U.S. patent application number 17/140620 was filed with the patent office on 2021-04-29 for capacity based vehicle operation.
The applicant listed for this patent is Uber Technologies, Inc.. Invention is credited to Sisil Mehta.
Application Number | 20210123743 17/140620 |
Document ID | / |
Family ID | 1000005316441 |
Filed Date | 2021-04-29 |
United States Patent
Application |
20210123743 |
Kind Code |
A1 |
Mehta; Sisil |
April 29, 2021 |
Capacity Based Vehicle Operation
Abstract
Systems, methods, and vehicles for capacity based vehicle
operation are provided. For example, a method can include
receiving, by a computing system including one or more computing
devices, object data based in part on one or more states of one or
more objects. Based in part on the object data, the computing
system can determine one or more features of the one or more
objects. Based on a comparison of the one or more features of the
one or more objects to a vehicle capacity criterion, the one or
more objects that satisfy the vehicle capacity criterion can be
determined. The vehicle capacity criterion can be based in part on
a carrying capacity of an autonomous vehicle. In response to the
one or more objects satisfying the vehicle capacity criterion, one
or more control systems associated with operation of the autonomous
vehicle can be activated by the computing system.
Inventors: |
Mehta; Sisil; (Berkeley,
CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Uber Technologies, Inc. |
San Francisco |
CA |
US |
|
|
Family ID: |
1000005316441 |
Appl. No.: |
17/140620 |
Filed: |
January 4, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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16727332 |
Dec 26, 2019 |
10883832 |
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17140620 |
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15654200 |
Jul 19, 2017 |
10527428 |
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16727332 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G06Q 10/08 20130101;
G05D 2201/0212 20130101; G06Q 10/047 20130101; G05D 1/0027
20130101; G01C 21/20 20130101; G06Q 10/06312 20130101 |
International
Class: |
G01C 21/20 20060101
G01C021/20; G06Q 10/04 20060101 G06Q010/04; G06Q 10/06 20060101
G06Q010/06; G06Q 10/08 20060101 G06Q010/08; G05D 1/00 20060101
G05D001/00 |
Claims
1-20. (canceled)
21. A computer-implemented method comprising: receiving, by a
computing system comprising one or more computing devices, object
data associated with one or more objects external to an autonomous
vehicle at a location; determining, by the computing system, one or
more features of the one or more objects based in part on the
object data; determining, by the computing system, based on a
comparison of the one or more features of the one or more objects
to one or more vehicle capacity criteria, whether the one or more
objects satisfy the one or more vehicle capacity criteria, wherein
the one or more vehicle capacity criteria are based in part on a
carrying capacity of an autonomous vehicle; responsive to the one
or more objects not satisfying the one or more vehicle capacity
criteria, activating, by the computing system, a vehicle access
system to restrict access to the autonomous vehicle; and sending,
by the computing system, a signal to provide another vehicle to the
location to accommodate the one or more objects at the
location.
22. The computer-implemented method of claim 21, wherein the one or
more features comprise a number of the one or more objects, one or
more identities of the one or more objects, a weight of the one or
more objects, a volume of the one or more objects, an electrostatic
capacitance of the one or more objects, or a shape of the one or
more objects.
23. The computer-implemented method of claim 21, wherein
determining whether the one or more objects satisfy the one or more
vehicle capacity criteria comprises: determining, by the computing
system, a spatial relationship between the one or more objects and
an entrance to the autonomous vehicle.
24. The computer-implemented method of claim 21, wherein the
vehicle access system is associated with locking an entrance to the
autonomous vehicle.
25. The computer-implemented method of claim 21, wherein the one or
more vehicle carrying capacity criteria comprise a distribution
throughout the autonomous vehicle of the mass of the one or more
objects or a maximum volume the autonomous vehicle is allowed to
carry.
26. The computer-implemented method of claim 21, wherein the
determining whether the one or more objects satisfy the one or more
vehicle capacity criteria comprises: comparing, by the computing
system, a physical characteristic of the one or more objects to the
one or more vehicle capacity criteria.
27. The computer-implemented method of claim 21, wherein the one or
more vehicle capacity criteria are based in part on a weather
condition.
28. The computer-implemented method of claim 21, wherein the one or
more objects comprise one or more humans.
29. One or more tangible, non-transitory computer-readable media
storing computer-readable instructions that when executed by one or
more processors cause the one or more processors to perform
operations, the operations comprising: receiving object data
associated with one or more objects external to an autonomous
vehicle at a location; determining one or more features of the one
or more objects based in part on the object data; determining based
on a comparison of the one or more features of the one or more
objects to one or more vehicle capacity criteria, whether the one
or more objects satisfy the one or more vehicle capacity criteria,
wherein the one or more vehicle capacity criteria are based in part
on a carrying capacity of an autonomous vehicle; responsive to at
least one object of the one or more objects not satisfying the one
or more vehicle capacity criteria, activating a vehicle access
system to restrict access to the autonomous vehicle; and sending a
signal to provide another vehicle to the location to accommodate
the at least one object that does not satisfy the one or more
vehicle capacity criteria.
30. The one or more tangible, non-transitory computer-readable
media of claim 29, wherein the one or more features comprise a
number of the one or more objects, one or more identities of the
one or more objects, a weight of the one or more objects, a volume
of the one or more objects, an electrostatic capacitance of the one
or more objects, or a shape of the one or more objects.
31. The one or more tangible, non-transitory computer-readable
media of claim 29, wherein the vehicle access system is associated
with controlling access to a passenger compartment of the
autonomous vehicle.
32. The one or more tangible, non-transitory computer-readable
media of claim 31, wherein the autonomous vehicle is to transport
the at least one object that does satisfy the one or more vehicle
capacity criteria and the other vehicle is to transport the at
least one object that does not satisfy the one or more vehicle
capacity criteria.
33. The one or more tangible, non-transitory computer-readable
media of claim 29, wherein the location is a pick-up location
associated with a vehicle service.
34. The one or more tangible, non-transitory computer-readable
media of claim 33, wherein vehicle service is associated with
delivery of an item.
35. The one or more tangible, non-transitory computer-readable
media of claim 34, wherein the item is food.
36. The one or more tangible, non-transitory computer-readable
media of claim 29, wherein the other vehicle is another autonomous
vehicle.
37. An autonomous vehicle comprising: one or more processors; one
or more non-transitory computer-readable media storing instructions
that when executed by the one or more processors cause the one or
more processors to perform operations comprising: receiving object
data associated with one or more objects external to an autonomous
vehicle at a location; determining one or more features of the one
or more objects based in part on the object data; determining based
on a comparison of the one or more features of the one or more
objects to one or more vehicle capacity criteria, whether the one
or more objects satisfy the one or more vehicle capacity criteria,
wherein the one or more vehicle capacity criteria are based in part
on a carrying capacity of an autonomous vehicle; responsive to at
least one object of the one or more objects not satisfying the one
or more vehicle capacity criteria, activating a vehicle access
system to restrict access to the autonomous vehicle; and sending a
signal to provide another vehicle to the location to accommodate
the at least one object not satisfying the one or more vehicle
capacity criteria.
38. The autonomous vehicle of claim 37, wherein the one or more
vehicle capacity criteria are based in part on a weather
condition.
39. The autonomous vehicle of claim 37, wherein the one or more
features comprise a temperature.
40. The autonomous vehicle of claim 37, wherein the one or more
objects comprise one or more food items.
Description
FIELD
[0001] The present disclosure relates generally to operation of an
autonomous vehicle which can be based on a capacity of the
autonomous vehicle.
BACKGROUND
[0002] Vehicles, including autonomous vehicles, can be equipped
with a variety of vehicle control systems that can be used to
operate the vehicle. The vehicle control systems can be coupled
with a variety of sensors that allow the autonomous vehicle to
perform activities including navigating its environment. However,
the environment in which the autonomous vehicle operates can vary
over time, as can the ways in which the autonomous vehicle is
operated within that environment. As such, there exists a need for
an autonomous vehicle that is able to effectively adapt to its
environment and the demands placed upon the autonomous vehicle by
that environment.
SUMMARY
[0003] Aspects and advantages of embodiments of the present
disclosure will be set forth in part in the following description,
or may be learned from the description, or may be learned through
practice of the embodiments.
[0004] An example aspect of the present disclosure is directed to a
computer-implemented method of operating an autonomous vehicle. The
computer-implemented method of operating an autonomous vehicle can
include receiving, by a computing system comprising one or more
computing devices, object data based in part on one or more states
of one or more objects. The method can further include determining,
by the computing system, based in part on the object data, one or
more features of the one or more objects. The method can further
include, determining, by the computing system, based on a
comparison of the one or more features of the one or more objects
one or more vehicle capacity criteria, that the one or more objects
satisfy the one or more vehicle capacity criteria, wherein the one
or more vehicle capacity criteria are based in part on a carrying
capacity of an autonomous vehicle. The method can also include,
responsive to the one or more objects satisfying the one or more
vehicle capacity criteria, activating, by the computing system, one
or more control systems associated with operation of the autonomous
vehicle.
[0005] Another example aspect of the present disclosure is directed
to one or more tangible, non-transitory computer-readable media
storing computer-readable instructions that when executed by one or
more processors cause the one or more processors to perform
operations. The operations can include receiving object data based
in part on one or more states of one or more objects. The
operations can further include determining, based in part on the
object data, one or more features of the one or more objects. The
operations can further include, determining, based on a comparison
of the one or more features of the one or more objects to one or
more vehicle capacity criteria, that the one or more objects
satisfy the one or more vehicle capacity criteria, wherein the one
or more vehicle capacity criteria are based in part on a carrying
capacity of an autonomous vehicle. The operations can also include,
responsive to the one or more objects satisfying the one or more
vehicle capacity criteria, activating, one or more control systems
associated with operation of the autonomous vehicle.
