Verifying authorized personnel for interaction with autonomous vehicles

Patent metadata

Field	Value
Publication number	US-11899446-B2
Application number	US-202117459114-A
Country	US
Kind code	B2
Filing date	Aug 27, 2021
Priority date	Aug 27, 2021
Publication date	Feb 13, 2024
Grant date	Feb 13, 2024

Abstract

An autonomous vehicle (AV) uses an authentication system to verify that a person on the street attempting to control behavior of the AV is authorized to do so. An authorized person (e.g., a construction worker or a police officer) has an associated beacon that provides a beacon signal, such as a visual symbol or wireless signal. The AV perceives the beacon signal and transmits it to the authentication system. The authentication system looks up the beacon signal in a database and retrieves conditions associated with the beacon signal. If the authentication system and/or AV confirms that the beacon signal is in the database, and the conditions under which the person associated with the beacon signal is authorized to control the AV are met, the AV follows instructions from the person.

First claim

What is claimed is:

1. A method comprising:
perceiving a person in an environment of an autonomous vehicle (AV);
determining that the perceived person is making a control gesture directed to the AV;
receiving, by a sensor mounted to the AV, a beacon signal associated with the perceived person;
in response to determining that the perceived person is making the control gesture, determining that the perceived person is associated with the received beacon signal;
in response to determining that the perceived person is associated with the received beacon signal, transmitting the beacon signal to an authentication system;
receiving, from the authentication system, a signal authorizing the perceived person associated with the beacon signal to control behavior of the AV; and
in response to receiving the signal authorizing the perceived person to control behavior of the AV, following the control gesture made by the perceived person directed to the AV.

2. The method of claim 1 , the signal authorizing the perceived person to control behavior of the AV comprises a visual identifier associated with the perceived person, and the method further comprises:
sensing, by the AV, a visual characteristic of the perceived person;
determining that the visual characteristic matches the visual identifier; and
following the control gesture given by the perceived person further in response to determining that the visual characteristic matches the visual identifier.

3. The method of claim 1 , the signal authorizing the perceived person to control behavior of the AV comprises a visual identifier in the environment of the perceived person, and the method further comprises:
sensing, by the AV, a visual characteristic of the environment of the perceived person;
determining that the visual characteristic matches the visual identifier; and
following the control gesture given by the perceived person further in response to determining that the visual characteristic matches the visual identifier.

4. The method of claim 1 , wherein the signal authorizing the perceived person to control behavior of the AV comprises a type of permitted control, and the method further comprises:
comparing the control gesture given by the perceived person to the type of permitted control; and
following the control gesture given by the perceived person further in response to determining that the control gesture matches the type of permitted control.

5. The method of claim 1 , wherein the beacon signal is associated with a geographic region, and the perceived person associated with the beacon signal is within the geographic region.

6. The method of claim 1 , wherein the beacon signal is a wireless signal output by an electronic device, and the AV is further configured to transmit a request to the electronic device to transmit the beacon signal to the AV.

7. The method of claim 1 , wherein the beacon signal comprises a visual symbol, and the sensor mounted to the AV comprises a camera to capture an image of the visual symbol.

8. A method comprising:
receiving, from an AV, a beacon signal perceived by the AV, the beacon signal associated with a person in an environment of the AV;
based on the received beacon signal, retrieving data associated with the beacon signal in a database, the data identifying a condition for authorizing the person associated with the beacon signal to direct behavior of the AV;
comparing the data identifying the condition for authorizing the person associated with the beacon signal to condition data associated with the AV to determine whether the condition is met by the AV; and
in response to determining that the condition is met by the AV, transmitting a signal authorizing the person associated with the beacon signal to direct the AV.

9. The method of claim 8 , wherein the condition comprises a time period, the method further comprising determining that a current time at a location of the AV is within the time period.

10. The method of claim 8 , wherein the condition comprises a geographic area, the method further comprising:
receiving, from the AV, a location of the person associated with the beacon signal; and
determining that the location of the person associated with the beacon signal matches the geographic area.

11. The method of claim 8 , wherein the condition comprises an expected visual characteristic of the person associated with the beacon signal, the method further comprising:
receiving, from the AV, data describing a visual characteristic of the person in the environment of the AV; and
determining that the expected visual characteristic of the person associated with the beacon signal matches the visual characteristic of the person in the environment of the AV.

12. The method of claim 8 , wherein the signal authorizing the person associated with the beacon signal to direct the AV comprises a second condition, wherein the AV authorizes the person associated with the beacon signal to direct the AV in response to the second condition being met.

13. The method of claim 8 , wherein the database comprises data describing a plurality of authorized personnel, each authorized personnel associated with a respective beacon signal, and at least a portion of the authorized personnel associated with one or more conditions for authorizing the authorized personnel to direct behavior of the AV.

14. The method of claim 8 , further comprising:
receiving, from a device generating the beacon signal, a request for an updated beacon signal; and
transmitting the updated beacon signal to the device;
wherein the beacon signal perceived by the AV is the updated beacon signal.

15. An autonomous vehicle (AV) comprising:
a sensor mounted to the AV, the sensor to receive a beacon signal from an environment of the AV; and
control circuitry to:
perceive a person in the environment of the AV;
determine that the perceived person is making a control gesture directed to the AV;
in response to determining that the perceived person is making the control gesture, determine that the perceived person is associated with the received beacon signal;
in response to determining that the perceived person is associated with the received beacon signal, transmit the beacon signal to an authentication system;
receive, from the authentication system, a signal authorizing the perceived person associated with the beacon signal to control behavior of the AV; and
in response to receiving the signal authorizing the perceived person to control behavior of the AV, follow the control gesture made by the perceived person directed to the AV.

16. The AV of claim 15 , wherein the signal authorizing the perceived person to control behavior of the AV comprises a visual identifier associated with the perceived person, and the control circuitry is further to:
sense a visual characteristic of the perceived person;
determine that the visual characteristic matches the visual identifier; and
follow the control gesture given by the perceived person further in response to determining that the visual characteristic matches the visual identifier.

17. The AV of claim 15 , wherein the signal authorizing the perceived person to control behavior of the AV comprises a visual identifier in the environment of the perceived person, and the control circuitry is further to:
sense, by the AV, a visual characteristic of the environment of the perceived person;
determine that the visual characteristic matches the visual identifier; and
follow the control gesture given by the perceived person further in response to determining that t

Assignees

• Gm Cruise Holdings Llc

Inventors

• Grace Nestor
• Gidon Dogan
• Plascencia-Vega Diego

Classifications

• G05D1/0011 Primary

  associated with a remote control arrangement · CPC title

• B60W60/001

  Planning or execution of driving tasks · CPC title

• G06F21/31

  User authentication · CPC title

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• G06V40/10

  Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands · CPC title