Passenger assistance after getting off

Abstract

A method for post-get-off passenger assistance may include obtaining location data indicative of an environment in which an autonomous vehicle is operating; determining a completion parameter indicative of boarding completion of the autonomous vehicle; determining assistance parameters indicative of assistance of the autonomous vehicle to passengers of the autonomous vehicle to be provided after boarding completion; and controlling operation of the autonomous vehicle to assist the passenger. Some methods described further include obtaining sensor data and controlling operation of the autonomous vehicle based on the sensor data. A system and a computer program product are also provided.

Description

Background Art

[0001] The autonomous vehicle is used to pick up and transport a passenger from a first location to a second location, and then the passenger is dropped off at the second location. After dropping off the passenger, the autonomous vehicle may stop taking any action, such as if the passenger owns the autonomous vehicle, or the autonomous vehicle may move to the second passenger for a second transportation, such as when the autonomous vehicle is used as a ride-sharing service. BRIEF DESCRIPTION OF THE DRAWINGS

[0002] Figure 1 is an example environment in which a vehicle including one or more components of an autonomous system may be implemented;

[0003] Figure 2 is a diagram of one or more example systems of a vehicle including an autonomous system;

[0004] Figure 3 yes Figure 1 and Figure 2 diagrams of components of one or more example devices and / or one or more example systems;

[0005] Figure 4 is a diagram of certain components of an example autonomous system;

[0006] Figure 5 is a diagram of an example implementation of a process for passenger assistance at ride completion; and

[0007] Figure 6 is a flow chart of an example process for passenger assistance upon boarding completion. DETAILED DESCRIPTION

[0008] In the following description, for the purpose of explanation, many specific details are set forth in order to provide a thorough understanding of the present disclosure. However, it will be apparent that the embodiments described in the present disclosure can be implemented without these specific details. In some instances, well-known configurations and devices are illustrated in block diagram form to avoid unnecessarily obscuring aspects of the present disclosure.

[0009] In the accompanying drawings, for ease of description, the specific arrangement or order of schematic elements (such as those representing systems, devices, modules, instruction blocks and / or data elements, etc.) is illustrated. However, those skilled in the art will understand that, unless explicitly described, the specific order or arrangement of schematic elements in the accompanying drawings is not intended to mean that a specific processing order or sequence, or separation of processing is required. In addition, unless explicitly described, the inclusion of schematic elements in the accompanying drawings is not intended to mean that such elements are required in all embodiments, nor is it intended to mean that the features represented by such elements cannot be included in some embodiments or cannot be combined with other elements in some embodiments.

[0010] In addition, in the accompanying drawings, connecting elements (such as solid or dotted lines or arrows, etc.) are used to illustrate the connection, relationship or association between or among two or more other schematic elements, and the absence of any such connecting elements is not intended to mean that there can be no connection, relationship or association. In other words, some connections, relationships or associations between elements are not illustrated in the accompanying drawings so as not to obscure the present disclosure. In addition, for ease of illustration, a single connecting element can be used to represent multiple connections, relationships or associations between elements. For example, if the connecting element represents the communication of a signal, data or instruction (e.g., "software instruction"), it will be understood by those skilled in the art that such an element can represent one or more than one signal path (e.g., bus) that may be needed to affect the communication.

[0011] Although the terms "first", "second" and / or "third", etc. are used to describe various elements, these elements should not be limited by these terms. The terms "first", "second" and / or "third" are only used to distinguish one element from another. For example, a first contact may be referred to as a second contact, and similarly, a second contact may be referred to as a first contact without departing from the scope of the described embodiments. Both the first contact and the second contact are contacts, but they are not the same contacts.

[0012] The terms used in the specification of the various embodiments described herein are included only for the purpose of describing specific embodiments and are not intended to be limiting. As used in the specification of the various embodiments described and the appended claims, the singular forms "a", "an" and "the" are also intended to include plural forms and can be used interchangeably with "one or more than one" or "at least one", unless the context clearly indicates otherwise. It will also be understood that the term "and / or" as used herein refers to and includes any and all possible combinations of one or more than one of the associated listed items. It will also be understood that when the terms "include", "comprise", "have" and / or "have" are used in this specification, the stated features, integers, steps, operations, elements and / or components are specifically stated, but the presence or addition of one or more than one other features, integers, steps, operations, elements, components and / or groups thereof are not excluded.

[0013] As used herein, the terms "communication" and "communicating" refer to at least one of receiving, receiving, transmitting, transmitting and / or providing information (or information represented by, for example, data, signals, messages, instructions and / or commands, etc.). For a unit (e.g., a device, a system, a component of a device or system, and / or a combination thereof) to communicate with another unit, this means that the unit is able to directly or indirectly receive information from the other unit and / or send (e.g., transmit) information to the other unit. This can refer to a direct or indirect connection that is wired and / or wireless in nature. In addition, even if the transmitted information can be modified, processed, relayed and / or routed between the first unit and the second unit, the two units can communicate with each other. For example, even if the first unit passively receives information and does not actively transmit information to the second unit, the first unit can communicate with the second unit. As another example, if at least one intermediary unit (e.g., a third unit located between the first unit and the second unit) processes the information received from the first unit and transmits the processed information to the second unit, the first unit can communicate with the second unit. In some embodiments, a message may refer to a network packet (eg, a data packet, etc.) that includes data.

[0014] As used herein, the term "if" is optionally interpreted to mean "when," "at," "in response to being determined to be," and / or "in response to being detected," etc., depending on the context. Similarly, the phrases "if it is determined" or "if [the stated condition or event] is detected" are optionally interpreted to mean "when determining," "in response to being determined to be" or "when [the stated condition or event] is detected," and / or "in response to being detected," etc., depending on the context. In addition, as used herein, the terms "have," "have," or "possess," etc. are intended to be open-ended terms. Furthermore, unless expressly stated otherwise, the phrase "based on" is intended to mean "based at least in part on."

[0015] “At least one” and “one or more than one” include functions being performed by one element, functions being performed by more than one element, e.g. in a distributed manner, several functions being performed by one element, several functions being performed by several elements, or any combination of the above.

[0016] Some embodiments of the present disclosure are described herein in conjunction with threshold values. As described herein, satisfying a threshold value may refer to a value being greater than a threshold value, more than a threshold value, above a threshold value, greater than or equal to a threshold value, less than a threshold value, less than a threshold value, below a threshold value, less than or equal to a threshold value, and / or equal to a threshold value, etc.

[0017] Reference will now be made in detail to embodiments, examples of which are illustrated in the accompanying drawings. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the various embodiments described. However, it will be apparent to one of ordinary skill in the art that the various embodiments described may be implemented without these specific details. In other cases, well-known methods, processes, components, circuits, and networks have not yet been described in detail in order not to unnecessarily obscure aspects of the embodiments.

[0018] General Overview

[0019] In some aspects and / or embodiments, the systems, methods, and computer program products described herein include and / or implement methods and operations for controlling the operation of an autonomous vehicle when a ride is completed (such as when a passenger disembarks and / or after disembarking, etc.). In some embodiments or examples, the method includes obtaining location data indicating a location within an environment in which the autonomous vehicle is operating using at least one processor. In some embodiments or examples, the method includes determining, using at least one processor, a completion parameter indicating completion of a ride of the autonomous vehicle based on the location data. In some embodiments or examples, the method includes determining, using at least one processor, an auxiliary parameter based on the location data and the completion parameter, the auxiliary parameter indicating assistance to a passenger of the autonomous vehicle to be provided by the autonomous vehicle after the ride is completed. In some embodiments or examples, the method includes controlling the operation of the autonomous vehicle to assist the passenger based on the auxiliary parameter using at least one processor.

[0020] By means of implementation of the systems, methods, and computer program products described herein, techniques are provided for passenger assistance when the ride is complete (such as when and / or after the passenger disembarks, etc.). Advantages of these techniques may include improving autonomous vehicle safety for passengers by controlling the autonomous vehicle. For example, controlling the autonomous vehicle may include providing notifications to passengers and providing external notifications for remote assistance. For example, controlling the autonomous vehicle may include tracking passengers leaving the vehicle within sensor range to ensure the safety of the passengers. The techniques may also advantageously include the autonomous vehicle providing external notifications, which may allow the passenger to safely leave the vehicle. In addition, the techniques may provide an improved passenger experience by controlling the autonomous vehicle to provide information applicable to specific passengers (e.g., impaired passengers).

[0021] Reference now Figure 1, illustrates an example environment 100 in which vehicles including autonomous systems and vehicles not including autonomous systems operate. As illustrated, the environment 100 includes vehicles 102a-102n, objects 104a-104n, routes 106a-106n, areas 108, vehicle-to-infrastructure (V2I) devices 110, a network 112, a remote autonomous vehicle (AV) system 114, a fleet management system 116, and a V2I system 118. The vehicles 102a-102n, the vehicle-to-infrastructure (V2I) devices 110, the network 112, the autonomous vehicle (AV) system 114, the fleet management system 116, and the V2I system 118 are interconnected (e.g., establish connections for communication, etc.) via wired connections, wireless connections, or a combination of wired or wireless connections. In some embodiments, objects 104a-104n are interconnected with at least one of vehicles 102a-102n, vehicle-to-infrastructure (V2I) devices 110, networks 112, autonomous vehicle (AV) systems 114, fleet management systems 116, and V2I systems 118 via wired connections, wireless connections, or a combination of wired or wireless connections.

[0022] Vehicles 102a-102n (individually referred to as vehicles 102 and collectively referred to as vehicles 102) include at least one device configured to transport goods and / or people. In some embodiments, vehicles 102 are configured to communicate with V2I devices 110, remote AV systems 114, fleet management systems 116, and / or V2I systems 118 via network 112. In some embodiments, vehicles 102 include cars, buses, trucks, and / or trains, etc. In some embodiments, vehicles 102 are similar to vehicles 200 described herein (see Figure 2 ). In some embodiments, vehicles 200 in a group of vehicles 200 are associated with an autonomous queue manager. In some embodiments, vehicles 102 travel along respective routes 106a-106n (individually referred to as routes 106 and collectively referred to as routes 106) as described herein. In some embodiments, one or more vehicles 102 include an autonomous system (e.g., an autonomous system that is the same as or similar to autonomous system 202).

[0023] Objects 104a-104n (individually referred to as objects 104 and collectively referred to as objects 104) include, for example, at least one vehicle, at least one pedestrian, at least one cyclist, and / or at least one structure (e.g., a building, a sign, a fire hydrant, etc.), etc. Each object 104 is stationary (e.g., located at a fixed location and over a period of time) or moves (e.g., has a speed and is associated with at least one trajectory). In some embodiments, objects 104 are associated with corresponding locations in area 108.

[0024] Routes 106a-106n (individually referred to as routes 106 and collectively referred to as routes 106) are each associated with (e.g., specify a series of actions (also referred to as trajectories) connecting states along which the AV can navigate. Each route 106 begins at an initial state (e.g., a state corresponding to a first spatiotemporal location and / or speed, etc.) and ends at a final target state (e.g., a state corresponding to a second spatiotemporal location different from the first spatiotemporal location) or a target zone (e.g., a subspace of acceptable states (e.g., terminal states)). In some embodiments, the first state includes a location where one or more individuals will board the AV, and the second state or zone includes one or more locations where one or more individuals boarding the AV will disembark. In some embodiments, routes 106 include multiple acceptable state sequences (e.g., multiple spatiotemporal location sequences) that are associated with (e.g., define multiple trajectories). In an example, routes 106 include only high-level actions or imprecise state locations, such as a series of connecting roads indicating a change of direction at a roadway intersection, etc. Additionally or alternatively, the route 106 may include more precise actions or states, such as, for example, specific target lanes or precise locations within lane regions and target speeds at those locations, etc. In an example, the route 106 includes a plurality of precise state sequences along at least one high-level action with a limited look-ahead horizon to an intermediate target, wherein a combination of consecutive iterations of the limited horizon state sequences cumulatively correspond to a plurality of trajectories that collectively form a high-level route terminating at a final target state or region.

