Exterior lighting system for autonomous vehicles and signaling method thereof

Abstract

An apparatus including a signal light configured to connect to a chassis of a vehicle. The signal light includes a housing, a strip of light emitting diodes (LEDs) disposed within the housing, and a diffuser lens disposed between an outwardly facing surface of the housing and the strip of LEDs. The apparatus also includes a computing system connected to the strip of LEDs and programmed to control operation of the strip of LEDs.

Description

EXTERIOR LIGHTING SYSTEM FOR AUTONOMOUS VEHICLES AND SIGNALING METHOD THEREOFCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 661,042, filed June 17, 2024, the entirety of which is hereby incorporated by reference.BACKGROUND

[0002] When a commercial vehicle, such as a truck, is disabled, the driver of the truck may set out reflective surfaces or flares to warn other drivers on the road of the potential hazard represented by the stopped commercial vehicle. In some jurisdictions, government regulations may require that such warning devices be set behind the disabled commercial vehicle.

[0003] A technical problem arises when the commercial vehicle is an autonomous vehicle (z.e., a vehicle operated by a computing system). In an autonomous commercial vehicle, there is no human to deploy the warning devices. Thus, a technical problem exists in how to build and use a lighting system that provides sufficient visibility, illumination, and signaling controls to serve as acceptable warning or signaling devices, even in daytime or in bad weather.SUMMARY

[0004] One or more embodiments provide for an apparatus. The apparatus includes a signal light configured to connect to a chassis of a vehicle. The signal light includes a housing, a strip of light emitting diodes (LEDs) disposed within the housing, and a diffuser lens disposed between an outwardly facing surface of the housing and the strip of LEDs. The apparatus also includes a computing system connected to the strip of LEDs and programmed to control operation of the strip of LEDs.

[0005] One or more embodiments also provide for a method. The method includes receiving sensor data from one or more sensors disposed on an autonomous vehicleincluding the one or more sensors, a chassis, an engine connected to the chassis, a drive system connected to the engine and the chassis, a signal light connected to the chassis, and a computing system connected to the chassis and the signal light. The method also includes executing, by the computing system, one or more machine learning models on the sensor data to output a combination of control signals and signal conditions for the signal light, wherein the control signals include a hazard determination that commands the autonomous vehicle to stop proximate to a lane of traffic. The method also includes operating, by the computing system, the signal light according to the combination of control signals and signal conditions to display a hazard signal.

[0006] Other aspects of one or more embodiments will be apparent from the following description and the appended claims.BRIEF DESCRIPTION OF DRAWINGS

[0007] FIG. 1A and FIG. IB show different views of an autonomous vehicle having a signal light, in accordance with one or more embodiments.

[0008] FIG. 2, FIG. 3, and FIG. 4 show different views of the signal light shown in FIG. 1A and FIG. IB, in accordance with one or more embodiments.

[0009] FIG. 5 shows a light emitting diode (LED) strip, in accordance with one or more embodiments.

[0010] FIG. 6 shows details of the diffuser lens shown in FIG. 2 and FIG. 3, in accordance with one or more embodiments.

[0011] FIG. 7 shows a flowchart of a method of operating a signal light, in accordance with one or more embodiments.

[0012] FIG. 8 shows a flowchart of the processing by the autonomous system in accordance with one or more embodiments.

[0013] FIG. 9 shows a diagram of an autonomous system in accordance with one or more embodiments.

[0014] Like elements in the various figures are denoted by like reference numerals for consistency.DETAILED DESCRIPTION

[0015] One or more embodiments are directed to an exterior lighting system for autonomous vehicles and a signaling method thereof As indicated above, a technical problem addressed by one or more embodiments is how to build and use a lighting system to provide sufficient visibility, illumination, and signaling controls to serve as acceptable warning or signaling devices, even in daytime or in bad weather, particularly with respect to autonomous vehicles for which there is no driver.

[0016] One or more embodiments address the technical problem by providing for a lighting system that enhances visibility. The lighting system may be controlled by the autonomous vehicle. The lighting system includes an external housing, a strip of light emitting diodes (LEDs), and a diffusion lens disposed between the strip of LEDs and a transparent or translucent portion of the external housing.

[0017] The strip of LEDs may include multiple rows of LEDs to enhance the brightness of the signal light. The rows may include outer rows of phosphor converted amber LEDs (also known as PC-amber LEDs) between which is disposed one or more rows of red-green-blue LEDs (also known as RGB LEDs). The PC- amber LEDs are brighter than RGB LEDs, and thus enhance the brightness of the signal light. The RGB LEDs, combined with the optical effect of the diffusion lens, may permit the signal to display multiple colors when both the PC-amber LEDs and RGB LEDs emit light.

[0018] The diffuser lens may be composed of tightly packed faceted diffusing lenses connected to each other across a surface of the diffuser lens. The faceted diffusing lenses may collect and focus light emitted by the LEDs before passing the light through diffusing features, disposed at corresponding apexes, that diffuse the light. In an embodiment, the faceted diffusing lenses may have focal lengths focused on the diffusing features. The diffusing features may be a translucent material or aprism designed to scatter the light from the LEDs. In this maimer, from a perspective outside the outer housing of the signal, the signal light may appear to be a single bright color that may be varied by varying the wavelengths of light emitted by the RGB LEDs. For example, by having tightly packed faceted diffuser lenses, both the desired brightness (from PC-amber LEDs) and single color that may be changed over time (from RGB LEDs) may be achieved without giving the external viewer the impression that multiple sources of light were used to produce the visible signal.

