Autonomous vehicle notification systems and methods

Abstract

To provide a system and a method for autonomous vehicle notification that controls a messaging system that provides the autonomous vehicle with messages related to control by a remote manager that occurs based on conditions detected outside the autonomous vehicle.SOLUTION: A system for autonomous vehicle notification includes a sensor mounted on the autonomous vehicle, a messaging system mounted on the autonomous vehicle, and a controller. The sensor is configured to detect conditions external to the autonomous vehicle. The controller is configured to control communication with a remote manager to enable the remote manager to control the autonomous vehicle based on the conditions, and to control the messaging system to provide messages to the autonomous vehicle related to control by the remote manager.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention generally relates to a system and method for notifications of autonomous vehicles. More particularly, the present invention relates to a messaging system that controls a messaging system that provides messages to an autonomous vehicle related to control by a remote manager that occurs based on a state detected outside the autonomous vehicle and a method for notifications of autonomous vehicles.

Background Art

[0002] An autonomous vehicle can be autonomously controlled without direct human intervention to move along a travel route. An autonomous vehicle can include a control system that generates and maintains a travel route and controls the autonomous vehicle to move along the travel route. In a remote operation system where the autonomous vehicle is operating without a driver, a remote manager can communicate with the autonomous vehicle via, for example, a network link. That is, the remote manager can control the movement of the autonomous vehicle in a predetermined situation, such as when the autonomous vehicle cannot navigate to pass an obstacle on the road surface. Also, even when a driver is present in the autonomous vehicle, the remote manager can control the movement of the autonomous vehicle to assist the driver in a predetermined situation, such as different driving conditions.

Prior Art Documents

[0003]

Patent Documents

[0004]

Patent Document 1

[0003]

Patent Document 1

Summary of the Invention

[0004] ​In some remote operation scenarios, autonomous vehicles wait for intervention from a remote manager. It has been found that the vehicle slows down or even stops moving during this time. In this situation, other drivers And people outside the vehicle, such as pedestrians, can explain why the autonomous vehicle slows down or stops. Sometimes people don't realize that the vehicle is stopped. This can endanger the vehicle occupants and people outside the vehicle. This leads to uncertainty about whether autonomous vehicles are functioning properly.

[0005] To address these issues, the disclosed embodiments include sensors mounted on an autonomous vehicle and The autonomous vehicle's communication system includes a messaging system and a controller installed in the autonomous vehicle. It provides a system of knowledge. The sensors are configured to detect the external conditions of the autonomous vehicle. The controller allows the remote manager to control the autonomous vehicle based on that state. It is configured to control communication with the remote manager and is related to control by the remote manager. The messaging system is configured to control the system so that it sends messages to autonomous vehicles. It can be done. [Brief explanation of the drawing]

[0006] The attached drawings, which form part of this initial disclosure, are shown below.

[0007] [Figure 1] This is a schematic diagram of a communication system in which an autonomous vehicle operates, including a notification system for the autonomous vehicle according to the disclosure embodiment. [Figure 2] Figure 1 is a schematic diagram of an example of the components of an autonomous vehicle. [Figure 3] This is a schematic diagram of an example of a passenger compartment in an autonomous vehicle. [Figure 4]This is a perspective view of the front driver's side of an autonomous vehicle, including an external messaging device that issues messages, with the front occupant's side being essentially a mirror image of the front driver's side. [Figure 5] This is a perspective view of the driver's side of an autonomous vehicle, including an external messaging device that issues updated messages, with the front occupant's side being essentially a mirror image of the driver's side. [Figure 6] This is a perspective view of the rear driver's side of an autonomous vehicle, including an external messaging device that issues messages, with the rear passenger side being a mirror image of the rear driver's side. [Figure 7] This is a perspective view of the rear driver's side of an autonomous vehicle, including an external messaging device that issues updated messages, with the rear passenger side being a mirror image of the rear driver's side. [Figure 8] Figure 1 is a block diagram showing an example of the vehicle manager components in an autonomous vehicle communication system. [Figure 9-1] This flowchart shows an example of an operation performed by the notification system for an autonomous vehicle according to the disclosure embodiment. [Figure 9-2] This flowchart shows an example of an operation performed by the notification system for an autonomous vehicle according to the disclosure embodiment. [Figure 10] This is an example of a map displayed on a screen in the passenger compartment of an autonomous vehicle. [Figure 11] This is an example of information displayed on a screen in the occupant's compartment of an autonomous vehicle, indicating that the autonomous vehicle has anticipated a problem and is requesting assistance from the vehicle manager. [Figure 12] This is an example of information displayed on a screen in the occupant's compartment of an autonomous vehicle, indicating that the autonomous vehicle has requested assistance from the vehicle manager. [Figure 13] This is an example of information displayed on a screen in the driver's cab of an autonomous vehicle, indicating that the autonomous vehicle has stopped and is waiting for assistance from the vehicle manager. [Figure 14]An example of information displayed on a display in the passenger compartment of an autonomous vehicle, indicating that the vehicle manager is being requested to assist the autonomous vehicle and is attempting to solve a problem. [Figure 15] An example of information displayed on a display in the passenger compartment of an autonomous vehicle, indicating that the vehicle manager has generated a solution path for the autonomous vehicle. [Figure 16] An example of information displayed on a display in the passenger compartment of an autonomous vehicle, indicating that the autonomous vehicle has completed clearing the problem area and resumed autonomous operation.

