Patent Publication Number: US-10766500-B2

Title: Sensory stimulation system for an autonomous vehicle

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. patent application Ser. No. 15/651,878, titled “Sensory Stimulation System for an Autonomous Vehicle,” and filed on Jul. 17, 2017, which is a continuation of U.S. patent application Ser. No. 15/059,493, also titled “Sensory Stimulation System for an Autonomous Vehicle,” and filed on Mar. 3, 2016; the aforementioned priority applications being hereby incorporated by reference in their respective entireties. 
    
    
     BACKGROUND 
     With the advent of autonomous vehicle (AV) technology, rider attention may be focused on alternative activities, such as work, socializing, reading, writing, task-based activities (e.g., organization, bill payments, online shopping, gameplay), and the like. As the AV travels along an inputted route, kinetosis (i.e., motion sickness) can result from the perception of motion by a rider not corresponding to the rider&#39;s vestibular senses. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The disclosure herein is illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings in which like reference numerals refer to similar elements, and in which: 
         FIG. 1  is a block diagram illustrating an example control system for operating an autonomous vehicle including a sensory stimulation system, as described herein; 
         FIG. 2  is a block diagram illustrating an example autonomous vehicle including a sensory stimulation system, as described herein; 
         FIG. 3  is a block diagram illustrating an example sensory stimulation system, as shown and described herein; 
         FIG. 4  shows an example of an autonomous vehicle utilizing sensor data to navigate an environment in accordance with example implementations; 
         FIGS. 5A and 5B  are flow charts describing example methods of operating a sensory stimulation system in accordance with example implementations; and 
         FIG. 6  is a block diagram illustrating a computer system upon which examples described herein may be implemented. 
     
    
    
     DETAILED DESCRIPTION 
     A sensory stimulation system is disclosed that provides sensory stimulation outputs responsive to or preemptive of maneuvers by the autonomous vehicle (AV). The sensory stimulation system can include a number of output devices to provide visual, audio, tactile, and/or any combination of vestibular stimulation for AV riders to counter, reactively and/or proactively, the sensory effects cause by AV motion that can potentially lead to kinetosis. In some examples, the sensory stimulation system can provide a sub-conscious or unconscious learning atmosphere within the passenger interior of the AV that can prevent motion sickness and/or provide preemptive feedback to riders such that habitual vestibular responses by the riders to outputted stimulations can be developed. Accordingly, such habitual vestibular responses can create a learned correlation between the rider&#39;s vestibular system (e.g., (i) the rider&#39;s semi-circular canal system which senses rotational movement and (ii) the rider&#39;s inner ear otoliths which indicate linear accelerations) and the rider&#39;s visual perception. 
     According to examples described herein, the sensory stimulation system can dynamically determine maneuvers to be performed by the AV. Such maneuvers can include acceleration, braking, or directional change maneuvers. In many aspects, the sensory stimulation system can receive inputs indicating the AV&#39;s current speed, a current route traveled by the AV, and an immediate action plan (e.g., indicating immediate actions to be performed by the AV, such as changing lanes or braking). Additionally or alternatively, the sensory stimulation system can include a number of sensors, such as an accelerometer and/or gyroscopic sensor, to reactively determine the maneuvers of the AV. For each maneuver, the sensory stimulation system can generate a set of sensory stimulation outputs to provide a rider of the AV with sensory indications of the maneuver, and output the set of sensory stimulation outputs via the output devices within the interior of the AV. In various implementations, the sensory stimulation outputs can be generated and outputted by the sensory stimulation system dynamically as the AV maneuvers along a current route to a destination. 
     In many examples, the output devices can include visually perceptive devices, such as a light bar visible within an interior of the AV. The light bar can be included to circumscribe at least a portion of the interior passenger compartment (e.g., around the ceiling of the interior, and/or around a mid-plane just below the windows) and can provide visual stimulation based on each acceleration, braking, or change of direction action performed by the AV, or combination thereof. The light bar can include multi-colored light elements which can be controlled by the sensory stimulation system to dynamically generate colors and brightness for respective portions of the light bar to indicate each of the maneuvers. 
     Additionally or alternatively, the output devices can include a number of display units visible within the interior of the AV. For example, one or more display units can be provided on the dashboard of the AV and behind the front seats to provide each passenger with a view of a particular display. In certain implementations, the sensory stimulation system can dynamically generate a displayed presentation that indicates the AV&#39;s planned actions. In some examples, the sensory stimulation system can generate a third-person perspective, visual representation of the AV traveling along a current route for display, and can further generate preemptive and/or dynamic visual indications of each maneuver to be performed by the AV. In some examples, the preemptive visual indications can have a granularity that aligns with decision-making performed by a control system of the AV, as described herein. 
     In many examples, the output devices can include controllable seats. The controllable seats can be operable by the sensory stimulation system and can include haptic functionality. Additionally or alternatively, each of the controllable seats can include a number of motors that can control pitch, roll, and/or yaw of the seat. As the AV travels along the current route, the sensory stimulation system can operate the controllable seats to provide haptic stimulation and/or control the principal axes (i.e., pitch, roll, yaw) of the seats based on the maneuvers of the AV. 
     Additionally or alternatively, the output devices of the sensory stimulation system can include an airflow system capable of providing air pressure outputs as sensory stimulations based on the maneuvers of the AV. The airflow system can include the AV&#39;s manufacturer installed air conditioning system and/or a customized air flow control system that can provide air flow stimulation to the riders from multiple directions and at differing intensities. For example, when the AV is about to brake, the sensory stimulation system can utilize the airflow system to modify airflow within the cabin (e.g., change from rearward airflow to forward airflow). Airflow adjustment parameters for the airflow system can include airflow speed/intensity, direction (e.g., 360 degrees around the riders both radially and azimuthally), temperature, timing, pulse rate, and height (e.g., aiming at the rider&#39;s head, shoulders, torso, arms, legs, feet, etc.). In some implementations, airflow outlets can be provided through the dashboard, the dashboard underside, the floor, the seats (e.g., through outlets on the headrest), or via ducting through the AV&#39;s chassis with outlets on the side-posts and/or doors. 
     Among other benefits, the examples described herein achieve a technical effect of providing sensory stimulation for AV riders based on the maneuvers of the AV. Such stimulation can train the sensory responses of riders to prevent kinetosis due to uncorrelated vestibular versus visual perception. 
     As used herein, a computing device refers to devices corresponding to desktop computers, cellular devices or smartphones, personal digital assistants (PDAs), laptop computers, tablet devices, television (IP Television), etc., that can provide network connectivity and processing resources for communicating with the system over a network. A computing device can also correspond to custom hardware, in-vehicle devices, or on-board computers, etc. The computing device can also operate a designated application configured to communicate with the network service. 
     One or more examples described herein provide that methods, techniques, and actions performed by a computing device are performed programmatically, or as a computer-implemented method. Programmatically, as used herein, means through the use of code or computer-executable instructions. These instructions can be stored in one or more memory resources of the computing device. A programmatically performed step may or may not be automatic. 
     One or more examples described herein can be implemented using programmatic modules, engines, or components. A programmatic module, engine, or component can include a program, a sub-routine, a portion of a program, or a software component or a hardware component capable of performing one or more stated tasks or functions. As used herein, a module or component can exist on a hardware component independently of other modules or components. Alternatively, a module or component can be a shared element or process of other modules, programs or machines. 
