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GB2620931A - System, autonomous vehicle, and method - Google Patents

System, autonomous vehicle, and method Download PDF

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Publication number
GB2620931A
GB2620931A GB2210830.2A GB202210830A GB2620931A GB 2620931 A GB2620931 A GB 2620931A GB 202210830 A GB202210830 A GB 202210830A GB 2620931 A GB2620931 A GB 2620931A
Authority
GB
United Kingdom
Prior art keywords
condition
autonomy
viewer
display assembly
autonomous
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB2210830.2A
Other versions
GB2620931B (en
GB202210830D0 (en
Inventor
Austin Matthew
Turner Adam
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Oxa Autonomy Ltd
Original Assignee
Oxa Autonomy Ltd
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Filing date
Publication date
Application filed by Oxa Autonomy Ltd filed Critical Oxa Autonomy Ltd
Priority to GB2210830.2A priority Critical patent/GB2620931B/en
Publication of GB202210830D0 publication Critical patent/GB202210830D0/en
Publication of GB2620931A publication Critical patent/GB2620931A/en
Application granted granted Critical
Publication of GB2620931B publication Critical patent/GB2620931B/en
Active legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/507—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to autonomous vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/46—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/543—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating other states or conditions of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0017—Planning or execution of driving tasks specially adapted for safety of other traffic participants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

A system and method for indicating an autonomy condition of an autonomous vehicle, AV, to a viewer external to the AV, the system comprising: a display assembly adapted to be provided on the AV and be visible to the viewer 310 and a control unit configured to: receive the autonomy condition of the AV 320, and control the display assembly based on the autonomy condition of the AV, such that the autonomy condition of the AV is indicated to the viewer by the display assembly 330. The system may contain one or more light modules which can produce multiple colours. The characteristic of the display may change based on the current condition of the vehicle i.e., stop, ready to move, in autonomous mode, in manual mode etc.

Description

SYSTEM, AUTONOMOUS VEHICLE, AND METHOD
FIELD
The present disclosure relates to a system, in particular to a system for indicating an autonomy condition of an autonomous vehicle, AV, to a viewer external to the AV. The present disclosure further relates to an AV comprising such a system. The present disclosure further relates to a method, in particular to a method of indicating an autonomy condition of an AV to a viewer external to the AV.
BACKGROUND
A self-driving vehicle, also known as an autonomous vehicle (AV), is a vehicle that is capable of sensing its environment and moving safely with little or no human input. There are numerous challenges faced by the developers of AV technology.
AVs are, at present, not commonplace road-going or commercial vehicles. Viewers external to an AV, such as pedestrians or on-site operatives, may not expect the vehicle to be an AV. The viewer instead may assume that the vehicle is being controlled by a human driver, and so intuitive assumptions are made as to the likely vehicle behaviour in a certain situation. However, an AV may not operate in a predictable manner. This presents a risk to safety of viewers, where the viewer is not able to understand or predict the driving behaviour of the AV.
Additionally, in testing and development of AVs, it may not be readily apparent to a viewer, such as a tester or remote operator, whether the AV is operating autonomously, non-autonomously, or other conditions of the AV. This presents a risk to the viewer, where again they may assume the likely vehicle behaviour in a certain situation.
It is an object of the present invention to provide an improved system and/or method and/or address one or more of the problems discussed above, or discussed elsewhere, or to at least provide an alternative system and/or method.
SUMMARY
According to a first aspect of the present invention, there is provided a system for indicating an autonomy condition of an autonomous vehicle, AV, to a -2 -viewer external to the AV, the system comprising: a display assembly adapted to be provided on the AV and be visible to the viewer; and a control unit configured to: receive the autonomy condition of the AV; and control the display assembly based on the autonomy condition of the AV, such that the autonomy condition of the AV is indicated to the viewer by the display assembly.
In one example, the display assembly comprises one or more light modules.
In one example, each light module is configured to provide a plurality of colour outputs.
In one example, the autonomy condition is an off condition, and the control unit is configured to control the display assembly to provide an indication having a first characteristic.
In one example, the autonomy condition is an autonomous condition, and the control unit is configured to control the display assembly to provide an indication having a second characteristic.
In one example, the autonomy condition is a non-autonomous condition, and the control unit is configured to control the display assembly to provide an indication having a third characteristic.
In one example, a property of the third characteristic is different to the property of a direction indicator system of the AV.
