Patent Description:
Vehicles are often used for various tasks, such as for the transportation of people and goods throughout an environment. With advances in technology, some vehicles are configured with systems that enable the vehicles to operate in a partial or fully autonomous mode. When operating in a partial or fully autonomous mode, some or all of the navigation aspects of vehicle operation are controlled by a vehicle control system rather than a traditional human driver. Autonomous operation of a vehicle can involve systems sensing the vehicle's surrounding environment to enable a computing system to plan and safely execute navigating routes to reach desired destinations. German patent application publication no. <CIT> presents a multi-band internal antenna for a vehicle.

Disclosed herein are example implementations of a vehicular system. An example vehicular system includes a control system configured to provide autonomous control to a vehicle. The vehicular system also includes a connector coupled to a roof of the vehicle configured to enable a sensor unit to couple to the vehicle. The connector includes a power supply connection and a data bus. The data bus may be coupled to the control system.

In another aspect, an example sensor unit is provided. The sensor unit includes a plurality of sensors configured to sense an environment of a vehicle. The sensor unit also includes a coupling portion configured to couple the sensor unit to a vehicle. The coupling portion includes a power supply connection and a data bus. The data bus may be configured to provide information to a control system of the vehicle.

In another aspect, an example method is provided. The method includes providing a control system configured to provide autonomous control to a vehicle. The method also includes providing a connector coupled to a roof of the vehicle configured to enable a sensor unit to couple to the vehicle. The connector includes a power supply connection and a data bus, where the data bus is coupled to the control system.

In another aspect, disclosed herein are example implementations of a system for a vehicle radar system. An example system may include means for providing autonomous control to a vehicle. The system also includes means for coupling a sensor unit to a roof of the vehicle. The connector includes a power supply connection and a data bus, where the data bus is coupled to the control system.

A radar system for a vehicle is often used to sense an environment in a forward direction of the vehicle. For example, the radar system may measure the distance between the vehicle and another vehicle navigating in front of the vehicle. Although this type of radar system may improve forward navigation for the vehicle, the radar system does not provide a <NUM>-degree view of the vehicle's surrounding environment.

A vehicle may have a top-mounted sensor unit. The sensor unit may include both RADAR and LIDAR sensors. In some examples, the sensor unit may include other sensors as well, such as cameras, etc. The sensor unit may be configured to be detachable from the vehicle. Thus, a vehicle may be equipped with a connector that allows a sensor unit to be connected to the vehicle in order to attach the sensors to the vehicle. The top-mounted sensor unit may use a standardized connection to the vehicle. The standardized connection may enable a sensor unit to be coupled to vehicles from various manufacturers. The connection may support cooling, power transmission, data transmission, and transmission of other sensor data (brakes, throttle, etc.). In some implementations, a universal interface may enable a sensor unit to be coupled to a wide range of vehicles.

In some instances, a vehicle may be sold as "autonomous ready. " An autonomous ready vehicle may have some of the capabilities to perform autonomous driving functions, but may lack some of the hardware to enable these functions. An autonomous ready vehicle may include a connector that allows the sensor unit to be coupled to the vehicle when autonomous functionality is desired.

In one example, an autonomous ready vehicle may have the processing capability to perform autonomous functions, but lacks a sensor unit. In that case, a sensor can be coupled to the vehicle using a connector. In another example, the autonomous ready vehicle may have a data bus that would allow autonomous control, but lacks both sensing and processing capabilities. In that case, the sensor unit that can be coupled to the vehicle may also include a processing unit that can operate the vehicle autonomously. Additionally, the system may use the computational capability of the vehicle to do sensor fusion and calculations and responsively control the vehicle.

A conversion unit may perform optional computation (if the vehicle is not equipped) and voltage conversion (if the vehicle as only a single voltage bus). The conversion unit may perform self-driving calculations, in full or in part. In some examples the conversion unit may take over autopilot or other driver assist functions. The conversion unit may be able to tap into the data bus of the vehicle as a third party expansion module. In another embodiment, e.g., for vehicles that do nott have sufficient computational resources, an intermediate computational module may be inserted between the sensor unit and the vehicle to enable additional computation capabilities.

Example radar systems described herein may capture measurements of a vehicle's surroundings. In some instances, a computing system of a vehicle or a remote system may use the radar data to determine control operations, such as route navigation and obstacle avoidance. As a result, the radar system may enable a vehicle to operate in a partial or fully autonomous mode. For instance, an example radar system may also be configured to supplement other sensor systems of a vehicle within some implementations. In some implementations, the radar system may provide radar data to an interface that a driver may use to assist with navigating the vehicle.

