U.S. patent application number 17/516000 was filed with the patent office on 2022-04-21 for end of trip sequence.
The applicant listed for this patent is Waymo LLC. Invention is credited to Hans-olav Cavelie, Peter Crandall, Matthew Hall, Maria Moon, Nirmal Patel, Ryan Powell.
Application Number | 20220120581 17/516000 |
Document ID | / |
Family ID | 1000006062186 |
Filed Date | 2022-04-21 |
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United States Patent
Application |
20220120581 |
Kind Code |
A1 |
Patel; Nirmal ; et
al. |
April 21, 2022 |
END OF TRIP SEQUENCE
Abstract
Aspects of the disclosure relate to providing an end of trip
sequence when a vehicle is nearing its destination. One or more
computing devices may generate and display a video indicating a
projected trajectory of the vehicle and objects detected by sensors
on the vehicle, on a map corresponding to a route the vehicle is
currently following, where the video is generated from a
perspective of a virtual camera at a default position and default
pitch A determination that the vehicle has reached a threshold
relative to the route of the vehicle may be made and the position
and pitch of the virtual camera may be adjusted to an updated
position above the vehicle and a perspective which looks downwards
towards a roof of the vehicle. The video may then be generated and
displayed from the perspective of the virtual camera at the updated
position.
Inventors: |
Patel; Nirmal; (Sunnyvale,
CA) ; Moon; Maria; (Mountain View, CA) ;
Crandall; Peter; (San Jose, CA) ; Powell; Ryan;
(San Francisco, CA) ; Cavelie; Hans-olav; (San
Francisco, CA) ; Hall; Matthew; (San Jose,
CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Waymo LLC |
Mountain View |
CA |
US |
|
|
Family ID: |
1000006062186 |
Appl. No.: |
17/516000 |
Filed: |
November 1, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
15783538 |
Oct 13, 2017 |
11193784 |
|
|
17516000 |
|
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|
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01C 21/3635 20130101;
G06F 2203/04806 20130101; G01C 21/3647 20130101; G01C 21/3638
20130101; G06F 3/04845 20130101; G06F 16/29 20190101; G06F 3/04842
20130101 |
International
Class: |
G01C 21/36 20060101
G01C021/36; G06F 3/04845 20060101 G06F003/04845; G06F 3/04842
20060101 G06F003/04842 |
Claims
1. A method for displaying information to one or more passengers of
a vehicle carrying the one or more passengers on a trip to a
destination, the method comprising: generating and displaying, by
one or more computing devices, a frame indicating a projected
trajectory of the vehicle on a map corresponding to a route the
vehicle is currently following, wherein the frame includes a first
message indicating a name of a road the vehicle is currently
traveling on, a second message regarding a speed limit of the road,
a third message regarding a progress of the trip to the destination
and a fourth message regarding time of arrival of the vehicle at
the destination; and replacing, by the one or more computing
devices, one of the first, second, third or fourth messages with a
fifth message indicating that the vehicle is looking for a location
to pull over before the vehicle reaches the destination.
2. The method of claim 1, further comprising: determining, by the
one or more computing devices, whether a threshold has been reached
for the vehicle to begin looking for the location to pull over.
3. The method of claim 2, further comprising: when the threshold
has been reached, flashing, by the one or more computing devices,
at least a portion of the frame.
4. The method of claim 2, further comprising: when the threshold
has been reached, flashing, by the one or more computing devices, a
virtual representation of a virtual vehicle.
5. The method of claim 2, wherein the threshold is a predefined
amount of time away from reaching the destination.
6. The method of claim 2, wherein the threshold is a predefined
distance from the destination.
7. The method of claim 1, wherein the frame further includes at
least one of animations, illustrations and live-action.
8. The method of claim 1, wherein the frame further includes a trip
summary with details of the trip upon the vehicle reaching the
destination.
9. The method of claim 1, wherein the frame further includes a
walking path illustrating a path from the vehicle to a passenger's
final destination as the vehicle approaches or reaches the location
to pull over.
10. The method of claim 9, wherein the passenger's final
destination is highlighted in the frame, and an image of the
destination is displayed.
11. A method for displaying information to one or more passengers
of a vehicle carrying the one or more passengers on a trip to a
destination, the method comprising: generating and displaying, by
one or more computing devices, a frame indicating a projected
trajectory of the vehicle on a map corresponding to a route the
vehicle is currently following, wherein the frame includes a first
message indicating a name of a road the vehicle is currently
traveling on; and replacing, by the one or more computing devices,
the first message with a second message indicating that the vehicle
is looking for a location to pull over before the vehicle reaches
the destination.