[0019] One or more embodiments also provide for a method of controlling the signal. Sensors on an autonomous vehicle may receive sensor data (e.g, location, weather, current lighting conditions). The data also may include contextual information, such as a delivery location or the fact that the autonomous vehicle is disabled on the side of a public road. A computing system onboard the autonomous vehicle may execute one or more machine learning models on the sensor data. The machine learning models output a combination of control signals and signal conditions for the signal light.

[0020] Thus, for example, the control signal may include a hazard determination that commands the autonomous vehicle to stop proximate a traffic lane. In this case, the computing system may operate the signal light according to the combination of control signals and signal conditions to display a hazard signal (e.g, to flash red or yellow in a predetermined pattern, to turn on the LEDs in a wave that indicates a direction that traffic should take to avoid the autonomous vehicle, etc.).

[0021] Attention is now turned to the figures. FIG. 1 A and FIG. IB show different views of a portion of an autonomous vehicle having a signal light, in accordance with one or more embodiments. FIG. 1A and FIG. IB share common reference numerals that describe common objects. In particular, FIG. 1A and FIG. IB show portions of an autonomous truck (100), though one or more embodiments may be used with respect to multiple types of vehicles. In one or more embodiments, the autonomous truck is a the tractor side of a semi-truck that is capable of hauling a trailer. Theportion of the autonomous truck shown in FIG. 1 A and FIG. IB is the roof or roof fairing.

[0022] The autonomous truck (100) includes a chassis (102), an engine (not shown) connected to the chassis (102), and a drive system (e.g., wheels, axles, transmission, etc., not shown) connected to the engine and the chassis. The autonomous truck (100) also includes one or more sensors (e.g, sensor suite (104)). The sensor suite (104) may include cameras, microphones, moisture sensors, light sensors, radio transceivers, etc. The autonomous truck (100) also includes an onboard computing system (e.g, computing system (106)). The computing system (106) may be programmed to execute one or more machine learning models to control operation of the autonomous truck (100), as described with respect to FIG. 7 and FIG. 8.

[0023] The autonomous truck (100) also may include one or more signal lights, including signal light (108) or signal light (110). The signal lights may be hammer shapes, as shown in FIG. 1A and FIG. IB, or may have other shapes including arrows, circles, triangles, or other polygons. The details of the signal lights are described with respect to FIG. 2 through FIG. 6.

[0024] The signal lights may be mounted on projections, such as projection (112) or projection (114). The projections also may be referred to as “pods.” The projections are connected to the chassis (102) and may be considered part of the chassis (102) in some embodiments. The projections may extend outwardly from the autonomous truck (100), perpendicularly as shown or at some other angle in other embodiments. Thus, for example, the projections may project about horizontally, with respect to a direction of gravity, from the vehicle (or other apparatus, if the signal light (108) or signal light (110) are attached to some other apparatus). As shown in FIG. 1A and FIG. IB, the signal lights are disposed on lateral sides of the projections. The hammer shapes may be disposed at distal ends of the projections,relative to the chassis (102), though may be placed elsewhere along lengths of the projections.

[0025] The signal light (108) and the signal light (110) may be disposed on either or both sides of the projections (z. e, the projection (112) or the projection (114)). The signal lights on one either side of the projections may be of different sizes or configurations than signal lights on the other side. The signal lights of one projection may be the same as or different than the signal lights of the other projection. Other variations are also possible.

[0026] While the signal light (108) and the signal light (110) shown in FIG. 1A and FIG. IB are shown as being disposed on the autonomous truck (100), the signal lights may be deployed on other platforms. The signal lights may be placed on or otherwise connected to other types of autonomous vehicles (e.g, automobiles, boats, drones, airplanes, etc.). The signal lights may be placed on or otherwise connected to buildings, signs, or other fixtures. Thus, the examples shown in FIG. 1A and FIG. IB do not necessarily limit other embodiments of the disclosure.

[0027] FIG. 2, FIG. 3, and FIG. 4 show different views of the signal light shown in FIG. 1A and FIG. IB, in accordance with one or more embodiments. Thus, reference numerals in FIG. 2 through FIG. 4 refer to common objects having common descriptions.

[0028] Signal light (200) may correspond to signal light (108) or signal light (110) of FIG. 1A and FIG. IB. The signal light (200) may be configured to connect to a vehicle (e.g, by mounting on the projection (112) or the projection (114) in FIG. 1A and FIG. IB). The signal light (200) also may be configured to be connected to other types of vehicles or other fixtures (e.g, via adhesives, connectors, hinges, etc.).

[0029] The signal light (200) includes a housing. The housing may include multiple components, such as a base (202) and an outer housing (204). The terms “base” and “outer” are used for convenience, and, in some embodiments, thepositions of the outer housing (204) and the base (202) may be reversed. However, such as in the embodiment shown in FIG. 1A and FIG. IB, the base (202) may be mounted to the vehicle or other object, and thus be facing inwardly towards the vehicle or other object and may provide support for the other components of the signal light (200).

