Obtaining user input

Abstract

A method includes determining a travel path for a motorized electronic device to move from a first location to a second location. A baseline yaw rotation of the body of the motorized electronic device relative to the path of travel is caused along the path of travel. The method also includes determining, by the control system, a potential operator notifying the motorized electronic device. In response to determining to notify the potential operator, the method includes controlling, using a control system, operation of a system of the motorized electronic device to cause a change in yaw rotation of a body of the motorized electronic device relative to a baseline yaw rotation.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. Provisional Application No. 63 / 484,224, filed on February 10, 2023, the contents of which are hereby incorporated by reference in their entirety for all purposes. Technical Field

[0002] The present disclosure relates generally to the field of notifying users and / or obtaining input from users of mobile electronic devices. Background Art

[0003] A mobile electronic device may be capable of operating in an autonomous manner (e.g., with limited input from a user) in various situations. In some instances, the mobile electronic device may determine that it may not be able to operate in a fully autonomous manner and may determine that input from a user may be desirable. In such instances, the mobile electronic device may notify the user to provide input. Summary of the Invention

[0004] One aspect of the present disclosure is a method comprising: determining a travel path for a mobile electronic device to move from a first position to a second position; and causing a base yaw rotation of a body of the mobile electronic device relative to a baseline yaw rotation of the travel path along the travel path. The method further comprises: determining, by a control system, to notify a potential operator of the mobile electronic device. In response to determining to notify the potential operator, the method comprises: using the control system to control operation of an actuator system of the mobile electronic device to cause a change in the yaw rotation of the body of the mobile electronic device relative to the baseline yaw rotation.

[0005] Another aspect of the present disclosure is a non-transitory computer-readable storage device comprising program instructions executable by one or more processors, the program instructions causing the one or more processors to perform operations when executed. The operations include determining a path of travel for the mobile electronic device to move from a first position to a second position, wherein following the path of travel causes a base line yaw rotation of a body of the mobile electronic device relative to the path of travel. The operations also include determining to notify a potential operator of the mobile electronic device. In response to determining to notify the potential operator, the operations include controlling operation of an actuator system of the mobile electronic device to cause a change in the yaw rotation of the body of the mobile electronic device relative to the base line yaw rotation.

[0006] Yet another aspect of the present disclosure is a mobile electronic device comprising: a main body of the mobile electronic device; and an actuator system for the mobile electronic device, the actuator system configured to cause movement of the main body of the mobile electronic device. A control system is configured to determine a travel path for the mobile electronic device to move from a first position to a second position, and cause a baseline yaw rotation of the main body of the mobile electronic device relative to the travel path along the travel path. The control system is configured to determine to notify a potential operator of the mobile electronic device. In response to determining to notify the potential operator, the control system is configured to use the control system to control operation of the actuator system of the mobile electronic device to cause a change in the yaw rotation of the main body of the mobile electronic device relative to the baseline yaw rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1A It is a block diagram of a motorized electronic device.

[0008] Figure 1B is a block diagram of a motorized electronic device in a crab walk configuration, according to some embodiments.

[0009] Figure 2 is an illustration of the motorized electronic device of FIG. 1 oriented in a first yaw rotation relative to a path of travel, according to some embodiments.

[0010] Figure 3 is an illustration of the motorized electronic device of FIG. 1 oriented in a second yaw rotation relative to a path of travel, according to some embodiments.

[0011] Figure 4 is a block diagram of a control system of the mobile electronic device of FIG. 1 , according to some embodiments.

[0012] Figure 5 is a block diagram of a method of controlling operation of the mobile electronic device of FIG. 1 , according to some embodiments.

[0013] Figure 6 is a block diagram of a method of controlling operation of the mobile electronic device of FIG. 1 , according to some embodiments. DETAILED DESCRIPTION

[0014] The disclosure herein relates to a mobile electronic device configured to operate at least partially autonomously. The mobile electronic device may determine a path of travel from a first location to a second location and may operate autonomously to move from the first location to the second location. The path of travel from the first location to the second location may include a curve that, when followed by the mobile electronic device, causes a baseline yaw rotation of the mobile electronic device relative to the path of travel.

[0015] In some implementations, a control system of a mobile electronic device is configured to determine that autonomous operation of the mobile electronic device may not be available for an upcoming portion of a travel path. In such implementations, the control system may determine to notify a user of the mobile electronic device that autonomous operation may not be available for the upcoming portion of the travel path. The control system may control operation of the mobile electronic device to cause a change in the yaw rotation of the mobile electronic device to notify the user that autonomous operation may not be available for the upcoming portion of the travel path. In some implementations, when autonomous operation may not be available, the control system may determine to obtain input from the user and may cause a change in the yaw rotation of the mobile electronic device to notify the user and obtain input from the user.