     Some examples described herein can generally require the use of computing devices, including processing and memory resources. For example, one or more examples described herein may be implemented, in whole or in part, on computing devices such as servers, desktop computers, cellular or smartphones, personal digital assistants (e.g., PDAs), laptop computers, printers, digital picture frames, network equipment (e.g., routers) and tablet devices. Memory, processing, and network resources may all be used in connection with the establishment, use, or performance of any example described herein (including with the performance of any method or with the implementation of any system). 
     Furthermore, one or more examples described herein may be implemented through the use of instructions that are executable by one or more processors. These instructions may be carried on a computer-readable medium. Machines shown or described with figures below provide examples of processing resources and computer-readable mediums on which instructions for implementing examples disclosed herein can be carried and/or executed. In particular, the numerous machines shown with examples of the invention include processors and various forms of memory for holding data and instructions. Examples of computer-readable mediums include permanent memory storage devices, such as hard drives on personal computers or servers. Other examples of computer storage mediums include portable storage units, such as CD or DVD units, flash memory (such as carried on smartphones, multifunctional devices or tablets), and magnetic memory. Computers, terminals, network enabled devices (e.g., mobile devices, such as cell phones) are all examples of machines and devices that utilize processors, memory, and instructions stored on computer-readable mediums. Additionally, examples may be implemented in the form of computer-programs, or a computer usable carrier medium capable of carrying such a program. 
     Numerous examples are referenced herein in context of an autonomous vehicle (AV). An AV refers to any vehicle which is operated in a state of automation with respect to steering and propulsion. Different levels of autonomy may exist with respect to AVs. For example, some vehicles may enable automation in limited scenarios, such as on highways, provided that drivers are present in the vehicle. More advanced AVs drive without any human assistance from within or external to the vehicle. Such vehicles often are required to make advance determinations regarding how the vehicle is behave given challenging surroundings of the vehicle environment. 
     System Description 
       FIG. 1  is a block diagram illustrating an example control system  100  for operating an autonomous vehicle (AV)  10  including a sensory stimulation system, as described herein. In an example of  FIG. 1 , a control system  100  can be used to autonomously operate the AV  10  in a given geographic region for a variety of purposes, including transport services (e.g., transport of humans, delivery services, etc.). In examples described, an autonomously driven vehicle can operate without human control. For example, in the context of automobiles, an autonomously driven vehicle can steer, accelerate, shift, brake and operate lighting components. Some variations also recognize that an autonomous-capable vehicle can be operated either autonomously or manually. 
     In one implementation, the control system  100  can utilize specific sensor resources in order to intelligently operate the vehicle  10  in most common driving situations. For example, the control system  100  can operate the vehicle  10  by autonomously steering, accelerating, and braking the vehicle  10  as the vehicle progresses to a destination. The control system  100  can perform vehicle control actions (e.g., braking, steering, accelerating) and route planning using sensor information, as well as other inputs (e.g., transmissions from remote or local human operators, network communication from other vehicles, etc.). 
     In an example of  FIG. 1 , the control system  100  includes a computer or processing system which operates to process sensor data that is obtained on the vehicle with respect to a road segment upon which the vehicle  10  operates. The sensor data can be used to determine actions which are to be performed by the vehicle  10  in order for the vehicle  10  to continue on a route to a destination. In some variations, the control system  100  can include other functionality, such as wireless communication capabilities, to send and/or receive wireless communications with one or more remote sources. In controlling the vehicle  10 , the control system  100  can issue instructions and data, shown as commands  85 , which programmatically controls various electromechanical interfaces of the vehicle  10 . The commands  85  can serve to control operational aspects of the vehicle  10 , including propulsion, braking, steering, and auxiliary behavior (e.g., turning lights on). In examples described herein, the commands  85  can further serve to control output devices of a sensory stimulation system, such as visual, audio, haptic/tactile, and/or airflow output devices to provide sensory stimulation to passengers of the AV  10 . 
     The AV  10  can be equipped with multiple types of sensors  101 ,  103 ,  105 , which combine to provide a computerized perception of the space and environment surrounding the vehicle  10 . Likewise, the control system  100  can operate within the AV  10  to receive sensor data from the collection of sensors  101 ,  103 ,  105 , and to control various electromechanical interfaces for operating the vehicle on roadways. 
     In more detail, the sensors  101 ,  103 ,  105  operate to collectively obtain a complete sensor view of the vehicle  10 , and further to obtain situational information proximate to the vehicle  10 , including any potential hazards proximate to the vehicle  10 . By way of example, the sensors  101 ,  103 ,  105  can include multiple sets of cameras sensors  101  (video camera, stereoscopic pairs of cameras or depth perception cameras, long range cameras), remote detection sensors  103  such as provided by radar or LIDAR, proximity or touch sensors  105 , and/or sonar sensors (not shown). 
     Each of the sensors  101 ,  103 ,  105  can communicate with the control system  100  utilizing a corresponding sensor interface  110 ,  112 ,  114 . Each of the sensor interfaces  110 ,  112 ,  114  can include, for example, hardware and/or other logical component which is coupled or otherwise provided with the respective sensor. For example, the sensors  101 ,  103 ,  105  can include a video camera and/or stereoscopic camera set which continually generates image data of an environment of the vehicle  10 . As an addition or alternative, the sensor interfaces  110 ,  112 ,  114  can include a dedicated processing resource, such as provided with a field programmable gate array (“FPGA”) which can, for example, receive and/or process raw image data from the camera sensor. 
     In some examples, the sensor interfaces  110 ,  112 ,  114  can include logic, such as provided with hardware and/or programming, to process sensor data  99  from a respective sensor  101 ,  103 ,  105 . The processed sensor data  99  can be outputted as sensor data  111 . As an addition or variation, the control system  100  can also include logic for processing raw or pre-processed sensor data  99 . 
     According to one implementation, the vehicle interface subsystem  90  can include or control multiple interfaces to control mechanisms of the vehicle  10 . The vehicle interface subsystem  90  can include a propulsion interface  92  to electrically (or through programming) control a propulsion component (e.g., an accelerator pedal), a steering interface  94  for a steering mechanism, a braking interface  96  for a braking component, and a lighting/auxiliary interface  98  for exterior lights of the vehicle. According to implementations described herein, control signals  119  can be transmitted to a stimulation interface  95  of the vehicle interface subsystem  90  to control sensory stimulation outputs through various output devices of a sensory stimulation system of the AV  10 . The vehicle interface subsystem  90  and/or the control system  100  can further include one or more controllers  84  which can receive commands  85  from the control system  100 . The commands  85  can include route information  87  and operational parameters  89 —which specify an operational state of the vehicle  10  (e.g., desired speed and pose, acceleration, etc.)—as well as stimulation commands  85  to control the output devices of the sensory stimulation system. 
     The controller(s)  84  can generate control signals  119  in response to receiving the commands  85  for one or more of the vehicle interfaces  92 ,  94 ,  95 ,  96 ,  98 . The controllers  84  can use the commands  85  as input to control propulsion, steering, braking, and/or other vehicle behavior while the AV  10  follows a current route. Thus, while the vehicle  10  actively drives along the current route, the controller(s)  84  can continuously adjust and alter the movement of the vehicle  10  in response to receiving a corresponding set of commands  85  from the control system  100 . Absent events or conditions which affect the confidence of the vehicle  10  in safely progressing along the route, the control system  100  can generate additional commands  85  from which the controller(s)  84  can generate various vehicle control signals  119  for the different interfaces of the vehicle interface subsystem  90 . 