[0025] The area 108 includes a physical area (e.g., a geographic region) in which the vehicle 102 can navigate. In an example, the area 108 includes at least one state (e.g., a country, a province, a separate state of a plurality of states included in a country, etc.), at least a portion of a state, at least one city, at least a portion of a city, etc. In some embodiments, the area 108 includes at least one named thoroughfare (referred to herein as a "road"), such as a highway, an interstate highway, a parkway, a city street, etc. Additionally or alternatively, in some examples, the area 108 includes at least one unnamed road, such as a driveway, a section of a parking lot, a section of an open space and / or undeveloped area, a dirt road, etc. In some embodiments, the road includes at least one lane (e.g., a portion of the road that the vehicle 102 can traverse). In an example, the road includes at least one lane associated with (e.g., identified based on) at least one lane marking.

[0026] The vehicle-to-infrastructure (V2I) device 110 (sometimes referred to as a vehicle-to-everything (V2X) device) includes at least one device configured to communicate with the vehicle 102 and / or the V2I system 118. In some embodiments, the V2I device 110 is configured to communicate with the vehicle 102, the remote AV system 114, the queue management system 116, and / or the V2I system 118 via the network 112. In some embodiments, the V2I device 110 includes a radio frequency identification (RFID) device, a sign, a camera (e.g., a two-dimensional (2D) and / or three-dimensional (3D) camera), lane markings, street lights, parking meters, etc. In some embodiments, the V2I device 110 is configured to communicate directly with the vehicle 102. Additionally or alternatively, in some embodiments, the V2I device 110 is configured to communicate with the vehicle 102, the remote AV system 114, and / or the queue management system 116 via the V2I system 118. In some embodiments, the V2I device 110 is configured to communicate with the V2I system 118 via the network 112 .

[0027] The network 112 includes one or more wired and / or wireless networks. In an example, the network 112 includes a cellular network (e.g., a long-term evolution (LTE) network, a third generation (3G) network, a fourth generation (4G) network, a fifth generation (5G) network, a code division multiple access (CDMA) network, etc.), a public land mobile network (PLMN), a local area network (LAN), a wide area network (WAN), a metropolitan area network (MAN), a telephone network (e.g., a public switched telephone network (PSTN)), a private network, an ad hoc network, an intranet, the Internet, a fiber-based network, a cloud computing network, etc., and / or a combination of some or all of these networks, etc.

[0028] The remote AV system 114 includes at least one device configured to communicate with the vehicle 102, the V2I device 110, the network 112, the fleet management system 116, and / or the V2I system 118 via the network 112. In an example, the remote AV system 114 includes a server, a server group, and / or other similar devices. In some embodiments, the remote AV system 114 is co-located with the fleet management system 116. In some embodiments, the remote AV system 114 participates in the installation of some or all of the components of the vehicle (including autonomous systems, autonomous vehicle computing, and / or software implemented by autonomous vehicle computing, etc.). In some embodiments, the remote AV system 114 maintains (e.g., updates and / or replaces) these components and / or software during the life of the vehicle.

[0029] The queue management system 116 includes at least one device configured to communicate with the vehicles 102, the V2I devices 110, the remote AV system 114, and / or the V2I system 118. In an example, the queue management system 116 includes a server, a server group, and / or other similar devices. In some embodiments, the queue management system 116 is associated with a ridesharing company (e.g., an organization for controlling the operation of multiple vehicles (e.g., vehicles including autonomous systems and / or vehicles not including autonomous systems), etc.).

[0030] In some embodiments, the V2I system 118 includes at least one device configured to communicate with the vehicle 102, the V2I device 110, the remote AV system 114, and / or the fleet management system 116 via the network 112. In some examples, the V2I system 118 is configured to communicate with the V2I device 110 via a connection other than the network 112. In some embodiments, the V2I system 118 includes a server, a server group, and / or other similar devices. In some embodiments, the V2I system 118 is associated with a municipality or a private agency (e.g., a private agency for maintaining the V2I device 110, etc.).

[0031] In some embodiments, the apparatus 300 is configured to perform the following Figure 6 Software instructions for one or more steps of the disclosed method are shown.

[0032] supply Figure 1 The number and arrangement of elements illustrated are examples. Figure 1 There may be additional elements, fewer elements, different elements, and / or differently arranged elements than those illustrated. Additionally or alternatively, at least one element of environment 100 may be described as being Figure 1Additionally or alternatively, at least one group of elements of environment 100 may perform one or more functions described as being performed by at least one different group of elements of environment 100.

[0033] Reference now Figure 2 , vehicle 200 includes autonomous system 202, powertrain control system 204, steering control system 206, and braking system 208. In some embodiments, vehicle 200 is compatible with vehicle 102 (see Figure 1 ) is the same or similar. In some embodiments, the vehicle 200 has autonomous capabilities (e.g., implementing at least one function, feature and / or device, etc., which enables the vehicle 200 to operate partially or completely without human intervention, including but not limited to fully autonomous vehicles (e.g., vehicles that abandon reliance on human intervention) and / or highly autonomous vehicles (e.g., vehicles that abandon reliance on human intervention in certain situations), etc.). For a detailed description of fully autonomous vehicles and highly autonomous vehicles, reference can be made to SAE International's standard J3016: Taxonomy and Definitions for Terms Related to On-Road Motor Vehicle AutomatedDriving Systems, the entire contents of which are incorporated by reference. In some embodiments, the vehicle 200 is associated with an autonomous queue manager and / or a ridesharing company.

[0034] Autonomous system 202 includes a sensor suite that includes one or more devices such as camera 202a, LiDAR sensor 202b, Radar sensor 202c, and microphone 202d. In some embodiments, autonomous system 202 may include more or fewer devices and / or different devices (e.g., ultrasonic sensors, inertial sensors, GPS receivers (discussed below), and / or odometer sensors for generating data associated with an indication of the distance that vehicle 200 has traveled, etc.). In some embodiments, autonomous system 202 uses one or more devices included in autonomous system 202 to generate data associated with environment 100 described herein. Data generated by one or more devices of autonomous system 202 can be used by one or more systems described herein to observe the environment (e.g., environment 100) in which vehicle 200 is located. In some embodiments, autonomous system 202 includes communication device 202e, autonomous vehicle computing 202f, and safety controller 202g.

[0035] The camera 202a includes a communication device 202e, an autonomous vehicle computer 202f, and / or a safety controller 202g configured to communicate with the communication device 202e via a bus (e.g., Figure 3 The camera 202a includes at least one device for communicating with the autonomous vehicle computing 202f (e.g., an image processing unit 202a, a bus ... Figure 1In some embodiments, the autonomous vehicle computing 202f determines a depth to one or more objects in a field of view of at least two of the plurality of cameras based on image data from the at least two cameras. In some embodiments, the camera 202a is configured to capture images of objects within a distance relative to the camera 202a (e.g., up to 100 meters and / or up to 1 kilometer, etc.). Thus, the camera 202a includes features such as sensors and lenses that are optimized for sensing objects at one or more distances relative to the camera 202a.

[0036] In an embodiment, the camera 202a includes at least one camera configured to capture one or more images associated with one or more traffic lights, street signs, and / or other physical objects that provide visual navigation information. In some embodiments, the camera 202a generates traffic light data associated with the one or more images. In some examples, the camera 202a generates TLD data associated with one or more images including a format (e.g., RAW, JPEG, and / or PNG, etc.). In some embodiments, the camera 202a that generates TLD data differs from other systems including cameras described herein in that the camera 202a may include one or more cameras with a wide field of view (e.g., a wide-angle lens, a fisheye lens, and / or a lens with a viewing angle of approximately 120 degrees or greater, etc.) to generate images related to as many physical objects as possible.

[0037] The LiDAR sensor 202b includes a communication device 202e, an autonomous vehicle computing device 202f, and / or a safety controller 202g configured to communicate with the communication device 202e via a bus (e.g., Figure 3The LiDAR sensor 202b includes at least one device that communicates with a bus (the same or similar bus as the bus 302 of the embodiment of the present invention). The LiDAR sensor 202b includes a system configured to emit light from a light emitter (e.g., a laser emitter). The light emitted by the LiDAR sensor 202b includes light outside the visible spectrum (e.g., infrared light, etc.). In some embodiments, during operation, the light emitted by the LiDAR sensor 202b encounters a physical object (e.g., a vehicle) and is reflected back to the LiDAR sensor 202b. In some embodiments, the light emitted by the LiDAR sensor 202b does not penetrate the physical object encountered by the light. The LiDAR sensor 202b also includes at least one light detector that detects the light emitted from the light emitter after encountering the physical object. In some embodiments, at least one data processing system associated with the LiDAR sensor 202b generates an image (e.g., a point cloud and / or a combined point cloud, etc.) representing objects included in the field of view of the LiDAR sensor 202b. In some examples, at least one data processing system associated with the LiDAR sensor 202b generates an image representing the boundaries of the physical object and / or the surface of the physical object (e.g., the topology of the surface), etc. In such examples, the image is used to determine the boundaries of the physical object in the field of view of the LiDAR sensor 202b.

[0038] The radio detection and ranging (Radar) sensor 202c includes a sensor configured to communicate with the communication device 202e, the autonomous vehicle computing 202f, and / or the safety controller 202g via a bus (e.g., Figure 3 At least one device for communicating with a bus (same or similar bus as bus 302 of the embodiment of the present invention). Radar sensor 202c includes a system configured to transmit (pulsed or continuous) radio waves. The radio waves transmitted by Radar sensor 202c include radio waves within a predetermined spectrum. In some embodiments, during operation, the radio waves transmitted by Radar sensor 202c encounter physical objects and are reflected back to Radar sensor 202c. In some embodiments, the radio waves transmitted by Radar sensor 202c are not reflected by some objects. In some embodiments, at least one data processing system associated with Radar sensor 202c generates a signal representing an object included in the field of view of Radar sensor 202c. For example, at least one data processing system associated with Radar sensor 202c generates an image representing the boundary of a physical object and / or the surface of a physical object (e.g., the topology of the surface), etc. In some examples, the image is used to determine the boundary of a physical object in the field of view of Radar sensor 202c.

[0039] The microphone 202d includes a microphone configured to communicate with the communication device 202e, the autonomous vehicle computing device 202f, and / or the safety controller 202g via a bus (e.g., Figure 3 At least one device for communicating with the vehicle 200 (the same or similar bus as bus 302 of FIG. 1 ). Microphone 202d includes one or more microphones (e.g., an array microphone and / or an external microphone, etc.) that capture an audio signal and generate data associated with (e.g., representing) the audio signal. In some examples, microphone 202d includes a transducer device and / or the like. In some embodiments, one or more systems described herein can receive the data generated by microphone 202d and determine the position (e.g., distance, etc.) of an object relative to vehicle 200 based on an audio signal associated with the data.

[0040] The communication device 202e includes at least one device configured to communicate with the camera 202a, the LiDAR sensor 202b, the Radar sensor 202c, the microphone 202d, the autonomous vehicle computing 202f, the safety controller 202g, and / or the drive-by-wire (DBW) system 202h. For example, the communication device 202e may include at least one device configured to communicate with the camera 202a, the LiDAR sensor 202b, the Radar sensor 202c, the microphone 202d, the autonomous vehicle computing 202f, the safety controller 202g, and / or the drive-by-wire (DBW) system 202h. Figure 3 The communication device 202e may be a device that is the same as or similar to the communication interface 314 of the vehicle. In some embodiments, the communication device 202e includes a vehicle-to-vehicle (V2V) communication device (eg, a device for enabling wireless communication of data between vehicles).

[0041] Autonomous vehicle computing 202f includes at least one device configured to communicate with camera 202a, LiDAR sensor 202b, Radar sensor 202c, microphone 202d, communication device 202e, safety controller 202g, and / or DBW system 202h. In some examples, autonomous vehicle computing 202f includes devices such as client devices, mobile devices (e.g., cellular phones and / or tablet computers, etc.), and / or servers (e.g., computing devices including one or more central processing units and / or graphics processing units, etc.). In some embodiments, autonomous vehicle computing 202f is the same or similar to autonomous vehicle computing 400 described herein. Additionally or alternatively, in some embodiments, autonomous vehicle computing 202f is configured to communicate with an autonomous vehicle system (e.g., with Figure 1 remote AV system 114 of the same or similar autonomous vehicle system), a fleet management system (e.g., Figure 1 of the same or similar queue management system as the queue management system 116), V2I devices (e.g., Figure 1 V2I device 110 that is the same as or similar to V2I device 110) and / or V2I system (e.g., Figure 1The V2I system 118 may communicate with the same or similar V2I system.