In one example, the autonomy condition is an autonomous emergency braking condition or non-autonomous emergency braking condition, and the control unit is configured to control the display assembly to provide an indication having a fourth characteristic.
In one example, the autonomy condition is an autonomous ready-to-move condition or a non-autonomous ready-to-move condition, and the control unit is configured to control the display assembly to provide an indication haying a fifth characteristic.
In one example, the autonomy condition is a change from an autonomous condition to a non-autonomous condition, and the control unit is configured to control the display assembly to provide an indication having a sixth characteristic. -3 -
In one example, the second, third and/or sixth characteristic comprise a varying indication at an on-off frequency up to 4Hz (which includes 4Hz).
In one example, the display assembly is further adapted to provide an indication to a viewer internal to the AV.
According to a second aspect of the present invention, there is provided an autonomous vehicle, AV, comprising the system according to the first aspect of the present invention.
According to a third aspect of the present invention, there is provided a method of indicating an autonomy condition of an autonomous vehicle, AV, to a viewer external to the AV, the method comprising: providing a display assembly adapted to be provided on the AV and be visible to the viewer; receiving the autonomy condition of the AV at a control unit; and controlling, using the control unit, the display assembly based on the autonomy condition of the AV, such that the autonomy condition of the AV is indicated to the viewer by the display assembly.
It will of course be appreciated that features described in relation to one aspect of the present invention may be incorporated into other aspects of the present invention. For example, the method of any aspect of the invention may incorporate any of the features described with reference to the system or autonomous vehicle of any aspect of the invention and vice versa.
Other preferred and advantageous features of the invention will be apparent from the following description.
BRIEF DESCRIPTION OF THE FIGURES
Embodiments of the invention will now be described by way of example only with reference to the figures, in which: Figure 1 shows a schematic view of a system; Figure 2 shows a schematic view of an autonomous vehicle, AV, comprising the system of Figure 1; and Figure 3 shows general methodology principles. -4 -
DETAILED DESCRIPTION
Referring to Figure 1, a system 100 is shown. The system 100 is for indicating an autonomy condition of an autonomous vehicle 200, AV, to a viewer 300 external to the AV 200. An AV 200 may otherwise be known as a self-driving vehicle.
An autonomy condition refers to a condition, state, or mode, of autonomy of the AV 200.
The autonomy condition may be an off condition. For example, the off condition may be a condition in which the AV 200 is not operational, in either autonomous or non-autonomous condition, state, or mode. In the off condition, the AV 200 may be turned off, or be in a condition that it cannot be operated to move. In the off condition, the AV 200 may be stationary.
The autonomy condition may be an autonomous (e.g. autonomous control) condition. For example, the autonomous condition may be a condition in which the AV 200 is autonomously operational. In the autonomous condition, the AV 200 may be operational without a user input, e.g., from a driver, occupant of the vehicle, or remote operator. That is, in the autonomy condition, the AV 200 may be driving autonomously.
The autonomy condition may be a non-autonomous (e.g. non-autonomous control) condition. For example, the non-autonomous condition may be a condition in which the AV 200 is non-autonomously operational. That is, in the non-autonomous condition, the AV 200 may be operational with a user input, e.g., from a driver, occupant of the vehicle, or remote operator. In the non-autonomous condition, the AV 200 may be configured to receive user input. That is, in the non-autonomous condition, the AV 200 may be driven non-autonomously.
The autonomy condition may be an emergency braking condition, which may be an autonomous emergency braking condition or a non-autonomous emergency braking condition. In the emergency braking condition, the AV 200 may be braking to a stop in a given distance, before a defined point in space, or in as short a time as possible. The emergency braking condition may be initiated autonomously by the AV 200, or by (at least partial non-autonomous) user input. In the autonomous emergency braking condition, the AV 200 may be operational -5 -without a user input, and the emergency braking condition initiated autonomously by the AV 200, or by user input. In the non-autonomous emergency braking condition, the AV 200 may be operational with a user input, and the emergency braking condition may be initiated by a user input, or autonomously by the AV 200.
The autonomy condition may be a ready-to-move condition, which may be an autonomous ready-to-move condition or a non-autonomous ready-to-move condition. In the ready-to-move condition, the AV 200 may be ready to move. That is, the AV 200 may be about to accelerate, for example from a standing start, such as at a traffic light. In the autonomous ready-to-move condition, the AV 200 may be operational without a user input, as described above. In the non-autonomous ready-to-move condition. the AV 200 may be operational with a user input, as described above.