[0006] Another example aspect of the present disclosure is directed
to an autonomous vehicle comprising one or more processors and one
or more non-transitory computer-readable media storing instructions
that when executed by the one or more processors cause the one or
more processors to perform operations. The operations can include
receiving object data based in part on one or more states of one or
more objects. The operations can further include determining, based
in part on the object data, one or more features of the one or more
objects. The operations can further include, determining, based on
a comparison of the one or more features of the one or more objects
to one or more vehicle capacity criteria, that the one or more
objects satisfy the one or more vehicle capacity criteria, wherein
the one or more vehicle capacity criteria are based in part on a
carrying capacity of an autonomous vehicle. The operations can also
include, responsive to the one or more objects satisfying the one
or more vehicle capacity criteria, activating, one or more control
systems associated with operation of the autonomous vehicle.
[0007] Other example aspects of the present disclosure are directed
to other systems, methods, vehicles, apparatuses, tangible
non-transitory computer-readable media, and devices for capacity
based vehicle operation.
[0008] These and other features, aspects and advantages of various
embodiments will become better understood with reference to the
following description and appended claims. The accompanying
drawings, which are incorporated in and constitute a part of this
specification, illustrate embodiments of the present disclosure
and, together with the description, serve to explain the related
principles.
BRIEF DESCRIPTION OF THE DRAWINGS
[0009] Detailed discussion of embodiments directed to one of
ordinary skill in the art are set forth in the specification, which
makes reference to the appended figures, in which:
[0010] FIG. 1 depicts a diagram of an example system according to
example embodiments of the present disclosure;
[0011] FIG. 2 depicts a diagram of an environment including an
example of identity determination by a vehicle control system
according to example embodiments of the present disclosure;
[0012] FIG. 3 depicts a diagram of an environment including an
example of activating a vehicle access system according to example
embodiments of the present disclosure;
[0013] FIG. 4 depicts a diagram of an environment including an
example of determining an order of ingress or egress according to
example embodiments of the present disclosure;
[0014] FIG. 5 depicts a flow diagram of an example method of
capacity based autonomous vehicle operation according to example
embodiments of the present disclosure;
[0015] FIG. 6 depicts a flow diagram of an example method of
capacity based autonomous vehicle operation according to example
embodiments of the present disclosure;
[0016] FIG. 7 depicts a flow diagram of an example method of
capacity based autonomous vehicle operation according to example
embodiments of the present disclosure; and
[0017] FIG. 8 depicts a diagram of an example system according to
example embodiments of the present disclosure.
DETAILED DESCRIPTION
[0018] Reference now will be made in detail to embodiments, one or
more examples of which are illustrated in the drawings. Each
example is provided by way of explanation of the embodiments, not
limitation of the present disclosure. In fact, it will be apparent
to those skilled in the art that various modifications and
variations can be made to the embodiments without departing from
the scope or spirit of the present disclosure. For instance,
features illustrated or described as part of one embodiment can be
used with another embodiment to yield a still further embodiment.
Thus, it is intended that aspects of the present disclosure cover
such modifications and variations.
[0019] Example aspects of the present disclosure are directed to
the operation of a vehicle including an autonomous vehicle, a
semi-autonomous vehicle, or a manually driven vehicle. The
operation of the vehicle can be based on the carrying capacity of
the vehicle (e.g., a maximum weight the vehicle can safely carry)
in relation to features or characteristics of one or more objects
(e.g., the weight, mass, or volume of passengers or cargo)
associated with the vehicle. For example, the autonomous vehicle
can include one or more sensors (e.g., a sensor suite of one or
more different sensors) that can detect the environment inside the
autonomous vehicle and external to the autonomous vehicle. In
particular, the one or more sensors can be used to determine the
state (e.g., characteristics) of the vehicle and objects external
to the vehicle. For example, based on changes in the state of the
environment, the one or more sensors can generate signals or data
that can be used determine the number of passengers outside a
vehicle or the total mass or weight of passengers inside the
vehicle. Further, the vehicle can include a vehicle computing
system that can control various vehicle systems and components
including notification systems (e.g., systems that provide
instructions to passengers) and vehicle access systems such as
those used to regulate access into or from the vehicle (e.g.,
systems that control locking or unlocking vehicle doors).
[0020] The vehicle control system can be used to perform actions
(e.g., opening vehicle doors or activating vehicle cabin lights)
based on a comparison between a determined quantity (e.g., an
estimated mass, weight, or volume based on data from sensors) of
one or more objects external to the vehicle and a carrying capacity
of the vehicle. Further, the disclosed technology can adjust the
available carrying capacity of the vehicle based on the state of
the passengers or the state of a route the vehicle will travel. In
this way, the disclosed technology can dynamically perform actions
so that passengers or other objects entering the vehicle do not
exceed the vehicle's carrying capacity.
[0021] The vehicle control system can process or generate data,
including data based on signals or data received from various
vehicle systems or vehicle components. Furthermore, the vehicle
control system can exchange (send or receive) signals or data with
various systems or components inside the vehicle and external to
the vehicle. For example, the vehicle control system can exchange
signals or data with vehicle systems including sensor systems
(e.g., optical sensors, audio sensors, or tactile sensors),
communication systems (e.g., wireless communication systems),
navigation systems (e.g., GPS or other systems used to determine a
vehicle's location), notification systems (e.g., touch-screen LCD
displays or loudspeakers), propulsion systems (e.g., engines), and
vehicle access systems (e.g., used to control access through doors
or windows).
[0022] The vehicle control system can receive object data based in
part on one or more states of one or more objects including
potential passengers or cargo. For example, the object data can
include indications of various states or conditions of the
potential passengers or cargo that can be associated with the
vehicle. The object data can describe physical properties or
identifiers associated with the potential passengers or cargo. The
physical properties can be associated with various aspects of the
potential passengers or cargo including appearance, sound, mass, or
weight. The identifiers can be associated with aspects of the
passengers or cargo including physical properties, names, or data
associated with the passengers or cargo (e.g., authentication or
access codes). The object data can be based on outputs including
sensor output from one or more sensors of the vehicle. The sensors
can detect the state of the environment inside and outside the
vehicle and can include an optical sensor including a light
detection and ranging device (LIDAR); an audio sensor, a pressure
sensor; a mass sensor; a weight sensor; a tactile sensor; a
temperature sensor; or an electromagnetic sensor. Additionally, the
object data can be based on access output (e.g., a passcode) from a
vehicle access system (e.g., a security device requiring the
passcode to unlock a vehicle door). Further, the vehicle access
system can include a human-computer interface system that can
receive input related to the identity or characteristics of the
passengers or cargo. For example, the vehicle can include an
interface for user input that can be used to enter the identity of
a passenger in order to gain entry into the vehicle. Object data
can also be received from other systems including remote computing
devices (e.g., data received from a remote server device through a
computer network).
[0023] The vehicle control system can determine, based in part on
the object data, one or more features of the one or more objects.
Features of the one or more objects can include any portion of the
object data, including combinations of portions of the object data.
The vehicle control system can process the object data including
generating inferences, estimates, or predictions based on the
object data, which can then be used to generate the one or more
features of the one or more objects. In other words, the vehicle
control system can infer, estimate, or predict physical properties
of the passengers or cargo based on the object data. For example,
the vehicle control system can determine the mass or weight or
number of passengers or cargo based on the appearance of the
passenger or cargo obtained from an image capture device. As such,
the vehicle control system can determine one type of physical
property (e.g., mass or weight) based on another type of physical
property (e.g., appearance)
[0024] The vehicle control system can determine, based on a
comparison of the one or more features of the one or more objects
to one or more vehicle capacity criteria, whether the one or more
objects satisfy the one or more vehicle capacity criteria. The one
or more vehicle capacity criteria can be used to determine whether
a quantity (e.g., mass, weight, or volume) of one or more objects
(e.g., passengers or cargo) can be carried by the vehicle. The one
or more vehicle capacity criteria can be based on the one or more
features of the one or more objects, including physical properties
of the one or more objects or electronic features (e.g., a passcode
to gain access to the vehicle). For example, the one or more
features or the one or more vehicle capacity criteria can include a
number of the one or more objects (i.e., how many of the one or
more objects there are), one or more identities of the one or more
objects, a weight or mass of the one or more objects, a
distribution throughout the vehicle of the weight or mass of the
one or more objects, a volume of the one or more objects, an
electrostatic capacitance of the one or more objects, or a shape of
the one or more objects.
[0025] In response to the one or more objects satisfying the one or
more vehicle capacity criteria, the vehicle control system can
activate one or more control systems associated with operation of
the vehicle including activating a vehicle access system; a vehicle
notification system including visual, audio, or tactile
notifications; a vehicle communication system; or a vehicle
propulsion system. For example, activating control systems
associated with operation of the vehicle can include opening,
closing, locking, or unlocking vehicle entrances (e.g., passenger
doors, windows, or trunk doors); initiating travel of the vehicle
to a destination location; or generating a visual, audio, or
tactile indication (e.g., activating a light on a seat to indicate
an available vehicle seat to a passenger).
