Passengerless and driverless vehicle operating modes

Abstract

Various embodiments include a method and vehicle that may include determining whether to initiate a configuration change protocol to implement a configuration change to modify the external shape of the vehicle's body in response to a planned or predicted future operating mode, event, or environment, and determining whether the vehicle's occupancy status conflicts with an occupancy status allowed in a configuration required by a configuration change input or indication. Furthermore, in response to determining that the vehicle's occupancy status does not conflict with the configuration change input or indication, modifying the external shape of the vehicle's body in accordance with the configuration change input or indication, where modifying the external shape of the vehicle's body includes modifying the configuration of at least one external vehicle component.

Description

[Technical field]

[0001] Claiming priority under 35 U.S.C. § 119 This patent application claims priority to non-provisional application Ser. No. 16 / 725,306, entitled “PASSENGER-LESS AND DRIVER-LESS VEHICLE OPERATING MODES,” filed Dec. 23, 2019, which is assigned to the assignee of the present application and is expressly incorporated herein by reference. [Background technology]

[0002] The advent of autonomous and semi-autonomous automobiles and other automated vehicles promises to ease the task of moving people, goods, and even the vehicles themselves from one place to another. For example, instead of having to constantly pay attention to the road and other vehicles, a vehicle operator may allow an autonomous or semi-autonomous vehicle to control all or most of the driving operations. Also, fully autonomous vehicles that do not require a driver may operate without a passenger.

[0003] For a vehicle to change from autonomous to manual operation or vice versa, the change primarily involves the computerized vehicle management system either relinquishing or gaining control of the vehicle's operation. However, such changes between autonomous and manual operation do not take advantage of many vehicle design constraints that change or are no longer relevant as a result. Summary of the Invention [Means for solving the problem]

[0004] Various aspects include autonomous vehicles, and methods implemented in such vehicles that support driverless and passengerless modes of operation, to take advantage of improvements in operating efficiency, cargo carrying capacity, and the like by changing configurations that are possible when a driver and / or passengers are not present within the vehicle.

[0005] Various aspects may include determining, for example by a vehicle processor, whether to initiate a configuration change protocol to implement a configuration change to modify the external shape of the vehicle's body in response to a planned or predicted future operating mode, event, or environment; determining whether the vehicle's occupancy status conflicts with an occupancy status allowed in a configuration required by a configuration change input or indication; and in response to a determination that the vehicle's occupancy status does not conflict with the configuration change input or indication, modifying the external shape of the vehicle's body in accordance with the configuration change input or indication, where modifying the external shape of the vehicle's body includes modifying the configuration of at least one external vehicle part.

[0006] Some aspects may further include determining whether the current vehicle configuration matches a configuration required by the configuration change input or indication, and modifying the exterior shape of the vehicle's body may be further responsive to a determination that the current vehicle configuration does not match a configuration required by the configuration change input or indication. In some aspects, modifying the exterior shape of the vehicle's body according to the configuration change input or indication in response to a determination that the vehicle's occupancy status does not conflict with the configuration change input or indication may include modifying the exterior shape of the vehicle's body to an unoccupied configuration in response to a determination that the vehicle is unoccupied. In some aspects, modifying the exterior shape of the vehicle's body to an unoccupied configuration may include reducing at least one of a windshield tilt angle, a roof height relative to a base of the vehicle, or a window position. Some aspects may further include adjusting one or more parameters of the autonomous vehicle navigation or operation to implement a passenger-free mode of operation. Some aspects may include not modifying the vehicle's configuration and notifying an operator in response to a determination that the vehicle's occupancy status conflicts with the configuration change input or indication.

[0007] Some aspects may further include determining whether an occupant of the vehicle is driving and modifying an interior configuration of the vehicle to a driverless configuration in response to determining that the occupant is not driving the vehicle. In some aspects, modifying the interior configuration of the vehicle to a driverless configuration may include changing a tilt angle of a windshield of the vehicle. Some aspects may further include adjusting one or more parameters of the autonomous vehicle navigation or operation to implement a driverless mode of operation in response to determining that the occupant is not driving the vehicle. Some aspects may further include modifying an exterior shape of the body of the vehicle to a driving configuration in response to determining that the occupant of the vehicle is driving. In some aspects, modifying the exterior shape of the body of the vehicle to a driving configuration may include changing at least one of a tilt angle of the windshield, a height of the roof relative to a base of the vehicle, or a position of a window. Some embodiments may include modifying an exterior shape of a vehicle body according to a configuration change input or indication, where modifying a configuration of the at least one vehicle body part relative to other vehicle parts includes at least one vehicle body part selected from a pillar, a quarter panel, a roof, a hood, a trunk, a windshield, or a window.

[0008] In some aspects, modifying the exterior shape of the vehicle's body to the driving configuration may include modifying a configuration of at least one body part selected from a pillar, a quarter panel, a roof, a bonnet, a trunk, a windshield, or a window. In some aspects, modifying the exterior shape of the vehicle's body may include activating an actuator configured to change the exterior shape of the vehicle's body. In some aspects, modifying the exterior shape of the vehicle's body according to the configuration change may include modifying the exterior shape of the vehicle's body according to an occupied or unoccupied alternative of the configuration change based on the determined occupancy state. Some aspects may include selecting a configuration alternative based on a predicted occupancy status of the vehicle determined based on the configuration change input or indication in response to determining that the predicted occupancy status of the vehicle does not conflict with an occupancy status allowed in the configuration required by the configuration change input or indication.

[0009] Various aspects may include receiving, for example by a vehicle processor, a configuration change input related to a configuration of a vehicle structure, determining whether the configuration of the vehicle structure matches a configuration of a current part that comprises the vehicle, and in response to a determination that the configuration of the vehicle structure does not match the configuration of the current parts that comprise the vehicle, modifying the vehicle structure to a configuration based on the received configuration change input.

[0010] Various aspects may include determining whether to initiate a configuration change protocol to implement a configuration change to modify the arrangement of the vehicle's interior structure in response to a planned or predicted future operating mode, event, or environment; determining whether the vehicle's occupancy status conflicts with an occupancy status allowed in the configuration required by the configuration change input or indication; and, in response to a determination that the vehicle's occupancy status does not conflict with an occupancy status allowed in the configuration required by the configuration change, modifying the arrangement of the vehicle's interior structure in accordance with the configuration change input or indication.

[0011] Some aspects may include determining whether the current vehicle configuration matches a configuration required by the configuration change input or indication, and modifying the arrangement of the vehicle interior structure according to the configuration change input or indication is further responsive to determining that the current vehicle configuration does not match the configuration required by the configuration change input or indication. Some aspects may further include determining whether an occupant is present in the vehicle. In some aspects, modifying the arrangement of the vehicle interior structure according to the configuration change input or indication may include changing to a driverless configuration in response to determining that an occupancy status of the vehicle indicates that an occupant of the vehicle is not driving or does not intend to drive the vehicle. In some aspects, changing to a driverless configuration includes changing a direction in which at least one seat in the vehicle is facing.

[0012] Some embodiments may further include modifying the arrangement of the vehicle interior structure according to the configuration change input or indication, including changing to a driving configuration in response to a determination that the occupant is driving or intends to drive the vehicle. In some embodiments, changing to the driving configuration may include changing at least one of a steering wheel orientation or a seat orientation at the front of the vehicle. Some embodiments include selecting one of a plurality of configuration alternatives based on the occupancy status in response to a determination that the occupancy status of the vehicle does not conflict with an occupancy status allowed in a configuration required by the configuration change input or indication. Some embodiments include selecting one of a plurality of configuration alternatives based on a predicted occupancy status of the vehicle in response to a determination that the predicted occupancy status of the vehicle does not conflict with an occupancy status allowed in a configuration required by the configuration change input or indication.

[0013] Further aspects include a vehicle including a processor configured to perform any of the operations of the methods summarized above. Further aspects include an exterior shape modification device configured to perform any of the operations of the methods summarized above for use in a vehicle. Further aspects include a vehicle interior structural configuration modification device configured to perform any of the operations of the methods summarized above for use in a vehicle. Further aspects include a vehicle having means for performing the functions of any of the methods summarized above. Further aspects include a non-transitory processor-readable medium having stored thereon processor-executable instructions configured to cause a processor of the vehicle to perform any of the operations of the methods summarized above.

[0014] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the claims and, together with the provided general description and "Description of the Preferred Embodiments," serve to explain features herein. [Brief description of the drawings]

[0015] [Figure 1A] FIG. 1 is a schematic diagram illustrating a vehicle suitable for implementing various embodiments. [Figure 1B] FIG. 1 is a schematic diagram illustrating a vehicle suitable for implementing various embodiments. [Diagram 2] FIG. 1 is a schematic block diagram illustrating components of an exemplary vehicle management system, in accordance with various embodiments. [Diagram 3] FIG. 1 is a schematic block diagram illustrating components of an exemplary system-on-chip for use in a vehicle, in accordance with various embodiments. [Figure 4A] 1 is a schematic diagram of a vehicle in which interior components of the vehicle are reconfigured and the exterior shape is modified from a driven configuration to an unoccupied configuration in accordance with various embodiments. [Figure 4B] 1 is a schematic diagram of a vehicle in which interior components of the vehicle are reconfigured and the exterior shape is modified from a driven configuration to an unoccupied configuration in accordance with various embodiments. [Figure 4C] 1 is a schematic diagram of a vehicle in which interior components of the vehicle are reconfigured and the exterior shape is modified from a driven configuration to an unoccupied configuration in accordance with various embodiments. [Figure 5A] FIG. 1 is a schematic diagram of a vehicle reconfiguring interior components and modifying the exterior shape of the vehicle from a driven configuration to a first driverless configuration in accordance with various embodiments. [Figure 5B] FIG. 1 is a schematic diagram of a vehicle reconfiguring interior components and modifying the exterior shape of the vehicle from a driven configuration to a first driverless configuration in accordance with various embodiments. [Figure 6A] FIG. 1 is a schematic diagram of a vehicle reconfiguring its internal components and modifying its external shape from a driven configuration to a second driverless configuration, according to various embodiments. [Figure 6B] FIG. 1 is a schematic diagram of a vehicle reconfiguring its internal components and modifying its external shape from a driven configuration to a second driverless configuration, according to various embodiments. [Figure 7] FIG. 2 is a process flow diagram of an exemplary method for modifying a vehicle exterior shape based on vehicle occupancy, according to various embodiments. [Figure 8] FIG. 2 is a process flow diagram of an exemplary method for modifying a vehicle interior component configuration based on vehicle occupancy, according to various embodiments. [Figure 9] FIG. 2 is a process flow diagram of an exemplary method for modifying a vehicle structural configuration based on vehicle occupancy to an occupied or unoccupied version of a selected configuration, according to various embodiments. [Figure 10] FIG. 2 is a process flow diagram of an exemplary method for modifying a vehicle structural configuration to an occupied or unoccupied version of a selected configuration based on projected occupancy of the vehicle, according to various embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Various embodiments will now be described in detail with reference to the accompanying drawings. Whenever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts. References made to specific examples and implementations are for illustrative purposes only and do not limit the scope of the claims.

