Patent Publication Number: US-2020285229-A1

Title: Method and system for control of an unmanned aerial vehicle

Description:
CROSS-REFERENCE 
     This application is a continuation of patent application Ser. No. 15/933,107, which was filed on Mar. 22, 2018 and which claims priority to U.S. Provisional Patent Application No. 62/528,397, filed in the U.S. Patent and Trademark Office on Jul. 3, 2017. Each application is incorporated herein by reference in its entirety for all purposes. 
    
    
     TECHNICAL FIELD 
     The present disclosure relates generally to systems to communicate a mode controlling a vehicle. In particular, the present disclosure relates to a system including one or more lights which communicate whether a vehicle is controlled by an autonomous mode or an alternate mode. 
     BACKGROUND 
     Autonomous vehicles are vehicles under the control of automated driving systems. Autonomous vehicles can sense its environment and navigate without human input. Autonomous vehicles are programmed to maneuver in a predictable way to ensure safety, increase traffic flow, and provide mobility for children, the elderly, and/or the handicapped. Other drivers or persons in the area or law enforcement may want to know if a vehicle is controlled by an autonomous mode. Also, if the vehicle is controlled by an alternate mode, such as by human control, other drivers or law enforcement may want to know of such information. With such information, other drivers may know to be warier of the vehicle&#39;s movements. Further, with such information, law enforcement may better recreate any accidents. 
     SUMMARY 
     An embodiment of the present disclosure, accordingly, provides an unmanned aerial vehicle (UAV). The UAV comprises: a main housing having and interior and an exterior; a motor that is secured to the housing, wherein the motor includes a stator and a rotor; a propeller that is secured to the rotor of the motor; a light housing that is secured to the main housing and visible on the exterior of the main housing, and wherein the light housing includes a lens that is at least partially transparent to visible spectrum light; a light that is secured within at least one of light housings, and wherein the light is configured to produce a first color and a second color; a controller that is secured within the interior of the main housing, wherein the controller includes a processor, and wherein the controller is configured to receive commands through a cellular network, and wherein the controller is configured to communicate with a network storage device over the cellular network, and wherein, when the controller receives a command to operate in an autonomous mode, the controller commands the light to emit the first color, and wherein, when the controller receives a command to operate in a manual mode, the controller commands the light to emit the second color. 
     In accordance with an embodiment of the present disclosure, the propeller further comprises a plurality of propellers. 
     In accordance with an embodiment of the present disclosure, wherein the controller is configured to communicate its position the cellular network to the network storage device. 
     In accordance with an embodiment of the present disclosure, the controller is configured to measure speed, and wherein the controller is configured to communicate the measured speed over the cellular network to the network storage device. 
     In accordance with an embodiment of the present disclosure, the controller further comprises a plurality of sensors, and wherein the controller is configured to issue an alert based on an impact indication triggered by at least one of the sensors. 
     In accordance with an embodiment of the present disclosure, the main housing further comprises: a central member; and a plurality of arms extending from the central member. 
     In accordance with an embodiment of the present disclosure, the motor further comprises a plurality of motors, wherein each motor is secured to at least one of the plurality of arms. 
     In accordance with an embodiment of the present disclosure, the propeller further comprises a plurality of propellers, wherein each propeller is secured to the rotor of at least one of the plurality of motors. 
     In accordance with an embodiment of the present disclosure, the central member has a top surface, and wherein the light is visible from the top surface. 
     In accordance with an embodiment of the present disclosure, the light housing further comprises a plurality of light housings, and wherein the light further comprises a plurality of lights. 
     In accordance with an embodiment of the present disclosure, the UAV comprises four arms, four motors, and four propellers. 