[0042] Safety controller 202g includes at least one device configured to communicate with camera 202a, LiDAR sensor 202b, Radar sensor 202c, microphone 202d, communication device 202e, autonomous vehicle computing 202f, and / or DBW system 202h. In some examples, safety controller 202g includes one or more controllers (electrical controllers and / or electromechanical controllers, etc.) configured to generate and / or transmit control signals to operate one or more devices of vehicle 200 (e.g., powertrain control system 204, steering control system 206, and / or braking system 208, etc.). In some embodiments, safety controller 202g is configured to generate control signals that take precedence over (e.g., override) control signals generated and / or transmitted by autonomous vehicle computing 202f.

[0043] The DBW system 202h includes at least one device configured to communicate with the communication device 202e and / or the autonomous vehicle computing 202f. In some examples, the DBW system 202h includes one or more controllers (e.g., electrical controllers and / or electromechanical controllers, etc.) configured to generate and / or transmit control signals to operate one or more devices of the vehicle 200 (e.g., powertrain control system 204, steering control system 206, and / or braking system 208, etc.). Additionally or alternatively, one or more controllers of the DBW system 202h are configured to generate and / or transmit control signals to operate at least one different device of the vehicle 200 (e.g., turn signals, headlights, door locks, and / or windshield wipers, etc.).

[0044] The powertrain control system 204 includes at least one device configured to communicate with the DBW system 202h. In some examples, the powertrain control system 204 includes at least one controller and / or actuator, etc. In some embodiments, the powertrain control system 204 receives a control signal from the DBW system 202h, and the powertrain control system 204 causes the vehicle 200 to start moving forward, stop moving forward, start moving backward, stop moving backward, accelerate in a certain direction, decelerate in a certain direction, turn left and / or turn right, etc. In an example, the powertrain control system 204 increases, maintains the same, or decreases the energy (e.g., fuel and / or electricity, etc.) provided to the motor of the vehicle, thereby rotating or not rotating at least one wheel of the vehicle 200.

[0045] The steering control system 206 includes at least one device configured to rotate one or more wheels of the vehicle 200. In some examples, the steering control system 206 includes at least one controller and / or actuator, etc. In some embodiments, the steering control system 206 rotates the two front wheels and / or the two rear wheels of the vehicle 200 to the left or right to turn the vehicle 200 left or right.

[0046] Braking system 208 includes at least one device configured to actuate one or more brakes to decelerate and / or hold vehicle 200 stationary. In some examples, braking system 208 includes at least one controller and / or actuator configured to cause one or more calipers associated with one or more wheels of vehicle 200 to close on respective rotors of vehicle 200. Additionally or alternatively, in some examples, braking system 208 includes an automatic emergency braking (AEB) system and / or a regenerative braking system, etc.

[0047] In some embodiments, vehicle 200 includes at least one platform sensor (not explicitly illustrated) for measuring or inferring a property of a state or condition of vehicle 200. In some examples, vehicle 200 includes platform sensors such as a global positioning system (GPS) receiver, an inertial measurement unit (IMU), wheel rate sensors, wheel brake pressure sensors, wheel torque sensors, engine torque sensors, and / or steering angle sensors.

[0048] Reference now Figure 3 , a schematic diagram of an exemplary device 300. As illustrated, the device 300 includes a processor 304, a memory 306, a storage component 308, an input interface 310, an output interface 312, a communication interface 314, and a bus 302. In some embodiments, the device 300 corresponds to: at least one device of the vehicle 102 (e.g., at least one device of a system of the vehicle 102); at least one device of the remote AV system 114, the fleet management system 116, the V2I system 118; and / or one or more devices of the network 112 (e.g., one or more devices of a system of the network 112). In some embodiments, one or more devices of vehicle 102 (e.g., one or more devices of a system of vehicle 102, such as at least one device of remote AV system 114, fleet management system 116, and V2I system 118, etc.), and / or one or more devices of network 112 (e.g., one or more devices of a system of network 112) include at least one device 300 and / or at least one component of device 300. Figure 3As shown, apparatus 300 includes a bus 302 , a processor 304 , a memory 306 , a storage component 308 , an input interface 310 , an output interface 312 , and a communication interface 314 .

[0049] The bus 302 includes components for communication between components of the licensing device 300. In some embodiments, the processor 304 is implemented in hardware, software, or a combination of hardware and software. In some examples, the processor 304 includes a processor (e.g., a central processing unit (CPU), a graphics processing unit (GPU), and / or an accelerated processing unit (APU), etc.), a microphone, a digital signal processor (DSP), and / or any processing component that can be programmed to perform at least one function (e.g., a field programmable gate array (FPGA) and / or an application-specific integrated circuit (ASIC), etc.). The memory 306 includes a random access memory (RAM), a read-only memory (ROM), and / or another type of dynamic and / or static storage device (e.g., flash memory, magnetic memory, and / or optical memory, etc.) that stores data and / or instructions for use by the processor 304.

[0050] Storage component 308 stores data and / or software related to the operation and use of device 300. In some examples, storage component 308 includes a hard disk (e.g., a magnetic disk, an optical disk, a magneto-optical disk, and / or a solid-state disk, etc.), a compact disk (CD), a digital versatile disk (DVD), a floppy disk, a cassette, a tape, a CD-ROM, a RAM, a PROM, an EPROM, a FLASH-EPROM, an NV-RAM, and / or another type of computer-readable medium, and a corresponding drive.

[0051] The input interface 310 includes components that permit the device 300 to receive information, such as via user input (e.g., a touch screen display, a keyboard, a keypad, a mouse, a button, a switch, a microphone, and / or a camera, etc.). Additionally or alternatively, in some embodiments, the input interface 310 includes a sensor for sensing information (e.g., a global positioning system (GPS) receiver, an accelerometer, a gyroscope, and / or an actuator, etc.). The output interface 312 includes components for providing output information from the device 300 (e.g., a display, a speaker, and / or one or more light emitting diodes (LEDs), etc.).

[0052] In some embodiments, communication interface 314 includes a transceiver-like component (e.g., a transceiver and / or a separate receiver and transmitter, etc.) that permits device 300 to communicate with other devices via a wired connection, a wireless connection, or a combination of a wired connection and a wireless connection. In some examples, communication interface 314 permits device 300 to receive information from another device and / or provide information to another device. In some examples, communication interface 314 includes an Ethernet interface, an optical interface, a coaxial interface, an infrared interface, a radio frequency (RF) interface, a universal serial bus (USB) interface, interface and / or cellular network interface, etc.

[0053] In some embodiments, the device 300 performs one or more processes described herein. The device 300 performs these processes based on the processor 304 executing software instructions stored by a computer-readable medium such as a memory 305 and / or a storage component 308. Computer-readable media (e.g., non-transitory computer-readable media) are defined herein as non-transitory memory devices. Non-transitory memory devices include storage space located within a single physical storage device or storage space distributed across multiple physical storage devices.

[0054] In some embodiments, the software instructions are read into the memory 306 and / or storage component 308 from another computer-readable medium or from another device via the communication interface 314. The software instructions stored in the memory 306 and / or storage component 308, when executed, cause the processor 304 to perform one or more processes described herein. Additionally or alternatively, hardwired circuitry is used in place of or in combination with the software instructions to perform one or more processes described herein. Therefore, unless expressly stated otherwise, the embodiments described herein are not limited to any specific combination of hardware circuitry and software.

[0055] The memory 306 and / or the storage component 308 include a data storage unit or at least one data structure (e.g., a database, etc.). The device 300 can receive information from the data storage unit or at least one data structure in the memory 306 or the storage component 308, store information in the data storage unit or at least one data structure, communicate information to the data storage unit or at least one data structure, or search for information stored in the data storage unit or at least one data structure. In some examples, the information includes network data, input data, output data, or any combination thereof.

[0056] In some embodiments, the device 300 is configured to execute software instructions stored in the memory 306 and / or the memory of another device (e.g., another device that is the same as or similar to the device 300). As used herein, the term "module" refers to at least one instruction stored in the memory 306 and / or the memory of another device, which, when executed by the processor 304 and / or the processor of another device (e.g., another device that is the same as or similar to the device 300), causes the device 300 (e.g., at least one component of the device 300) to perform one or more processes described herein. In some embodiments, the module is implemented in software, firmware, and / or hardware, etc.

[0057] supply Figure 3 The number and arrangement of components illustrated are examples. Figure 3 The device 300 may include additional components, fewer components, different components, or differently arranged components than those illustrated. Additionally or alternatively, a group of components (e.g., one or more components) of the device 300 may perform one or more functions described as being performed by another component or group of components of the device 300.

[0058] Reference now Figure 4, illustrates an example block diagram of an autonomous vehicle computing 400 (sometimes referred to as an "AV stack"). As illustrated, the autonomous vehicle computing 400 includes a perception system 402 (sometimes referred to as a perception module), a planning system 404 (sometimes referred to as a planning module), a positioning system 406 (sometimes referred to as a positioning module), a control system 408 (sometimes referred to as a control module), and a database 410. In some embodiments, the perception system 402, the planning system 404, the positioning system 406, the control system 408, and the database 410 are included in and / or implemented in an automatic navigation system of a vehicle (e.g., the autonomous vehicle computing 202f of the vehicle 200). Additionally or alternatively, in some embodiments, the perception system 402, the planning system 404, the positioning system 406, the control system 408, and the database 410 are included in one or more independent systems (e.g., one or more systems that are the same or similar to the autonomous vehicle computing 400, etc.). In some examples, the perception system 402, planning system 404, positioning system 406, control system 408, and database 41 are included in one or more independent systems located in the vehicle and / or at least one remote system as described herein. In some embodiments, any and / or all of the systems included in the autonomous vehicle computing 400 are implemented in software (e.g., software instructions stored in a memory), computer hardware (e.g., by a microprocessor, microcontroller, application specific integrated circuit (ASIC) and / or field programmable gate array (FPGA), etc.), or a combination of computer software and computer hardware. It will also be understood that in some embodiments, the autonomous vehicle computing 400 is configured to communicate with a remote system (e.g., an autonomous vehicle system that is the same or similar to the remote AV system 114, a fleet management system 116 that is the same or similar to the fleet management system 116, and / or a V2I system that is the same or similar to the V2I system 118, etc.).

[0059] In some embodiments, the perception system 402 receives data associated with at least one physical object in the environment (e.g., data used by the perception system 402 to detect at least one physical object) and classifies the at least one physical object. In some examples, the perception system 402 receives image data captured by at least one camera (e.g., camera 202a), the image being associated with (e.g., representing) one or more physical objects within the field of view of the at least one camera. In such examples, the perception system 402 classifies the at least one physical object based on one or more groups of physical objects (e.g., bicycles, vehicles, traffic signs, and / or pedestrians, etc.). In some embodiments, based on the classification of the physical object by the perception system 402, the perception system 402 transmits data associated with the classification of the physical object to the planning system 404.

[0060] In some embodiments, planning system 404 receives data associated with a destination and generates data associated with at least one route (e.g., route 106) along which a vehicle (e.g., vehicle 102) can travel toward the destination. In some embodiments, planning system 404 periodically or continuously receives data (e.g., data associated with the classification of physical objects described above) from perception system 402, and planning system 404 updates at least one trajectory or generates at least one different trajectory based on the data generated by perception system 402. In some embodiments, planning system 404 receives data associated with an updated position of a vehicle (e.g., vehicle 102) from positioning system 406, and planning system 404 updates at least one trajectory or generates at least one different trajectory based on the data generated by positioning system 406.

[0061] In some embodiments, the positioning system 406 receives data associated with (e.g., representing) a location of a vehicle (e.g., vehicle 102) in an area. In some examples, the positioning system 406 receives LiDAR data associated with at least one point cloud generated by at least one LiDAR sensor (e.g., LiDAR sensor 202b). In some examples, the positioning system 406 receives data associated with at least one point cloud from multiple LiDAR sensors, and the positioning system 406 generates a combined point cloud based on each point cloud. In these examples, the positioning system 406 compares the at least one point cloud or the combined point cloud with a two-dimensional (2D) and / or three-dimensional (3D) map of the area stored in the database 410. Then, based on the positioning system 406 comparing the at least one point cloud or the combined point cloud with the map, the positioning system 406 determines the position of the vehicle in the area. In some embodiments, the map includes a combined point cloud of the area generated before the navigation of the vehicle. In some embodiments, the map includes, but is not limited to, a high-precision map of roadway geometry, a map describing the road network connectivity, a map describing the physical properties of the roadway (such as traffic speed, traffic volume, the number of vehicle and bicycle traffic lanes, lane width, lane traffic direction or the type and location of lane markings, or a combination thereof, etc.), and a map describing the spatial location of road features (such as crosswalks, traffic signs, or various types of other driving lights, etc.). In some embodiments, the map is generated in real time based on data received by the perception system.