[0026] In some implementations, activating the vehicle access
system can include determining whether a spatial relationship
(e.g., a distance or relative position) between the one or more
objects, an entrance to the vehicle (e.g., a door or window), or a
loading location (e.g., a loading zone for cargo, a sidewalk area
where passengers are waiting) external to the vehicle satisfies one
or more access criteria. The one or more access criteria may be
based, in part, on a threshold distance between the entrance and
the loading location, a threshold distance between the entrance and
the one or more objects, or an orientation of the entrance relative
to the loading location. For example, the one or more access
criteria can require a particular orientation of a vehicle entrance
(e.g., door) so that it is adjacent to a sidewalk can be used to
ensure that passengers can only enter the vehicle from the sidewalk
and not from a busy street.
[0027] In response to the spatial relationship satisfying the one
or more access criteria, access to the vehicle can be modified.
Modifying access to the vehicle can be based on actions that limit
or facilitate access to the vehicle include locking the entrance,
unlocking the entrance, opening the entrance, closing the entrance,
activating a passenger restraint system (e.g., seatbelt), or
deactivating a passenger restraint system.
[0028] To better accommodate a variety of external circumstances,
the vehicle can receive data including capacity adjustment data
that can be used to adjust the one or more vehicle capacity
criteria. For example, the vehicle can receive capacity adjustment
data that comprises a route for the vehicle to travel,
topographical conditions (e.g., elevation changes), road conditions
(e.g., conditions of the road surface), or weather conditions along
the route. The capacity adjustment data can be received from
various sources including local sources (e.g., onboard sensors of
the vehicle) and remote sources (e.g., remote weather monitoring
servers). The vehicle control system can modify the one or more
vehicle capacity criteria based on the capacity adjustment data.
For example, capacity adjustment data indicating heavy rainfall or
snowfall can be used to reduce the maximum weight allowable under
the one or more vehicle capacity criteria.
[0029] The vehicle control system can determine, based in part on
the one or more features, one or more identities and corresponding
object locations of the one or more objects. The one or more
features can include unique identifiers (e.g., fingerprint) or
general types (e.g., adult) that can be used to determine the one
or more identities (e.g., personal names) associated with the one
or more objects. The corresponding object locations can include the
location (e.g., an absolute location or a relative location) of the
one or more objects associated with the corresponding one or more
identities. For example, the vehicle control system can determine
the names and locations, relative to the vehicle, of three awaiting
passengers.
[0030] The vehicle control system can generate, based in part on
one or more object placement criteria, the one or more identities,
and the corresponding object locations, one or more placement
indications comprising instructions for directing movement of the
one or more objects to one or more assigned locations in the
vehicle. The one or more object placement criteria can include
various criteria for the location of the one or more objects inside
a vehicle including where passengers or cargo are to be located
relative to the vehicle or to other passengers or cargo. For
example, the vehicle control system can provide audio instructions
in the form of spoken directions of where in the vehicle an
identified passenger should sit.
[0031] In some implementations, the one or more object placement
criteria can be based in part on the order of ingress or egress for
the one or more objects. As such, the vehicle control system can
determine, based on the one or more identities and corresponding
object locations, an order of ingress or egress for the one or more
objects. For example, the one or more object placement criteria can
be established so that adults exit the vehicle first in order to
assist minors exiting the vehicle afterwards. In this way, the
vehicle control system can facilitate more convenient, and safe,
entry or exit from the vehicle.
[0032] The systems, methods, and devices in the disclosed
technology can provide a variety of technical effects and benefits.
For example, the disclosed technology can offer enhanced
operational safety by regulating the amount (e.g., mass, weight, or
number) of passengers or cargo that are in a vehicle. Regulation of
the amount of passengers or cargo can be performed through
comparison to a vehicle carrying capacity threshold, thereby
avoiding instances of overcrowding or overloading of available
vehicle carrying space. Further, by adjusting the load carried by
the vehicle in response to environmental conditions (e.g., snow or
rain), performance characteristics of the vehicle can be improved,
which can result in safer vehicle handling, braking, or
acceleration.
[0033] Further, the disclosed technology can improve the operation
of the vehicle itself by regulating the load on the vehicle.
Preventing situations in which the vehicle's carrying capacity is
exceeded can result in less wear and tear on various vehicle
components and systems. For example, regulating the load can result
in less engine strain, thereby leading to less engine maintenance.
Further, by regulating the load on the vehicle, the risk of
component failure, especially catastrophic component failure, can
be significantly reduced. Additionally, by maintaining loads within
a designated vehicle carrying capacity, the vehicle can realize the
benefit of improved fuel efficiency.
[0034] By determining, in advance of passengers or cargo entering
the vehicle, an available vehicle capacity, the disclosed
technology can reduce down-time that results from inefficient
loading or off-loading of passengers or cargo at a loading
location. For example, a vehicle with capacity for one additional
passenger can send a signal to dispatch additional vehicles to the
pick-up location to accommodate additional passengers that may be
waiting at a pick-up location.
[0035] Additionally, the disclosed technology can improve the
safety of passengers or cargo by regulating conditions inside the
vehicle including improved placement of passengers or cargo inside
the vehicle. For example, the disclosed technology can improve
operation of the vehicle by reducing the occurrence of situations
in which passengers are not safely situated within the vehicle
(e.g., passengers seated on the laps of other passengers). Further,
the determination of passenger or cargo locations within a vehicle
cabin can facilitate safer pick-up or drop-off of passengers or
cargo by aligning entryways with safer loading locations (e.g.,
entering the vehicle via a sidewalk instead of via a busy
street).
[0036] Accordingly, the disclosed technology provides more
effective use of a vehicle's available capacity through
improvements in safety and efficiency as well as improved operation
of the vehicle by way of better handling and reduced wear and tear
on vehicle components.
[0037] With reference now to FIGS. 1-8, example embodiments of the
present disclosure will be discussed in further detail. FIG. 1
depicts a diagram of an example system 100 according to example
embodiments of the present disclosure. The system 100 can include a
plurality of vehicles 102; a vehicle 104; a vehicle computing
system 108 that includes one or more computing devices 110; one or
more data acquisition systems 112; an autonomy system 114; one or
more control systems 116; one or more human machine interface
systems 118; other vehicle systems 120; a communications system
122; a network 124; one or more image capture devices 126; one or
more sensors 128; one or more remote computing devices 130; a
communication network 140; and an operations computing system
150.
[0038] The operations computing system 150 can be associated with a
service provider that provides one or more vehicle services to a
plurality of users via a fleet of vehicles that includes, for
example, the vehicle 104. The vehicle services can include
transportation services (e.g., rideshare services), courier
services, delivery services, and/or other types of services.
[0039] The operations computing system 150 can include multiple
components for performing various operations and functions. For
example, the operations computing system 150 can include and/or
otherwise be associated with one or more remote computing devices
that are remote from the vehicle 104. The one or more remote
computing devices can include one or more processors and one or
more memory devices. The one or more memory devices can store
instructions that when executed by the one or more processors cause
the one or more processors to perform operations and functions
associated with operation of the vehicle including determination of
the state of one or more objects external to and inside the
vehicle, and comparison of the state of the one or more objects to
one or more vehicle carrying capacity criteria associated with the
carrying capacity of the vehicle.
[0040] For example, the operations computing system 150 can be
configured to monitor and communicate with the vehicle 104 and/or
its users to coordinate a vehicle service provided by the vehicle
104. To do so, the operations computing system 150 can manage a
database that includes data including vehicle status data
associated with the status of vehicles including the vehicle 104.
The vehicle status data can include a location of the plurality of
vehicles 102 (e.g., a latitude and longitude of a vehicle), the
availability of a vehicle (e.g., whether a vehicle is available to
pick-up or drop-off passengers or cargo), or the carrying capacity
of a vehicle (e.g., the mass, weight, or volume, of passengers or
cargo that a vehicle can carry).
[0041] An indication, record, and/or other data indicative of the
state of the one or more objects or the carrying capacity of the
vehicle 104 can be stored locally in one or more memory devices of
the vehicle 104. Additionally, or alternatively, the vehicle 104
can provide data indicative of the state of the one or more objects
or the carrying capacity of the vehicle 104 to the operations
computing system 150, which can store an indication, record, and/or
other data indicative of the state of the one or more objects or
the carrying capacity of the vehicle 104 in one or more memory
devices associated with the operations computing system 150 (e.g.,
remote from the vehicle).
[0042] The operations computing system 150 can communicate with the
vehicle 104 via one or more communications networks including the
communications network 140. The communications network 140 can
exchange (send or receive) signals (e.g., electronic signals) or
data (e.g., data from a computing device) and include any
combination of various wired (e.g., twisted pair cable) and/or
wireless communication mechanisms (e.g., cellular, wireless,
satellite, microwave, and radio frequency) and/or any desired
network topology (or topologies). For example, the communications
network 140 can include a local area network (e.g. intranet), wide
area network (e.g. Internet), wireless LAN network (e.g., via
Wi-Fi), cellular network, a SATCOM network, VHF network, a HF
network, a WiMAX based network, and/or any other suitable
communications network (or combination thereof) for transmitting
data to and/or from the vehicle 104.
[0043] The vehicle 104 can be a ground-based vehicle (e.g., an
automobile), an aircraft, and/or another type of vehicle. The
vehicle 104 can be an autonomous vehicle that can drive, navigate,
operate, etc. with minimal and/or no interaction from a human
driver. The autonomous vehicle 104 can be configured to operate in
one or more modes such as, for example, a fully autonomous
operational mode, a semi-autonomous operational mode, a park mode,
a sleep mode, etc. A fully autonomous (e.g., self-driving)
operational mode can be one in which the vehicle 104 can provide
driving and navigational operation with minimal and/or no
interaction from a human driver present in the vehicle. A
semi-autonomous operational mode can be one in which the vehicle
104 can operate with some interaction from a human driver present
in the vehicle. Park and/or sleep modes can be used between
operational modes while the vehicle 104 waits to provide a
subsequent vehicle service, recharges between operational modes,
etc.
