Autonomous vehicle notification system

Patent metadata

Field	Value
Publication number	US-9953538-B1
Application number	US-201715408150-A
Country	US
Kind code	B1
Filing date	Jan 17, 2017
Priority date	Jan 17, 2017
Publication date	Apr 24, 2018
Grant date	Apr 24, 2018

Abstract

As the number of autonomous vehicles on the road increases, the need to better integrate those vehicles with traffic also increases. As discussed, various entities in common traffic scenarios (e.g., other vehicles, cyclists, pedestrians, etc.) are all accustomed to navigating traffic in particular ways. Embodiments provide techniques, including systems and methods, for autonomous vehicles to identify entities in traffic and communicate messages to those entities based on the autonomous vehicle's planned movements. For example, embodiments allow the use of one or more notification devices distributed across an autonomous vehicle to provide messages to nearby entities. Accordingly, embodiments utilize available sensor data to identify nearby entities and provide messages to these entities.

First claim

What is claimed is:

1. A method comprising:
identifying a first entity and a second within a proximity of an autonomous vehicle;
determining, by a computing device of the autonomous vehicle, one or more characteristics of each of the first entity and the second entity;
determining, by the computing device of the autonomous vehicle, a first movement context for the first entity based on one or more characteristics of the first entity and a second movement context for the second entity based on one or more characteristics of the second entity;
determining, by the computing device of the autonomous vehicle, a type of entity of each of the first entity and the second entity, wherein the first entity is of a first type of entity and wherein the second entity is of a second type of entity;
identifying, for the first entity, a first predefined message for the first movement context and specific to the first type of entity;
identifying, for the second entity, a second predefined message for the second movement context and specific to the second type of entity; and
providing the first predefined message to the first entity using a notification device associated with a direction of the first entity relative to the autonomous vehicle.

2. The method of claim 1 , wherein determining, by the computing device of the autonomous vehicle, the first movement context for the first entity based on one or more characteristics of the first entity further comprises:
receiving sensor data from a plurality of sensors on the autonomous vehicle;
analyzing the sensor data to determine roadway conditions and movement of the autonomous vehicle; and
selecting the first movement context from a plurality of movement contexts based at least in part on the roadway conditions and the movement of the autonomous vehicle.

3. The method of claim 1 , further comprising:
receiving sensor data from a plurality of sensors on the autonomous vehicle;
analyzing the sensor data to identify one or more objects;
comparing the one or more objects to a plurality of object references to determine a plurality of scores; and
determining the type of entity of each of the first entity and the second entity based on the plurality of scores.

4. The method of claim 1 , wherein providing the first predefined message to the first entity using the notification device associated with the direction of the first entity relative to the autonomous vehicle further comprises:
identifying the notification device associated with the direction of the first entity relative to the autonomous vehicle using a notification device map;
determining a device identifier associated with the notification device; and
sending the first predefined message to the notification device using the device identifier.

5. The method of claim 1 , further comprising:
providing the second predefined message to the second entity using a notification device associated with a direction of the second entity relative to the autonomous vehicle.

6. The method of claim 1 , wherein the first entity and the second entity are within the proximity of the autonomous vehicle at the same time.

7. A computing device of an autonomous vehicle comprising:
a processor; and
a computer-readable medium comprising code instructions, executable by the processor, to cause the computing device of the autonomous vehicle to:
identify a first entity and a second entity within a proximity of the autonomous vehicle;
determine one or more characteristics of each of the first entity and the second entity;
determine a first movement context for the first entity based on one or more characteristics of the first entity and a second movement context for the second entity based on one or more characteristics of the second entity;
determine a type of entity of each of the first entity and the second entity, wherein the first entity is of a first type of entity and wherein the second entity is of a second type of entity;
identify, for the first entity, a first predefined message for the first movement context and specific to the first type of entity;
identify, for the second entity, a second predefined message for the second movement context and specific to the second type of entity; and
provide the first predefined message to the first entity using a notification device associated with a direction of the first entity relative to the autonomous vehicle.

8. The computing device of the autonomous vehicle of claim 7 , wherein the instructions, when executed by the processors, further cause the computing device to:
receive sensor data from a plurality of sensors on the autonomous vehicle, wherein the plurality of sensors include one or more of a RADAR sensor, a LiDAR sensor, an optical sensor, or an acoustic sensor;
analyze the sensor data to determine roadway conditions and movement of the autonomous vehicle; and
select the first movement context from a plurality of movement contexts based at least in part on the roadway conditions and the movement of the autonomous vehicle.

9. The computing device of the autonomous vehicle of claim 7 , wherein the instructions, when executed by the processor, further cause the computing device to:
receive sensor data from a plurality of sensors on the autonomous vehicle;
analyze the sensor data to identify one or more objects;
compare the one or more objects to a plurality of object references to determine a plurality of scores; and
determine the type of entity of each of the first entity and the second entity based on the plurality of scores.

10. The computing device of the autonomous vehicle of claim 7 , wherein the instructions, when executed by the processor, further cause the computing device to:
identify the notification device associated with the direction of the first entity relative to the autonomous vehicle using a notification device map;
determine a device identifier associated with the notification device; and
send the first predefined message to the notification device using the device identifier.

11. The computing device of the autonomous vehicle of claim 10 , wherein the notification device includes one or more of a portable communication device, a window projector, or a translucent display.

12. The computing device of the autonomous vehicle of claim 7 , wherein the instructions, when executed by the processor, further cause the computing device to:
provide the second predefined message to the second entity using a notification device associated with a direction of the second entity relative to the autonomous vehicle.

13. A method comprising:
receiving, from a ride matching system, a ride request associated with a requestor computing device, the ride request including a request location;
identifying a first entity and a second entity within a proximity of an autonomous vehicle;
determining one or more characteristics of each of the first entity and the second entity;
determining a first movement context for the first entity based on one or more characteristics of the first entity and a second movement context for the second entity based on one or more characteristics of the second entity;
determining a type of entity of each of the first entity and the second entity, wherein the first entity is of a first type of entity and wherein the second entity is of a second type of entity;
identifying, for the first entity, a first predefined message specific to the first type of entity;
identifying, for the second entity, a second predefined message for the second movement context and specific to the second type of entity; and
providing the first predefined message to the first entity usin

Assignees

• Lyft Inc

Inventors

• Matthiesen Taggart
• Guo Jisi
• Brannstrom Sebastian Rolf Johan
• Garms Jess

Classifications

• B60Q1/346

  with automatic actuation · CPC title

• G08G1/166 Primary

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title

• B60Q1/268

  on windscreens or windows (B60Q1/302 takes precedence; lighting devices for vehicle interior on or for windows B60Q3/208) · CPC title

• B60Q1/482

  for locating vehicle in parking lot · CPC title

• G08G1/005

  including pedestrian guidance indicator · CPC title