[0062] In another example, positioning system 406 receives global navigation satellite system (GNSS) data generated by a global positioning system (GPS) receiver. In some examples, positioning system 406 receives GNSS data associated with a location of a vehicle in an area, and positioning system 406 determines the latitude and longitude of the vehicle in the area. In such an example, positioning system 406 determines the position of the vehicle in the area based on the latitude and longitude of the vehicle. In some embodiments, positioning system 406 generates data associated with the position of the vehicle. In some examples, based on the location of the vehicle determined by positioning system 406, positioning system 406 generates data associated with the position of the vehicle. In such an example, the data associated with the position of the vehicle include data associated with one or more semantic properties corresponding to the position of the vehicle.

[0063] In some embodiments, the control system 408 receives data associated with at least one trajectory from the planning system 404, and the control system 408 controls the operation of the vehicle. In some examples, the control system 408 receives data associated with at least one trajectory from the planning system 404, and the control system 408 controls the operation of the vehicle by generating and transmitting control signals to operate a powertrain control system (e.g., DBW system 202h and / or powertrain control system 204, etc.), a steering control system (e.g., steering control system 206), and / or a braking system (e.g., braking system 208). In the example, in the case where the trajectory includes a left turn, the control system 408 transmits a control signal to cause the steering control system 206 to adjust the steering angle of the vehicle 200, thereby causing the vehicle 200 to turn left. Additionally or alternatively, the control system 408 generates and transmits control signals to cause other devices of the vehicle 200 (e.g., headlights, turn signals, door locks, and / or windshield wipers, etc.) to change state.

[0064] In some embodiments, perception system 402, planning system 404, positioning system 406, and / or control system 408 implement at least one machine learning model (e.g., at least one multi-layer perceptron (MLP), at least one convolutional neural network (CNN), at least one recurrent neural network (RNN), at least one autoencoder, and / or at least one transformer, etc.). In some examples, perception system 402, planning system 404, positioning system 406, and / or control system 408 implement at least one machine learning model alone or in combination with one or more of the above systems. In some examples, perception system 402, planning system 404, positioning system 406, and / or control system 408 implement at least one machine learning model as part of a pipeline (e.g., a pipeline for identifying one or more objects located in an environment, etc.).

[0065] Database 410 stores data transmitted to, received from, and / or updated by perception system 402, planning system 404, positioning system 406, and / or control system 408. In some examples, database 410 includes a storage component (e.g., a storage component) for storing data and / or software related to operations and using at least one system of autonomous vehicle computing 400. Figure 3In some embodiments, database 410 stores data associated with a 2D and / or 3D map of at least one area. In some examples, database 410 stores data associated with a 2D and / or 3D map of a portion of a city, portions of multiple cities, multiple cities, counties, states, and / or countries (State) (e.g., a country), etc. In such an example, a vehicle (e.g., a vehicle that is the same or similar to vehicle 102 and / or vehicle 200) can be driven along one or more drivable areas (e.g., single-lane roads, multi-lane roads, highways, remote roads, and / or off-road roads, etc.) and cause at least one LiDAR sensor (e.g., a LiDAR sensor that is the same or similar to LiDAR sensor 202b) to generate data associated with an image representing an object included in the field of view of the at least one LiDAR sensor.

[0066] In some embodiments, database 410 can be implemented across multiple devices. In some examples, database 410 includes a vehicle (e.g., a vehicle that is the same or similar to vehicle 102 and / or vehicle 200), an autonomous vehicle system (e.g., an autonomous vehicle system that is the same or similar to remote AV system 114), a fleet management system (e.g., a vehicle that is the same or similar to remote AV system 114), and a fleet management system (e.g., a vehicle that is the same or similar to remote AV system 114). Figure 1 The same or similar queue management system as the queue management system 116 of FIG. 1 and / or the V2I system (e.g., Figure 1 The V2I system 118 is the same as or similar to the V2I system 118).

[0067] The present disclosure relates to systems, methods, and computer program products that can provide assistance to passengers in an autonomous vehicle after the ride has ended, such as after getting off the vehicle. The systems, methods, and computer program products can provide a number of different capabilities that passengers and / or third parties can use, such as walking directions, tracking, third-party integration, and safety protocols. The systems, methods, and computer program products can use both internal and external notification systems.

[0068] Disclosed herein are systems, methods, and computer program products that can provide improved capabilities of autonomous vehicles that can assist passengers after a ride is completed. These systems, methods, and computer program products can improve passenger experience and safety, such as by leveraging the sensor capabilities of autonomous vehicles. Example capabilities include one or more of the following: providing walking directions within the vehicle before completion, passenger tracking after getting off to ensure safety (e.g., traffic light detection, safe crossing notifications), helping passenger vision and visibility by using lights equipped on the vehicle, passenger emergency detection (falls, hostile activity), notifying third parties in the event of (un)successful trips, external notifications to other road users that a (disabled) passenger is leaving the vehicle or crossing a road, and integration with third-party credentials (e.g., connected homes / buildings).

[0069] Reference now Figure 5 , illustrates a diagram of an implementation of a process for passenger assistance at ride completion implemented by system 500. In some embodiments, system 500 includes a system that is compatible with the above-described system (such as an autonomous system (e.g., Figure 2 The same or similar system as the autonomous system 202, AV computing (e.g., Figure 2 AV computing 202f the same or similar AV computing), remote AV system (e.g., Figure 1 remote AV system 114 same or similar remote AV system), for Figure 4 AV computing 400 and / or queue management system discussed (e.g., with Figure 1 The system 500 and / or the AV calculation 540 are for example a queue management system 116 of the same or similar queue management system) or the like) and ... Figure 2 AV computing 540 is part of the system 500. For example, AV computing 540 and / or system 500 include one or more processors (such as Figure 3 AV computing 540 may be considered a processor.

[0070] For purposes of illustration, the following description of the system 500 for passenger assistance at ride completion will be directed to an autonomous vehicle computing 540 (which may be associated with Figure 4 However, it will be appreciated that in some examples, system 500 (e.g., one or more elements of system 500) is implemented by an autonomous vehicle computing 540 (such as an AV (e.g., Figure 2 ), autonomous systems (e.g., Figure 2202), remote AV systems (e.g., Figure 1 remote AV system 114 that is the same as or similar to the remote AV system 114) and / or a queue management system (e.g., Figure 1 The fleet management system 116 may be the same as or similar to the fleet management system 116 (or the like) or implemented by other systems other than the autonomous vehicle computing 540.

[0071] In one or more embodiments or examples, system 500 includes one or more of the following: positioning system 506, planning system 504, perception system 502, and control system 508 that are the same or similar to positioning system 406, planning system 404, perception system 402, and control system 408, respectively.

[0072] In one or more embodiments or examples, the AV computing 540 obtains location data 503 indicating a location within an environment in which the autonomous vehicle is operating. In one or more embodiments or examples, the system 500 determines, for example, via at least one processor, a completion parameter 505 indicating the end of a ride of the autonomous vehicle based on the location data 503. In one or more embodiments or examples, the system 500 determines, for example, via at least one processor, based on the location data 503 and the completion parameter 505, an assistance parameter 507 indicating assistance of the autonomous vehicle to a passenger of the autonomous vehicle to be provided after the ride is complete. In one or more embodiments or examples, the system 500 controls the operation of the autonomous vehicle to assist the passenger based on the assistance parameter 507, for example, via at least one processor.

[0073] Assistance to passengers may be referred to as passenger assistance. Passenger assistance includes, for example, post-exit assistance and / or exit assistance. As an example, passenger assistance includes post-ride completion assistance and / or ride completion assistance. In one or more embodiments or examples, passenger assistance is selected from one or more of the following: internal notifications (e.g., audio and / or visual cues within the autonomous vehicle), external notifications (e.g., audio and / or visual cues outside the autonomous vehicle), collision detection, lost item detection, emergency warnings, and connection to third-party systems (e.g., smart home). Passenger assistance can be any action taken by the autonomous vehicle that can help a passenger when ending a ride using the autonomous vehicle.

[0074] In one or more embodiments or examples, the location data 503 indicates the location of the autonomous vehicle. For example, the location data 503 indicates the location within the environment in which the autonomous vehicle is operating. In one or more embodiments or examples, the system 500 is configured to obtain the location data 503 from a global positioning system 501, such as one or more of a global navigation satellite system, a positioning system, and a navigation system. In one or more embodiments or examples, the system 500 obtains the location data 503 from a system that may include Figure 4 Location data 503 is obtained by a global positioning system 501 within a positioning system 506 of one or more components of the positioning system 406 .

[0075] In one or more embodiments or examples, the system 500 is configured to determine a completion parameter 505 indicating that a ride of the autonomous vehicle is complete (e.g., ended, terminated). In some embodiments, the completion parameter indicates that the ride is not complete. Ride completion may include reaching a destination and / or passenger disembarkation. In one or more embodiments or examples, the system 500 is configured to determine the completion parameter 505 based on the location data 503, such as based on the location of the autonomous vehicle within the environment. In one or more embodiments or examples, the system 500 may include a Figure 4 One or more components of planning system 404 as part of planning system 504 determine completion parameters 505 .

[0076] The ride completion can be determined based on the destination. The destination is, for example, the requested destination and / or target location. The destination can be obtained based on passenger input such as the requested destination and / or target location provided by the passenger, or based on third-party input such as the requested destination and / or target location provided by a third party. In one or more embodiments or examples, the system 500 is configured to obtain a destination such as the requested destination and / or target location. In one or more embodiments or examples, the system 500 is configured to determine the ride completion based on location data by comparing the location data and the destination of the ride. In one or more embodiments or examples, the system 500 determines that the location data indicates that the autonomous vehicle is near the destination (e.g., at or next to the destination), and thereby determines that the ride is completed.

[0077] In one or more embodiments or examples, the system 500 is configured to determine that the ride is complete when the ride ends, such as when the location data indicates that the autonomous vehicle has reached a destination (e.g., a target location). For example, the system 500 is configured to compare the location data 503 to a destination, such as a requested destination and / or a target location. The destination can be the target location, or different from the target location. For example, if the vehicle cannot reach the requested destination and / or if the autonomous vehicle encounters a mechanical problem that prevents the autonomous vehicle from continuing to travel, the destination is different from the target location.

[0078] In one or more embodiments or examples, the system 500 is configured to determine that the ride is complete when the location data 503 indicates that the autonomous vehicle is within a threshold from the target location. The threshold may be a distance threshold. For example, the threshold is set to 1 mile from the target location. In one or more embodiments or examples, the system 500 is configured to determine the completion parameter 505 when the location data 503 indicates that the autonomous vehicle is 1 mile or less from the target location. The threshold may be the distance from the target location. In one or more embodiments or examples, based on determining that the location data indicates a location that satisfies the threshold, the system 500 determines the completion parameter indicating that the ride is complete. In one or more embodiments or examples, based on determining that the location data does not indicate a location that satisfies the threshold, the system 500 determines the completion parameter indicating that the ride is not complete. For example, when the location data indicates a location that meets or is less than the threshold, the threshold is met. In one or more embodiments or examples, the system 500 is configured to determine that the ride is complete when the location data 503 indicates that the autonomous vehicle is being stopped.

[0079] In one or more embodiments or examples, the threshold value from the target location is a time threshold value. For example, the threshold value is set to a 5-minute driving time from the target location. In one or more embodiments or examples, the system 500 is configured to determine the completion parameter 505 when the location data 503 indicates that the autonomous vehicle is 5 minutes or less driving time from the target location. In one or more embodiments or examples, based on the location determined as the location data indicating that the time to the target location meets the threshold, the system 500 determines the completion parameter indicating that the ride is completed. In one or more embodiments or examples, based on the location determined as the location data does not indicate that the time to the target location meets the threshold, the system 500 determines the completion parameter indicating that the ride is not completed. For example, when the location data indicates that the time to the target location meets or is less than the threshold, the threshold is met.

[0080] In one or more embodiments or examples, the system 500 is configured to determine the assistance parameters 507 based on the location data 503 and / or the completion parameters 505 .