Mode for Carrying Out the Invention

[0008] The selected embodiments will be described below with reference to the drawings. It will be apparent to those skilled in the art from this disclosure that the following description of the multiple embodiments is provided for purposes of illustration only and is not provided for the purpose of limiting the invention defined by the appended patent claims and their equivalents. It is not.

[0009] FIG. 1 shows an example of an autonomous vehicle communication system 10. The autonomous vehicle communication system 10 is operable with a plurality of autonomous vehicles 12. Each autonomous vehicle 12 includes an autonomous vehicle notification system 14 according to an embodiment shown, for example, in FIG. 2. The autonomous vehicle communication system 10 includes at least one vehicle manager 16 that can communicate with each other via, for example, a communication network 1 8 using communication links understood in the industry. The vehicle manager 16 can be a person or a computer entity that can act as a remote vehicle manager for remotely controlling the autonomous vehicle 12. The vehicle manager 16 can also be a remote manager, vehicle supervisor, remote operator, or other suitable one well-known in the industry as. or other appropriate terms well-known in the industry. It may be referred to by any term. The vehicle manager 16, as detailed below, for example, controls A 20, a display 22, and a user input unit 2 including, for example, a keyboard 26 and a mouse 28. 4. Includes or has access to communication equipment 30 and data storage 32. .

[0010] As shown in Figure 2, the autonomous vehicle notification system 14 is controlled by a controller 40 and the vehicle in front. Both sensors 42 and 44, rear vehicle sensors 46 and 48, communication equipment 50, navigation unit Device 52, GPS device 54, data storage 56, user input unit 58, vehicle components Typical of the T60, messaging system62, and autonomous vehicle12 as understood in the industry. Includes any other type of equipment present in the vicinity. Two forward vehicle sensors 42 and 44, two Only the rear vehicle sensors 46 and 48, and the user input unit 58 are shown for typical purposes. Nevertheless, the autonomous vehicle 12 will use any appropriate number of these components. It can include.

[0011] The data storage 56 may be any suitable type of memory or storage device. Data can be stored in these and retrieved from them. User input section 58 Examples include touch panels on displays, gesture detection devices, and steering wheels. On the vehicle, or any other suitable location inside or outside the autonomous vehicle 12 described herein It may be a machine or virtual button, etc. The user input unit 58 may also be a smartphone, tablet A redline computer, notebook computer, or, for example, via a communication device 50 Or any other appropriate manner which can communicate with the controller 40 It can be treated as a separate device, like a device of a certain type.

[0012] Vehicle components 60 include, for example, turn signals, windshield wipers, lights, Door latches, trunk clutch, tailgate latch, vehicle entertainment system , brake and steering control systems, etc., which are necessary or desired for vehicle operation (such as autonomous operation). Any suitable system or device, and any other suitable system as understood in the industry This may include electrical and mechanical systems in the autonomous vehicle 12. Nent 60 also includes, for example, at least one microphone, speaker, camera, RF An externally mounted viewing device having an ID reader and a video screen that can also function as a touch panel. This may also include memory links. The vehicle component 60 is an internal component of the autonomous vehicle 12 as understood in the industry. or at least one PIN pad, fingerprint reader, or raw material that may be located in one or more external locations This may include body measurement ID devices and facial recognition devices.