[0044] The vehicle 104 can include a vehicle computing system 108.
The vehicle computing system 108 can include various components for
performing various operations and functions. For example, the
vehicle computing system 108 can include one or more computing
devices 110 on-board the vehicle 104. The one or more computing
devices 110 can include one or more processors and one or more
memory devices, each of which are on-board the vehicle 104. The one
or more memory devices can store instructions that when executed by
the one or more processors cause the one or more processors to
perform operations and functions, such as those taking the vehicle
104 out-of-service, stopping the motion of the vehicle 104,
determining the carrying capacity of the vehicle 104, or generating
indications associated with the loading or unloading of passengers
or cargo to the vehicle 104, as described herein.
[0045] The one or more computing devices 110 can implement,
include, and/or otherwise be associated with various other systems
on-board the vehicle 104. The one or more computing devices 110 can
be configured to communicate with these other on-board systems of
the vehicle 104. For instance, the one or more computing devices
110 can be configured to communicate with one or more data
acquisition systems 112, an autonomy system 114 (e.g., including a
navigation system), one or more control systems 116, one or more
human machine interface systems 118, other vehicle systems 120,
and/or a communications system 122. The one or more computing
devices 110 can be configured to communicate with these systems via
a network 124. The network 124 can include one or more data buses
(e.g., controller area network (CAN)), on-board diagnostics
connector (e.g., OBD-II), and/or a combination of wired and/or
wireless communication links. The one or more computing devices 110
and/or the other on-board systems can send and/or receive data,
messages, signals, etc. amongst one another via the network
124.
[0046] The one or more data acquisition systems 112 can include
various devices configured to acquire data associated with the
vehicle 104. This can include data associated with one or more of
the vehicle's systems (e.g., health data), the vehicle's interior,
the vehicle's exterior, the vehicle's surroundings, the vehicle
users, etc. The one or more data acquisition systems 112 can
include, for example, one or more image capture devices 126. The
one or more image capture devices 126 can include one or more
cameras, LIDAR systems), two-dimensional image capture devices,
three-dimensional image capture devices, static image capture
devices, dynamic (e.g., rotating) image capture devices, video
capture devices (e.g., video recorders), lane detectors, scanners,
optical readers, electric eyes, and/or other suitable types of
image capture devices. The one or more image capture devices 126
can be located in the interior and/or on the exterior of the
vehicle 104. The one or more image capture devices 126 can be
configured to acquire image data to be used for operation of the
vehicle 104 in an autonomous mode. For example, the one or more
image capture devices 126 can acquire image data to allow the
vehicle 104 to implement one or more machine vision techniques
(e.g., to detect objects in the surrounding environment).
[0047] Additionally, or alternatively, the one or more data
acquisition systems 112 can include one or more sensors 128. The
one or more sensors 128 can include impact sensors, motion sensors,
pressure sensors, mass sensors, weight sensors, volume sensors
(e.g., sensors that can determine the volume of an object in
liters), temperature sensors, humidity sensors, RADAR, sonar,
radios, medium-range and long-range sensors (e.g., for obtaining
information associated with the vehicle's surroundings), global
positioning system (GPS) equipment, proximity sensors, and/or any
other types of sensors for obtaining data indicative of parameters
associated with the vehicle 104 and/or relevant to the operation of
the vehicle 104. The one or more data acquisition systems 112 can
include the one or more sensors 128 dedicated to obtaining data
associated with a particular aspect of the vehicle 104, such as,
the vehicle's fuel tank, engine, oil compartment, wipers, etc. The
one or more sensors 128 can also, or alternatively, include sensors
associated with one or more mechanical and/or electrical components
of the vehicle 104. For example, the one or more sensors 128 can be
configured to detect whether a vehicle door, trunk, gas cap, etc.
is in an open or closed position. In some implementations, the data
acquired by the one or more sensors 128 can help detect other
vehicles and/or objects, road conditions (e.g., curves, potholes,
dips, bumps, changes in grade), measure a distance between the
vehicle 104 and other vehicles and/or objects, etc.
[0048] The vehicle computing system 108 can also be configured to
obtain map data. For instance, a computing device of the vehicle
(e.g., within the autonomy system 114) can be configured to receive
map data from one or more remote computing device including the
operations computing system 150 or the one or more remote computing
devices 130 (e.g., associated with a geographic mapping service
provider). The map data can include any combination of
two-dimensional or three-dimensional geographic map data associated
with the area in which the vehicle was, is, or will be
travelling.
[0049] The data acquired from the one or more data acquisition
systems 112, the map data, and/or other data can be stored in one
or more memory devices on-board the vehicle 104. The on-board
memory devices can have limited storage capacity. As such, the data
stored in the one or more memory devices may need to be
periodically removed, deleted, and/or downloaded to another memory
device (e.g., a database of the service provider). The one or more
computing devices 110 can be configured to monitor the memory
devices, and/or otherwise communicate with an associated processor,
to determine how much available data storage is in the one or more
memory devices. Additionally, or alternatively, one or more of the
other on-board systems (e.g., the autonomy system 114) can be
configured to access the data stored in the one or more memory
devices.
[0050] The autonomy system 114 can be configured to allow the
vehicle 104 to operate in an autonomous mode. For instance, the
autonomy system 114 can obtain the data associated with the vehicle
104 (e.g., acquired by the one or more data acquisition systems
112). The autonomy system 114 can also obtain the map data. The
autonomy system 114 can control various functions of the vehicle
104 based, at least in part, on the acquired data associated with
the vehicle 104 and/or the map data to implement the autonomous
mode. For example, the autonomy system 114 can include various
models to perceive road features, signage, and/or objects, people,
animals, etc. based on the data acquired by the one or more data
acquisition systems 112, map data, and/or other data. In some
implementations, the autonomy system 114 can include
machine-learned models that use the data acquired by the one or
more data acquisition systems 112, the map data, and/or other data
to help operate the autonomous vehicle. Moreover, the acquired data
can help detect other vehicles and/or objects, road conditions
(e.g., curves, potholes, dips, bumps, changes in grade, or the
like), measure a distance between the vehicle 104 and other
vehicles or objects, etc. The autonomy system 114 can be configured
to predict the position and/or movement (or lack thereof) of such
elements (e.g., using one or more odometry techniques). The
autonomy system 114 can be configured to plan the motion of the
vehicle 104 based, at least in part, on such predictions. The
autonomy system 114 can implement the planned motion to
appropriately navigate the vehicle 104 with minimal or no human
intervention. For instance, the autonomy system 114 can include a
navigation system configured to direct the vehicle 104 to a
destination location. The autonomy system 114 can regulate vehicle
speed, acceleration, deceleration, steering, and/or operation of
other components to operate in an autonomous mode to travel to such
a destination location.
[0051] The autonomy system 114 can determine a position and/or
route for the vehicle 104 in real-time and/or near real-time. For
instance, using acquired data, the autonomy system 114 can
calculate one or more different potential routes (e.g., every
fraction of a second). The autonomy system 114 can then select
which route to take and cause the vehicle 104 to navigate
accordingly. By way of example, the autonomy system 114 can
calculate one or more different straight paths (e.g., including
some in different parts of a current lane), one or more lane-change
paths, one or more turning paths, and/or one or more stopping
paths. The vehicle 104 can select a path based, at last in part, on
acquired data, current traffic factors, travelling conditions
associated with the vehicle 104, etc. In some implementations,
different weights can be applied to different criteria when
selecting a path. Once selected, the autonomy system 114 can cause
the vehicle 104 to travel according to the selected path.
[0052] The one or more control systems 116 of the vehicle 104 can
be configured to control one or more aspects of the vehicle 104.
For example, the one or more control systems 116 can control one or
more access points of the vehicle 104. The one or more access
points can include features such as the vehicle's door locks, trunk
lock, hood lock, fuel tank access, latches, and/or other mechanical
access features that can be adjusted between one or more states,
positions, locations, etc. For example, the one or more control
systems 116 can be configured to control an access point (e.g.,
door lock) to adjust the access point between a first state (e.g.,
lock position) and a second state (e.g., unlocked position).
Additionally, or alternatively, the one or more control systems 116
can be configured to control one or more other electrical features
of the vehicle 104 that can be adjusted between one or more states.
For example, the one or more control systems 116 can be configured
to control one or more electrical features (e.g., hazard lights,
microphone) to adjust the feature between a first state (e.g., off)
and a second state (e.g., on).
[0053] The one or more human machine interface systems 118 can be
configured to allow interaction between a user (e.g., human), the
vehicle 104 (e.g., the vehicle computing system 108), and/or a
third party (e.g., an operator associated with the service
provider). The one or more human machine interface systems 118 can
include a variety of interfaces for the user to input and/or
receive information from the vehicle computing system 108. For
example, the one or more human machine interface systems 118 can
include a graphical user interface, direct manipulation interface,
web-based user interface, touch user interface, attentive user
interface, conversational and/or voice interfaces (e.g., via text
messages, chatter robot), conversational interface agent,
interactive voice response (IVR) system, gesture interface, and/or
other types of interfaces. The one or more human machine interface
systems 118 can include one or more input devices (e.g.,
touchscreens, keypad, touchpad, knobs, buttons, sliders, switches,
mouse, gyroscope, microphone, other hardware interfaces) configured
to receive user input. The one or more human machine interfaces 118
can also include one or more output devices (e.g., display devices,
speakers, lights) to receive and output data associated with the
interfaces.