     According to examples, the commands  85  can specify actions to be performed by the vehicle  10 . The actions can correlate to one or multiple vehicle control mechanisms (e.g., steering mechanism, brakes, etc.). The commands  85  can specify the actions, along with attributes such as magnitude, duration, directionality, or other operational characteristics of the vehicle  10 . By way of example, the commands  85  generated from the control system  100  can specify a relative location of a road segment which the AV  10  is to occupy while in motion (e.g., change lanes, move into a center divider or towards shoulder, turn vehicle, etc.). As other examples, the commands  85  can specify a speed, a change in acceleration (or deceleration) from braking or accelerating, a turning action, or a state change of exterior lighting or other components. The controllers  84  can translate the commands  85  into control signals  119  for a corresponding interface of the vehicle interface subsystem  90 . The control signals  119  can take the form of electrical signals which correlate to the specified vehicle action by virtue of electrical characteristics that have attributes for magnitude, duration, frequency or pulse, or other electrical characteristics. 
     In an example of  FIG. 1 , the control system  100  can include a route planner  122 , stimulation logic  121 , event logic  124 , and a vehicle control  128 . The vehicle control  128  represents logic that converts alerts of event logic  124  (“event alert  135 ”) and sensory outputs  133  by the stimulation logic  121  into commands  85  that specify a set of vehicle actions and/or sensory stimulation outputs. 
     Additionally, the route planner  122  can select one or more route segments that collectively form a path of travel for the AV  10  when the vehicle  10  is on a current trip (e.g., servicing a pick-up request). In one implementation, the route planner  122  can specify route segments  131  of a planned vehicle path which defines turn by turn directions for the vehicle  10  at any given time during the trip. The route planner  122  may utilize the sensor interface  110  to receive GPS information as sensor data  111 . The vehicle control  128  can process route updates from the route planner  122  as commands  85  to progress along a path or route using default driving rules and actions (e.g., moderate steering and speed). 
     According to examples described herein, the control system  100  can further execute stimulation logic  121  to provide sensory outputs  133  to the vehicle control  128  based on maneuvers performed by the AV  10 . In some aspects, the stimulation logic  121  can utilize route information (e.g., indicating a granular path to be traveled by the AV  10 ), situational data (e.g., indicating the surrounding entities, road signs, traffic signals, etc. proximate to the AV  10 ), and/or action information indicating the planned actions to be performed by the control system  100  in maneuvering the AV  10 . Based on the foregoing collective data, the stimulation logic  121  can generate sensory outputs  133  corresponding to sensory stimulations to be provided to riders of the AV  10  based on anticipated or current maneuvers of the AV  10 . Such maneuvers can include acceleration, braking, and directional change maneuvers with relatively fine granularity. For example, the maneuvers can include minor swerves, light braking and acceleration, and low speed turns as well as harder braking and acceleration and normal to aggressive turns. Additionally or alternatively, the stimulation logic  121  can utilize sensor data  111  indicating acceleration or inertial information (e.g., specific force or angular rate) in order to generate the sensory outputs  133 . 
     The sensory outputs  133  can be processed by the vehicle control  128  to generate stimulation commands  85 , which the controller  84  can process to operate interior cabin stimulation systems of the AV  10 . For example, based on the sensory commands  85 , the controller  84  can generate control signals  119  to engage the interior visual, audio, haptic/tactile, airflow, and seat positioning systems via the stimulation interface  95  in order to provide the rider(s) with sensory stimulation to substantially correlate vestibular perception with visual perception. Such stimulation outputs can provide sufficient correlation or agreement between the vestibular sense of movement and visual perception to prevent kinetosis and its unpleasant symptoms. Detailed description of the sensory stimulation system is provided below with respect to  FIGS. 2 through 5B . 
     In certain implementations, the event logic  124  can trigger a response to a detected event. A detected event can correspond to a roadway condition or obstacle which, when detected, poses a potential hazard or threat of collision to the vehicle  10 . By way of example, a detected event can include an object in the road segment, heavy traffic ahead, and/or wetness or other environmental conditions on the road segment. The event logic  124  can use sensor data  111  from cameras, LIDAR, radar, sonar, or various other image or sensor component sets in order to detect the presence of such events as described. For example, the event logic  124  can detect potholes, debris, objects projected to be on a collision trajectory, and the like. Thus, the event logic  124  can detect events which enable the control system  100  to make evasive actions or plan for any potential threats. 
     When events are detected, the event logic  124  can signal an event alert  135  that classifies the event and indicates the type of avoidance action to be performed. Additionally, the control system  100  can determine whether an event corresponds to a potential incident with a human driven vehicle, a pedestrian, or other human entity external to the AV  10 . In turn, the vehicle control  128  can determine a response based on the score or classification. Such response can correspond to an event avoidance action  145 , or an action that the vehicle  10  can perform to maneuver the vehicle  10  based on the detected event and its score or classification. By way of example, the vehicle response can include a slight or sharp vehicle maneuvering for avoidance using a steering control mechanism and/or braking component. The event avoidance action  145  can be signaled through the commands  85  for controllers  84  of the vehicle interface subsystem  90 . 
     When an anticipated dynamic object of a particular class does in fact move into position of likely collision or interference, some examples provide that event logic  124  can signal the event alert  135  to cause the vehicle control  128  to generate commands  85  that correspond to an event avoidance action  145 . For example, in the event of a bicycle crash in which the bicycle (or bicyclist) falls into the path of the vehicle  10 , event logic  124  can signal the event alert  135  to avoid the collision. The event alert  135  can indicate (i) a classification of the event (e.g., “serious” and/or “immediate”), (ii) information about the event, such as the type of object that generated the event alert  135 , and/or information indicating a type of action the vehicle  10  should take (e.g., location of object relative to path of vehicle, size or type of object, etc.). In addition, the stimulation logic  121  can utilize the event alert  135  to cause the controller  84  to generate a corresponding output via the stimulation interface  95  to provide the rider with sensory stimulation to anticipate or react to the event. 
       FIG. 2  is a block diagram illustrating an example AV  200  including a sensory stimulation system  235 , as described herein. The AV  200  shown in  FIG. 2  can include some or all aspects and functionality of the AV  10  described with respect to  FIG. 1 . Referring to  FIG. 2 , the AV  200  can include a sensor array  205  that can provide sensor data  207  to an on-board data processing system  210 . As described herein, the sensor array  205  can include any number of active or passive sensors that continuously detect a situational environment of the AV  200 . For example, the sensor array  205  can include a number of camera sensors (e.g., stereoscopic cameras), LIDAR sensor(s), proximity sensors, radar, and the like. The data processing system  210  can utilize the sensor data  207  to detect the situational conditions of the AV  200  as the AV  200  travels along a current route. For example, the data processing system  210  can identify potential obstacles or road hazards—such as pedestrians, bicyclists, objects on the road, road cones, road signs, animals, etc.—in order to enable an AV control system  220  to react accordingly. 