[0013] The messaging system 62 communicates with the occupants of the autonomous vehicle 12 and the occupants of other vehicles or pedestrians. Multiple displays that can give messages to people outside the autonomous vehicle 12 This may include a spray, speaker, haptic device, etc. For example, a messaging system 62 As shown in Figure 3, the instrument panel 68 in the passenger compartment 70 of the autonomous vehicle 12 Includes or capable of operating together with the display 64 and speaker 66 present therein. These provide visual and auditory information to the occupants of the autonomous vehicle 12, as described below. It is possible. The messaging system 62 also provides additional data as shown in Figures 4-7. The display 72 and speaker 74 may also be included. These are autonomous vehicles as described below. Visual and auditory information can be provided to the outside of 12. Displays 64 and 72 are LCD screens, touch panels, flat screen displays, and head-up displays are well understood in the industry. Any suitable type of display, such as a display, window display, etc. It is permissible to do so. That is, the display 72 is located in an external location facing forward of the autonomous vehicle 12, autonomous In an external location facing the side of vehicle 12, and in an external location facing the rear of autonomous vehicle 12, the explanation is provided here. It can provide a visual display of the message. In addition, the messaging system 62 In particular, haptic information can be provided to the occupants of autonomous vehicles 12 as understood in the industry. It may include device 76. The messaging system 62 further communicates to the occupants of the autonomous vehicle 12 Or, a smartphone, notebook, tablet, etc. used by people outside the autonomous vehicle 12 Communication equipment for sending information such as text messages for reception by such devices It can operate together with 50.

[0014] The controller 40 controls the autonomous vehicle 12 as described here by providing a control program. It includes a processor such as a microcomputer. It may be part of the computer. The controller 40 also has an input interface circuit and an output input. Toughness circuit, as well as ROM (read-only memory) devices and RAM (random memory). Other conventional components such as storage devices (access memory) This may also include the state of the operation flags and various control data. The internal RAM of the controller 40 contains the status of the operation flags and various control data. The internal ROM of the controller 40 can store the following, and is known in the industry. It can store control programs for various operations and arbitrary information. The roller 40 is connected to the front vehicle sensors 42 and 44, and the rear vehicle sensors in any appropriate manner as understood in the industry. Vehicle sensors 46 and 48, communication equipment 50, navigation equipment 52, GPS equipment 54, Data storage 56, user input unit 58, vehicle component 60, messaging system The stem 62, as well as other types of equipment of the autonomous vehicle 12, are operably coupled and described herein. These components are programmed to monitor and control them. The traverse 56 also includes forward vehicle sensors 42 and 44, rear vehicle sensors 46 and 48, and communication Device 50, navigation device 52, GPS device 54, display 58, user input section 58, vehicle components 60, messaging system 62, and any other appropriate information Processing results and control programs for reporting, etc., are executed by the controller 40. It can store the control program. Data storage 56 is also described here. To that end, received from other autonomous vehicles 12, vehicle managers 16, and any other entities It can also store information.

[0015] As is understood in the industry, vehicle sensors 42, 44, 46, and 48 take the autonomous vehicle 12 It is configured to monitor and detect the surrounding environment and to detect objects approaching the autonomous vehicle 12. As shown in Figure 2, vehicle sensors 42, 44, 46, and 48 are forward-facing sensors for the autonomous vehicle 12. External mounting to rear panels 80 and 82, and rear quarter panels 84 and 86. It is possible. However, vehicle sensors 42, 44, 46 and 48 are front van Autonomous vehicle including rear bumper and rear bumper, exterior mirrors, or any combination of appropriate areas Vehicle sensors 42, 44, 46 can be attached to any suitable outer part of both 12. and 48 communicate with controller 40. Controller 40 then controls the autonomous vehicle 12 In order to control and perform the actions described here, vehicle sensors 42, 44, 46, and 48 provide the following information. The information can be used.

[0016] Vehicle sensors 42, 44, 46, and 48 may be any type of desired sensor. For example The forward vehicle sensors 42 and 44 are long-range radars for detecting objects in front of the autonomous vehicle 12. The device may include forward vehicle sensors 42 and 44, which are located at a predetermined distance (e.g., up to 200m). It can be configured to detect objects at a certain distance (or a further distance if desired), and is used in the industry. As can be understood, it can have any practical field of view (e.g., around 15°). Sensors 42 and 44 also assist in monitoring the area in front of the autonomous vehicle 12. A typical short-range radar device may have a wide field of view. Rear vehicle sensor 4 6 and 48 also include short-range radar devices, and optionally long-range radar devices. It can be seen. In addition, vehicle sensors 42, 44, 46 and 48 are cameras, radar sensors, and Photo sensors, or any combination and number of such devices as understood in the industry may include Vehicle sensors 42, 44, 46 and 48 are typically electronic detection devices that transmit electromagnetic waves. Vehicle sensors 42, 44, 46 and 48 include, for example, radar, and are industry-known For example, a digital camera captures a computer-processed image and analyzes the image or uses a laser to... It may include any suitable sensor that emits radiation.