Referring now to the figures, <FIG> is a functional block diagram illustrating example vehicle <NUM>, which may be configured to operate fully or partially in an autonomous mode. More specifically, vehicle <NUM> may operate in an autonomous mode without human interaction through receiving control instructions from a computing system. As part of operating in the autonomous mode, vehicle <NUM> may use sensors to detect and possibly identify objects of the surrounding environment to enable safe navigation. In some implementations, vehicle <NUM> may also include subsystems that enable a driver to control operations of vehicle <NUM>.

As shown in <FIG>, vehicle <NUM> may include various subsystems, such as propulsion system <NUM>, sensor system <NUM>, control system <NUM>, one or more peripherals <NUM>, power supply <NUM>, computer system <NUM>, data storage <NUM>, and user interface <NUM>. In other examples, vehicle <NUM> may include more or fewer subsystems, which can each include multiple elements. The subsystems and components of vehicle <NUM> may be interconnected in various ways. In addition, functions of vehicle <NUM> described herein can be divided into additional functional or physical components, or combined into fewer functional or physical components within implementations.

Propulsion system <NUM> may include one or more components operable to provide powered motion for vehicle <NUM> and can include an engine/motor <NUM>, an energy source <NUM>, a transmission <NUM>, and wheels/tires <NUM>, among other possible components. For example, engine/motor <NUM> may be configured to convert energy source <NUM> into mechanical energy and can correspond to one or a combination of an internal combustion engine, an electric motor, steam engine, or Stirling engine, among other possible options. For instance, in some implementations, propulsion system <NUM> may include multiple types of engines and/or motors, such as a gasoline engine and an electric motor.

Energy source <NUM> represents a source of energy that may, in full or in part, power one or more systems of vehicle <NUM> (e.g., engine/motor <NUM>). For instance, energy source <NUM> can correspond to gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and/or other sources of electrical power. In some implementations, energy source <NUM> may include a combination of fuel tanks, batteries, capacitors, and/or flywheels.

Transmission <NUM> may transmit mechanical power from engine/motor <NUM> to wheels/tires <NUM> and/or other possible systems of vehicle <NUM>. As such, transmission <NUM> may include a gearbox, a clutch, a differential, and a drive shaft, among other possible components. A drive shaft may include axles that connect to one or more wheels/tires <NUM>.

Wheels/tires <NUM> of vehicle <NUM> may have various configurations within example implementations. For instance, vehicle <NUM> may exist in a unicycle, bicycle/motorcycle, tricycle, or car/truck four-wheel format, among other possible configurations. As such, wheels/tires <NUM> may connect to vehicle <NUM> in various ways and can exist in different materials, such as metal and rubber.

Sensor system <NUM> can include various types of sensors, such as Global Positioning System (GPS) <NUM>, inertial measurement unit (IMU) <NUM>, radar <NUM>, laser rangefinder / LIDAR <NUM>, camera <NUM>, steering sensor <NUM>, and throttle/brake sensor <NUM>, among other possible sensors. In some implementations, sensor system <NUM> may also include sensors configured to monitor internal systems of the vehicle <NUM> (e.g., O<NUM> monitor, fuel gauge, engine oil temperature, brake wear).

GPS <NUM> may include a transceiver operable to provide information regarding the position of vehicle <NUM> with respect to the Earth. IMU <NUM> may have a configuration that uses one or more accelerometers and/or gyroscopes and may sense position and orientation changes of vehicle <NUM> based on inertial acceleration. For example, IMU <NUM> may detect a pitch and yaw of the vehicle <NUM> while vehicle <NUM> is stationary or in motion.

Radar <NUM> may represent one or more systems configured to use radio signals to sense objects, including the speed and heading of the objects, within the local environment of vehicle <NUM>. As such, radar <NUM> may include antennas configured to transmit and receive radio signals. In some implementations, radar <NUM> may correspond to a mountable radar system configured to obtain measurements of the surrounding environment of vehicle <NUM>.

Laser rangefinder / LIDAR <NUM> may include one or more laser sources, a laser scanner, and one or more detectors, among other system components, and may operate in a coherent mode (e.g., using heterodyne detection) or in an incoherent detection mode. Camera <NUM> may include one or more devices (e.g., still camera or video camera) configured to capture images of the environment of vehicle <NUM>.

Steering sensor <NUM> may sense a steering angle of vehicle <NUM>, which may involve measuring an angle of the steering wheel or measuring an electrical signal representative of the angle of the steering wheel. In some implementations, steering sensor <NUM> may measure an angle of the wheels of the vehicle <NUM>, such as detecting an angle of the wheels with respect to a forward axis of the vehicle <NUM>. Steering sensor <NUM> may also be configured to measure a combination (or a subset) of the angle of the steering wheel, electrical signal representing the angle of the steering wheel, and the angle of the wheels of vehicle <NUM>.