[0030] The outer housing (204) may be mounted or otherwise connected to the base (202) (e.g, via a tension fit, snap fit, etc.). The outer housing (204) may face outwardly and away from the vehicle or other object. The outer housing (204), or a portion of the outer housing (204) that faces outwardly from the vehicle or other object, may be transparent or translucent.

[0031] As described further below, the strip of LEDs (206) and the diffuser lens (208) are disposed between and inside the base (202) and the outer housing (204). Stated differently, the strip of LEDs (206) and the diffuser lens (208) are disposed within the housing formed by the joining of the base (202) and the outer housing (204)).

[0032] In one or more embodiments, the base (202) may include mounting tabs, such as mounting tab (210). The mounting tabs may be used to mount the signal light (200) to the vehicle or other object by way of fasteners that are disposed through holes in the mounting tabs.

[0033] The base (202) may include a number of fins (212) disposed on an inwardly facing side of the base (202) (z.e., facing towards the vehicle or object upon which the base (202) may be mounted). The fins (212) may be a grill pattern of fins, which may be regularly (or irregularly) spaced individual fins transversely disposed along a length of the base (202). The fins (212) may aid with dissipating heat generated by the strip of LEDs (206).

[0034] The base (202) further may include a strip (214) disposed on a surface of the base (202), opposite the fins. The strip (214) may further aid in dissipating heatgenerated by the strip of LEDs (206), or in securing the strip of LEDs (206) to the surface of the base (202). In an embodiment, the strip (214) may be replaced with another material suitable for use as a heat sink, such as certain ceramic materials. In another example, the strip (206) may be made of metal or may be composed of a thermal adhesive used to attach the strip (206) to the base (202). The base (202) may be made of metal or of other thermally conductive materials.

[0035] Overall, the signal light (200) may have a hammer shape (216), as shown. In addition, the signal light (200) also may include a longitudinal portion (218) connected to the hammer shape (216). As shown in FIG. 1A and FIG. IB, the longitudinal portion (218) may be disposed along a longitudinal axis of the lateral side of projection (e.g, projection (112) and projection (114) of FIG. 1A and FIG. IB). The hammer shape (216) is shown at one end of a longitudinal axis of the signal light (200), though in other embodiments, the hammer shape (216) may be located at the opposing end or may be located somewhere along the length of the signal light (200). The hammer shape (216) may be varied and take the form of other shapes in other embodiments.

[0036] As indicated above, the strip of LEDs (206) is disposed between the strip (214) and the outer housing (204), and thus is disposed within the housing. In an embodiment, the strip of LEDs (206) may be disposed entirely within the housing.

[0037] The strip of LEDs (206) may be formed by affixing LEDs to a flexible material, such as a flexboard, PVA, or other suitable material. A flexible material may be desirable in cases where, as shown in FIG. 1A through FIG. 3, the signal light (200) has bends that form a three-dimensional shape. By using a flexible material, gaps in the coverage of the LEDs along a length of the strip (214) may be avoided. However, in other embodiments, a different material may serve as the foundation for the strip of LEDs (206). Additional details regarding the LEDs are presented with respect to FIG. 5.

[0038] From the above, the strip of LEDs (206) may be characterized as being mounted on flexboard. The flexboard may be disposed on the strip (214). The strip (214) may be connected to the strip (214). The strip (214) is connected to the vehicle or other object.

[0039] The signal light (200) also includes the diffuser lens (208). The diffuser lens (208) is disposed between an outwardly facing surface of the housing (z.e., the surface of the outer housing (204) that faces outwardly from the vehicle or object to which the signal light (200) is mounted). The diffuser lens (208) may be translucent, scattering light emitted by the LEDs. Thus, the light from the strip of LEDs (206) may be combined such that, from the outside, a single color is visible through an outwardly facing transparent surface of the housing. Additional details of the diffuser lens (208) are described with respect to FIG. 6.

[0040] In an embodiment, the base (202), the outer housing (204), the strip of LEDs (206), and the diffuser lens (208) are assembled together to form the signal light (200). The diffuser lens (208) may lay on and have a similar size as the strip of LEDs (206). The strip of LEDs (206) and the diffuser lens (208) are smaller in dimensions than the base (202) and the outer housing (204) such that the strip of LEDs (206) and the diffuser lens (208) may fit the strip of LEDs (206) and the diffuser lens (208). The sides of the outer housing (204) may fit over the strip of LEDs (206) and the diffuser lens (208) and connect to a groove (220) disposed in the base (202). The outer housing (204) may snap into place within the groove (220).

[0041] The signal light (200) then may be mounted to the vehicle or other object. Wires (not shown) may connect through an opening (such as opening (222)) in the base (202) to the strip of LEDs (206). The wires may be electrically connected to the electrical system of the autonomous vehicle or other object, thereby providing a power source to the strip of LEDs (206).

[0042] Attention is turned to FIG. 3. FIG. 3 shows an alternate view of the signal light (200) shown in FIG. 2. The base (202), the outer housing (204), the strip ofLEDs (206), the diffuser lens (208), the mounting tab (210), the fins (212), the strip (214), the hammer shape (216), the longitudinal portion (218), and the opening (222) are shown for reference. However, in FIG. 2, the grill pattern of fins is more easily visible.