[0054] The other vehicle systems 120 can be configured to control
and/or monitor other aspects of the vehicle 104. For instance, the
other vehicle systems 120 can include software update monitors, an
engine control unit, transmission control unit, the on-board memory
devices, etc. The one or more computing devices 110 can be
configured to communicate with the other vehicle systems 120 to
receive data and/or to send to one or more signals. By way of
example, the software update monitors can provide, to the one or
more computing devices 110, data indicative of a current status of
the software running on one or more of the on-board systems and/or
whether the respective system requires a software update.
[0055] The communications system 122 can be configured to allow the
vehicle computing system 108 (and its one or more computing devices
110) to communicate with other computing devices. In some
implementations, the vehicle computing system 108 can use the
communications system 122 to communicate with one or more user
devices over the networks. In some implementations, the
communications system 122 can allow the one or more computing
devices 110 to communicate with one or more of the systems on-board
the vehicle 104. The vehicle computing system 108 can use the
communications system 122 to communicate with the operations
computing system 150 and/or the one or more remote computing
devices 130 over the networks (e.g., via one or more wireless
signal connections). The communications system 122 can include any
suitable components for interfacing with one or more networks,
including for example, transmitters, receivers, ports, controllers,
antennas, or other suitable components that can help facilitate
communication with one or more remote computing devices that are
remote from the vehicle 104.
[0056] In some implementations, the one or more computing devices
110 on-board the vehicle 104 can obtain vehicle data indicative of
one or more parameters associated with the vehicle 104. The one or
more parameters can include information, such as health and
maintenance information, associated with the vehicle 104, the
vehicle computing system 108, one or more of the on-board systems,
etc. For example, the one or more parameters can include fuel
level, engine conditions, tire pressure, conditions associated with
the vehicle's interior, conditions associated with the vehicle's
exterior, mileage, time until next maintenance, time since last
maintenance, available data storage in the on-board memory devices,
a charge level of an energy storage device in the vehicle 104,
current software status, needed software updates, and/or other
heath and maintenance data of the vehicle 104.
[0057] At least a portion of the vehicle data indicative of the
parameters can be provided via one or more of the systems on-board
the vehicle 104. The one or more computing devices 110 can be
configured to request the vehicle data from the on-board systems on
a scheduled and/or as-needed basis. In some implementations, one or
more of the on-board systems can be configured to provide vehicle
data indicative of one or more parameters to the one or more
computing devices 110 (e.g., periodically, continuously, as-needed,
as requested). By way of example, the one or more data acquisitions
systems 112 can provide a parameter indicative of the vehicle's
fuel level and/or the charge level in a vehicle energy storage
device. In some implementations, one or more of the parameters can
be indicative of user input. For example, the one or more human
machine interfaces 118 can receive user input (e.g., via a user
interface displayed on a display device in the vehicle's interior).
The one or more human machine interfaces 118 can provide data
indicative of the user input to the one or more computing devices
110. In some implementations, the one or more computing devices 130
can receive input and can provide data indicative of the user input
to the one or more computing devices 110. The one or more computing
devices 110 can obtain the data indicative of the user input from
the one or more computing devices 130 (e.g., via a wireless
communication).
[0058] The one or more computing devices 110 can be configured to
determine the state of the vehicle 104 and the environment around
the vehicle 104 including the state of one or more objects
including passengers (e.g., individuals inside the vehicle or
waiting to enter the vehicle) and cargo including articles of
perishable cargo or non-perishable cargo. Further, the one or more
computing devices 110 can be configured to determine physical
properties of the one or more objects including the mass, weight,
volume, density, or shape of the one or more objects. The one or
more computing devices 110 can compare values associated with the
physical properties of the one or more objects, to a set of one or
more values associated with the vehicle 104 including a carrying
capacity value associated with the amount of mass, weight, or
volume that the vehicle 104 can carry.
[0059] FIG. 2 depicts a diagram of an environment 200 including an
example of identity determination by a vehicle control system
according to example embodiments of the present disclosure. The
environment 200 illustrates a lane marker 210, a pedestrian area
212, a loading location 214, a vehicle 220, a vehicle entrance 222,
a vehicle control system 224, a pedestrian 230, 232, and 234.
[0060] In the environment 200, the vehicle 220 is parked (e.g.,
stationary) in a loading location 214, parallel to the lane marker
210, and adjacent to the pedestrian area 212 (e.g., a sidewalk).
The loading location 214 is a location to which the vehicle 220
will travel and park so that it can pick-up or drop off one or more
objects including a passenger or cargo. The loading location 214
can be communicated to the vehicle 220 by a remote computing device
(not shown) via a network (e.g., a wireless network) and can
include location data which can include geographic coordinates or
other information associated with the environment or surroundings
at which the vehicle 220 will pick-up or deliver the one or more
objects.
[0061] The vehicle control system can include one or more sensors
that can detect the presence of pedestrians including the
pedestrian 230, 232, and 234. For example, a combination of motion
sensors and cameras in the vehicle control system 224 can detect
and capture one or more images of the pedestrians. Based on the one
or more images captured by the vehicle control system 224, the
vehicle 220 can determine (e.g., through the use of facial
recognition) that pedestrian 232 and pedestrian 234 are passengers
that will be permitted to access the vehicle via the entrance 222
(e.g., a door) and that the pedestrian 230 is not a passenger and
will not be permitted to access the vehicle via the entrance
222.
[0062] Based on the determination of by the vehicle 220, that the
pedestrian 232 and the pedestrian 234 are passengers, the vehicle
can allow access to the vehicle 220 by unlocking or opening the
entrance 222 to allow the pedestrian 232 and the pedestrian 234 to
enter the vehicle 220. In some implementations, the vehicle 220 can
provide pedestrians with cues (e.g., audio cues including spoken
instructions or visual cues including written instructions) to
indicate that the vehicle 220 is picking up or dropping off
passengers or cargo. Further, the vehicle 220 can generate
instructions to indicate to passengers that access to the vehicle
220 is allowed and can indicate to non-passengers that access to
the vehicle 220 is not allowed. The vehicle 220 can reduce its
available carrying capacity based on the determined mass or volume
of the pedestrian 232 and 234.
[0063] Based on the determination that the pedestrian 232 and 234
will enter into the vehicle 220, the vehicle 220 can modify
available vehicle carrying capacity data associated with the
available carrying capacity of the vehicle 220 (e.g., how much
additional mass or volume the vehicle 220 can carry). The
modification of the available vehicle carrying capacity data can
include reducing an available vehicle carrying capacity value based
on the mass or volume occupied by the two passengers (e.g.,
pedestrian 232 and 234).
[0064] FIG. 3 depicts a diagram of an environment 300 including an
example of activating a vehicle access system according to example
embodiments of the present disclosure. The environment 300
illustrates a lane marker 310, a pedestrian area 312, a loading
location 314, a vehicle 320, a vehicle entrance 322, a vehicle
access system 324, a pedestrian 330, 332, and 334; and a food
container 340.
[0065] In the environment 300, the vehicle 320 has come to a stop
in a loading location 314, parallel to the lane marker 310, and
adjacent to the pedestrian area 312 (e.g., a sidewalk). The loading
location 314 is a location to which the vehicle 320 will travel and
park so that it can pick-up or drop off one or more objects
including a passenger or cargo. The loading location 314 can be
communicated to the vehicle 320 by a remote computing device (not
shown) via a network (e.g., a wireless network) and includes
location data such as geographic coordinates or other information
associated with the passengers or cargo that the vehicle 320 will
pick-up or deliver at the loading location 314.
[0066] The vehicle access system 324 can include one or more
sensors that can detect the presence of pedestrians including the
pedestrian 330, 332, and 334. For example, a combination of motion
sensors and cameras in the vehicle access system 324 can detect and
capture one or more images of the pedestrians. Based on the one or
more images captured by the vehicle access system 324, the vehicle
320 can determine (e.g., through the use of facial recognition)
that pedestrian 330 and pedestrian 332 are passengers that will be
permitted to access the vehicle via the entrance 322 (e.g., a door)
and that the pedestrian 334 is not a passenger and will not be
permitted to access the vehicle via the entrance 322. Accordingly,
the vehicle access system 324 can generate instructions for the
pedestrian 332 to sit further away from the food container 340 than
pedestrian 330.
[0067] Further, the vehicle 330 determines based on the passenger
information included in the location data that pedestrian 330 is
delivering several hot food items in a food container 340. Based on
the determination that the pedestrian 330 is carrying hot food
items, the vehicle 320 can modify available vehicle carrying
capacity data associated with the available carrying capacity of
the vehicle 320 (e.g., how much additional mass or volume the
vehicle 320 can carry). The modification of the available vehicle
carrying capacity data can include reducing an available vehicle
carrying capacity value based on the volume occupied by the two
passengers (e.g., pedestrian 330 and 332) and the volume of the
food container 340 carrying the hot food items.
[0068] FIG. 4 depicts a diagram of an environment 400 including an
example of determining an order of ingress or egress according to
example embodiments of the present disclosure. The environment 400
illustrates a lane marker 410, a pedestrian area 412, a vehicle
420, a vehicle notification system 422, a pedestrian 430, 432, 434,
436, and 438, a seating area 442, 444, 446, 448, a passenger path
452, and a passenger path 454.