     In accordance with an embodiment of the present disclosure, a UAV is provided. The UAV comprises a central member having an interior and an exterior, wherein the exterior includes a top surface; a plurality of arms extending from the central members a plurality of hubs, wherein each hub is located at the distal end of at least one arm, wherein each hub includes: a motor with a rotor and stator, wherein the stator of the motor is secured in a substantially fixed position; and a propeller that is secured to the rotor of the motor; a light housing that is secured to the central member and visible on the top surface of central member, and wherein the light housing includes a lens that is at least partially transparent to visible spectrum light; a light that is secured within at least one of light housings, and wherein the light is configured to produce a first color and a second color; a controller having a processor and a plurality of sensors, wherein the controller is secured within the interior of the central member, and wherein the controller is configured to: operate in at least one of a remote-control mode and an autonomous mode; command the light to emit the first color in the remote-control mode and the second color in the autonomous mode; receive commands through a cellular network; communicate its position over the cellular network to a network storage device; determine speed; communicate the speed over the cellular network to a network storage device; and issue an alert based on a trigger event measured from at least one sensor. 
     In accordance with an embodiment of the present disclosure, the trigger event is an impact. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       For a more complete understanding of the present invention, and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which: 
         FIGS. 1A  and IB are diagrams illustrating exemplary vehicles with exemplary systems installed therein according to the present disclosure; 
         FIG. 2  is a diagram illustrating a passenger vehicle with an installed system according to the present disclosure; 
         FIG. 3  is a diagram illustrating an airplane with an installed system according to the present disclosure; 
         FIG. 4  is a diagram illustrating a helicopter with an installed system according to the present disclosure; 
         FIG. 5  is a diagram illustrating a drone with an installed system according to the present disclosure; 
         FIG. 6  is a diagram illustrating a tram with an installed system according to the present disclosure; 
         FIG. 7  is a diagram illustrating a locomotive with an installed system according to the present disclosure; 
         FIGS. 8A-8D  are diagrams illustrating exemplary shapes of lights to be used in a system according to the present disclosure; 
         FIGS. 9A-9C  are diagrams illustrating exemplary shapes and positioning of lights to be used in a system according to the present disclosure; 
         FIGS. 10A-10B  are diagrams illustrating exemplary shields to be used in a system according to the present disclosure; and 
         FIG. 11  is a flow chart of a method for using a system according to the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     Refer now to the drawings wherein depicted elements are, for the sake of clarity, not necessarily shown to scale and wherein like or similar elements are designated by the same reference numeral through the several views. 
       FIGS. 1  A and  1  B illustrate a vehicle  10 . The vehicle  10  is controllable by an autonomous mode, for example by an autonomous driving system, and an alternate mode. In the autonomous mode, the vehicle  10  can sense its environment and navigate without user input. To do so, the vehicle  10  may include elements such as a processor to control the components to navigate the vehicle  10  and sensors such as lidar to sense its environment. The alternate mode can be a mode that is not the autonomous mode. For example, the alternate mode can be manual control by a user. Also, the vehicle  10  may be controllable by a third mode. The third mode can be remote control. For example, in the third mode, the vehicle  10  is being controlled by a user which is not in the vehicle but in another location. The vehicle  10  may also be controlled by any number of other modes or combination of modes. 
     The vehicle  10  has a body  100 . The body  100  houses seating arrangements for users or passengers. The body  100  also houses mechanical, electrical, and/or chemical components of the vehicle  10 . For example, the body  100  houses one or more of an engine, axles, frame, and fuel tank, along with batteries, sensors, and/or cables. The body  100  of the vehicle  10  has a top surface  101 , first and second side surfaces  102 , a front end  103 , and a rear end  104 . The body  100  can be made of steel, plastics, carbon fiber, any other suitable material for the body  100  of a vehicle  10 , and any combination of such materials. While particular vehicle arrangements are shown, the vehicle can be in a variety of shapes as needed. 
     The present disclosure provides a system to alert those sharing roads, airways and other public or private spaces to be aware that a vehicle  10  does or does not have a human operator or that the human operator is or is not present in the vehicle  10 . Additionally, as autonomous driving and piloting technologies advance and become a safer option, a system is needed to alert other persons, such as drivers or law enforcement, that the vehicle  10  is being controlled by a less predictable user. 
     As illustrated in FIGS. I A and I B, the system is installed in the vehicle  10 . The system includes one or more lights  110  to be positioned on the body  100  of the vehicle I  0 . The one or more lights  110  can be, for example, halogen lights, fluorescent lights, or LED lights. The system also includes a computing device  150  which includes a processor  152  and non-transitory storage medium  154 . The computing device  150  can be positioned in any suitable location within the vehicle  10 , for example in the dashboard, in the glove compartment, in the trunk, or in the center console. In at least one example, the system can be an independent system operable to be installed on the vehicle  10 . In other examples, the system can be incorporated in the vehicle  10  when the vehicle IO is manufactured. 