[0016] FIG1 is a block diagram of a mobile electronic device 100. The mobile electronic device 100 may include any type of electronic device configured to move autonomously (e.g., without user intervention) or partially autonomously (e.g., with some user intervention). For example, the mobile electronic device 100 may include a cleaning device (e.g., a vacuum cleaner, a mop, etc.), a rover device (e.g., a device configured to explore an area), or a vehicle. In some implementations, the mobile electronic device 100 is configured to carry items such as cargo. In some implementations, the mobile electronic device 100 is configured to carry passengers.

[0017] The mobile electronic device 100 is shown to include a body 102. The body 102 serves as an exterior surface of the mobile electronic device 100 and is configured to at least partially surround the various systems of the mobile electronic device 100. The body 102 may also define one or more openings through which cargo and / or passengers may enter and / or exit the mobile electronic device 100.

[0018] The mobile electronic device 100 is shown to include front wheels 104 and rear wheels 106. The front wheels 104 and rear wheels 106 are configured to serve as an interface between the mobile electronic device 100 and the surface on which the mobile electronic device 100 is traveling. In some implementations, the front wheels 104 include a left front wheel 118 and a right front wheel 120, and the rear wheels 106 include a left rear wheel 122 and a right rear wheel 124.

[0019] The mobile electronic device 100 is also shown as including a propulsion system 108. In some implementations, the propulsion system 108 is configured to rotate the front wheels 104 about the front axle to move the mobile electronic device 100 along the surface on which the mobile electronic device 100 is traveling. In some implementations, the propulsion system 108 is configured to rotate the front wheels 104 about the front axle and the rear wheels 106 about the rear axle to move the mobile electronic device 100 along the surface on which the mobile electronic device 100 is traveling. For example, the propulsion system 108 may include a motor (e.g., an electric motor, a gas motor, a diesel motor, etc.) configured to drive components such as a transmission and a drive shaft to rotate the front wheels 104 and the rear wheels 106. In some implementations, the propulsion system 108 is configured to rotate each of the left front wheel 118, the right front wheel 120, the left rear wheel 122, and the right rear wheel 124 independently of each other, so that each wheel can rotate at a different rate.

[0020] In some implementations, the propulsion system 108 is configured to rotate each of the left front wheel 118, the right front wheel 120, the left rear wheel 122, and the right rear wheel 124 independently of one another to orient the body 102 of the mobile electronic device 100 in a desired position relative to the surface on which the mobile electronic device 100 is traveling, relative to the longitudinal axis of the mobile electronic device 100, or a combination thereof. For example, the propulsion system 108 can operate the left front wheel 118, the right front wheel 120, the left rear wheel 122, and the right rear wheel 124 to change the yaw rotation relative to a baseline yaw rotation of the body 102 of the mobile electronic device 100. Figures 2 to 3 Describes such specific implementations.

[0021] The mobile electronic device 100 also includes a braking system 112. The braking system 112 is configured to limit the rotation of the front wheels 104 and the rear wheels 106, thereby slowing the mobile electronic device 100. For example, the braking system 112 may include friction braking components configured to slow the rotation of the front wheels 104 and the rear wheels 106 by frictionally engaging a non-rotating component (e.g., brake pads) with a rotating component (e.g., brake rotors). Additionally or alternatively, a regenerative braking system may be used. In some implementations, the braking system 112 is configured to limit each of the left front wheel 118, the right front wheel 120, the left rear wheel 122, and the right rear wheel 124 to rotate independently of each other, such that each wheel can rotate at a different rate.

[0022] In some implementations, the braking system 112 is configured to constrain each of the left front wheel 118, the right front wheel 120, the left rear wheel 122, and the right rear wheel 124 to rotate independently of one another to orient the body 102 of the mobile electronic device 100 in a desired position relative to the surface on which the mobile electronic device 100 is traveling, relative to the longitudinal axis of the mobile electronic device 100, or a combination thereof. For example, the braking system 112 can operate the left front wheel 118, the right front wheel 120, the left rear wheel 122, and the right rear wheel 124 to change the yaw rotation relative to a baseline yaw rotation of the body 102 of the mobile electronic device 100. Figures 2 to 3 Describes such specific implementations.