A viewer 300 external to the AV 200 refers to any viewer 300 external to, or outside of, the AV 200. That is, the viewer 300 may be a pedestrian, an on-site operative, a tester, a remote operator, and/or a driver of another vehicle. Additionally, the viewer 300 external to the AV 200 may be another AV, comprising sensors suitable for viewing the AV 200.
The system 100 comprises a display assembly 110. The display assembly 110 is adapted to be provided on the AV 200. The display assembly 110 is adapted to be visible to the viewer 300.
The system 100 comprises a control unit 120. The control unit 120 is configured to receive the autonomy condition of the AV 200. The control unit 120 is configured to control the display assembly 110 based on the autonomy condition of the AV 200, such that the autonomy condition of the AV 200 is indicated to the viewer 300 by the display assembly 110.
Such a system is highly advantageous. In general, the viewer 300 can understand that the vehicle in-view is an AV 200, or is at least a vehicle which may not operate in a predictable manner. That is, the viewer 300 will be alerted to the fact that the vehicle is not a commonplace vehicle, and so the viewer 300 can adapt their behaviour accordingly. The autonomy condition of the AV 200 is communicated to the viewer 300 by virtue of the display assembly 110, allowing -6 -the viewer 300 to adapt their behaviour in the environment, or vicinity, of the AV 200. The viewer 300 may adapt their behaviour based on the autonomy condition of the AV 200, understood from viewing the display assembly 110, specifically the output of the display assembly 110.
The system 100 might seem like a subtle change to existing vehicle external display systems. However, the system described herein is extremely important and useful in the context of autonomous vehicles, and clearly technically and conceptually distinct from such existing vehicle external display lights (e.g. brake lights, headlights, etc). The system described herein is also extremely important and useful in the context of autonomous vehicles as their presence and use grows in the coming years, where it is likely that viewers and users may need to quickly identify and distinguish between AVs and non-AVs, and how to interact with and around these.
The control unit 120 may be configured to receive the autonomy condition of the AV 200 from any other component, module, unit, or system, of the AV 200. For example, the control unit 120 may be configured to receive the autonomy condition of the AV 200 from a driving control module, or safety system, which may provide the autonomy condition of the AV 200 as an output.
The display assembly 110 comprises one or more light modules 112. In this example, the display assembly 110 comprises two light modules 112a, 112b. The light module 112a may be referred to as a first light module 112a. The light module 112b may be referred to as a second light module 112b.
Advantageously, by providing one or more light modules 112, a visual (i.e., light) output is provided by the display assembly 110 which the viewer 300 may view. The light modules 112 can indicate the autonomy condition of the AV 200. The viewer 300 can thus rapidly interpret the autonomy condition of the AV 200, and adapt their behaviour accordingly. Furthermore, visual output may be intuitively understood by viewers familiar with the operation of other (e.g., typical) vehicles.
In an example, the first light module 112a may be forward facing (relative to the travel direction of the AV 200) and the second light module 112b may be rearward facing (relative to the travel direction of the AV 200). -7 -
Each light module 112 is configured to provide a plurality of colour outputs. That is, in an example, the first light module 112a is configured to provide a plurality of colour outputs, and the second light module 112b is configured to provide a plurality of colour outputs. The first light module 112a and second light module 112b may be configured to provide different colour outputs.
Advantageously, by providing a plurality of colour outputs, a plurality of autonomy conditions may be indicated to the viewer 300. Furthermore, the viewer 300 may have an intuitive understanding of different colour outputs. In an example, the colour output may be a red colour output. The viewer 300 may understand that a red colour output requires the viewer 300 to adapt their behaviour due to a high-risk factor, for example emergency braking of the AV 200. In an example, the colour output may be an amber colour output. The viewer 300 may understand that an amber colour output requires the viewer 300 to adapt their behaviour due to a medium-risk factor, for example a ready-to-move condition, an autonomous (driving) condition, and/or a non-autonomous (driving) condition.
The colour outputs may include any colour. Preferably, the colour outputs may include red and amber.
