Intention signaling for an autonomous vehicle

Patent metadata

Field	Value
Publication number	US-9969326-B2
Application number	US-201615050237-A
Country	US
Kind code	B2
Filing date	Feb 22, 2016
Priority date	Feb 22, 2016
Publication date	May 15, 2018
Grant date	May 15, 2018

Abstract

An intention signaling system for an autonomous vehicle (AV) can monitor sensor information indicating a situational environment of the AV, and detect an external entity based, at least in part, on the sensor data. The intention signaling system can generate an output to signal one of an intent of the AV or an acquiescence of the AV to the external entity.

First claim

What is claimed is:

1. An intention signaling system for an autonomous vehicle (AV) comprising:
an output system;
one or more processors; and
one or more memory resources storing instructions that, when executed by the one or more processors, cause the intention signaling system to:
monitor sensor information indicating a situational environment of the AV;
as the AV approaches an intersection, detect an external entity based, at least in part, on the sensor information;
based on detecting the external entity, determine a right-of-way for the intersection between the AV and the external entity;
when the AV has the right-of-way, generate an intention output using the output system to signal an intent of the AV to proceed through the intersection;
when the external entity has the right-of way:
generate a permissive output using the output system to signal acquiescence to the external entity;
monitor the external entity to determine when the external entity complies with the permissive output; and
when the external entity has complied with the permissive output, terminate the permissive output and generate a designated intention output to signal that the AV is to proceed through the intersection;
wherein the executed instructions cause the intention signaling system to generate the permissive output by progressively increasing urgency parameters of the permissive output until the external entity has complied with the permissive output, and wherein the urgency parameters comprise at least one of an audio volume, a brightness, a flash rate, or a scroll rate of the permissive output.

2. The intention signaling system of claim 1 , wherein the executed instructions further cause the intention signaling system to:
while proceeding through the intersection, terminate the designated intention output, and generate a courtesy output.

3. The intention signaling system of claim 1 , wherein the output system comprises a set of display devices on an exterior of the AV.

4. The intention signaling system of claim 3 , wherein the set of display devices comprise at least one of a forward display device visible from a forward direction the AV, a plurality of side panel display devices visible from sides of the AV, and a rear display device visible from a rear of direction of the AV.

5. The intention signaling system of claim 1 , wherein the output system comprises at least one projector device to project intention and permissive outputs onto a road surface proximate to the AV.

6. The intention signaling system of claim 1 , wherein the output system comprises one or more head-up display devices mounted within a passenger interior of the AV, wherein each of the one or more head-up display devices comprises a display screen to generate intention and permissive outputs, and a translucent mirror to reflect the intention and permissive outputs to be viewable from an exterior of the AV.

7. The intention signaling system of claim 6 , wherein the display screen of each of the one or more head-up display devices is mounted on a ceiling of the passenger interior.

8. The intention signaling system of claim 1 , wherein the output system comprises a mechanical indicator that signals the intent or the acquiescence of the AV.

9. The intention signaling system of claim 1 , wherein the output system comprises an audio system that signals the intent or the acquiescence of the AV.

10. The intention signaling system of claim 1 , wherein the external entity comprises at least one of a human driven vehicle, a pedestrian, or a bicyclist.

11. An autonomous vehicle (AV) comprising:
a sensor system to generate sensor data corresponding to a situational environment of the AV;
a data processing system to process the sensor data to dynamically identify potential hazards as the AV travels along a current route;
an acceleration, steering, and braking system;
a control system to utilize the processed sensor data to autonomously control the acceleration, steering, and braking system along the current route; and
an intention signaling system comprising:
an output system;
one or more processors; and
one or more memory resources storing instructions that, when executed by the one or more processors, cause the intention signaling system to:
monitor the sensor data;
as the AV approaches an intersection, detect an external entity based, at least in part, on the sensor data;
based on detecting the external entity, determine a right-of-way for the intersection between the AV and the external entity;
when the AV has the right-of-way, generate an intention output using the output system to signal an intent of the AV to proceed through the intersection;
when the external entity has the right-of way:
generate a permissive output using the output system to signal acquiescence to the external entity;
monitor the external entity to determine when the external entity complies with the permissive output; and
when the external entity has complied with the permissive output, terminate the permissive output and generate a designated intention output to signal that the AV is to proceed through the intersection;
wherein the executed instructions cause the intention signaling system to generate the permissive output by progressively increasing urgency parameters of the permissive output until the external entity has complied with the permissive output.

12. The AV of claim 11 , wherein the executed instructions further cause the intention signaling system to:
while proceeding through the intersection, terminate the designated intention output, and generate a courtesy output.

13. A non-transitory computer-readable medium storing intention signaling instructions for an autonomous vehicle (AV), wherein the instructions, when executed by one or more processors, cause the one or more processors to:
monitor sensor information indicating a situational environment of the AV;
as the AV approaches an intersection, detect an external entity based, at least in part, on the sensor information;
based on detecting the external entity, determine a right-of-way for the intersection between the AV and the external entity;
when the AV has the right-of-way, generate an intention output using an output system of the AV to signal an intent of the AV to proceed through the intersection;
when the external entity has the right-of way:
generate a permissive output using the output system to signal acquiescence to the external entity;
monitor the external entity to determine when the external entity complies with the permissive output; and
when the external entity has complied with the permissive output, terminate the permissive output and generate a designated intention output to signal that the AV is to proceed through the intersection;
wherein the executed instructions cause the one or more processors to generate the permissive output by progressively increasing urgency parameters of the permissive output until the external entity has complied with the permissive output.

14. The non-transitory computer-readable medium of claim 13 , wherein the executed instructions further cause the one or more processors to:
while proceeding through the intersection, terminate the designated intention output, and generate a courtesy output.

Assignees

• Uber Technologies Inc

Inventors

• Ross William Payne
• Liu Chenggang

Classifications

• B60Q5/005 Primary

  automatically actuated · CPC title

• G08G1/005

  including pedestrian guidance indicator · CPC title

• G05D2201/0212

  Physics · mapped topic

• B60Q1/50 Primary

  for indicating other intentions or conditions, e.g. request for waiting or overtaking · CPC title

• G05D1/0212

  with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287) · CPC title