     In certain implementations, the data processing system  210  can utilize sub-maps  231  stored in a database  230  of the AV  200  (or accessed remotely from the backend system  290  via the network  280 ) in order to perform localization and pose operations to determine a current location and orientation of the AV  200  in relation to a given region (e.g., a city). 
     The data sub-maps  231  in the database  230  can comprise previously recorded sensor data, such as stereo camera data, radar maps, and/or point cloud LIDAR maps. The sub-maps  231  can enable the data processing system  210  to compare the sensor data  207  from the sensor array  205  with a current sub-map  238  to identify obstacles and potential road hazards in real time. The data processing system  210  can provide the processed sensor data  213 —identifying such obstacles and road hazards—to the AV control system  220 , which can react accordingly by operating the steering, braking, and acceleration systems  225  of the AV  200  to perform low level maneuvering. 
     In many implementations, the AV control system  220  can receive a destination  219  from, for example, an interface system  215  of the AV  200 . The interface system  215  can include any number of touch-screens, voice sensors, mapping resources, etc., that enable a passenger  239  to provide a passenger input  241  indicating the destination  219 . For example, the passenger  239  can type the destination  219  into a mapping engine  275  of the AV  200 , or can speak the destination  219  into the interface system  215 . Additionally or alternatively, the interface system  215  can include a wireless communication module that can connect the AV  200  to a network  280  to communicate with a backend transport arrangement system  290  to receive invitations  282  to service a pick-up or drop-off request. Such invitations  282  can include the destination  219  (e.g., a pick-up location), and can be received by the AV  200  as a communication over the network  280  from the backend transport arrangement system  290 . In many aspects, the backend transport arrangement system  290  can manage routes and/or facilitate transportation for users using a fleet of autonomous vehicles throughout a given region. The backend transport arrangement system  290  can be operative to facilitate passenger pick-ups and drop-offs to generally service pick-up requests, facilitate delivery such as packages or food, and the like. 
     Based on the destination  219  (e.g., a pick-up location), the AV control system  220  can utilize the mapping engine  275  to receive route data  232  indicating a route to the destination  219 . In variations, the mapping engine  275  can also generate map content  226  dynamically indicating the route traveled to the destination  219 . The route data  232  and/or map content  226  can be utilized by the AV control system  220  to maneuver the AV  200  to the destination  219  along the selected route. For example, the AV control system  220  can dynamically generate control commands  221  for the autonomous vehicle&#39;s steering, braking, and acceleration systems  225  to actively drive the AV  200  to the destination  219  along the selected route. 
     In many examples, while the AV control system  220  operates the steering, braking, and acceleration systems  225  along the current route on a high level, the processed data  213  provided to the AV control system  220  can indicate low level occurrences, such as obstacles and potential hazards, to which the AV control system  220  can make decisions and react. For example, the processed data  213  can indicate a pedestrian crossing the road, traffic signals, stop signs, other vehicles, road conditions, traffic conditions, bicycle lanes, crosswalks, pedestrian activity (e.g., a crowded adjacent sidewalk), and the like. The AV control system  220  can respond to the processed data  213  by generating control commands  221  to reactively operate the steering, braking, and acceleration systems  225  accordingly. 
     According to examples described herein, the AV  200  can include a sensory stimulation system  235  that can operate a number of interior output systems  240  based on motion actions or maneuvers of the AV  200 . The sensory stimulation system  235  can provide such stimulation outputs reactively in response to AV maneuvers, or preemptively in anticipation of such maneuvers. In many examples, the sensory stimulation system  235  in combination with the interior output systems  240  can provide a subconscious or unconscious learning environment for correlating vestibular sensing with visual perception in order to prevent motion sickness or unexpected surprises when the AV  200  performs ordinary or emergency maneuvers. 
     In many examples, the sensory stimulation system  235  can dynamically receive an action plan  229  from the AV control system  220  indicating the immediate maneuvers to be performed by the AV control system  220 . For example, the action plan  229  can correspond to the control commands  221  that the AV control system  220  generates to operate the steering, braking, and acceleration systems  225  of the AV  200 . Thus, the action plan  229  can indicate low level inputs to be provided to, for example, an accelerator, brake, or steering mechanism of the AV  200  as the AV  200  is autonomously operated along a current route. The sensory stimulation system  235  can process the action plan  229  to generate stimulation commands  233  for the interior output systems  240 —such as visual stimulation, dynamic seat adjustments (e.g., adjusting pitch, roll, and/or yaw), haptic stimulation, and/or air pressure stimulation. 
     Additionally or alternatively, the sensory stimulation system  235  can receive situational data  217  from the on-board data processing system  210 . The situational data  217  can include data identifying external entities and their locations proximate to the AV  200 . External entities can include any proximate pedestrians, bicyclists, human-driven vehicles, or any other human within proximity of the AV  200 . According to an example implementation, the interior output systems  240  can include one or more displays, such as a large dash display above a center console area of the AV  200 , or multiple dash displays prominently visible by each of the passengers. The sensory stimulation system  235  can dynamically generate a live map view of the immediate environment of the AV  200  for presentation on the displays. For example, the sensory stimulation system  235  can continuously present a three-quarter perspective or pseudo-three-dimensional perspective view from above and behind the AV  200 , and dynamically generate virtual representations of the AV  200  as well as each of the proximate external entities identified in the situational data  217 . Thus, as the AV  200  travels, the displayed presentation can be dynamically updated to show a live view of the AV  200  itself traveling along a current route and representations of external entities identified by the sensory stimulation system  235  in the situational data  217 . 
     In some aspects, the sensory stimulation system  235  can present actual live video and/or LIDAR data on the display(s) that indicate an entire situational environment of the AV  200  (e.g., in a forward operational field of view of the AV  200 ). In such aspects, the sensory stimulation system  235  can generate augmented reality content to superimpose certain features in the live presentation, and/or present augmented reality indicators that provide information regarding the route to be traveled by the AV  200  and low level maneuvers to be performed by the AV  200 , as described herein. 
     In variations, the sensory stimulation system  235  can further receive route data  232  indicating the current route traveled by the AV  200  to the destination  219 . On a coarse granular level, the sensory stimulation system  235  can generate route indicators on the presented live map based on the route data  232 , where the route indicators can highlight the current route traveled by the AV  200 . On a finer granular level, the sensory stimulation system  235  can utilize the action plan  229  from the AV control system  220 —as well as the route data  232  and situational data  217 —to generate low level indications of the AV  200  immediate actions for the presented display. For example, the action plan  229  can identify subtle actions to be performed by the AV control system  220 , such as individual lane changes, yielding actions, planned braking and acceleration actions, avoidance maneuvers, and even emergency maneuvers. The sensory stimulation system  235  can utilize this low level action plan  229  data to generate preemptive indicators on the dynamically displayed presentation of each of the AV&#39;s  200  maneuvers. Such low level indicators can include generated symbols and/or arrows on the live map view (e.g., color coded arrows to indicate acceleration, braking, and turning actions), audio speech preemptively describing the actions or maneuvers, audio sounds indicating each maneuver (e.g., jingles or tones for each respective action), or displayed words describing the actions. 