[0023] The mobile electronic device 100 also includes a steering system 110. In some implementations, the steering system 110 can be configured to rotate the front wheels 104 about a front steering axis and the rear wheels 106 about a rear steering axis to guide the movement of the mobile electronic device 100. For example, the steering system 110 can be configured to rotate the front wheels 104 and the rear wheels 106 independently of each other. More specifically, when the mobile electronic device 100 is navigating around a curve on a surface on which the mobile electronic device 100 is traveling, the steering system 110 can be operated to rotate the front wheels 104. The steering system 110 can also rotate both the front wheels 104 and the rear wheels 106 so that the mobile electronic device 100 can be turned within a smaller turning radius than if the steering system 110 only rotated the front wheels 104. In such implementations, the steering system 110 is configured to rotate the front wheels 104 and the rear wheels 106 in opposite directions to reduce the turning radius. For example, when turning mobile electronic device 100 to the left, steering system 110 is configured to turn front wheel 104 to the left and rear wheel 106 to the right.

[0024] For example, and as Figure 1B As shown, the steering system 110 of the mobile electronic device 100 is configured to rotate the front wheels 104 and the rear wheels 106 in the same direction about respective steering axes, so that the mobile electronic device 100 is configured to move linearly (e.g., a crab walk configuration) along an axis 128 that is oblique to the longitudinal axis 130 of the mobile electronic device 100 (e.g., the direction of travel of the mobile electronic device 100). In this configuration, the body 102 of the mobile electronic device 100 is oriented obliquely relative to the direction of travel of the mobile electronic device 100.

[0025] In some implementations, the steering system 110 is configured to move each of the left front wheel 118, the right front wheel 120, the left rear wheel 122, and the right rear wheel 124 independently of one another to orient the body 102 of the mobile electronic device 100 in a desired position relative to the surface on which the mobile electronic device 100 is traveling, relative to the longitudinal axis 130 of the mobile electronic device 100, or a combination thereof. For example, the steering system 110 can operate the left front wheel 118, the right front wheel 120, the left rear wheel 122, and the right rear wheel 124 to change the yaw rotation relative to a baseline yaw rotation of the body 102 of the mobile electronic device 100. Figures 2 to 3 Describes such specific implementations.

[0026] The mobile electronic device 100 also includes a control system 114 and a sensor system 116. The sensor system 116 is configured to generate one or more signals indicative of the environment external to the mobile electronic device 100. For example, the sensor system 116 may include one or more sensors such as a visible light camera, an infrared camera, a light detection and ranging sensor (LIDAR), a proximity sensor, and any other type of sensor that can generate a signal indicative of the environment external to the mobile electronic device 100. The sensor system 116 may also include a global positioning system (GPS) for providing detailed maps and directions.

[0027] The control system 114 is configured to receive one or more signals from the sensor system 116 and control the actuator systems of the mobile electronic device 100 (e.g., one or more of the propulsion system 108, the steering system 110, or the braking system 112) to cause the desired movement of the mobile electronic device 100. Figures 2 to 5 The control system 114 is further described.

[0028] Figure 2 is an illustration of the body 102 of the mobile electronic device 100 of FIG. 1 oriented in a first yaw rotation ( Y1 ) relative to the path of travel 232 . Figure 3 1 is an illustration of body 102 of mobile electronic device 100 of FIG. 1 oriented at a second yaw rotation (Y2) relative to a travel path 232. In some implementations, control system 114 is configured to determine travel path 232 as mobile electronic device 100 moves from first position 234 to second position 236 while mobile electronic device 100 travels on surface 230 (e.g., a road). In some implementations, control system 114 can determine travel path 232 based on output from a navigation system in communication with control system 114. In some implementations, control system 114 is an autonomous route and motion planning system that is configured to determine travel path 232 based on output from one or more sensors of sensor system 116.

[0029] As shown, the travel path 232 can be curved. To follow the travel path 232, the direction 240 that the mobile electronic device 100 is traveling is tangent to the travel path 232 at every point along the travel path 232. As the mobile electronic device 100 moves along the travel path 232, the longitudinal axis 130 of the mobile electronic device 100 tilts relative to the direction 240. Consequently, following the travel path 232 causes a baseline yaw rotation (e.g., a first yaw rotation, Y1) of the body 102 of the mobile electronic device 100 relative to the travel path 232. In embodiments where the travel path 232 is straight, the baseline yaw rotation relative to the travel path 232 can be zero.

