Location Signaling with Respect to an Autonomous Vehicle and a Rider

Abstract

Among other things, a signal is emitted from a signaling device and is captured by stimulus detectors location on a vehicle, including an autonomous vehicle. Properties of the signal are analyzed, potentially in concert with other information, to determine the precise location of the signaling device and therefore the precise goal location for picking up a rider of the autonomous vehicle. In response to the calculation of the precise goal location, the autonomous vehicle attempts to travel to a location as near as possible to the precise goal location to facilitate entry of the rider into the vehicle.

1 . A method comprising:
 receiving, by an autonomous vehicle system, a request for use of an autonomous vehicle by a user, the request including in indication of a general goal location, the general goal location indicating a location of the user according to a first degree of precision and a first degree of accuracy;   instructing, by the autonomous vehicle system, the autonomous vehicle to proceed from an initial location towards the general goal location;   while the autonomous vehicle is proceeding from the initial location towards the general goal location, determining, by the autonomous vehicle system, a precise goal location, the precise location indicating the location of the user according to a second degree of precision and a second degree of accuracy, wherein at least one of:
 the second degree of precision is greater than the first degree of precision, or 
 the second degree of accuracy is greater than the first degree of accuracy, and 
   wherein the precise goal location is determined based on a communication between the user and at least one of the autonomous vehicle or a second autonomous vehicle when the user and the at least one of the autonomous vehicle or the second autonomous vehicle are within line-of-sight; and   instructing, by the autonomous vehicle system, the autonomous vehicle to proceed towards the precise goal location.   
     
     
         2 . The method of  claim 1 , further comprising:
 transmitting, by the autonomous vehicle system to a mobile device associated with the user, a command to generate an image or sequence of images using a display of the mobile device, and   wherein determining the precise goal location comprises:
 obtaining, by the autonomous vehicle system, sensor data comprising visual information regarding an environment of the at least one of the autonomous vehicle or the second autonomous vehicle, 
 identifying, by the autonomous vehicle system based on the sensor data, the image or the series of images in the environment of the at least one of the autonomous vehicle or the second autonomous vehicle, and 
 determining the precise goal location based on the identification of the image or the series of images in the environment of the at least one of the autonomous vehicle or the second autonomous vehicle. 
   
     
     
         3 . The method of  claim 1 , further comprising:
 transmitting, by the autonomous vehicle system to a mobile device associated with the user, a command to generate a sound using a speaker of the mobile device, and   wherein determining the precise goal location comprises:
 obtaining, by the autonomous vehicle system, sensor data comprising auditory information regarding an environment of the at least one of the autonomous vehicle or the second autonomous vehicle, 
 identifying, by the autonomous vehicle system based on the sensor data, the sound in the environment of the at least one of the autonomous vehicle or the second autonomous vehicle, and 
 determining the precise goal location based on the identification of the sound in the environment of the at least one of the autonomous vehicle or the second autonomous vehicle. 
   
     
     
         4 . The method of  claim 1 , wherein determining the precise goal location comprises:
 obtaining, by the autonomous vehicle system, sensor data comprising visual information regarding an environment of the at least one of the autonomous vehicle or the second autonomous vehicle,   identifying, by the autonomous vehicle system based on the sensor data, the user performing a pre-determined gesture in in the environment of the at least one of the autonomous vehicle or the second autonomous vehicle, and   determining the precise goal location based on the identification of the user performing the pre-determined gesture in the environment of the at least one of the autonomous vehicle or the second autonomous vehicle.   
     
     
         5 . The method of  claim 1 , further comprising:
 transmitting, by the autonomous vehicle system to a mobile device associated with the user, a command to generate a modulated sequence of light using the mobile device, and   wherein determining the precise goal location comprises:
 obtaining, by the autonomous vehicle system, sensor data comprising visual information regarding an environment of the at least one of the autonomous vehicle or the second autonomous vehicle, 
 identifying, by the autonomous vehicle system based on the sensor data, the modulated sequence of light in the environment of the at least one of the autonomous vehicle or the second autonomous vehicle, and 
 determining the precise goal location based on the identification of the modulated sequence of light in the environment of the at least one of the autonomous vehicle or the second autonomous vehicle. 
   
     
     
         6 . The method of  claim 1 , wherein determining the precise goal location comprises:
 determining, based on the communication, a bearing of a user relative to the autonomous vehicle;   responsive to determining the bearing of a user relative to the autonomous vehicle, instructing the autonomous vehicle to direct a directional sensor towards the determined bearing; and   determining a distance between the user and the autonomous vehicle based on sensor data obtained from the directional sensor.   
     
     
         7 . The method of  claim 1 , wherein the wireless communication is between the autonomous vehicle and the user. 
     
