Light output system for a self-driving vehicle

• US 10,160,378 B2
• Filed: 11/03/2017
• Issued: 12/25/2018
• Est. Priority Date: 02/22/2016
• Status: Active Grant

• Current Assignee: Uatc, LLC (Uber Technologies, Inc.)
• Original Assignee: Uber Technologies, Inc.
• Inventors: Sweeney, Matthew, Pilarski, Thomas, Ross, William Payne, Liu, Chenggang
• Primary Examiner(s): Timory, Kabir A
• Application Number:
  US15/803,184
• Publication Number:
  US 20180072218A1
• Time in Patent Office: 417 Days
• CPC Class Codes: B60Q 1/0035 relative to the vehicle
• CPC Class Codes: B60Q 1/2611 Indicating devices mounted on the roof of the vehicle
• CPC Class Codes: B60Q 1/2615 mounted on the vehicle body, e.g. with magnets
• CPC Class Codes: B60Q 1/2665 on rear-view mirrors lighting devices for vehicle interior on or for rear-view mirrors B60Q3/258
• CPC Class Codes: B60Q 1/2696 Mounting of devices using LEDs
• CPC Class Codes: B60Q 1/346 with automatic actuation
• CPC Class Codes: B60Q 1/381 with several light sources activated in sequence, e.g. to create a sweep effect
• CPC Class Codes: B60Q 1/44 for indicating braking action or preparation for braking, e.g. by detection of the foot approaching the brake pedal
• CPC Class Codes: B60Q 1/5035 electronic displays
• CPC Class Codes: B60Q 1/5037 the display content changing automatically, e.g. depending on traffic situation
• CPC Class Codes: B60Q 1/507 specific to autonomous vehicles
• CPC Class Codes: B60Q 1/545 for indicating other traffic conditions, e.g. fog, heavy traffic
• CPC Class Codes: B60Q 1/547 for issuing requests to other traffic participants; for confirming to other traffic participants they can proceed, e.g. they can overtake
• CPC Class Codes: B60Q 2400/20 Multi-color single source or LED matrix, e.g. yellow blinker and red brake lamp generated by single lamp
• CPC Class Codes: B60Q 2400/50 Projected symbol or information, e.g. onto the road or car body
• CPC Class Codes: B60Q 2900/40 Several lamps activated in sequence, e.g. sweep effect, progressive activation
• CPC Class Codes: B60Q 5/005 automatically actuated
• 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 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287

Abstract

A control system of a self-driving vehicle (SDV) can dynamically determine a set of autonomous driving actions to be performed by the SDV, and generate a set of intention outputs using a light output system of the SDV based on the set of autonomous driving actions, where the set of intention outputs indicating the set of autonomous driving actions prior to the SDV executing the set of autonomous driving actions. The control system can then execute the set of autonomous driving actions using acceleration, braking, and steering systems of the SDV. While executing the set of autonomous driving actions, the control system can generate a corresponding set of reactive outputs using the light output system to indicate the set of autonomous driving actions being executed, where the corresponding set of reactive outputs replacing the set of intention outputs.

Claims

1. A self-driving vehicle (SDV) comprising:

a sensor system comprising one or more sensors generating sensor data corresponding to a surrounding area of the SDV;

acceleration, steering, and braking systems;

a light output system viewable from the surrounding area of the SDV;

a control system comprising one or more processors executing an instruction set that causes the control system to;

dynamically determine a set of autonomous driving actions to be performed by the SDV;

generate a set of intention outputs using the light output system based on the set of autonomous driving actions, the set of intention outputs indicating the set of autonomous driving actions prior to the SDV executing the set of autonomous driving actions;

execute the set of autonomous driving actions using the acceleration, braking, and steering systems; and

while executing the set of autonomous driving actions, generate a corresponding set of reactive outputs using the light output system to indicate the set of autonomous driving actions being executed, the corresponding set of reactive outputs replacing the set of intention outputs.

2. The SDV of claim 1, wherein the set of autonomous driving actions comprises at least one of a turning action, a lane changing action, a deceleration action, or an acceleration action.

3. The SDV of claim 2, wherein execution of the instruction set causes the control system to generate the set of intention outputs by (i) determining a directional rate of change for each respective autonomous driving action of the set of autonomous driving actions, and (ii) generating a respective intention output using the light output system for the respective autonomous driving action based on the directional rate of change.