12. The method of claim 11, wherein the frame further includes at
least one of a third message regarding a speed limit of the road, a
fourth message regarding a progress of the trip to the destination
or a fifth message regarding time of arrival of the vehicle at the
destination.
13. The method of claim 11, further comprising: determining, by the
one or more computing devices, whether a threshold has been reached
for the vehicle to begin looking for the location to pull over.
14. The method of claim 13, wherein the threshold is a predefined
amount of time away from reaching the destination.
15. The method of claim 13, wherein the threshold is a predefined
distance from the destination.
16. A system for displaying information to one or more passengers
of a vehicle carrying the one or more passengers on a trip to a
destination, the system comprising: a display device; and a video
display system including one or more computing devices configured
to: receive system data; generate, based on the system data, a
frame indicating a projected trajectory of a route the vehicle is
currently following to reach the destination; display the frame on
the display device, wherein the frame includes a first message
indicating a name of a road the vehicle is currently traveling on;
determine whether a threshold has been reached for the vehicle to
begin looking for a location to pull over upon reaching the
destination; and when the threshold has been reached, replace the
first message with a second message indicating that the trip is
nearly completed and the one or more passengers should prepare to
exit the vehicle.
17. The system of claim 16, wherein the frame further includes at
least one of a third message regarding a speed limit of the road, a
fourth message regarding a progress of the trip to the destination
or a fifth message regarding time of arrival of the vehicle at the
destination.
18. The system of claim 16, wherein the threshold is a predefined
amount of time away from reaching the destination.
19. The system of claim 16, wherein the threshold is a predefined
distance from the destination.
20. The system of claim 16, wherein the system data is received
from at least one of a navigation system, a positioning system or a
perception system comprised by the vehicle.
21. The system of claim 20, wherein the system data indicates a
current location of the vehicle.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of U.S. application Ser.
No. 15/783,538, filed Oct. 13, 2017, the entire disclosure of which
is incorporated by reference herein.
BACKGROUND
[0002] Autonomous vehicles, such as vehicles that do not require a
human driver, can be used to aid in the transport of passengers or
items from one location to another. Such vehicles may operate in a
fully autonomous mode where passengers or a remote operator may
provide some initial input, such as a pickup or destination
location, and the vehicle maneuvers itself to that location.
[0003] Such vehicles are typically equipped with various types of
sensors in order to detect objects in the surroundings. For
example, autonomous vehicles may include lasers, sonar, radar,
cameras, and other devices which scan and record data from the
vehicle's surroundings. Sensor data from one or more of these
devices may be used to detect objects and their respective
characteristics (position, shape, heading, speed, etc.). These
characteristics can be used to provide, to occupants of the
vehicle, a visual indication of objects detected in the vicinity of
a vehicle as well as what those objects are likely to do for some
brief period into the future.
[0004] To provide occupants of the vehicle with information about
the vehicle's environment, a display in the vehicle may present a
video generated by a video display system from the perspective of a
virtual camera fixed relative to the vehicle at a default position.
The video may include imagery within a set field of view
corresponding to the position of the virtual camera including a
portion of the vehicle's surroundings and the vehicle's projected
trajectory.
[0005] In addition, messages may be overlaid on the video to inform
passengers of the vehicle's actions and information regarding the
vehicle's route. For instance, the display may include messages
overlaid on the video regarding the vehicle's speed, the street the
vehicle is travelling on, and the street's speed limit.
BRIEF SUMMARY
[0006] Embodiments within the disclosure relate to systems and
methods providing an end of trip sequence when a vehicle is nearing
its destination. A method may include generating and displaying, by
one or more computing devices, a video indicating a projected
trajectory of the vehicle and objects detected by sensors on the
vehicle, on a map corresponding to a route the vehicle is currently
following, where the video is generated from a perspective of a
virtual camera at a default position and default pitch. The one or
more computing devices may determine the vehicle has reached a
threshold relative to the route of the vehicle and adjust, after
the vehicle reaches the threshold, the position and pitch of the
virtual camera to an updated position directly above the vehicle
and a perspective which looks straight down towards a roof of the
vehicle. The video from the perspective of the virtual camera may
be generated and displayed at the updated position.
[0007] In some embodiments the one or more computing devices may
determine the vehicle is approaching the destination, and generate
and overlay on the video a message indicating the vehicle is
approaching the destination. The adjusting of the virtual camera to
the updated position may occur upon determining the vehicle is
approaching the destination.