[0081] In one or more embodiments or examples, the assistance parameter 507 indicates the assistance that the autonomous vehicle is to provide to the passengers of the autonomous vehicle when and / or after the ride is completed. The assistance parameter 507 can indicate one or more operations of the autonomous vehicle that the system 500 is configured to control. A number of different assistances are discussed here. For example, the assistance parameter 507 indicates one or more of the following: internal notifications (e.g., audio and / or visual cues within the autonomous vehicle), external notifications (e.g., audio and / or visual cues outside the autonomous vehicle), collision detection, lost item detection, emergency warnings, and connections to third-party systems (e.g., smart homes). For example, the assistance parameter 507 indicates passenger assistance such as any action taken by the autonomous vehicle to help passengers when the ride using the autonomous vehicle is terminated.

[0082] In one or more embodiments or examples, the system 500 is configured to determine the assistance parameter 507 based on one or more assistances of the autonomous vehicle, such as one or more auxiliary operations of the autonomous vehicle.

[0083] In one or more embodiments or examples, the system 500 is configured to control the operation of the autonomous vehicle based on the auxiliary parameters 507. The control operation of the autonomous vehicle can be part of the control system 508, which can include any and / or all components of the control system 408. In one or more embodiments or examples, the system 500 is configured to control one or more operations of the autonomous vehicle. In one or more embodiments or examples, the system 500 is configured to control the operation by controlling one or more lights of the autonomous vehicle and / or one or more output interfaces of the autonomous vehicle. In one or more embodiments or examples, the system 500 is configured to provide control data for controlling the operation of the autonomous vehicle based on the auxiliary parameters 507.

[0084] In one or more embodiments or examples, the system 500 is configured to control the operation of lights on an autonomous vehicle. In some embodiments and examples, the lights are standard lights included in the autonomous vehicle, such as one or more of the headlights, taillights, cab lighting, etc. The lights can be additional lights associated with the autonomous vehicle. For example, additional lighting is added to the exterior and / or interior areas of the autonomous vehicle, such as on the hood, (one or more) windows, (one or more) doors or top of the autonomous vehicle, etc. In one or more embodiments or examples, the auxiliary parameters 507 indicate the control of the lights of the autonomous vehicle. In one or more embodiments or examples, the auxiliary parameters 507 include one or more control parameters for controlling the operation of the AV (such as controlling one or more lights and / or one or more output interfaces, etc.).

[0085] The system 500 for controlling the operation of one or more lights can be advantageous to assist vision and / or visibility of passengers, such as by using lights equipped on the autonomous vehicle. Visibility at a ride completion location (such as a drop-off location) of an autonomous vehicle may be limited, such as due to inclement weather and / or darkness. In one or more embodiments or examples, the system 500 is configured to activate lights to provide visual assistance to passengers exiting the vehicle.

[0086] In one or more embodiments or examples, the system 500 is configured to control the operation of the autonomous vehicle by controlling the illumination direction of one or more lights, such as to illuminate a specific area of ​​the environment. In one or more embodiments or examples, the system 500 is configured to operate the autonomous vehicle to remain in place until the passenger leaves the scene (where the passenger no longer requires any further illumination). For example, the system 500 includes a time parameter indicating a time period for controlling the operation of the autonomous vehicle to remain in place.

[0087] In one or more embodiments or examples, the system 500 is configured to control the operation of the autonomous vehicle by controlling one or more output interfaces. For example, the system 500 controls a speaker that provides auditory information to passengers in front of and / or leaving the autonomous vehicle. In one or more embodiments or examples, the auxiliary parameter 507 indicates the output interface that controls the autonomous vehicle. In one or more embodiments or examples, the system 500 is configured to control the operation of one or more additional output interfaces. The output interface includes, for example, a display, an audio device, and a mechanical device. In one or more embodiments or examples, the system 500 is configured to control the operation by using at least one processor to present a notification indicating the auxiliary parameter 507 to a passenger or other road user based on the auxiliary parameter 507. The auxiliary parameter 507 can trigger the presentation of the notification to a passenger or other road user. For example, in one or more embodiments or examples, the system 500 is configured to control the operation of the autonomous vehicle to perform a signaling behavior for the autonomous vehicle, wherein the signaling behavior is detectable to passengers and / or external road users, such as notifications of, for example, physical signs and / or audio prompts, etc. In one or more embodiments or examples, the system 500 is configured to control the operation of the autonomous vehicle to present a notification via a user interface module that can report audio and / or visual messages. For example, the notification includes information to be presented to passengers and / or external road users. In one or more embodiments or examples, the notification is one or more of an audio notification, a visual notification, a physical notification, a digital notification, and a computer notification.

[0088] In one or more embodiments or examples, the system 500 receives an instruction that causes a notification to be presented by displaying a user interface object representing the notification on a display device based on the auxiliary parameter 507. The display device can be a part of one or more of a part of an autonomous vehicle and a passenger device (such as a mobile device such as a mobile phone, etc.). In one or more embodiments or examples, the system 500 receives an instruction to present an external notification and / or an internal notification to a passenger or other road user as part of an instruction to present the notification to a passenger or other road user. In one or more embodiments or examples, the external notification is a notification outside the autonomous vehicle. This can include, for example, lights and / or signs and / or output devices outside the autonomous vehicle. In one or more embodiments or examples, the external notification is used to assist disabled passengers. For example, a passenger of an autonomous vehicle is visually and / or hearing impaired. A visually and / or hearing impaired passenger may not perceive other road users when leaving the autonomous vehicle, which may be dangerous for passengers and other road users. In one or more embodiments or examples, the external notification is a notification to other road users that the visually and / or hearing impaired passenger is leaving the vehicle or crossing the road.

[0089] In one or more embodiments or examples, the autonomous vehicle arrives at a destination such as a target location with the visually impaired passenger, for example, and the system 500 determines a completion parameter 505 indicating that the ride is complete. In one or more embodiments or examples, the system 500 is configured to determine an auxiliary parameter 507 and control the operation of the autonomous vehicle based on the auxiliary parameter 507. In one or more embodiments or examples, the system 500 controls the operation of the autonomous vehicle to indicate a physical sign on each side of the autonomous vehicle that provides a warning to other road users, such as by including text that reads "Caution: Visually Impaired Person". Other road users who pass the autonomous vehicle can see the physical sign and slow down and / or avoid the door of the autonomous vehicle. In lieu of or in combination with the physical sign, the system 500 is configured to control the operation of the autonomous vehicle to play an audio message from one or more external speakers of the autonomous vehicle, thereby playing the audio "Visually Impaired Person is leaving the vehicle; please be careful". Bicyclists and / or pedestrians can then give the autonomous vehicle door additional space. The visually impaired passenger can then safely exit the vehicle. Although the above discussion is directed to impaired passengers, the system 500 is not limited thereto. In one or more embodiments or examples, the system 500 is configured to control the operation of the autonomous vehicle to provide a notification that the passenger has exited the autonomous vehicle.

[0090] In one or more embodiments or examples, the internal notification is a notification inside the autonomous vehicle. In one or more embodiments or examples, the internal notification includes a notification in the cab of the autonomous vehicle. The internal notification is, for example, inside the autonomous vehicle. The internal notification includes, for example, displaying on a display device and / or screen in the autonomous vehicle. The internal notification can be an audio and / or visual notification for passengers.

[0091] In one or more embodiments or examples, the system 500 receives an instruction that causes one or more of the following to be presented to a passenger or to other users: a user interface object representing a notification, a physical notification, an auditory notification, and a light-based notification. The instruction is, for example, a part of an instruction that causes a notification to be presented to a passenger and / or other road users. For example, the system 500 is configured to control the operation of an autonomous vehicle by displaying a user interface object representing a notification on a display device. In one or more embodiments or examples, the system 500 causes a user interface object representing a notification to be displayed on a display device. In one or more embodiments or examples, the physical notification is a sign, such as a physical sign such as a sign with text, etc. In one or more embodiments or examples, the system 500 causes a physical notification to be presented to a passenger and / or other road users. In one or more embodiments or examples, an auditory notification is provided by playing a sound (such as a message, etc.) through one or more external speakers. In one or more embodiments or examples, the system 500 causes an audio notification to be presented to a passenger and / or other road users. The light-based notification may be provided by turning on and / or off one or more lights associated with the autonomous vehicle.In one or more embodiments or examples, the system 500 enables light-based notifications to be presented to passengers and / or other road users.

[0092] In one or more embodiments or examples, when presenting a light-based notification, the system 500 determines visibility in the environment. In one or more embodiments or examples, the system 500 is configured to turn on a light, such as a headlight, etc. In one or more embodiments or examples, the system 500 is configured to turn on additional lights of the autonomous vehicle. In one or more embodiments or examples, the system 500 is configured to illuminate a surface (e.g., an entire surface, a portion of a surface, a zone along a surface, a zone). In one or more embodiments or examples, the system 500 is configured to illuminate a surface so that text, such as the word "Caution", appears.

[0093] In one or more embodiments or examples, the notification includes navigation parameters indicating one or more navigation directions to the target location. In one or more embodiments or examples, the navigation parameters indicate walking and / or biking navigation directions to the target location. In one or more embodiments or examples, the target location is the destination, for example, after the ride is completed. The target location can be set by the passenger and / or a third party. In one or more embodiments or examples, the system 500 is configured to provide the passenger with directions to the target location from the location indicated by the location data 503 when the ride is completed. In one or more embodiments or examples, the system 500 causes directions (such as navigation directions, etc.) to be presented to the passenger.

[0094] In one or more embodiments or examples, the system 500 receives instructions to present walking directions to the passenger based on the auxiliary parameters. For example, when the auxiliary parameters indicate that the passenger is impaired, the system 500 displays the walking directions on a built-in display (such as a screen, etc.) and / or uses audio. In one or more embodiments or examples, the system 500 is configured to present a highlighted crosswalk to the passenger (such as via a light, etc.). In one or more embodiments or examples, the system 500 is configured to transmit walking directions to the passenger (such as to the passenger's mobile phone, etc.).

[0095] In one or more embodiments or examples, the system 500 is configured to present a picture of a landmark and / or a road sign to a passenger. In one or more embodiments or examples, the system 500 is configured to present a subway entrance with and / or without a photo to a passenger.

[0096] In some embodiments or examples, the system 500 is configured to present directions to the passenger. For example, the system 500 can be configured to present directions to the passenger via a device (e.g., a passenger's device, an application executed on the passenger's device, and / or a navigation application and / or a ride-hailing application).

[0097] In one or more embodiments or examples, the system 500 is configured to control the operation by obtaining sensor data 512 associated with the environment in which the autonomous vehicle is operating using at least one processor. In one or more embodiments or examples, the system 500 is configured to control the operation by controlling the operation of the autonomous vehicle based on the sensor data 512 and the auxiliary parameters 507.

[0098] In one or more embodiments or examples, the system 500 is configured to obtain sensor data 512 from the sensor 510, and the sensor data 512 is associated with the environment in which the autonomous vehicle is operating. In one or more embodiments or examples, the system 500 includes one or more sensors 510. In one or more embodiments or examples, the sensor data 512 is one or more of the following: Radar sensor data associated with a Radar image, non-Radar sensor data, camera sensor data, image sensor data associated with a camera image, audio sensor data associated with an audio signal, and LiDAR sensor data associated with a point cloud. The specific type of sensor data is not limited. The sensor data 512 can indicate the environment around the autonomous vehicle. For example, the sensor data 512 indicates an object and / or multiple objects in the environment around the autonomous vehicle.

[0099] In one or more embodiments or examples, sensor 510 is one or more sensors, such as onboard sensors, etc. Sensor 510 can be part of perception system 502, which can include one or more components of perception system 402. In one or more embodiments or examples, sensor 510 is associated with an autonomous vehicle. The autonomous vehicle can include one or more sensors that can be configured to monitor the environment in which the autonomous vehicle is operating, such as via sensor 510, through sensor data 512. For example, monitoring provides sensor data 512 indicating what is happening in the environment around the autonomous vehicle, such as for determining a trajectory of the autonomous vehicle. In one or more embodiments or examples, sensors include Figure 2 One or more of the sensors shown. Sensor 510 may be Figure 2 One or more of the sensors shown. In one or more embodiments or examples, sensor 510 is one or more of the following: a Radar sensor, a non-Radar sensor, a camera sensor, a microphone, an infrared sensor, an image sensor, and a LiDAR sensor. In one or more embodiments or examples, sensor 510 may be selected from the group consisting of a Radar sensor, a camera sensor, and a LiDAR sensor.