4. The SDV of claim 3, wherein the set of autonomous driving actions comprises two or more of the turning action, the lane changing action, the deceleration action, or the acceleration action, and wherein the set of intention outputs comprises a corresponding plurality of respective intention outputs that correspond to the two or more autonomous driving actions.

5. The SDV of claim 4, wherein execution of the instruction set causes the control system to generate the corresponding plurality of respective intention outputs simultaneously using the light output system.

6. The SDV of claim 3, wherein the respective intention output for the respective autonomous driving action comprises at least one of a predetermined color set or a predetermined pattern.

7. The SDV of claim 1, wherein the sensor system is included with a housing mounted on a roof of the SDV, and wherein the light output system is also included with the housing.

8. The SDV of claim 7, wherein the light output system comprises a plurality of multi-colored light-emitting diodes (LEDs).

9. The SDV of claim 1, wherein execution of the instruction set further causes the control system to:

dynamically scan the surrounding area of the SDV for external entities; and

in response to detecting an external entity in the surrounding area, generate an acknowledgement output using the light output system such that the acknowledgement output is viewable in a direction correlated with the detected external entity.

10. The SDV of claim 9, wherein execution of the instruction set causes the control system to generate the acknowledgement output to dynamically scroll across the light output system to remain directionally correlated with the detected external entity as the SDV and the detected external entity move relationally.

11. The SDV of claim 10, wherein the detected external entity corresponds to one of a pedestrian, another vehicle, or a bicyclist.

12. The SDV of claim 9, wherein the acknowledgement output for detected external entities comprises a unique color not utilized by the control system for sets of autonomous driving actions.

13. A non-transitory computer readable medium storing instructions that, when executed by one or more processors of a control system of a self-driving vehicle (SDV), cause the one or more processors to:

dynamically determine a set of autonomous driving actions to be performed by the SDV;

generate a set of intention outputs using a light output system of the SDV based on the set of autonomous driving actions, the set of intention outputs indicating the set of autonomous driving actions prior to the SDV executing the set of autonomous driving actions;

execute the set of autonomous driving actions using acceleration, braking, and steering systems of the SDV; and

while executing the set of autonomous driving actions, generate a corresponding set of reactive outputs using the light output system to indicate the set of autonomous driving actions being executed, the corresponding set of reactive outputs replacing the set of intention outputs.

14. The non-transitory computer readable medium of claim 13, wherein the set of autonomous driving actions comprises at least one of a turning action, a lane changing action, a deceleration action, or an acceleration action.

15. The non-transitory computer readable of claim 14, wherein the executed instructions cause the one or more processors to generate the set of intention outputs by (i) determining a directional rate of change for each respective autonomous driving action of the set of autonomous driving actions, and (ii) generating a respective intention output using the light output system for the respective autonomous driving action based on the directional rate of change.

16. The non-transitory computer readable of claim 15, wherein the set of autonomous driving actions comprises two or more of the turning action, the lane changing action, the deceleration action, or the acceleration action, and wherein the set of intention outputs comprises a corresponding plurality of respective intention outputs that correspond to the two or more autonomous driving actions.

17. The non-transitory computer readable of claim 16, wherein the executed instructions cause the one or more processors to generate the corresponding plurality of respective intention outputs simultaneously using the light output system.

18. The non-transitory computer readable of claim 15, wherein the respective intention output for the respective autonomous driving action comprises at least one of a predetermined color set or a predetermined pattern.

19. The non-transitory computer readable of claim 13, wherein a sensor system of the SDV is included with a housing mounted on a roof of the SDV, and wherein the light output system is also included with the housing.

20. A computer-implemented method of operating a self-driving vehicle (SDV), the method being performed by one or more processors of a control system of the SDV and comprising:

dynamically determining a set of autonomous driving actions to be performed by the SDV;

generating a set of intention outputs using a light output system based on the set of autonomous driving actions, the set of intention outputs indicating the set of autonomous driving actions prior to the SDV executing the set of autonomous driving actions;

executing the set of autonomous driving actions using acceleration, braking, and steering systems of the SDV; and

while executing the set of autonomous driving actions, generating a corresponding set of reactive outputs using the light output system to indicate the set of autonomous driving actions being executed, the corresponding set of reactive outputs replacing the set of intention outputs.