     The non-transitory storage medium stores computer data. The computer data can include program logic or instructions which are executable by the processor  152 . Computer readable storage media includes, but is not limited to, RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technology, CD-ROM, DVD, or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other physical or material medium which can be used to tangibly store the desired information or data or instructions and which can be accessed by a computing device  150  or processor  152 . 
     The computing device or controller  150  is operable to be in signal communication with the one or more lights  110  and the vehicle  10  by a communication network  140 . The computing device  150  can be in signal communication with the one or more lights  110  and the vehicle  10  by wired or wireless communication network. A wired network may employ, for example, cables and/or optical fibers. A wireless network may employ stand-alone ad-hoc networks, mesh networks, Wireless LAN (WLAN) networks, cellular networks, or the like. A wireless network may further include a system of terminals, gateways, routers, or the like coupled by wireless radio links, or the like, which may move freely, randomly or organize themselves arbitrarily, such that network topology may change, at times even rapidly. A wireless network may further employ a plurality of network access technologies, including Long Term Evolution (LTE), WLAN, Wireless Router (WR) mesh, or 2nd, 3rd, or 4th generation (2G, 3G, or 4G) cellular technology, or the like. Network access technologies may enable wide area coverage for devices, such as client devices with varying degrees of mobility, for example. 
     For example, a wireless network may enable RF or wireless type communication via one or more network access technologies, such as Global System for Mobile communication (GSM), Universal Mobile Telecommunications System (UMTS), General Packet Radio Services (GPRS), Enhanced Data GSM Environment (EDGE), 3GPP Long Term Evolution (LTE), LTE Advanced, Wideband Code Division Multiple Access (WCDMA), North American/CEPT frequencies, radio frequencies, single sideband, radiotelegraphy, radioteletype (RTTY), Bluetooth, 802.11 b/g/n, or the like. A wireless network may include virtually any type of wireless communication mechanism by which signals may be communicated between devices between or within a network, or the like. 
     The processor  152  is configured to receive signals or commands_regarding the mode of the vehicle  10 . For example, the processor  152  is configured to receive an initial signal that the vehicle  10  is being controlled by the autonomous mode or the alternate mode, or alternately the third mode. In at least one example, the initial signal may be received, when the vehicle  10  is initially started up. In other examples, the initial signal may be at other moments, such as when the system is first activated. When the vehicle  10  is m the autonomous mode, the one or more lights  110  are actuated to a first state. When the vehicle IO is in the alternate mode, the one or more lights  110  arc actuated to a second state which is different than the first state. Alternately, when the vehicle  10  is in the third mode, the one or more lights  110  are actuated to a third state, which is different than the first state and the second state. In at least one example, the states may be distinguished by color. The first state can be a first color, the second state can be a second color, and the third state can be a third color. For example, the first color can be blue, the second color can be gold, and the third color can be green. The first color, second color, and third color can be any combination of colors. The state, second state, and/or third state may each also be more than one color. For example, the first state may be white and blue stripes, the second state may be gold and purple stripes, and the third state may be green and orange stripes. In at least one example, the states may be distinguished by pattern. The first state can be a first pattern, the second state can be a second pattern, and the third state can be a third pattern. For example, the first pattern can be a persistent light where the light maintains a consistent intensity, the second pattern can be a flashing light pattern which can be equal lengths of time in an on state and an off state, and the third pattern can be a dash-dot light pattern where the light is in an on state for a first time followed by an off state which is then followed by an on state for a second time shorter than the first time. The first pattern, second pattern, and third pattern can be any combination of patterns. In other examples, the first state can be the one or more lights  110  being in an off state, and the second state is the one or more lights  110  being in an on state. Alternately, the first state can be the one or more lights  110  being in an on state, and the second state is the one or more lights  110  being in an off state. As such, it can be determined by the state of the one or more lights  110  whether the vehicle  10  is in the autonomous mode, the alternate mode, or the third mode. 
