Passenger-less and driverless vehicle operation modes

Abstract

Various embodiments include methods and vehicles (100) that include determining whether to initiate a configuration change protocol to implement a configuration change for modifying an external shape of a vehicle's body in response to a planned or predicted future operating mode, event, or circumstance. Furthermore, determining whether an occupancy state of the vehicle conflicts with an occupancy state allowed in a configuration requested by a configuration change input or indication. Furthermore, in response to determining that the occupancy state of the vehicle does not conflict with the configuration change input or indication, modifying the external shape of the vehicle's body in accordance with the configuration change input or indication, wherein modifying the external shape of the vehicle's body includes modifying a configuration of at least one external vehicle component.

Description

[0001] Claim of Priority Under 35 U.S.C. § 119

[0002] This patent application claims priority to non-provisional application No. 16 / 725,306, filed December 23, 2019, entitled “PASSENGER-LESS AND DRIVER-LESS VEHICLE OPERATING MODES,” which is assigned to the assignee thereof and is expressly incorporated herein by reference. Background Art

[0003] The advent of autonomous and semi-autonomous cars and other motor vehicles promises to ease the task of transporting people, goods, and even the vehicles themselves from one place to another. For example, instead of having to constantly pay attention to the road and other vehicles, a vehicle operator could allow an autonomous or semi-autonomous vehicle to control all or most driving operations. Furthermore, fully autonomous vehicles, which do not require a driver, could also operate without passengers.

[0004] For a vehicle that changes from autonomous to manual operation (or vice versa), such a change primarily involves relinquishing or controlling the computerized vehicle management system's control of the vehicle's operation. However, such a change between autonomous and manual operation does not take advantage of many vehicle design constraints that have consequently changed or are no longer relevant. Summary of the Invention

[0005] Various aspects include autonomous vehicles and methods implemented in such vehicles that support driverless and passengerless modes of operation to exploit improvements in operating efficiency, cargo capacity, etc. by changing the configuration possible when no driver and / or passengers are in the vehicle.

[0006] Various aspects may include, for example, determining by a vehicle processor whether to initiate a configuration change protocol to implement a configuration change for modifying the external shape of the vehicle's body in response to a planned or predicted future operating mode, event, or environment; determining whether an occupancy state of the vehicle conflicts with an occupancy state allowed in the configuration requested by a configuration change input or indication; and modifying the external shape of the vehicle's body according to the configuration change input or indication in response to determining that the vehicle's occupancy state does not conflict with the configuration change input or indication, wherein modifying the external shape of the vehicle's body includes modifying the configuration of at least one external vehicle component.

[0007] Some aspects may also include determining whether a current vehicle configuration matches the configuration requested by the configuration change input or indication, wherein modifying the exterior shape of the vehicle's body may be further responsive to determining that the current vehicle configuration does not match the configuration requested by the configuration change input or indication. In some aspects, modifying the exterior shape of the vehicle's body in accordance with the configuration change input or indication in response to determining that the vehicle's occupancy state does not conflict with the configuration change input or indication may include modifying the exterior shape of the vehicle's body to a no-occupant configuration in response to determining that the vehicle is unoccupied. In some aspects, modifying the exterior shape of the vehicle's body to the no-occupant configuration may include reducing a windshield tilt angle, a roof height relative to the vehicle's base, or a window position. Some aspects may also include adjusting one or more parameters of autonomous vehicle navigation or operation to implement a no-occupant mode of operation. Some aspects may include not modifying the vehicle's configuration and notifying an operator in response to determining that the vehicle's occupancy state does not conflict with the configuration change input or indication.

[0008] Some aspects may also include determining whether an occupant of the vehicle is driving, and in response to determining that no occupant is driving the vehicle, modifying the interior configuration of the vehicle to a driverless configuration. In some aspects, modifying the interior configuration of the vehicle to the driverless configuration may include changing the tilt angle of the vehicle's windshield. Some aspects may also include adjusting one or more parameters of autonomous vehicle navigation or operation to implement a driverless mode of operation in response to determining that no occupant is driving the vehicle. Some aspects may also include modifying the exterior shape of the vehicle's body to a driving configuration in response to determining that an occupant of the vehicle is driving. In some aspects, modifying the exterior shape of the vehicle's body to the driving configuration may include changing the tilt angle of the windshield, the height of the roof relative to the vehicle's base, or the position of the windows. Some aspects may include modifying the exterior shape of the vehicle's body based on the configuration change input or indication, wherein modifying the configuration of at least one body component relative to other vehicle components includes modifying at least one body component selected from a pillar, rear quarter panel, roof, hood, trunk, windshield, or windows.

[0009] In some aspects, modifying the exterior shape of the vehicle's body to the driving configuration may include modifying the configuration of at least one body component selected from a pillar, a rear quarter panel, a roof, a hood, a trunk, a windshield, or a window. In some aspects, changing the exterior shape of the vehicle's body may include activating an actuator configured to change the exterior shape of the vehicle's body. In some aspects, modifying the exterior shape of the vehicle's body in accordance with the configuration change may include modifying the exterior shape of the vehicle's body in accordance with an occupied or unoccupied alternative for the configuration change based on a determined occupancy state. Some aspects may include selecting a configuration alternative based on a predicted occupancy state of the vehicle determined based on the configuration change input or indication in response to determining that the predicted occupancy state of the vehicle does not conflict with an occupancy state allowed in the configuration requested by the configuration change input or indication.

[0010] Various aspects may include: receiving, by, for example, a vehicle processor, a configuration change input associated with a configuration of a vehicle structure; determining whether the configuration of the vehicle structure matches a configuration of current components comprising the vehicle; and modifying the vehicle structure to the configuration based on the received configuration change input in response to determining that the configuration of the vehicle structure does not match the configuration of current components comprising the vehicle.

[0011] Various aspects may include: determining whether to initiate a configuration change protocol to implement a configuration change for modifying the arrangement of a vehicle's interior structure in response to a planned or predicted future operating mode, event, or environment; determining whether an occupancy state of the vehicle conflicts with an occupancy state allowed in the configuration requested by a configuration change input or indication; and modifying the arrangement of the vehicle's interior structure according to the configuration change input or indication in response to determining that the occupancy state of the vehicle does not conflict with an occupancy state allowed in the configuration requested by the configuration change.

[0012] Some aspects may include determining whether a current vehicle configuration matches a configuration requested by the configuration change input or indication, wherein modifying the arrangement of the vehicle's interior structure in accordance with the configuration change input or indication is further responsive to modifying an exterior shape of the vehicle's body in response to determining that the current vehicle configuration does not match the configuration requested by the configuration change input or indication. Some aspects may also include determining whether there are occupants in the vehicle. In some aspects, modifying the arrangement of the vehicle's interior structure in accordance with the configuration change input or indication may include changing to an unmanned configuration in response to determining that an occupancy state of the vehicle indicates that no occupant of the vehicle is or will be driving the vehicle. In some aspects, changing to the unmanned configuration includes changing the orientation of at least one seat in the vehicle.

[0013] Some aspects may also include modifying the arrangement of the vehicle's interior structure based on the configuration change input or indication, including changing to a driving configuration in response to determining that an occupant is or will be driving the vehicle. In some aspects, changing to the driving configuration may include changing at least one of the orientation of a steering wheel or the direction in which a seat in the vehicle is facing. Some aspects include selecting one of a plurality of configuration alternatives based on the occupancy state in response to determining that the occupancy state of the vehicle does not conflict with an occupancy state allowed in the configuration requested by the configuration change input or indication. Some aspects include selecting one of a plurality of configuration alternatives based on the occupancy state of the vehicle in response to determining that a predicted occupancy state of the vehicle will not conflict with an occupancy state allowed in the configuration requested by the configuration change input or indication.

[0014] A further aspect includes a vehicle comprising a processor configured to perform the operations of any of the above methods. A further aspect includes an external shape modification device configured for use in a vehicle and performing the operations of any of the above methods. A further aspect includes a vehicle interior structure modification device configured for use in a vehicle and performing the operations of any of the above methods. A further aspect includes a vehicle having components for performing the functions of any of the above methods. A further aspect includes a non-transitory processor-readable medium having processor-executable instructions stored thereon, the processor-executable instructions configured to cause a processor of the vehicle to perform the operations of any of the above methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the claims and, together with the general description and detailed description given, serve to explain the features herein.

[0016] Figure 1A and 1B is a schematic diagram illustrating a vehicle suitable for implementing various embodiments.

[0017] Figure 2 is a schematic block diagram illustrating components of an exemplary vehicle management system according to various embodiments.

[0018] Figure 3 is a schematic block diagram illustrating components of an exemplary system-on-chip for use in a vehicle, according to various embodiments.

[0019] Figure 4A 、 4B and 4C are schematic diagrams of a vehicle that has its interior components reconfigured and its exterior shape modified from a driving configuration to an occupant-free configuration, according to various embodiments.

[0020] Figure 5A and 5B is a schematic diagram of a vehicle that reconfigures interior components and modifies its exterior shape from a driving configuration to a first unmanned configuration, according to various embodiments.

[0021] Figure 6A and 6B is a schematic diagram of a vehicle that reconfigures interior components and modifies its exterior shape from a driving configuration to a second, undriven configuration, according to various embodiments.

[0022] Figure 7 is a process flow diagram of an exemplary method for modifying the exterior shape of a vehicle based on the occupancy of the vehicle, according to various embodiments.

[0023] Figure 8 is a process flow diagram of an exemplary method for modifying a vehicle interior component configuration based on vehicle occupancy, according to various embodiments.

[0024] Figure 9 is a process flow diagram of an exemplary method for changing a vehicle structural configuration to an occupied or unoccupied version of a selected configuration based on the occupancy of the vehicle in accordance with various embodiments.

[0025] Figure 10 is a process flow diagram of an exemplary method for changing a vehicle structural configuration to an occupied or unoccupied version of a selected configuration based on a predicted occupancy of the vehicle in accordance with various embodiments. DETAILED DESCRIPTION

[0026] Various embodiments will be described in detail with reference to the accompanying drawings. Wherever possible, the same reference numerals will be used throughout the drawings to refer to the same or similar parts. References to specific examples and implementations are for illustrative purposes only and are not intended to limit the scope of the claims.

[0027] Various embodiments include vehicles and methods of operating such vehicles that enable modification of the vehicle's exterior shape and / or interior component configuration to a no-driver and / or no-passenger operating mode when a driver or passenger is not present. In some embodiments, a vehicle processor can determine whether to implement a configuration change to the exterior shape of the vehicle's body and / or the configuration of the current components comprising the vehicle's interior structure. In some embodiments, the vehicle processor can determine that a configuration change should be made in response to an anticipated upcoming change in operating mode by receiving instructions from an operator and / or a vehicle system (such as a navigation system, a route planning system, a dispatch system, etc.). In some embodiments, the vehicle processor can determine whether to implement a configuration change to the vehicle's exterior shape in response to a planned or predicted future operating mode, event, or circumstance. In some embodiments, the vehicle processor can determine the vehicle's occupancy state and determine whether a requested configuration change would conflict with the occupancy state. If the requested configuration change requires reconfiguration of vehicle components that differs from the current configuration and does not conflict with the vehicle's occupancy state (e.g., if the vehicle configuration change input requires a no-occupant configuration but there are occupants in the vehicle, a conflict would exist), an actuator can be activated to implement the configuration change. In some embodiments, indications of future or anticipated vehicle configuration changes can be received from a scheduling or navigation function, such as indications that vehicle configuration changes will be needed to enable the vehicle to change to a driving operating mode (e.g., from an unmanned configuration to a driving configuration) or to an unmanned operating mode (e.g., from a no-passenger configuration to an unmanned configuration) in a timely manner to receive a driver or other occupant to avoid or minimize waiting time.

[0028] When there are no occupants in the vehicle, restrictions such as minimum headroom or cabin size may no longer apply. Similarly, even if one or more occupants are present in the vehicle, if no occupant has chosen to drive (i.e., the vehicle is operating autonomously), the exterior shape of the vehicle in the driverless operating configuration may need to be altered to accommodate the different seating arrangements within the vehicle. Additionally, various electronic and mechanical components of the vehicle may be disabled or altered to take advantage of the fact that the vehicle has no occupants (e.g., in a no-passenger operating mode) or that no occupant has chosen to drive (e.g., in a driverless operating mode).