[0017] Various embodiments include vehicles and methods of operating such vehicles that allow modification of the vehicle exterior shape and / or interior component configuration to a driverless and / or passengerless operating mode when a driver or passenger is not present. In some embodiments, the vehicle processor may determine whether a configuration change should be implemented to the exterior shape of the vehicle's body and / or the configuration of the current parts that make up the vehicle's interior structure. In some embodiments, the vehicle processor may anticipate an upcoming change in operating mode by receiving instructions from an operator and / or a vehicle system, such as a navigation system, a route planning system, a scheduling system, etc., and determine that a configuration change should be made accordingly. In some embodiments, the vehicle processor may determine whether a configuration change should be implemented to the vehicle's exterior shape in response to a planned or predicted future operating mode, event, or environment. In some embodiments, the vehicle processor may determine the occupancy status of the vehicle and whether the indicated configuration change conflicts with the occupancy status. If the indicated configuration change requires a reconfiguration of vehicle parts that is different from the current configuration and does not conflict with the vehicle occupancy status (e.g., a conflict would exist if the vehicle configuration change input called for a passengerless configuration but there is a passenger in the vehicle), actuators may be activated to implement the configuration change. In some embodiments, an indication of a future or anticipated vehicle configuration change may be received from a scheduling or navigation function, such as an indication that a vehicle configuration change is needed to enable the vehicle to change to a driven operating mode (e.g., changing from a driverless configuration to a driven configuration) or a driverless operating mode (e.g., changing from a passenger-free configuration to a driverless configuration) in a timely manner to accommodate a driver or other occupant to avoid or minimize wait times.

[0018] When no occupants are present in the vehicle, constraints such as minimum headroom or cabin size may no longer be applicable. Similarly, even when one or more occupants are present in the vehicle, modifications to the vehicle's exterior shape may be desirable to accommodate various seating arrangements inside the vehicle in a driverless operating configuration if none of the occupants choose to drive (i.e., the vehicle operates autonomously). Additionally, various electronic and mechanical components of the vehicle may be disabled or modified to take advantage of the fact that the vehicle has no occupants (e.g., passenger-free operating mode) or that the occupants have not chosen to drive (e.g., driverless operating mode).

[0019] Modifying the configuration of the vehicle to a driverless mode when no driver is present may increase interior volume, improve use of interior volume by passengers (and / or cargo), improve vehicle efficiency, etc. Modifying the configuration of the vehicle to a passengerless mode when no person is present may increase interior volume for storage of cargo and improve vehicle efficiency (e.g., by modifying the aerodynamic shape of the vehicle, by modifying the exterior shape of the vehicle, by modifying operating parameters, etc.). For example, lowering the roof and changing the angles of the front and rear windows may reduce aerodynamic drag when in a passengerless mode, thereby improving vehicle fuel efficiency. Various embodiments allow such changes in the vehicle configuration in driverless and passengerless operating modes to be accomplished automatically or semi-automatically with safety features to avoid injuring passengers. Some embodiments allow for a change back to the driver mode and / or passenger mode in anticipation of receiving a driver or passenger, thereby improving the user experience.

[0020] In various embodiments, modification of the vehicle's configuration to a driving configuration, a driverless mode, and / or a passengerless mode may occur at nearly any time, as appropriate. For example, modification to a driving configuration, a driverless mode, and / or a passengerless mode may be performed while the vehicle is stationary (i.e., stopped or parked) or while in motion (i.e., moving on or off the road).

[0021] The term "driving configuration" as used herein refers to a conventional configuration in which a driver sits in the driver's seat of a vehicle and may either drive the vehicle or monitor the autonomous driving operation. In a driving configuration, there should be at least a space for the driver to occupy. For example, the position of the steering wheel, accelerator pedal, brake pedal, and / or other vehicle components may be changed to allow the driver to operate the vehicle. The specific vehicle components reconfigured into the driving configuration may be optional and may be vehicle-dependent, and reconfiguration of some components may be optional. For example, a vehicle that performs automatic acceleration / braking while allowing passenger steering may reconfigure the steering wheel without repositioning the accelerator and / or brake pedals. Other optional implementations are possible and are contemplated within the scope of the various claims.

[0022] As used herein, the terms "driverless configuration" and "driverless mode" refer to a vehicle configuration in which passengers occupy the vehicle but no one is driving (i.e., the vehicle is operating autonomously). In a driverless configuration, there should be space for at least one passenger to occupy the vehicle.

[0023] As used herein, the terms "occupant-free configuration" and "passenger-free mode" refer to a vehicle configuration in which there is no occupant inside the vehicle and therefore no need to provide various amenities (e.g., space, seating, safety features, etc.) for a passenger or driver. According to various embodiments, there may be more than one each of the driven configuration, the driverless configuration, and the passenger-free configuration. In various embodiments, in addition to the driven configuration, the vehicle may be configured with only the passenger-free configuration, only the driverless configuration, or both.

[0024] As used herein, the expression "external shape of a vehicle body" refers to the external form or physical appearance characteristics of the parts that form the outer structure of the vehicle. Modification of the external shape of a vehicle body may involve changing the configuration of some of the parts that form the outer structure, changing the profile or silhouette of the vehicle.

[0025] As used herein, the phrase "interior component configuration" refers to the arrangement of several parts that form the interior structural components of a vehicle. Modifying the interior component configuration of a vehicle may include changing the arrangement of one or more of the parts that form the interior structural components, such as seats, headliners, arm rests, handles, etc.

[0026] As mentioned above, in some embodiments, the reconfiguration of the external shape of the vehicle body may be based on a planned or predicted future operating mode, event, or environment. As used herein, the phrase "planned or predicted future operating mode, event, or environment" refers to something that is expected or planned to occur, or a condition that is expected or predicted to occur at a later time, and may be based on a schedule, navigation planning, sensor detection, observation, and / or inference, particularly something that is of importance to the vehicle.

[0027] Various embodiments may be implemented in a variety of autonomous and semi-autonomous vehicles equipped with structures and actuators configured to change the shape or configuration of the vehicle's exterior and / or interior based on occupancy status. With reference to FIGS. 1A and 1B, the vehicle 100 may include a number of sensors 102-138 disposed in or on the vehicle used for various purposes involved in autonomous and semi-autonomous navigation, as well as sensor data regarding objects and people in or on the vehicle 100. The sensors 102-138 may include one or more of a wide variety of sensors capable of detecting various information useful for navigation, collision avoidance, and vehicle occupancy. Each of the sensors 102-138 may be in wired or wireless communication with the control unit 140 and with each other. In particular, the sensors may include one or more cameras 122, 136, or other optical or photo-optic sensors. The sensors may further include other types of object detection and ranging sensors, such as radar 132, lidar 138, infrared (IR) sensors, and / or ultrasonic sensors. The sensors may further include tire pressure sensors 114, 120, humidity sensors, temperature sensors, satellite geopositioning sensors 108, accelerometers, vibration sensors, gyroscopes, gravity meters, crash sensors 130, strength meters, stress meters, strain sensors, fluid sensors, chemical sensors, gas content analyzers, pH sensors, radiation sensors, Geiger counters, neutron detectors, biological material sensors, microphones 124, 134, occupancy sensors 112, 116, 118, 126, 128, door sensors 115, 117, proximity sensors, and / or other sensors.

[0028] According to various embodiments, the vehicle 100 may include actuators 141-149 that may be used to modify the exterior shape and / or interior configuration of the body of the vehicle 100 according to whether a driver and / or one or more passengers are present. Each of the actuators 141-149 may be a component used to move and control parts of the vehicle 100, such as the exterior or interior structures. The actuators 141-149 may include hydraulics, hinges, drive motors, sensors, etc. For example, the windshield may be framed on both sides by right and left roof posts each having base actuators 141, 142 and top actuators 143, 144 for changing the tilt angle of the windshield.

[0029] In various embodiments, the actuators 141-149 may be used to change the shape, length, and / or orientation of various exterior components of the vehicle, including (but not limited to) the frame, one or more pillars, hood, roof, trunk, windshield, side windows, side mirrors, rear window, side panels, floorboards, fenders, etc. For example, the base actuators 141, 142 and top actuators 143, 144 may pivot and / or slide adjacent components relative to one another to allow the angle of the windshield to be changed. Similarly, the rear window may be framed on both sides by right and left roof posts, each having a base actuator 147, 148 and top actuator 145, 146. The base actuators 147, 148 and top actuators 145, 146 may pivot and / or slide adjacent components relative to one another to change the angle of the rear window. Additionally, the roof may include a roof retractor actuator 149, which may be used to change the length or shape of the roof.

[0030] In various embodiments, actuators 141-149 may be used to change the shape, length, and / or orientation of various interior components of the vehicle, including (but not limited to) seats, steering wheels, pedals, armrests, visual aids (e.g., rearview mirrors or exterior cameras), controls, and other interior components. For example, actuators coupled to or contained within the seats may be configured to rotate the seats in a driverless mode and / or fold or flatten the seats in a passenger-free mode to increase interior volume and accommodate changes in the vehicle's exterior shape.

[0031] In various embodiments, the actuators 141-149 may be any device or element configured to move, modify, and / or operate another device or element of the vehicle 100. The actuators 141-149 may be included or actuated to activate a smart material configured to change shape. For example, the smart material may be configured to change from having a smooth exterior surface to having an exterior surface that is dimpled (e.g., like a golf ball), which may improve or change the vehicle aerodynamics. The smart material may be activated by an electrical or other stimulus configured to cause the smart material to change shape (e.g., from a flat / smooth surface to a surface that has a series of dimples on its exterior) in a controlled manner. For example, the use of smart material to create dimpling on the exterior surface of the vehicle may be implemented on any surface that is exposed to airflow while moving, such as on the windshield, on the hood, roof, and trunk, on the side panels, on the side windows, on the exterior rearview mirror (if deployed), on the moonroof, etc.

[0032] The vehicle control unit 140 may include a processor 164 configured with processor-executable instructions to execute various embodiments using information received from various inputs, including the user interface 152, the wireless module 172, and / or the sensors 102-138, including the cameras 122, 136, the microphones 124, 134, the door sensors 115, 117, and the occupancy sensors 112, 116, 118, 126, 128. The control unit 140 or its processor 164 may be configured to receive occupancy information from the sensors 102-138, and the control unit or its processor may use the occupancy information to determine an occupancy status of the vehicle 100. Additionally, the control unit 140 or its processor may be communicatively coupled to the actuators 141-149 and may be configured to activate the actuators 141-149 at appropriate times to alter the exterior shape or interior configuration of the vehicle 100. For example, the control unit 140 may change its external shape or internal configuration based on some external stimuli or conditions, such as electricity, light, temperature, pH, stress, moisture, etc. The control unit 140 or its processor 164 may be further configured to control the steering, braking, and speed of the vehicle 100 according to either a passenger-free operating mode or a normal operating mode, using information about other vehicles determined using various embodiments. The control unit 140 or its processor 164 may be communicatively coupled to the actuators 141-149 through wired connections (e.g., electrical and / or optical connections) and / or wireless connections. The communicative coupling may be through one or more intermediate connections (e.g., buses) or through direct couplings.

[0033] Processor 164 of control unit 140 may be configured with processor-executable instructions to control the configuration, steering, navigation, and other operations of vehicle 100, including the operation of various embodiments. Processor 164 may be coupled to memory 166. Control unit 140 may include an input module 168, an output module 170, and a wireless module 172, each of which may be coupled to processor 164.

[0034] The radio module 172 may be configured for wireless communication. The radio module 172 may exchange signals (e.g., command signals for controlling shape change, steering, signals from navigation mechanisms, etc.) with a network transceiver and may provide signals to the processor 164 and / or navigation component 156. The signals may be used by the radio module 172 to receive shape change commands and / or inputs. In some embodiments, the radio module 172 may enable the vehicle 100 to communicate with a wireless communication device through a wireless communication link. The wireless communication link may be a bidirectional or unidirectional communication link and may use one or more communication protocols.