[0069] In the environment 400, the vehicle 420 (e.g., an autonomous
vehicle) has a compartment (e.g., a passenger or cargo cabin) that
includes seating area 442, 444, 446, and 448, in which one or more
objects (e.g., passengers or cargo) can be seated or placed.
Seating area 446 is occupied by pedestrian 436 and seating area 448
is occupied by pedestrian 438. Seating area 442 and seating area
444 are vacant (not occupied by a passenger or cargo). The vehicle
420 can determine an order in which the one or more objects can
enter or exit the vehicle 420. The order in which the one or more
objects can enter or exit the vehicle can be based on the position
of the vehicle 420 in relation to one or more objects including the
lane marker 410, the pedestrian area 412, and the pedestrian 430,
432, 434, 436, and 438.
[0070] In this example, pedestrian 438 and 438 are seated and were
in the vehicle 420 after previously being picked up at another
location. Based on output from one or more sensors (not shown), the
vehicle 420 can determine that pedestrian 432 is a child and that
pedestrian 434 is an adult. To facilitate safe and efficient entry
into the vehicle, the vehicle notification system 422 can generate
instructions indicating that pedestrian 432 should enter the
vehicle before pedestrian 434 (e.g., pedestrian 434 can assist in
the seating of pedestrian 432 into the vehicle 420). The vehicle
420 can modify available vehicle carrying capacity data associated
with the available carrying capacity of the vehicle 420. The
modification to the available vehicle carrying capacity data can
include reducing an available vehicle carrying capacity value to
indicate that the available carrying capacity of the vehicle has
been reduced based on the added mass and volume of the pedestrian
432 and 434.
[0071] Further, the vehicle 420 can determine that pedestrian 438
has arrived at his drop-off location and that pedestrian 430 is not
a scheduled passenger. The vehicle 420 can generate an indication
(e.g., an audio instruction) to inform pedestrian 438 that he has
arrived at his drop-off location and that he can leave the vehicle
420. The vehicle 420 can adjust the available vehicle carrying
capacity data based on the mass and volume that is no longer taken
up by pedestrian 438.
[0072] FIG. 5 depicts a flow diagram of an example method 500 of
capacity based autonomous vehicle operation according to example
embodiments of the present disclosure. One or more portions of the
method 500 can be implemented by one or more devices (e.g., one or
more computing devices) or systems including, for example, the
vehicle 104, the vehicle computing system 108, or the operations
computing system 150, shown in FIG. 1. Moreover, one or more
portions of the method 500 can be implemented as an algorithm on
the hardware components of the devices described herein (e.g., as
in FIG. 1) to, for example, determine a vehicle carrying capacity.
FIG. 5 depicts elements performed in a particular order for
purposes of illustration and discussion. Those of ordinary skill in
the art, using the disclosures provided herein, will understand
that the elements of any of the methods discussed herein can be
adapted, rearranged, expanded, omitted, combined, and/or modified
in various ways without deviating from the scope of the present
disclosure.
[0073] At 502 the method 500 can include receiving output (e.g.,
electronic signals including data) from an output source including
a vehicle including an autonomous vehicle; one or more components
of a vehicle including one or more sensors of an autonomous
vehicle, or one or more remote computing devices (e.g., mobile
computing devices including smart phones). The output can include
sensor output from one or more sensors (e.g., optical sensors) or
access output from a vehicle access system (e.g., a computing
device that controls access or entry to the vehicle).
[0074] The sensor output can include sensor signals or sensor data
based on the state or condition of the vehicle (e.g., the state of
the autonomous vehicle) or the environment external to the vehicle,
including the state or condition of one or more objects (e.g.,
passengers, cargo, or buildings) in the environment external to the
vehicle. For example, the sensor signals or the sensor data can be
associated with one or more objects (e.g., passengers or cargo)
including the size, number, and physical state or characteristics
(e.g., mass, weight, volume, or temperature) of the one or more
objects in the environment within a threshold distance of the
vehicle.
[0075] In some implementations, the one or more sensors can be
located on an exterior of the vehicle (e.g., on the hood, roof, or
door exteriors of the autonomous vehicle) or an interior of the
vehicle (e.g., within the autonomous vehicle passenger compartment,
the chassis of the autonomous vehicle, or the engine) and can
include an optical sensor (e.g., a camera or LIDAR); an audio
sensor (e.g., a microphone); a tactile sensor (e.g., a pressure
sensor or a piezoresistive sensor); a temperature sensor (e.g., a
thermometer); or an electromagnetic sensor (e.g., a capacitive
sensor or piezoelectric sensor).
[0076] The access output from the vehicle access system can include
access output signals (e.g., electric signals) or access output
data which can include signals or data that is used to control
access to some portion of the vehicle (e.g., a passcode that is
used to lock or unlock an entrance of the autonomous vehicle, the
entrance including a door, window, or trunk). The access output
signals or access output data can be encrypted and can be received
from the vehicle access system which can exchange (send or receive)
data with one or more remote computing systems (e.g., mobile
computing devices of vehicle passengers or remote server computing
devices).
[0077] In some implementations, the vehicle access system may be
accessed by a device, including a pass card or a pass key, that may
be used to gain access to some portion of the vehicle (e.g.,
autonomous vehicle) through physical contact (e.g., inserting a key
to unlock an entrance of the autonomous vehicle) or contactless
interaction (e.g., wirelessly transmitting a passcode to unlock an
entrance of the autonomous vehicle).
[0078] At 504 the method 500 can include receiving capacity
adjustment data. The capacity adjustment data can include data that
is used to adjust or modify the carrying capacity of the vehicle.
The carrying capacity of the vehicle can be based on any state,
property (e.g., measurable property), or condition of the one or
more objects including the amount or quantity of the one or more
objects that the vehicle can carry, bear, or transport. For
example, the carrying capacity can include a number of the one or
more objects (e.g., a number of passengers or articles of cargo);
or a quantity associated with the one or more objects (e.g., a
mass, weight, volume, or density of the one or more objects).
[0079] Further, the capacity adjustment data can include data
associated with factors that can effect or modify the carrying
capacity of the vehicle. For example, the capacity adjustment data
can include data associated with a route for the vehicle (e.g.,
autonomous vehicle) to travel (e.g., a route for a cargo vehicle
through a cargo vehicle weighing station may affect the carrying
capacity of the cargo vehicle); topographical conditions (e.g., a
route that passes through very hilly terrain can reduce carrying
capacity); road conditions (e.g., a dirt road or a heavily pitted
road may reduce carrying capacity); or weather conditions (e.g.,
snow covered or rain slickened roads can reduce carrying
capacity).
[0080] At 506 the method 500 can include modifying one or more
vehicle capacity criteria based on the capacity adjustment data.
The one or more vehicle capacity criteria can be associated with
one or more features or characteristics of the one or more objects
and can include one or more criteria that the carrying capacity of
the vehicle is based on. The one or more vehicle capacity criteria
can include one or more capacity criteria values (e.g., threshold
values) that can, individually or in combination, represent the
carrying capacity of the vehicle. Modifying the one or more vehicle
capacity criteria can include increasing or decreasing the one or
more capacity criteria values associated with the one or more
vehicle capacity criteria. For example, a vehicle with a carrying
capacity value of 800 kilograms (800 kg) could have the carrying
capacity value decreased (i.e., modified downwards) by one-hundred
kilograms (100 kg) to a value of seven-hundred kilograms (700 kg)
based on capacity adjustment data that indicates the vehicle route
will traverse hilly terrain during a snow-storm.
[0081] At 508 the method 500 can include receiving object data from
a source including the vehicle (e.g., an autonomous vehicle), one
or more components of a vehicle (e.g., one or more sensors of the
autonomous vehicle), or one or more remote computing devices (e.g.,
mobile computing devices including wearable devices). The object
data can be based in part on the one or more states, conditions, or
characteristics of the one or more objects and can include or be
associated with the sensor output (e.g., sensor data) or the access
output (e.g., access output data). The state or condition of the
one or more objects can include a physical state, condition, or
characteristic of the one or more objects (e.g., mass, weight,
size, based on output from one or more sensors); or an identifying
state, condition, or characteristic associated with the one or more
objects including an object identifier (e.g., a personal name or
the serial number of an article of cargo) or an object
classification (e.g., classifying an object as a passenger or
classifying cargo as perishable or non-perishable).
[0082] At 510 the method 500 can include determining, based in part
on the object data, one or more features of the one or more
objects. The one or more features of the one or more objects can be
based on, or associated with, portions or combinations of the
object data. For example, a density feature of the one or more
objects can be determined on the basis of a combination of object
data including a mass of an object based on mass sensors data of
the object data and a volume of the object based on optical sensors
used to determine the object's volume. Further, the one or more
features can be the result of one or more associations of the
object data to feature data associated with the one or more
objects. For example, the name of a passenger can be determined
based on feature data that includes the name of a passenger
associated with object data including a visual image of the
passenger.
[0083] In some implementations, the one or more features can
include a number of the one or more objects (e.g., a number of
passengers); one or more identities of the one or more objects
(e.g., the names of passengers); a weight or mass of the one or
more objects (e.g., a weight in pounds or a mass in kilograms); a
distribution throughout the vehicle (e.g., autonomous vehicle) of
the weight or mass of the one or more objects; a volume of the one
or more objects, an electrostatic capacitance of the one or more
objects; a texture of the one or more objects (e.g., the sharpness,
roughness, or smoothness of an object); or a shape of the one or
more objects.