[0008] In some embodiments the threshold may be a predefined
distance from the destination. In some embodiments the threshold
may be a predefined estimated time for the vehicle to arrive at the
destination. In some embodiments generating and overlaying on the
video a message indicating the vehicle is looking for a pullover
location may be based on the determination that the vehicle has
reached a threshold.
[0009] In some embodiments a determination that a pullover location
is found may be made and the virtual camera may be adjusted to an
updated position upon determining the pullover location is
found.
[0010] In some embodiments a trip summary including details of the
trip upon the vehicle reaching its destination may be generated and
displayed. In some embodiments a walking path overlaid on the video
may be generated and displayed, wherein the walking path
illustrates a path from the vehicle to a passenger's final
destination as the vehicle approaches or reaches a pullover
location.
[0011] In some embodiments the passenger's final destination may be
highlighted in the video, and an image of the destination may be
displayed.
[0012] Another aspect includes a system for providing an end of
trip sequence when a vehicle is nearing its destination. The system
may comprise one or more processors. The one or more processors may
be configured to generate and display a video indicating a
projected trajectory of the vehicle and objects detected by sensors
on the vehicle, on a map corresponding to a route the vehicle is
currently following, where the video is generated from a
perspective of a virtual camera at a default position and default
pitch; determine the vehicle has reached a threshold relative to
the route of the vehicle; adjust the position and pitch of the
virtual camera to an updated position directly above the vehicle
and a perspective which looks straight down towards a roof of the
vehicle; and generate and display the video from the perspective of
the virtual camera at the updated position.
BRIEF DESCRIPTION OF THE DRAWINGS
[0013] FIG. 1 is a functional diagram of an example vehicle in
accordance with aspects of the disclosure.
[0014] FIG. 2 is a perspective external view of a vehicle in
accordance with aspects of the disclosure.
[0015] FIG. 3 is a rear external view of a vehicle in accordance
with aspects of the disclosure.
[0016] FIG. 4 is a top-down external view of a vehicle in
accordance with aspects of the disclosure.
[0017] FIGS. 5A and 5B are illustrations of a virtual camera
positioned at a default position in accordance with aspects of the
disclosure.
[0018] FIG. 6 is an illustration of a video frame showing a field
of view of a virtual camera in accordance with aspects of the
disclosure.
[0019] FIG. 7 is an illustration of a video frame showing a field
of view of a virtual camera in accordance with aspects of the
disclosure.
[0020] FIG. 8 is an illustration of a virtual camera rotating to
capture an updated field of view in accordance with aspects of the
disclosure.
[0021] FIG. 9 is an illustration of a video frame showing a
top-down field of view of a virtual camera in accordance with
aspects of the disclosure.
[0022] FIG. 10 is an illustration of messages and indicators
overlaid on a video in accordance with aspects of the
disclosure.
[0023] FIG. 11 is a flow diagram in accordance with aspects of the
disclosure.
DETAILED DESCRIPTION
Overview
[0024] This technology generally relates to providing an end of
trip sequence to help give any passengers of a vehicle better
context about where the passengers are, as well as what the vehicle
is doing as the vehicle approaches and ultimately reaches the
destination of the trip. For instance, during a trip to a
destination, a computing device may display information to the
passengers about how the vehicle "sees" its surrounding
environment. This may include displaying a video of the
environment, the objects in that environment, and a virtual
representation of the vehicle.
[0025] The video may be displayed from the perspective of a virtual
camera angled above and behind the vehicle. In this regard,
computing devices within the vehicle may provide data including a
vehicle's projected trajectory as well as data indicating objects,
such as other vehicles, within the vicinity of the vehicle. This
data may be used to generate the video from the perspective of a
virtual camera using the received data by overlaying the vehicle's
projected trajectory and detected objects on a map. The map may
correspond to an area of a route on which the vehicle is traveling
or following.
[0026] Some threshold period of time or distance along the route
before arriving at the destination, the sequence may begin by
overlaying a message on the video which informs the passenger that
the vehicle is approaching the destination. As the vehicle
approaches the destination, another message may be displayed, or
the video being displayed may be changed to indicate that the
vehicle is looking for a location to pull over.
[0027] Upon the pullover location being found, the position and
angle of the virtual camera angle may be changed, for instance
moving from the aforementioned angle above and behind the vehicle
to an adjusted position directly overhead and positioned downward
toward the vehicle. This can occur while the vehicle is still
moving, for instance as the vehicle is parking, or after the
vehicle has come to a complete stop. The video may be displayed
from the perspective of the camera in the adjusted position to
provide a more informative perspective for a passenger that is
about to exit the vehicle.