     Utilizing each of the situational data  217 , the route data  232 , and the action plan  229  from the AV control system  235 , the sensory stimulation system  235  can dynamically generate stimulation commands  233  to continuously stream the live presentation via the display(s) of the interior output systems  240 . The live presentation can preemptively provide the passenger(s) with each low level maneuver to be performed by the AV control system  220 , as well as a route plan from the route data  232  and representations of proximate external entities from the situational data  217 . Utilizing the actual control data of the AV control system  220 , the live presentation can provide far more granular detail of the AV&#39;s  200  route and actions than currently available live views, which typically provide only a cursory route plan. Furthermore, the sensory stimulation system  235  can provide the live presentation as a standalone visual stimulation for the passenger(s), or in conjunction with other sensory stimulations utilizing various output devices of the interior output systems  240 . 
     In addition or as an alternative to the above live presentation, the sensory stimulation system  235  can further utilize the action plan data  229  to generate stimulation commands  233  for a fixed lighting system of the interior output systems  240 . In some examples, the fixed lighting system can comprise a light bar that includes a string of lighting elements (e.g., RGB LEDS) circumscribing the interior of the AV  200 . For example, the light bar can circumscribe an edge of the ceiling of the AV  200 . Additionally or alternatively, the light bar can circumscribe a mid-plane of the AV interior (e.g., just below the windows). According to one example, the interior output systems  240  can include multiple light bars or lighting elements fixed within the interior of the AV  200 . The sensory stimulation system  235  can utilize the action plan  229  to generate stimulation commands  233  that cause the lighting system to output visual sensory indications of the AV&#39;s  200  upcoming and/or current maneuvers. 
     For example, the sensory stimulation system  235  can generate stimulation commands  233  controlling lighting outputs that indicate each acceleration, braking, and directional change maneuver to be performed by the AV control system  220 . The stimulation commands  233  can trigger certain portions of the lighting system (e.g., illuminating the left side of a light bar to indicate an upcoming or current left turning maneuver), control color and brightness or a blink rate (e.g., to indicate acceleration versus braking, and the intensities of such maneuvers and actions). In certain aspects, the sensory stimulation system  235  can provide lighting outputs to coincide with the acceleration, braking, and steering systems  225 , such that the vestibular and visual perception of passengers may be readily trained to anticipate or otherwise react to each maneuver, however minor. 
     As an example, acceleration may be correlated with green, braking with red, and turning with yellow. As the AV  200  travels, the sensory stimulation system  235  can generate stimulation commands  233  that cause the lighting system of the interior output systems  240  to preemptively and/or conjunctively illuminate the lighting system to indicate acceleration, braking, and turning. Furthermore, the sensory stimulation system  235  can control brightness to indicate an intensity or strength of each acceleration, braking, and turning maneuver, as well as illuminating select portions of the lighting system to indicate directional aspects of the maneuvering. The sensory stimulation system  235  can generate such stimulation commands  233  dynamically to provide passengers with visual indications or feedback of the AV&#39;s  200  movements. 
     Additionally or alternatively, the sensory stimulation system  235  can utilize the action plan data  229 , as well as the situational data  217  and route data  232  to provide further stimulation to riders, such as haptic or tactile stimulation, air pressure stimulation, and/or rotating the seats on principal axes to provide perceived force to the passenger(s). Examples and detailed explanation of such stimulations by the sensory stimulation system  235  is provided in the below description of  FIG. 3 . 
       FIG. 3  is a block diagram illustrating an example sensory stimulation system  300  as shown and described herein. The sensory stimulation system  300  shown and described with respect to  FIG. 3  can include some or all of the functionality of the sensory stimulation system  235  and the interior output systems  240  discussed above with respect to  FIG. 2 . Referring to  FIG. 3 , the sensory stimulation system  300  can include a memory  350  that stores correlation logs  352  providing correlations between motion actions and maneuvers of the AV  200  with stimulation sets  354  that can be executed to provide riders with sensory stimulation via the output systems  390 . Furthermore, the sensory stimulation system  300  can include a stimulation engine  320  that can process situational data  314 , route data  311 , and/or action data  313  provided from the AV control system  305 . 
     The sensory stimulation system  300  can include an AV interface  310  to receive control system data  309  from the AV control system  305 . In some aspects, the control system data  309  can include the action data  313  indicating the immediate actions or maneuvers to be executed by the AV control system  305 . Additionally, the control system data  309  can include situational data  314  and/or route data  311 , as described above. The control system data  309  can be processed by a stimulation engine  320  of the sensory stimulation system  300 . Based on the control system data  309 , the stimulation engine  320  can determine a number of sensory stimulation outputs to generate via the output systems  390 . 
     As described herein, the output systems  390  of the sensory stimulation system  300  can include a visual system  393  that can comprise the display(s) and/or lighting system (e.g., light bar(s) circumscribing the interior of the AV). Utilizing the control system data  309  (e.g., the situational data  314 , route data  311 , and/or action data  313 ), the stimulation engine  320  can generate stimulation commands  322  to provide a live presentation of the AV, described above, and/or lighting outputs that indicate each of the maneuvers of the AV, also described above, using the visual system  393 . 
     In addition or as an alternative to the foregoing aspects, the sensory stimulation system  300  can utilize the control system data  309  to generate stimulation commands  322  for other output systems  390 , such as the audio system  395 , a seat response system  397 , and/or an airflow system  399 . The audio system  395  can be implemented with the AV&#39;s manufacturer installed speaker sets or as an independent speaker set. In some aspects, the audio system  395  can be utilized in conjunction with other output devices of the sensory stimulation system  300  to indicate instant maneuvers to be performed by the AV (e.g., via output jingles, directional tones, or speech). 
     The seat response system  397  can include haptic seat technology that can provide vibrational or other tactile feedback to the passenger via the seats. For example, haptic seats can provide vibrational pulses to the whole seat, or select portions of the seat based on the maneuver (e.g., left side or right side to indicate turns, upper portion to indicate acceleration, and forward seat cushion to indicate braking). Furthermore, the sensory stimulation system  300  can vary an intensity or strength of the haptic feedback and/or vibrational pulses based on an intensity or strength of the maneuver. 
     In certain aspects, the seat response system  397  can include a number of motors and a pivoting mechanism for each seat to enable the stimulation engine  320  to adjust a pitch, roll, and/or yaw of each seat in response to the control system data  309 . For example, the action data  313  from the AV control system  305  can indicate an upcoming sharp left turn (e.g., to be performed within one or two seconds). In response, the stimulation engine  320  can generate a stimulation command  322  to roll the seats to the left to direct the force felt by the rider downward (into the seat cushion) as opposed to laterally based on the centripetal force of the AV as it makes the turn. For acceleration and braking, the stimulate engine  320  can generate stimulation commands  322  causing the seats to pitch forward or backward. In some aspects, the stimulation engine  320  can further control the yaw of the seats, for example, when the AV performs turning maneuvers or combinations of turning and acceleration or braking. Additionally or alternatively, based on the action data  313 , the stimulation engine  320  can generate combinations of pitch, roll, and yaw stimulation commands  322  for the seat response system  397  dynamically as the AV travels along a current route. 
     The airflow system  399  can output directional airstreams to provide riders with stimulation indicating movement of the AV. As provided herein, the airflow system  399  can utilize the air conditioning system of the AV, or can be provided as a customized system capable of providing directional airstreams to the rider(s). The stimulation engine  320  can operate compressed air valves and/or fans that can generate air pulses or wind that can indicate a direction of travel, speed, acceleration, braking, and changes in direction. The airflow system  399  can include various outlets to provide the airstreams from multiple directions. For example, the airflow system  399  can include air ducting and outlets through the dash (or utilize existing ducts of the AV), through the doors, the ceiling, and/or the seats of the AV. As an example, the airflow system  399  can include outlets on the headrests of the passenger seats to provide airstream outputs or an air pulse when the AV performs a specified action (e.g., performs an avoidance maneuver). As another example, the stimulation engine  320  can cause the airflow system  399  to provide simulated wind to provide the riders with airflow stimulation indicating that the AV is in motion. 