[0030] When control system 114 controls operation of mobile electronic device 100 along travel path 232, sensor system 116 generates signals indicative of the environment external to mobile electronic device 100. Control system 114 receives signals from sensor system 116 and, based on the signals, may determine to notify and / or obtain input from a user of mobile electronic device 100. For example, sensor system 116 may be configured to generate signals indicative of unexpected characteristics of the environment external to mobile electronic device 100. More specifically, sensor system 116 may generate signals indicative of a mismatch between travel path 232 and the path of surface 230 (e.g., the road may be under construction, and lanes may be in a position or configuration that does not match travel path 232). As another example, sensor system 116 may generate signals indicative of inclement weather conditions (e.g., snow, ice, fog, etc.), which may make it difficult for control system 114 to control operation of mobile electronic device 100 along travel path 232. Sensor system 116 may also generate signals indicative of upcoming road conditions 242 (e.g., potholes, cracks, icy sections, etc.). The implementations described above are not exhaustive, but rather provide some examples of situations in which the control system 114 is configured to notify a user and / or obtain input from the user. The input may be a motion input used to change the travel path 232 of the mobile electronic device 100 to avoid and / or navigate through unexpected features or hazards. In some implementations, the control system 114 may determine to notify a user and / or obtain input from the user based on internal requirements of the mobile electronic device 100. For example, the control system 114 may determine that one or more sensors within the mobile electronic device 100 are not operating effectively, for example due to dirt accumulation on the sensors. In some implementations, the user is any potential operator of the mobile electronic device 100. In some implementations, the user is an occupant of the mobile electronic device 100 and can operate the mobile electronic device 100 from within the mobile electronic device 100. The user may not be an occupant of the mobile electronic device 100 but may still provide input to the mobile electronic device 100 to operate the mobile electronic device 100.

[0031] Control system 114 may be configured to determine that different autonomous control levels may be used on different portions of travel path 232. For example, based on signals received from sensor system 116, control system 114 may determine that a first autonomous control level of mobile electronic device 100 may be used for the current portion of travel path 232 (e.g., at first location 234), and a second autonomous control level may be used for an upcoming portion of travel path 232 (e.g., at second location 236). These levels may be based on those specified by the Society of Automotive Engineers ("SAE") in J3016 Recommended Practice. More specifically, control system 114 may determine that control system 114 may operate mobile electronic device 100 with full automation, high driving automation, or conditional automation (e.g., the first autonomous control level) on the current portion of travel path 232 because signals from sensor system 116 do not indicate that a user should be notified or that user input should be obtained and all internal systems are operating normally. Control system 114 may also determine that signals from sensor system 116 indicate that the upcoming portion of travel path 232 includes unexpected features, such as upcoming road condition 242. The control system 114 may operate the mobile electronic device 100 partially automatically (e.g., at a second autonomous control level) and, when the mobile electronic device 100 is on the upcoming portion of the travel path 232, determine to notify the user and / or obtain input from the user to steer the mobile electronic device 100 around an unexpected feature. Thus, the second autonomous control level is configured to accept input from the user to control the movement of the mobile electronic device 100 while the mobile electronic device 100 is on the upcoming portion of the travel path 232. The second autonomous control level may include different levels of control provided to the user. For example, the second autonomous control level may include instances in which the user has full control of the mobile electronic device 100 and enables some autonomous features. The second autonomous control level may also include instances in which the user has full control of the mobile electronic device 100 and no autonomous features are enabled.

[0032] As an example implementation, the control system 114 may determine that a first level of autonomous control is available at the first location 234 and not available at the second location 236 before receiving a signal from the sensor system 116. The control system 114 may make this determination based on, for example, a location database or map information that includes characteristics of the first location 234 and the second location 236. The characteristics of the first location 234 and the second location 236 may include information such as surface curvature, convexity, height, etc. Additionally, the control system 114 may make this determination based on, for example, whether the location database or map information includes the characteristics of the first location 234 and the second location 236. If the location database or map information does not include the characteristics of the first location 234 or the second location 236, the control system 114 may determine that a second level of autonomous control is required for those locations.