[0028] A summary of the trip and additional details may be
displayed as any passengers leave the vehicle. For instance,
information concerning the trip, such as the trips length, time,
and destination may be displayed. In some instances, a walking path
may be displayed from the virtual representation of the vehicle to
the destination to further inform the passenger how they may reach
their destination 1070. This information may thus be very helpful
the passengers to not only understand their current location, but
also to allow them to more easily reach their destination.
[0029] The features described herein may allow a vehicle, such as
an autonomous vehicle, to provide any passengers with context about
the vehicle's surroundings while the vehicle approaches its
destination as well as information on how the passenger may reach
their final destination after exiting the vehicle by way of a
video. Such information may allow the passenger time to prepare to
exit the vehicle before the trip has ended. Additionally,
passengers are provided with information regarding the vehicle's
actions which can provide a sense of reassurance and safety to the
passengers. Moreover, such information may relieve a passenger's
anxiety about reaching their final destination after exiting the
vehicle.
Example Systems
[0030] As shown in FIG. 1, a vehicle 100 in accordance with one
aspect of the disclosure includes various components. While certain
aspects of the disclosure are particularly useful in connection
with specific types of vehicles, the vehicle may be any type of
vehicle including, but not limited to, cars, trucks, motorcycles,
busses, recreational vehicles, etc. The vehicle may have one or
more computing devices, such as computing device 110 containing one
or more processors 120, memory 130 and other components typically
present in general purpose computing devices.
[0031] The memory 130 stores information accessible by the one or
more processors 120, including instructions 132 and data 134 that
may be executed or otherwise used by the processor 120. The memory
130 may be of any type capable of storing information accessible by
the processor, including a computing device-readable medium, or
other medium that stores data that may be read with the aid of an
electronic device, such as a hard-drive, memory card, ROM, RAM, DVD
or other optical disks, as well as other write-capable and
read-only memories. Systems and methods may include different
combinations of the foregoing, whereby different portions of the
instructions and data are stored on different types of media.
[0032] The instructions 132 may be any set of instructions to be
executed directly (such as machine code) or indirectly (such as
scripts) by the processor. For example, the instructions may be
stored as computing device code on the computing device-readable
medium. In that regard, the terms "instructions" and "programs" may
be used interchangeably herein. The instructions may be stored in
object code format for direct processing by the processor, or in
any other computing device language including scripts or
collections of independent source code modules that are interpreted
on demand or compiled in advance. Functions, methods and routines
of the instructions are explained in more detail below.
[0033] The data 134 may be retrieved, stored or modified by
processor 120 in accordance with the instructions 132. For
instance, although the claimed subject matter is not limited by any
particular data structure, the data may be stored in computing
device registers, in a relational database as a table having a
plurality of different fields and records, XML documents or flat
files. The data may also be formatted in any computing
device-readable format.
[0034] The one or more processor 120 may be any conventional
processors, such as commercially available CPUs. Alternatively, the
one or more processors may be a dedicated device such as an ASIC or
other hardware-based processor. Although FIG. 1 functionally
illustrates the processor, memory, and other elements of computing
device 110 as being within the same block, it will be understood by
those of ordinary skill in the art that the processor, computing
device, or memory may actually include multiple processors,
computing devices, or memories that may or may not be stored within
the same physical housing. For example, memory may be a hard drive
or other storage media located in a housing different from that of
computing device 110. Accordingly, references to a processor or
computing device will be understood to include references to a
collection of processors or computing devices or memories that may
or may not operate in parallel.
[0035] Computing device 110 may include all of the components
normally used in connection with a computing device such as the
processor and memory described above as well as a user input 150
(e.g., a mouse, keyboard, touch screen and/or microphone) and
various electronic displays (e.g., a monitor having a screen or any
other electrical device that is operable to display information).
In this example, the vehicle includes an internal electronic
display 152 as well as one or more speakers 154 to provide
information or audio visual experiences. In this regard, internal
electronic display 152 may be located within a cabin of vehicle 100
and may be used by computing device 110 to provide information to
passengers within the vehicle 100.
[0036] Computing device 110 may also include one or more wireless
network connections 156 to facilitate communication with other
computing devices, such as the client computing devices and server
computing devices described in detail below. The wireless network
connections may include short range communication protocols such as
Bluetooth, Bluetooth low energy (LE), cellular connections, as well
as various configurations and protocols including the Internet,
World Wide Web, intranets, virtual private networks, wide area
networks, local networks, private networks using communication
protocols proprietary to one or more companies, Ethernet, WiFi and
HTTP, and various combinations of the foregoing.