     The stimulation engine  320  can control various parameters of the airflow system  399  based on the action data  313 , such as airflow speed/intensity, direction (e.g., 360° around the riders both radially and azimuthally), temperature, timing, pulse rate, and height (e.g., aiming at the rider&#39;s head, shoulders, torso, arms, legs, feet, etc.). In many aspects, the stimulation engine  320  can generate stimulation commands  322  to utilize the airflow system  399  individually, or in conjunction with the other output devices  390  of the sensory stimulation system  300 . 
     Additionally, each of the output systems  390  may be activated or deactivated by the rider. Accordingly, if the rider wishes to deactivate, for example, the seat response system  397 , the rider can provide input to do so. For example, the display(s) of the visual system  393  can include a user interface to enable the rider to access a menu indicating the various stimulation outputs of the sensory stimulation system  300 . The rider may activate or deactivate any one or all of the output systems  390  as desired. In certain examples, the rider can control a sensitivity of the output systems  390  to increase or decrease stimulation responses. For example, a rider may wish to disable the audio system  395  of the sensory stimulation system  300  in order to listen to music or the radio. As another example, the rider may wish to disable the live presentation to view a news or entertainment program. Accordingly, the rider may adjust or disable any one or more of the output systems  390  to his or her liking. 
     According to examples described herein, the AV interface  310  can receive control system data  309  from the AV control system  305 , and parse the data into various aspects, such as situational data  314  indicating the situational environment and external entities, route data  311  indicating a current route traveled by the AV to a destination, and action data  313  corresponding to immediate actions to be executed by the AV control system  305  in autonomously operating the AV&#39;s acceleration, braking, and steering systems. In certain examples, the sensory stimulation system  300  can further include sensors  330 , such as one or more accelerometers and/or gyroscopic sensors to provide force data  331  to the stimulation engine  320  to reactively generate stimulation commands  322 . 
     In one aspect, the stimulation engine  320  can utilize the situational data  314  and the route data  311  to provide a live, visual presentation on displays of the visual system  393 . The stimulation engine  320  can further utilize the action data  313  from the control system  305  to dynamically generate action indicators—comprising symbols, arrows, colors, words, etc.—that indicate the actions and maneuvers being performed or to be performed by the AV. Thus, the displayed live presentation can include low level granular information indicating each particular action the AV control system  305  performs when autonomously operating the AV&#39;s acceleration, braking, and steering systems. 
     Additionally or alternatively, based on the action data  313 , the stimulation engine  320  can perform lookups  329  in the correlation logs  352  of the memory  350  to identify a selected stimulation set  356  that matches the maneuver(s) or action(s) to be performed. For example, the action data  313  can indicate that the AV control system  305  is operating the AV at freeway speeds and will exit the freeway with relatively hard braking to make a tight right turn. A stimulation set  354  for such a combination can be selected and utilized by the stimulation engine  320  to generate a set of stimulation commands  322  for each of the visual  393 , audio  395 , seat response  397 , and airflow systems  399  to provide stimulation to the rider(s) to anticipate the maneuver and compensate for the experienced forces caused by the maneuver. For example, the stimulation commands  322  can cause the lighting elements (e.g., a light bar) of the visual system  393  to flash red to indicate the hard braking, and then provide bright yellow outputs on a right-hand portion of the light bar to indicate the hard right turn. 
     Additionally or as an alternative, the stimulation commands  322  can generate an audio output via the audio device  395  to provide a speech output or tonal audio stimulations to indicate each step of the maneuver. Additionally or alternatively still, the stimulation commands  322  can cause the seat response system  397  to pitch the seat rearwards to compensate for the forward braking forward, and then roll the seats rightward to compensate for the turning force as the AV makes the sharp right-hand turn. As a further addition or alternative, as the AV travels at freeway speeds, the stimulation commands  322  can cause the airflow system  399  to provide a gentle and continuous rearward breeze, and provide a directional pulse of air as the AV goes under braking (e.g., from the rear of the rider), and another directional pulse as the AV turns right (e.g., from the front right side of the rider&#39;s head). 
     Such sensory stimulations using the output systems  390  can be generated primarily based on the action data  313  received from the AV control system  305 , which can include preemptive maneuvering information as well as currently executing maneuver information. Thus, certain sensory stimulations can be provided prior to the maneuvers being executed (e.g., the airflow stimulations, visual stimulations using the light bar, and haptic seat stimulations), and other sensory stimulations can be provided as the maneuver is being performed (e.g., the seat roll and pitch response stimulations). 
     In variations, the force data  331  provided by the sensors  330  of the sensory stimulation system  300  can be utilized by the stimulation engine  320  to reactively operate one or more of the output systems  390 . The force data  331  can indicate directional acceleration experienced by the AV due to the AV accelerating, braking, turning, experiencing bumps or other forces on a bumpy road, and combinations thereof (e.g., swerving or sliding). As an example, the seat roll, pitch, and yaw responses of the seat response system  397  can be based on the force data  331  generate by the sensors  330  of the sensory stimulation system  300 . In other examples, the stimulation engine can generate stimulation commands  322  for the airflow system  399  and/or the visual system  393  based on the force data  331  from the sensors  330 . 
     Thus, utilizing control system data  309  from the AV control system  305  and/or force data  331  from the sensors  330 , the stimulation engine  320  can generate stimulation commands  322  that provide visual, audible, tactile/haptic, force (e.g., via pitching and rolling the seats), and/or airflow outputs to provide vestibular stimulation to the rider(s) to prevent or mitigate the effects of kinetosis. Each of the output systems  390  can be variably controlled by the stimulation engine  320  based on an intensity of a particular maneuver or motion action. Furthermore, user input may be provided by a rider to activate, deactivate, or adjust the control parameters of any or all of the output systems  390 . 
     Autonomous Vehicle in Operation 
       FIG. 4  shows an example of an autonomous vehicle  410  utilizing sensor data to navigate an environment  400  in accordance with example implementations. In an example of  FIG. 4 , the autonomous vehicle  410  may include various sensors, such as a roof-top camera array (RTC)  422 , front-facing cameras  424  and laser rangefinders  430 . A data processing system  425 , comprising a combination of one or more processors and memory units, can be positioned in a trunk of the vehicle  410 . 
     According to an example, the vehicle  410  uses one or more sensor views  403  (e.g., a stereoscopic view or 3D LIDAR imaging of the environment  400 ) to scan a road segment on which the vehicle  410  traverses. The vehicle  410  can process image data, corresponding to the sensor views  403  from one or more sensors in order to detect objects that are, or may potentially be, in the path of the vehicle  410 . In an example shown, the detected objects include a pedestrian  404  and another vehicle  427 —each of which may potentially cross into a road segment  415  along which the vehicle  410  traverses. The vehicle  410  can use information about the road segment and/or image data from the sensor views  403  to determine that the road segment includes a divider  417  and an opposite lane, a traffic signal  440 , and a sidewalk (SW)  421  and sidewalk structures such as parking meters (PM)  437 . 