Throttle/brake sensor <NUM> may detect the position of either the throttle position or brake position of vehicle <NUM>. For instance, throttle/brake sensor <NUM> may measure the angle of both the gas pedal (throttle) and brake pedal or may measure an electrical signal that could represent, for instance, an angle of a gas pedal (throttle) and/or an angle of a brake pedal. Throttle/brake sensor <NUM> may also measure an angle of a throttle body of vehicle <NUM>, which may include part of the physical mechanism that provides modulation of energy source <NUM> to engine/motor <NUM> (e.g., a butterfly valve or carburetor). Additionally, throttle/brake sensor <NUM> may measure a pressure of one or more brake pads on a rotor of vehicle <NUM> or a combination (or a subset) of the angle of the gas pedal (throttle) and brake pedal, electrical signal representing the angle of the gas pedal (throttle) and brake pedal, the angle of the throttle body, and the pressure that at least one brake pad is applying to a rotor of vehicle <NUM>. In other embodiments, throttle/brake sensor <NUM> may be configured to measure a pressure applied to a pedal of the vehicle, such as a throttle or brake pedal.

Control system <NUM> may include components configured to assist in navigating vehicle <NUM>, such as steering unit <NUM>, throttle <NUM>, brake unit <NUM>, sensor fusion algorithm <NUM>, computer vision system <NUM>, navigation / pathing system <NUM>, and obstacle avoidance system <NUM>. More specifically, steering unit <NUM> may be operable to adjust the heading of vehicle <NUM>, and throttle <NUM> may control the operating speed of engine/motor <NUM> to control the acceleration of vehicle <NUM>. Brake unit <NUM> may decelerate vehicle <NUM>, which may involve using friction to decelerate wheels/tires <NUM>. In some implementations, brake unit <NUM> may convert kinetic energy of wheels/tires <NUM> to electric current for subsequent use by a system or systems of vehicle <NUM>.

Sensor fusion algorithm <NUM> may include a Kalman filter, Bayesian network, or other algorithms that can process data from sensor system <NUM>. In some implementations, sensor fusion algorithm <NUM> may provide assessments based on incoming sensor data, such as evaluations of individual objects and/or features, evaluations of a particular situation, and/or evaluations of potential impacts within a given situation.

Computer vision system <NUM> may include hardware and software operable to process and analyze images in an effort to determine objects, environmental objects (e.g., stop lights, road way boundaries, etc.), and obstacles. As such, computer vision system <NUM> may use object recognition, Structure from Motion (SFM), video tracking, and other algorithms used in computer vision, for instance, to recognize objects, map an environment, track objects, estimate the speed of objects, etc..

Navigation / pathing system <NUM> may determine a driving path for vehicle <NUM>, which may involve dynamically adjusting navigation during operation. As such, navigation / pathing system <NUM> may use data from sensor fusion algorithm <NUM>, GPS <NUM>, and maps, among other sources to navigate vehicle <NUM>. Obstacle avoidance system <NUM> may evaluate potential obstacles based on sensor data and cause systems of vehicle <NUM> to avoid or otherwise negotiate the potential obstacles.

As shown in <FIG>, vehicle <NUM> may also include peripherals <NUM>, such as wireless communication system <NUM>, touchscreen <NUM>, microphone <NUM>, and/or speaker <NUM>. Peripherals <NUM> may provide controls or other elements for a user to interact with user interface <NUM>. For example, touchscreen <NUM> may provide information to users of vehicle <NUM>. User interface <NUM> may also accept input from the user via touchscreen <NUM>. Peripherals <NUM> may also enable vehicle <NUM> to communicate with devices, such as other vehicle devices.

Wireless communication system <NUM> may wirelessly communicate with one or more devices directly or via a communication network. For example, wireless communication system <NUM> could use <NUM> cellular communication, such as CDMA, EVDO, GSM/GPRS, or <NUM> cellular communication, such as WiMAX or LTE. Alternatively, wireless communication system <NUM> may communicate with a wireless local area network (WLAN) using WiFi or other possible connections. Wireless communication system <NUM> may also communicate directly with a device using an infrared link, Bluetooth, or ZigBee, for example. Other wireless protocols, such as various vehicular communication systems, are possible within the context of the disclosure. For example, wireless communication system <NUM> may include one or more dedicated short-range communications (DSRC) devices that could include public and/or private data communications between vehicles and/or roadside stations.