[0017] In addition, vehicle sensors 42, 44, 46, and 48 detect at least the speed of the autonomous vehicle 12. It can be configured to detect direction, yaw, acceleration, and distance. Furthermore, vehicle sensors 42, 44, 46, and 48 depend on the measurement of effects such as the Doppler effect to determine the forward object. FM-CW (Frequency Modulated Continuous Wave) radar for position identification, pulse and FSK (Frequency Scaling) (Flight keying) radar, sonar and LIDAR (light detection and ranging) devices, RFI D (Radio Frequency Identification) sensors, as well as other types of object localization sensors including ultrasonic devices. This may include intelligent devices. Object positioning devices include charge-coupled devices (CCDs) or complementary metals. A video image sensor using a semiconductor oxide-semiconductor (CMOS) and digital photography is used to create one or more Other well-known cameras / video image processors for "seeing" forward objects, including the remotely controlled vehicle shown above. It may include.

[0018] Vehicle sensors 42, 44, 46, and 48 also detect the arrival of the autonomous vehicle 12 in the front, side, and rear. It can also monitor incoming traffic. The controller 40 also provides for the autonomous vehicle 12. Vehicle sensors are used to monitor traffic flow in order to maintain lane position or perform lane changes. 42, 44, 46 and 48 can also be used. Controller 40 further controls the vehicle The remote objects detected by sensors 42, 44, 46, and 48 are determined to be either pedestrians or vehicles. The controller 14 can also receive from vehicle sensors 42, 44, 46 and 48. Based on this information, it is also possible to determine vehicle traffic volume and pedestrian traffic volume.

[0019] The communication device 50 is configured, for example, as individual components or as a transceiver. This includes receivers and transmitters, as well as any other type of equipment for wireless communication. For example, The communication device 50 is configured to communicate wirelessly via one or more paths. Examples of communication paths are: , cellular telephone network, wireless network (WiFi or WiMAX (registered trademark)) ), including DSRC (dedicated short-range communication) networks, power line networks, etc. Communication equipment 50 receives information from an external source and sends such information to the controller 40. It is configured to communicate. For example, communication device 50 communicates via communication network 18. The vehicle manager 16 communicates with the vehicle manager 16 by direct communication or in any appropriate manner understood in the industry. The communication device 50 can also communicate with other autonomous vehicles 12, or any other suitable entity. For example, via communication network 18, by direct communication, or any as understood in the industry Communication can be conducted in an appropriate manner. Furthermore, the communication device 50 includes, for example, a microphone. Includes or interacts with speakers, displays, and any other type of equipment. For example, auditory interaction, audiovisual interaction, menu interface interaction, visual individual interaction Interaction modalities of a certain type, such as sistant interactions, can be enabled.

[0020] Furthermore, the communication device 50 is scheduled, for example, in a given local area Event information is obtained from subscribed local knowledge sources via the service provider. It can receive wirelessly. For example, the communication device 50 is connected to the autonomous vehicle 12. Receiving information from mobile applications such as public media applications This information can be configured to be sent to the controller 40. For example, communication Device 50 displays Facebook® and / or other information to various locations within a given area. This information about Twitter® check-ins is shared with Facebook and / or When a mobile phone with the Twitter application is connected to the autonomous vehicle 12, wireless communication is performed. It can be configured to receive data.

[0021] The navigation device 52 provides, for example, information about recommended driving routes for the autonomous vehicle 12. It is configured to receive information from the controller 40. The recommended driving route is, for example, Information received by the controller 40 from a mobile application connected to the vehicle 12 Based on, or any other method, device or system described herein or known in the industry This can be determined based on the driving mode of the autonomous vehicle 12, which is determined using the `n`. The navigation device 52 also communicates with the GPS device 54 to determine a recommended driving route. It is also possible. The controller 40 controls the driving of the autonomous vehicle 12 as understood in the industry. Furthermore, information received from the navigation device 52 and the GPS device 54 can be used. The navigation device 52 also provides the driver in the autonomous vehicle 12 with a recommended driving route, for example. It can also be configured to display on display 64 or in any other suitable manner. The navigation device 52 also uses the communication device 50 directly or any other appropriate In this manner, it is also possible to communicate with, for example, the vehicle manager 16.

[0022] As shown in Figures 1 and 8, the vehicle manager 16 includes a controller 20 and a display 2 2. Includes or includes a user input unit 24, communication equipment 30 and data storage 32. It has access. The controller 20 controls the components of the vehicle manager 16. This includes a processor such as a microcomputer with a control program, as described herein. The processor controls the autonomous vehicle 12 when remotely controlling it. It may be part of a microcomputer. The controller 20 also has an input interface. IS circuit, output interface circuit, and ROM (read-only memory) device and Other storage devices such as RAM (Random Access Memory) devices Conventional components may also be included. The internal RAM of the controller 20 contains the status of the operation flags. The internal ROM of the controller 20 can store various control data, etc., and is used in the industry. It is understood that the control program for the various operations described here and any information to be stored here It is possible.