[0084] At 512 the method 500 can include, determining whether, or
that, the one or more objects satisfy the one or more vehicle
capacity criteria. The determination of whether, or determining
that, the one or more objects satisfy the one or more vehicle
capacity criteria can be based on a comparison of the one or more
features of the one or more objects to one or more vehicle capacity
criteria. The comparison of the one or more features can include a
comparison of one or more portions of feature data associated to
vehicle capacity criteria data associated with the one or more
vehicle capacity criteria. For example, the comparison of the one
or more features can include a determination of whether one or more
feature values associated with the one or more features is equal
to, less than, or greater than one or more vehicle capacity
criteria values associated with the one or more vehicle capacity
criteria.
[0085] In some implementations, the one or more vehicle capacity
criteria can be based in part on a carrying capacity of a vehicle
(e.g., an autonomous vehicle). For example, the one or more vehicle
capacity criteria can include a maximum mass criterion of
one-thousand kilograms and a maximum volume criterion of
three-thousand liters. In the preceding example, satisfying the one
or more vehicle capacity criteria would require satisfying both the
maximum mass criterion (e.g., a mass less than or equal to
one-thousand kilograms) and the maximum volume criterion (e.g., a
volume less than or equal to three-thousand liters).
[0086] At 514, responsive to determining that the one or more
objects satisfy the one or more vehicle capacity criteria, the
method 500 continues to 516. Responsive to determining that the one
or more objects do not satisfy the one or more vehicle capacity
criteria, the method 500 can return to 502 or end.
[0087] At 516 the method 500 can include performance of one or more
actions including activating one or more control systems associated
with operation of the vehicle (e.g., autonomous vehicle).
Activating the one or more control systems can include activating
control systems that can modify access to the vehicle (e.g.,
locking or unlocking vehicle doors); or adjust the carrying
capacity of the vehicle (e.g., moving or folding down seats to
provide space for cargo).
[0088] For example, activating the one or more control systems can
include activating any of a vehicle access system (e.g., a system
that controls access to portions of the vehicle including the
passenger compartment); a vehicle notification system (e.g., a
system that provides visual, auditory, or haptic notifications to
one or more passengers of the vehicle); a vehicle communication
system (e.g., a system that communicates with one or more devices
including remote computing systems); a vehicle suspension system
(e.g., a system that controls the shock absorbers and other
suspension systems of the vehicle); or a vehicle propulsion system
(e.g., a system that controls movement of the vehicle).
[0089] FIG. 6 depicts a flow diagram of an example method 600 of
capacity based autonomous vehicle operation according to example
embodiments of the present disclosure. One or more portions of the
method 600 can be implemented by one or more devices (e.g., one or
more computing devices) or systems including, for example, the
vehicle 104, the vehicle computing system 108, or the operations
computing system 150, shown in FIG. 1. Moreover, one or more
portions of the method 600 can be implemented as an algorithm on
the hardware components of the devices described herein (e.g., as
in FIG. 1) to, for example, determine a vehicle carrying capacity.
FIG. 6 depicts elements performed in a particular order for
purposes of illustration and discussion. Those of ordinary skill in
the art, using the disclosures provided herein, will understand
that the elements of any of the methods discussed herein can be
adapted, rearranged, expanded, omitted, combined, and/or modified
in various ways without deviating from the scope of the present
disclosure.
[0090] At 602 the method 600 can include activating a vehicle
access system (e.g., the vehicle access system in method 500) which
can include, determining whether, or determining that, a spatial
relationship between one or more objects, an entrance to a vehicle
(e.g., an autonomous vehicle), or a loading location external to
the vehicle, satisfies one or more access criteria. The one or more
objects can include passengers or cargo; the entrance to the
vehicle can include a door, window, or trunk of the vehicle; and a
loading location external to the vehicle can include an area in
which the vehicle (e.g., autonomous vehicle) can pick-up or drop
off the one or more objects (e.g., an area on a road or a loading
bay in factory).
[0091] The spatial relationship can include a relationship based on
any combination of a size, area, or volume of the one or more
objects, the entrance of the vehicle (e.g., autonomous vehicle), or
the loading location; or a distance between the one or more
objects, the entrance of the vehicle (e.g., autonomous vehicle), or
the loading location. For example, the spatial relationship can
include a distance between a passenger from the door of a vehicle
(e.g., autonomous vehicle); the cross-sectional area of a package
in relation to the area of a doorway of the vehicle (e.g.,
autonomous vehicle); or a distance between two or more
passengers.
[0092] In some implementations, the spatial relationship can be
based on various data including output (e.g., sensor data) from one
or more sensors of the vehicle including an autonomous vehicle
(e.g., optical sensors or LIDAR), or spatial relationship data from
a remote computing device (e.g., a dispatch center computing device
sending an indication of the physical dimensions of a package to be
loaded onto the autonomous vehicle).
[0093] The one or more access criteria can include the one or more
vehicle capacity criteria and can be based on physical properties
or attributes of the relationship between the one or more objects,
the entrance of the vehicle (e.g., autonomous vehicle), or the
loading location, including any combination of a size, area, or
volume of the one or more objects, the entrance of the vehicle
(e.g., autonomous vehicle), or the loading location; or a distance
between the one or more objects, the entrance of the vehicle (e.g.,
autonomous vehicle), or the loading location.
[0094] In some implementations, the one or more access criteria can
be based in part on a threshold distance between the entrance and
the loading location including a minimum distance, a maximum
distance, or a distance range that is used as part of the one or
more access criteria (e.g., a distance between an entrance, such as
a trunk door, and a loading location, such as the curb of a
sidewalk); a threshold distance including a minimum distance, a
maximum distance, or a distance range, between the entrance and the
one or more objects (e.g., a distance between an entrance, such as
a door, and an object such as a passenger); or an orientation of
the entrance relative to the loading location (e.g., an entrance
such as a door being oriented parallel to, and facing, the curb of
a sidewalk).
[0095] At 604 the method 600, responsive to determining that the
spatial relationship satisfies the one or more access criteria,
continues to 606. Responsive to determining that the spatial
relationship does not satisfy the one or more access criteria, the
method 600 can return to 602 or end.
[0096] At 606 the method 600 can modify access to the vehicle
(e.g., autonomous vehicle). Modifying access to the vehicle (e.g.,
autonomous vehicle) can include various actions including
activating or deactivating vehicle control systems that control
ingress (e.g., entry or placement of an object into the vehicle) or
egress (e.g., exit or removal of an object from the vehicle) of the
one or more objects to or from the vehicle (e.g., autonomous
vehicle).
[0097] For example, modifying access to the vehicle (e.g.,
autonomous vehicle) can include locking an entrance to the vehicle
(e.g., autonomous vehicle) including activating a locking mechanism
on a door of the autonomous vehicle); unlocking an entrance to the
vehicle (e.g., autonomous vehicle) including deactivating a locking
mechanism on a trunk opening of the autonomous vehicle); opening an
entrance to the vehicle (e.g., autonomous vehicle) including
activating a motor that opens a door of the vehicle; closing an
entrance to the vehicle (e.g., autonomous vehicle) including
activating a motor that opens a window of the vehicle; activating a
restraint system of the vehicle (e.g., autonomous vehicle)
including activating a cargo or passenger restraint system of the
vehicle including locking a passenger's seatbelt in the vehicle
while the vehicle is in transit; or deactivating a restraint system
of the vehicle (e.g., autonomous vehicle) including deactivating a
cargo or passenger restraint system of the vehicle including
unlocking a passenger's seatbelt in the vehicle when the vehicle
has arrived at its destination and come to a halt.
[0098] FIG. 7 depicts a flow diagram of an example method 700 of
capacity based autonomous vehicle operation according to example
embodiments of the present disclosure. One or more portions of the
method 700 can be implemented by one or more devices (e.g., one or
more computing devices) or systems including, for example, the
vehicle 104, the vehicle computing system 108, or the operations
computing system 150, shown in FIG. 1. Moreover, one or more
portions of the method 700 can be implemented as an algorithm on
the hardware components of the devices described herein (e.g., as
in FIG. 1) to, for example, determine a vehicle carrying capacity.
FIG. 7 depicts elements performed in a particular order for
purposes of illustration and discussion. Those of ordinary skill in
the art, using the disclosures provided herein, will understand
that the elements of any of the methods discussed herein can be
adapted, rearranged, expanded, omitted, combined, and/or modified
in various ways without deviating from the scope of the present
disclosure.
[0099] At 702 the method 700 can include activating a vehicle
notification system (e.g., the vehicle notification system in
method 500), which can include, determining, based in part on the
one or more features of the one or more objects, one or more
identities and corresponding object locations of the one or more
objects. The one or more identities can include any identifying
data (e.g., an identifier) associated with the one or more objects
including an object name (e.g., the name of a person) or an object
type (e.g., a category of an object such as a passenger type or
type of cargo such as perishable cargo or non-perishable cargo).
The corresponding object locations of the one or more objects can
include a geographical location (e.g., latitude and longitude) or a
relative position of the one or more objects (e.g., the position of
the one or more objects relative to a point of reference such as
the entrance of the vehicle or another one of the one or more
objects).
[0100] At 704 the method 700 can include, determining an order of
ingress or egress for the one or more objects. The order of ingress
or egress is the order in which the one or more objects can enter
or exit the vehicle (e.g., autonomous vehicle). The order of
ingress or egress can include any combination of the one or more
objects entering or exiting the vehicle (e.g., autonomous vehicle).
For example, the order of ingress or egress for the one or more
objects can include a passenger exiting the vehicle (e.g.,
autonomous vehicle) followed by cargo being placed on the seat
formerly occupied by the passenger; three passengers entering the
vehicle from three different doors; or three articles of cargo
being sequentially loaded into the vehicle from a single door.