[0035] The input module 168 may receive configuration change inputs from the user interface 152 or the wireless module 172. Additionally, the input module 168 may receive sensor data from one or more vehicle sensors and electronic signals from other components, including the user interface 152, the driving control component 154, and the navigation component 156. In some embodiments, the input module 168 may be configured to determine when a driver and / or passengers are not present in the vehicle and generate configuration change inputs based on such determination. In some embodiments, the input module 168 may receive information from the navigation component 156 and other components (e.g., a scheduling unit) and determine when a configuration change (e.g., changing to passenger mode upon arrival at a destination to pick up a passenger or changing to no passenger mode upon arrival at a destination to pick up cargo) is expected, so that the configuration change can be initiated in a timely manner such that the new configuration is completed by the time it is appropriate.

[0036] An output module 170 may be used to communicate with or activate various components of the vehicle 100 , including the driving control component 154 , the navigation component 156 , and the sensors 158 .

[0037] The control unit 140 or its processor 164 may be coupled to and configured to control various driving control components 154, navigation components 156, and one or more vehicle sensors 102-138 of the vehicle 100. The driving control components 154 may be used to control physical elements of the vehicle 100 that affect the steering and navigation of the vehicle, such as the engine, motor, throttle, steering elements, flight control elements, braking or deceleration elements, etc. The driving control components 154 may also include components that control other devices of the vehicle, including environmental controls (e.g., air conditioning and heating), exterior and / or interior lighting, interior and / or exterior information displays (which may include display screens or other devices for displaying information), and other similar devices.

[0038] Although control unit 140 is described as including separate components, in some embodiments some or all of the components (e.g., processor 164, memory 166, input module 168, output module 170, and wireless module 172) may be integrated within a single processor device or module, such as a system-on-chip (SOC) processing device. Such a SOC processing device may be configured for use in a vehicle and may be configured, such as with processor-executable instructions executing in processor 164, to perform the operations of the various embodiments when installed in the vehicle.

[0039] FIG. 2 illustrates an example of a subsystem, computing element, computing device, or computing unit in a vehicle management system 200 that may be utilized in a vehicle 100 implementing various embodiments. With reference to FIGS. 1A-2, in some embodiments, the various computing elements, computing devices, or computing units in the vehicle management system 200 may be implemented in a system (i.e., subsystem) of interconnected computing devices that communicate data and commands with each other (e.g., as indicated by the arrows in FIG. 2). In other embodiments, the various computing elements, computing devices, or computing units in the vehicle management system 200 may be implemented in a single computing device, such as separate threads, processes, algorithms, or computing elements. Thus, each subsystem / computing element (e.g., as shown in FIG. 2) is also generally referred to herein as a "layer" in the computing "stack" that makes up the vehicle management system 200. However, the use of the terms layer and stack in describing various embodiments does not imply or require that the corresponding functions are implemented in a single autonomous (or semi-autonomous) vehicle control system computing device, although this is a possible implementation embodiment. Rather, use of the term "layer" is intended to encompass subsystems having independent processors, computational elements (e.g., threads, algorithms, subroutines, etc.) executing within one or more computing devices, as well as combinations of subsystems and computational elements.

[0040] In various embodiments, vehicle management system 200 may include a sensor perception layer 210, a camera perception layer 220, a vehicle occupancy and configuration perception layer 230, a vehicle configuration management layer 240, and an actuator coordination layer 250. Layers 210-250 are merely examples of some layers in one exemplary configuration of vehicle management system 200, and in other configurations, other layers, such as other perception sensors (e.g., vehicle load sensors, etc.) or additional layers for safety and non-occupancy verification, may be included, and / or some of layers 210-250 may be excluded from vehicle management system 200. Each of layers 210-250 may exchange data, calculations, and commands (e.g., as indicated by arrows in FIG. 2).

[0041] The vehicle management system 200 may be configured to receive and process data from sensors (e.g., pressure, motion, inertial measurement unit (IMU), etc.), cameras, a vehicle database / memory (e.g., storing vehicle configuration data), an in-vehicle user interface, and vehicle communication components (e.g., one or more wireless transceivers). The vehicle management system 200 may output actuator adjustment commands or signals to one or more actuator assemblies (e.g., 141-149), which are systems, subsystems, or computational devices that directly interface with external and internal vehicle parts / components that are configured to change shape / position when commanded to do so.

[0042] The sensor perception layer 210 may receive data from one or more sensors (e.g., occupancy sensors 102-138) and process the data to recognize and determine whether any occupants are currently in the vehicle, and if so, where the occupants are seated, and whether the occupants are driving the vehicle 100. Non-limiting examples of sensors that may be used as occupancy sensors 102-138 include weight / strength sensors in the vehicle seats, sensors that may detect the presence of a mobile computing device in the vehicle (e.g., connecting through Bluetooth, WiFi, vehicle hotspot, etc.), mechanical devices (e.g., vehicle buttons, handles, pedals, and / or knobs that may be manipulated and provide an indication that a person is occupying the vehicle), and / or a voice recognition system (e.g., an occupant verbally indicates presence). In addition, the sensor perception layer 210 may receive data from one or more other sensors configured to detect the current location / configuration of vehicle parts, and process the data to recognize and / or confirm the current location / configuration of one or more vehicle parts. The sensor perception layer 210 may use neural network processing and artificial intelligence methods to recognize the location / configuration of occupants, objects, and / or vehicle parts. Additionally, the sensor perception layer 210 may be configured to pass any vehicle occupancy data and / or current vehicle part configuration data to the vehicle occupancy and configuration perception layer 230.

[0043] The camera perception layer 220 may receive data from one or more cameras (e.g., 122, 136) and process the data to recognize and determine whether any occupants are currently in the vehicle, and if so, where the occupants are seated and whether the occupants are driving the vehicle 100. In addition, the camera perception layer 220 may receive data from one or more cameras configured to detect the current position / configuration of the vehicle parts and process the data to recognize and / or confirm the current position / configuration of the one or more vehicle parts. The camera perception layer 220 may use neural network processing and artificial intelligence methods to recognize the position / configuration of the occupants, objects, and / or vehicle parts. In addition, the camera perception layer 220 may be configured to pass any vehicle occupancy data and / or current vehicle part configuration data to the vehicle occupancy and configuration perception layer 230.

[0044] The vehicle occupancy and configuration perception layer 230 may receive and / or access vehicle occupancy inputs from the sensor perception layer 210 and the camera perception layer 220 to determine the occupancy status of the vehicle. The vehicle occupancy and configuration perception layer 230 may compare and use any overlapping vehicle occupancy inputs received from the sensor perception layer 210 and / or the camera perception layer 220 to ensure that any determined vehicle occupancy status is accurate. The vehicle occupancy and configuration perception layer 230 may be configured to provide any determined vehicle occupancy data to the vehicle configuration management layer 240.

[0045] In addition, the vehicle occupancy and configuration perception layer 230 may also receive and / or access vehicle part configuration inputs from the sensor perception layer 210 and the camera perception layer 220 to determine the current part configuration of the vehicle. The vehicle occupancy and configuration perception layer 230 may receive and / or access stored vehicle configuration data from one or more vehicle databases / memories that store information about the configuration and location of the vehicle parts. The vehicle occupancy and configuration perception layer 230 may also compare the stored vehicle configuration data with other processed data from the sensor perception layer 210 and the camera perception layer 220 to determine / confirm the true current position and / or orientation of the vehicle parts. The vehicle occupancy and configuration perception layer 230 may also be configured to provide the determined current vehicle part configuration data to the vehicle configuration management layer 240.

[0046] The vehicle configuration management layer 240 may access vehicle information, including any determined vehicle occupancy status and / or vehicle part configuration data, or may automatically receive such vehicle information from the vehicle occupancy and configuration perception layer 230. In addition, the vehicle configuration management layer 240 may receive configuration change inputs from an on-board user interface. For example, the vehicle's dashboard may include an on-board user interface, which may have one or more buttons or a touch screen display configured to receive occupant commands to initiate modifications to the vehicle's configuration. The vehicle configuration management layer 240 may also receive vehicle occupancy inputs from a vehicle communication component (e.g., wireless module 172), a wired connection, or other electronic connection to an occupant's on-board mobile device (e.g., cell phone, smart watch, tablet, computer, etc.) or other computing device remote from the vehicle.

[0047] In response to receiving a configuration change input for the vehicle to change shape, the vehicle configuration management layer 240 may determine whether the external shape of the vehicle's body and / or the vehicle's internal configuration needs to change according to an operating mode (e.g., driverless mode, passengerless mode, cargo mode, passenger mode, etc.). This determination may be made based at least in part on the received vehicle occupancy status and the received vehicle component configuration data. The determination as to whether the external shape of the vehicle's body and / or the vehicle's internal configuration should be changed may take into account the determined vehicle occupancy data and the determined current vehicle component configuration data received from the vehicle occupancy and configuration perception layer 230, as well as one or more vehicle inputs from an on-board user interface and / or a vehicle communication component. If the external shape of the vehicle's body does not need to be changed, the vehicle configuration management layer 240 does not need to signal the actuator coordination layer 250 to activate the actuator assemblies 141-149 associated with the external components. If the exterior shape of the vehicle's body is to be changed, the vehicle configuration management layer 240 may accordingly signal the actuator adjustment layer 250 to activate selected actuators (e.g., 141-149) and / or a set of actuators configured to change the exterior shape of the vehicle's body, which may include modifying the configuration of the interior structure (e.g., lowering seat backs to allow the roof to be lowered). Similarly, if the interior configuration of the vehicle is to be changed (e.g., lowering or stowing seats in an unoccupied mode or raising / extending seats in a passenger mode), the vehicle configuration management layer 240 may activate selected actuators and / or a set of actuators configured to change the configuration of the interior structure.

[0048] In an exemplary scenario, the vehicle configuration management layer 240 may receive a configuration change input from an on-board user interface or a vehicle communication component. The received configuration change input may represent an instruction to change the internal configuration of components and / or the external shape of the vehicle's body from one configuration (e.g., a driven configuration) to another configuration (e.g., a driverless configuration). For example, the vehicle may be occupied by a driver and one or more passengers, but the driver has decided to allow the vehicle to operate autonomously and has activated an application (e.g., from a device such as a mobile communication device) that has sent a configuration change input instructing the vehicle to change shape and reconfigure the internal components accordingly. In response to receiving the configuration change input, the vehicle configuration management layer 240 may pull the vehicle occupancy input and current vehicle part configuration information from the vehicle occupancy and configuration perception layer 230. To provide vehicle occupancy input and current vehicle component configuration information, the vehicle occupancy and configuration perception layer 230 may access vehicle occupancy input and / or vehicle component configuration data from the sensor perception layer 210, the camera perception layer 220, and / or stored vehicle configuration data. Based on the information received from the vehicle occupancy and configuration perception layer 230 (i.e., the vehicle occupancy data and the current vehicle component configuration data), the vehicle configuration management layer 240 may determine what actuators need or should be activated (or otherwise implemented) to change or reconfigure the interior components and / or the external shape of the body of the vehicle. The vehicle configuration management layer 240 may then activate selected actuators, if appropriate, that are configured to modify the vehicle accordingly.