[0023] The controller 20 receives information related to the operation of the vehicle manager 16 and information related to the autonomous vehicle 12. Display 22 is intended to display information and any other appropriate information understood in the industry. It controls the display 22, for example, an LCD display, a touch panel, a flat screen. This may be a screen display, or any other suitable type of display as is well known in the industry. The user input unit 24 includes, for example, the keyboard 26 and mouse 28 shown in Figure 1, as well as industry A touch panel, gesture detection device, machine or virtual on the display 22 as understood by It may include buttons for input, etc. The user input section 24 is also a smartphone, tablet computer. via a computer, notebook computer, or, for example, a communication device 30 or any Any other suitable type of device that can communicate with the controller 20 in any other suitable manner It can be treated as a separate device, like a vice.

[0024] The communication device 30 is configured, for example, as individual components or as a transceiver. This includes receivers and transmitters, as well as any other type of equipment for wireless communication. For example, The communication device 30 is designed to wirelessly communicate with the communication network 16 via one or more communication paths. And consequently, autonomous vehicles 12, other vehicle managers 14, and other types of content providers or communicate with service providers and any other suitable entities of any other type described herein. It is configured to be such. Examples of communication paths include cellular telephone networks and wireless networks (W). iFi or WiMAX), DSRC (Dedicated Short-Range Communication) network, power line network This includes the like. The communication device 30 is for receiving information from an external source and for receiving such information It is configured to transmit to the controller 20. For example, the communication device 30 is configured to transmit to the controller 20. Autonomous communication via network 18, through direct communication, or in any appropriate manner understood in the industry. It can communicate with vehicle 12. The communication device 66 can also communicate with other vehicle managers 16 or other With other suitable entities of intent, for example, through direct communication via the communication network 18, or in the industry It can communicate in any appropriate manner as understood by [the relevant authority]. Furthermore, the communication device 30 can, for example, This includes, or does not include, microphones, speakers, displays, and any other type of equipment. These interact with each other, for example, auditory interaction, audiovisual interaction, menu interface phase. Enable interaction modalities of types such as interaction, visual personal assistant interaction, etc. It is possible.

[0025] The data storage 32 may be any suitable type of memory or storage device. Data can be stored in these and retrieved from them. 32 includes the display 22, the user input unit 24, and the communication device 30, as well as any other appropriate Processing performed by the controller 20, such as processing results for information and control programs. The data storage 32 can store results and control programs. Information received from both 12, other vehicle managers 16, and any other entities described herein It can store information.

[0026] Here, an example of the actions performed by the autonomous vehicle notification system 14 is shown in the flowchart in Figure 9. Refer to the documentation for details. In step 1000, the autonomous vehicle 12 operates autonomously. During this time, the controller 40 will, for example, monitor the display located on the instrument panel 68. Optionally via displays and speakers in the crew compartment, such as I-64 and speaker 66. Control the messaging system 62 to refrain from sending specific messages. It is possible. At this time, the controller 40 can also send any specific message to the autonomous vehicle. To avoid providing external information to the autonomous vehicle 12, the additional display 72 in the autonomous vehicle 12 And the display 74 can also be controlled. That is, these additional displays 72 may be left off or in the dark, and speaker 74 may be left off or in the silent state. The controller 40 also receives messages via the haptic device 76, and messages via text. Please refrain from sending any other specific messages such as "Ji" or "Ji" when messaging. It can also control system 62. Therefore, controller 40 is understood in the industry. Based on the navigation and GPS information, a typical navigation map shown in Figure 10 To display the 90, the instrument panel 68's display 64 is controlled. Yes, it is possible. Map 90 shows the location of the autonomous vehicle 12 on roads within a specified distance from the autonomous vehicle 12. The location is along with other landmarks such as gas stations, restaurants, and places of interest. It can be displayed.

[0027] In step 1010, the controller 40 monitors the external state of the autonomous vehicle 12. Next, it is determined whether assistance from the vehicle manager 16 is needed or desired. If assistance from JA16 is not needed or desired, the process proceeds to step 1000, autonomously. Vehicle 12 continues to operate autonomously, as is understood in the industry.

