Method for robotic vehicle communication with an external environment via acoustic beam forming

Patent metadata

Field	Value
Publication number	US-11091092-B2
Application number	US-201715846905-A
Country	US
Kind code	B2
Filing date	Dec 19, 2017
Priority date	Nov 4, 2015
Publication date	Aug 17, 2021
Grant date	Aug 17, 2021

Abstract

Systems and methods implemented in algorithms, software, firmware, logic, or circuitry may be configured to process data to determine whether an object external to an autonomous vehicle is a person (e.g., such as a pedestrian) or other classification (e.g., such as a vehicle), and may be further configured to determine a position of the person relative to the autonomous vehicle. Logic may be configured to direct acoustic energy (e.g., via vehicular acoustic beam-forming) to an object external to the autonomous vehicle as an audible acoustic alert. The vehicle-related acoustic beam may be directed to a driver in another vehicle. Logic may be configured to track the motion of external objects, such as a pedestrian crossing from one side of the street to the other, and may correspondingly steer the direction of the vehicle-related acoustic beam(s) to track the person's movement.

First claim

What is claimed is:

1. A system comprising:
an acoustic beam steering array comprising a plurality of speakers configured to output directional audio; and
one or more processors configured to perform operations, including:
receiving a first signal indicative of one or more of an object type, an object position, an object trajectory, or a predicted intersection point of an object trajectory and a vehicle trajectory, the first signal associated with a first object;
determining, based at least in part on the first signal, a direction to emit a beam of acoustic energy via at least a portion of the plurality of speakers of the acoustic beam steering array;
receiving a second signal indicative of a second object, the second object being different than the first object;
determining, based at least in part on the first signal and the second signal, a first gain setting associated with a first portion of the beam of acoustic energy and a second gain setting associated with a second portion of the beam of acoustic energy, wherein the first gain setting is different than the second gain setting; and
causing the at least the portion of the plurality of speakers to emit the beam of acoustic energy indicative of an alert in the direction and at the first gain setting and the second gain setting,
wherein the first gain setting and the second gain setting are configured to cause a sound pressure of the beam of acoustic energy at the first object to be different from a sound pressure of the beam of acoustic energy at the second object.

2. The system as recited in claim 1 , the operations further comprising:
receiving an audio signal selected based at least in part on the first signal; and
causing the at least the portion of the plurality of speakers to emit the audio signal as the beam of acoustic energy.

3. The system as recited in claim 2 , wherein the first signal is indicative of at least a first object type, wherein the audio signal is a first audio signal based at least in part on the first signal, and wherein the beam of acoustic energy is a first beam of acoustic energy, the operations further comprising:
receiving a second audio signal selected based at least in part on a third signal indicative of at least a third object type different than the first object type; and
causing the at least the portion of the plurality of speakers to emit the second audio signal as a second beam of acoustic energy.

4. The system as recited in claim 1 , wherein:
the second object is outside of a main lobe of emitted acoustic energy of the acoustic beam steering array;
the first signal is indicative of at least the object position,
the acoustic beam steering array is coupled to a vehicle, and
determining the direction comprises determining an angle between a direction of travel of the vehicle and the object position.

5. The system as recited in claim 1 , the operations further comprising:
determining, for a first speaker of the plurality of speakers, a first gain and a first delay associated with a first signal to output via the first speaker; and
determining, for a second speaker of the plurality of speakers, a second gain and a second delay associated with a second signal to output via the second speaker;
wherein the first gain, the second gain, the first delay, and the second delay are based at least in part on the direction to emit the beam of acoustic energy; and
wherein the first gain and the second gain are based at least in part on the second signal indicative of the second object.

6. The system as recited in claim 1 , the operations further comprising:
receiving an audio signal;
determining to apply one or more bandpass filters to the audio signal to generate a filtered audio signal; and
causing the at least the portion of the plurality of speakers to emit the filtered audio signal as the beam of acoustic energy.

7. The system as recited in claim 1 , wherein the direction is a first direction, the operations further comprising:
determining a second direction to emit the beam of acoustic energy via at least the portion of the plurality of speakers of the acoustic beam steering array;
determining a first gain in one or more channels associated with the at least the portion of the plurality of speakers, the first gain associated with the first direction; and
determining a third gain in the one or more channels associated with the at least the portion of the plurality of speakers, the third gain associated with the second direction.

8. A non-transitory computer-readable medium storing instructions that, when executed, cause one or more processors to perform acts comprising:
receiving, at an acoustic beam steering array including a plurality of speakers, a first signal indicative of one or more of an object type, an object position, an object trajectory, or a predicted intersection between an object trajectory and a vehicle trajectory, the first signal associated with a first object;
determining a direction to emit a beam of acoustic energy via at least a portion of the plurality of speakers of the acoustic beam steering array;
receiving a second signal indicative of a second object, the second object being different than the first object;
determining, based at least in part on the first signal and the second signal, a first gain setting associated with a first portion of the beam of acoustic energy and a second gain setting associated with a second portion of the beam of acoustic energy, wherein the first gain setting is different than the second gain setting; and
causing the at least the portion of the plurality of speakers to emit the beam of acoustic energy indicative of an alert in the direction and at the first gain setting and the second gain setting,
wherein the first gain setting and the second gain setting are configured to cause a sound pressure of the beam of acoustic energy at the first object to be different from a sound pressure of the beam of acoustic energy at the second object.

9. The non-transitory computer-readable medium as recited in claim 8 , wherein the first signal is indicative of at least the object position, and wherein the direction to emit the beam of acoustic energy is based at least in part on the object position.

10. The non-transitory computer-readable medium as recited in claim 8 , the acts further comprising:
determining, for a first speaker of the plurality of speakers, a first gain and a first delay associated with a first signal to output via the first speaker; and
determining, for a second speaker of the plurality of speakers, a second gain and a second delay associated with a second signal to output via the second speaker;
wherein the first gain, the second gain, the first delay, and the second delay are based at least in part on the direction to emit the beam of acoustic energy; and
wherein the first gain and the second gain are based at least in part on the second signal indicative of the second object.

11. The non-transitory computer-readable medium as recited in claim 8 , the acts further comprising:
receiving an audio signal;
determining to apply one or more bandpass filters to the audio signal to generate a filtered audio signal; and
causing the at least the portion of the plurality of speakers to emit the filtered audio signal as the beam of acoustic energy.

12. The non-transitory computer-readable medium as recited in claim 8 , wherein the direction is a first direction, the acts further comprising:
determining a second direction to emit the beam of acoustic energy via at least the portion of the plurality of speakers of the acoustic beam steering array;
determining a first gain in one or more c

Assignees

• Zoox Inc

Inventors

• Kentley-Klay Timothy David
• Levinson Jesse Sol
• Lind Amanda Blair

Classifications

• G10L25/48

  specially adapted for particular use · CPC title

• G08G1/161

  Decentralised systems, e.g. inter-vehicle communication · CPC title

• G08G1/056 Primary

  with provision for distinguishing direction of travel · CPC title

• G08G1/0125

  Traffic data processing · CPC title

• G08G1/0108

  based on the source of data · CPC title