[0049] In a second scenario, the sensor perception layer 210 may receive data from a door sensor (e.g., 117) indicating that a door is being opened or unlocked. The sensor perception layer 210 may translate this received data into an inferred configuration change input indicating that a person may be about to enter the vehicle. The opening or unlocking of a door may also be interpreted as a configuration change input meaning that the vehicle should be configured for an occupant (i.e., a driver or one or more passengers). The sensor perception layer 210 may also determine that the vehicle is currently in an unoccupied mode or configuration based on the positions or orientations of various actuators or moving components. In some embodiments, the camera perception layer 220 may receive images from an on-board camera and process the images to determine that the vehicle is in an unoccupied configuration that is not suitable for an occupant. The vehicle component configuration data from the camera may be passed to the vehicle occupancy and configuration perception layer 230. In response to such input and vehicle configuration data, the vehicle occupancy and configuration perception layer 230 may compare the indication that the vehicle is in an unoccupied configuration with vehicle configuration data stored in on-board memory that confirms that the vehicle was recently placed in an unoccupied configuration (i.e., the roof was lowered). The vehicle occupancy and configuration perception layer 230 may pass the inferred configuration change input (i.e., indicating that the vehicle should be configured to accommodate an occupant) and the current vehicle component configuration (i.e., indicating that the vehicle is in an unoccupied configuration) to the vehicle configuration management layer 240. Based on the received vehicle occupancy data and the current vehicle component configuration data, the vehicle configuration management layer 240 may identify which actuators need to be activated, and in what order they need to be activated, to change the configuration of the interior components of the unoccupied configuration and / or the exterior shape of the vehicle's body, such as to a driven or driverless configuration. The vehicle configuration management layer 240 may then activate selected actuators to change the configuration of the interior components and / or the exterior shape of the vehicle's body to accommodate an occupant.

[0050] In a third scenario, the sensor perception layer 210 may receive data indicating that the vehicle is unoccupied and is being operated autonomously. In response, the vehicle configuration management layer 240 may transition to a passenger-free mode by activating select actuators configured to change the configuration of internal components and / or the external shape of the vehicle's body to an unoccupied configuration. Transitioning to a passenger-free mode may also involve making changes in the vehicle configuration management layer 240 (or in a separate layer, not shown) to navigation and control parameters for operating the vehicle autonomously, such as changing maximum or minimum operating speeds, adjusting turn rate limits, adjusting braking rates, adjusting minimum vehicle spacing distances, accessing roads restricted to passenger-free vehicle travel, etc.

[0051] In a fourth scenario, the vehicle configuration management layer 240 may receive a configuration change input representing an instruction to operate in a driverless configuration (e.g., operate autonomously without a vehicle occupant driving or the vehicle being occupied). In response to receiving the configuration change input, the vehicle configuration management layer 240 may transition to the driverless configuration. The vehicle configuration management layer 240 may pull the vehicle occupancy input and current vehicle component configuration information from the vehicle occupancy and configuration perception layer 230. Based on the information received from the vehicle occupancy and configuration perception layer 230 (i.e., vehicle occupancy data and current vehicle component configuration data), the vehicle configuration management layer 240 may activate or control (directly or indirectly) actuators required to reconfigure the exterior shape and / or interior components of the vehicle's body according to the configuration change input. For example, the vehicle configuration management layer 240 may control actuators that cause dimpling of the exterior surfaces of the vehicle, including the windshield and other windows. Alternatively, the vehicle configuration management layer 240 may control actuators that position a cover or shield having a dimpled outer surface over a portion of the windshield or other window, mirror, or other exterior surface. When the vehicle is operating autonomously, it may not be necessary for the driver or any passengers to clearly see where the vehicle is going. Thus, dimples in the windshield or other windows, which may obscure or block the view from the vehicle, may be used to provide better aerodynamics when the vehicle is operating in a driverless configuration.

[0052] In a fifth scenario, the vehicle configuration management layer 240 may receive a configuration change input representing an instruction to operate in a platooning mode. As used herein, the term "platoon" or "platooning" refers to two or more vehicles driving together in a relatively close formation. The platooning vehicles may operate with a closer inter-vehicle distance than usual and may even be optionally coupled to each other (e.g., mechanically and / or electromagnetically). In some embodiments, two or more platooning modes may be available, such as an occupied platooning mode (i.e., platooning with passengers in the vehicles) and a passenger-free platooning mode (i.e., no passengers). Thus, in response to receiving a configuration change input related to the platooning mode, the vehicle configuration management layer 240 may obtain vehicle occupancy inputs and current vehicle part configuration information from the vehicle occupancy and configuration perception layer 230. To provide vehicle occupancy input and current vehicle component configuration information, vehicle occupancy and configuration perception layer 230 may access vehicle occupancy input and / or vehicle component configuration data from sensor perception layer 210, camera perception layer 220, and / or stored vehicle configuration data. Based on the information received from vehicle occupancy and configuration perception layer 230 (i.e., vehicle occupancy data and current vehicle component configuration data), vehicle configuration management layer 240 may activate or control (directly or indirectly) actuators required to reconfigure the external shape and / or internal components of the vehicle's body into the platooning mode and / or the appropriate platooning mode if there is more than one, according to the configuration change input and optionally the occupancy status.

[0053] In some embodiments, setting for a configuration for the platooning mode may include adjusting the exterior shape and / or interior of the vehicle, such as retracting side mirrors for a tighter inter-vehicle travel formation. The occupied platooning mode may include darkening all vehicle windows so that vehicle occupants may have privacy from occupants of other vehicles and / or so that vehicle occupants feel comfortable about their vehicle driving relatively close to another vehicle. As another non-limiting example, the platooning mode may include modifying the aerodynamic profile of the vehicle (e.g., adjusting the exterior shape of the vehicle in a manner that affects drag). Additionally, due to constraints on exterior shape changes or interior structure changes when the vehicle is occupied, two or more aerodynamic profiles may be available for the vehicle based on the occupancy status. For example, a first aerodynamic profile (e.g., less aerodynamic to create space for passengers) may be implemented for the occupied platooning mode, and a second aerodynamic profile (e.g., more aerodynamic) may be implemented for the passenger-free platooning mode.

[0054] In some embodiments, the setting for the configuration for the platooning mode may be based on the positioning of the vehicle relative to other vehicles in the platoon. For example, a vehicle in the platoon may use a first external shape (i.e., a first aerodynamic profile) when at the front of the platoon and may change to a second external shape (i.e., a second aerodynamic profile) that is different from the first external shape when the same vehicle is positioned elsewhere in the platoon (e.g., in the middle or at the rear of the platoon). In further embodiments, the vehicle may be configured to change its external shape (and / or its internal structure) (e.g., change from a first external shape to a second external shape) in response to a change in the positioning of the vehicle relative to other vehicles in the platoon as the vehicle moves from the front to some other location (e.g., to the middle, rear, left side, right side, etc.) in the platoon. In addition, such changes in the external shape (and / or internal structure) based on the vehicle's position in the platoon may also take into account the occupancy status of the vehicle to provide occupied and unoccupied platooning modes.

[0055] In some embodiments, the setting for the configuration for the platooning mode may be based on the external shape of one or more of the other vehicles in the platoon. The external shape of the one or more other vehicles may be based on the type of vehicle (e.g., likened to the shape of a sport utility vehicle (SUV), a pickup truck, a semi-truck, a bus, a sedan, a motorcycle, etc.), the size of the vehicle, the aerodynamic profile of the vehicle, etc. For example, a vehicle in the platoon may use a first external shape (i.e., a first aerodynamic profile) when positioned near a vehicle having a first type of external shape (e.g., an SUV) and may change to a second external shape (i.e., a second aerodynamic profile) that is different from the first external shape when positioned near a vehicle having a second type of external shape (e.g., a sedan). In further embodiments, the vehicle may be configured to change its external shape (and / or the interior of the vehicle) in response to a change in the presence or absence of one or more other vehicles (e.g., changing from a first external shape to a second external shape when the other vehicle is replaced or overtaken by a different other vehicle having a different external shape). In some embodiments, the vehicle may be configured to change its external shape (and / or the interior of the vehicle) depending on the distance (and / or speed) of one or more of the other vehicles in the platoon. Thus, for example, as the distance between the vehicle and one or more other vehicles changes, the effects caused by the one or more vehicles change accordingly (e.g., aerodynamic effects change). For example, as the distance between the vehicle and one or more other vehicles changes, the windows of the vehicle may become more transparent since privacy (and / or causing distraction to other vehicles) may be less of an issue.

[0056] Alternatively, a configuration (i.e., a mode) may be limited to use with certain other configurations. For example, a platooning mode may be constrained for use with a passenger-free mode to avoid vehicle occupants feeling uneasy about traveling in a tight platoon formation. Other configurations, such as non-autonomous, semi-autonomous, driverless, occupant asleep / resting, occupant facing, or vehicle charging configurations, may also be available.

[0057] Individual vehicle systems may have different settings for separate configurations. For example, a fast charge feature may operate differently depending on the configuration it is activated in. For example, when the vehicles are platooning, the fast charge feature may have one speed to charge the battery when passengers are in the vehicle, and a faster speed to charge the battery when passengers are not in the vehicle because electromagnetic radiation levels do not need to be limited when passengers are not in the vehicle.

[0058] In various embodiments, the vehicle management system 200 may include functionality to perform safety checks or oversight of various commands, planning, or other decisions of various layers that may affect the safety of the vehicle and occupants. Such safety checks or oversight functions may be implemented in a dedicated layer (not shown) or may be distributed among the various layers and included as part of the functionality. In some embodiments, various safety parameters may be stored in memory, and the safety checks or oversight functions may compare determined values ​​(e.g., occupant size and / or weight) with corresponding safety parameters and may issue alerts or commands if a safety parameter is violated or will be violated. For example, a safety or oversight function in the vehicle configuration management layer 240 (or in a separate layer, not shown) may determine whether it is safe to change the shape of the vehicle based on other factors, such as when the vehicle is moving or when another object or vehicle in the immediate vicinity is too close for the vehicle shape to expand.

[0059] Some safety parameters stored in memory, e.g., maximum / minimum vehicle height, may be static (i.e., do not change over time), whereas other safety parameters stored in memory (e.g., headroom) may be dynamic in that the parameters are continually or periodically determined or updated based on the vehicle occupants.

[0060] FIG. 3 illustrates an exemplary system-on-chip (SOC) architecture of a processing device SOC 300 suitable for implementing various embodiments in a vehicle. With reference to FIGS. 1A-3, the processing device SOC 300 may include several heterogeneous processors, such as a digital signal processor (DSP) 303, a modem processor 304, an image and object recognition processor 306, a mobile display processor 307, an application processor 308, and a resource and power management (RPM) processor 317. The processing device SOC 300 may also include one or more co-processors 310 (e.g., vector co-processors) connected to one or more of the heterogeneous processors 303, 304, 306, 307, 308, 317. Each of the processors may include one or more cores and an independent / internal clock. Each processor / core may perform operations independent of the other processors / cores. For example, processing device SOC 300 may include a processor that executes a first type of operating system (e.g., FreeBSD, LINUX, OS X, etc.) and a processor that executes a second type of operating system (e.g., Microsoft Windows). In some embodiments, application processor 308 may be a main processor of SOC 300, a central processing unit (CPU), a microprocessor unit (MPU), an arithmetic logic unit (ALU), etc. Graphics processor 306 may be a graphics processing unit (GPU).

