Systems and methods for communicating future vehicle actions to be performed by an autonomous vehicle

• US 10,493,622 B2
• Filed: 07/14/2017
• Issued: 12/03/2019
• Est. Priority Date: 07/14/2017
• Status: Active Grant

• Current Assignee: Uatc, LLC (Uber Technologies, Inc.)
• Original Assignee: Uatc, LLC (Uber Technologies, Inc.)
• Inventors: Sweeney, Matthew, Cullinane, Brian
• Primary Examiner(s): Camby, Richard M
• Application Number:
  US15/650,004
• Publication Number:
  US 20190015976A1
• Time in Patent Office: 872 Days
• Field of Search: None
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: B60Q 1/503 using luminous text or symbol displays in or on the vehicle, e.g. static text
• CPC Class Codes: B60Q 1/507 specific to autonomous vehicles
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: G01C 21/3632 Guidance using simplified or iconic instructions, e.g. using arrows G01C21/365 takes precedence
• CPC Class Codes: G01C 21/3676 Overview of the route on the road map
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

Systems and methods for communicating future autonomous vehicle actions are provided. In one example embodiment, a computer implemented method includes obtaining, by a computing system including one or more computing devices onboard an autonomous vehicle, data associated with a planned motion of the autonomous vehicle. The method includes identifying, by the computing system, a future vehicle action to be performed by the autonomous vehicle based at least in part on the data associated with the planned motion. The method includes determining, by the computing system, an external vehicle indication that is indicative of the future vehicle action to be performed by the autonomous vehicle. The method includes outputting, by the computing system via an output device onboard the autonomous vehicle, the external vehicle indication. The external vehicle indication is outputted to at least a portion of a surrounding environment of the autonomous vehicle.

Claims

1. A computer-implemented method for communicating future autonomous vehicle actions, comprising:

obtaining, by a computing system comprising one or more computing devices onboard an autonomous vehicle, data associated with a planned motion of the autonomous vehicle;

identifying, by the computing system, a future vehicle action to be performed by the autonomous vehicle based at least in part on the data associated with the planned motion;

determining, by the computing system, an external vehicle indication that is indicative of the future vehicle action to be performed by the autonomous vehicle, wherein the external vehicle indication is indicative of a type of the future vehicle action to be performed by the autonomous vehicle, a geographic location at which the future vehicle action is to be performed, and an amount of time until the future vehicle action is to be performed; and

outputting, by the computing system via an output device onboard the autonomous vehicle, the external vehicle indication indicative of the type of the future vehicle action to be performed by the autonomous vehicle, the geographic location at which the future vehicle action is to be performed, and the amount of time until the future vehicle action is to be performed, wherein the external vehicle indication is outputted to at least a portion of a surrounding environment of the autonomous vehicle, wherein the output device comprises a display screen that is located on an exterior of the autonomous vehicle and that displays the external vehicle indication.

2. The computer-implemented method of claim 1, wherein the data associated with the planned motion comprises data associated with a motion plan determined onboard the autonomous vehicle for controlling the autonomous vehicle without control from a human user.

3. The computer-implemented method of claim 1, wherein the external vehicle indication is indicative of a distance between a current location of the autonomous vehicle and performance of the future vehicle action.

4. The computer-implemented method of claim 1, wherein the external vehicle indication is indicative of a time until the autonomous vehicle performs the future vehicle action.

5. The computer-implemented method of claim 1, wherein the external vehicle indication comprises a visual indication that is provided via a user interface of the display device.

6. The computer-implemented method of claim 1, wherein the autonomous vehicle is operating in a fully autonomous operating mode in which the autonomous vehicle is controllable without user input.

7. The computer-implemented method of claim 1, wherein the output device further comprises one or more lighting elements, and wherein the external vehicle indication comprises a visual indication that is provided via the one or more lighting elements.

8. The computer-implemented method of claim 1, wherein the timing associated with the future vehicle action is communicated based at least in part on a frequency with which the external vehicle indication is displayed.

9. The computer-implemented method of claim 1, wherein the type of future vehicle action comprises at least one of a nudge action, a lane change, a turn, an increase in vehicle speed, a decrease in vehicle speed, a stopping action, or a parking action.

10. The computer-implemented method of claim 9, wherein the nudge action comprises a change in a position of the autonomous vehicle within a current travel lane.

11. The computer-implemented method of claim 1, further comprising:

causing, by the computing system, the autonomous vehicle to perform the future vehicle action; and

ceasing, by the computing system, the output of the external vehicle indication upon completion of the future vehicle action.

12. A computing system for communicating future autonomous vehicle actions, comprising:

one or more processors; and

one or more memory devices, the one or more memory devices storing instructions that when executed by the one or more processors cause the computing system to perform operations, the operations comprising;

obtaining data associated with a planned motion of the autonomous vehicle;

identifying a future vehicle action to be performed by the autonomous vehicle based at least in part on the data associated with the planned motion;

determining an external vehicle indication that is indicative of the future vehicle action to be performed by the autonomous vehicle, wherein the external vehicle indication is indicative of a type of the future vehicle action to be performed by the autonomous vehicle, a geographic location at which the future vehicle action is to be performed, and an amount of time until the future vehicle action is to be performed; and

outputting, by the computing system via an output device that comprises a display screen located on an exterior of the autonomous vehicle, an external vehicle indication that is indicative of the future vehicle action, wherein the external vehicle indication is indicative of the type of the future vehicle action to be performed by the autonomous vehicle, the geographic location at which the future vehicle action is to be performed, and the amount of time until the future vehicle action is to be performed, and wherein the external vehicle action is displayed on the display screen.

13. The computing system of claim 12, wherein the data associated with the planned motion of the autonomous vehicle is generated onboard the autonomous vehicle.

14. The computing system of claim 12, wherein the future vehicle action is to control a motion of the autonomous vehicle without user input to the autonomous vehicle.

15. The computing system of claim 12, wherein the future vehicle action is associated with a vehicle action determined by a collision mitigation system of the autonomous vehicle to avoid a potential collision.

16. The computing system of claim 12, wherein the output device further comprises an audio output device, and wherein the external vehicle indication comprises an auditory indication.

17. The computing system of claim 12, wherein the external vehicle indication is a first external vehicle indication, wherein the operations further comprise:

causing the autonomous vehicle to perform the future vehicle action; and

outputting, via the output device onboard the autonomous vehicle, a second external vehicle indication.

18. An autonomous vehicle, comprising:

one or more output devices comprising a display screen;

one or more processors; and

one or more memory devices, the one or more memory devices storing instructions that when executed by the one or more processors cause the autonomous vehicle to perform operations, the operations comprising;

obtaining data associated with a planned motion of the autonomous vehicle;

identifying a future vehicle action to be performed by the autonomous vehicle based at least in part on the data associated with the planned motion;

determining an external vehicle indication that is indicative of a status of the future vehicle action, wherein the external vehicle indication is indicative of a type of the future vehicle action to be performed by the autonomous vehicle, a geographic location at which the future vehicle action is to be performed, and an amount of time until the future vehicle action is to be performed; and

outputting, via the one or more output devices, the external vehicle indication indicative of the type of the future vehicle action to be performed by the autonomous vehicle, the geographic location at which the future vehicle action is to be performed, and the amount of time until the future vehicle action is to be performed, wherein the external vehicle indication is outputted via the display screen to at least a portion of a surrounding environment of the autonomous vehicle.

19. The autonomous vehicle of claim 18, wherein the display screen is located on an exterior of the autonomous vehicle.