[0029] Modifying the configuration of the vehicle when there is no driver to an unmanned mode can increase the volume inside the vehicle, improve the use of the internal volume by passengers (and / or cargo), improve vehicle efficiency, etc. Modifying the configuration of the vehicle when there is no person present to a passenger-free mode can increase the internal volume for storing cargo, improve vehicle efficiency (e.g., by modifying the aerodynamic shape of the vehicle, by modifying the external shape of the vehicle, modifying driving parameters, etc.). For example, in passenger-free mode, lowering the roof and changing the angles of the front and rear windows can reduce air resistance, thereby improving vehicle fuel efficiency. Various embodiments enable such changes in the configuration of the vehicle in unmanned and passenger-free operating modes to be automatically or semi-automatically completed through safety features to avoid injuring passengers. Some embodiments enable changing back to driver and / or passenger mode in anticipation of receiving a driver or passenger, thereby improving the user experience.

[0030] In various embodiments, if desired, modifying the vehicle's configuration to a driving configuration, a driverless mode, and / or a passenger-free mode can occur at virtually any time. For example, modifying the vehicle to a driving configuration, a driverless mode, and / or a passenger-free mode can be performed while the vehicle is stationary (i.e., stopped or parked) or moving (i.e., in motion on or off-road).

[0031] As used herein, the expression "driving configuration" refers to a conventional configuration in which a driver sits in the driver's seat of a vehicle and can drive the vehicle or monitor autonomous driving operations. In a driving configuration, there should be space for at least one driver to occupy it. For example, the position of the steering wheel, accelerator, brake pedal and / or other vehicle components can be changed to enable the driver to operate the vehicle. The specific vehicle components that are reconfigured to the driving configuration may be optional and may depend on the vehicle and the reconfiguration of some components may be optional. For example, a vehicle that provides automatic acceleration / braking while allowing the occupant to steer may reconfigure the steering wheel without repositioning the accelerator and / or brake pedal. Other optional embodiments are possible and are contemplated within the scope of the various claims.

[0032] As used herein, the expressions "driverless configuration" and "driverless mode" refer to a vehicle configuration in which a passenger is occupying the vehicle but no one is driving (i.e., the vehicle is operating autonomously). In the driverless configuration, there should be space for at least one passenger to occupy the vehicle.

[0033] As used herein, the expressions "no passenger configuration" and "no passenger mode" refer to a vehicle configuration in which there are no occupants within the vehicle, and therefore, there is no need to provide various accommodations (e.g., rooms, seats, safety features, etc.) for use by a passenger or driver. According to various embodiments, each of the driving, unmanned, and no passenger configurations can have more than one configuration. In various embodiments, in addition to the driving configuration, the vehicle can be configured to have only the no passenger configuration, the unmanned configuration, or both.

[0034] As used herein, the expression "external shape of the vehicle's body" refers to the external shape or physical appearance of the components that form the vehicle's exterior structure. Modifications to the external shape of the vehicle's body include changing the configuration of some of the components that form the exterior structure and may alter the vehicle's profile or outline.

[0035] As used herein, the expression "interior component configuration" refers to the arrangement of some of the components that form the interior structural components of a vehicle. Modifications to the interior component configuration of a vehicle may include changing the arrangement of one or more of the components that form the interior structural components (such as seats, headliner, armrests, steering wheel, etc.).

[0036] As described above, in some embodiments, configuration changes to the exterior shape of the vehicle's body can be based on planned or predicted future operating modes, events, or circumstances. As used herein, the expression "planned or predicted future operating modes, events, or circumstances" refers to events that are expected or planned to occur, or conditions that are expected or predicted to occur at a later time, and are particularly important to the vehicle, and can be based on a schedule, navigation plan, sensor detection, observation, and / or inference.

[0037] Various embodiments may be implemented within various autonomous and semi-autonomous vehicles equipped with structures and actuators configured to change the exterior and / or interior shape or configuration of the vehicle based on occupancy status. Figure 1A and 1BThe vehicle 100 may include a plurality of sensors 102 to 138 disposed in or on the vehicle for various purposes relating to autonomous and semi-autonomous navigation and sensor data about objects and persons in or on the vehicle 100. The sensors 102 to 138 may include one or more of a variety of sensors capable of detecting various information for navigation, collision avoidance, and vehicle occupancy. Each of the sensors 102 to 138 may communicate wired or wirelessly with the control unit 140 or with each other. Specifically, the sensors may include one or more cameras 122, 136 or other optical or photoelectric sensors. The sensors may also include other types of object detection and ranging sensors, such as radar 132, lidar 138, infrared (IR) sensors, and / or ultrasonic sensors. The sensors may also include tire pressure sensors 114, 120, humidity sensors, temperature sensors, satellite positioning sensors 108, accelerometers, vibration sensors, gyroscopes, gravity meters, shock sensors 130, force gauges, strain gauges, strain sensors, fluid sensors, chemical sensors, gas content analyzers, pH sensors, radiation sensors, Geiger counters, neutron detectors, biomaterial sensors, microphones 124, 134, occupancy sensors 112, 116, 118, 126, 128, door sensors 115, 117, proximity sensors and / or other sensors.

[0038] According to various embodiments, vehicle 100 may include actuators 141 to 149 that can be used to modify the exterior shape and / or interior configuration of the vehicle body 100 depending on the presence of a driver and / or one or more passengers. Each of actuators 141 to 149 can be a component (such as an exterior or interior structure) for moving and controlling vehicle 100. Actuators 141 to 149 can include hydraulic devices, hinges, drive motors, sensors, and the like. For example, a windshield may be formed by left and right roof pillars on opposite sides, each having bottom actuators 141 and 142 and upper actuators 143 and 144 for changing the tilt angle of the windshield.

[0039] In various embodiments, actuators 141-149 can be used to change the shape, length, and / or orientation of various exterior components of the vehicle, including (but not limited to) the frame, one or more pillars, the hood, the roof, the trunk, the windshield, the side windows, the side mirrors, the rear window, the side panels, the floor, the fenders, and the like. For example, bottom actuators 141, 142 and upper actuators 143, 144 can pivot and / or slide adjacent components relative to each other to change the angle of the windshield. Similarly, the rear window can be formed by left and right roof pillars on opposite sides, each having bottom actuators 147, 148 and upper actuators 145, 146. Bottom actuators 145, 146 and upper actuators 147, 148 can pivot and / or slide adjacent components relative to each other to change the angle of the rear window. Additionally, the roof can include a roof retractor actuator 149, which can be used to change the length or shape of the roof.

[0040] In various embodiments, actuators 141-149 can be used to change the shape, length, and / or orientation of various interior components of the vehicle, including, but not limited to, seats, steering wheels, pedals, armrests, visual aids (e.g., rearview mirrors or external cameras), controls, and other interior equipment. For example, actuators coupled to or included in seats can be configured to rotate the seats in driverless mode and / or fold or flatten the seats in passenger-free mode to increase interior volume and accommodate changes in the seat's exterior shape.

[0041] In various embodiments, the actuators 141 to 149 can be any device or element configured to move, change, and / or operate another device or element of the vehicle 100. The actuators 141 to 149 can include or operate to activate a smart material configured to change shape. For example, the smart material can be configured to change from having a smooth outer surface to having a concave outer surface (e.g., like a golf ball), which can improve or change the aerodynamics of the vehicle. The smart material can be activated by electrical stimulation or other stimulation configured to cause the smart material to change shape in a controlled manner (e.g., from a flat / smooth surface to a surface having a series of dimples on its exterior). For example, using smart materials to create dimples on the exterior surface of the vehicle can be implemented on any surface exposed to airflow when moving, such as on the windshield, on the hood, roof, and trunk, on the side panels, on the side windows, exterior mirrors (if deployed), sunroof, etc.

[0042] The vehicle control unit 140 may include a processor 164 configured with processor-executable instructions to implement various embodiments using information received from various inputs, including the user interface 152, the radio module 172, and / or sensors 102 through 138 (including cameras 122, 136, microphones 124, 134, door sensors 115, 117, and occupancy sensors 112, 116, 118, 126, 128). The control unit 140 or its processor 164 may be configured to receive occupancy information from the sensors 102 through 138, which the control unit or its processor may use to determine the occupancy state of the vehicle 100. Furthermore, the control unit 140 or its processor may be communicatively coupled to the actuators 141 through 149 and configured to activate the actuators 141 through 149, when appropriate, to change the exterior shape or interior configuration of the vehicle 100. For example, the control unit 140 may change the exterior shape or interior configuration based on some external stimulus or condition, such as electricity, light, temperature, pH, pressure, moisture, or the like. The control unit 140 or its processor 164 can also be configured to use information about other vehicles determined using various embodiments to control the steering, braking, and speed of the vehicle 100 according to the no-passenger or normal operating mode. The control unit 140 or its processor 164 can be communicatively coupled to the actuators 141 to 149 via wired (e.g., electrical and / or optical) and / or wireless connections. The communicative coupling can be through one or more intermediate connectors (e.g., a bus) or by direct coupling.

[0043] The processor 164 of the control unit 140 can be configured with processor-executable instructions to control the shape change, steering, navigation, and other operations of the vehicle 100, including the operations of various embodiments. The processor 164 can be coupled to a memory 166. The control unit 140 can include an input module 168, an output module 170, and a radio module 172, each of which can be coupled to the processor 164.

[0044] The radio module 172 can be configured for wireless communication. The radio module 172 can exchange signals with a network transceiver (e.g., command signals for controlling shape changes, maneuvers, signals from navigational aids, etc.) and can provide the signals to the processor 164 and / or the navigation component 156. The radio module 172 can use the signals to receive shape change commands and / or inputs. In some embodiments, the radio module 172 can enable the vehicle 100 to communicate with a wireless communication device via a wireless communication link. The wireless communication link can be a two-way or one-way communication link and can use one or more communication protocols.

[0045] The input module 168 can receive configuration change inputs from the user interface 152 or the radio module 172. In addition, the input module 168 can receive sensor data from one or more vehicle sensors, as well as electronic signals from other components including the user interface 152, the driving control component 154, and the navigation component 156. In some embodiments, the input module 168 can be configured to determine when there is no driver and / or passenger in the vehicle, and generate configuration change inputs based on such determinations. In some embodiments, the input module 168 can be configured to receive information from the navigation component 156 and other components (e.g., a dispatch unit) and determine when a configuration change is expected (e.g., changing to a passenger mode upon arrival at a destination to pick up a passenger or changing to a no-passenger mode upon arrival at a destination to pick up cargo), so that the configuration change can be initiated in a timely manner and completed when the new configuration is appropriate.

[0046] The output module 170 may be used to communicate with or activate various components of the vehicle 100 , including the driving control component 154 , the navigation component 156 , and the sensors 158 .

[0047] The control unit 140 or its processor 164 can be coupled to and configured to control various driving control components 154, navigation components 156, and one or more vehicle sensors 102 to 138 of the vehicle 100. The driving control components 154 can be used to control the physical elements of the vehicle 100 that enable the manipulation and navigation of the vehicle, such as the engine, motor, throttle, steering elements, flight control elements, braking or deceleration elements, etc. The driving control components 154 can also include components that control other devices of the vehicle, including environmental controls (e.g., air conditioning and heating), exterior and / or interior lighting, interior and / or exterior information displays (which may include display screens or other devices for displaying information), and other similar devices.

[0048] Although the control unit 140 is described as including separate components, in some embodiments, some or all of the components (e.g., the processor 164, the memory 166, the input module 168, the output module 170, and the radio module 172) may be integrated into a single processor device or module, such as a system-on-chip (SOC) processing device. Such an SOC processing device may be configured for use in a vehicle and configured, such as having processor-executable instructions executed in the processor 164 to perform the operations of various embodiments when installed in the vehicle.