[0033] As described, the control system 114 can be configured to operate the mobile electronic device 100 autonomously. When the control system 114 operates the mobile electronic device 100 autonomously, the user may be unaware that the first level of autonomous control is not available at the second position 236 based on, for example, the circumstances described above. In some implementations, the control system 114 is configured to control the operation of the systems of the mobile electronic device 100 (e.g., the propulsion system 108, the steering system 110, the braking system 112, etc.) to cause a change in the yaw rotation of the body 102 of the mobile electronic device 100 relative to the baseline yaw rotation to notify the user of the change in autonomous control. In some implementations, the control system 114 can determine to notify the user to provide input based on the change in autonomous control. For example, and as Figure 3 As shown, control system 114 may control the operation of the system of mobile electronic device 100 to rotate body 102 of mobile electronic device 100, thereby causing a yaw rotation Y2 of body 102 that is greater than Y1 (the baseline yaw rotation). Control system 114 may control the operation of steering system 110 to position front wheels 104 and rear wheels 106 to cause yaw rotation Y2 while maintaining mobile electronic device 100 on travel path 232. A user may experience and be informed of the change in yaw rotation from Y1 to Y2 (e.g., the user may notice a difference between the expected orientation based on Y1 and the orientation based on Y2). In some examples, control system 114 may control the operation of steering system 110 so that each of left front wheel 118, right front wheel 120, left rear wheel 122, and right rear wheel 124 is operated independently of one another to cause the desired change in yaw rotation from the baseline yaw rotation.

[0034] In some implementations, propulsion system 108 can be used to cause a change in yaw rotation from Y1 to Y2. For example, control system 114 can control operation of propulsion system 108 to change the rotation rate of one or more of left front wheel 118, right front wheel 120, left rear wheel 122, and right rear wheel 124 to cause a change in yaw rotation from Y1 to Y2 while maintaining mobile electronic device 100 on travel path 232.

[0035] In some implementations, the braking system 112 can be used to cause the change in yaw rotation from Y1 to Y2. For example, the control system 114 can control the operation of the braking system 112 to brake one or more of the left front wheel 118, the right front wheel 120, the left rear wheel 122, and the right rear wheel 124 to cause the change in yaw rotation from Y1 to Y2 while maintaining the mobile electronic device 100 on the travel path 232.

[0036] In some implementations, control system 114 may control the operation of the systems of mobile electronic device 100 to cause the yaw rotation of body 102 to change at a rate relative to the baseline yaw rotation of body 102, with the rate of change having a magnitude greater than a threshold magnitude. For example, control system 114 may be configured to operate propulsion system 108, steering system 110, and / or braking system 112 to cause the yaw rotation of body 102 to change from Y1 to Y2 at a rate fast enough to notify a user, as a gradual change may not be sufficient to notify a user. For example, control system 114 may be configured to operate propulsion system 108, steering system 110, and / or braking system 112 so that body 102 rotates from Y1 to Y2 at a rate greater than a threshold rate of ten degrees per second. In some implementations, the threshold rate may be between five degrees per second and twenty-five degrees per second, inclusive. In some implementations, the threshold rate may change as the body rotates from Y1 to Y2. In such implementations, the rate of change of the threshold rate may be as high as ten degrees per square second, inclusive.

[0037] In some implementations, the control system 114 can be configured to operate the steering system 110 to maintain the body 102 at Y2 until input from the user is obtained. The control system 114 can also be configured to operate the steering system 110 to move the body 102 between Y1 and Y2 (e.g., to cause the orientation of the body 102 to oscillate between Y1 and Y2) until input from the user is obtained.

[0038] Figure 4 1 is a block diagram of control system 114 of mobile electronic device 100. As depicted, control system 114 may be configured to operate mobile electronic device 100 as described herein. Control system 114 includes data processing device 450, data storage device 452, sensor interface 454, and controller interface 456.

[0039] The data processing apparatus 450 is configured to execute instructions stored in the data storage device 452. In some implementations, the data storage device 452 is a processor having random access memory for storing instructions read from the data storage device 452 as they are executed. The data processing apparatus 450 may include a single or multiple processors, each having a single or multiple processing cores. Alternatively, the data processing apparatus 450 may include one or more devices of another type capable of manipulating or processing data. For example, the data storage device 452 may be a non-volatile information storage device, such as a hard drive, a solid-state drive, a read-only memory device (ROM), an optical disk, a magnetic disk, or any other suitable type of storage device, such as non-transitory computer-readable memory. The data storage device 452 may include one or more devices of another type capable of storing data for retrieval or processing by the data processing apparatus 450. The data storage device 452 may store instructions executable by the data processing apparatus 450 that, when executed by the data processing apparatus 450, cause the data processing apparatus 450 to perform operations, such as those described above and with reference to below. Figure 5 The described operation.