[0043] Additionally, FIG. 3 shows that standoffs, such as standoff (300), may be disposed on selected points along a bottom edge of the outer housing (204). The standoffs may aid in securing the outer housing (204) within the groove (220) disposed in the base (202). The standoffs may be disposed into a channel on the base (202). The channel then may be filled with epoxy to create a watertight seal. Between the components of the signal light (200). The standoffs allow the epoxy to be on both sides of the lens in order to create a tight, strong seal between the components of the signal light (200). In other embodiments, the standoffs may be snap tabs that snap into the channel.

[0044] Finally, FIG. 3 also shows that the strip of LEDs (206) may fit within the diffuser lens (208) in some embodiments. In other words, the diffuser lens (208) may be wider than the strip of LEDs (206) (and otherwise of larger dimensions) in orde to accommodate the strip of LEDs (206) within one side of the diffuser lens (208).

[0045] FIG. 4 shows an assembled view of the signal light (200) shown in FIG. 3. Shown for reference are the base (202), the outer housing (204), the mounting tab (210), the hammer shape (216), and the longitudinal portion (218). The strip of LEDs (206) and the diffuser lens (208) (shown in FIG. 2 and FIG. 3) are not visible in FIG. 4, as the components are disposed between the base (202) and the outer housing (204).

[0046] FIG. 5 shows a light emitting diode (LED) strip, in accordance with one or more embodiments. The strip of LEDs (500) may be the strip of LEDs (206) of FIG 2 or FIG. 3.

[0047] The strip of LEDs (500) may include multiple rows of LEDs. In the example of FIG. 5, the strip of LEDs (500) includes three rows of LEDs, but more or fewer rows may be present. The number of rows may vary along different longitudinal portions of the strip of LEDs (500) in other embodiments.

[0048] In the example of FIG. 5, the rows of LEDs include an outer row (502), an inner row (504), and a second outer row (506). Each row may include multiple LEDs, such as LED (508) in outer row (502), LED (510) in inner row (504), or LED (512) in outer row (506). Each row may include different types of LEDs.

[0049] The outer rows of the PC-amber LEDs may permit the strip of LEDs (500) to emit particularly a bright light suitable for transmitting optical signals during daylight, over long distances, or otherwise to serve as hazard signals. Specifically, the outer rows may be single-color LEDs which may have higher lumen (brightness) density averages than multicolor LEDs, such as RGB LEDs, as most RGB LEDs include three different LEDs of different single colors and therefore may emit a lower lumen density. Thus, in an embodiment, the outer row (502) and the outer row (506) of LEDs may be single-color LEDs and the inner row (504) may be RGB LEDs.

[0050] In a specific example, the outer row (502) and the outer row (506) may be formed from phosphor converted amber LEDs (z.e., PC-amber LEDs). The PC- amber LEDs may brighter than some other commercially available LEDs.

[0051] As described above, the outer rows of LEDs may be a single shade (e.g, PC-amber, other shades of yellow, blue-green, etc.). Thus, to provide the strip of LEDs (500) the capability to emit different colors of light, and to dynamically change the colors of emitted light, the inner row (504) may be composed of red-green-blue LEDs (z.e., RGB LEDs). RGB LEDs are particularly useful for emitting light of a wide variety of colors, but tend not to be as bright as the single-color LEDs. However, by combining the rows of single-color LEDs and RGB LEDs, the strip of LEDs (500) may emit a bright light as well as multiple colors in order to generate afull range of color signals bright enough to be seen in daylight, during storms, at far distances, and other conditions in which signaling a hazard is useful.

[0052] FIG. 6 shows details of the diffuser lens shown in FIG. 2 and FIG. 3, in accordance with one or more embodiments. Thus, the diffuser lens (600) shown in FIG. 6 may be the diffuser lens (208) shown in FIG. 2 and FIG. 3.

[0053] The diffuser lens (600) diffuses the light generated by the strip of LEDs (e.g., the strip of LEDs (500) of FIG. 5 or the strip of LEDs (206) of FIG. 2 and FIG. 3). While the strip of LEDs (500) may emit both the color variation and brightness useful for operating a signal light as a hazard signal, without the diffuser lens (600), the signal light would appear to be rows of bright point sources. However, in an embodiment, the signal light may emit a single color at any given moment in time. To achieve the effect of a variable single color signal light, the diffuser lens (600) combines and diffuses the light emitted by the strip of LEDs (500). Thus, the lights emitted by the individual LEDs are blended so that, from outside the external housing of the signal light, one bright color is emitted at any given time.

[0054] The diffuser lens (600) includes a number of faceted diffusing lenses (602), such as faceted diffusing lens (604) that are connected to each other across a surface of the diffuser lens (600). Each of the faceted diffusing lenses is formed from a transparent material, such as glass, polycarbonate, or other transparent materials. Each of the faceted diffusing lenses is shaped to bend, at least initially, the light from the LEDs towards the apexes of the faceted diffusing lenses.

[0055] The term “faceted” means that the lenses have shaped faces, and in the context of one or more embodiments, particularly has a rounded cap at the apexes of the lenses. The term “diffusing” means that the faceted diffusing lenses ultimately cause the light paths of the light emitted by the LEDs to be scattered in apparently random directions. Thus, diffused light is the opposite of collimated light, in which the light paths are parallel.