[0049] Figure 2 illustrative examples of subsystems, computing elements, computing devices, or units within the vehicle management system 200 that may be utilized within the vehicle 100 implementing various embodiments. Figures 1A to 2In some embodiments, the various computing elements, computing devices, or units within the vehicle management system 200 may be implemented within a system of interconnected computing devices (i.e., subsystems) that communicate data and commands to each other (e.g., by Figure 2 In other embodiments, the various computing elements, computing devices, or units within the vehicle management system 200 may be implemented within a single computing device (such as separate threads, processes, algorithms, or computing elements). Thus, each subsystem / computing element (e.g., Figure 2 ) are also generally referred to herein as "layers" within the computing "stack" that makes up the vehicle management system 200. However, the use of the terms layer and stack when describing various embodiments is not intended to imply or require that the corresponding functionality be implemented within a single autonomous (or semi-autonomous) vehicle control system computing device, although this is a potential implementation example. Rather, the use of the term "layer" is intended to encompass subsystems with independent processors, computing elements (e.g., threads, algorithms, subroutines, etc.) running in one or more computing devices, and combinations of subsystems and computing elements.

[0050] In various embodiments, the vehicle management system 200 may include a sensor perception layer 210, a camera perception layer 220, a vehicle occupancy and configuration perception layer 230, a vehicle configuration management layer 240, and an actuator adjustment layer 250. Layers 210 to 250 are merely examples of some of the layers in one exemplary configuration of the vehicle management system 200, and other layers may be included in other configurations, such as additional layers for other perception sensors (e.g., vehicle load sensors, etc.) or security and non-occupancy confirmation, and / or some of the layers 210 to 250 may be excluded from the vehicle management system 200. Each of the layers 210 to 250 may exchange data, calculation results, and commands (e.g., Figure 2 ).

[0051] The vehicle management system 200 can be configured to receive and process data from sensors (e.g., pressure, motion, inertial measurement units (IMUs), etc.), cameras, vehicle databases / memory (e.g., storing vehicle configuration data), onboard user interfaces, and vehicle communication components (e.g., one or more wireless transceivers). The vehicle management system 200 can output actuator adjustment commands or signals to one or more actuator assemblies (e.g., 141 to 149), which are systems, subsystems, or computing devices that interface directly with external and internal vehicle parts / components that are configured to change shape / position when commanded to do so.

[0052] The sensor perception layer 210 can receive data from one or more sensors (e.g., occupancy sensors 102-138) and process the data to identify and determine whether any occupants are currently in the vehicle, and if so, where they are seated and whether they are driving the vehicle 100. Non-limiting examples of sensors that can be used as occupancy sensors 102-138 include weight / force sensors in vehicle seats, sensors that can detect the presence of mobile computing devices within the vehicle (e.g., connected via Bluetooth, WiFi, vehicle hotspot, etc.), mechanical devices (e.g., vehicle buttons, handles, pedals, and / or knobs that can be manipulated to provide an indication that a person is occupying the vehicle), and / or voice recognition systems (e.g., an occupant verbally indicating presence). Additionally, the sensor perception layer 210 can receive data from one or more other sensors configured to detect the current position / configuration of vehicle components and process the data to identify and / or confirm the current position / configuration of one or more vehicle components. The sensor perception layer 210 can use neural network processing and artificial intelligence methods to identify the position / configuration of occupants, objects, and / or vehicle components. Additionally, the sensor sensing layer 210 may be configured to pass any vehicle occupancy data and / or current vehicle component configuration data to the vehicle occupancy and configuration sensing layer 230 .

[0053] The camera perception layer 220 can receive data from one or more cameras (e.g., 122, 136) and process the data to identify and determine whether any occupants are currently in the vehicle, and if so, where they are seated and whether they are driving the vehicle 100. Additionally, the camera perception layer 220 can receive data from one or more cameras, other sensors configured to detect the current position / configuration of vehicle components, and process the data to identify and / or confirm the current position / configuration of one or more vehicle components. The camera perception layer 220 can use neural network processing and artificial intelligence methods to identify the position / configuration of occupants, objects, and / or vehicle components. Additionally, the camera perception layer 220 can be configured to pass any vehicle occupancy data and / or current vehicle component configuration data to the vehicle occupancy and configuration perception layer 230.

[0054] The vehicle occupancy and configuration perception layer 230 can receive and / or access vehicle occupancy inputs from the sensor perception layer 210 and the camera perception layer 220 to determine the occupancy state of the vehicle. The vehicle occupancy and configuration perception layer 230 can compare and use any redundant vehicle occupancy inputs received from the sensor perception layer 210 and / or the camera perception layer 220 to ensure that any determined vehicle occupancy state is accurate. The vehicle occupancy and configuration perception layer 230 can be configured to feed any determined vehicle occupancy data to the vehicle configuration management layer 240.

[0055] In addition, the vehicle occupancy and configuration perception layer 230 may also receive and / or access vehicle component configuration inputs from the sensor perception layer 210 and the camera perception layer 220 to determine the current component configuration of the vehicle. The vehicle occupancy and configuration perception layer 230 may receive and / or access stored vehicle configuration data from one or more vehicle databases / memories that store information about the configuration and location of vehicle components. The vehicle occupancy and configuration perception layer 230 may also compare the stored vehicle configuration data with other processed data from the sensor perception layer 210 and the camera perception layer 220 to determine / confirm the true current location and / or orientation of vehicle components. The vehicle occupancy and configuration perception layer 230 may also be configured to feed the determined current vehicle component configuration data to the vehicle configuration management layer 240.

[0056] The vehicle configuration management layer 240 can access or automatically receive vehicle information from the vehicle occupancy and configuration awareness layer 230, including any determined vehicle occupancy state and / or vehicle component configuration data. In addition, the vehicle configuration management layer 240 can receive configuration change input from an on-board user interface. For example, the dashboard of the vehicle may include an on-board user interface, which may have one or more buttons or a touch screen display configured to receive occupant commands for initiating modifications to the vehicle's configuration. Moreover, the vehicle configuration management layer 240 can receive vehicle occupancy input from a vehicle communication component (e.g., a radio module 172), a wired connection, or other electronic connection to an occupant's on-board mobile device (e.g., a cell phone, smartwatch, tablet, computer, etc.), or other computing device remote from the vehicle.

[0057] In response to receiving a configuration change input for causing the vehicle to change shape, the vehicle configuration management layer 240 can determine whether the exterior shape of the vehicle's body and / or the vehicle's interior configuration should be changed based on the operating mode (e.g., driverless mode, passengerless mode, cargo mode, passenger mode, etc.). This determination can be made based at least in part on the received vehicle occupancy state and received vehicle component configuration data. The determination of whether the exterior shape of the vehicle body and / or the vehicle's interior configuration should be changed can take into account the determined vehicle occupancy data and determined current vehicle component configuration data received from the vehicle occupancy and configuration awareness layer 230, as well as one or more vehicle inputs from the onboard user interface and / or vehicle communication component. If the exterior shape of the vehicle body does not need to be changed, the vehicle configuration management layer 240 does not need to signal the actuator adjustment layer 250 to activate the actuator assemblies 141-149 associated with the exterior components. If the exterior shape of the vehicle's body is to be changed, the vehicle configuration management layer 240 may signal the actuator adjustment layer 250 to activate selected actuators (e.g., 141 to 149) and / or a series of actuators configured to accordingly change the exterior shape of the vehicle's body, which may include modifying the configuration of the interior structure (e.g., lowering the seat back to enable lowering the roof). Similarly, if the interior configuration of the vehicle is to be changed (e.g., lowering or stowing the seats in no-passenger mode or raising / deploying the seats in passenger mode), the vehicle configuration management layer 240 may activate selected actuators and / or a series of actuators configured to change the configuration of the interior structure.

[0058] In an exemplary scenario, the vehicle configuration management layer 240 may receive configuration change input from an in-vehicle user interface or a vehicle communication component. The received configuration change input may represent an instruction to change the internal configuration of a component and / or the external shape of the vehicle's body from one configuration (e.g., a driving configuration) to another configuration (e.g., a driverless configuration). For example, a vehicle may be occupied by a driver and one or more passengers, but the driver has decided to allow the vehicle to operate autonomously and has activated an application (e.g., from a device such as a mobile communication device) that transmits the configuration change input, instructing the vehicle to change shape and reconfigure internal components accordingly. In response to receiving the configuration change input, the vehicle configuration management layer 240 may retrieve the vehicle occupancy input and current vehicle component configuration information from the vehicle occupancy and configuration awareness layer 230. To provide the vehicle occupancy input and current vehicle component configuration information, the vehicle occupancy and configuration awareness layer 230 may access vehicle occupancy input and / or vehicle component configuration data from the sensor awareness layer 210, the camera awareness layer 220, and / or stored vehicle configuration data. Based on the information received from the vehicle occupancy and configuration awareness layer 230 (i.e., vehicle occupancy data and current vehicle component configuration data), the vehicle configuration management layer 240 can determine which actuators need to be activated (or otherwise executed) to change or reconfigure the interior components and / or exterior shape of the vehicle's body. Thereafter, if appropriate, the vehicle configuration management layer 240 can activate selected actuators configured to modify the vehicle accordingly.

[0059] In a second scenario, the sensor perception layer 210 may receive data from a vehicle door sensor (e.g., 117) indicating that a vehicle door has been opened or unlocked. The sensor perception layer 210 may interpret this received data as an inferred configuration change input, indicating that a person may be about to enter the vehicle. Opening or unlocking a vehicle door may also be interpreted as a configuration change input, meaning that the vehicle should be in a configuration suitable for an occupant (i.e., a driver or one or more passengers). The sensor perception layer 210 may also determine that the vehicle is currently in a no-passenger mode or no-passenger configuration based on the position or orientation of various actuators or movable components. In some embodiments, the camera perception layer 220 may receive images from an onboard camera and process the images to determine that the vehicle is in a no-passenger configuration that is not suitable for occupants. The vehicle component configuration data from the camera may be passed to the vehicle occupancy and configuration perception layer 230. In response to this input and the vehicle configuration data, the vehicle occupancy and configuration perception layer 230 may compare the indication that the vehicle is in a no-passenger configuration with vehicle configuration data stored in onboard memory, which confirms that the vehicle is currently in a no-passenger configuration (i.e., with the roof lowered). The vehicle occupancy and configuration awareness layer 230 can communicate the inferred configuration change input (i.e., indicating that the vehicle should be configured to receive an occupant) and the current vehicle component configuration (i.e., indicating that the vehicle is in a no-occupant configuration) to the vehicle configuration management layer 240. Based on the received vehicle occupancy data and the current vehicle component configuration data, the vehicle configuration management layer 240 can identify the actuators that need to be activated and in what order to activate the actuators in order to change the configuration of the interior components and / or the external shape of the vehicle's body from a no-occupant configuration, such as to a driving or driverless configuration. Thereafter, the vehicle configuration management layer 240 can activate selected actuators to change the configuration of the interior components and / or the external shape of the vehicle's body to receive an occupant.

[0060] In a third scenario, sensor perception layer 210 may receive data indicating that the vehicle is unoccupied and operating autonomously. Consequently, vehicle configuration management layer 240 may transition to no-passenger mode by activating select actuators configured to change the configuration of the vehicle's interior components and / or the exterior shape of the vehicle's body to a no-occupant configuration. Transitioning to no-passenger mode may also involve making changes to navigation and control parameters in vehicle configuration management layer 240 (or in a separate layer, not shown) for autonomously operating the vehicle, such as changing maximum or minimum operating speeds, adjusting steering speed limits, adjusting interruption rates, adjusting minimum vehicle separation distances, or entering roads restricted to no-passenger vehicles.