     Additionally, the processor  152  is configured to receive a transition signal or transition command that the vehicle  10  has transitioned or is transitioning from the autonomous mode to the alternate mode. When the vehicle  10  has transitioned from the autonomous mode to the alternate mode, the one or more lights  110  are actuated to transition from the first state to the second state. When the processor  152  receives a transition signal that the vehicle  10  has transitioned from the alternate mode to the autonomous mode. the one or more lights  110  can be actuated to transition from the second state to the first state. Also, the processor  152  can receive a transition signal that the vehicle  10  has transitioned to the third mode, and the one or more lights  110  are actuated to the third state. 
     Along with the one or more lights  110 , one or more speakers can be positioned on the vehicle  10  and coupled with the processor  152 . The speakers can emanate, when the vehicle  10  is in the alternate mode or in the third mode, a sound. The sound can be an alarm, one beep, or a sequence of beeps, a speaking voice, or any other suitable auditory notification. 
     As illustrated in FIG. I B, the system can additionally include a memory storage  160 . The memory storage  160  is in signal communication with the computing device  150 . In at least one example, the memory storage  160  is included in the computing device  150 . The memory storage  160  can be RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technology, CD-ROM, DVD, or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other physical or material medium which can be used to tangibly store the desired information or data or instructions and which can be accessed by a computing device  150  or processor  152 . Also, memory storage  160  can be cloud storage. When the vehicle IO is in the autonomous mode, the processor  152  records data to the memory storage. The data can include, for example, time that the vehicle  10  is in the autonomous mode, length of time that the vehicle  10  is in the autonomous mode, location of the vehicle  10 , path of the vehicle  10 , and/or velocity of the vehicle  10 . Also, when the vehicle  10  is in the alternate mode, the processor  152  records data to the memory storage, which can include, for example, time that the vehicle  10  is in the alternate mode, length of time that the vehicle  10  is in the alternate mode, location of the vehicle  10 , path of the vehicle  10 , and/or velocity of the vehicle  10 . Similarly, when the vehicle  10  is in the third mode, the processor  152  can record data to the memory storage, which can include, for example, time that the vehicle  10  is in the third mode, length of time that the vehicle  10  is in the third mode, location of the vehicle  10 , path of the vehicle  10 , and/or velocity of the vehicle  10 . The data can be retrieved from the memory storage  160  by any suitable retrieval method, for example by wireless communication with the memory storage  160  such as Bluetooth, transmitted to the cloud, or by wired communication such as USB. The memory storage  160  may be protected by a compression-resistant and/or water-resistant casing. As such, the data can be retrieved by parties such as insurance companies and/or law enforcement to facilitate the investigation of accidents and incidents. The data can also be utilized for safety maximization uses. 
     In at least one example, the system can inform persons in the vicinity of the vehicle  10  whether the vehicle  10  is occupied or generate an alert. The function can assist law enforcement and first responders in assessing accident scene triage and response. For example, the processor  152  can actuate at least one of the one or more lights  110  to an occupied mode or an unoccupied mode. The occupied mode or the unoccupied mode may be separate from the first mode, the second mode, and the third mode. For example, the occupied mode and the unoccupied mode may be actuated for lights  110  that are not the lights  110  being used for the first mode, the second mode. and the third mode. In other examples, the same lights  110  may be used for all of the modes. In at least one example, the occupied or unoccupied modes may be constantly actuated. In other examples, the occupied or unoccupied modes are actuated by a trigger event. Trigger events can be, for example, deployment of an air bag or any other accident indication (e.g., impact indication) triggered by internal and/or external sensors of a vehicle  10 . 
     The occupied mode and the unoccupied mode can be different than the first mode, the second mode, or the third mode. In at least one example, the occupied mode and the unoccupied mode can be the same as the first mode, the second mode, or the third mode. The occupied mode can be an occupied color, and the unoccupied mode can be an unoccupied color. For example, the occupied color can be orange, and the unoccupied color can be pink. Any suitable color can be used to represent the occupied mode and the unoccupied mode. Also, the occupied mode can be an occupied pattern, and the unoccupied mode can be an unoccupied pattern. For example, the occupied pattern can be in the on state, and the unoccupied mode can be in the off state. Other patterns can be flashing lights, persistent light, dash-dot pattern, or any other suitable pattern to distinguish between the occupied pattern and the unoccupied pattern. Additionally or alternately, the occupied mode can be a sound emanating from the one or more speakers of the vehicle  10 . 