[0040] The sensor interface 454 can be configured to receive signals and / or data from the sensor system 116 that are directed to the data processing device 450 and the data storage device 452. In some implementations, the sensor interface 454 can include a wireless interface for communicating with one or more sensors of the sensor system 116 via low-power short-range communication (e.g., using a network protocol of the mobile electronic device 100).

[0041] The controller interface 456 allows for input and output of information to and from other systems within the mobile electronic device 100 to facilitate control of the mobile electronic device 100. For example, the controller interface 456 can be configured to issue control signals to systems within the mobile electronic device 100 (e.g., the propulsion system 108, the steering system 110, the braking system 112, etc.) and receive sensor data from the sensor system 116. For example, the controller interface 456 can be a system bus, or a wired or wireless network (e.g., a local area network of the mobile electronic device 100).

[0042] Figure 5 is a block diagram of a method 560 of controlling the operation of the mobile electronic device 100 of FIG1 . The method 560 may be implemented, at least in part, by the control system 114.

[0043] At operation 562, a travel path is determined. For example, the control system 114 can determine the travel path 232 for the mobile electronic device 100 to travel from the first position 234 to the second position 236. As described, following the travel path 232 can cause the body 102 of the mobile electronic device 100 to rotate relative to the baseline yaw of the travel path 232.

[0044] At operation 564 , a signal indicative of a feature is generated. For example, the sensor system 116 may generate a signal indicative of an upcoming road condition 242 (e.g., an unexpected feature such as a pothole, a bump, an icy road, or other obstacle). In some implementations, the sensor system 116 may generate a signal indicative of poor visibility due to inclement weather conditions (e.g., snow, wind, rain, etc.). The signal generated by the sensor system 116 is received by the control system 114.

[0045] At operation 566 , a determination is made to notify the user and / or obtain input from the user of mobile electronic device 100. For example, control system 114 may determine to notify the user and / or obtain input from the user based on the signals received in operation 564 . More specifically, control system 114 may determine to obtain input from the user to maneuver mobile electronic device 100 around an unexpected feature (e.g., upcoming road condition 242 ) based on the signals generated by sensor system 116 . In another implementation, control system 114 may determine to notify the user and / or obtain input from the user based on weather conditions based on the signals generated by sensor system 116 . In some implementations, control system 114 may determine to notify the user and / or obtain input from the user based on the autonomous driving levels available at different locations along travel path 232 . For example, control system 114 may determine, based on available map data, that a second autonomous control level is available for an upcoming portion of travel path 232 (e.g., after exiting a highway, turning onto an unmapped road, etc.). Control system 114 may determine to notify the user of the change in autonomous control level and / or obtain input from the user to navigate the upcoming portion of travel path 232 .

[0046] At operation 568, the operation of the mobile electronic device 100 is controlled by the control system 114. For example, the control system 114 may control the operation of the systems of the mobile electronic device 100 (e.g., the propulsion system 108, the steering system 110, the braking system 112, etc.) to cause a change in the yaw rotation of the body 102 of the mobile electronic device 100 relative to the baseline yaw rotation to notify the user of the change in the level of autonomous control. In some implementations, the control system 114 may cause a change in the yaw rotation of the body 102 relative to the baseline yaw rotation to notify the user to provide input. As described, causing a change in the yaw rotation of the body 102 relative to the baseline yaw rotation includes causing a change in the yaw rotation of the body 102 relative to the baseline yaw rotation at a rate, wherein the rate of change has a magnitude greater than a threshold magnitude. In some implementations, the control system 114 may control the operation of the mobile electronic device 100 when the user provides input. The control system 114 may also control the operation of the mobile electronic device 100 before the user provides input to allow the user time to prepare to provide input.

[0047] Figure 6 is a block diagram of a method 670 of controlling the operation of the mobile electronic device 100 of FIG1 . The method 670 may be implemented, at least in part, by the control system 114.

[0048] At operation 672, a travel path is determined. For example, the control system 114 can determine the travel path 232 for the mobile electronic device 100 to travel from the first position 234 to the second position 236. As described, following the travel path 232 can cause the body 102 of the mobile electronic device 100 to rotate relative to the baseline yaw of the travel path 232.

[0049] At operation 674, an autonomy level is determined based on travel path 232. For example, as described above, control system 114 may determine whether mobile electronic device 100 may operate using the first autonomy level or the second autonomy level based on travel path 232. More specifically, control system 114 may determine, based on a map and / or location data (e.g., provided by a GPS system, by sensor system 116, etc.), whether travel path 232 corresponds to a location where the first autonomy level is available, or whether travel path 232 corresponds to a location where the first autonomy level is not available (in which case the second autonomy level may be used). As one example, control system 114 may determine whether autonomous features are available based on an explicit designation included in information available to control system 114 indicating whether the first autonomy level is available or the second autonomy level is available on a particular road corresponding to travel path 232.