The display assembly 110 may be configured to provide a continuous or discontinuous indication to the viewer 300. A discontinuous indication may be referred to as a varying indication having an on-off frequency. In an example, the one or more light modules 112 may be configured to provide light output continuously and/or discontinuously. That is, the one or more light modules 112 may be configured to provide a solid light output and/or a flashing light output. The one or more light modules 112 may be configured to provide light output at a plurality of distinct flashing frequencies, or distinct light patterns. The one or more light modules 112 may be configured to provide a single-flash light output (i.e., a repeating pattern of light output followed by no light output for a period). The one or more light modules 112 may be configured to provide a double-flash light output (i.e., a repeating pattern of two light output flashes in quick succession, followed by no light output for a period). -8 -
A number of situations will be described below wherein the display assembly is controlled to provide an indication having a particular characteristic. The characteristic may be based on the autonomy condition of the AV 200.
In general, providing an indication having a particular characteristic for a particular autonomy condition is highly advantageous, as the autonomy condition can be readily communicated to a viewer 300. The viewer 300 may understand (e.g., intuitively, or by learning over time from exposure to AVs), or interpret the indication of a particular characteristic to have a particular meaning relating to the operation of the AV 200. Thus, the viewer 300 can adapt their behaviour accordingly. Thus, safety benefits are obtained, particularly of other road-users.
The control unit 120 may be configured to control the display assembly 110 to provide an indication having a characteristic according to one or more of the examples described below. For the avoidance of doubt, the control unit 120 may be configured to control the display assembly 110 to provide indications having any of the characteristics described below, at an appropriate point in time based on the autonomy condition of the AV 200. That is, where an autonomy condition changes, or transitions, from one condition to another, the control unit 120 may control the display assembly 120 to change, or transition, the characteristic of the indication accordingly.
In a first example, the autonomy condition is an off condition (as described above), and the control unit 120 is configured to control the display assembly 110 to provide an indication having a first characteristic. The first characteristic is preferably a null output. A null output refers to a zero-output provided by the display assembly 110. That is, the display assembly 110 may not provide any output (e.g., visual output) to the viewer 300.
Advantageously, in this way, an indication is provided to the viewer 300 that the AV 200 is not operational. The user may understand this from the lack of output from the display assembly 110. Furthermore, power usage is minimised by providing a null output to indicate the off condition of the AV 200.
In the first example, the control unit 120 may be configured to control the one or more light modules 112 to provide an indication having the first characteristic. The control unit 120 may be configured to control the first light -9 -module 112a and/or second light module 112b to provide an indication having the first characteristic. That is, in the off condition, the control unit 120 may control the first light module 112a and/or second light module 112b to provide a null output (i.e., a zero output).
In a second example, the autonomy condition is an autonomous condition (as described above), and the control unit 120 is configured to control the display assembly 110 to provide an indication having a second characteristic. The second characteristic is preferably a double-flash light output provided by the display assembly 110. That is, the control unit 120 is configured to control the display assembly 110 to provide an indication in the form of a double-flash light output.
Advantageously, in this way, an indication is provided to the viewer 300 that the AV 200 is operational in an autonomous condition. The viewer 300 may then adapt their behaviour based on the understanding that the AV 200 is operating in an autonomous condition, leading to improvements in safety. The viewer 300 may understand this from the double-flash light output from the display assembly 110. The double-flash light output may be visually distinctive, such that it is highly visible in the viewer field-of-view.
The double-flash light output is visually distinct from a single-flash light output. The viewer 300 may interpret the double-flash light output to mean that a high level of attention should be given to the AV 200. Consequently, as the double-flash light output corresponds to the autonomous condition, an improvement in safety and understanding of the operation of the AV 200 is obtained.
In the second example, the control unit 120 may be configured to control the one or more light modules 112 to provide an indication having the second characteristic. The control unit 120 may be configured to control the first light module 112a and/or second light module 112b to provide an indication having the second characteristic. That is, in the autonomous condition, the control unit 120 may control the first light module 112a and/or second light module 112b to provide a double-flash light output. In the second example, the one or more light modules 112 may provide an amber light output. Thus, the viewer 300 may behave with caution in the vicinity of the AV 200.
-10 -In a third example, the autonomy condition is a non-autonomous condition (as described above), and the control unit 120 is configured to control the display assembly 110 to provide an indication having a third characteristic. The third characteristic is preferably a single-flash light output provided by the display assembly 110. That is, the control unit 120 is configured to control the display assembly 110 to provide an indication in the form of a single-flash light output.