[0061] The processing device SOC 300 may include analog and custom circuitry 314 for managing sensor data, analog-to-digital conversion, wireless data transmission, and for performing other specialized operations such as processing encoded audio and video signals for rendering in a web browser. The processing device SOC 300 may further include system components and resources 316, such as voltage regulators, oscillators, phase-locked loops, peripheral bridges, data controllers, memory controllers, system controllers, access ports, timers, and other similar components, used to support the processor and a software client (e.g., a web browser) running on the computing device.

[0062] The processing device SOC 300 also includes dedicated circuitry for camera actuation and management (CAM) 305, which includes, provides, controls, and / or manages the operation of one or more cameras 122, 136 (e.g., primary camera, webcam, 3D camera, etc.), video display data from camera firmware, image processing, video pre-processing, video front-end (VFE), in-line JPEG, high definition video codec, etc. The CAM 305 may be a separate processing unit and / or may include separate or internal clocks.

[0063] In some embodiments, the image and object recognition processor 306 may be configured with processor-executable instructions and / or dedicated hardware configured to perform the image processing and object recognition analysis involved in various embodiments. For example, the image and object recognition processor 306 may be configured to perform operations to process images received from the cameras (e.g., 122, 136) via the CAM 305 to recognize and / or identify when a person or object occupies or attempts to occupy the vehicle, as well as vehicle component configurations, and otherwise perform functions of the camera perception layer (e.g., 220) as described. In some embodiments, the processor 306 may be configured to process sensor data and perform functions of the sensor perception layer (e.g., 210) as described.

[0064] The system components and resources 316, analog and custom circuitry 314, and / or CAM 305 may include circuitry for interfacing with peripheral devices such as cameras (e.g., 122, 136), sensors, electronic displays, wireless communication devices, external memory chips, etc. The processors 303, 304, 306, 307, 308 may be interconnected to one or more memory elements 312, the system components and resources 316, the analog and custom circuitry 314, the CAM 305, and the RPM processor 317 via an interconnect / bus module 324 that may include an array of reconfigurable logic gates and / or implement a bus architecture (e.g., CoreConnect, AMBA, etc.). Communications may occur through advanced interconnects such as high-performance networks on chips (NoCs).

[0065] The processing device SOC 300 may further include input / output modules (not shown) for communicating with resources external to the SOC, such as a clock 318 and a voltage regulator 320. Resources external to the SOC (e.g., clock 318, voltage regulator 320) may be shared by two or more of the internal SOC processors / cores (e.g., DSP 303, modem processor 304, graphics processor 306, application processor 308, etc.).

[0066] In some embodiments, the processing device SOC 300 may be included in a control unit (e.g., 140) for use in a vehicle (e.g., 100). The control unit may include communications links for communication with a telephone network, the Internet, and / or a network server (e.g., through a network transceiver).

[0067] The processing device SOC 300 may also include additional hardware and / or software components suitable for collecting sensor data from sensors including motion sensors (e.g., accelerometers and gyroscopes of an IMU), user interface elements (e.g., input buttons, touch screen display, etc.), microphone arrays, sensors for monitoring physical conditions (e.g., location, direction, movement, orientation, vibration, pressure, etc.), cameras, compasses, Global Positioning System (GPS) receivers, communications circuitry (e.g., Bluetooth, WLAN, Wi-Fi, etc.), and other well-known components of modern electronic devices.

[0068] As used herein, terms such as "component," "system," "unit," and the like include computer-related entities, such as, but not limited to, hardware, firmware, a combination of hardware and software, software, or software in execution, configured to perform a particular operation or function. For example, a component may be, but is not limited to, a process running on a processor, a processor, an object, an executable, a thread of execution, a program, and / or a computer. As an example, both an application running on a communications device and the communications device may be referred to as a component. One or more components may reside within a process and / or thread of execution, and a component may be localized on one processor or core and / or distributed among two or more processors or cores. In addition, these components may execute from various non-transitory computer-readable media having various instructions and / or data structures stored thereon. Components may communicate by way of local and / or remote processes, function or procedure calls, electronic signals, data packets, memory reads / writes, and other computer, processor, and / or process related communication methods known.

[0069] 4A-4C illustrate a vehicle 100 having reconfigurable interior components and a modifiable exterior shape, according to various embodiments. With reference to FIGS. 1A-4C, a processor (e.g., 164) of the vehicle 100 may receive a configuration change input in the form of a command instructing the vehicle 100 to change to an unoccupied configuration. For example, a vehicle owner who wants to instruct the vehicle to drive itself (i.e., autonomously) without an occupant to a particular location may transmit a suitable configuration change input to the communication components of the vehicle 100 via a wireless communication network. In FIG. 4A, the vehicle 100 is shown in a driving configuration in which the vehicle has a roof height H1. In response to receiving the configuration change input, the vehicle processor may determine an occupancy status of the vehicle to ensure that the vehicle 100 is unoccupied before changing the vehicle to an unoccupied configuration. In response to determining that the vehicle is unoccupied, the vehicle processor may activate actuators, etc., configured to reconfigure interior components and / or change the exterior shape of the body of the vehicle 100 to the unoccupied configuration. For example, the actuator may pivot the handle 180 to a lower position (p SW ) (or the handle can be removed from the cabin), and the backrest 182 can be tilted to a lower position (a SB ) or may otherwise reduce the cabin space occupied by the seat. Additionally, the actuator may lower the roof height H1. FIG. 4B shows the vehicle 100 with the handle 180 and seat back 182 pivoted down to a lower position. In addition, an arrow h R The roof is being lowered, as indicated by Figure 4C shows the vehicle 100 in an unoccupied configuration associated with the third roof height H3, which is the lowest roof height.

[0070] 5A-5B show a vehicle 100 configured with reconfigurable interior components and modifiable exterior shapes, according to various embodiments. With reference to FIGS. 1A-5B, a processor (e.g., 164) of the vehicle 100 may receive a configuration change input in the form of a command instructing the vehicle 100 to change to a first driverless configuration (i.e., an occupant is in the vehicle but the occupant is not driving). Two or more driverless configurations may be available, such as a driverless configuration for the occupants to sleep, and another driverless configuration for the occupants to face each other. The first driverless configuration may provide a suitable cabin environment for the occupants to sleep. For example, a vehicle operator on a long drive may want to sleep, and therefore may instruct the vehicle 100 to drive itself (i.e., autonomously) for a while. In FIG. 5A, the vehicle 100 is shown in a driving configuration with a roof height H1 and an operator 5 driving.

[0071] According to various embodiments, the operator 5 may transmit, such as using an on-board user interface of the vehicle 100, a suitable configuration change input that directs the vehicle 100 to a first driverless configuration with all seats reclined for sleeping and the roof lowered to reduce aerodynamic drag (thus increasing fuel efficiency or battery driving range). In response to receiving this configuration change input, the vehicle processor may determine the occupancy status of the vehicle. In response to determining that the occupancy status of the vehicle is occupied but the seats are upright, the vehicle processor may control actuators configured to lower the steering wheel and recline the seats, thus changing the exterior shape of the body of the vehicle 100 to the first driverless configuration. FIG. 5B shows the driver's backrest reclined to a supine position with the previous driver (and now passenger) in front. Additionally, in FIG. 5B, the vehicle actuators have lowered the roof to a fourth height H4 in the first driverless configuration.

[0072] Additionally, in response to receiving a configuration change input that directs the vehicle to the first driverless configuration, the vehicle processor may activate additional actuators or systems to move parts of the vehicle to accommodate passengers, or other elements associated with the first driverless configuration. For example, airbags and other safety features (e.g., seat belts) may be repositioned to accommodate the occupant in a reclined position or other reconfigured position, such as when the seat is reconfigured to face backwards or sideways. In this manner, the vehicle processor may ensure that vehicle safety features are positioned to properly accommodate the occupant while the occupant is sleeping, resting, or not driving. As another example, the vehicle processor may adjust controls for controlling the steering column (or other mechanism for controlling the vehicle), the infotainment system, and / or some other aspect of the vehicle (e.g., temperature, volume, windows, etc.). In some embodiments, components (e.g., airbags) do not need to be reconfigured, but simply unlocked or prepared for activation associated with the first driverless configuration. For example, in a particular driverless configuration, airbags located in the ceiling or other portions of the vehicle that do not normally deploy upon impact may be unlocked or configured for deployment in the event of a vehicle collision. Thus, a vehicle implementing such an embodiment may be equipped with airbags that are configured to protect passengers or cargo and that are enabled only in some interior configurations (e.g., when the front seats are facing rearward), but some airbags that are configured to protect passengers or cargo during normal driving configurations may be inhibited or disabled when the vehicle is in an interior configuration in which deployment would provide no benefit or may injure passengers or cargo.

[0073] 6A-6B show a vehicle 100 configured with reconfigurable interior components and modifiable exterior shapes, according to various embodiments. With reference to FIGS. 1A-6B, a processor (e.g., 164) of the vehicle 100 may receive a configuration change input in the form of a command that directs the vehicle 100 to change to a second driverless configuration (i.e., an occupant is in the vehicle but the occupant is not driving). The second driverless configuration may provide a suitable cabin environment for the occupants (e.g., operator 5 or passenger 6) to face each other. For example, the vehicle operator 5 on a long drive may not want to drive any more and therefore may instruct the vehicle 100 to drive itself (i.e., autonomously) for a while.

[0074] In FIG. 6A, the vehicle 100 is shown in a driving configuration with the windshield tilted at a conventional driving angle W1, with an operator 5 driving, and a passenger 6 in the rear. According to various embodiments, the operator 5 may transmit a suitable configuration change input, such as using an on-board user interface of the vehicle 100, that directs the vehicle 100 to a second driverless configuration. In response to receiving a configuration change input that directs the vehicle 100 to the second driverless configuration, the vehicle processor may determine the vehicle's occupancy status, which in this scenario determines that the vehicle is occupied but the seats are all facing forward. Thus, the vehicle processor may activate actuators configured to rotate or at least the driver's seat to face the rear passenger seats, and to change the exterior shape of the body of the vehicle 100 to the second driverless configuration.

[0075] FIG. 6B shows the actuator pivoting the windshield to a second angle W2 that is greater than the first angle W1. Additionally, the actuator extends the roof to increase interior cabin space, thus allowing the driver's seat to swivel and face the rear seat. Additionally, in response to receiving a configuration change input that directs the vehicle to a second driverless configuration, the vehicle processor may darken or black out the windows. Darkening the windows may increase privacy for occupants, for cargo, or to avoid knowing if something / someone is inside. Additionally, blacking out the windows may allow in-cabin lighting to further illuminate the cabin, for example, without causing distraction to drivers of other vehicles.

[0076] 7 is a process flow diagram illustrating a method 700 for modifying a vehicle exterior shape based on vehicle occupancy, which may be implemented according to various embodiments. With reference to FIGS. 1A-7, method 700 may be performed by a processor of the vehicle, such as a processor (e.g., 164) of a control unit (e.g., 140) in the vehicle (e.g., 100), a SoC (e.g., 300), or another computing device. For ease of reference, a device that performs the operations of method 700 will be referred to generally herein as a "processor."