[0050] In some implementations, the data available for the travel path 232 may not be sufficient for the control system 114 to control the operation of the mobile electronic device 100 at the first autonomy level. Insufficient data may be caused by a network outage, a lack of detailed mapping of the area, etc. In such implementations, the control system 114 may determine to operate the mobile electronic device 100 at the second autonomy level.

[0051] In an example implementation, the control system 114 may determine that the mobile electronic device 100 is traveling on a primary roadway and that the mobile electronic device 100 may operate at a first autonomy level. If the control system 114 determines that the mobile electronic device 100 is traveling on a back roadway or a parking lot, the control system 114 may determine that the mobile electronic device 100 may operate at a second autonomy level. In some implementations, the mobile electronic device 100 may operate at the first autonomy level on a roadway, and the travel path 232 may indicate that the mobile electronic device 100 is entering a parking lot. In such implementations, the control system 114 may determine that the mobile electronic device 100 will operate at the first autonomy level until a threshold distance or duration is met. For example, the control system 114 may determine that the mobile electronic device 100 may switch from the first autonomy level to the second autonomy level at a predetermined distance before the parking lot, such as at least one mile before reaching the parking lot. For another example, the control system 114 may determine that the mobile electronic device 100 may switch from the first autonomy level to the second autonomy level at least two minutes before the transition. The threshold distance may include other suitable distances (eg, two miles, five miles, etc.), and the threshold duration may include other suitable durations (eg, thirty seconds, one minute, three minutes, etc.).

[0052] At operation 676, the operation of the mobile electronic device 100 is controlled by the control system 114. For example, similar to Figure 5 568 to control the operation of the mobile electronic device 100. Using the above example, the control system 114 can change the yaw rotation of the main body 102 of the mobile electronic device 100 relative to the baseline yaw rotation to notify the user of the change in the level of autonomous control. In some specific implementations, the control system 114 can cause the change in the yaw rotation of the main body 102 relative to the baseline yaw rotation to notify the user to provide input. As described, when the mobile electronic device 100 is within a threshold distance or duration of moving from a first autonomy level to a second autonomy level, the control system 114 can cause the change in the yaw rotation of the main body 102. In the above example, the input from the user can include controlling the mobile electronic device 100 to move the mobile electronic device 100 from a road to a parking area.

[0053] As described above, one aspect of the present technology is the collection and use of data available from various sources for use in controlling the operation of the mobile electronic device 100. To the extent that the information collected to provide the technology described above includes personal information data (such as personal information data that uniquely identifies or can be used to contact or locate a specific person), parties implementing this technology are reminded to implement and consistently use privacy policies and practices that are generally recognized to meet or exceed industry or government requirements for maintaining the privacy and security of personal information data. Implementers are also reminded that various techniques can be used to implement the present technology in a manner that protects user privacy. For example, local device processing may be preferable to sending data to an online server for processing. Furthermore, data can be anonymized, for example, to convey a list of attractions of interest to a particular user without specifically identifying the user. Users can also be permitted to opt in and / or opt out of certain features based on their privacy preferences. Furthermore, it is the intent of this disclosure that any personal information data should be managed and processed in a manner that minimizes the risk of inadvertent or unauthorized access or use.

Claims

1. A method comprising: determining a path of travel of a mobile electronic device from a first position to a second position, wherein following the path of travel causes a baseline yaw rotation of a body of the mobile electronic device relative to the path of travel; notifying a potential operator of the mobile electronic device, as determined by the control system; as well as In response to determining to notify the potential operator, operation of an actuator system of the mobile electronic device is controlled using the control system to cause a change in the yaw rotation of the body of the mobile electronic device relative to the baseline yaw rotation.

2. The method of claim 1 , wherein controlling operation of the actuator system of the mobile electronic device to cause the change in the yaw rotation of the body relative to the baseline yaw rotation comprises: A rate of change in the yaw rotation of the body relative to the baseline yaw rotation is caused, wherein the rate of change has a magnitude greater than a threshold magnitude.