[0056] Note that faceted diffusing lenses initially focus the light from the LEDs in the lower portions of the faceted diffusing lenses (z.e., bend the light paths towards a point called the focal point). The focal point of the lenses is at the diffusing features at the apexes of the lenses. Stated differently, the faceted diffusing lenses collect and focus light emitted by the LEDs before passing the light through diffusing features, disposed at corresponding apexes, that diffuse the light.

[0057] The bases of the lenses (e.g., the faceted diffusing lens (604)) may be rounded tetrahedrons having rounded caps, as indicated above. The tetrahedral shapes focus the light from the LEDs towards the apexes.

[0058] However, as indicated above, the apexes of the faceted diffusing lenses include diffusing features at the rounded apexes. The diffusing features may be optical diffusers such as frosted glass diffusers, micro lens array diffusers, opal diffusers, ground glass diffusers, etc. When the light from the LEDs pass through the diffusing features, the light is scattered in many directions. As a result, after passing through the diffuser lenses, the lights from the PC-amber LEDs and the RGB LEDs are blended together into a single, bright color.

[0059] In this manner, the signal light shown in FIG. 1A through FIG. 3 produces a single, bright color that resembles the effect of a light pipe. However, the expense of the light pipe may be avoided, as the diffuser lens (600) is less expensive to manufacture than a light pipe.

[0060] FIG. 7 shows a flowchart of a method of operating a signal light, in accordance with one or more embodiments. The method of FIG. 7 may be performed using the signal light described with respect to FIG. 1 A through FIG. 6, in conjunction with the autonomous system described with respect to FIG. 8.

[0061] Step 700 includes receiving sensor data from one or more sensors disposed on an autonomous vehicle. The autonomous vehicle may include one or more sensors, a chassis, an engine connected to the chassis, a drive system connected to theengine and the chassis, a signal light connected to the chassis, and a computing system connected to the chassis and the signal light. The sensors are received via wired or wireless transmission signals from the sensors to the computing system. The computing system may be onboard the autonomous vehicle.

[0062] Step 702 includes executing, by the computing system, one or more machine learning models on the sensor data to output a combination of control signals and signal conditions for the signal light. The control signals may include a hazard determination that commands the autonomous vehicle to stop proximate to a lane of traffic, as well as commands to the LEDs. The signal conditions may be an operational pattern of the operation of the LEDs.

[0063] Step 704 includes operating, by the computing system, the signal light according to the combination of control signals and signal conditions to display a hazard signal. For example, the signal conditions may indicate that the RGB LEDs and PC-amber LEDs of the strip of LEDs should be turned on and off to create a blinking effect. The signal conditions also may indicate that the RGB LEDs should be commanded to alternate between yellow and red colors to indicate that a hazard is stopped at the side of a public road. The control signals are the signals from the computing system to the LEDs that accomplish the signal conditions.

[0064] In another example, the sensor data may be camera data including images of human body signals. In this case, one or more machine learning models are programmed to recognize the images to initiate stopping of the autonomous vehicle.

[0065] In still another example, the sensor data may be microphone data including spoken human language. In this case, the one or more machine learning models are programmed to recognize the spoken human language to initiate stopping of the autonomous vehicle. The computing system thus recognizes a voice and commands the vehicle to stop. The computing system may command the signal light to display signals accordingly (e.g, to flash yellow to indicate a moving hazard).

[0066] In yet another example, the signal light may be operated to communicate a behavioral intent of the autonomous vehicle. In this case, the computing system controls operation of the engine and the drive system to implement the behavioral intent of the autonomous vehicle. The computing system may command the signal light to display signals accordingly.

[0067] Other variations are possible. For example, the computing system may operate the signal light according to a weather pattern detected by the one or more sensors. The signal light may blink in predetermined patterns or colors, adjust to various lighting conditions, etc.

[0068] The method of FIG. 7 may be varied. For example, the autonomous vehicle may be a first vehicle. In this case, the method further may include displaying the hazard signal to a second vehicle to command the second vehicle to avoid the first vehicle. For example, each autonomous vehicle may share a communication protocol via the lights. The communication protocol may be with respect to the light signal pattern, the color, which lights are triggered or other aspects. A first autonomous vehicle may display the hazard signal in accordance with the communication protocol. Sensors on the second autonomous vehicle may detect the light and the signal to determine the state of the first autonomous vehicle. Based on the light and the signal, each autonomous vehicle may perform respective operations. Alternatively, the method also may include displaying the hazard signal to a second autonomous vehicle to command the second autonomous vehicle to avoid the first autonomous vehicle. Still other variations are possible.

[0069] FIG. 8 and FIG. 9 show example diagrams of the autonomous system. Turning to FIG. 8, an autonomous system (800) is a self-driving mode of transportation that does not require a human pilot or human driver to move and react to the real-world environment. The autonomous system (800) may be completely autonomous or semi-autonomous. As a mode of transportation, the autonomous system (800) is contained in a housing configured to move through a real-worldenvironment. Examples of autonomous systems include self-driving vehicles (e.g, self-driving trucks and cars), drones, airplanes, robots, etc.