[0037] In one example, computing device 110 may be an autonomous
driving computing system incorporated into vehicle 100. The
autonomous driving computing system may be capable of communicating
with various components of the vehicle. For example, returning to
FIG. 1, computing device 110 may be in communication with various
systems of vehicle 100, such as deceleration system 160,
acceleration system 162, steering system 164, signaling system 166,
navigation system 168, positioning system 170, perception system
172, and video display system 176 in order to control the movement,
acceleration, speed, operation, etc. of vehicle 100 in accordance
with the instructions 132 of memory 130. Again, although these
systems are shown as external to computing device 110, in
actuality, these systems may also be incorporated into computing
device 110, again as an autonomous driving computing system for
controlling vehicle 100.
[0038] As an example, computing device 110 may interact with
deceleration system 160 and acceleration system 162 in order to
control the speed and acceleration of the vehicle. For example, the
acceleration system 162 may provide signals to the engine 174 to
accelerate at a particular rate. Similarly, steering system 164 may
be used by computing device 110 in order to control the direction
of vehicle 100. For example, if vehicle 100 is configured for use
on a road, such as a car or truck, the steering system may include
components to control the angle of wheels to turn the vehicle.
Signaling system 166 may be used by computing device 110 in order
to signal the vehicle's intent to other drivers or vehicles, for
example, by lighting turn signals or brake lights when needed.
[0039] Navigation system 168 may be used by computing device 110 in
order to determine and follow a route to a location. In this
regard, the navigation system 168 and/or data 134 may store
detailed map information, e.g., highly detailed maps identifying
the shape and elevation of roadways, lane lines, intersections,
crosswalks, speed limits, traffic signals, buildings, signs, real
time traffic information, vegetation, or other such objects and
information. In other words, this detailed map information may
define the geometry of vehicle's expected environment including
roadways as well as speed restrictions (legal speed limits) for
those roadways
[0040] Positioning system 170 may be used by computing device 110
in order to determine the vehicle's relative or absolute position
on a map or on the earth. For example, the positioning system 170
may include a GPS receiver to determine the device's latitude,
longitude and/or altitude position. Other location systems such as
laser-based localization systems, inertial-aided GPS, or
camera-based localization may also be used to identify the location
of the vehicle. The location of the vehicle may include an absolute
geographical location, such as latitude, longitude, and altitude as
well as relative location information, such as location relative to
other cars immediately around it which can often be determined with
less noise than absolute geographical location.
[0041] The positioning system 170 may also include other devices in
communication with computing device 110, such as an accelerometer,
gyroscope or another direction/speed detection device to determine
the direction and speed of the vehicle or changes thereto. By way
of example only, an acceleration device may determine its pitch,
yaw or roll (or changes thereto) relative to the direction of
gravity or a plane perpendicular thereto. The device may also track
increases or decreases in speed and the direction of such changes.
The device's provision of location and orientation data as set
forth herein may be provided automatically to the computing device
110, other computing devices and combinations of the foregoing.
[0042] The perception system 172 also includes one or more
components for detecting objects external to the vehicle such as
other vehicles, obstacles in the roadway, traffic signals, signs,
trees, etc. For example, the perception system 172 may include
lasers, sonar, radar, cameras and/or any other detection devices
that record data which may be processed by computing device 110. In
the case where the vehicle is a small passenger vehicle such as a
car, the car may include a laser or other sensors mounted on the
roof or other convenient location. For instance, a vehicle's
perception system may use various sensors, such as LIDAR, sonar,
radar, cameras, etc. to detect objects and their characteristics
such as location, orientation, size, shape, type, direction and
speed of movement, etc. The raw data from the sensors and/or the
aforementioned characteristics can be quantified or arranged into a
descriptive function or vector for processing by the computing
device 110. As discussed in further detail below, computing device
110 may use the positioning system 170 to determine the vehicle's
location and perception system 172 to detect and respond to objects
when needed to reach the location safely.
[0043] The video display system 176 may monitor data from the
systems of the vehicle to generate a video of the vehicle's
surroundings for display in the vehicle. In this regard, the video
display system 176 may monitor system data generated by the other
computing devices regarding the vehicle's operation including data
representing the vehicle's past, present, and future operation. The
vehicle display system may also monitor messages sent to and from
the vehicle's computing device 110, which is in communication with
the different systems and computing devices of the vehicle. For
instance, the video display system may aggregate data from the
vehicle's perception system 172, such as objects external to the
vehicle within a particular range, data from the positioning system
170, such as the vehicle's current location, and data from the
navigation system 168, such as the vehicle's projected trajectory
and map information, as described above.