[0077] At block 710, a processor of the vehicle may receive a configuration change input or indication. For example, a vehicle configuration management layer (e.g., 240) in a vehicle control system stack (e.g., 200) may receive input from an on-board user interface (e.g., user interface 152), or may receive a configuration change indication from a vehicle communication component (e.g., wireless module 172), or from a sensor perception layer (e.g., 210) and / or a camera perception layer (e.g., 220) via a vehicle occupancy and configuration perception layer (e.g., 230). The configuration change input or indication may include an indicator that a future operating mode, event, or environment is planned or predicted. For example, the configuration change input or indication may include information that the vehicle is operating with / without a driver, with / without a passenger, with / without a payload (i.e., objects and / or animals), stopped on the road, parked (i.e., future operating events), operating on / off the road, operating in a platoon, or in a vehicle elevator parking structure or other confined space (i.e., future operating environment). In this manner, the control unit may receive the configuration change input or indication and may determine whether the configuration change input / indication includes information regarding a planned or predicted future operating mode, event, or environment.

[0078] In decision block 715, the processor may determine whether to initiate a configuration change protocol to execute the configuration change. The configuration change protocol may be a procedure configured to modify the external shape of the vehicle's body and / or modify the arrangement of the vehicle's internal structure. The determination of whether to initiate a configuration change protocol may be based on whether the configuration change input or indication includes information regarding at least one planned or predicted future operating mode, event, or environment. The vehicle control unit may include a list or database (e.g., stored in memory 166) of planned and / or predicted future operating modes, events, and / or environments each associated with a particular vehicle external shape configuration and / or vehicle internal structure arrangement. Using such a data table, the processor may check whether the information provided by the configuration change input or indication matches one or more of the planned and / or predicted future operating modes, events, and / or environments included in the list.

[0079] For example, operational modes, events, or environments that may be listed in such data tables may include vehicles being operated on the road, off the road, and / or in cramped conditions (e.g., inside a building, a parking structure, or in a platoon). Also, operational modes, events, and / or environments that may be listed in such data tables may include vehicles being parked on the road, at the roadside, off the road, and / or inside a building or other structure. Operational modes, events, and / or environments may be specific, such as a vehicle operating on a multi-lane highway rather than just any road, or a vehicle being on / in a parking elevator rather than just any structure. Operational modes may also take into account occupancy status (e.g., driverless mode, driverless mode with no passengers, driving mode, and variations thereof) or may be primarily based on occupancy status.

[0080] Additionally, or optionally, the processor may take into account how long the configuration change will take to implement and how long it will take until a planned or predicted future operating mode, event, or environment occurs or is encountered when determining whether to initiate a configuration change protocol. Thus, if there is not enough time in the future to implement the configuration change, the processor may determine not to initiate a configuration change protocol at the current time.

[0081] The processor may take into account the current operating environment of the vehicle when determining whether to initiate a configuration change protocol. If the vehicle is currently moving on the road, some modifications to the external shape of the vehicle's body may not be appropriate. For example, if a proposed modification to the external shape involves widening or extending the width or length of the vehicle, such a modification may startle drivers of other nearby vehicles and may therefore be considered dangerous and inappropriate. In contrast, non-intrusive or non-startling modifications, such as modifications to the placement of internal structures or some external structures (e.g., lowering the vehicle's roof height), may always be appropriate. Some modifications may be appropriate under some conditions and not appropriate under other conditions.

[0082] In response to determining that a configuration change protocol should not be initiated (ie, when decision block 715 is "No"), the processor may wait at block 710 to receive another configuration change input or indication.

[0083] In response to a determination that a configuration change protocol should be initiated (i.e., when decision block 715 is "Yes"), the processor may initiate the configuration change protocol and may determine the occupancy status of the vehicle in block 720 before activating actuators to modify the vehicle.

[0084] In block 720, the processor may determine the occupancy status of the vehicle. For example, the control unit may use information compiled in the vehicle occupancy and configuration perception layer (e.g., from seat sensors and / or interior cameras) and received / accessed from the sensor perception layer and / or camera perception layer to determine the occupancy status of the vehicle. The occupancy status determined in block 720 may include not only whether there are occupants in the vehicle, but also the number of occupants, where the occupants are sitting (e.g., front or back seats, left or right side, etc.), whether there is an occupant in the driver's seat, etc. In some embodiments, the occupancy status determined in block 720 may include identification information of one or more occupants, which may be linked to stored preferences of the identified occupants (e.g., whether the occupant is a licensed driver, the occupant's seating configuration preferences, interior and exterior shape likes and dislikes, etc.), which the processor may take into account (e.g., in decision block 760, or decision block 902 of method 900 described with reference to FIG. 9, or block 1010 and decision blocks 1020, 1030 of method 1000 described with reference to FIG. 10).

[0085] In block 730, the processor may determine a current vehicle parts configuration, which may identify the configuration of the exterior physical parts that form the exterior shape of the vehicle body. For example, the processor may use information summarized in the vehicle occupancy and configuration perception layer and received / accessed from the sensor perception layer, the camera perception layer, and stored vehicle configuration data to determine the current parts configuration of the vehicle. In some embodiments, the current parts configuration of the vehicle may be stored as a data structure (e.g., a configuration or status vector) in memory that is updated with each configuration change. In such an implementation, the processor may determine the current vehicle parts configuration in block 730 by accessing the current configuration or status vector in memory. In some embodiments, the processor may determine the current vehicle parts configuration in block 730 by obtaining orientation or status information from various components that change position, orientation, or shape when the vehicle configuration is changed.

[0086] At decision block 740, the processor may determine whether the current vehicle parts configuration (i.e., the arrangement of parts) matches the configuration required in the received configuration change input or representation. A match of the current vehicle parts configuration to the configuration required in the configuration change input or representation may be an exact match (i.e., they are the same) or a compatibility match (i.e., they do not conflict with each other). A compatibility match may have all the required vehicle components needed for a match, but may also include other optional components not specified by the configuration change input or representation.

[0087] In response to a determination that the current vehicle component configuration matches the received configuration change input or indication (i.e., when decision block 740 is "Yes"), the processor may maintain the current vehicle component configuration at block 750 without having to activate any actuators.

[0088] In response to determining that the current vehicle component configuration does not match the received configuration change input or indication (i.e., when decision block 740 is "No"), the processor may determine in decision block 760 whether the vehicle's current occupancy status conflicts (i.e., is incompatible or unsafe) with an occupancy status permitted in the configuration required in the received configuration change input or indication. This determination operation provides a safety function in which the process determines whether the configuration change may harm occupants before initiating such a change. In particular, if the configuration required in the received configuration change input or indication is a no-passenger configuration, the processor may determine whether the vehicle is occupied by passengers, since the presence of one or more passengers in the vehicle is (or may be) incompatible with a no-passenger configuration. However, this operation may not be performed if the configuration required in the received configuration change input is for a driving configuration or a passenger configuration, since making the configuration change can be safely accomplished when there are no occupants in the vehicle. Further, there may be no space for passengers in the initial configuration, and thus decision block 760 may only be performed when the current vehicle configuration is the driving configuration or the passenger configuration. Additionally, this decision may not be performed if the processor determines in block 720 that the vehicle is unoccupied.

[0089] In response to a determination by the processor that the current occupancy status of the vehicle conflicts (i.e., is incompatible or unsafe) with the permitted occupancy status in the configuration required in the received configuration change input or indication (i.e., when decision block 760 is "Yes"), the processor does not activate any actuators and maintains the current vehicle component configuration at block 750. Additionally, the processor may inform the vehicle operator or occupants, such as by an announcement, indication, or alarm, that the requested configuration change is prevented due to the presence of an occupant in the vehicle.

[0090] In response to determining that the vehicle's current occupancy status does not conflict (i.e., is compatible or safe) with the occupancy status required in the received configuration change input or indication (i.e., when decision block 760 is "No"), the processor may modify the exterior shape of the vehicle's body to implement the configuration change in block 770. In block 770, the processor may activate actuators to modify the exterior shape or dimensions of the vehicle (e.g., compress / expand the roof or change the tilt angle of the windshield or other window). Additionally or alternatively, the processor may activate smart materials in block 770 configured to modify the shape of one or more exterior portions of the vehicle's body in accordance with the configuration change input.

[0091] In optional block 780, the processor may modify or adjust one or more additional vehicle elements and / or systems according to implementing the configuration change. For example, the processor may change the position of the steering wheel (e.g., retract / deploy or pivot). Retracting, deploying or pivoting the steering wheel may provide more legroom for a passenger who is sitting in the driver's seat but not driving (i.e., driverless mode). Similarly, modifying the configuration of the steering wheel may allow the roof to be lowered to a fuller extent. Additionally or alternatively, the processor may change the position of one or more seats. Folding down the seats may increase storage space or passenger space. In this manner, the seats may be moved forward to provide more legroom in the rear seats, and the seats may be rotated or repositioned. Additionally or alternatively, the outside mirrors may be folded back to accommodate a driverless or passengerless configuration. Similarly, the vehicle suspension may be adjusted since in the case of a passengerless configuration, the comfort of the occupant may not be a consideration. As another example, the processor may enter or activate a driverless or passengerless mode of operation. Such a driverless or passengerless mode may use various operating parameters for autonomous navigation, and vehicle controls may be adjusted when a configuration change places the vehicle in a passengerless mode of operation. For example, vehicle maximum and / or minimum speed limits may be increased or decreased, maximum turning speeds may be increased, maximum braking rates may be increased, and minimum vehicle spacing may be reduced when the vehicle enters a passengerless mode, since passenger comfort is not an issue. Similarly, vehicle maximum and / or minimum speed limits may be increased or decreased, maximum turning speeds may be increased, maximum braking rates may be reduced, and minimum vehicle spacing may be increased when the vehicle enters a passenger mode, to provide a more comfortable ride for the passenger.

[0092] In some implementations, entering a driverless or passenger-free mode may result in changes to navigation functionality in optional block 780, since such vehicles may be permitted on some roads or may be permitted to operate differently than human-operated vehicles. For example, entering a driverless or passenger-free mode may result in the navigation system selecting a different (e.g., longer, slower, more efficient, more bumpy, etc.) navigation route, gaining access to special roads / lanes (e.g., high-occupancy vehicle (HOV) lanes), gaining access (e.g., automatically) through customs (e.g., the U.S.-Mexico border), setting up a charging / refueling schedule / plan (e.g., because an unoccupied vehicle does not have to worry about a driver / passenger getting bored and the car can spend extra time waiting for charging / refueling at possibly cheaper rates), or having the vehicle wait and then drive to the destination to avoid rush hour or traffic congestion.

[0093] As another example, the processor may implement various power saving measures for the vehicle when in passenger-free mode in optional block 780. For example, the processor may turn off or adjust on-board heating, ventilation and air conditioning (HVAC) systems (e.g., turn off when no occupants are present, or turn on to lower or raise the temperature to keep food fresh or warm, such as for food delivery). Similarly, seat warmers / coolers may be disabled to save power or enabled to keep food or other payloads warm. Systems provided for passenger comfort or entertainment, such as the vehicle infotainment system, Wi-Fi hotspot, on-board power port, combined instrument display, interior lighting, airbags (especially when no occupants are seated), rearview camera (backup cam), etc., may be disabled, dimmed, or turned off. Window defrosters may be disabled for driverless or passenger-free modes, since frost / condensation on windows does not affect vehicle sensors used in autonomous driving operations. Occupant notifications (e.g., engine light, incoming phone call, low tire pressure, etc.) may also be disabled in driverless and passengerless mode. Windows may be blacked out in driverless and passengerless mode, such as to allow passengers to use interior lighting in the vehicle without causing distraction to other vehicles and / or to provide privacy to vehicle occupants. Some vehicle input devices may be disabled in driverless and passengerless mode, such as the steering wheel, brake and accelerator pedals, touch display, etc. Additionally, windshield wipers may be disabled or adjusted as they are not required by the autonomous system. Similarly, in driverless and passengerless mode, various headlight settings may be used, such as lower illumination, just enough to allow other vehicles to see the subject vehicle, but less than normal, since the autonomous system may not require road lighting.