     
         8 . The method of  claim 1 , wherein the wireless communication is between the second autonomous vehicle and the user. 
     
     
         9 . An autonomous vehicle system comprising:
 at least one processor; and   at least one non-transitory computer readable medium storing instructions that, when executed by the at least one processor, cause the at least one processor to perform operations comprising:   receiving, by the autonomous vehicle system, a request for use of an autonomous vehicle by a user, the request including in indication of a general goal location, the general goal location indicating a location of the user according to a first degree of precision and a first degree of accuracy;   instructing, by the autonomous vehicle system, the autonomous vehicle to proceed from an initial location towards the general goal location;   while the autonomous vehicle is proceeding from the initial location towards the general goal location, determining, by the autonomous vehicle system, a precise goal location, the precise location indicating the location of the user according to a second degree of precision and a second degree of accuracy, wherein at least one of:
 the second degree of precision is greater than the first degree of precision, or 
 the second degree of accuracy is greater than the first degree of accuracy, and 
   wherein the precise goal location is determined based on a communication between the user and at least one of the autonomous vehicle or a second autonomous vehicle when the user and the at least one of the autonomous vehicle or the second autonomous vehicle are within line-of-sight; and   instructing, by the autonomous vehicle system, the autonomous vehicle to proceed towards the precise goal location.   
     
     
         10 . The autonomous vehicle system of  claim 9 , the operations further comprising:
 transmitting, by the autonomous vehicle system to a mobile device associated with the user, a command to generate an image or sequence of images using a display of the mobile device, and   wherein determining the precise goal location comprises:
 obtaining, by the autonomous vehicle system, sensor data comprising visual information regarding an environment of the at least one of the autonomous vehicle or the second autonomous vehicle, 
 identifying, by the autonomous vehicle system based on the sensor data, the image or the series of images in the environment of the at least one of the autonomous vehicle or the second autonomous vehicle, and 
 determining the precise goal location based on the identification of the image or the series of images in the environment of the at least one of the autonomous vehicle or the second autonomous vehicle. 
   
     
     
         11 . The autonomous vehicle system of  claim 9 , the operations further comprising:
 transmitting, by the autonomous vehicle system to a mobile device associated with the user, a command to generate a sound using a speaker of the mobile device, and   wherein determining the precise goal location comprises:
 obtaining, by the autonomous vehicle system, sensor data comprising auditory information regarding an environment of the at least one of the autonomous vehicle or the second autonomous vehicle, 
 identifying, by the autonomous vehicle system based on the sensor data, the sound in the environment of the at least one of the autonomous vehicle or the second autonomous vehicle, and 
 determining the precise goal location based on the identification of the sound in the environment of the at least one of the autonomous vehicle or the second autonomous vehicle. 
   
     
     
         12 . The autonomous vehicle system of  claim 9 , wherein determining the precise goal location comprises:
 obtaining, by the autonomous vehicle system, sensor data comprising visual information regarding an environment of the at least one of the autonomous vehicle or the second autonomous vehicle,   identifying, by the autonomous vehicle system based on the sensor data, the user performing a pre-determined gesture in in the environment of the at least one of the autonomous vehicle or the second autonomous vehicle, and   determining the precise goal location based on the identification of the user performing the pre-determined gesture in the environment of the at least one of the autonomous vehicle or the second autonomous vehicle.   
     
     
         13 . The autonomous vehicle system of  claim 9 , the operations further comprising:
 transmitting, by the autonomous vehicle system to a mobile device associated with the user, a command to generate a modulated sequence of light using the mobile device, and   wherein determining the precise goal location comprises:
 obtaining, by the autonomous vehicle system, sensor data comprising visual information regarding an environment of the at least one of the autonomous vehicle or the second autonomous vehicle, 
 identifying, by the autonomous vehicle system based on the sensor data, the modulated sequence of light in the environment of the at least one of the autonomous vehicle or the second autonomous vehicle, and 
 determining the precise goal location based on the identification of the modulated sequence of light in the environment of the at least one of the autonomous vehicle or the second autonomous vehicle. 
   
     
     
         14 . The autonomous vehicle system of  claim 9 , wherein determining the precise goal location comprises:
 determining, based on the communication, a bearing of a user relative to the autonomous vehicle;   responsive to determining the bearing of a user relative to the autonomous vehicle, instructing the autonomous vehicle to direct a directional sensor towards the determined bearing; and   determining a distance between the user and the autonomous vehicle based on sensor data obtained from the directional sensor.   
     
     
         15 . The autonomous vehicle system of  claim 9 , wherein the wireless communication is between the autonomous vehicle and the user. 
     
     
         16 . The autonomous vehicle system of  claim 9 , wherein the wireless communication is between the second autonomous vehicle and the user.