[0044] The video display system may take the monitored data and
messages and generate a video of the vehicle's surroundings and the
vehicle's projected trajectory. In this regard, the video may
include imagery within a set field of view corresponding to the
position of a virtual camera including a portion of the vehicle's
surroundings and the vehicle's projected trajectory. In this
regard, the video display system 176 may overlay the vehicle's
projected trajectory and detected objects on a map corresponding to
the route the vehicle is traveling. The video generated by the
video display system 176 may be presented to the vehicle's
passengers, other individuals, or recorded for future viewing, such
as on a display in the vehicle.
[0045] The video display system may include some or all of the
components of the computing device 110 as described herein, such as
processor 120, memory 130, data 134, instructions 132, and wireless
network connections 156. Likewise, in addition to, or alternatively
to the functions of the video display system described herein, the
video display system may perform the functions of a computing
device 110. In this regard, the video display system may
communicate with the various systems of the vehicle, such as
systems 160-174.
[0046] FIGS. 2-4 are examples of external views of vehicle 100. As
can be seen, vehicle 100 includes many features of a typical
vehicle such as headlights 202, windshield 203, taillights/turn
signal lights 204, rear windshield 205, doors 206, side view
mirrors 208, tires and wheels 210, and turn signal/parking lights
212. Headlights 202, taillights/turn signal lights 204, and turn
signal/parking lights 212 may be associated the signaling system
166. Light bar 207 may also be associated with the signaling system
166.
[0047] Vehicle 100 also includes sensors of the perception system
172. For example, housing 214 may include one or more laser devices
for having 360 degree or narrower fields of view and one or more
camera devices. Housings 216 and 218 may include, for example, one
or more radar and/or sonar devices. The devices of the perception
system 172 may also be incorporated into the typical vehicle
components, such as taillights/turn signal lights 204 and/or side
view mirrors 208. Each of these radar, camera, and lasers devices
may be associated with processing components which process data
from these devices as part of the perception system 172 and provide
sensor data to the computing device 110.
[0048] The computing device 110 may control the direction and speed
of the vehicle by controlling various components. By way of
example, computing device 110 may navigate the vehicle to a
destination location completely autonomously using data from the
detailed map information and navigation system 168. In order to
maneuver the vehicle, computing device 110 may cause the vehicle to
accelerate (e.g., by increasing fuel or other energy provided to
the engine by acceleration system 162), decelerate (e.g., by
decreasing the fuel supplied to the engine, changing gears, and/or
by applying brakes by deceleration system 160), change direction
(e.g., by turning the front or rear wheels of vehicle 100 by
steering system 164), and signal such changes (e.g., by lighting
turn signals of signaling system 166). Thus, the acceleration
system 162 and deceleration system 160 may be a part of a
drivetrain that includes various components between a power system
174 (for instance, a gas or electric engine) of the vehicle and the
wheels of the vehicle. Again, by controlling these systems,
computing device 110 may also control the drivetrain of the vehicle
in order to maneuver the vehicle autonomously.
[0049] The one or more computing device 110 of vehicle 100 may also
receive or transfer information to and from other computing
devices.
Example Methods
[0050] In addition to the operations described above and
illustrated in the figures, various operations will now be
described. It should be understood that the following operations do
not have to be performed in the precise order described below.
Rather, various steps can be handled in a different order or
simultaneously, and steps may also be added or omitted.
[0051] As described above, the video display system 176 may receive
information in order to generate video. In this regard, as the
vehicle carries passengers on a trip to a destination, the
vehicle's video display system may monitor system data generated by
the other computing devices regarding the vehicle's operation
including data generated by the vehicle's navigation system,
positioning system, and perception system. For instance, the data
received by the video display system 176 may include objects
external to the vehicle within a particular range from the
vehicle's perception system 172, data from the positioning system
170, such as the vehicle's current location, and data from the
navigation system 168, such as the vehicle's projected trajectory
and map information.
[0052] Based on the data received by the video display system, a
video may be generated for display on a display in the vehicle for
viewing by the vehicle's passengers. The video display system may
generate the video from a perspective of a virtual camera using the
received data by overlaying the vehicle's projected trajectory and
detected objects on a map corresponding to the route the vehicle is
traveling. The perspective of a virtual camera may be fixed
relative to the vehicle at a default position. For instance, this
default position of the fixed position virtual camera 501 may be
above and to the rear of the vehicle 100 and directed in a first
heading 505, as shown in FIGS. 5A and 5B. The video may include
imagery within a set field of view 503 corresponding to the first
heading 505 and position of the fixed position virtual camera
501.