[0094] In some embodiments, the processor may be equipped with one or more indicators that may be activated in a driverless or passengerless mode to inform other vehicles, people (e.g., pedestrians), or others that the vehicle is in such an operating mode. Such one or more indicators may be visual indicators that visually inform other drivers / pedestrians that the autonomous vehicle is in a manual or autonomous mode. In some embodiments, such one or more indicators may be digital indicators to other vehicles, police, emergency personnel, or traffic control systems.

[0095] Implementing the configuration change at block 770, and also at optional block 780, may be performed in multiple ways in various embodiments. For example, implementing the configuration change may be scheduled for a particular time (e.g., time of day), may be scheduled to end after a predetermined period of time, or may be scheduled to occur upon arrival at a predetermined destination (e.g., package delivery or passenger pickup destination). Implementing the configuration change may occur while the vehicle is moving (e.g., operating by self-powered locomotion). For example, a configuration change from a passenger-free mode to a passenger mode may be implemented while the vehicle is en route to pick up a passenger or driver. Implementing the configuration change may be triggered by a sensor reading or other trigger near the vehicle, such as a sensor that detects the presence of a person touching a door handle, a sensor that detects the presence of a particular person (e.g., based on facial recognition or other biometrics), or a sensor that detects the presence of a wireless key fob. Similarly, implementations may be activated from a location-based, computing device application.

[0096] The operations in method 700 may be performed continuously, periodically, or episodically, such as in response to receiving another configuration change input at block 710.

[0097] 8 is a process flow diagram illustrating a method 800 for modifying a vehicle interior component configuration based on vehicle occupancy, which may be implemented according to various embodiments. With reference to FIGS. 1A-8, method 800 may be performed by a processor of the vehicle, such as a processor (e.g., 164) of a control unit (e.g., 140) in the vehicle (e.g., 100), a SoC (e.g., 300) or another computing device. For ease of reference, a device that performs the operations of method 700 will be referred to generally herein as a "processor."

[0098] In method 800, the processor may modify the vehicle configuration by performing the operations of blocks 710, 720, 730, and 750, and decision blocks 715, 740, and 760 of method 700 as described.

[0099] In response to determining that the vehicle's current occupancy status does not conflict (i.e., is compatible or safe) with the occupancy status allowed in the configuration required in the received configuration change input (i.e., when decision block 760 is "No"), the processor may modify the vehicle's interior structure to reconfigure the vehicle to implement the configuration change in block 870. In block 870, the processor may activate an actuator to change the position of the steering wheel (e.g., retract / deploy or pivot). Retracting, deploying, or pivoting the steering wheel may provide more legroom for a passenger who is seated in the driver's seat but not driving (i.e., driverless mode). Additionally or alternatively, the processor may change the position of one or more seats, such as moving the front seats forward or backward, rotating the front seats to face sideways or backwards, folding the seats down, or any combination of such movements. Moving, rotating, and / or folding the seats may increase storage space or legroom and volume for passengers.

[0100] In optional block 880, the processor may modify or adjust one or more additional vehicle elements and / or systems in accordance with implementing the configuration change. For example, the processor may control actuators to change the exterior shape or dimensions of the vehicle (e.g., compress / expand the roof or change the tilt angle of the windshield or other window). Modifying the configuration of interior elements (e.g., steering wheel, seats, rearview mirrors, etc.) may allow the exterior dimensions of the vehicle to be altered or changed to a further extent, such as allowing the roof to be lowered to a fuller extent. As another example, the processor may activate smart materials configured to change shape in accordance with the configuration change input. As another example, the exterior mirrors may be folded back to correspond to a driverless or passenger-free configuration. As another example, the vehicle suspension may be adjusted since in the case of a passenger-free configuration, the comfort of the rider may not be a consideration. As another example, the processor may enter or activate a driverless mode, a passenger-free mode, or a power saving measure, as described for optional block 780 of method 700.

[0101] The processor may implement the configuration change at block 870, and optionally at block 880, in anticipation of a need or potential need for a new configuration based on various inputs or indications in various embodiments. In some embodiments, the processor may be configured, programmed, or otherwise controlled to implement the configuration change at a particular time (e.g., a time of day based on an indication from a scheduling system or a navigation system) and terminate the configuration change after a predetermined period of time or at a predetermined time and / or upon arrival at a predetermined destination (e.g., a package delivery or passenger pickup destination based on an indication from a navigation system). In some embodiments, the processor may implement the configuration change while the vehicle is moving (e.g., operating by self-powered locomotion). For example, a configuration change from a no-passenger mode to a passenger mode may be implemented while the vehicle is en route to pick up a passenger or driver, such as based on an indication from a scheduling system (e.g., scheduling the pickup of a passenger or driver) and a navigation system (e.g., providing an estimate of arrival time or remaining travel time). In some embodiments, the processor may implement the configuration change in response to one or more sensor readings or user inputs, such as input provided by a person touching a door handle, an indication from a sensor that detects the presence of a particular person (e.g., based on facial recognition or other biometrics) or a sensor that detects the presence of a wireless key fob, or other trigger near the vehicle. In some embodiments, the processor may implement the configuration change in response to a message from a computing device application. In some embodiments, the processor may implement the configuration change in response to the vehicle approaching or arriving at a particular location (i.e., location-based activation), such as in response to an indication from a scheduling system (e.g., that schedules passenger or baggage pickup) and a navigation system (e.g., that provides an estimate of arrival time or remaining travel time).

[0102] The operations of method 800 may be performed continuously, periodically, or episodically, such as in response to receiving another configuration change input at block 710 of method 800.

[0103] 9 is a process flow diagram illustrating a method 900 for modifying a vehicle structural configuration based on vehicle occupancy to an occupied or unoccupied version of a selected configuration, according to some embodiments. With reference to FIGS. 1A-9, method 900 may be performed by a processor of the vehicle, such as a processor (e.g., 164) of a control unit (e.g., 140) in the vehicle (e.g., 100), a SoC (e.g., 300), or another computing device. For ease of reference, a device that performs the operations of method 700 is generally referred to herein as a "processor."

[0104] In method 900, the processor may modify the vehicle configuration by performing the operations of blocks 710, 720, 730, and 750, and decision blocks 715, 740, and 760 of method 700 as described.

[0105] In response to determining that the vehicle's current occupancy status does not conflict (i.e., is compatible or safe) with the occupancy status required in the received configuration change input or indication (i.e., decision block 760 "No"), the processor may select from one or more configuration alternatives (i.e., suitable matches or alternatives to the configuration shown in the configuration change input or indication received in block 710) based on the vehicle's current occupancy status in decision block 902. This selection or determination operation accommodates configurations having occupied and unoccupied alternatives. For example, a platooning mode of operation may not conflict with occupancy status because the mode can be implemented with or without passengers, and thus may involve or support multiple alternative structural configurations for the vehicle, such as a configuration in which a driver is present without passengers, one or more other configurations in which a driver is present with one or more passengers that may change based on where the passengers are seated, one or more configurations in which no driver is present in the vehicle but one or more passengers are present with configurations depending on where the passengers are seated, and various configurations when no passengers are present. For example, the exterior shape of the vehicle may be modified differently when only one passenger is in the passenger seat as opposed to when only one passenger is in the left rear passenger seat. Similarly, there may be different vehicle modifications associated with each combination of seats from one passenger to a maximum occupancy w. As a further example, a passenger-free platooning configuration may include changes in windshield and roof orientation / position that allow for a more aerodynamic configuration while being placed in a platoon, such as an occupied platooning configuration that leaves more space for passengers within the vehicle body. As another example, an occupied platooning configuration where passengers are only seated in the rear seats may involve modifying the shape of the forward portion of the vehicle exterior that reduces air resistance within the platoon formation (e.g., at the front of the platoon) while leaving space for passengers.Similarly, an occupied platooning configuration, in which passengers are seated only in the front seats, may involve modifying the shape of the rear portion of the vehicle exterior to reduce air resistance within the platooning formation (e.g., at the rear of the platoon) while leaving space for passengers. Platooning is just one example of providing alternative configurations depending on the occupancy status of the vehicles, and other operating modes or configurations may also involve occupied and unoccupied alternatives (e.g., a parked configuration).

[0106] In response to determining that the vehicle is occupied and selecting one of the occupancy alternative configurations (i.e., when decision block 902 is “occupied”), in block 904, the processor may control actuators or other controllable elements to change the exterior configuration (e.g., exterior shape or other characteristics) and / or interior configuration (e.g., materials controlled by electricity or other agents to change color / tinting and / or shape, such as windows) to implement the selected occupancy alternative to the indicated configuration change. For example, the selected occupancy alternative configuration change may depend on where any occupants (driver or passengers) are seated. Thus, in block 904, the processor may control actuators to change the exterior and / or interior of the vehicle, or to operate the vehicle to provide space for occupants, including the driver and / or passengers, provide privacy for occupants, provide a safe environment for occupants, etc., taking into account where the occupants are located within the vehicle.

[0107] In optional block 906, the processor may modify or adjust one or more additional vehicle elements and / or systems to implement the selected occupancy alternative for the indicated configuration change.

[0108] In response to determining that the vehicle is unoccupied and selecting the unoccupied alternative configuration (i.e., when decision block 902 is “unoccupied”), the processor may control actuators to modify the exterior and / or interior of the vehicle in accordance with the unoccupied alternative configuration changes in block 908. For example, in block 908, the processor may control actuators to modify the exterior and / or interior shape of the vehicle, or to operate the vehicle to increase efficiency not possible when passengers are present, operate the vehicle without constraints required for the health or safety of the passengers, etc.

[0109] In optional block 910, the processor may modify or adjust one or more additional vehicle elements and / or systems in accordance with implementing a non-occupied configuration change.

[0110] The operations of method 900 may be performed continuously, periodically, or episodically, such as in response to receiving another configuration change input at block 710 of method 900.

[0111] 10 is a process flow diagram illustrating a method 1000 for modifying a vehicle structural configuration to an occupied or unoccupied version of a selected configuration based on projected occupancy of the vehicle, according to some embodiments. With reference to FIGS. 1A-10, method 1000 may be performed by a processor of the vehicle, such as a processor (e.g., 164) of a control unit (e.g., 140), a SoC (e.g., 300) or another computing device in the vehicle (e.g., 100). For ease of reference, a device that performs the operations of method 700 is generally referred to herein as a "processor."

[0112] In method 1000, the processor may modify the vehicle configuration by performing the operations of blocks 710, 720, 730, and 750, and decision block 715, of method 700 as described, and blocks 906 and 910, of method 900 as described.