Advantageously, in this way, an indication is provided to the viewer 300 that the AV 200 is operational in a non-autonomous condition. The viewer 300 may then adapt their behaviour based on the understanding that the AV 200 is operating in a non-autonomous condition, leading to improvements in safety. For example, the viewer may then anticipate that the AV 200 will operate in a manner consistent with vehicles driven by human-input. The viewer 300 may understand this from the single-flash light output from the display assembly 110. The single-flash light output may be visually distinctive, such that it is highly visible in the viewer field-of-view.
The single-flash light output is visually distinct from a double-flash light output. The viewer 300 may interpret the single-flash light output to mean that a medium (or normal) level of attention should be given to the AV 200. Consequently, as the double-flash light output corresponds to the autonomous condition, an improvement in safety and understanding of the operation of the AV 200 is obtained.
In the third example, the control unit 120 may be configured to control the one or more light modules 112 to provide an indication having the third characteristic. The control unit 120 may be configured to control the first light module 112a and/or second light module 112b to provide an indication having the third characteristic. That is, in the non-autonomous condition, the control unit 120 may control the first light module 112a and/or second light module 112b to provide a single-flash light output. In the third example, the one or more light modules 112 may provide an amber-colour light output. Thus, the viewer 300 may behave with caution in the vicinity of the AV 200.
In the third example, a property of the third characteristic is different to the property (i.e., the same property) of a direction indicator system of the AV 200. Direction indicator systems are commonplace on vehicles, and are well known in the art.
Advantageously, in this way, the output of the display assembly 110 is distinct from an output of a direction indicator system. Potential for confusion of the viewer 300 is thus mitigated.
The property may be an on-off frequency, otherwise referred to as a flash rate or flash frequency. That is, the property may be the rate at which the one or more light modules 112 emit light flashes. The property of the third characteristic may be less than the property of the direction indicator system of the AV 200. In an example, the ON-time of the display assembly 110 may be less than the ON-time of the light output of the direction indicator system.
In a fourth example, the autonomy condition is an autonomous emergency braking condition or a non-autonomous emergency braking condition, and the control unit 120 is configured to control the display assembly 110 to provide an indication having a fourth characteristic. The fourth characteristic is preferably a continuous (e.g., solid, or "always on") light output provided by the display assembly 110. That is, the control unit 120 is configured to control the display assembly 110 to provide an indication in the form of a continuous light output. The indication may be the same irrespective of whether the AV 200 is operating in an autonomous mode or non-autonomous mode.
Advantageously, in this way, an indication is provided to the viewer 300 that the AV 200 is operational in an emergency braking condition. The viewer 300 may then adapt their behaviour, for example by braking a vehicle being driven by the viewer 300. Safety is thereby improved.
In the fourth example, the control unit 120 may be configured to control the one or more light modules 112 to provide an indication having the fourth characteristic. The control unit 120 may be configured to control the first light module 112a and/or second light module 112b to provide an indication having the fourth characteristic. That is, in the autonomous emergency braking condition and/or the non-autonomous emergency braking condition, the control unit 120 -12 -may control the first light module 112a and/or second light module 112b to provide a continuous light output. In the fourth example, the one or more light modules 112 may provide a red-colour light output. Thus, the viewer 300 may receive an indication which they must respond to in the vicinity of the AV 200.
Furthermore, in the fourth example, the second light module 112b may be a rearward-facing light module (relative to the travel direction of the AV 200), and the control unit 120 may be configured to control the second light module 112b to provide the indication having the fourth characteristic, the second light module 112b providing a red-colour light output. In this way, braking may be indicated to viewers 300 to the rear of the AV 200.
In a fifth example, the autonomy condition is an autonomous ready-tomove condition or a non-autonomous ready-to-move condition, and the control unit 120 is configured to control the display assembly 110 to provide an indication having a fifth characteristic. The fifth characteristic is preferably a continuous (e.g., solid, or "always on") light output provided by the display assembly 110. That is, the control unit 120 is configured to control the display assembly 110 to provide an indication in the form of a continuous light output. The indication may be the same irrespective of whether the AV 200 is operating in an autonomous mode or non-autonomous mode.
Advantageously, in this way, an indication is provided to the viewer 300 that the AV 200 is operational in a ready-to-move condition. The viewer 300 may then adapt their behaviour, for example by accounting for the presence of the AV 200 being about to move in, or into, the vicinity of the viewer 300. Safety of the viewer 300 and other users of the environment is thereby improved.