[0053] One frame of a video generated by the video display system
from the perspective of a virtual camera positioned in the default
position above and behind the vehicle, is shown in FIG. 6. A frame
600 of the video containing a map 601 presented within a set field
of view 503 of the virtual camera. The video further includes a
virtual representation of the virtual vehicle 101 and the vehicle's
surroundings, such as buildings 610, nearby vehicles 670, and other
such surroundings, overlaid on the map 601 received from the
navigation and perception systems 168 and 172. The location of the
virtual vehicle 101 may be determined based on information received
by the video display system 176 from the vehicle's position system.
The vehicle's projected trajectory 620 and past route 630, received
from the positioning system 170 and/or navigation system 168 are
also overlaid on the map 601.
[0054] Additional messages, such as the current road the vehicle is
travelling on 640, the speed limit of the road 650, the progress of
the trip 660, the time to arrival 665, and a motion indicator 670,
which shows whether the vehicle is free to move, slowing down, or
stopped, may also be overlaid on the video. Such additional
messages may be generated by the vehicle's computing device 110
based on information received by the vehicle's other systems, such
as systems 160-174. The video may include animations,
illustrations, live-action, and/or other such content typically
found in videos.
[0055] As the vehicle approaches the final destination, another
message may be displayed, or the video being displayed may be
changed to indicate that the vehicle is looking for a place to pull
over. In this regard, upon the vehicle reaching a threshold, such
as a predefined time or distance away from reaching the
destination, one or more messages on the screen may be changed to
show that the vehicle is going to begin to pull over. For example,
the vehicle's computing system may determine that the vehicle 100
is a minute away from reaching its destination. Upon determining
that the vehicle 100 is a minute away from reaching its
destination, the vehicle's computing device, such as computing
device 110, may send a notification to the video display system 176
to display a new message 740, as shown in frame 700 of FIG. 7. The
new message 740 may indicate that the vehicle is about to pull over
and may replace message 640. The new message 740 may inform the
passenger that the trip is nearly complete and that they may begin
to get ready to exit the vehicle.
[0056] The threshold for displaying an indication that the vehicle
is looking for a place to pull over may alternatively be based on
distance. In this regard, the threshold may be defined by distance
of the vehicle to the destination along the route. For instance,
the threshold may be set to 0.25 miles, or more or less. Upon the
vehicle being positioned 0.25 miles from the destination, the new
message 740 indicating that the vehicle is about to pull over may
be displayed. In some instances, further indicators that the
vehicle is going to perform a pullover may include flashing all or
a portion of the currently displayed video, such as by flashing the
virtual representation of the virtual vehicle 101, displaying
additional messages, etc.
[0057] Upon the vehicle beginning to perform a pullover, the
virtual camera may be rotated or otherwise translated to a
predetermined height. In addition, the pitch of the virtual camera
may be adjusted allowing the virtual camera to capture imagery
within an adjusted field of view corresponding to the virtual
cameras new position. As such, the virtual camera may capture a
larger area of the vehicle's environment, including a larger area
behind and around the vehicle in comparison to the default
position, thereby informing passengers of their surroundings when
they exit the vehicle. For instance, the position of the virtual
camera may be rotated in a first direction 810 above the vehicle
100 to a predetermined height to present video within an adjusted
field of view 803 corresponding to the vehicle's immediate
surroundings, as shown in FIG. 8. In some instances, the display
may flash or some other indicator, such as a visual message or
graphic may be displayed to inform the passenger that a pullover
location has been found.
[0058] The pitch of the virtual camera may be adjusted
concurrently, or sequentially with, the rotation of the virtual
camera. For instance, as the virtual camera rotates from the
default position to above the vehicle 100, the pitch of the virtual
camera 501 may be rotated in a second direction 811 such that the
video will provide more imagery around the vehicle than provided by
the default pitch, as further shown in FIG. 8. Although the above
example shows the virtual camera 501 changing position and pitch
upon beginning a pullover maneuver in order to bring the vehicle to
a stop in an appropriate location and allow one or more passengers
to exit the vehicle, the virtual camera may rotate and its pitch
may be adjusted, for instance, once the vehicle begins looking for
a pullover location, a set time after the vehicle begins looking
for a pullover location, or after the vehicle has come to a
complete stop, etc.