3. The method of claim 1 , wherein determining to notify the potential operator comprises: The control system determines that a first level of autonomous control of the mobile electronic device is capable of being used for a current portion of the path of travel, and a second level of autonomous control of the mobile electronic device is capable of being used for an upcoming portion of the path of travel, wherein the second level of autonomous control is configured to accept input from the potential operator to control movement of the mobile electronic device while the mobile electronic device is on the upcoming portion of the path of travel. 4 . The method of claim 3 , wherein the input is a motion input for changing the path of travel of the mobile electronic device, and the potential operator is an occupant of the mobile electronic device.

5. The method according to claim 1, further comprising: generating, by a sensor, a signal indicative of an unexpected characteristic of an environment external to the mobile electronic device; as well as A determination is made by the control system to obtain input from the potential operator to steer the powered electronic device around the unexpected feature. The method of claim 5 , wherein the unexpected feature is a road condition.

7. The method of claim 1, wherein the control system is an autonomous route and motion planning system. The method of claim 1 , wherein determining to notify the potential operator is based on weather conditions.

9. A non-transitory computer-readable storage device comprising program instructions executable by one or more processors, the program instructions, when executed, causing the one or more processors to perform operations comprising: determining a path of travel of a mobile electronic device from a first position to a second position, wherein following the path of travel causes a baseline yaw rotation of a body of the mobile electronic device relative to the path of travel; identifying potential operators of the mobile electronic device to be notified; as well as In response to determining to notify the potential operator, operation of an actuator system of the mobile electronic device is controlled to cause a change in the yaw rotation of the body of the mobile electronic device relative to the baseline yaw rotation.

10. The non-transitory computer-readable storage device of claim 9, wherein controlling operation of the actuator system of the motorized electronic device to cause the change in the yaw rotation of the body relative to the baseline yaw rotation comprises: A rate of change in the yaw rotation of the body relative to the baseline yaw rotation is caused, wherein the rate of change has a magnitude greater than a threshold magnitude.

11. The non-transitory computer-readable storage device of claim 9, wherein determining to notify the potential operator comprises: Determining that a first level of autonomous control of the mobile electronic device is capable of being used for a current portion of the path of travel and a second level of autonomous control of the mobile electronic device is capable of being used for an upcoming portion of the path of travel, wherein the second level of autonomous control is configured to accept input from the potential operator to control movement of the mobile electronic device while the mobile electronic device is on the upcoming portion of the path of travel.

12. The non-transitory computer-readable storage device of claim 9, the operations comprising: generating a signal indicative of an unexpected characteristic of an environment external to the mobile electronic device; as well as A determination is made to obtain input from the potential operator to steer the powered electronic device around the unexpected feature.

13. The non-transitory computer readable storage device of claim 12, wherein the unexpected feature is a road condition.

14. The non-transitory computer readable storage device of claim 9, wherein determining to notify the potential operator is based on weather conditions.

15. A mobile electronic device, comprising: the main body of the mobile electronic device; an actuator system of the mobile electronic device, the actuator system being configured to cause movement of the body of the mobile electronic device; A control system configured to: determining a path of travel of the mobile electronic device from a first position to a second position, wherein following the path of travel causes a baseline yaw rotation of the body of the mobile electronic device relative to the path of travel; identifying potential operators of the mobile electronic device to be notified; as well as In response to determining to notify the potential operator, operation of the actuator system of the mobile electronic device is controlled using the control system to cause a change in the yaw rotation of the body of the mobile electronic device relative to the baseline yaw rotation.

16. The mobile electronic device of claim 15, wherein controlling operation of the actuator system of the mobile electronic device to cause the change in the yaw rotation of the body relative to the baseline yaw rotation comprises: A rate of change in the yaw rotation of the body relative to the baseline yaw rotation is caused, wherein the rate of change has a magnitude greater than a threshold magnitude.

17. The mobile electronic device of claim 15, wherein determining to notify the potential operator comprises: Determining that a first level of autonomous control of the mobile electronic device is capable of being used for a current portion of the path of travel and a second level of autonomous control of the mobile electronic device is capable of being used for an upcoming portion of the path of travel, wherein the second level of autonomous control is configured to accept input from the potential operator to control movement of the mobile electronic device while the mobile electronic device is on the upcoming portion of the path of travel.

18. The mobile electronic device of claim 15 , further comprising a sensor configured to generate a signal indicative of an unexpected feature of an environment external to the mobile electronic device, wherein the control system is configured to obtain input from the potential operator to maneuver the mobile electronic device around the unexpected feature. The mobile electronic device of claim 18 , wherein the unexpected characteristic is a road condition.

20. The mobile electronic device of claim 15, wherein the control system is an autonomous route and motion planning system.

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