In the fifth example, the control unit 120 may be configured to control the one or more light modules 112 to provide an indication having the fifth characteristic. The control unit 120 may be configured to control the first light module 112a and/or second light module 112b to provide an indication having the fifth characteristic. That is, in the autonomous ready-to-move condition and/or the non-autonomous ready-to-move condition, the control unit 120 may control the first light module 112a and/or second light module 112b to provide a continuous light output. In the fifth example, the one or more light modules 112 -13 -may provide an amber-colour light output. Thus, the viewer 300 may understand that they should behave with caution in the vicinity of the AV 200.
In a sixth example, the autonomy condition is a change from an autonomous condition to a non-autonomous condition, and the control unit 120 is configured to control the display assembly 110 to provide an indication having a sixth characteristic. The sixth characteristic is preferably a double-flash light output provided by the display assembly 110. In this example, the display assembly 110 may be provided as part of a direction indicator system (e.g., as part of an existing vehicle direction indicator system on the AV 200). That is, the display assembly 110 may comprise a direction indicator system.
Advantageously, by indicating the change from an autonomous condition to a non-autonomous condition, the viewer 300 may adapt their behaviour accordingly, by understanding that the viewer has been taken over by a human driver. Understanding of the operation of the AV 200 is thus improved.
In the sixth example, the control unit 120 may be configured to control the one or more light modules 112 to provide an indication having the sixth characteristic. The control unit 120 may be configured to control the first light module 112a and/or second light module 112b to provide an indication having the sixth characteristic. That is, during the change from an autonomous condition to a non-autonomous condition, the control unit 120 may control the first light module 112a and/or second light module 112b to provide a double-flash light output. In the sixth example, the one or more light modules 112 may provide an amber-colour light output. Thus, the viewer 300 may understand that there has been a change in the autonomy condition of the AV 200, and so may adapt their behaviour accordingly.
In the second, third and/or sixth examples described above, the second, third and/or sixth characteristic may comprise a varying indication at an on-off frequency up to 4Hz (which includes 4Hz). The varying indication may be a flash rate, or flash frequency.
It has been determined that varying indication up to 4Hz is particularly distinctive and noticeable to human viewers 300. Furthermore, the varying -14 -indication up to 4Hz is visible from distance, enabling far away viewers to understand the autonomy condition of the AV 200.
Generally, the varying indication may be at an on-off frequency distinct from, or different to, an on-off frequency of a direction indicator system. Advantageously, the potential for confusion of the viewer 300 is thereby mitigated.
In more general terms, the varying indication may have an on-off frequency of greater than 0Hz and less than or equal to 10Hz. This range has been found to attract the attention of human viewers, whilst not being too distracting. A higher frequency might quickly become distracting, or imperceptible. However, a very low frequency (e.g. less than 0.5Hz) may not attract the attention of human viewers, or may appear to be static if viewed quickly. Therefore, a good balance of these requirements is an on-off frequency of greater than or equal to 1Hz and less than or equal to 5Hz. An optimum balance is when the frequency is up to 4Hz (including 4Hz), for example greater than or equal to 1Hz and less than or equal to 4Hz.
In the system 100, the display assembly 120 may be further adapted to provide an indication to a viewer 210 internal to the AV 200. The viewer 210 internal to the AV 200 may be an occupant of the AV 200, such as an operator, driver, or passenger. The display assembly 110 may comprise a display module 220 provided internal to the AV 200 for providing the indication to the internal viewer 210. The display module 220 may be a PC, tablet, smart phone, or the like. Here, all of the examples described above apply in a corresponding manner in providing an indication to the viewer 210 internal to the AV 200. That is, indications having any of the first to sixth characteristics may similarly be displayed to the viewer 210 internal to the AV 200.
Advantageously, in this way, the autonomy condition of the AV 200 can also be indicated to the internal viewer 210, such that the autonomy condition can be monitored. This has benefits in improving the internal viewer's confidence in the safe operation of the AV 200. Furthermore, this may have benefits in allowing monitoring of the AV 200, for example during testing.