[0028] However, in step 1010, the controller 40 is located outside the autonomous vehicle 12 The vehicle manager 16 determines that it is necessary to provide assistance to the autonomous vehicle 12. If so, the process proceeds to step 1020. For example, vehicle sensors 42, 44, 46 and 48 This includes construction work, traffic accidents, etc., that could prevent the autonomous vehicle 12 from proceeding along its normal route on road R. This allows for the detection of potential trouble areas T, such as any other circumstances. During the event, the controller 40 controls the communication device 50 to communicate with the autonomous vehicle 12 and the vehicle Establish communication with manager 16. For example, controller 40 communicates with vehicle manager 16. It can automatically request assistance from 6. In other words, the vehicle manager 16 can autonomously Control vehicle 12 and have it bypass trouble area T in a way that can be understood by autonomous vehicle technology. It can be made to happen.

[0029] In this situation, the vehicle occupants realize that the autonomous vehicle 12 is approaching the problem area P and the vehicle manager Sometimes we don't realize that we need assistance from JA16. Therefore, the Vehicle Senate This could lead to uncertainty about whether the autonomous vehicle 12 is functioning properly. Other drivers and pedestrians, and other people outside the autonomous vehicle 12, also know how the autonomous vehicle 12 normally operates. It can become difficult to be certain whether the vehicle appears to be driving according to the rules.

[0030] Therefore, the controller 40 receives messages related to control by the vehicle manager 16. The messaging system 62 can be controlled to provide the message to the autonomous vehicle 12. For example, as shown in Figure 11, the controller 40 controls the messaging system 62. To display the status of the autonomous vehicle 12, the display 64 in the passenger compartment 70 It can control the vehicle. For example, display D1 shows that the autonomous vehicle 12 has predicted a problem and the vehicle This may indicate that assistance from Manager 16 is being requested. Display D1 is the trouble area. The autonomous vehicle 12, accompanied by the display of T, is traveling along a road R, and the occupants of the autonomous vehicle 12 are also shown. This may include other informational messages 92 and 94 that provide information to the. Furthermore, as shown in Figures 4 and 6 Thus, the controller 40 controls the messaging system 62 to control the autonomous vehicle 12 The additional display 72 is controlled to display an information message 96 indicating the status. This is possible. For example, message 96 indicates that the autonomous vehicle 12 is receiving assistance from the vehicle manager 16. This indicates that it is requesting it. Controller 40 also controls the messaging system 62 Speakers 66 and 7 are used to control and issue appropriate messages indicating the status of the autonomous vehicle 12. 4, and control any or all of the haptic devices 76, text input devices, etc. It is possible. As described here, the display 64, speaker 66, haptic device The information provided by the text input is displayed on an additional display 72 located outside the autonomous vehicle 12. And since the content may differ from the message given by speaker 74, controller 40, First information in the occupant compartment 70 of the autonomous vehicle 12, and different information from this first information of the autonomous vehicle 12 Control the messaging system 62 to send a message that includes external second information. It is possible.

[0031] The controller 40 further enables the vehicle manager 16 to control the autonomous vehicle 12. Depending on the progress, the messages sent to the vehicle occupants and to the outside of the autonomous vehicle 12 will be updated. The messaging system 62 can be controlled as shown in Figure 12. The controller 40 controls the messaging system 62 so that the autonomous vehicle 12 can move. In the crew compartment 70, display indicator D2 to show that assistance has been requested from manager 16. The display 64 can be controlled. Display D2 is for the trouble area T. The location of the autonomous vehicle 12 can be illustrated, as shown in information messages 92 and 94. It can update the messaging system 62. Similarly, the controller 40 can update the messaging system 62. Control and update the information message 96 indicating the status of the autonomous vehicle 12 with an additional display. It can control Ray 72. Controller 40 also controls the messaging system 6 Control 2 and issue appropriate messages to update the state of the autonomous vehicle 12 using a speaker. 66 and 74, and any one or all of the following: any haptic device 76, text input device, etc. It can be controlled.

[0032] As shown in Figures 13-16, the controller 40 controls the messaging system 62. This allows the system to continue updating messages to update the vehicle's status. For example, see Figure 1. As shown in 3, the controller 40 controls the messaging system 62 to enable autonomous vehicles Both vehicles 12 were near trouble area T while waiting for a solution from vehicle manager 16. Control the display 64 in the crew compartment 70 to show indicator D3 indicating that the vehicle has stopped. It is possible. Similarly, the controller 40 can, for example, be used as shown in Figures 5 and 7. The saging system 62 is controlled to update the information message 96 indicating the status of the autonomous vehicle 12. The controller 40 can also control the additional display 72 to be updated. The messaging system 62 controls the appropriate message to update the state of the autonomous vehicle 12. Speakers 66 and 74, as well as an optional haptic device 76, and a character input device, are used to issue the message. It is possible to control one or all of the chairs, etc.