[0061] In a fourth scenario, the vehicle configuration management layer 240 may receive a configuration change input representing an instruction to operate in an unmanned configuration (e.g., autonomously without a vehicle occupant or unoccupied). In response to receiving the configuration change input, the vehicle configuration management layer 240 may transition to the unmanned configuration. The vehicle configuration management layer 240 may extract the vehicle occupancy input and current vehicle component configuration information from the vehicle occupancy and configuration awareness layer 230. Based on the information received from the vehicle occupancy and configuration awareness layer 230 (i.e., vehicle occupancy data and current vehicle component configuration data), the vehicle configuration management layer 240 may (directly or indirectly) activate or control actuators necessary to reconfigure the exterior shape and / or interior components of the vehicle body in accordance with the configuration change input. For example, the vehicle configuration management layer 240 may control actuators that cause the exterior surfaces of the vehicle, including the windshield and other windows, to be recessed. Alternatively, the vehicle configuration management layer 240 may control actuators that position a cover or shield having a recessed exterior surface over a portion of the windshield or other windows, mirrors, or other exterior surfaces. When a vehicle is operating autonomously, it may not be necessary for the driver or any occupants to clearly see where the vehicle is going. Therefore, recessing of the windshield or other windows that might obscure or block the view of the vehicle when the vehicle is operating in an unmanned configuration can be used to provide better aerodynamics.

[0062] In a fifth scenario, the vehicle configuration management layer 240 may receive a configuration change input indicating an instruction to operate in a platooning mode. As used herein, the terms "platooning" or "platooning" refer to two or more vehicles traveling together in a relatively close formation. Platooning vehicles may operate with less than typical distances between vehicles and may even be optionally coupled to each other (e.g., mechanically and / or electromagnetically). In some embodiments, more than one platooning mode may be used, such as an occupied platooning mode (i.e., platooning with passengers on board) and an unoccupied platooning mode (i.e., without passengers). Therefore, in response to receiving a configuration change input associated with a platooning mode, the vehicle configuration management layer 240 may obtain vehicle occupancy input and current vehicle component configuration information from the vehicle occupancy and configuration sensing layer 230. To provide the vehicle occupancy input and current vehicle component configuration information, the vehicle occupancy and configuration sensing layer 230 may access vehicle occupancy input and / or vehicle component configuration data from the sensor sensing layer 210, the camera sensing layer 220, and / or stored vehicle configuration data. Based on the information received from the vehicle occupancy and configuration perception layer 230 (i.e., vehicle occupancy data and current vehicle component configuration data), the vehicle configuration management layer 240 may (directly or indirectly) activate or control actuators required to reconfigure the exterior shape and / or interior components of the vehicle body into a platooning mode and / or into an appropriate platooning mode when multiple platooning modes are available, based on the configuration change input and optionally the occupancy state.

[0063] In some embodiments, configuration settings for platooning mode may include adjusting the exterior and / or interior of the vehicle, such as retracting side mirrors to form a tighter vehicle-to-vehicle formation. An occupied platooning mode may include darkening all vehicle windows so that vehicle occupants have privacy from occupants of other vehicles and / or so that vehicle occupants do not feel anxious about their vehicle traveling relatively close to another vehicle. As another non-limiting example, platooning mode may include modifying the vehicle's aerodynamic profile (e.g., adjusting the vehicle's exterior shape in a manner that affects drag). Furthermore, due to constraints on changes to the vehicle's exterior shape or interior structure while occupied, a vehicle may have more than one aerodynamic profile available based on its occupancy state. For example, a first aerodynamic profile (e.g., a less aerodynamic profile that makes room for passengers) may be implemented for an occupied platooning mode, while a second aerodynamic profile (e.g., a more aerodynamic profile) may be implemented for an unoccupied platooning mode.

[0064] In some embodiments, the configuration settings for a platoon mode can be based on the vehicle's position relative to other vehicles in the platoon. For example, a vehicle in a platoon can use a first external shape (or first aerodynamic profile) when at the front of the platoon and change to a second external shape (or second aerodynamic profile) that is different from the first external shape when the same vehicle is at another position in the platoon (e.g., in the middle or at the rear of the platoon). In further embodiments, a vehicle can be configured to change its external shape (and / or internal structure) in response to a change in its position relative to other vehicles in the platoon (e.g., from a first external shape to a second external shape when the vehicle moves from the front of the platoon to another position in the platoon (e.g., in the middle, at the rear, to the left, to the right, etc.)). Furthermore, such changes in external shape (and / or internal structure) based on the vehicle's position in the platoon can also take into account the vehicle's occupancy status to provide occupied platoon travel modes and unoccupied platoon travel modes.

[0065] In some embodiments, the configuration settings for a platooning mode can be based on the exterior shape of one or more of the other vehicles in the platoon. The exterior shape of the one or more other vehicles can be based on the vehicle type (e.g., comparing the shapes of a sport utility vehicle (SUV), a pickup truck, a semi-truck, a bus, a sedan, a motorcycle, etc.), the vehicle size, the vehicle's aerodynamic profile, and the like. For example, a vehicle in the platoon can use a first exterior shape (or first aerodynamic profile) when positioned near a vehicle having a first type of exterior shape (e.g., an SUV) and change to a second exterior shape (or second aerodynamic profile) different from the first exterior shape when positioned near a vehicle having the first type of exterior shape (e.g., a sedan). In further embodiments, a vehicle can be configured to change its exterior shape (and / or interior) in response to a change in the presence or absence of one or more other vehicles (e.g., changing from a first exterior shape to a second exterior shape when another vehicle is displaced or overtaken by a different vehicle having a different exterior shape). In some embodiments, a vehicle can be configured to change its exterior shape (and / or interior) in response to the distance (and / or speed) of one or more of the other vehicles in the platoon. Thus, for example, as the distance between a vehicle and one or more other vehicles changes, the impact caused by the one or more vehicles changes accordingly (e.g., the aerodynamic impact changes). For example, as the distance between a vehicle and one or more other vehicles changes, the vehicle's windows may become more transparent because privacy (and / or interference with other vehicles) may be less of a concern.

[0066] Alternatively, configurations (i.e., modes) can be restricted to use with specific other configurations. For example, platooning mode can be restricted to use with no-passenger mode to avoid vehicle occupants feeling anxious about traveling in a tight platoon formation. Other configurations may also be available, such as non-autonomous, semi-autonomous, driverless, sleeping / resting occupants, occupants facing each other, or vehicle charging configurations.

[0067] Individual vehicle systems may have different settings for different configurations. For example, the fast charge feature may operate differently depending on the configuration in which it is activated. For example, when the vehicle is platooning, the fast charge feature may have one battery charging rate when occupants are on board, and a higher battery charging rate when occupants are not on board, as there is no need to limit electromagnetic radiation levels when occupants are not on board.

[0068] In various embodiments, the vehicle management system 200 may include functionality to perform safety checks or oversight of various commands, plans, or other decisions at various levels that may affect the safety of the vehicle and its occupants. Such safety checks or oversight functionality may be implemented within a dedicated layer (not shown) or distributed between the various layers and included as part of the functionality. In some embodiments, various safety parameters may be stored in memory, and the safety checks or oversight functionality may compare determined values ​​(e.g., the size and / or weight of the occupants) to corresponding safety parameters and issue warnings or commands if a safety parameter is violated or about to be violated. For example, the safety or oversight functionality in the vehicle configuration management layer 240 (or in a separate layer not shown) may determine whether it is safe to change the shape of the vehicle based on other factors, such as whether it is safe to change the shape of the vehicle when the vehicle is moving or when another object or vehicle is too close to allow the vehicle shape to expand.

[0069] Some safety parameters stored in memory may be static (i.e., do not change over time), such as maximum / minimum vehicle height. Other safety parameters stored in memory (e.g., headroom) may be dynamic in that the parameter is continuously or periodically determined or updated based on the vehicle occupants.

[0070] Figure 3 An example system-on-chip (SOC) architecture of a processing device SOC 300 in a vehicle suitable for implementing various embodiments is shown. Figures 1A to 3, the processing device SOC 300 may include several heterogeneous processors, such as a digital signal processor (DSP) 303, a modem processor 304, an image and object recognition processor 306, a mobile display processor 307, an application processor 308, and a resource and power management (RPM) processor 317. The processing device SOC 300 may also include one or more coprocessors 310 (e.g., vector coprocessors) connected to one or more of the heterogeneous processors 303, 304, 306, 307, 308, 317. Each of the processors may include one or more cores and an independent / internal clock. Each processor / core may perform operations independently of the other processors / cores. For example, the processing device SOC 300 may include a processor that executes a first type of operating system (e.g., FreeBSD, LINUX, OS X, etc.) and a processor that executes a second type of operating system (e.g., Microsoft Windows). In some embodiments, the application processor 308 may be the main processor, central processing unit (CPU), microprocessor unit (MPU), arithmetic logic unit (ALU), etc. of the SOC 300. Graphics processor 306 may be a graphics processing unit (GPU).

[0071] The processing device SOC 300 may include analog and custom circuits 314 for managing sensor data, analog-to-digital conversion, wireless data transmission, and for performing other specialized operations (such as processing encoded audio and video signals for rendering in a web browser). The processing device SOC 300 may also include system components and resources 316, such as voltage regulators, oscillators, phase-locked loops, peripheral bridges, data controllers, memory controllers, system controllers, access ports, timers, and other similar components for supporting the processor and software clients (e.g., web browsers) running on the computing device.

[0072] The processing device SOC 300 also includes dedicated circuitry for camera actuation and management (CAM) 305, which includes, provides, controls, and / or manages the operation of one or more cameras 122, 136 (e.g., main camera, webcam, 3D camera, etc.), video display data from camera firmware, image processing, video pre-processing, video front end (VFE), in-line JPEG, high-definition video encoder, etc. The CAM 305 can be an independent processing unit and / or include an independent clock or an internal clock.

[0073] In some embodiments, the image and object recognition processor 306 may be configured with processor-executable instructions and / or dedicated hardware configured to perform image processing and object recognition analysis as described in various embodiments. For example, the image and object recognition processor 306 may be configured to process images received from cameras (e.g., 122, 136) via the CAM 305 to identify and / or recognize when a person or object is occupying or attempting to occupy a vehicle and the configuration of vehicle components, and otherwise perform the functions of the camera perception layer (e.g., 220) as described in the figures. In some embodiments, the processor 306 may be configured to process sensor data and perform the functions of the sensor perception layer (e.g., 210) as described in the figures.

[0074] System components and resources 316, analog and custom circuits 314, and / or CAM 305 may include circuits for interfacing with peripheral devices such as cameras (e.g., 122, 136), sensors, electronic displays, wireless communication devices, external memory chips, etc. Processors 303, 304, 306, 307, 308 may be interconnected to one or more memory elements 312, system components and resources 316, analog and custom circuits 314, CAM 305, and RPM processor 317 via an interconnect / bus module 324, which may include an array of reconfigurable logic gates and / or implement a bus architecture (e.g., CoreConnect, AMBA, etc.). Communication may be provided through an advanced interconnect such as a high-performance network-on-chip (NoC).

[0075] The processing device SOC 300 may also include an input / output module (not shown) for communicating with resources external to the SOC, such as a clock 318 and a voltage regulator 320. Resources external to the SOC (e.g., clock 318, voltage regulator 320) may be shared by two or more of the internal SOC processors / cores (e.g., DSP 303, modem processor 304, graphics processor 306, application processor 308, etc.).

[0076] In some embodiments, the processing device SOC 300 may be included in a control unit (e.g., 140) for use in a vehicle (e.g., 100). The control unit may include a communication link for communicating with a telephone network (e.g., via a network transceiver), the Internet, and / or a network server.

[0077] The processing device SOC 300 may also include additional hardware and / or software components suitable for collecting sensor data from sensors including: motion sensors (e.g., accelerometers and gyroscopes of an IMU), user interface elements (e.g., input buttons, touch screen displays, etc.), microphone arrays, sensors for monitoring physical conditions (e.g., position, direction, motion, orientation, vibration, pressure, etc.), cameras, compasses, global positioning system (GPS) receivers, communication circuits (e.g., WLAN, Wi-Fi, etc.), and other well-known components of modern electronic devices.

[0078] As used herein, the terms "component," "system," "unit," and the like include computer-related entities such as, but not limited to, hardware, firmware, a combination of hardware and software, software, or software in execution that is configured to perform a specific operation or function. For example, a component may be, but is not limited to, a process, a processor, an object, an executable file, an execution thread, a program, and / or a computer that executes on a processor. By way of illustration, both an application executing on a communication device and the communication device may be referred to as a component. One or more components may reside within a process and / or execution thread, and a component may be located on a processor or core and / or distributed between two or more processors or cores. In addition, these components may be executed from various non-transitory computer-readable media having various instructions and / or data structures stored thereon. Components may communicate by way of local and / or process, function or program calls, electronic signals, data packets, memory reads / writes, and other known computer, processor, and / or process-related communication methods.

