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1. EP3371796 - METHOD FOR ROBOTIC VEHICLE COMMUNICATION WITH AN EXTERNAL ENVIRONMENT VIA ACOUSTIC BEAM FORMING

Office
European Patent Office
Application Number 16862901
Application Date 02.11.2016
Publication Number 3371796
Publication Date 12.09.2018
Publication Kind A4
IPC
G05D 1/00
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
B60Q 5/00
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
5Arrangement or adaptation of acoustic signal devices
B60W 30/00
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
B62D 15/02
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators
G01C 21/00
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
G05B 23/00
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
23Testing or monitoring of control systems or parts thereof
CPC
B60Q 5/006
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
5Arrangements or adaptations of acoustic signal devices
005automatically actuated
006indicating risk of collision between vehicles or with pedestrians
B60Q 5/008
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
5Arrangements or adaptations of acoustic signal devices
005automatically actuated
008for signaling silent vehicles, e.g. for warning that a hybrid or electric vehicle is approaching
G10K 11/346
GPHYSICS
10MUSICAL INSTRUMENTS; ACOUSTICS
KSOUND-PRODUCING DEVICES
11Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
18Methods or devices for transmitting, conducting, or directing sound
26Sound-focusing or directing, e.g. scanning
34using electrical steering of transducer arrays, e.g. beam steering
341Circuits therefor
346using phase variation
B60C 5/008
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
CVEHICLE TYRES TYRE INFLATION; TYRE CHANGING OR REPAIRING; REPAIRING, OR CONNECTING VALVES TO, INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
5Inflatable pneumatic tyres or inner tubes
008Low pressure tyres, e.g. for all terrain vehicles
Applicants ZOOX INC
Inventors KENTLEY-KLAY TIMOTHY DAVID
LEVINSON JESSE SOL
LIND AMANDA BLAIR
Designated States
Priority Data 14756993 04.11.2015 US
Title
(DE) VERFAHREN ZUR ROBOTERFAHRZEUGKOMMUNIKATION MIT EINER EXTERNEN UMGEBUNG DURCH AKUSTISCHE STRAHLFORMUNG
(EN) METHOD FOR ROBOTIC VEHICLE COMMUNICATION WITH AN EXTERNAL ENVIRONMENT VIA ACOUSTIC BEAM FORMING
(FR) PROCÉDÉ POUR LA COMMUNICATION D'UN VÉHICULE ROBOTIQUE AVEC UN ENVIRONNEMENT EXTÉRIEUR AU MOYEN DE FAISCEAUX ACOUSTIQUES
Abstract
(EN)
Systems and methods implemented in algorithms, software, firmware, logic, or circuitry may be configured to process data to determine whether an object external to an autonomous vehicle is a person (e.g., such as a pedestrian) or other classification (e.g., such as a vehicle), and may be further configured to determine a position of the person relative to the autonomous vehicle. Logic may be configured to direct acoustic energy (e.g., via vehicular acoustic beam- forming) to an object external to the autonomous vehicle as an audible acoustic alert. The vehicle- related acoustic beam may be directed to a driver in another vehicle. Logic may be configured to track the motion of external objects, such as a pedestrian crossing from one side of the street to the other, and may correspondingly steer the direction of the vehicle-related acoustic beam(s) to track the person's movement.

(FR)
Des systèmes et des procédés selon l'invention mis en œuvre dans des algorithmes, un logiciel, un micrologiciel, une logique ou un ensemble de circuits peuvent être configurés pour traiter des données afin de déterminer si un objet externe à un véhicule autonome est une personne (par exemple, un piéton) ou autre catégorie (par exemple, un véhicule), et peut être en outre configuré pour déterminer une position de la personne par rapport au véhicule autonome. La logique peut être configurée pour diriger une énergie acoustique (par exemple, par formation de faisceaux acoustiques véhiculaires) vers un objet extérieur au véhicule autonome sous forme d'une alerte acoustique audible. Le faisceau acoustique de véhicule peut être dirigé vers un conducteur dans un autre véhicule. La logique peut être configurée pour suivre le mouvement d'objets externes, tels qu'un piéton traversant d'un côté à l'autre de la rue, et peut en conséquence orienter la direction du/des faisceau(x) acoustique(s) de véhicule pour suivre le déplacement de la personne.