[0101] In some implementations, the order of ingress or egress can
be determined based on the one or more identities and the
corresponding object locations. For example, the order of ingress
or egress can be determined based on the location of passengers and
cargo in the vehicle (e.g., autonomous vehicle) such that
passengers are scheduled to exit the vehicle before cargo is
removed from the vehicle. Further, by way of example, order of
ingress or egress for passengers can be based on their proximity to
an entrance of the vehicle.
[0102] At 706 the method 700 can include, generating one or more
placement indications including instructions for directing movement
of the one or more objects to one or more assigned locations in the
vehicle (e.g., autonomous vehicle). Generation of the one or more
placement indications can be based in part on one or more object
placement criteria (e.g., hot food items like pizza are not placed
next to cold food items like ice-cream); the one or more identities
of the one or more objects including the names of passengers; and
the corresponding object locations including the object locations
of the one or more objects within the vehicle (e.g., the seating
position of passengers within the vehicle).
[0103] The one or more placement indications can include any
combination of written instructions (e.g., written instructions
displayed on a display device on the interior or the exterior of
the autonomous vehicle), symbolic instructions (e.g., arrows or
other symbols displayed on a portion of the autonomous vehicle), or
auditory instructions (e.g., audio instructions generated by a
loudspeaker in, or on, the vehicle). In some implementations, the
one or more object placement criteria can be based in part on the
order of ingress or egress for the one or more objects (e.g., cargo
that is due to be unloaded second is positioned not to block access
to cargo that is due to be unloaded second).
[0104] FIG. 8 depicts an example system 800 according to example
embodiments of the present disclosure. The system 800 can include a
vehicle computing system 808 which can include some or all of the
features of the vehicle computing system 108 depicted in FIG. 1;
one or more computing devices 810 which can include some or all of
the features of the one or more computing devices 110; a
communication interface 812; one or more processors 814; one or
more memory devices 820; memory system 822; memory system 824; one
or more input devices 826; one or more output devices 828; one or
more computing devices 830 which can include some or all of the
features of the one or more computing devices 130 depicted in FIG.
1; one or more input devices 832; one or more output devices 834; a
network 840 which can include some or all of the features of the
network 140 depicted in FIG. 1; and an operations computing system
850 which can include some or all of the features of the operations
computing system 150 depicted in FIG. 1.
[0105] The vehicle computing system 808 can include the one or more
computing devices 810. The one or more computing devices 810 can
include one or more processors 814 which can be included on-board a
vehicle including the vehicle 104 and one or more memory devices
820 which can be included on-board a vehicle including the vehicle
104. The one or more processors 814 can be any suitable processing
device such as a microprocessor, microcontroller, integrated
circuit, an application specific integrated circuit (ASIC), a
digital signal processor (DSP), a field-programmable gate array
(FPGA), logic device, one or more central processing units (CPUs),
graphics processing units (GPUs), processing units performing other
specialized calculations, etc. The one or more processors 814 can
include a single processor or a plurality of processors that are
operatively and/or selectively connected. The one or more memory
devices 820 can include one or more non-transitory
computer-readable storage media, such as RAM, ROM, EEPROM, EPROM,
flash memory devices, magnetic disks, etc., and/or combinations
thereof.
[0106] The one or more memory devices 820 can store data or
information that can be accessed by the one or more processors 814.
For instance, the one or more memory devices 820 which can be
included on-board a vehicle including the vehicle 104, can include
a memory system 822 that can store computer-readable instructions
that can be executed by the one or more processors 814. The memory
system 822 can include software written in any suitable programming
language that can be implemented in hardware (e.g., computing
hardware). Further, the memory system 822 can include instructions
that can be executed in logically and/or virtually separate threads
on the one or more processors 814. The memory system 822 can
include any set of instructions that when executed by the one or
more processors 814 cause the one or more processors 814 to perform
operations.
[0107] For example, the one or more memory devices 820 which can be
included on-board a vehicle including the vehicle 104 can store
instructions, including specialized instructions, that when
executed by the one or more processors 814 on-board the vehicle
cause the one or more processors 814 to perform operations such as
any of the operations and functions of the one or more computing
devices 810 or for which the one or more computing devices 810 are
configured, as described herein, the operations for receiving data
(e.g., object data or capacity adjustment data), modifying one or
more vehicle capacity criteria, determining one or more features of
one or more objects, activating one or more vehicle control systems
(e.g., one or more portions of methods 500, 600, or 700), or any
other operations or functions for capacity based vehicle operation,
as described herein.
[0108] The one or more memory devices 820 can include a memory
system 824 that can store data that can be retrieved, manipulated,
created, and/or stored by the one or more computing devices 810.
The data stored in memory system 824 can include, for instance,
data associated with a vehicle including the vehicle 104, data
acquired by the one or more data acquisition systems 112, map data,
data associated with a vehicle carrying capacity, data associated
with user input, data associated with one or more actions and/or
control command signals, data associated with users, and/or other
data or information. The data in the memory system 824 can be
stored in one or more databases. The one or more databases can be
split up so that they are located in multiple locales on-board a
vehicle which can include the vehicle 104. In some implementations,
the one or more computing devices 810 can obtain data from one or
more memory devices that are remote from a vehicle which can
include the vehicle 104.
[0109] The environment 800 can include the network 840 (e.g., a
communications network) which can be used to exchange (send or
receive) signals (e.g., electronic signals) or data (e.g., data
from a computing device) including signals or data exchanged
between computing devices including the operations computing system
850, the vehicle computing system 808, or the one or more computing
devices 830. The network 840 can include any combination of various
wired (e.g., twisted pair cable) and/or wireless communication
mechanisms (e.g., cellular, wireless, satellite, microwave, and
radio frequency) and/or any desired network topology (or
topologies). For example, the communications network 140 can
include a local area network (e.g. intranet), wide area network
(e.g. Internet), wireless LAN network (e.g., via Wi-Fi), cellular
network, a SATCOM network, VHF network, a HF network, a WiMAX based
network, and/or any other suitable communications network (or
combination thereof) for transmitting data to and/or from a vehicle
including the vehicle 104.
[0110] The one or more computing devices 810 can also include
communication interface 812 used to communicate with one or more
other systems which can be included on-board a vehicle including
the vehicle 104 (e.g., over the network 840. The communication
interface 812 can include any suitable components for interfacing
with one or more networks, including for example, transmitters,
receivers, ports, controllers, antennas, or other suitable hardware
and/or software.
[0111] The vehicle computing system 808 can also include one or
more input devices 826 and/or one or more output devices 828. The
one or more input devices 826 and/or the one or more output devices
828 can be included and/or otherwise associated with a
human-machine interface system. The one or more input devices 826
can include, for example, hardware for receiving information from a
user, such as a touch screen, touch pad, mouse, data entry keys,
speakers, a microphone suitable for voice recognition, etc. The one
or more output devices 828 can include one or more display devices
(e.g., display screen, CRT, LCD) and/or one or more audio output
devices (e.g., loudspeakers). The display devices and/or the audio
output devices can be used to facilitate communication with a user.
For example, a human operator (e.g., associated with a service
provider) can communicate with a current user of a vehicle
including the vehicle 104 via at least one of the display devices
and the audio output devices.
[0112] The one or more computing devices 830 can include various
types of computing devices. For example, the one or more computing
devices 830 can include a phone, a smart phone, a tablet, a
personal digital assistant (PDA), a laptop computer, a computerized
watch (e.g., a smart watch), computerized eyewear, computerized
headwear, other types of wearable computing devices, a gaming
system, a media player, an e-book reader, and/or other types of
computing devices. The one or more computing devices 830 can be
associated with a user (e.g., 136). The one or more computing
devices 830 described herein can also be representative of a user
device that can be included in the human machine interface system
of a vehicle including the vehicle 104.
[0113] The one or more computing devices 830 can include one or
more input devices 832 and/or one or more output devices 834. The
one or more input devices 832 can include, for example, hardware
for receiving information from a user, such as a touch screen,
touch pad, mouse, data entry keys, speakers, a microphone suitable
for voice recognition, etc. The one or more output devices 834 can
include hardware for providing content for display. For example,
the one or more output devices 834 can include a display device
(e.g., display screen, CRT, LCD), which can include hardware for a
user interface.
[0114] The technology discussed herein makes reference to computing
devices, databases, software applications, and other computer-based
systems, as well as actions taken and information sent to and from
such systems. One of ordinary skill in the art will recognize that
the inherent flexibility of computer-based systems allows for a
great variety of possible configurations, combinations, and
divisions of tasks and functionality between and among components.
For instance, computer-implemented processes discussed herein can
be implemented using a single computing device or multiple
computing devices working in combination. Databases and
applications can be implemented on a single system or distributed
across multiple systems. Distributed components can operate
sequentially or in parallel.
[0115] Furthermore, computing tasks discussed herein as being
performed at computing devices remote from the vehicle (e.g., the
operations computing system and its associated computing devices)
can instead be performed at the vehicle (e.g., via the vehicle
computing system). Such configurations can be implemented without
deviating from the scope of the present disclosure.
[0116] While the present subject matter has been described in
detail with respect to specific example embodiments and methods
thereof, it will be appreciated that those skilled in the art, upon
attaining an understanding of the foregoing can readily produce
alterations to, variations of, and equivalents to such embodiments.
Accordingly, the scope of the present disclosure is by way of
example rather than by way of limitation, and the subject
disclosure does not preclude inclusion of such modifications,
variations and/or additions to the present subject matter as would
be readily apparent to one of ordinary skill in the art.
* * * * *