[0033] In step 1030, the controller 40 will provide an updated message. Control of the messaging system 62 can continue. For example, as shown in Figure 14. The controller 40 controls the messaging system 62, and the vehicle manager 16 Display D4 indicates that a request for assistance has been received and a solution is being created for autonomous vehicle 12. The display 64 in the crew compartment 70 can be controlled to display the information. Similarly, The controller 40 controls the messaging system 62 to indicate the status of the autonomous vehicle 12. The additional display 72 can be controlled to update the information message 96. The controller 40 also controls the messaging system 62 to monitor the status of the autonomous vehicle 12. Speakers 66 and 74, as well as any haptic devices, are used to issue appropriate messages for updates. It can control one or all of the following: the chair 76, the text input device, etc.

[0034] In step 1040, the vehicle manager 16 has completed the generation of the solution, so autonomous Vehicle 12 is controlled by the vehicle manager 16 based on the detected state described above. For example, as shown in Figure 15, the controller 40 controls the messaging system 62. Then, the vehicle manager allows the autonomous vehicle 12 to bypass the trouble area T and proceed. Display D5, indicating that the autonomous vehicle 16 has created an alternative route P for the autonomous vehicle 12. The display 64 in the crew compartment 70 can be controlled. Similarly, the controller The RA40 controls the messaging system 62 to send information messages indicating the status of the autonomous vehicle 12. The additional display 72 can be controlled to update Sage 96. The RA40 also controls the messaging system 62 to update the status of the autonomous vehicle 12. Speakers 66 and 74, and optional haptic devices 76, are provided to issue appropriate messages. It can control one or all of the following: text input devices, etc. For example, the displayed The audible message indicates a countdown indicating the estimated time period for the autonomous vehicle 12 to resume movement. It can inflict a knockdown.

[0035] In step 1050, the controller 40 continues to receive instructions from the vehicle manager 16. Determine whether assistance is needed or desired. If so, proceed to step 10. Regarding 40, the above continues. However, with the assistance of the vehicle manager 16 If not necessary, the process proceeds to step 1060. As shown in Figure 16, Controller 4 0 controls the messaging system 62 to guide the autonomous vehicle 12 through the trouble area T. To display the indicator D6 that the task was completed, the display 64 in the crew compartment 70 was controlled. It can be controlled. Similarly, the controller 40 controls the messaging system 62. Then, in order to update the information message 96 indicating the status of the autonomous vehicle 12, an additional display 72 can be controlled. For example, controller 40 can control messaging system 6 Control 2 and send a message indicating that the autonomous vehicle 12 has completed passing through the trouble area T. The speaker 66 located on the instrument panel 68 can be controlled to provide this effect. The controller 40 also displays an additional message to give a similar message. It can control Ray 72, speaker 74, haptic device 76, text input device, etc. The process then returns to step 1000, and the controller 40, as described above, optionally While controlling the messaging system 62 to refrain from assigning specific messages, The instrument panel is shown to display a typical navigation map 90 as shown in Figure 10. It can control 68 displays 64.

[0036] As can be seen from the description here, the notification system 14 of the autonomous vehicle according to the disclosure embodiment This provides messages and updates to the occupants of the autonomous vehicle 12 and to people outside the autonomous vehicle 12, and consequently This means that the autonomous vehicle 12 is uncertain when remote control is in operation, and this affects the occupant and other road users. Make them understand that it will not stop. This will cause dissatisfaction among the passengers and other road users. As a result, attempts at undesirable actions such as leaving the autonomous vehicle 12, This reduces the likelihood of attempts to overtake or similar actions. Therefore, it promotes orderly traffic. This process can be achieved. Furthermore, the occupants of the autonomous vehicle 12 can see that the autonomous vehicle 12 is properly Since we know it's working, there's no need to worry about the status of autonomous vehicle 12. You can then resume other tasks, such as reading.

[0037] General interpretation of terms

[0038] When understanding the scope of this invention, the terms "including" and their derivatives used herein are described as follows: Identify the presence of the specified features, elements, components, groups, integers, and / or steps. It is intended to be an open-ended term, but does not imply any other unmentioned features, elements, or characteristics. This does not preclude the existence of components, groups, integers, and / or steps. What they did was also the same as terms such as "include," "have," "prepare," and their derivatives. This also applies to words that have the meaning of "sama" or "description." Furthermore, it applies to the terms "part," "section," or "element." This can have a dual meaning, referring to one part or more parts. Therefore, these terms are When used to explain the present invention, it applies to vehicles equipped with an autonomous vehicle communication system. It should be interpreted as follows.

[0039] Terms used herein to describe components, sections, or parts of a device. "Configured" means hardware that has been configured and / or programmed to perform the desired function. A and / or software. The terms "substantially," "about," and "almost" used herein are used in this context. The term "approximately" is used to modify the results so that the final result does not change significantly. It refers to a reasonable deviation of a word.