[0070] The autonomous system (800) includes a computer system (802) executing a virtual driver. The virtual driver is the decision-making portion of the autonomous system (800) that executes on computing system (802) hardware. The virtual driver is an artificial intelligence system that learns how to interact in the real world. The virtual driver is the software executing on a processor that makes decisions and causes the autonomous system (800) to interact with the real-world including moving, signaling, and stopping or maintaining a current state.

[0071] As shown in FIG. 8, the computing system (802) may include one or more computer processors (804), non-persistent storage (806), persistent storage (808), a communication interface (810) (e.g, Bluetooth interface, infrared interface, network interface, optical interface, etc.), and numerous other elements and functionalities. The communication interface (810) may include an integrated circuit for connecting the computing system (802) to a network (not shown) (e.g, the Internet, mobile network, or any other type of network), another component of the autonomous system, and / or to another device. The computer processor(s) (804) may be an integrated circuit for processing instructions. The computer processor(s) may be one or more cores or micro-cores of a processor. The computer processor(s) (804) includes one or more processors. The one or more processors may include a central processing unit (CPU), a graphics processing unit (GPU), a tensor processing unit (TPU), combinations thereof, etc. Further, the computing system (802) executing the virtual driver may be a distributed computing system with multiple distinct parts in different locations of the autonomous system or external to the autonomous system.

[0072] The computing system (802) is connected to one or more input devices (812) and one or more output devices (814). The input devices (812) include sensors (816) that detect the state of the geographic region around the autonomous system (800) and the state of the autonomous system (800) with respect to the geographicregion, The input devices (812) may also include direct input devices (818), such as devices configured to receive input or feedback from various components of the autonomous system or a user.

[0073] Examples of sensors include visible and ultraviolet light cameras, LiDAR sensors, heat sensors, inertial measurement unit (IMU), RADAR sensors, global positioning system (GPS), ultrasound detectors, microphones, etc. The sensors are configured to provide sensor input to the computing system (802) executing the virtual driver. The direct input devices (818) may include sensors and other feedback mechanisms from within the autonomous system (800), and user interface devices (e.g, touchscreen, keyboard, mouse, microphone, etc.), or any other type of input device.

[0074] Further, the output devices (814) are devices that are configured to receive control signals from the computing system (802). The output devices (814) include actuators (820) and signaling devices (822).

[0075] An actuator (820) is hardware and / or software that is configured to control one or more physical parts of the autonomous system based on a control signal from the computing system (802) executing the virtual driver. In one or more embodiments, the control signal specifies an action for the autonomous system (e.g, turn on the blinker, apply breaks by a defined amount, apply accelerator by a defined amount, turn the steering wheel or tires by a defined amount, etc.). The actuator(s) (820) are configured to implement the action by driving the various electrical and mechanical components of the autonomous system (800). In one or more embodiments, the control signal may specify a new state of the autonomous system and the actuator may be configured to implement the new state to cause the autonomous system to be in the new state. For example, the control signal may specify that the autonomous system should turn by a certain amount while accelerating at a predefined rate, while the actuator determines and causes the wheelmovements and the amount of acceleration on the accelerator to achieve a certain amount of turn and acceleration rate.

[0076] The signaling devices (822) may include lights, horns, and other output devices. An example of the signaling devices (822) is the exterior lighting described in Exhibit A, Exhibit B, and Exhibit C. Additional output devices (814) may exist, such as a display device, external storage, etc. One or more of the output devices may be the same or different from the input device(s). The display may present a user interface with multiple interface elements that may interactively receive selections from a user and present information to the user of the autonomous system. For example, the display may visually depict information from the sensors, information generated by the one or more machine learning models of the virtual driver, information about the actions taken by the virtual driver information, etc.

[0077] A geographic region is the portion of the real world through which the autonomous system (800) moves. Thus, the geographic region may include concrete and land, construction, and other objects in the real world along with agents. The agents are the other agents in the geographic region that are capable of moving through the real world. Agents may have independent decision-making functionality. The independent decision-making functionality of the agent may dictate how the agent moves through the environment and may be based on visual or tactile cues from the geographic region. For example, agents may include other autonomous and non-autonomous transportation systems (e.g, other vehicles, bicyclists, robots), pedestrians, animals, etc.

[0078] The other electrical and mechanical components (824) of the autonomous system (800) may include the various physical hardware of the autonomous system. For example, if the autonomous system is a vehicle, the other electrical and mechanical components include the other parts of the vehicle that are not presented above. Other examples of autonomous systems include light-duty, medium-duty, or heavy-duty trucks, such as Class 8 trucks.

[0079] Software instructions in the form of computer readable program code to drive various components and perform one or more operations may be stored, in whole or in part, temporarily or permanently, on a non-transitory computer readable medium such as a storage device, a diskette, a tape, flash memory, physical memory, or any other computer readable storage medium.

[0080] FIG. 9 shows an example of processing by the autonomous system. In Block 901, one or more sensors are driven to obtain sensor input. The sensors may be located on various parts of the autonomous system. The sensor input is passed through a communication interface to the computing system.

[0081] The computing system executing one or more machine learning models of the virtual driver processes the sensor input to detect a current state of a geographic region surrounding the autonomous system in Block 903. For example, the computing system may detect the occupancy of the geographic region or locations of the actors and stationary objects in the geographic region as well as the location of the autonomous system within the geographic region.