[0100] For example, the sensor data 512 indicates the status of the passenger. The sensor data 512 may indicate the status of the passenger provided by the perception system 502, the prediction system, and / or the planning system 504 of the autonomous vehicle. In one or more embodiments or examples, the sensor data 512 includes passenger data.

[0101] In one or more embodiments or examples, the system 500 determines the auxiliary parameters 507 by determining, using at least one processor, collision parameters indicating a potential collision near the autonomous vehicle when the ride is completed based on the sensor data 512. In one or more embodiments or examples, the system 500 determines the auxiliary parameters 507 based on the collision parameters using at least one processor. The auxiliary parameters 507 can trigger a control operation of the autonomous vehicle based on the collision parameters. For example, the auxiliary parameters 507 are determined based on the collision parameters. The collision parameters can indicate a potential collision. In one or more embodiments or examples, the system 500 is configured to determine the collision parameters using a prediction system.

[0102] In one or more embodiments or examples, the sensor data 512 indicates objects in the environment surrounding the autonomous vehicle. For example, the sensor data 512 indicates the trajectory of an object in the environment. The sensor data 512 may indicate data associated with a passenger. In one or more embodiments or examples, the sensor data 512 indicates the trajectory of a passenger. In one or more embodiments or examples, the system 500 is configured to determine (such as predict, etc.) the trajectory of a passenger and / or an object indicated by the sensor data. In one or more embodiments or examples, the system 500 is configured to track a passenger (such as a passenger's state, etc.) and / or predict the movement of a passenger, etc.

[0103] In one or more embodiments or examples, the system 500 is configured to determine whether there will be a potential collision between a passenger and an object in the environment. For example, the system 500 determines a potential collision based on whether the trajectory of the object determined to be an object may intersect with the trajectory of the passenger. In one or more embodiments or examples, the system 500 is configured to determine a collision parameter indicating a potential collision based on whether the object indicated by the sensor data 512 meets a first threshold. For example, the system 500 is configured to determine a collision parameter indicating no potential collision based on whether the object indicated by the sensor data 512 does not meet a first threshold. The first threshold can be the distance of the object from the autonomous vehicle. The first threshold can be the distance of the object indicated by the sensor data 512 from the passenger. According to whether the object is located at or below the threshold relative to the autonomous vehicle and / or the passenger, the sensor data 512 can meet the threshold. The collision parameter may be beneficial for passengers who leave the autonomous vehicle, such as when the ride is completed. In one or more embodiments or examples, the system 500 is configured to control the operation of the autonomous vehicle based on the collision parameter. For example, the system 500 is configured to advise passengers, such as by causing a notification to be presented to the passengers, to exit the vehicle on the best side to avoid a potential collision.

[0104] In one or more embodiments or examples, the system 500 is configured to cause a notification to be presented to the passenger regarding exiting the vehicle on the best side based on the sensor data 512 indicating the location of the sidewalk and / or oncoming traffic. For example, the system 500 is configured to cause a notification to be presented to the passenger not to exit the vehicle. In one or more embodiments or examples, the system 500 is configured to cause a notification to be presented to the passenger that the sensor data 512 indicates a median with a physical obstruction on the road, for example, to advise the passenger when it is unsafe to cross the road.

[0105] In one or more embodiments or examples, the passenger can leave the autonomous vehicle when the ride is completed. In one or more embodiments or examples, the system 500 is configured to determine that the sensor data 512 indicates limited visibility of the environment. In one or more embodiments or examples, the system 500 is configured to determine that the passenger will cross the road, such as based on the passenger destination input. In one or more embodiments or examples, the system 500 is configured to determine the collision parameters based on the sensor data 512 indicating the crossing traffic. In one or more embodiments or examples, if the system 500 determines that the collision parameters indicate a potential collision, the system 500 is configured to operate the autonomous vehicle to present a notification of the potential collision to the passenger, such as by controlling the autonomous vehicle to activate lights and / or audio (such as a horn, etc.) or transmitting the notification to the passenger's mobile phone, etc. In one or more embodiments or examples, the system 500 is also configured to present external notifications to other road users, such as via controlling the lights and / or physical signs of the autonomous vehicle, to warn passengers or other road users.

[0106] For example, the system 500 is configured to cause a notification of a sidewalk location to be presented to a passenger based on the auxiliary parameters 507. In one or more embodiments or examples, the system 500 is configured to cause a notification regarding which door to exit from to be presented to a passenger based on the auxiliary parameters 507. In one or more embodiments or examples, the system 500 is configured to cause a notification of when it is safe and / or unsafe to exit the autonomous vehicle based on the auxiliary parameters 507.

[0107] In one or more embodiments or examples, the system 500 determines the auxiliary parameter 507 by determining a return parameter indicating a request for a passenger to return to the autonomous vehicle based on the sensor data 512 using at least one processor. In one or more embodiments or examples, the system 500 determines the auxiliary parameter 507 based on the return parameter using at least one processor. The auxiliary parameter 507 may indicate that the autonomous vehicle is controlled based on the return parameter. In one or more embodiments or examples, the return parameter indicates a forgotten personal item. For example, the system 500 obtains sensor data 512 indicating an unknown object in the autonomous vehicle, such as in the cab of the autonomous vehicle, etc. In one or more embodiments or examples, based on the system 500 determining that there is an unknown object, the system 500 is configured to control the operation of the autonomous vehicle by causing a notification indicating the auxiliary parameter 507 to be presented to the passenger. The notification may indicate to the passenger to return to the vehicle. In one or more embodiments or examples, based on the system 500 not determining that an unknown object is present, the system 500 is configured to control the operation of the autonomous vehicle by not causing a notification indicating the auxiliary parameter 507 to be presented to the passenger.

[0108] The return parameter may indicate an incorrect destination. For example, the system 500 obtains location data 503 indicating a location different from the target location. In one or more embodiments or examples, based on the system 500 determining that the location data 503 indicates a location different from the target location, the system 500 is configured to control the operation of the autonomous vehicle by causing a notification indicating the auxiliary parameter 507 to be presented to the passenger. The notification may indicate to the passenger to return to the vehicle. In one or more embodiments or examples, based on the system 500 determining that the location data 503 does not indicate a location different from the target location, the system 500 is configured to control the operation of the autonomous vehicle by not causing a notification indicating the auxiliary parameter 507 to be presented to the passenger.

[0109] In one or more embodiments or examples, the system 500 controls operation by controlling passenger access to the autonomous vehicle using at least one processor. For example, the system 500 is configured to control operation of the autonomous vehicle by providing access such as unlocking a door, opening a door, and opening one or more of a window of the autonomous vehicle.

[0110] In one or more embodiments or examples, the system 500 determines the auxiliary parameters 507 by using at least one processor to determine the emergency parameters indicating the emergency situation for the passenger based on the sensor data 512. In one or more embodiments or examples, the system 500 determines the auxiliary parameters 507 based on the emergency parameters using at least one processor. The emergency parameters can indicate an emergency situation for the passenger. For example, the sensor data 512 indicates an adverse environment for the passenger. For example, the sensor data 512 indicates one or more of the following: the passenger has fallen, the passenger is experiencing hostile activities, the passenger is experiencing robbery, the passenger is experiencing an argument, flooding, bad weather, and the passenger's signal notification that the passenger needs assistance. For example, the sensor data 512 indicates one or more of the signal notifications of other people who have fallen, other people are experiencing hostile activities, other people are experiencing robbery, other people are experiencing an argument, and other people need assistance. In one or more embodiments or examples, the system 500 includes an emergency database. In one or more embodiments or examples, the system 500 uses machine learning to determine the emergency situation.

[0111] For example, based on determining that the emergency parameters indicate an emergency situation against a passenger, the system 500 is configured to control the autonomous vehicle to do one or more of the following: wait a period of time to ensure that the passenger is safe at the destination, contact a remote vehicle assistance operator to verify the emergency parameters, contact emergency services, contact a third party (e.g., an emergency contact that the passenger has on their account), operate the autonomous vehicle's lights (e.g., flash the lights to illuminate the area between the passenger and the autonomous vehicle if the autonomous vehicle detects a physical assault), otherwise attempt to interrupt the physical assault, reposition the autonomous vehicle closer to the passenger (e.g., if the passenger is already moving along a road), and prompt the passenger to return to the autonomous vehicle to escape the unsafe situation, such as by presenting a notification to the passenger.

[0112] In one or more embodiments or examples, the system is configured to determine emergency parameters by obtaining emergency information data indicating a potential emergency from an external source using at least one processor. The potential emergency can be considered a criminal emergency, such as a robbery or dispute in an environment. The potential emergency can be considered a weather-related emergency such as a flood, fog, and / or heavy rain. The potential emergency can be a fire-based emergency. The potential emergency can be a terrorist-based emergency.

[0113] In one or more embodiments or examples, the system 500 is configured to obtain emergency data from an external source. The external source may be any source containing information related to a potential emergency, such as, but not limited to, one or more of: a news source, a police source, a firefighter source, a weather service, and a government source, etc. The external source may be, but not limited to, one or more of a policy database, a news database, a police database, a firefighter database, a government database, and a weather database.

[0114] In one or more embodiments or examples, the system is configured to control the autonomous vehicle by transmitting the auxiliary parameters 507 to the external device so that the external device operates according to the auxiliary parameters 507. In one or more embodiments or examples, the external device is any device capable of receiving the transmitted auxiliary parameters 507. For example, the external device can be one or more of the following: a passenger's phone, an application on a computing system, a server, and a third party's phone.

[0115] For example, the system 500 is configured to transmit the auxiliary parameters 507 to the phone of the third party in the case of a successful and / or unsuccessful ride. Advantageously, this can provide comfort and safety to the third party. For example, the passenger is a child going to school, and the third party is a parent. The parent can receive assurance that the child has arrived safely. As another example, the passenger is an elderly and / or disabled patient returning home, and the third party is a caregiver who can be notified to meet the patient outside.

[0116] In one or more embodiments or examples, the external device operates in a number of different ways according to the auxiliary parameters 507. For example, the external device may operate by causing a notification indicating the auxiliary parameters 507 to be presented (such as to an owner of the external device, etc.).

[0117] In one or more embodiments or examples, the system 500 prompts the passenger to log in the contact information of the third party to allow the third party to receive notifications related to the success or failure of the ride. In one or more embodiments or examples, when the completion parameter 505 is determined, the system 500 is configured to transmit the auxiliary parameter 507 to the external device of the third party so that a notification indicating success is presented through the external device. In one or more embodiments or examples, when it is determined that the completion parameter 505 indicates an unsuccessful trip (such as when the trip is canceled or not completed, etc.), the system 500 is configured to transmit the auxiliary parameter 507 to the external device of the third party so that a notification indicating failure is presented through the external device.

[0118] In one or more embodiments or examples, the external device is part of a third-party system. In one or more embodiments or examples, the third-party system is one or more of the following: a passenger's home, a passenger's building, an auxiliary system, and an emergency system. The third-party system can be a system that operates upon receiving the transmitted auxiliary parameters 507. The third-party system may require credential entry to the system 500 and / or vice versa. For example, the third-party system is connected via an Internet protocol, and the system 500 is connected to the third party via an API. In the example of a smart home, the smart home provider has a public API to which the system 500 is connected. In one or more examples or embodiments, the passenger logs their smart home credentials into their ride application to activate the integration.

[0119] In one or more embodiments or examples, the system 500 obtains the passenger's home as a passenger selection of the target destination. In one or more embodiments or examples, the system 500 determines the completion parameters 505 and the auxiliary parameters 507. In one or more embodiments or examples, the system 500 controls the operation of the autonomous vehicle to transmit the auxiliary parameters 507 to a third-party system (e.g., the passenger's home with a networking feature). The auxiliary parameters 507 can instruct the third-party system to operate with the "arrival settings" that the user has set. Upon receiving the auxiliary parameters 507, the third-party system can perform operations such as unlocking the door, opening the door, turning on the lights, and changing the temperature. One or more operations.

[0120] The completion parameter 505 may be set at a specific time from the target destination, allowing for a longer time horizon. For example, when the system 500 controls the operation of the autonomous vehicle to transmit the auxiliary parameter 507 10 minutes from the target location, the third party system operates to turn on the heater.