-15 -Referring to Figure 2, an autonomous vehicle 200, AV, is schematically shown. The AV comprises a system 100 for indicating an autonomy condition of an AV 200 to a viewer 300 external to the AV 200. The system 100 comprises: a display assembly 110 adapted to be provided on the AV 200 and be visible to the viewer 300; and a control unit 120 configured to: receive the autonomy condition of the AV 200; and control the display assembly 110 based on the autonomy condition of the AV 200, such that the autonomy condition of the AV 200 is indicated to the viewer by the display assembly 110. The system 100 may comprise any or all of the features or functionality described herein. The AV 200 may be an on-road or off-road vehicle. An internal viewer 210 may be present in, or occupy, the AV 200. The AV may comprise a display module 220, for providing an indication to the internal viewer 210, as described above.
Referring to Figure 3, a method of indicating an autonomy condition of an autonomous vehicle, AV, to a viewer external to the AV, is shown. Step 310 comprises providing a display assembly adapted to be provided on the AV and be visible to the viewer. Step 320 comprises receiving the autonomy condition of the AV at a control unit. Step 330 comprises controlling, using the control unit, the display assembly based on the autonomy condition of the AV, such that the autonomy condition of the AV is indicated to the viewer by the display assembly.
Although a few preferred embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes and modifications might be made without departing from the scope of the invention, as defined in the appended claims.
Although the examples have been described with reference to the components, modules and units discussed herein, such functional elements may be combined into fewer elements or separated into additional elements. Various combinations of optional features have been described herein, and it will be appreciated that described features may be combined in any suitable combination. In particular, the features of any one example may be combined with features of any other embodiment, as appropriate, except where such combinations are mutually exclusive. Throughout this specification, the term "comprising" or "comprises" means including the component(s) specified but not to the exclusion of the presence of others.
-16 -All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and/or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and/or steps are mutually exclusive.
Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent or similar features.
The invention is not restricted to the details of the foregoing embodiment(s). The invention extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed.

Claims (4)

  1. -17 -CLAIMS1. A system for indicating an autonomy condition of an autonomous vehicle, AV, to a viewer external to the AV, the system comprising: a display assembly adapted to be provided on the AV and be visible to the viewer; and a control unit configured to: receive the autonomy condition of the AV; and control the display assembly based on the autonomy condition of the AV, such that the autonomy condition of the AV is indicated to the viewer by the display assembly.
  2. 2. The system according to claim 1, wherein the display assembly comprises one or more light modules.
  3. The system according to claim 2, wherein each light module is configured to provide a plurality of colour outputs.
  4. 4. The system according to any one of the preceding claims, wherein the autonomy condition is an off condition, and the control unit is configured to control the display assembly to provide an indication having a first characteristic.The system according to any one of the preceding claims, wherein the autonomy condition is an autonomous condition, and the control unit is configured to control the display assembly to provide an indication having a second characteristic.The system according to any one of the preceding claims, wherein the autonomy condition is a non-autonomous condition, and the control unit is configured to control the display assembly to provide an indication having a third characteristic.-18 - 7 The system according to claim 6, wherein a property of the third characteristic is different to the property of a direction indicator system of the AV 8. The system according to any one of the preceding claims, wherein the autonomy condition is an autonomous emergency braking condition or a non-autonomous emergency braking condition, and the control unit is configured to control the display assembly to provide an indication having a fourth characteristic.The system according to any one of the preceding claims, wherein the autonomy condition is an autonomous ready-to-move condition or a non-autonomous ready-to-move condition, and the control unit is configured to control the display assembly to provide an indication having a fifth characteristic.10. The system according to any one of the preceding claims, wherein the autonomy condition is a change from an autonomous condition to a non-autonomous condition, and the control unit is configured to control the display assembly to provide an indication having a sixth characteristic.The system according to claim 5, claim 6, or claim 10, wherein the second, third and/or sixth characteristic comprise a varying indication at an on-off frequency up to 4Hz.12. The system according to any one of the preceding claims, wherein the display assembly is further adapted to provide an indication to a viewer internal to the AV.13. An autonomous vehicle, AV, comprising the system according to any one of the preceding claims.14. A method of indicating an autonomy condition of an autonomous vehicle, AV, to a viewer external to the AV, the method comprising: -19 -providing a display assembly adapted to be provided on the AV and be visible to the viewer; receiving the autonomy condition of the AV at a control unit; and controlling, using the control unit, the display assembly based on the autonomy condition of the AV, such that the autonomy condition of the AV is indicated to the viewer by the display assembly.
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