[0082] In Block 905, the computing system of the autonomous system executing one or more machine learning models of the virtual driver determines actions of the autonomous system. The virtual driver executes based on the simulated sensor output to generate actuation actions. The actuation actions define how the virtual driver controls the autonomous system. For example, for a self-driving vehicle, the actuation actions may be amount of acceleration, movement of the steering, triggering of a turn signal, etc.

[0083] In Block 907, the computing system outputs control signals according to the actions. The control signals are used to drive the various electrical and mechanical components of the autonomous system causing the autonomous system to move, stop, signal, or perform other actions in the real world.

[0084] In Block 909, a determination is made whether to continue. If the determination is made to continue the process repeats. In one or more embodiments, the processing of FIG. 9 is ongoing and performed in parallel. For example, as the computing system executing the virtual driver is processing a previous frame sensor input, new sensor input may be obtained for the next frame.

[0085] One or more embodiments relate to exterior lighting for autonomous vehicles. A difficulty encountered with operating autonomous vehicles is meeting government regulations with respect to lighting. For example, commercial trucks, when disabled, are required to put out warning triangles around the truck, which is an action that is not possible or not practical for an autonomous vehicle to perform. Exterior lighting, if sufficiently visible to humans in daylight or at night, however, may satisfy such regulations.

[0086] In addition, autonomous vehicles may be required to communicate with humans. Exterior lighting may be used to generate signals which a ground operator (human or machine) may interpret and then respond accordingly. For example, the signal light may be used to display signaling or semaphores to a human ground crew of one or more persons to perform loading or unloading of an autonomous truck. Thus, the signal light may provide information or indicate spaces with variable patterns, colors, etc. to interact with human operators.

[0087] One or more embodiments provide for a unique, four-piece design as shown in the exhibits. The housing acts as a heat sink. Flexboard may be used instead of polyvinyl alcohol (PVA), and connected to an aluminum or other metal housing to increase heat transfer to the air. However, PVA may be used in some embodiments. One or more embodiments may provide for a light pipe effect, without providing for a light pipe mechanism, through the use of the diffuser lens shown in FIG. 6.

[0088] The light emitting diodes (LEDs) may be arranged in multiple rows. Two rows (outer) of LEDs may be amber (or one color) to maximize brightness. An innerrow of LEDs may be red-green-blue (RGB) LEDs in order to provide for additional signaling properties.

[0089] The term “about,” when used with respect to a physical property that may be measured, refers to an engineering tolerance anticipated or determined by an engineer or manufacturing technician of ordinary skill in the art. The exact quantified degree of an engineering tolerance depends on the product being produced and the technical property being measured. For example, two angles may be “about congruent” if the values of the two angles are within a first predetermined range of angles for one embodiment, but also may be “about congruent” if the values of the two angles are within a second predetermined range of angles for another embodiment. The ordinary artisan is capable of assessing what is an acceptable engineering tolerance for a particular product, and thus is capable of assessing how to determine the variance of measurement contemplated by the term “about.”

[0090] As used herein, the term “connected to” contemplates multiple meanings. A connection may be direct or indirect (e.g, through another component or network). In the case of electronic connections, a connection may be wired or wireless. A connection may be temporary, permanent, or semi-permanent communication channel between two entities.

[0091] Additionally, as used herein, the term “connected to” implies multiple connection methods. In a first connection method, “connected to” means that component A was, at least at some point, separate from component B, but then was later joined to component B in either a fixed or a removably attached arrangement. In a second connection method, “connected to” means that component A could have been integrally formed with component B. Thus, for example, a bottom of a pan is “connected to” a wall of the pan. The term “connected to” may be interpreted as the bottom and the wall being separate components that are snapped together, welded, or are otherwise fixedly or removably attached to each other.However, the bottom and the wall may be deemed “connected” when formed contiguously together as a monocoque body.

[0092] In addition, the term “directly connected to” means that component A and component B are connected immediately adjacent to each other. For example, component A and component B may share a common point of contact in at least one area of both components. However, the common point of contact may be a connector (e.g, a bolt, a screw, etc.), in which case it is possible that component A is “directly connected to” component B without a direct contact between the surfaces of component A and component B. However, in any case, if component A and component B are “directly connected to” each other, then no intervening parts, other than possibly a connector, exist between component A and component B.

[0093] The various descriptions of the figures may be combined and may include or be included within the features described in the other figures of the application. The various elements, systems, components, and steps shown in the figures may be omitted, repeated, combined, and / or altered as shown from the figures. Accordingly, the scope of the present disclosure should not be considered limited to the specific arrangements shown in the figures.

[0094] In the application, ordinal numbers (e.g, first, second, third, etc.) may be used as an adjective for an element (z.e., any noun in the application). The use of ordinal numbers is not to imply or create any particular ordering of the elements nor to limit any element to being only a single element unless expressly disclosed, such as by the use of the terms “before,” “after,” “single,” and other such terminology. Rather, the use of ordinal numbers is to distinguish between the elements. By way of an example, a first element is distinct from a second element, and the first element may encompass more than one element and succeed (or precede) the second element in an ordering of elements.