     The one or more lights  110  are positioned at locations of visibility on the outside of the vehicle  10 . As such, other persons in the area can have visible alerts as to the mode of the vehicle  10 . The positioning of the one or more lights  110  may vary depending on the type of vehicle  10 . The one or more lights  110  are positioned at locations of visibility to be visible at night from substantially all angles of the vehicle  10  within about 600 feet. All angles of the vehicle  10  include height, distance, and location in relation to the vehicle  10 . As such, the one or more lights  110  should be visible, without obstruction, within a spherical area where the vehicle  10  is the center of the spherical area. The spherical area can have a radius of about 600 feet. The vehicle  10  can be, for example, a passenger vehicle, a livery vehicle, a delivery vehicle, a bus, an 18-wheeler, a drone (for example for delivery, surveillance, and/or military purposes), a helicopter, a tram, a locomotive, an air taxi, a watercraft, agriculture equipment, lawn care equipment, a data gathering apparatus, or an airplane.  FIGS. 2-7  illustrate examples of different vehicles  10  and exemplary locations to position the one or more lights  110 . While exemplary vehicles are shown, the vehicle can be in a variety of shapes as needed. 
     As illustrated in  FIG. 2 , the vehicle  10  is a passenger vehicle. The one or more lights  110  are positioned on the top surface  1010   f  the vehicle  10 . At least one of the lights  110  is positioned proximate a front end  103  of the body  100  and at least one of the lights  110  is positioned proximate a rear end  104  of the body  100 . Also, at least one of the lights  110  can be positioned proximate the first and second side surfaces  102 . For example, the one or more lights  110  can be positioned about four locations on the top surface  1010   f  the body  100 : front-right, front-left, rear-right, and/or rear-left. One or more lights  110  can also be positioned on at least one of the first and second side surfaces  102  of the body  100 . As such, the lights  110  can be easily visible to persons close to the vehicle  10  who may not have sight of the top surface of the vehicle  10 . 
     As illustrated in  FIG. 3 , the vehicle  10  is an airplane. The airplane can have a body  100  with a front end  103 , a rear end  104 , a tail  404 , first and second wings  301 ,  302 , landing gear  310 , and/or first and second stabilizers  304 ,  305 . The one or more lights  110  are positioned at locations of visibility on the airplane. For example, locations can include the first and second wings  301 ,  302 , the first and second stabilizers  304 ,  305 , proximate the front end  103  of the vehicle  10 , the landing gear  310 , and/or any combination of the locations.  FIG. 3  shows the lights  110  positioned on top surfaces of the airplane. Additionally or alternately, the lights  110  may be positioned on bottom surfaces of the airplane. 
     As illustrated in  FIG. 4 , the vehicle  10  is a helicopter. The helicopter can have a body  100  which includes a tail  404 , a rudder  406 , a mast  401 , a plurality of blades  402 , a front end  103 , a rear end  104 , and/or landing gear  410 . The landing gear  410  can include a plurality of legs  412  and/or cross-bars  414 . The one or more lights  110  are positioned at locations of visibility on the helicopter. For example, locations can include the mast  401 , on the top surface  1010   f  the body  100 , proximate the front end  103 , proximate the rear end  104 , on the tail  404 , on the rudder  406 , on the landing gear  410 , and/or any combination of the locations.  FIG. 4  shows the lights  110  positioned on top surfaces of the helicopter. Additionally or alternately, the lights  110  may be positioned on bottom surfaces of the helicopter. 
     As illustrated in  FIG. 5 , the vehicle  10  is a drone or unmanned aerial vehicle. The drone can have a body  100 . The body  100  in this example has a housing with a generally rectangular central member with arms extending from each corner. At the distal end of each arm, there is a hub that includes a motor (whose stator is secured to the housing). A blade or propeller  501  is also secured to the rotor of motor in this example. The one or more lights  110  are positioned at locations of visibility on the drone. For example, locations can include the top surface  101  of the body  100  (or central member), the lower surface (not shown) of the body  100 , the side surfaces (not shown) of the body  100 , and/or any combination of the locations.  FIG. 5  shows the lights  110  positioned on top surfaces of the drone. Additionally or alternately, the lights  110  may be positioned on bottom surfaces of the drone. 