     The vehicle  410  may determine the location, size, and/or distance of objects in the environment  400  based on the sensor view  403 . For example, the sensor views  403  may be 3D sensor images that combine sensor data from the roof-top camera array  422 , front-facing cameras  424 , and/or laser rangefinders  430 . Accordingly, the vehicle  410  may accurately detect the presence of objects in the environment  400 , allowing the vehicle to safely navigate the route while avoiding collisions with other objects. 
     As described herein, a sensory stimulation system of the vehicle  410  can display a live presentation of external entities such as a bicyclist the pedestrian  404 , and the human-driven vehicle  427  within the environment  400  through which the vehicle  410  travels. Furthermore, assuming that the vehicle  410  is operating at a steady speed, the vehicle  410  can utilize the sensor view  403  to identify that the traffic signal  440  has changed from a green state to a yellow state (as shown), which can cause the control system of the vehicle  410  to generate an action plan to apply the brakes of the vehicle  410  to decelerate the vehicle  410  at a certain rate (e.g., six meters per second per second) to come to a complete stop at the traffic signal  440 . The sensory stimulation system of the vehicle  410  can utilize this action data to generate stimulation commands in order to provide stimulation outputs for the riders of the vehicle  410  and compensate or otherwise prepare the riders for the braking, as described herein. 
     According to examples, the vehicle  410  may further determine a probability that one or more objects in the environment  400  will interfere or collide with the vehicle  410  along the vehicle&#39;s current path or route. In some aspects, the vehicle  410  may selectively perform an avoidance action based on the probability of collision. The avoidance actions may include velocity adjustments, lane aversion, roadway aversion (e.g., change lanes or driver far from curb), light or horn actions, and other actions. In some aspects, the avoidance action may run counter to certain driving conventions and/or rules (e.g., allowing the vehicle  410  to drive across center line to create space with bicyclist). 
     For each such avoidance action, the sensory stimulation system can determine the planned maneuver and control the interior output systems (e.g., the visual, audio, seat response, haptic, and/or airflow systems) to provide sensory stimulation for the riders based on the maneuver. For example, a swerve maneuver can cause the sensory stimulation system to generate lighting, haptic, seat adjustment, and/or airflow responses to provide the riders with vestibular stimulation according to the maneuver, as provided herein. Such responses can provide at least some correlation between the riders&#39; visual perception and the forces felt as the maneuvering is being performed. 
     Methodology 
       FIGS. 5A and 5B  are flow charts describing example methods of operating a sensory stimulation system in accordance with example implementations. In the below descriptions of  FIGS. 5A and 5B , reference may be made to like reference characters representing various features shown and described with respect to  FIGS. 1 through 3 . Furthermore, the methods described in connection with  FIGS. 5A and 5B  may be performed by example sensory stimulation systems  235 ,  300  shown and described with respect to  FIGS. 2 and 3 . Referring to  FIG. 5A , the sensory stimulation system  300  can monitor AV maneuvering data from the AV control system  305  ( 500 ). In many examples, the AV maneuvering data can be included in action data  313  or an action plan  229  indicating planned, low level maneuvering to be performed by the AV control system  305  ( 502 ). Such low level planned maneuvering is distinguishable from a high level route plan indicating a current route in that monitoring the planned maneuvering ( 502 ) can provide the sensory stimulation system  300  with immediate actions by the AV control system  305  to be implemented in autonomously controlling the AV  200  (e.g., acceleration, steering, and braking actions). Additionally or alternatively, the sensory stimulation system  300  can monitor active maneuvers as they are being performed by the AV ( 504 ). For example, the sensory stimulation system  300  can receive the control commands  221  as they are being implemented, or monitor one or more sensors, such as an accelerometer and/or gyroscopic sensor indicating lateral force experienced by the AV  200 . 
     For each maneuver, the sensory stimulation system  300  can generate stimulation commands  322  for the interior output systems  390  of the AV  200  ( 505 ). The stimulation commands  322  can be generated to compensate for anticipated lateral forces, provide sensory stimulation to “trick” or otherwise enable riders to correlate vestibular senses with visual perception, and prevent sensory disruptions that can affect rider comfort. The sensory stimulation system  300  can generate stimulation commands  322  for visual systems  393 , such as the display(s) or lighting elements (e.g., a light bar) ( 506 ), seat response systems  397  to provide haptic feedback and/or pitch, roll, yaw sensations ( 507 ), an audio system  395  to provide speech and/or tonal stimulations indicating each maneuver ( 508 ), and/or an airflow system  399  to provide air pressure stimulation based on the maneuvers ( 509 ). 
     Accordingly, the sensory stimulation system  300  can dynamically execute the stimulation commands  322  on the output systems  390  to provide vestibular stimulation based on each of the maneuvers ( 510 ). Execution of the stimulation commands  322  can be performed preemptively ( 512 ) to enable riders to anticipate specific maneuvers (e.g., providing visual stimulation indicating upcoming braking), or reactively ( 514 ) as compensatory stimulation (e.g., rolling the seats during a turn, or providing simulated wind based on acceleration). As a dynamic process, the sensory stimulation system  300  can continuously function as the AV  200  is autonomously operated, the sensory stimulation system  500  can then continuously monitor AV maneuvering data accordingly ( 500 ). 
     Referring to  FIG. 5B , the sensory stimulation system  300  can receive situational data  217  from the sensor array  205  of the AV  200  ( 515 ). The sensory stimulation system  300  can dynamically identify external entities in the situational data  217 , such as bicyclists, pedestrians, other vehicles, and the like ( 520 ). The sensory stimulation system  300  can also receive route data  232  indicating a current route traveled by the AV  200  ( 525 ). Utilizing the situational data  217  and the route data  232 , the sensory stimulation system  300  can generate a live presentation on a number of display devices ( 530 ). The live presentation can comprise a third-person highball view from above and behind the AV  200  and include a live map indicating route information ( 532 ) indicating the route traveled (e.g., a highlighted route on the live map), a virtual representation of the AV  200  as it travels along the route, and generated representations of the external entities superimposed on the live presentation and indicating their dynamic positions ( 534 ). Alternatively, the sensory stimulation system  300  can present live camera data and/or LIDAR data on the display(s), with one or more augmented reality elements generated thereon (e.g., highlighting the current route). 
     In many examples, the sensory stimulation system  300  can also receive and monitor AV maneuvering data from the AV control system  305  and other motion actions (e.g., road bumps, vertical movement on a windy road, etc.) ( 535 ). The sensory stimulation system  300  can identify planned maneuvers (e.g., to be executed within 5 seconds) ( 537 ) and current maneuvers being performed by the AV control system  305  ( 539 ). Based on the planned and/or current maneuvers of the AV control system  305 , the sensory stimulation system  300  can dynamically generate live maneuvering indicators for the displayed live presentation ( 540 ). The sensory stimulation system  300  can input or otherwise superimpose the live maneuvering indicators, identifying planned as well as current maneuvers, onto the live presentation on top of the high level route information and live map. Such indicators can comprise color coded and/or flashing symbols, arrows, voice output, tonal outputs, etc., which can indicate granular, low level acceleration, turning, braking, swerving, lane changing, and other like actions. 