[0079] Figures 4A to 4C A vehicle 100 is shown having reconfigurable interior components and a modifiable exterior shape according to various embodiments. Figures 1A to 4C , the processor (e.g., 164) of the vehicle 100 may receive a configuration change input in the form of a command instructing the vehicle 100 to change to a no-occupant configuration. For example, a vehicle owner who wishes to instruct the vehicle to drive itself (i.e., autonomously) to a particular location without an occupant may send a suitable configuration change input to the communication component of the vehicle 100 via a wireless communication network. Figure 4A In FIG, the vehicle 100 is shown in a driving configuration, wherein the vehicle has a roof height H1. In response to receiving the configuration change input, the vehicle processor can determine the occupancy state of the vehicle to ensure that the vehicle 100 is not occupied before changing the vehicle to the no-occupant configuration. In response to determining that the vehicle is not occupied, the vehicle processor can activate actuators configured to reconfigure interior components and / or change the exterior shape of the body of the vehicle 100 to the no-occupant configuration, etc. For example, the actuator can pivot the steering wheel 180 (pivot). SW) to a lower position (or withdraw the steering wheel from the vehicle cabin) and similarly recline the seat back 182 (a SB ) to a lower position, or otherwise reduce the cabin space occupied by the seats. In addition, the actuator can lower the height H1 of the roof. Figure 4B The vehicle 100 is shown with the steering wheel 180 and seat back 182 pivoted downward to a lower position. R The vehicle is shown being lowered to a second roof height H2. Figure 4C The vehicle 100 is shown in an unoccupied configuration associated with a third roof height H3, which is the lowest roof height.

[0080] Figures 5A to 5B A vehicle 100 is shown configured with reconfigurable interior components and a modifiable exterior shape according to various embodiments. Figures 1A to 5B , the processor (e.g., 164) of the vehicle 100 may receive a configuration change input in the form of a command instructing the vehicle 100 to change to a first unmanned configuration (i.e., there are occupants in the vehicle, but no occupants are driving). There may be more than one unmanned configuration available, such as one configuration for occupants to sleep and another configuration for occupants to face each other. The first unmanned configuration may provide a suitable cabin environment for occupants to sleep. For example, a vehicle operator on a long drive may want to sleep and therefore instruct the vehicle 100 to drive itself (i.e., drive autonomously) for a period of time. Figure 5A , the vehicle 100 is shown in a driving configuration with a roof height of H1 and an operator 5 driving.

[0081] According to various embodiments, the operator 5 can transmit an appropriate configuration change input, such as using an onboard user interface of the vehicle 100, to direct the vehicle 100 to a first, unmanned configuration in which all seats are reclined for sleeping and the roof is lowered to reduce air drag (and thereby improve fuel efficiency or battery range). In response to receiving the configuration change input, the vehicle processor can determine the occupancy state of the vehicle. In response to determining that the occupancy state of the vehicle is occupied but with seats upright, the vehicle processor can control actuators configured to lower the steering wheel and recline the seats, thereby changing the external shape of the vehicle 100 body to the first, unmanned configuration. Figure 5B The driver's seat back is shown tilted, with the front driver (now passenger) in a supine position. Figure 5B In the first unmanned configuration, the vehicle actuator lowers the roof to a fourth height H4.

[0082] In addition, in response to receiving a configuration change input that directs the vehicle to the first driverless configuration, the vehicle processor can activate additional actuators or systems to move components of the vehicle to accommodate passengers or other elements associated with the first driverless configuration. For example, when the seats are reconfigured to face rearward or sideways, airbags and other safety features (e.g., seat belts) can be repositioned to accommodate occupants in a reclined or other reconfigured position. In this way, the vehicle processor can ensure that vehicle safety features are appropriately positioned to accommodate occupants when they are sleeping, resting, or not driving. As another example, the vehicle processor can adjust the steering column (or other mechanism used to control the vehicle), the infotainment system, and / or controls for controlling other aspects of the vehicle (e.g., temperature, volume, windows, etc.). In some embodiments, components (e.g., airbags) do not need to be reconfigured, but only need to be unlocked or prepared for activation in association with the first driverless configuration. For example, in certain driverless configurations, airbags located in the roof or other sections of the vehicle that would not normally deploy in a collision can be unlocked or configured to deploy in the event of a vehicle collision. Thus, a vehicle implementing such embodiments may be equipped with airbags that are configured to protect passengers or cargo and are enabled only in certain interior configurations (e.g., when the front seats are rearward facing), while some airbags that are configured to protect passengers or cargo during normal driving configurations may be inhibited or disabled when the vehicle is in an interior configuration in which deployment would not provide any benefit or could potentially injure passengers or cargo.

[0083] Figures 6A to 6B A vehicle 100 is shown configured with reconfigurable interior components and a modifiable exterior shape according to various embodiments. Figures 1A to 6B The processor (e.g., 164) of the vehicle 100 may receive a configuration change input in the form of a command instructing the vehicle 100 to change to a second, unmanned configuration (i.e., a vehicle with occupants present but not driving). The second, unmanned configuration may provide a suitable cabin environment for the occupants (e.g., the operator 5 or the passenger 6) to face each other. For example, the vehicle operator 5 may no longer wish to drive on a long journey and may therefore instruct the vehicle 100 to drive itself (i.e., autonomously) for a period of time.

[0084] exist Figure 6A, vehicle 100 is shown in a driving configuration with the windshield tilted at a conventional driving angle W1, with operator 5 driving and passenger 6 in the rear. According to various embodiments, operator 5 can direct vehicle 100 to a second, unmanned configuration by transmitting an appropriate configuration change input, such as using an onboard user interface of vehicle 100. In response to receiving the configuration change input directing vehicle 100 to the second, unmanned configuration, the vehicle processor can determine the occupancy state of the vehicle, in which case it is determined that the vehicle is occupied but all seats are facing forward. Accordingly, the vehicle processor can activate an actuator configured to change the front seats, or at least the driver's seat, to rotate to face the rear passenger seats and change the exterior shape of the vehicle body 100 to the second, unmanned configuration.

[0085] Figure 6B Indicates that the actuator has pivoted the windshield to a second angle W2 that is greater than the first angle W1. In addition, the actuator expands the roof, increasing the interior cabin space, thereby allowing the driver's seat to rotate and face the rear seats. In addition, in response to receiving a configuration change input that directs the vehicle to a second unmanned configuration, the vehicle processor can cause the windows to darken or be shaded. Darkening the windows may increase the privacy of passengers and cargo, or make it unclear whether there is anything / anyone inside. In addition, for example, shading the windows can allow the interior lighting to further illuminate the cabin without distracting the attention of drivers of other vehicles.

[0086] Figure 7 is a process flow diagram illustrating a method 700 for modifying the exterior shape of a vehicle based on vehicle occupancy, which may be implemented according to various embodiments. Figures 1A to 7 , method 700 may be performed by a processor of a vehicle, such as a processor (e.g., 164) of a control unit (e.g., 140) in a vehicle (e.g., 100), a SoC (e.g., 300), or another computing device. For ease of reference, a device that performs the operations of method 700 is generally referred to herein as a "processor."

[0087] In block 710, a vehicle processor may receive a configuration change input or indication. For example, a vehicle configuration management layer (e.g., 240) within a vehicle control system stack (e.g., 200) may receive input from an onboard user interface (e.g., user interface 152), or may receive a configuration change indication from a vehicle communication component (e.g., radio module 172), a sensor sensing layer (e.g., 210), and / or a camera sensing layer (e.g., 220) via a vehicle occupancy and configuration sensing layer (e.g., 230). The configuration change input or indication may include an indicator of a planned or predicted future operating mode, event, or environment. For example, the configuration change input or indication may include information that the vehicle will operate with or without a driver, with or without an occupant, with or without a payload (i.e., an object and / or animal), stopped on a road (i.e., a future operating environment), parked (i.e., a future operating event), operating on-road or off-road, operating in a platoon, or operating in a vehicle lift parking structure or other confined space. In this way, the control unit may receive a configuration change input or indication and determine whether the configuration change input / indication includes information regarding a planned or predicted future operating mode, event, or environment.

[0088] In determination block 715, the processor may determine whether to initiate a configuration change protocol to perform the configuration change. A configuration change protocol may be a program configured to modify the exterior shape of the vehicle's body and / or modify the layout of the vehicle's internal structure. The determination of whether to initiate a configuration change protocol may be based on whether the configuration change input or indication includes information about at least one planned or predicted future operating mode, event, or environment. The vehicle control unit may include a list or database (e.g., stored in memory 166) of planned and / or predicted future operating modes, events, and / or environments, each of which is associated with a specific vehicle exterior shape configuration and / or the layout of the vehicle's internal structure. Using such a data table, the processor may check whether the information provided by the configuration change input or indication matches one or more of the planned and / or predicted future operating modes, events, and / or environments included in the list.

[0089] For example, operating modes, events, or environments that may be listed in such a data table may include that the vehicle will be operating on a road, off-road, and / or in confined conditions (e.g., inside a building, parking structure, or in a platoon configuration). Furthermore, operating modes, events, and / or environments that may be listed in such a data table may include that the vehicle will be stopped, on a road, on the side of a road, off-road, and / or inside a building or other structure. The operating modes, events, and / or environments may be specific, such as that the vehicle will be operating on a multi-lane highway rather than on an arbitrary road; or that the vehicle will be on / in a parking lift rather than in any structure. The operating mode may also take into account or be primarily based on occupancy status (e.g., unmanned mode, no-passenger mode, unmanned mode, driving mode, and variations thereof).

[0090] Additionally, or optionally, the processor may consider how long the configuration change will take to implement and how long before a planned or predicted future operating mode, event, or circumstance occurs or is encountered when determining whether to initiate a configuration change protocol. Thus, if there is insufficient time in the future to implement the configuration change, the processor may determine not to initiate a configuration change protocol at the current time.

[0091] When determining whether to initiate a configuration change protocol, the processor may take into account the current operating environment of the vehicle. If the vehicle is currently moving on a road, some modifications to the external shape of the vehicle's body may not be appropriate. For example, if a proposed modification to the external shape involves expanding or lengthening the width or length of the vehicle, such a modification may shock drivers of other nearby vehicles and therefore be considered dangerous and inappropriate. In contrast, non-invasive or non-shocking modifications, such as modifications to the arrangement of the internal structure or some external structure (e.g., lowering the height of the vehicle's roof), may be appropriate at any time. Some modifications may be appropriate under certain conditions, but not under other conditions.

[0092] In response to determining that a configuration change protocol should not be initiated (ie, determination block 715 =“No”), the processor may wait in block 710 to receive another configuration change input or indication.

[0093] In response to determining that a configuration change protocol should be initiated (ie, determination block 715 = "Yes"), the processor may initiate the configuration change protocol and determine the occupancy state of the vehicle in block 720 and then activate actuators to modify the vehicle.

[0094] In box 720, the processor may determine the occupancy state of the vehicle. For example, the control unit may use information compiled in the vehicle occupancy and configuration perception layer (e.g., from seat sensors and / or interior cameras) and received / accessed from the sensor perception layer and / or camera perception layer to determine the occupancy state of the vehicle. The occupancy state determined in box 720 may include not only whether there are occupants in the vehicle, but also the number of occupants, where the occupants are sitting (e.g., front seat or rear seat, left or right, etc.), whether the occupant is in the driver's seat, etc. In some embodiments, the occupancy state determined in box 720 may include the identity of one or more occupants, which may be linked to the stored preferences of the identified occupants (e.g., whether the occupant is a licensed driver, the occupant's seat configuration preferences, interior and exterior shape preferences or dislikes, etc.), which the processor may (e.g., in reference to the occupant's seat configuration preferences, interior and exterior shape preferences or dislikes, etc.). Figure 9 Decision block 760 or decision block 902 of method 900 described herein or with reference to Figure 10 The storage preference is taken into account in block 1010 and determination blocks 1020, 1030 of the described method 1000).