[0121] In one or more embodiments or examples, the system is configured to control operations by controlling the movement of the autonomous vehicle. These actions can be controlled via the planning system 504 (such as Figure 4 planning system 404, etc.) and / or control system 508 (such as Figure 4For example, the system 500 is configured to control the operation of the autonomous vehicle to remain stationary for a period of time. For example, the system 500 is configured to control the operation of the autonomous vehicle to leave a hostile place in order to get off. In one or more embodiments or examples, the system 500 is configured to control the operation of the autonomous vehicle in this way through one or more of the following: acceleration and trajectory of the autonomous vehicle. Advantageously, the system 500 can command the autonomous vehicle to remain stationary and / or command a trajectory in response to sensor data related to getting off, rather than in response to receiving a new driving destination.

[0122] The system 500 is configured to control the operation by generating control data for the control system of the autonomous vehicle. The system 500 is configured to control the operation by providing the control data to the control system of the autonomous vehicle. The system 500 is configured to control the operation by transmitting the control data to, for example, the control system of the autonomous vehicle and / or an external system. The system 500 is configured to control the operation by controlling the control system of the autonomous vehicle and / or the external system based on the control data.

[0123] Reference now Figure 6 , illustrates a flow chart of a method or process 600 for passenger assistance upon ride completion (such as for operating and / or controlling an AV upon ride completion, etc.). The method may be implemented by a method disclosed herein such as Figure 1 , Figure 2 , Figure 3 , Figure 4 AV computing 400 and vehicles 102, 200 and Figure 5 The disclosed system 500 may include at least one processor that may be configured to perform one or more operations of the method 600. The method 600 may be performed by other devices or device groups that are separate from the system disclosed herein or include the system disclosed herein (e.g., completely and / or partially, etc.).

[0124] Method 600 is disclosed herein. In one or more embodiments or examples, method 600 includes obtaining, using at least one processor, location data indicating an environment in which an autonomous vehicle is operating, at step 602. In one or more embodiments or examples, method 600 includes determining, using at least one processor, a completion parameter indicating completion of a ride of the autonomous vehicle based on the location data, at step 604. In one or more embodiments or examples, method 600 includes determining, using at least one processor, at step 606, an assistance parameter indicating assistance to a passenger of the autonomous vehicle to be provided by the autonomous vehicle after the ride is completed, based on the location data and the completion parameter. In one or more embodiments or examples, method 600 includes controlling, using at least one processor, the operation of the autonomous vehicle to assist the passenger based on the assistance parameter, at step 608.

[0125] In one or more embodiments or examples, the completion parameter indicates the distance from the ride completion. In one or more embodiments or examples, the ride completion is based on user input such as a user destination.

[0126] In one or more embodiments or examples, at step 608, the control operation includes controlling one or more lights of the autonomous vehicle and / or one or more output interfaces of the autonomous vehicle.

[0127] The one or more lights may aid vision and visibility of passengers using lights provided on the vehicle. The output interface may include a speaker.

[0128] In one or more embodiments or examples, at step 608 , the controlling operation includes causing, using at least one processor, a notification indicating the assistance parameter to be presented to a passenger or other road user based on the assistance parameter.

[0129] For example, method 600 includes displaying a user interface object representing a notification on a display device based on the auxiliary parameter. For example, the display device is part of an autonomous vehicle. The display device can be part of a passenger device such as a mobile device.

[0130] In one or more embodiments or examples, causing the notification to be presented to a passenger or other road user includes causing an external notification and / or an internal notification to be presented to the passenger or other road user.

[0131] In one or more embodiments or examples, the external notification is on the exterior of the autonomous vehicle, such as to assist disabled passengers, etc. The external notification may provide other road users with information that a passenger is exiting the vehicle or crossing the road.

[0132] In one or more embodiments or examples, causing the notification to be presented to a passenger or other road user includes causing one or more of the following to be presented to the passenger or other user: a user interface object representing the notification, a physical notification, an audible notification, and a light-based notification.

[0133] In one or more embodiments or examples, the user interface object is displayed on a display device. The physical notification can be a physical sign such as a sign with text. The auditory notification is, for example, an external speaker playing a message. The method 600 can determine the visibility of the environment and then turn on the lights of the autonomous vehicle, such as to illuminate the area and / or illuminate the surface so that "caution" appears on the surface.

[0134] In one or more embodiments or examples, the notification includes navigation parameters indicating one or more navigation directions to the destination location.

[0135] In one or more embodiments or examples, the destination location is set by the passenger.

[0136] In one or more embodiments or examples, at step 608, the control operation includes obtaining sensor data associated with the environment in which the autonomous vehicle is operating using at least one processor. In one or more embodiments or examples, at step 608, the control operation includes controlling the operation of the autonomous vehicle based on the sensor data and the auxiliary parameters.

[0137] In one or more embodiments or examples, the sensor data indicates a passenger status provided by a perception system, a prediction system, and / or a planning system of the autonomous vehicle. The sensor data may include passenger data.

[0138] In one or more embodiments or examples, at step 606, determining the auxiliary parameters includes determining, using at least one processor, based on the sensor data, collision parameters indicating a potential collision near the autonomous vehicle when the ride is completed. In one or more embodiments or examples, at step 606, determining the auxiliary parameters includes determining, using at least one processor, the auxiliary parameters based on the collision parameters.

[0139] The potential collision may be for passengers exiting the vehicle. For example, the auxiliary parameters cause notifications regarding one or more of the following: which door to exit from, notification of the location of the sidewalk, and notification when it is unsafe to exit.

[0140] In one or more embodiments or examples, at step 606, determining the auxiliary parameter includes determining, using at least one processor, a return parameter indicating a request for the passenger to return to the autonomous vehicle based on the sensor data. In one or more embodiments or examples, at step 606, determining the auxiliary parameter includes determining, using at least one processor, the auxiliary parameter based on the return parameter.

[0141] Return requests can be for forgotten personal belongings and / or wrong destinations.

[0142] In one or more embodiments or examples, at step 608, the controlling operation includes controlling access of a passenger to the autonomous vehicle using at least one processor.

[0143] For example, providing access may include unlocking, opening a door, and / or keeping a door locked to the autonomous vehicle by a passenger.

[0144] In one or more embodiments or examples, at step 606, determining the auxiliary parameter includes determining, using at least one processor, an emergency parameter indicating an emergency situation for the passenger based on the sensor data. In one or more embodiments or examples, at step 606, determining the auxiliary parameter includes determining, using at least one processor, the auxiliary parameter based on the emergency situation parameter.

[0145] The emergency situation may be one or more of a passenger emergency, a fall, hostile activity, robbery, altercation, disaster alert, flood, weather, and a passenger signal to the autonomous vehicle that the passenger requires assistance.

[0146] At step 608, control may include one or more of: waiting some time to ensure that the passenger is safe at the destination, contacting the remote vehicle assistance operator to verify detection, contacting emergency services, and prompting the passenger to return to the vehicle to escape the unsafe situation.

[0147] In one or more embodiments or examples, determining the emergency situation parameter includes obtaining, using at least one processor, emergency situation information data indicative of a potential emergency situation from an external source.

[0148] In one or more embodiments or examples, the external source is one or more of a policy database, a news database, and a weather database.

[0149] In one or more embodiments or examples, at step 608 , the control operation includes transmitting the auxiliary parameter to the external device so that the external device operates according to the auxiliary parameter.

[0150] For example, method 600 includes one or more of transmitting to a passenger's phone, transmitting to an application, and transmitting to a third party in the event of a successful / unsuccessful trip.

[0151] In one or more embodiments or examples, the external device is part of a third party system.

[0152] In one or more embodiments or examples, the third party system is one or more of a passenger's home, a passenger's building, an auxiliary system, and an emergency system.

[0153] In one or more embodiments or examples, at step 608, the controlling operation includes controlling movement of the autonomous vehicle.

[0154] In one or more embodiments or examples, controlling movement includes controlling the autonomous vehicle to remain stationary for a period of time and / or to move away from a hostile location in order to disembark.

[0155] A non-transitory computer-readable medium is disclosed that includes instructions stored thereon that, when executed by at least one processor, cause the at least one processor to perform operations described in accordance with one or more methods disclosed herein.

[0156] In the previous description, aspects and embodiments of the present disclosure have been described with reference to many specific details, which may vary depending on the implementation. Therefore, the description and the accompanying drawings should be regarded as illustrative, not restrictive. The only and exclusive indication of the scope of the invention, and the applicant's expectation that the content of the scope of the invention is the literal and equivalent scope of the claims issued from this application in the specific form of the claims, including any subsequent amendments. Any definition of the terms used to be included in such claims that are clearly set forth herein should be based on the meaning of such terms as used in the claims. In addition, when the term "also includes" is used in the previous description or the attached claims, the following of the phrase may be an additional step or entity, or a sub-step / sub-entity of the previously described step or entity.

[0157] Also disclosed are methods, non-transitory computer readable media, and systems according to any of the following:

[0158] Item 1. A method comprising:

[0159] Using at least one processor, obtaining location data indicative of an environment in which the autonomous vehicle is operating;

[0160] determining, using the at least one processor, based on the location data, a completion parameter indicative of a ride of the autonomous vehicle;

[0161] determining, using the at least one processor, an assistance parameter based on the location data and the completion parameter, the assistance parameter indicating assistance by the autonomous vehicle to a passenger of the autonomous vehicle to be provided after completion of the ride; and

[0162] Using the at least one processor, based on the assistance parameter, operation of the autonomous vehicle is controlled to assist the passenger.

[0163] Item 2. A method according to Item 1, wherein controlling the operation includes controlling one or more lights of the autonomous vehicle and / or one or more output interfaces of the autonomous vehicle.

[0164] Item 3. A method according to any one of items 1-2, wherein controlling the operation includes using the at least one processor to present a notification indicating the auxiliary parameter to the passenger or other road user based on the auxiliary parameter.

[0165] Item 4. A method according to Item 3, wherein causing the notification to be presented to the passenger or other road user comprises causing an external notification and / or an internal notification to be presented to the passenger or other road user.

[0166] Item 5. A method according to any one of Items 3-4, wherein causing the notification to be presented to the passenger or other road user comprises causing one or more of the following to be presented to the passenger or other user: a user interface object representing the notification, a physical notification, an auditory notification, and a light-based notification.

[0167] Item 6. A method according to any one of Items 3-5, wherein the notification includes navigation parameters indicating one or more navigation directions to a target location.

[0168] Item 7. The method according to any one of Items 3 to 6, wherein controlling the operation comprises:

[0169] obtaining, using the at least one processor, sensor data associated with an environment in which the autonomous vehicle is operating; and

[0170] Operation of the autonomous vehicle is controlled based on the sensor data and the auxiliary parameters.

[0171] Item 8. The method according to Item 7, wherein determining the auxiliary parameter comprises:

[0172] determining, using the at least one processor, based on the sensor data, collision parameters indicative of a potential collision in the vicinity of the autonomous vehicle upon completion of the ride; and

[0173] The assistance parameter is determined based on the collision parameter using the at least one processor.

[0174] Item 9. The method according to any one of items 7-8, wherein determining the auxiliary parameter comprises:

[0175] determining, using the at least one processor, based on the sensor data, a return parameter indicative of a request by the passenger to return to the autonomous vehicle; and

[0176] The auxiliary parameter is determined based on the return parameter using the at least one processor.

[0177] Item 10. A method according to any of the preceding items, wherein controlling the operation includes using the at least one processor to control the passenger's access to the autonomous vehicle.

[0178] Item 11. The method according to any one of Items 7-10, wherein determining the auxiliary parameter comprises:

[0179] determining, using the at least one processor, an emergency parameter indicative of an emergency situation for the passenger based on the sensor data; and

[0180] The auxiliary parameter is determined based on the emergency situation parameter using the at least one processor.

[0181] Item 12. The method of item 11, wherein determining the emergency parameters comprises:

[0182] Using the at least one processor, emergency information data indicative of a potential emergency situation is obtained from an external source.

[0183] Item 13. A method according to any one of the preceding items, wherein controlling the autonomous vehicle includes transmitting the auxiliary parameters to an external device so that the external device operates according to the auxiliary parameters.

[0184] Item 14. A method according to Item 13, wherein the external device is part of a third-party system.

[0185] Item 15. A method according to any of the preceding items, wherein controlling the operation includes controlling the movement of the autonomous vehicle.