     As illustrated in  FIG. 6 , the vehicle  10  is a tram. The tram can have a body  100  with a top surface  101 , a front end  103 , a rear end  104 , and side surfaces  102 . The one or more lights  110  are positioned at locations of visibility on the tram. For example, locations can include the top surface  101 , proximate the front end  103 , proximate the rear end  104 , proximate the side surfaces  102 , on the side surfaces  102 , and any combination of the locations. 
     As illustrated in  FIG. 7 , the vehicle  10  is a locomotive. The locomotive includes an engine and one or more cars. The locomotive can have a body  100 , a top surface  101 , side surfaces  102 , a front end  103 , a rear end  104 , and/or a cow catcher  700 . The one or more lights  110  are positioned at locations of visibility on the locomotive. For example, locations can include the top surface  101 , proximate the front end  103 , proximate the rear end  104 , proximate the side surfaces  102 , on the side surfaces  102 , on the cow catcher  700 , and/or any combination of the locations. 
       FIGS. 8A-8D  illustrate exemplary shapes of lights  110  to be used in a system. For example, the lights  110  can be substantially a square or rectangular as illustrated in  FIG. 8A . As illustrated in  FIG. 8B , the lights  110  can be substantially a diamond. As illustrated in  FIG. 8C , the lights  110  can be substantially circular. As illustrated in  FIG. 8D , the lights  110  can be substantially ovoid. Any other suitable shape of the lights  110  can also be utilized. Also, any combination of shapes of the lights  110  can be utilized. For example, the lights  110  proximate the front end of the vehicle  10  can be rectangular while the lights  110  proximate the rear end of the vehicle  10  can be circular. 
       FIGS. 9A-9C  illustrate exemplary shapes and positioning of lights  110  to be used in a system.  FIGS. 9A-9C  show exemplary lights  110  from a side view. In  FIG. 9A , the light  110  is substantially a rectangular shape which projects from an external surface of the body  100  of the vehicle  10 . In  FIG. 9B , the light  110  is substantially a circular or semi-circular shape which projects from an external surface of the body  100  of the vehicle  10 . In  FIG. 9C , the light  110  is recessed in to the body  100  of the vehicle  10 . The light  110  in  FIG. 9C  is substantially a rectangular shape and extends from the body  100  of the vehicle  10  a predetermined distance. While  FIGS. 9A-9C  illustrate exemplary shapes and positions of the lights  110 , the shapes and positions can be any suitable shape, position, and combination thereof as desired or required by code or law. Also, the shapes and positions of the lights  110  ensure that the lights  110  are visible to persons around the vehicle  10 . The lights  110  can be coupled to the vehicle  10  by fasteners, for example adhesives, screws, bolts, clips, and/or any suitable fastener to couple the light  110  to the body  100  of the vehicle  10 . 
     The vehicle  10  may have sensors  600  which enable the vehicle  10  to sense its environment. Sensors  600  can be, for example, lidar, radar, electromagnetic sensors, and/or any other suitable sensors. The sensors  600  may be positioned on the top surface, the first and second side surfaces, the front end, and/or the rear end of the vehicle  10 . In at least one example, the sensors  600  may protrude from the vehicle  10  and/or the sensors  600  may be recessed in the surfaces of the vehicle  10 . To reduce or prevent interference with the sensors  600 , the system may include a shield  500 . The shield  500  can be made of a material such as plastic or metal to reduce light from the one or more lights  110  in one or more directions to prevent interference with the sensors  600 . The shield  500  can be opaque. In at least one example, the shield  500  can be reflective to direct light away from the sensors  600 . The shield  500  can be positioned between the lights  110  and the sensors  600 . 