[0095] Further, unless expressly stated otherwise, or is an “inclusive or” and, as such includes “and.” Further, items joined by an or may include any combination of the items with any number of each item unless expressly stated otherwise.

[0096] In the above description, numerous specific details are set forth in order to provide a more thorough understanding of the disclosure. However, it will be apparent to one of ordinary skill in the art that the technology may be practiced without these specific details. In other instances, well-known features have not been described in detail to avoid unnecessarily complicating the description. Further, other embodiments not explicitly described above can be devised which do not depart from the scope of the claims as disclosed herein. Accordingly, the scope should be limited only by the attached claims.

Claims

CLAIMSWhat is claimed is:

1. An apparatus, comprising: a signal light configured to connect to a chassis of a vehicle, wherein the signal light comprises: a housing, a strip of light emitting diodes (LEDs) disposed within the housing, and a diffuser lens disposed between an outwardly facing surface of the housing and the strip of LEDs; and a computing system connected to the strip of LEDs and programmed to control operation of the strip of LEDs.

2. The apparatus of claim 1, wherein the diffuser lens comprises a plurality of faceted diffusing lenses connected to each other across a surface of the diffuser lens.

3. The apparatus of claim 2, wherein the plurality of faceted diffusing lenses collect and focus light emitted by the LEDs before passing the light through a plurality of diffusing features, disposed at corresponding apexes of the plurality of faceted diffusing lenses, that diffuse the light.

4. The apparatus of claim 3, wherein the plurality of faceted diffusing lenses comprise focal lengths focused on the plurality of diffusing features.

5. The apparatus of claim 2, wherein the plurality of faceted diffusing lenses comprise rounded tetrahedrons.

6. The apparatus of claim 1, wherein: the strip of LEDs comprise multiple rows of LEDs, the multiple rows comprise a first row of single-color LEDs, a second row of red- green-blue LEDs, and a third row of single-color LEDs, andthe second row of red-green-blue LEDs is disposed between the first row and the third row.

7. The apparatus of claim 1, further comprising: a strip disposed within the housing, wherein the strip of LEDs is connected to the strip.

8. The apparatus of claim 1, wherein the apparatus further comprises: a projection projecting about horizontally, with respect to a direction of gravity, from the apparatus, wherein the signal light is disposed on a lateral side of the projection.

9. The apparatus of claim 1, wherein the housing comprises a base disposed opposite the outwardly facing surface, and wherein the base comprises a grill pattern of fins.

10. The apparatus of claim 9, wherein the base comprises a first side and a second side opposite the first side, wherein the grill pattern of fins is disposed on the first side, and wherein the apparatus further comprises: a strip connected to the second side of the base, wherein the strip of LEDs is connected to the strip.

11. The apparatus of claim 1, wherein the housing comprises: a base comprising a grill pattern of fins; and a strip connected to the base, wherein: the strip of LEDs is connected to the strip opposite the base, the diffuser lens is connected to the base, with the strip and the strip of LEDs disposed between the base and the diffuser lens, and the outwardly facing surface of the housing comprises a component connected to the base, with the strip, the strip of LEDs, and the diffuser lens disposed between the base and the component.

12. The apparatus of claim 11, wherein the strip of LEDs is mounted on a flexboard, and wherein the flexboard is mounted to the strip.

13. The apparatus of claim 1, further comprising: the chassis, an engine connected to the chassis, and a drive system connected to the engine and the chassis, wherein the signal light is connected to the chassis, and wherein the computing system connected to the chassis and programmed to control operation of the engine, the drive system, and the strip of LEDs.

14. A method comprising: receiving sensor data from one or more sensors disposed on an autonomous vehicle comprising the one or more sensors, a chassis, an engine connected to the chassis, a drive system connected to the engine and the chassis, a signal light connected to the chassis, and a computing system connected to the chassis and the signal light; executing, by the computing system, one or more machine learning models on the sensor data to output a combination of control signals and signal conditions for the signal light, wherein the control signals comprise a hazard determination that commands the autonomous vehicle to stop proximate to a lane of traffic; and operating, by the computing system, the signal light according to the combination of control signals and signal conditions to display a hazard signal.

15. The method of claim 14, wherein the autonomous vehicle comprises a first vehicle, and wherein the method further comprises: displaying the hazard signal to a second vehicle to command the second vehicle to avoid the first vehicle.

16. The method of claim 14, wherein the autonomous vehicle comprises a first autonomous vehicle, and wherein the method further comprises:displaying the hazard signal to a second autonomous vehicle to command the second autonomous vehicle to avoid the first autonomous vehicle.

17. The method of claim 14, wherein the sensor data comprises camera data including images of human body signals, and wherein the one or more machine learning models are programmed to recognize the images to initiate stopping of the autonomous vehicle.

18. The method of claim 14, wherein the sensor data comprises microphone data including spoken human language, and wherein the one or more machine learning models are programmed to recognize the spoken human language to initiate stopping of the autonomous vehicle.

19. The method of claim 14, further comprising: further operating the signal light to communicate a behavioral intent of the autonomous vehicle; and controlling, by the computing system, operation of the engine and the drive system to implement the behavioral intent of the autonomous vehicle.

20. The method of claim 14, further comprising: further operating the signal light according to a weather pattern detected by the one or more sensors.

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