[0113] In block 1010, following the operation of block 730, the processor may determine a predicted occupancy status. For example, the control unit may use information received / accessed from the sensor perception layer and / or the camera perception layer to determine a predicted occupancy status of the vehicle. The predicted occupancy status determined in block 1010 may include not only whether occupants are expected to be in the vehicle, but also the predicted number of occupants, where the predicted occupants are likely to sit (e.g., front or back seats, left or right side, etc.), whether the predicted occupants are likely to sit in the driver's seat, etc. Predictions regarding occupants may include whether a driver, passenger, or other items (e.g., cargo) are entering or leaving the vehicle. In some embodiments, the predicted occupancy status determined in block 1010 may be drawn from stored profiles for one or more predicted occupants identified through mobile phone proximity (e.g., when a Bluetooth or other wireless communication link is established) or other sensor input. Such stored profiles may not only identify predicted occupants, but may also predict preferred seating configurations, interior and exterior shape likes and dislikes, etc., which the processor may also take into account for other decisions (e.g., in decision block 1030, and / or decision block 760 or decision block 902 of method 900 described with reference to FIG. 9).

[0114] At decision block 1020, the processor may determine whether the current vehicle parts configuration (i.e., placement of parts) matches the predicted occupancy status. A match of the current vehicle parts configuration with the configuration required by the predicted occupancy status may be an exact match (i.e., they are the same) or a compatibility match (i.e., they do not conflict with each other). A compatibility match may have all required vehicle components needed for a match, but may also include other optional components not specified by the configuration change input or display.

[0115] In response to a determination that the current vehicle part configuration matches the predicted occupancy status (i.e., when decision block 1020 is "Yes"), the processor may maintain the current configuration at block 750 and then wait to receive another configuration change input or indication at block 710. In response to a determination that the current vehicle part configuration does not match the predicted occupancy status (i.e., when decision block 1020 is "No"), the processor may select a configuration alternative based on the predicted occupancy status at decision block 1030.

[0116] In decision block 1030, the selection of a configuration alternative based on the predicted occupancy status may be based on a configuration having occupied and unoccupied alternatives, similar to the configurations and circumstances described with respect to decision block 760 in FIG. 7 herein.

[0117] In response to selecting a configuration alternative based on a predicted occupancy status associated with the vehicle being occupied (i.e., when decision block 1030 is “Occupied”), the processor may modify the vehicle to implement the selected occupancy alternative for the predicted occupancy status in block 1050, and then may either modify or adjust one or more additional vehicle elements and / or systems to implement the selected occupancy alternative for the indicated configuration change in optional block 906, or may more directly wait to receive another configuration change input or indication in block 710. In response to selecting a configuration alternative based on a predicted occupancy status associated with the vehicle being unoccupied (i.e., when decision block 1030 is “unoccupied”), the processor may modify the vehicle to implement the selected unoccupied alternative for the predicted occupancy status in block 1040, and then may either modify or adjust one or more additional vehicle elements and / or systems to implement the selected unoccupied alternative for the indicated configuration change in optional block 910, or may more directly wait to receive another configuration change input or indication in block 710.

[0118] In some embodiments, the configuration change input may be a selection of one configuration or mode of operation among several different configurations and modes of operation other than those described. The various interior and exterior vehicle configurations that the vehicle may change to may provide several benefits, such as conserving power (e.g., lowering or turning off power consumption for various components), reducing aerodynamic drag (e.g., lowering the vehicle profile, such as by lowering the roof), increasing passenger comfort, increasing payload volume, protecting vehicle components (e.g., disabling airbags to avoid having to repair / replace them in the event of an accident), etc.

[0119] The above method descriptions and process flow diagrams are provided as illustrative examples only and do not require or imply that the steps of the various embodiments must be performed in the order presented. As will be appreciated by one of ordinary skill in the art, the order of steps in the above embodiments may be performed in any order. Words such as "then," "then," and "next" do not limit the order of the steps; these words are merely used to guide the reader through the method description. Additionally, any reference to a claim element in the singular, for example using the articles "a," "an," or "the," should not be construed as limiting the element to the singular.

[0120] Various exemplary logic blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability of hardware and software, various exemplary components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the particular application and design constraints imposed on the overall system. Those skilled in the art may implement the described functionality in various ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the claims.

[0121] The hardware used to implement the various exemplary logic, logic blocks, modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed using general purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. Alternatively, some steps or methods may be performed by circuitry specific to a given function.

[0122] In one or more embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or codes on a non-transitory computer-readable medium or a non-transitory processor-readable medium. The steps of a method or algorithm disclosed herein may be embodied in a processor-executable software module that may reside on a non-transitory computer-readable storage medium or a non-transitory processor-readable storage medium. A non-transitory computer-readable storage medium or a non-transitory processor-readable storage medium may be any storage medium that may be accessed by a computer or processor. By way of example and not limitation, such a non-transitory computer-readable medium or a non-transitory processor-readable medium may include RAM, ROM, EEPROM, FLASH memory, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that may be used to store desired program code in the form of instructions or data structures and that may be accessed by a computer. As used herein, disk and disc include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk, and Blu-ray disc, where disks typically reproduce data magnetically and discs reproduce data optically using lasers. Combinations of the above are also included within the scope of non-transitory computer-readable media and non-transitory processor-readable media. Additionally, operations of a method or algorithm may reside as one or any combination or set of code and / or instructions on a non-transitory processor-readable medium and / or a non-transitory computer-readable medium that may be incorporated into a computer program product.

[0123] The foregoing description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the claims. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments without departing from the scope of the claims. Thus, the present disclosure is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the following claims and the principles and novel features disclosed herein. [Explanation of symbols]

[0124] 100 vehicles 102~138 Sensors 108 Satellite geographic positioning sensor 112, 116, 118, 126, 128 Occupancy Sensors 114, 120 Tire pressure sensor 115, 117 Door sensor 122, 136 Camera 124, 134 microphones 130 Collision Sensor 132 Radar 138 Rider 140 Control Unit 140 Vehicle Control Unit 141~149 Actuators, actuator assemblies 141, 142, 147, 148 Base actuator 143, 144, 145, 146 Upper actuator 149 Roof retractor actuator 152 User Interface 154 Driving Control Components 156 Navigation Component 158 Sensors 164 processors 166 Memory 168 Input Module 170 Output Module 172 Wireless Module 200 Vehicle Management System 210 Sensor Perception Layer 220 Camera Perception Layer 230 Vehicle Occupancy and Configuration Perception Layer 240 Vehicle Configuration Management Layer 250 Actuator Adjustment Layer 300 Processing Device SOC 303 Digital Signal Processor (DSP) 304 Modem Processor 305 Camera Operation and Management (CAM) 306 Image and object recognition processors, graphics processors 307 Mobile Display Processor 308 Application Processor 310 Coprocessor 312 Memory elements 314 Analog and Custom Circuit Configurations 316 System Components and Resources 317 Resource and Power Management (RPM) Processor 318 Clock 320 Voltage Regulator 324 Interconnects / Bus Modules

Claims

1. 1. A method for modifying an exterior shape of a vehicle based on occupancy, comprising: determining, by a vehicle processor, whether to initiate a configuration change protocol to implement a configuration change to modify the external shape of the body of the vehicle in response to a planned or predicted future operating mode, event, or environment; determining, by the vehicle processor, whether the vehicle's occupancy status conflicts with a permissible occupancy status for a configuration required by a configuration change entry or indication; determining whether an occupant of the vehicle is driving; in response to determining that the occupancy status of the vehicle does not conflict with the allowed occupancy status for the configuration required by the configuration change input or indication, modifying the external shape of the body of the vehicle in accordance with the configuration change input or indication, the modifying a configuration of at least one external vehicle part; modifying an interior configuration of the vehicle to a driverless configuration in response to determining that an occupant is inside and not operating the vehicle; A method comprising:

2. 2. The method of claim 1, further comprising the step of determining, by the vehicle processor, whether a current vehicle configuration matches a configuration required by the configuration change input or indication, and wherein modifying the external shape of the body of the vehicle is further responsive to a determination that the current vehicle configuration does not match the configuration required by the configuration change input or indication.

3. 2. The method of claim 1, wherein modifying the external shape of the body of the vehicle in accordance with the configuration change input or indication in response to a determination that the occupancy status of the vehicle does not conflict with the configuration change input or indication comprises modifying the external shape of the body of the vehicle to an unoccupied configuration in response to a determination that the vehicle is unoccupied.

4. 4. The method of claim 3, wherein modifying the exterior shape of the body of the vehicle to the passenger-free configuration comprises reducing at least one of a windshield tilt angle, a roof height relative to a base of the vehicle, or a window position.

5. 4. The method of claim 3, further comprising adjusting one or more parameters of autonomous vehicle navigation or operation to implement a passenger-free mode of operation.

6. The method of claim 1 , further comprising the step of not modifying the configuration of the vehicle and notifying an operator in response to determining that the occupancy status of the vehicle conflicts with the configuration change input or indication.

7. The method of claim 1, wherein the step of modifying the interior configuration of the vehicle to a driverless configuration includes changing the shape, length, and / or orientation of seats, steering wheel, pedals, armrests, visual aids, controls, and other interior equipment.

8. 13. The method of claim 1, further comprising adjusting one or more parameters of autonomous vehicle navigation or operation to implement a driverless mode of operation in response to determining that an occupant is not driving the vehicle.

9. 8. The method of claim 7, further comprising modifying the exterior shape of the body of the vehicle to a driving configuration in response to determining that an occupant of the vehicle is driving.

10. 2. The method of claim 1, wherein modifying the external shape of the body of the vehicle in accordance with the configuration change input or indication comprises modifying a configuration of at least one vehicle body part relative to other vehicle parts, the at least one vehicle body part being selected from a pillar, a quarter panel, a roof, a hood, a trunk, a windshield, or a window.

11. selecting one of a plurality of configuration alternatives based on the occupancy status in response to determining that the occupancy status of the vehicle does not conflict with the occupancy status permitted in the configuration required by the configuration change entry or indication. The method of claim 1 , further comprising:

12. 2. The method of claim 1, further comprising: selecting one of a plurality of configuration alternatives based on the predicted occupancy status of the vehicle in response to determining that the predicted occupancy status of the vehicle does not conflict with the occupancy status allowed in the configuration required by the configuration change input or indication.

13. A vehicle exterior shape and interior part configuration modification device, comprising:

1. A processor configured to be communicatively coupled to one or more external components of a vehicle body, determining whether to initiate a configuration change protocol to implement a configuration change to modify the external shape of the body of the vehicle in response to a planned or predicted future operating mode, event, or environment; determining whether the vehicle's occupancy status conflicts with a permissible occupancy status for a configuration required by a configuration change entry or indication; determining whether an occupant of the vehicle is driving; modifying the external shape of the body of the vehicle in accordance with the configuration change input or indication in response to determining that the occupancy status of the vehicle does not conflict with the allowed occupancy status for the configuration required by the configuration change input or indication, the external shape of the body of the vehicle including modifying a configuration of at least one external vehicle part; modifying an interior configuration of the vehicle to a driverless configuration in response to determining that an occupant is inside and not operating the vehicle; a processor configured with processor-executable instructions to A vehicle exterior shape and interior part configuration modification device comprising:

14. The vehicle exterior shape and interior part configuration modification device according to claim 13, wherein the processor is further configured with processor executable instructions to carry out a method according to any one of claims 2 to 12.

15. A vehicle, an actuator configured to change a position or orientation of one or more exterior components of a body of the vehicle and to change a configuration of one or more interior components of the vehicle; 15. A vehicle exterior shape and interior part configuration modification device according to claim 13 or 14, comprising: a processor coupled to the actuators, the processor controlling the actuators to modify the exterior shape of the body of the vehicle and to modify the configuration of one or more interior parts of the vehicle; A vehicle comprising:

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