[0040] Only selected embodiments have been chosen to illustrate the present invention, but the scope of the appended claims is not limited to the present invention. Various changes and modifications can be made herein without departing from the scope of the present invention as defined herein. It will be obvious to those skilled in the art from this disclosure that various components The size, shape, location, or orientation may be changed as necessary and / or desired. Components that are directly connected to or in contact with each other are placed between such components. It may have an intermediate structure. The function of one element can be performed by two, and vice versa. It is possible. The structure and function of one embodiment can be adapted to other embodiments. Not all benefits need to be present in a particular embodiment simultaneously. Unique features from the prior art are All, either alone or in combination with other features, the structural and / or should be considered a separate description of the applicant's further invention, including a functional concept. That is, the foregoing description of embodiments according to the present invention is given for illustrative purposes only and attached. This is given for the purpose of limiting the invention defined by the claims and equivalents thereof. isn't it.

Claims

1. A notification system for autonomous vehicles, A sensor mounted on the autonomous vehicle and configured to detect the external conditions of the autonomous vehicle, The messaging system installed in the aforementioned autonomous vehicle, A controller configured to receive information that the autonomous vehicle is in a stopped state due to external conditions of the autonomous vehicle, and to control communication with a remote manager so that the remote manager can control the autonomous vehicle based on the state. Includes, The controller is configured to control the messaging system in order to display on a display in the occupant's compartment the estimated time period until the autonomous vehicle resumes movement and the generation of an alternative route to avoid the trouble area, based on information received from the remote manager according to the state, and to provide updates to messages related to the autonomous vehicle that relate to the control by the remote manager. The information received from the remote manager includes the alternative route, and is part of the autonomous vehicle notification system.

2. The autonomous vehicle notification system according to claim 1, wherein the messaging system is configured to send a message to the outside of the autonomous vehicle based on the information received from the remote manager.

3. The autonomous vehicle notification system according to claim 2, wherein the controller is further configured to update the messages provided by the messaging system in accordance with the progress of the remote manager's control of the autonomous vehicle.

4. The autonomous vehicle notification system according to claim 1, wherein the controller is configured to update the display in accordance with the progress of control of the autonomous vehicle by the remote manager.

5. The autonomous vehicle notification system according to claim 1, wherein another display is configured to provide a visible display to the outside of the autonomous vehicle.

6. The autonomous vehicle notification system according to claim 5, wherein the other display is configured to provide the visible display in at least one of the following locations: an external location facing forward of the autonomous vehicle, an external location facing to the side of the autonomous vehicle, and an external location facing backward of the autonomous vehicle.

7. The autonomous vehicle notification system according to claim 1, wherein the controller is configured to control the display to provide the location of the autonomous vehicle relating to the state.

8. The autonomous vehicle notification system according to claim 7, wherein the controller is configured to update the location of the autonomous vehicle relating to the state in accordance with the progress of control of the autonomous vehicle by the remote manager.

9. The autonomous vehicle notification system according to claim 1, wherein the controller is configured to update the location of the autonomous vehicle along the alternative route in accordance with the progress of the remote manager's control of the autonomous vehicle.

10. The messaging system includes a speaker, The notification system for an autonomous vehicle according to claim 2, wherein the controller is configured to control the speaker to deliver the message as an audible message.

11. The notification system for an autonomous vehicle according to claim 1, wherein the controller is configured to control the messaging system to provide a text message to be displayed on the display.

12. The autonomous vehicle notification system according to claim 1, wherein the controller is configured to control the messaging system to provide a message including first information in the occupant compartment of the autonomous vehicle and second information outside the autonomous vehicle.

13. The autonomous vehicle notification system according to claim 1, wherein the controller is configured to control the messaging system to provide the alternative route when the controller requests the remote manager to control the autonomous vehicle.

14. A method of notification for autonomous vehicles, To detect the external conditions of the autonomous vehicle, The controller receives information that the autonomous vehicle is in a stopped state due to external conditions of the autonomous vehicle, The controller communicates with a remote manager, enabling the remote manager to control the autonomous vehicle based on the state, The controller controls the messaging system installed in the autonomous vehicle in order to display on a display in the occupant's compartment the estimated time period until the autonomous vehicle resumes movement and the generation of an alternative route to avoid the trouble area, based on the information received from the remote manager according to the state, and to provide updates to messages related to the autonomous vehicle that are related to the control by the remote manager. Includes, A method for notifying an autonomous vehicle, including the information received from the remote manager, which includes the alternative route.

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