[0095] In block 730, the processor may determine the current vehicle component configuration, which may identify the configuration of the external physical components that form the external shape of the vehicle's body. For example, the processor may determine the vehicle's current component configuration using information compiled in the vehicle occupancy and configuration perception layer and received / accessed from the sensor perception layer, the camera perception layer, and stored vehicle configuration data. In some embodiments, the vehicle's current component configuration may be stored in a memory as a data structure (e.g., a configuration or state vector) that is updated with each configuration change. In such embodiments, the processor may determine the current vehicle component configuration in block 730 by accessing the current configuration or state vector in the memory. In some embodiments, the processor may determine the current vehicle component configuration in block 730 by obtaining orientation or state information from various components that change position, orientation, or shape when the vehicle configuration changes.

[0096] In determination block 740, the processor may determine whether the current vehicle component configuration (i.e., the arrangement of components) matches the configuration requested in the received configuration change input or directive. The match between the current vehicle component configuration and the configuration requested in the configuration change input or directive may be an exact match (i.e., they are identical) or a compatibility match (i.e., they do not conflict with each other). A compatibility match may have all required vehicle configuration elements required for a match, but may also include other optional configuration elements not specified by the configuration change input or directive.

[0097] In response to determining that the current vehicle component configuration matches the received configuration change input or indication (ie, determination block 740 =“Yes”), the processor need not activate any actuators and may maintain the current vehicle component configuration in block 750 .

[0098] In response to determining that the current vehicle component configuration does not match the received configuration change input or indication (i.e., determination block 740 = "No"), the processor may determine in determination block 760 whether the vehicle's current occupancy state conflicts with (i.e., is incompatible or unsafe) the occupancy state permitted by the configuration requested in the received configuration change input or indication. This determination provides a safety feature, wherein the process determines whether the configuration change could harm an occupant before initiating the change. Specifically, if the configuration requested in the received configuration change input or indication is for no occupants, the processor may determine whether the vehicle is occupied by any occupants, as the presence (or potential presence) of one or more occupants in the vehicle is incompatible with a no-occupant configuration. However, if the configuration requested in the received configuration change input is for a driving configuration or a passenger configuration, this operation may not be performed, as the configuration change can be safely completed when no occupants are in the vehicle. Furthermore, there may be no occupant space in the initial configuration, and therefore determination block 760 may only be performed when the current vehicle configuration is a driving configuration or a passenger configuration. Furthermore, if the processor determines in block 720 that the vehicle is unoccupied, this determination may not be performed.

[0099] In response to the processor determining that the current occupancy state of the vehicle conflicts with (i.e., is incompatible or unsafe) an occupancy state permitted by the configuration requested in the received configuration change input or indication (i.e., determination block 760 = "Yes"), the processor will not activate any actuators and maintain the current vehicle component configuration in block 750. Additionally, the processor may notify the operator or occupant of the vehicle, such as through an announcement, display, or alert, that the requested configuration change is prevented due to the presence of an occupant in the vehicle.

[0100] In response to determining that the current occupancy state of the vehicle is not in conflict with (i.e., compatible or safe) the occupancy state requested in the received configuration change input or indication (i.e., determination block 760 = "No"), the processor may change the exterior shape of the vehicle's body to implement the configuration change in block 770. In block 770, the processor may activate actuators to change the exterior shape or size of the vehicle (e.g., to compress / expand the roof or change the tilt angle of the windshield or other windows). Additionally or alternatively, the processor may activate smart materials configured to change the shape of one or more exterior components of the vehicle's body in accordance with the configuration change input in block 770.

[0101] In optional block 780, the processor may change or adjust one or more additional vehicle components and / or systems based on the implemented configuration changes. For example, the processor may change the position of the steering wheel (e.g., retract / expand or pivot). Retracting, expanding, or pivoting the steering wheel may provide more legroom for a passenger sitting in the driver's seat but not driving (i.e., driverless mode). Similarly, modifying the configuration of the steering wheel may allow the roof to be lowered to a more adequate degree. Additionally or alternatively, the processor may change the position of one or more seats. Folding seats may increase storage space or passenger space. In this way, seats can be moved forward to provide more legroom in the rear seats, or seats can be rotated or rearranged. Additionally or alternatively, exterior mirrors may be folded back to accommodate a driverless or no-passenger configuration. Similarly, for a no-passenger configuration, the vehicle suspension may be adjusted because passenger comfort may not be an issue. As another example, the processor may enter or activate a driverless or no-passenger operating mode. Such driverless or passenger-free modes can use various operating parameters for autonomous navigation and can adjust vehicle controls when a configuration change places the vehicle in a passenger-free operating mode. For example, the vehicle's maximum and / or minimum speed limits can be increased or decreased, the maximum turning rate can be increased, the maximum braking rate can be increased, and the minimum vehicle-to-vehicle distance can be reduced when the vehicle enters a passenger-free mode because occupant comfort is not a concern. Similarly, the vehicle's maximum and / or minimum speed limits can be increased or decreased, the maximum turning rate can be increased, the maximum braking rate can be reduced, and the minimum vehicle-to-vehicle distance can be increased when the vehicle enters a passenger mode to provide a more comfortable ride for passengers.

[0102] In some embodiments, entering driverless or passenger-free mode may result in changes to navigation functionality in optional block 780, as such vehicles may be permitted on certain roads or be permitted to operate in a manner different from that of a human-operated vehicle. For example, entering driverless or passenger-free mode may result in the navigation system selecting a different navigation route (e.g., longer, slower, more efficient, bumpier, etc.); gaining access to special roads / lanes (e.g., high-occupancy vehicle (HOV) lanes); gaining (e.g., automatically) access through customs (e.g., the U.S.-Mexico border); setting a charging / refueling schedule / plan (e.g., because an unoccupied vehicle does not have to worry about the driver / passenger getting bored, the car can spend extra time waiting for a potentially cheaper charge / refueling); or causing the vehicle to wait before driving to a destination in order to avoid rush hour or congestion.

[0103] As another example, the processor can implement various energy-saving measures for the vehicle when in no-passenger mode in optional block 780. For example, the processor can turn off or adjust the vehicle's heating, ventilation, and air conditioning (HVAC) system (e.g., if there are no passengers, turn it off, or turn it on to keep the temperature down or keep food fresh or warm, such as for food delivery). Similarly, the seat heaters / coolers can be disabled to save power or enabled to keep food or other payloads warm. Systems provided for passenger comfort or entertainment (such as vehicle infotainment systems, Wi-Fi hotspots, vehicle power ports, dashboard displays, interior lighting, airbags (especially where there are no passengers seated), rearview cameras (backup cameras)) may be disabled, dimmed, or turned off. For unmanned or no-passenger modes, window defrosters may be disabled because frost / condensation on the windows will not affect the vehicle sensors used in autonomous driving operations. Occupant notifications (e.g., engine lights, incoming calls, low tire pressure, etc.) can also be disabled in unmanned and no-passenger modes. In driverless and passenger-free mode, the vehicle windows may be blacked out, such as to allow passengers to use the vehicle's lighting within the vehicle without disturbing other vehicles and / or to provide privacy for passengers within the vehicle. In driverless and passenger-free mode, certain vehicle inputs may be disabled, such as the steering wheel, brake and accelerator pedals, touch screen, etc. In addition, the windshield wipers may be disabled or adjusted when not needed by the autonomous system. Similarly, different headlight settings may be used in driverless and passenger-free mode, such as low enough lighting to allow other vehicles to see the target vehicle, but lower than normal levels because the autonomous system may not need road lighting.

[0104] In some embodiments, the processor may be equipped with one or more indicators that can be activated in driverless or passenger-free mode to notify other vehicles, people (e.g., pedestrians), or others that the vehicle is in such operating mode. Such one or more indicators may be visual indicators that visually notify other drivers / pedestrians that the autonomous vehicle is in manual or autonomous mode. In some embodiments, such one or more indicators may be digital indicators to other vehicles, police, emergency personnel, or traffic control systems.

[0105] In box 770 and optional box 780, configuration changes can be performed in a variety of ways in various embodiments. For example, the implementation of the configuration change can be scheduled at a specific time (e.g., time of day), scheduled to terminate after a predetermined time period, or scheduled to occur upon arrival at a predetermined destination (e.g., at a package delivery or passenger pickup destination). The implementation of the configuration change can occur while the vehicle is moving (e.g., by self-powered motion operation). For example, a configuration change from no-passenger mode to passenger mode can be implemented while the vehicle is on its way to pick up a passenger or driver. The implementation of the configuration change can be triggered by sensor readings (such as sensors that detect whether someone touches a door handle, sensors that detect whether a specific person is present (e.g., based on facial recognition or other biometrics), or sensors that detect whether a wireless remote control key or other trigger is present near the vehicle). Similarly, this embodiment can be activated from a location-based computing device application.

[0106] The operations in method 700 may be performed continuously, periodically, or aperiodically, such as in response to receiving another configuration change input in block 710 .

[0107] Figure 8 is a process flow diagram illustrating a method 800 for modifying a vehicle interior component configuration based on vehicle occupancy, which may be implemented in accordance with various embodiments. Figures 1A to 8 , method 800 may be performed by a processor of a vehicle, such as a processor (e.g., 164) of a control unit (e.g., 140) in a vehicle (e.g., 100), a SoC (e.g., 300), or another computing device. For ease of reference, a device that performs the operations of method 700 is generally referred to herein as a "processor."

[0108] In method 800 , the processor may modify the vehicle configuration by performing the operations of blocks 710 , 720 , 730 , and 750 and determination blocks 715 , 740 , and 760 of method 700 as described.

[0109] In response to determining that the current occupancy state of the vehicle is not in conflict (i.e., compatible or safe) with the occupancy state allowed by the configuration requested in the received configuration change input (i.e., determination box 760 = "No"), the processor may change the internal structure of the vehicle to reconfigure the vehicle to implement the configuration change in box 870. In box 870, the processor may activate an actuator to change the position of the steering wheel (e.g., retract / extend or pivot). Retracting, extending, or pivoting the steering wheel may provide more legroom for a passenger sitting in the driver's seat but not driving (i.e., driverless mode). Additionally or alternatively, the processor may change the position of one or more seats, such as moving the front seats forward or rearward, rotating the front seats to face sideways or rearward, folding the seats down, or any combination of such movements. Moving, rotating, and / or folding the seats may increase storage space or legroom and volume for passengers.

[0110] In optional block 880, the processor may change or adjust one or more additional vehicle components and / or systems based on the implemented configuration change. For example, the processor may control actuators to change the external shape or size of the vehicle (e.g., compressing / expanding the roof or changing the tilt angle of the windshield or other windows). Modifying the configuration of interior components (e.g., steering wheel, seats, rearview mirrors, etc.) may allow the external dimensions of the vehicle to be changed or altered to a further extent, such as enabling the roof to be lowered to a more adequate extent. As another example, the processor may activate smart materials that are configured to change shape based on configuration change input. As another example, the exterior rearview mirrors may fold back to accommodate an unmanned or no-passenger configuration. As another example, for a no-passenger configuration, the vehicle suspension may be adjusted because passenger comfort may not be an issue. As another example, the processor may enter or activate an unmanned mode, no-passenger mode, or power-saving measures as described in optional block 780 of method 700.