[0059] An example video frame 900 depicting a video generated by
the video display system from the perspective of a virtual camera's
new position is shown in FIG. 9. Here the video frame 900 shows a
top-down perspective of the virtual vehicle 101 along with the
vehicle's surroundings located in front of, behind, and otherwise
around the vehicle, such as building 920 after the virtual camera
has been rotated and its pitch adjusted as described above. The
larger area of the vehicle's environment may provide the passenger
with knowledge of what is behind the vehicle so there are no blinds
spots as the vehicle performs the pullover.
[0060] The video display system may provide a visual indicator
within the generated video that indicates the direction in which
the vehicle is or is going to be pulling over. In this regard, the
video display system may, upon receiving a notification that the
vehicle is going to pullover, overlay a visual indicator, such as a
bar, chevrons, or other such indicator, on the video to inform the
vehicle's passengers that a pullover to a particular side of the
road is going to occur. For instance, as further shown in FIG. 9,
the video display system overlays bars 920 and 930 on the right and
left side of the video. The bar which corresponds to the direction
that the vehicle is pulling over towards may be highlighted as
shown in bar 920. In some instances, the bar corresponding to the
direction the vehicle is going to pull over towards may be pulsed
or otherwise animated to indicate the pullover direction of the
vehicle to the passenger.
[0061] One or more sounds may be played to alert the passengers
that the trip is at or nearing completion. For instance, audio
clips, such as audible beeps, music, a recorded or computer voice
saying some phrase indicating that the trip is nearing or at
completion may be played within the vehicle to provide the
passengers with information regarding the vehicle's actions.
[0062] At, or near the completion of the trip, the video display
system may provide a summary of the trip and additional details
which may be helpful for the passenger as they leave the vehicle.
In this regard, a summary of the trip may be overlaid on the video
to provide the passenger with a summary of particular details of
the trip, such as details regarding the trips length, time of the
trip, the destination, the starting point, and other such details.
For instance, a trip summary 1010 including the length of the trip
1020, the time of arrival 1030, and the name of the destination
1040 and an image of the destination 1050 may be overlaid on the
video, as shown in the video frame 1000 of FIG. 10.
[0063] Additional details may be displayed by the video display
system in order to further assist the passenger on reaching their
destination after exiting the vehicle. For instance, as the vehicle
approaches, or reaches the pullover location the passenger's
destination 1070 may be highlighted and a walking path 1060 may be
displayed from the virtual vehicle 101 to the destination 1070, as
further shown in FIG. 10. In this regard, the entire destination, a
portion, or an outline of the destination may be highlighted. In
some instances, highlighted building may be pulsed to further
differentiate it from surrounding buildings and to bring the
passenger's attention to the building. The walking path 1060 may be
animated, with dots or a line progressing from the virtual vehicle
101 to the building to further inform the passenger how they may
reach their destination 1070.
[0064] Upon reaching the destination (i.e., pullover location), the
vehicle display system may provide additional messages to the
passenger. For instance, after the vehicle reaches its destination,
but the passenger is still in the vehicle, a message may be
provided on the display asking the passenger whether he or she is
still in the vehicle and/or whether they need assistance. In some
instances the vehicle may provide a message indicating that the
vehicle is about to leave.
[0065] FIG. 11 is an example flow diagram 1100 which may be
performed by one or more computing devices of a vehicle, such as
computing device 110 of vehicle 100 in order to provide an end of
trip sequence when a vehicle is nearing its destination. In this
example, the computing one or more computing devices may generate
and display a video indicating a projected trajectory of the
vehicle and objects detected by sensors on the vehicle, on a map
corresponding to a route the vehicle is currently following, where
the video is generated from a perspective of a virtual camera at a
default position and default pitch, as shown in block 1110. The one
or more computing devices may determine the vehicle has reached a
threshold relative to the route of the vehicle and adjust the
position and pitch of the virtual camera to an updated position
above the vehicle and a perspective which looks down towards a roof
of the vehicle, as shown in blocks 1120 and 1130, respectively. The
one or more computing devices may generate and display the video
from the perspective of the virtual camera at the updated position,
as shown in block 1140.
[0066] Unless otherwise stated, the foregoing alternative examples
are not mutually exclusive, but may be implemented in various
combinations to achieve unique advantages. As these and other
variations and combinations of the features discussed above can be
utilized without departing from the subject matter defined by the
claims, the foregoing description of the embodiments should be
taken by way of illustration rather than by way of limitation of
the subject matter defined by the claims. In addition, the
provision of the examples described herein, as well as clauses
phrased as "such as," "including" and the like, should not be
interpreted as limiting the subject matter of the claims to the
specific examples; rather, the examples are intended to illustrate
only one of many possible embodiments. Further, the same reference
numbers in different drawings can identify the same or similar
elements.
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