     As illustrated in  FIG. 10A , the shield  500  is provided within the light  110  and is positioned between the light source  111  and the sensor  600 . The shield  500  in  FIG. 10A  is diagonal such that the amount of light in the direction of the sensor  600  is reduced or minimized. As illustrated in  FIG. 10B , the shield  500  is provided separately from the light  110 . The shield  500  is positioned between the light source  111  and the sensor. The shield  500  in  FIG. 10B  has substantially an L shape and extends above the light source  111  such that the light in the direction of the sensor  600  is reduced or minimized. The shape and orientation of the shield  500  can be any suitable shape and orientation so long as the light from the lights  110  in the direction of the sensors  600  is reduced or minimized. Also, the shield  500  is positioned such that the functionality of the sensor  600  is not impacted. As such, the shield  500  prevents the light emitting from the one or more lights  110  from interfering with the sensors  600  while maintaining the function of the sensors  600  to navigate the vehicle  10 . 
     Referring to  FIG. 11 , a flowchart is presented in accordance with an example embodiment. The method  1100  is provided by way of example, as there are a variety of ways to carry out the method. The method  1100  described below can be carried out using the configurations illustrated in  FIG. 11 , for example, and various elements of these figures are referenced in explaining example method  1100 . Each block shown in  FIG. 11  represents one or more processes, methods or subroutines, carried out in the example method  1100 . Furthermore, the illustrated order of blocks is illustrative only and the order of the blocks can change according to the present disclosure. Additional blocks may be added or fewer blocks may be utilized, without departing from this disclosure. The example method  1100  can begin at block  1102 . 
     At block  1102 , an initial signal is received by the processor that a vehicle is being controlled by an autonomous mode or an alternate mode. The alternate mode can be, for example, manual control by a user. The initial signal can be provided by the vehicle, for example a processor in the vehicle. In at least one example, the initial signal can be provided when the vehicle is turned on. In at least one example, the initial signal can also inform that the vehicle is being controlled by a third mode. The third mode can be, for example, remote control (for example, by a non-proximate human operator as opposed to any autonomous control whether the autonomous control is located in the vehicle or machine or by a remote system). 
     At block  104 , when the vehicle is in the autonomous mode, one or more lights positioned n the vehicle are actuated to a first state. The first state can be, for example, a first color, a first pattern, an on state, or an off state. 
     At block  1106 , when the vehicle is in the alternate mode, the one or more lights are actuated to a second state. The second state can be, for example, a second color, a second pattern, an off state, or an on state. The second state can be distinguished from the first state. 
     When the vehicle is in the third mode, the one or more lights can be actuated to a third state which can be, for example, a third color or a third pattern. The third state can be distinguished from both the first state and the second state. As such, the one or more lights can alert persons in the vicinity of the vehicle that the vehicle is in the autonomous mode, the alternate mode, or the third mode. 
     Additionally, the processor can receive a transition signal that the vehicle has transitioned from the autonomous mode to the alternate mode, and the one or more lights are actuated from the first state to the second state. Similarly, the processor can receive a transition signal that the vehicle has transitioned from the alternate mode to the autonomous mode, and the one or more lights are actuated from the second state to the first state. In at least one example, the processor can receive a transition signal that the vehicle has transitioned to the third mode, after which the one or more lights are actuated to the third state. 
     In at least one example, the processor can record, when the vehicle is in the autonomous mode, data to a memory storage. The data can include at least one of time that the vehicle is in the autonomous mode, alternate mode, or third mode, length of time that the vehicle is in the autonomous mode, alternate mode, or third mode, path of the vehicle, and/or velocity of the vehicle. As such, persons such as law enforcement or insurance companies are able to better recreate and understand the situation that may have led, for example, to an accident. 
     In at least one example, when the vehicle is in the alternate mode or the third mode, a sound can emanate from one or more speakers. As such, persons around the vehicle can be alerted that the vehicle is in the autonomous mode, the alternate mode, or the third mode and can react to the vehicle accordingly. Notably, persons around the vehicle where the vehicle is not in a direct line of sight can be alerted. 
     It is noted that the embodiments disclosed are illustrative rather than limiting in nature and that a wide range of variations, modifications, changes, and substitutions are contemplated in the foregoing disclosure and, in some instances, some features of the present disclosure may be employed without a corresponding use of the other features. Accordingly, it is appropriate that the appended claims be construed broadly and in a manner consistent with the scope of the disclosure.