     Additionally or alternatively, the sensory stimulation system  300  can utilize the AV maneuvering data (e.g., action data  313 ) to dynamically generate stimulation commands  322  for each planned and/or active maneuver ( 545 ). The stimulation commands  322  can be based on maneuvering data received from the AV control system  305  ( 547 ), or based on force data  331  received from sensor(s)  330  of the sensory stimulation system  300  ( 549 ). In generating the stimulation commands  322 , the sensory stimulation system  300  can vary output strength parameters based on maneuvering intensity ( 550 ). Such output strength parameters can include color, brightness, and/or blink rate for the live presentation and lighting elements, volume or audible urgency for the audio system  395 , haptic strength, location, and pulse rate for the haptic system, angles and speed of pitch, roll, and/or yaw for the seat response system  397 , and direction, pulse rate, wind speed, and/or temperature for the airflow system  399 . 
     When the output strength parameters are configured and the stimulation commands  322  generated, the sensory stimulation system  300  can execute the commands on the respective output systems  390  in a timed manner ( 555 ). Specifically, the sensory stimulation system  300  can execute certain stimulation commands  322  using specified output systems  390  to preempt planned maneuvers, providing riders with anticipatory stimulation. Additionally or alternatively, the sensory stimulation system  300  can execute certain stimulation commands  322  using particular output systems  390  as maneuvers are being performed. For example, the sensory stimulation system  300  can execute visual stimulation commands  322  for a swerve maneuver 1-2 seconds prior to the AV control system  305  performing the maneuver (e.g., by generating a visual output indicating the swerve maneuver on a light bar). As the swerve maneuver is executed, the sensory stimulation system  300  can execute stimulation commands  322  that roll the seats into the turns. Thus, any combination of preemptive and reactive stimulation commands  322  can be executed to provide stimulation outputs through any combination of the output systems  390  for each respective maneuver performed by the AV  200 . Such maneuvers can comprise any high or low level maneuver involving acceleration, braking, and turning the AV  200 . As described herein, the stimulation commands  322  may be executed preemptively or reactively utilizing the visual system  393  (e.g., to provide light bar outputs or generate indicator on the display) ( 556 ), the seat response systems  397  to provide haptic feedback and/or pitch, roll, yaw sensations ( 557 ), the audio system  395  to provide speech and/or tonal stimulations indicating each maneuver ( 558 ), and/or the airflow system  399  to provide air pressure stimulation based on the maneuvers ( 559 ). 
     In certain aspects, the sensory stimulation system  300  can provide for user interactivity to enable a rider to control certain parameters of the output systems  390 . For example, a rider may access a menu on a user interface of the display that can provide the adjustable parameters for each of the output systems  390 . Accordingly, the sensory stimulation system  300  can receive user inputs to adjust the parameters of or deactivate some or all of the output systems  390  ( 560 ). In response to the user inputs, the sensory stimulation system  300  can adjust the parameters of the specified output systems  390  or deactivate selected systems  390  accordingly ( 565 ). For example, a rider may wish to decrease the sensitivity of the seat response system  397  to reduce the amount of pitch or roll of the seats when stimulation commands  322  are executed. The rider may wish to increase the intensity of the haptic system to provide stronger vibrational feedback indicating upcoming maneuvers. As another example, the rider may wish to deactivate the audio outputs altogether to, for example, listen to music or a radio program. The sensory stimulation system  300  can provide a user interface to enable the rider to make adjustments and/or deactivate one or more of the output systems  390  accordingly. 
     Furthermore, the above-discussed operations in connection with  FIGS. 5A and 5B  make be repeated and/or performed dynamically for each maneuver performed by the AV control system  305  and/or each motion action experienced by the AV  200 . 
     Hardware Diagram 
       FIG. 6  is a block diagram illustrating a computer system upon which examples described herein may be implemented. For example, the intention signaling system  235 ,  300  shown and described with respect to  FIGS. 2 and 3  may be implemented on the computer system  600  of  FIG. 6 . The computer system  600  can be implemented using one or more processors  604 , and one or more memory resources  606 . In the context of  FIGS. 2 and 3 , the sensory stimulation system  235 ,  300  can be implemented using one or more components of the computer system  600  shown in  FIG. 6 . 
     According to some examples, the computer system  600  may be implemented within an autonomous vehicle with software and hardware resources such as described with examples of  FIGS. 1 through 3 . In an example shown, the computer system  600  can be distributed spatially into various regions of the autonomous vehicle, with various aspects integrated with other components of the autonomous vehicle itself. For example, the processors  604  and/or memory resources  606  can be provided in the trunk of the autonomous vehicle. The various processing resources  604  of the computer system  600  can also execute stimulation instructions  612  using microprocessors or integrated circuits. In some examples, the stimulation instructions  612  can be executed by the processing resources  604  or using field-programmable gate arrays (FPGAs). 
     In an example of  FIG. 6 , the computer system  600  can include a local communication interface  650  (or series of local links) to vehicle interfaces and other resources of the autonomous vehicle (e.g., the computer stack drives). In one implementation, the communication interface  650  provides a data bus or other local links to electro-mechanical interfaces of the vehicle, such as wireless or wired links to the AV control system  220 ,  305 . 
     The memory resources  606  can include, for example, main memory, a read-only memory (ROM), storage device, and cache resources. The main memory of memory resources  606  can include random access memory (RAM) or other dynamic storage device, for storing information and instructions which are executable by the processors  604 . The processors  604  can execute instructions for processing information stored with the main memory of the memory resources  606 . The main memory  606  can also store temporary variables or other intermediate information which can be used during execution of instructions by one or more of the processors  604 . The memory resources  606  can also include ROM or other static storage device for storing static information and instructions for one or more of the processors  604 . The memory resources  606  can also include other forms of memory devices and components, such as a magnetic disk or optical disk, for purpose of storing information and instructions for use by one or more of the processors  604 . 
     According to some examples, the memory  606  may store a plurality of software instructions including, for example, stimulation instructions  612 . The stimulation instructions  612  may be executed by one or more of the processors  604  in order to implement functionality such as described with respect to the sensory stimulation system  235 ,  300  of  FIGS. 2 and 3 . 
     In certain examples, the computer system  600  can receive sensor data  662  over the communication interface  650  from various AV subsystems  660  (e.g., the AV control system  220 ,  305  or an on-board computer  210  respectively). Additionally or alternatively, the computer system can receive action data  664  corresponding to acceleration, braking, and steering inputs to be performed by the AV control system  220 ,  305 . In executing the stimulation instructions  612 , the processing resources  604  can monitor the sensor data  662  and/or the action data  664  and generate stimulation outputs to the interior output systems  620  of the AV  200  in accordance with examples described herein. 
     It is contemplated for examples described herein to extend to individual elements and concepts described herein, independently of other concepts, ideas or systems, as well as for examples to include combinations of elements recited anywhere in this application. Although examples are described in detail herein with reference to the accompanying drawings, it is to be understood that the concepts are not limited to those precise examples. As such, many modifications and variations will be apparent to practitioners skilled in this art. Accordingly, it is intended that the scope of the concepts be defined by the following claims and their equivalents. Furthermore, it is contemplated that a particular feature described either individually or as part of an example can be combined with other individually described features, or parts of other examples, even if the other features and examples make no mentioned of the particular feature. Thus, the absence of describing combinations should not preclude claiming rights to such combinations.