectory in an environment;

cause the bidirectional autonomous vehicle to navigate in a first direction of travel that corresponds to the trajectory, wherein a first end of the bidirectional autonomous vehicle is facing the first direction of travel;

select a light emitter of the one or more light emitters, the light emitter being configured to emit light into the environment;

cause, using data representing a first directional light pattern, the light emitter to emit the light to visually convey the first direction of travel of the bidirectional autonomous vehicle;

cause the bidirectional autonomous vehicle to navigate in a second direction of travel, wherein a second end of the bidirectional autonomous vehicle is facing the second direction of travel; and

cause, using data representing a second directional light pattern, the light emitter or an additional light emitter of the one or more light emitters to emit the light to visually convey the second direction of travel of the bidirectional autonomous vehicle,

wherein the second directional light pattern and the first directional light pattern are substantially symmetric about an axis of the bidirectional autonomous vehicle.

11. The bidirectional autonomous vehicle of claim 10, the one or more computer-readable media further storing instructions that, when executed by the one or more processors, cause the one or more processors to:

select an additional light emitter of the one or more light emitters, the additional light emitter being configured to emit additional light into the environment; and

cause the additional light emitter to emit the additional light to visually convey the first direction of travel of the bidirectional autonomous vehicle.

12. The bidirectional autonomous vehicle of claim 11, wherein:

the light emitter is disposed at a first side of the bidirectional autonomous vehicle, the first side being different than the first end and the second end; and

the additional light emitter is disposed at a second side of the bidirectional autonomous vehicle, the second side being different than the first end and the second end.

13. The bidirectional autonomous vehicle of claim 12, wherein the first side of the bidirectional autonomous vehicle and the second side of the bidirectional autonomous vehicle are on opposite sides of the bidirectional autonomous vehicle, and the light emitter and the additional light emitter are symmetrically disposed relative to the first side and the second side.

14. The bidirectional autonomous vehicle of claim 10, the one or more computer-readable media further storing instructions that, when executed by the one or more processors, cause the one or more processors to:

receive data representing a location of the bidirectional autonomous vehicle in the environment;

select, based at least in part on the location, data representing an additional light pattern being configured to indicate information associated with the bidirectional autonomous vehicle;

select an additional light emitter of the one or more light emitters to emit additional light into the environment;

detect a trigger event; and

cause, using the data representing the additional light pattern, and based at least in part on detecting the trigger event, the additional light emitter to emit the additional light to visually convey the information associated with the bidirectional autonomous vehicle.

15. The bidirectional autonomous vehicle of claim 14, wherein the information is associated with passenger content.

16. The bidirectional autonomous vehicle of claim 10, wherein:

the light emitter includes at least a first sub-section for indicating the first direction of travel and a second sub-section for indicating the second direction of travel;

the data representing the first directional light pattern includes at least first data for causing the first sub-section to emit first light to visually convey the first direction of travel;

the data representing the second directional light pattern includes at least second data for causing the second sub-section to emit second light to visual convey the second direction of travel; and

to cause the light emitter to emit the light to visually convey the first direction of travel comprises causing, using the first data, the first sub-section of the light emitter to emit the first light to visual convey the first direction of travel.

17. The bidirectional autonomous vehicle of claim 10, wherein the light emitter includes at least a first sub-section for indicating the first direction of travel and a second sub-section for indicating the second direction of travel, and wherein the one or more computer-readable media further store instructions that, when executed by the one or more processors, cause the one or more processors to:

determine that the bidirectional autonomous vehicle is navigating in the first direction of travel,

wherein to cause the light emitter to emit the light to visually convey the first direction of travel comprises causing, using the data representing the light pattern, the first sub-section of the light emitter to emit the light to visual convey the first direction of travel.

18. The bidirectional autonomous vehicle of claim 10, wherein the light emitter is disposed at the first end of the bidirectional autonomous vehicle and the additional light emitter is disposed at the second end of the bidirectional autonomous vehicle, and wherein the one or more computer-readable media further store instructions that, when executed by the one or more processors, cause the one or more processors to cause the additional light emitter to emit additional light to visually convey the first direction of travel of the bidirectional autonomous vehicle.

19. The system of claim 18, wherein the light emitter and the additional light emitter are symmetrically disposed relative to the first end and the second end.

20. A method for visual indication of direction of travel of a bidirectional autonomous vehicle, comprising:

detecting that the bidirectional autonomous vehicle is navigating in a first direction;

causing one or more light emitters on the bidirectional autonomous vehicle to emit a first light pattern based at least in part on detecting that the bidirectional autonomous vehicle is navigating in the first direction;

detecting that the bidirectional autonomous vehicle is navigating in a second direction, the second direction being opposite to the first direction; and

causing the one or more light emitters to emit a second light pattern based at least in part on detecting that the bidirectional autonomous vehicle is navigating in the second direction,

wherein the second light pattern and the first light pattern are substantially symmetric about an axis of the bidirectional autonomous vehicle.

21. The method of claim 20, further comprising causing one or more additional light emitters on the bidirectional autonomous vehicle to emit a third light pattern based at least in part on detecting that the bidirectional autonomous vehicle is navigating in the first direction, wherein the first light pattern and the third light pattern both indicate the first direction.

22. The method of claim 21, further comprising:

selecting the one or more light emitters, wherein the one or more light emitters are disposed at a first end of the bidirectional autonomous vehicle; and

selecting the one or more additional light emitters, wherein the one or more additional light emitters are disposed at a second end of the bidirectional autonomous vehicle, the second end of the bidirectional autonomous vehicle being different than the first end of the bidirectional autonomous vehicle.

23. The method of claim 22, wherein the first end of the bidirectional autonomous vehicle and the second end of the bidirectional autonomous vehicle are on opposite sides of the bidirectional autonomous vehicle, and the one or more light emitters and the one or more additional light emitters are symmetrically disposed relative to the first end and the second end.

24. The method of claim 20, wherein:

causing the one or more light emitters to emit the first light pattern comprises causing the one or more light emitters to emit a first light sequence that visually conveys the first direction; and

causing the one or more light emitters to emit the second light pattern comprises causing the one or more light emitters to emit a second light sequence that visually conveys the second direction.

25. The method of claim 20, further comprising:

causing the one or more light emitters to emit the first light pattern at a first rate based at least in part on a first speed of the bidirectional autonomous vehicle; and

causing the one or more light emitters to emit the first light pattern at a second rate based at least in part on a second speed of the bidirectional autonomous vehicle.