[0111] The processor may implement the configuration changes in block 870 and optional block 880 based on various inputs or instructions in various embodiments to anticipate the need or potential need for a new configuration. In some embodiments, the processor may be configured, programmed, or otherwise controlled to implement the configuration change at a specific time (e.g., based on the time of day from a schedule or navigation system), terminate the configuration change after a predetermined period of time or at a predetermined time and / or upon arrival at a predetermined destination (e.g., at a package delivery or passenger pickup destination based on instructions from a navigation system). In some embodiments, the processor may implement the configuration change while the vehicle is moving (e.g., operating via self-powered motion). For example, a configuration change from no-passenger mode to passenger mode may be implemented while the vehicle is en route to pick up a passenger or driver based on, for example, responses to instructions from a dispatch system (e.g., scheduling a passenger or driver pickup) and a navigation system (e.g., providing an estimate of arrival time or remaining travel time). In some embodiments, the processor may implement the configuration change in response to one or more sensor readings or user inputs, such as input provided by a person touching a door handle, an indication from a sensor that detects the presence of a particular person (e.g., based on facial recognition or other biometrics), or a sensor that detects the presence of a wireless key fob or other trigger near the vehicle. In some embodiments, the processor may implement the configuration change in response to a message from a computing device application. In some embodiments, the processor may implement the configuration change in response to the vehicle approaching or arriving at a particular location (i.e., location-based activation), such as in response to an indication from a dispatch system (e.g., scheduling a passenger or package pickup) and an indication from a navigation system (e.g., providing an estimate of arrival time or remaining travel time).

[0112] The operations of method 800 may be performed continuously, periodically, or aperiodically, such as in response to receiving another configuration change input in block 710 of method 800 .

[0113] Figure 9 is a process flow diagram illustrating a method 900 for changing a vehicle structural configuration to an occupied or unoccupied version of a selected configuration based on the occupancy of the vehicle, according to some embodiments. Figures 1A to 9 , method 900 may be performed by a processor of a vehicle, such as a processor (e.g., 164) of a control unit (e.g., 140) in a vehicle (e.g., 100), a SoC (e.g., 300), or another computing device. For ease of reference, a device that performs the operations of method 700 is generally referred to herein as a "processor."

[0114] In method 900 , the processor may modify the vehicle configuration by performing the operations of blocks 710 , 720 , 730 , and 750 and determination blocks 715 , 740 , and 760 of method 700 as described.

[0115] In response to determining that the vehicle's current occupancy state is not in conflict with (i.e., compatible or safe with) the occupancy state requested in the received configuration change input or indication (i.e., determination block 760 = "No"), the processor may select from one or more configuration alternatives (i.e., suitable matches or alternatives to the configuration indicated in the configuration change input or indication received in block 710) based on the vehicle's current occupancy state in determination block 902. This selection or determination addresses configurations for both occupied and unoccupied alternatives. For example, a platooning mode may not conflict with occupancy states because the mode can be implemented with and without passengers, and thus may involve or support multiple alternative structural configurations of the vehicle, such as a configuration in which a driver is present but no passengers, one or more other configurations in which a driver and one or more passengers are present (which may vary based on the seating positions of the passengers), one or more configurations in which the driver is not present but one or more passengers are present (where the configuration depends on the seating positions of the passengers), and different configurations when no passengers are present. For example, the exterior shape of the vehicle may vary differently when the sole passenger is in the front passenger seat than when the sole passenger is in the left rear passenger seat. Similarly, there may be different vehicle variations associated with each seating combination, ranging from one occupant to a maximum occupancy variation. As a further example, an unoccupied platooning configuration may include changing the windshield and roof orientation / position to enable a more aerodynamic configuration when positioned within a platoon, i.e., an occupied platooning configuration that leaves more space within the vehicle body for passengers. As another example, an occupied platooning configuration, in which passengers are seated only in the rear seats, may involve modifying the shape of the front portion of the vehicle exterior, which reduces air drag in the platooning formation (e.g., at the front of the platoon) while leaving space for passengers. Similarly, an occupied platooning configuration, in which passengers are seated only in the front seats, may involve modifying the shape of the rear portion of the vehicle exterior, which reduces air drag in the platooning formation (e.g., at the back of the platoon) while leaving space for passengers. Platooning is merely one example of providing alternative configurations depending on the occupancy state of the vehicle, and other operating modes or configurations may also involve occupied and unoccupied alternatives (e.g., a parking configuration).

[0116] In response to determining that the vehicle is occupied and selecting one of the occupancy alternative configurations (i.e., determination block 902 = "Occupied"), in block 904, the processor may control actuators or other controlled elements (e.g., materials controlled by electricity or other agents to change color / tint (such as windows) and / or shape) to change the exterior (e.g., exterior shape or other characteristics) and / or interior configuration to implement the selected occupancy alternative to the indicated configuration change. For example, the selected occupancy alternative configuration change may depend on the position in which any occupant (driver or passenger) is seated. Thus, in block 904, the processor may control actuators to change the exterior and / or interior of the vehicle, or operate the vehicle in a manner that provides space for occupants, including the driver and / or passengers, privacy for the occupants, a safe environment for the occupants, etc., taking into account the position of the occupants within the vehicle interior.

[0117] In optional block 906 , the processor may change or adjust one or more additional vehicle components and / or systems to implement the selected occupancy alternative for the indicated configuration change.

[0118] In response to determining that the vehicle is unoccupied and selecting the unoccupied alternative configuration (i.e., determination block 902 = "Unoccupied"), the processor may control actuators to change the exterior and / or interior of the vehicle in accordance with the unoccupied alternative configuration change in block 908. For example, in block 908, the processor may control actuators to change the exterior and / or interior shape of the vehicle, or operate the vehicle in a manner that would not be possible to increase efficiency when an occupant is present, operate the vehicle in the absence of a restraint that is not required for the occupant's health or safety, etc.

[0119] In optional block 910 , the processor may change or adjust one or more additional vehicle components and / or systems in accordance with implementing the unoccupied configuration change.

[0120] The operations of method 900 may be performed continuously, periodically, or aperiodically, such as in response to receiving another configuration change input in block 710 of method 900 .

[0121] Figure 10 is a process flow diagram illustrating a method 1000 for changing a vehicle structural configuration to an occupied or unoccupied version of a selected configuration based on a predicted occupancy of the vehicle, according to some embodiments. Figures 1A to 10 , method 1000 may be performed by a processor of a vehicle, such as a processor (e.g., 164) of a control unit (e.g., 140) in a vehicle (e.g., 100), a SoC (e.g., 300), or another computing device. For ease of reference, a device that performs the operations of method 700 is generally referred to herein as a "processor."

[0122] In method 1000 , the processor may modify the vehicle configuration by performing operations as described in blocks 710 , 720 , 730 , and 750 of method 700 and determination block 715 , and as described in blocks 906 and 910 of method 900 .

[0123] In block 1010, following the operation at block 730, the processor may determine a predicted occupancy state. For example, the control unit may use information received / accessed from the sensor perception layer and / or the camera perception layer to determine a predicted occupancy state for the vehicle. The predicted occupancy state determined in block 1010 may include not only whether an occupant is expected to be in the vehicle, but also the number of occupants, the locations where the occupants are expected to be seated (e.g., front or rear seat, left or right, etc.), whether the occupant is expected to be seated in the driver's seat, and the like. Predictions regarding occupants may include whether the driver, passengers, or other items (e.g., cargo) will enter or exit the vehicle. In some embodiments, the predicted occupancy state determined in block 1010 may be extracted from one or more stored profiles of predicted occupants, identified by mobile phone proximity (e.g., when a Bluetooth or other wireless communication link is established) or other sensor inputs. Such stored profiles may not only identify the predicted occupant, but may also predict preferred seat configurations, interior and exterior shape preferences or dislikes, and the like, which the processor may also consider for other determinations (e.g., in determining block 1030 and / or referring to the vehicle). Figure 9 760 or determination block 902 of the described method 900).

[0124] In determination block 1020, the processor may determine whether the current vehicle component configuration (i.e., the arrangement of components) matches the predicted occupancy state. The match between the current vehicle component configuration and the configuration required for the predicted occupancy state may be an exact match (i.e., they are identical) or a compatibility match (i.e., they do not conflict with each other). A compatibility match may have all required vehicle configuration elements required for a match, but also include other optional configuration elements not specified by the configuration change input or indication.

[0125] In response to determining that the current vehicle component configuration matches the predicted occupancy state (i.e., determination block 1020 = "Yes"), the processor may maintain the current configuration at block 750 and then wait to receive another configuration change input or indication at block 710. In response to determining that the current vehicle component configuration does not match the predicted occupancy state (i.e., determination block 1020 = "No"), the processor may select a configuration alternative based on the predicted occupancy state at determination block 1030.

[0126] In determination block 1030, selecting a configuration alternative based on the predicted occupancy state may be based on a configuration of occupied and unoccupied alternatives similar to that described herein. Figure 7 The configuration and environment described in determination box 760.

[0127] In response to selecting a configuration alternative based on a predicted occupancy state associated with the vehicle being occupied (i.e., determination block 1030 = "Occupied"), the processor may modify the vehicle to implement the selected occupancy alternative for the predicted occupancy state in block 1050, and then modify or adjust one or more additional vehicle components and / or systems to implement the selected occupancy alternative for the indicated configuration change in optional block 906, or more directly await receipt of another configuration change input or indication in block 710. In response to selecting a configuration alternative based on a predicted occupancy state associated with the vehicle being unoccupied (i.e., determination block 1030 = "Unoccupied"), the processor may modify the vehicle to implement the selected unoccupied alternative for the predicted occupancy state in block 1040, and then modify or adjust one or more additional vehicle components and / or systems to implement the selected unoccupied alternative for the indicated configuration change in optional block 910, or more directly await receipt of another configuration change input or indication in block 710.

[0128] In some embodiments, the configuration change input may be a selection of one of a plurality of different configurations and operating modes beyond those described. The various interior and exterior vehicle configurations to which the vehicle can be changed may provide numerous benefits, such as saving power (e.g., reducing or shutting down power consumption of various components), reducing aerodynamic drag (e.g., lowering the vehicle's profile, such as by lowering the roof), improving passenger comfort, increasing payload volume, protecting vehicle components (e.g., disabling airbags to avoid having to repair / replace them in the event of an accident), etc.

[0129] The foregoing method descriptions and process flow charts are provided only as illustrative examples and are not intended to require or imply that the steps of the various embodiments must be performed in the order provided. As will be appreciated by those skilled in the art, the order of the steps in the foregoing embodiments can be performed in any order. Words such as "thereafter," "then," and "next step" are not intended to limit the order of the steps; these words are only used to guide the reader in understanding the description of the method. In addition, any reference to a claim element in the singular (e.g., using the article "one / an," or "the") is not to be construed as limiting the element to the singular.

[0130] The various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or a combination of the two. In order to clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been generally described above in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and design constraints imposed on the entire system. Technicians can implement the described functionality in different ways for each specific application, but such implementation decisions should not be interpreted as resulting in departure from the scope of the claims.

[0131] The hardware for implementing the various illustrative logic blocks, modules, and circuits described in conjunction with the embodiments disclosed herein can be implemented or performed with a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor can be a microprocessor, but optionally, the processor can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in combination with a DSP core, or any other such configuration. Alternatively, some steps or methods can be performed by circuits specific to a given function.

[0132] In one or more embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. When implemented in software, the functions may be stored as one or more instructions or codes on a non-transitory computer-readable medium or a non-transitory processor-readable medium. The steps of the method or algorithm disclosed herein may be embodied in a processor-executable software module, which may reside on a non-transitory computer-readable storage medium or a processor-readable storage medium. A non-transitory computer-readable or processor-readable storage medium may be any storage medium that can be accessed by a computer or processor. For example, but not limited to, this non-transitory computer-readable medium or processor-readable medium may include RAM, ROM, EEPROM, flash memory, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage device, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. Disks and optical disks as used herein include compact discs (CDs), laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and Blu-ray discs, wherein disks typically reproduce data magnetically, while optical discs reproduce data optically with the aid of lasers. Combinations of the above are also included within the scope of non-transitory computer-readable media and processor-readable media. Additionally, the operations of a method or algorithm may reside as a code and / or instructions, or any combination or set of codes and / or instructions, on a non-transitory processor-readable medium and / or computer-readable medium, which may be incorporated into a computer program product.

[0133] The preceding description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the claims. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments without departing from the scope of the claims. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the following claims and the principles and novel features disclosed herein.