[0186] Item 16. A non-transitory computer-readable medium comprising instructions stored thereon, the instructions, when executed by at least one processor, causing the at least one processor to perform operations comprising:

[0187] Using at least one processor, obtaining location data indicative of an environment in which the autonomous vehicle is operating;

[0188] determining, using the at least one processor, based on the location data, a completion parameter indicating completion of the ride of the autonomous vehicle;

[0189] determining, using the at least one processor, an assistance parameter based on the location data and the completion parameter, the assistance parameter indicating assistance by the autonomous vehicle to a passenger of the autonomous vehicle to be provided after completion of the ride; and

[0190] Using the at least one processor, based on the assistance parameter, operation of the autonomous vehicle is controlled to assist the passenger.

[0191] Item 17. A non-transitory computer-readable medium according to Item 16, wherein the control operation includes controlling one or more lights of the autonomous vehicle and / or one or more output interfaces of the autonomous vehicle.

[0192] Item 18. A non-transitory computer-readable medium according to any one of Items 16-17, wherein controlling the operation includes using the at least one processor to present a notification indicating the auxiliary parameter to the passenger or other road user based on the auxiliary parameter.

[0193] Item 19. The non-transitory computer-readable medium of Item 18, wherein causing the notification to be presented to the passenger or other road user comprises causing an external notification and / or an internal notification to be presented to the passenger or other road user.

[0194] Item 20. A non-transitory computer-readable medium as described in any of Items 18-19, wherein causing the notification to be presented to the passenger or other road user includes causing one or more of the following to be presented to the passenger or other user: a user interface object representing the notification, a physical notification, an auditory notification, and a light-based notification.

[0195] Item 21. The non-transitory computer-readable medium of any one of Items 18-20, wherein the notification includes navigation parameters indicating one or more navigation directions to a destination location.

[0196] Clause 22. The non-transitory computer-readable medium of any one of clauses 18-21, wherein controlling the operation comprises:

[0197] obtaining, using the at least one processor, sensor data associated with an environment in which the autonomous vehicle is operating; and

[0198] Operation of the autonomous vehicle is controlled based on the sensor data and the auxiliary parameters.

[0199] Clause 23. The non-transitory computer-readable medium of clause 22, wherein determining the auxiliary parameter comprises:

[0200] determining, using the at least one processor, based on the sensor data, collision parameters indicative of a potential collision in the vicinity of the autonomous vehicle upon completion of the ride; and

[0201] The assistance parameter is determined based on the collision parameter using the at least one processor.

[0202] Clause 24. The non-transitory computer-readable medium of any one of clauses 22-23, wherein determining the auxiliary parameter comprises:

[0203] determining, using the at least one processor, based on the sensor data, a return parameter indicative of a request by the passenger to return to the autonomous vehicle; and

[0204] The auxiliary parameter is determined based on the return parameter using the at least one processor.

[0205] Item 25. A non-transitory computer-readable medium as described in any of Items 16-24, wherein controlling the operation includes using the at least one processor to control the passenger's access to the autonomous vehicle.

[0206] Clause 26. The non-transitory computer-readable medium of any one of clauses 22-25, wherein determining the auxiliary parameter comprises:

[0207] determining, using the at least one processor, an emergency parameter indicative of an emergency situation for the passenger based on the sensor data; and

[0208] The auxiliary parameter is determined based on the emergency situation parameter using the at least one processor.

[0209] Clause 27. The non-transitory computer-readable medium of clause 26, wherein determining the emergency situation parameter comprises:

[0210] Using the at least one processor, emergency information data indicative of a potential emergency situation is obtained from an external source.

[0211] Item 28. A non-transitory computer-readable medium according to any one of Items 16-27, wherein controlling the autonomous vehicle includes transmitting the auxiliary parameters to an external device so that the external device operates according to the auxiliary parameters.

[0212] Item 29. The non-transitory computer-readable medium of Item 28, wherein the external device is part of a third-party system.

[0213] Item 30. A non-transitory computer-readable medium as described in any of Items 16-29, wherein controlling the operation includes controlling the movement of the autonomous vehicle.

[0214] Item 31. A system comprising: at least one processor; and at least one memory storing instructions that, when executed by the at least one processor, cause the at least one processor to:

[0215] obtaining location data indicative of an environment in which the autonomous vehicle is operating;

[0216] determining, based on the location data, a completion parameter indicating completion of the ride of the autonomous vehicle;

[0217] determining, based on the location data and the completion parameter, an assistance parameter indicative of assistance by the autonomous vehicle to a passenger of the autonomous vehicle to be provided after completion of the ride; and

[0218] Based on the assistance parameters, operation of the autonomous vehicle is controlled to assist the passenger.

[0219] Item 32. A system according to Item 31, wherein controlling the operation includes controlling one or more lights of the autonomous vehicle and / or one or more output interfaces of the autonomous vehicle.

[0220] Item 33. A system according to any one of Items 31-32, wherein controlling the operation includes using the at least one processor to present a notification indicating the auxiliary parameter to the passenger or other road user based on the auxiliary parameter.

[0221] Item 34. A system according to Item 33, wherein causing the notification to be presented to a passenger or to other road users includes causing an external notification and / or an internal notification to be presented to a passenger or other road user.

[0222] Item 35. A system according to any of Items 33-34, wherein causing the notification to be presented to a passenger or other road user includes causing one or more of the following to be presented to the passenger or other user: a user interface object representing the notification, a physical notification, an auditory notification, and a light-based notification.

[0223] Item 36. A system according to any of Items 33-35, wherein the notification includes navigation parameters indicating one or more navigation directions to the target location.

[0224] Item 37. The system of any one of Items 33-36, wherein the controlling operation comprises:

[0225] obtaining, using the at least one processor, sensor data associated with an environment in which the autonomous vehicle is operating; and

[0226] Operation of the autonomous vehicle is controlled based on the sensor data and the auxiliary parameters.

[0227] Item 38. The system of Item 37, wherein determining the auxiliary parameter comprises:

[0228] determining, using the at least one processor, based on the sensor data, collision parameters indicative of a potential collision in the vicinity of the autonomous vehicle when the ride is completed; and

[0229] The assistance parameter is determined based on the collision parameter using the at least one processor.

[0230] Item 39. The system of any one of Items 37-38, wherein determining the auxiliary parameter comprises:

[0231] determining, using the at least one processor, a return parameter indicative of a request for a passenger to return to the autonomous vehicle based on the sensor data; and

[0232] The auxiliary parameter is determined based on the return parameter using the at least one processor.

[0233] Item 40. A system according to any one of Items 31-39, wherein the control operation includes using the at least one processor to control passenger access to the autonomous vehicle.

[0234] Item 41. The system of any one of Items 37-40, wherein determining the auxiliary parameter comprises:

[0235] determining, using the at least one processor, an emergency parameter indicative of an emergency situation for a passenger based on the sensor data; and

[0236] The auxiliary parameter is determined based on the emergency situation parameter using the at least one processor.

[0237] Clause 42. The system of clause 41, wherein determining the emergency situation parameter comprises:

[0238] Using the at least one processor, emergency information data indicative of a potential emergency situation is obtained from an external source.

[0239] Item 43. A system according to any one of Items 31-42, wherein controlling the autonomous vehicle includes transmitting the auxiliary parameters to an external device so that the external device operates according to the auxiliary parameters.

[0240] Item 44. A system according to Item 43, wherein the external device is part of a third-party system.

[0241] Item 45. A system according to any one of Items 31-44, wherein the control operation includes controlling the movement of the autonomous vehicle.

Claims

1. A method comprising: obtaining, using at least one processor, location data indicative of a location within an environment in which the autonomous vehicle is operating; determining, using the at least one processor, based on the location data, a completion parameter indicating completion of the ride of the autonomous vehicle; determining, using the at least one processor, an assistance parameter based on the location data and the completion parameter, the assistance parameter indicating assistance by the autonomous vehicle to a passenger of the autonomous vehicle to be provided after completion of the ride; as well as Controlling, using the at least one processor, operations of the autonomous vehicle for assisting the passenger based on the assistance parameters.

2. The method according to claim 1, wherein: Controlling the operation includes controlling one or more lights of the autonomous vehicle and / or one or more output interfaces of the autonomous vehicle.

3. The method according to any one of claims 1 to 2, wherein: Controlling the operation includes causing, using the at least one processor, presentation of a notification indicative of the assistance parameter to the passenger or other road user based on the assistance parameter.

4. The method according to claim 3, wherein: Causing the notification to be presented to the passenger or other road user includes causing an external notification and / or an internal notification to be presented to the passenger or to other road users.

5. The method according to any one of claims 3 to 4, wherein: Causing presentation of the notification to the passenger or other road user includes causing presentation of one or more of the following to the passenger or other user: a user interface object representing the notification, a physical notification, an audible notification, and a light-based notification.

6. The method according to any one of claims 3 to 5, wherein: The notification includes navigation parameters indicating one or more navigation directions to a target location.

7. The method according to any one of claims 3 to 6, wherein: Controlling the operation includes: obtaining, using the at least one processor, sensor data associated with an environment in which the autonomous vehicle is operating; and Operation of the autonomous vehicle is controlled based on the sensor data and the auxiliary parameters.

8. The method according to claim 7, wherein: Determining the auxiliary parameter includes: determining, using the at least one processor, based on the sensor data, collision parameters indicative of a potential collision in the vicinity of the autonomous vehicle upon completion of the ride; and The assistance parameter is determined based on the collision parameter using the at least one processor.

9. The method according to any one of claims 7 to 8, wherein: Determining the auxiliary parameter includes: determining, using the at least one processor, based on the sensor data, a return parameter indicative of a request by the passenger to return to the autonomous vehicle; and The auxiliary parameter is determined based on the return parameter using the at least one processor.

10. A method according to any one of the preceding claims, wherein: Controlling the operation includes controlling access of the passenger to the autonomous vehicle using the at least one processor.

11. The method according to any one of claims 7 to 10, wherein: Determining the auxiliary parameter includes: determining, using the at least one processor, an emergency parameter indicative of an emergency situation for the passenger based on the sensor data; and The auxiliary parameter is determined based on the emergency situation parameter using the at least one processor.

12. The method according to claim 11, wherein: Determining the emergency parameters includes: Using the at least one processor, emergency information data indicative of a potential emergency situation is obtained from an external source.

13. A method according to any one of the preceding claims, wherein: Controlling the autonomous vehicle includes transmitting the auxiliary parameters to an external device so that the external device operates according to the auxiliary parameters.

14. The method according to claim 13, wherein: The external device is part of a third party system.

15. A method according to any one of the preceding claims, wherein: Controlling the operation includes controlling the movement of the autonomous vehicle.

16. A non-transitory computer-readable medium comprising instructions stored thereon, the instructions, when executed by at least one processor, causing the at least one processor to perform operations comprising: obtaining, using at least one processor, location data indicative of an environment in which the autonomous vehicle is operating; determining, using the at least one processor, based on the location data, a completion parameter indicating completion of the ride of the autonomous vehicle; determining, using the at least one processor, an assistance parameter based on the location data and the completion parameter, the assistance parameter indicating assistance by the autonomous vehicle to a passenger of the autonomous vehicle to be provided after completion of the ride; as well as Controlling, using the at least one processor, operations of the autonomous vehicle for assisting the passenger based on the assistance parameters.

17. A system comprising: at least one processor; and at least one memory storing instructions that, when executed by the at least one processor, cause the at least one processor to: obtaining location data indicative of an environment in which the autonomous vehicle is operating; determining, based on the location data, a completion parameter indicating completion of the ride of the autonomous vehicle; determining, based on the location data and the completion parameter, an assistance parameter indicative of assistance by the autonomous vehicle to a passenger of the autonomous vehicle to be provided after completion of the ride; as well as Based on the assistance parameters, the operation of the autonomous vehicle for assisting the passenger is controlled.

18. The system of claim 17, wherein: Controlling the operation includes controlling one or more lights of the autonomous vehicle and / or one or more output interfaces of the autonomous vehicle.

19. A system according to any one of claims 17 to 18, wherein: Controlling the operation includes causing, using the at least one processor, presentation of a notification indicative of the assistance parameter to the passenger or other road user based on the assistance parameter.

20. The system of claim 19, wherein: Controlling the operation includes: obtaining, using the at least one processor, sensor data associated with an environment in which the autonomous vehicle is operating; and Based on the sensor data and the auxiliary parameters, the operation of the autonomous vehicle is controlled.

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