Claims

1. A method for modifying the external shape of a vehicle based on occupancy, comprising: determining, by a vehicle processor, whether to initiate a configuration change protocol to implement a configuration change for modifying the exterior shape of a body of the vehicle in response to a planned or predicted future operating mode, event, or circumstance; determining, by the vehicle processor, whether an occupancy state of the vehicle conflicts with an occupancy state allowed in the configuration requested by the configuration change input or indication; determining whether an occupant of the vehicle is driving; modifying the exterior shape of the body of the vehicle in accordance with the configuration change input or indication in response to determining that the occupancy state of the vehicle does not conflict with the configuration change input or indication, wherein modifying the exterior shape of the body of the vehicle includes modifying a configuration of at least one exterior vehicle component; as well as Modifying an interior component configuration of the vehicle to a driverless configuration in response to determining that an occupant is inside the vehicle and no occupant is driving the vehicle, wherein modifying the interior component configuration of the vehicle to the driverless configuration includes changing the orientation that one or more front seats face and changing one or more of the shape, length, and / or orientation of the steering wheel, pedals, armrests, visual aids, and controls.

2. The method according to claim 1, further comprising: Determining, by the vehicle processor, whether a current vehicle configuration matches the configuration requested by the configuration change input or indication, wherein modifying the exterior shape of the body of the vehicle is further responsive to determining that the current vehicle configuration does not match the configuration requested by the configuration change input or indication.

3. The method of claim 1 , wherein modifying the exterior shape of the body of the vehicle according to the configuration change input or indication in response to determining that the occupancy state of the vehicle does not conflict with the configuration change input or indication comprises modifying the exterior shape of the body of the vehicle to an occupant-free configuration in response to determining that the vehicle is unoccupied.

4. The method of claim 3, wherein modifying the exterior shape of the body of the vehicle to the occupant-free configuration comprises reducing at least one of a windshield tilt angle, a roof height relative to a base of the vehicle, or a window position. 5 . The method of claim 3 , further comprising adjusting one or more parameters of autonomous vehicle navigation or operation to implement a passenger-free mode of operation. 6 . The method of claim 1 , further comprising not modifying the configuration of the vehicle and notifying an operator in response to determining that the occupancy state of the vehicle conflicts with the configuration change input or indication. 7 . The method of claim 1 , further comprising adjusting one or more parameters of autonomous vehicle navigation or operation to implement a driverless mode of operation in response to determining that no occupant is driving the vehicle. 8 . The method of claim 1 , further comprising modifying the exterior shape of the body of the vehicle to a driving configuration in response to determining that an occupant of the vehicle is driving.

9. The method of claim 1 , wherein modifying the exterior shape of the body of the vehicle based on the configuration change input or indication comprises modifying the configuration of at least one body component relative to other vehicle components, wherein the at least one body component is selected from a pillar, a rear quarter panel, a roof, a hood, a trunk, a windshield, or a window.

10. The method according to claim 1, further comprising: In response to determining that the occupancy state of the vehicle does not conflict with the occupancy states allowed in the configuration requested by the configuration change input or indication, one of a plurality of configuration alternatives is selected based on the occupancy state.

11. The method according to claim 1 , further comprising: One of a plurality of configuration alternatives is selected based on the predicted occupancy state of the vehicle in response to determining that the predicted occupancy state of the vehicle will not conflict with the occupancy states allowed in the configuration requested by the configuration change input or indication.

12. A device for modifying the exterior shape and interior component configuration of a vehicle, comprising: a processor configured to be communicatively coupled to one or more external components of a body of the vehicle and configured with processor-executable instructions to: determining whether to initiate a configuration change protocol to implement a configuration change for modifying an external shape of the body of the vehicle in response to a planned or predicted future operating mode, event, or environment; determining whether an occupancy state of the vehicle conflicts with an occupancy state allowed in the configuration requested by the configuration change input or indication; determining whether an occupant of the vehicle is driving; modifying the exterior shape of the body of the vehicle in accordance with the configuration change input or indication in response to determining that the occupancy state of the vehicle does not conflict with the configuration change input or indication, wherein modifying the exterior shape of the body of the vehicle includes modifying a configuration of at least one exterior vehicle component; as well as Modifying an interior component configuration of the vehicle to a driverless configuration in response to determining that an occupant is inside the vehicle and no occupant is driving the vehicle, wherein modifying the interior component configuration of the vehicle to the driverless configuration includes changing the orientation that one or more front seats face and changing one or more of the shape, length, and / or orientation of the steering wheel, pedals, armrests, visual aids, and controls.

13. The vehicle exterior shape modification and interior component configuration modification apparatus according to claim 12, wherein the processor is further configured with processor-executable instructions to: Determining whether a current vehicle configuration matches a configuration requested by the configuration change input or indication, wherein modifying the exterior shape of the body of the vehicle is further responsive to determining that the current vehicle configuration does not match the configuration requested by the configuration change input or indication.

14. The vehicle exterior shape modification and interior component configuration modification apparatus of claim 12 , wherein the processor is further configured with processor-executable instructions such that, in response to determining that the occupancy state of the vehicle does not conflict with the configuration change input or indication, modifying the exterior shape of the vehicle body according to the configuration change input or indication includes modifying the exterior shape of the vehicle body to a no-occupant configuration in response to determining that the vehicle is unoccupied.

15. The vehicle exterior shape modification and interior component configuration modification apparatus of claim 14, wherein the processor is further configured with processor-executable instructions such that modifying the exterior shape of the body of the vehicle to the occupant-free configuration includes reducing at least one of a tilt angle of a windshield, a height of a roof relative to a base of the vehicle, or a position of a window.

16. The vehicle exterior shape modification and interior component configuration modification apparatus of claim 12, wherein the processor is further configured with processor-executable instructions to, in response to determining that the occupancy state of the vehicle conflicts with the configuration change input or indication, not modify the configuration of the vehicle and notify an operator.

17. The vehicle exterior shape modification and interior component configuration modification apparatus of claim 12, wherein the processor is further configured with processor-executable instructions to modify the exterior shape of the body of the vehicle to a driving configuration in response to determining that an occupant of the vehicle is driving.

18. The vehicle exterior shape modification and interior component configuration modification apparatus according to claim 12, wherein the processor is further configured with processor-executable instructions such that modifying the exterior shape of the vehicle body according to the configuration change input or indication comprises modifying the configuration of at least one body component relative to other vehicle components, wherein the at least one body component is selected from a pillar, a rear roof side panel, a roof, a hood, a trunk, a windshield, or a window configuration.

19. The vehicle exterior shape modification and interior component configuration modification apparatus of claim 12, wherein the processor is further configured with processor-executable instructions to select one of a plurality of configuration alternatives based on the occupancy state in response to determining that the occupancy state of the vehicle does not conflict with the occupancy state allowed in the configuration requested by the configuration change input or indication.

20. The vehicle exterior shape modification and interior component configuration modification apparatus of claim 12, wherein the processor is further configured with processor-executable instructions to select one of a plurality of configuration alternatives based on a predicted occupancy state of the vehicle in response to determining that the predicted occupancy state of the vehicle will not conflict with the occupancy states allowed in the configuration requested by the configuration change input or indication.

21. A vehicle comprising: an actuator configured to change the position or orientation of one or more exterior components of a body of the vehicle and to change the configuration of one or more interior components of the vehicle; as well as a processor coupled to the actuator and configured with processor-executable instructions to: determining whether to initiate a configuration change protocol to implement a configuration change for modifying an external shape of the body of the vehicle in response to a planned or predicted future operating mode, event, or environment; determining whether an occupancy state of the vehicle conflicts with an occupancy state allowed in the configuration requested by the configuration change input or indication; determining whether an occupant of the vehicle is driving; controlling the actuator to modify the exterior shape of the body of the vehicle according to the configuration change input or indication in response to determining that the occupancy state of the vehicle does not conflict with the configuration change input or indication, wherein modifying the exterior shape of the body of the vehicle includes modifying a configuration of at least one exterior vehicle component; as well as Modifying an interior component configuration of the vehicle to a driverless configuration in response to determining that an occupant is inside the vehicle and no occupant is driving the vehicle, wherein modifying the interior component configuration of the vehicle to the driverless configuration includes changing the orientation that one or more front seats face and changing one or more of the shape, length, and / or orientation of the steering wheel, pedals, armrests, visual aids, and controls.

22. The vehicle of claim 21 , wherein the processor is further configured with processor-executable instructions to: determining whether a current vehicle configuration matches the configuration requested by the configuration change input or indication; and The actuator is controlled to modify the exterior shape of the body of the vehicle further in response to determining that the current vehicle configuration does not match the configuration requested by the configuration change input or indication.

23. The vehicle of claim 21 , wherein the processor is further configured with processor-executable instructions to control the actuator to modify the exterior shape of the body of the vehicle according to the configuration change input or indication in response to determining that the occupancy state of the vehicle does not conflict with the configuration change input or indication, including modifying the exterior shape of the body of the vehicle to a no-occupant configuration in response to determining that the vehicle is unoccupied.

24. The vehicle of claim 23, wherein the processor is further configured with processor-executable instructions to control the actuator to modify the exterior shape of the body of the vehicle to the occupant-free configuration by reducing at least one of a tilt angle of a windshield, a height of a roof relative to a base of the vehicle, or a position of a window.

25. The vehicle of claim 21, wherein the processor is further configured with processor-executable instructions to control the actuator to modify the exterior shape of the body of the vehicle to a driving configuration in response to determining that an occupant of the vehicle is driving.

26. The vehicle of claim 21 , wherein the processor is further configured with processor-executable instructions to control the actuator to modify the exterior shape of the body of the vehicle in accordance with the configuration change input or indication by modifying the configuration of at least one body component relative to other vehicle components, wherein the at least one body component is selected from a pillar, rear quarter panel, roof, hood, trunk, windshield, or window configuration.

27. The vehicle of claim 21 , wherein the processor is further configured with processor-executable instructions to select one of a plurality of configuration alternatives based on the occupancy state in response to determining that the occupancy state of the vehicle does not conflict with the occupancy states allowed in the configuration requested by the configuration change input or indication.

28. The vehicle of claim 21 , wherein the processor is further configured with processor-executable instructions to select one of a plurality of configuration alternatives based on the predicted occupancy state of the vehicle in response to determining that the predicted occupancy state of the vehicle conflicts with the occupancy state allowed in the configuration requested by the configuration change input or indication.

29. A non-transitory processor-readable storage medium having stored thereon processor-executable instructions configured to cause a processor of a vehicle to perform operations comprising: determining whether to initiate a configuration change protocol to implement a configuration change for modifying an external shape of a body of the vehicle in response to a planned or predicted future operating mode, event, or environment; determining whether an occupancy state of the vehicle conflicts with an occupancy state allowed in the configuration requested by the configuration change input or indication; determining whether an occupant of the vehicle is driving; modifying the exterior shape of the body of the vehicle in accordance with the configuration change input or indication in response to determining that the occupancy state of the vehicle does not conflict with the configuration change input or indication, wherein modifying the exterior shape of the body of the vehicle includes modifying a configuration of at least one exterior vehicle component; as well as Modifying an interior component configuration of the vehicle to a driverless configuration in response to determining that an occupant is inside the vehicle and no occupant is driving the vehicle, wherein modifying the interior component configuration of the vehicle to the driverless configuration includes changing the orientation that one or more front seats face and changing one or more of the shape, length, and / or orientation of the steering wheel, pedals, armrests, visual aids, and controls.

30. The non-transitory processor-readable storage medium of claim 29, wherein the stored processor-executable instructions are configured to cause the processor of the vehicle to perform operations further comprising: Determining, by the vehicle processor, whether a current vehicle configuration matches the configuration requested by the configuration change input or indication, wherein modifying the exterior shape of the body of the vehicle is further responsive to determining that the current vehicle configuration does not match the configuration requested by the configuration change input or indication.

31. The non-transitory processor-readable storage medium of claim 29, wherein the stored processor-executable instructions are further configured to cause the processor of the vehicle to perform operations further comprising: In response to determining that the occupancy state of the vehicle does not conflict with the occupancy states allowed in the configuration requested by the configuration change input or indication, one of a plurality of configuration alternatives is selected based on the occupancy state.

32. A computer program product comprising computer-readable instructions which, when executed by a processor, cause the processor to perform the method of any one of claims 1-11.

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