Vehicle <NUM> may include power supply <NUM> for powering components. Power supply <NUM> may include a rechargeable lithium-ion or lead-acid battery in some implementations. For instance, power supply <NUM> may include one or more batteries configured to provide electrical power. Vehicle <NUM> may also use other types of power supplies. In an example implementation, power supply <NUM> and energy source <NUM> may be integrated into a single energy source.

Vehicle <NUM> may also include computer system <NUM> to perform operations, such as operations described therein. As such, computer system <NUM> may include at least one processor <NUM> (which could include at least one microprocessor) operable to execute instructions <NUM> stored in a non-transitory computer readable medium, such as data storage <NUM>. In some implementations, computer system <NUM> may represent a plurality of computing devices that may serve to control individual components or subsystems of vehicle <NUM> in a distributed fashion.

In some implementations, data storage <NUM> may contain instructions <NUM> (e.g., program logic) executable by processor <NUM> to execute various functions of vehicle <NUM>, including those described above in connection with <FIG>. Data storage <NUM> may contain additional instructions as well, including instructions to transmit data to, receive data from, interact with, and/or control one or more of propulsion system <NUM>, sensor system <NUM>, control system <NUM>, and peripherals <NUM>.

In addition to instructions <NUM>, data storage <NUM> may store data such as roadway maps, path information, among other information. Such information may be used by vehicle <NUM> and computer system <NUM> during the operation of vehicle <NUM> in the autonomous, semi-autonomous, and/or manual modes.

Vehicle <NUM> may include user interface <NUM> for providing information to or receiving input from a user of vehicle <NUM>. User interface <NUM> may control or enable control of content and/or the layout of interactive images that could be displayed on touchscreen <NUM>. Further, user interface <NUM> could include one or more input/output devices within the set of peripherals <NUM>, such as wireless communication system <NUM>, touchscreen <NUM>, microphone <NUM>, and speaker <NUM>.

Computer system <NUM> may control the function of vehicle <NUM> based on inputs received from various subsystems (e.g., propulsion system <NUM>, sensor system <NUM>, and control system <NUM>), as well as from user interface <NUM>. For example, computer system <NUM> may utilize input from sensor system <NUM> in order to estimate the output produced by propulsion system <NUM> and control system <NUM>. Depending upon the embodiment, computer system <NUM> could be operable to monitor many aspects of vehicle <NUM> and its subsystems. In some embodiments, computer system <NUM> may disable some or all functions of the vehicle <NUM> based on signals received from sensor system <NUM>.

The components of vehicle <NUM> could be configured to work in an interconnected fashion with other components within or outside their respective systems. For instance, in an example embodiment, camera <NUM> could capture a plurality of images that could represent information about a state of an environment of vehicle <NUM> operating in an autonomous mode. The state of the environment could include parameters of the road on which the vehicle is operating. For example, computer vision system <NUM> may be able to recognize the slope (grade) or other features based on the plurality of images of a roadway. Additionally, the combination of GPS <NUM> and the features recognized by computer vision system <NUM> may be used with map data stored in data storage <NUM> to determine specific road parameters. Further, radar unit <NUM> may also provide information about the surroundings of the vehicle.

In other words, a combination of various sensors (which could be termed input-indication and output-indication sensors) and computer system <NUM> could interact to provide an indication of an input provided to control a vehicle or an indication of the surroundings of a vehicle.

In some embodiments, computer system <NUM> may make a determination about various objects based on data that is provided by systems other than the radio system. For example, vehicle <NUM> may have lasers or other optical sensors configured to sense objects in a field of view of the vehicle. Computer system <NUM> may use the outputs from the various sensors to determine information about objects in a field of view of the vehicle, and may determine distance and direction information to the various objects. Computer system <NUM> may also determine whether objects are desirable or undesirable based on the outputs from the various sensors.

Although <FIG> shows various components of vehicle <NUM>, i.e., wireless communication system <NUM>, computer system <NUM>, data storage <NUM>, and user interface <NUM>, as being integrated into the vehicle <NUM>, one or more of these components could be mounted or associated separately from vehicle <NUM>. For example, data storage <NUM> could, in part or in full, exist separate from vehicle <NUM>. Thus, vehicle <NUM> could be provided in the form of device elements that may be located separately or together. The device elements that make up vehicle <NUM> could be communicatively coupled together in a wired and/or wireless fashion.

<FIG> depicts an example physical configuration of vehicle <NUM>, which may represent one possible physical configuration of vehicle <NUM> described in reference to <FIG>. Depending on the embodiment, vehicle <NUM> may include sensor unit <NUM>, wireless communication system <NUM>, radio unit <NUM>, and camera <NUM>, among other possible components. For instance, vehicle <NUM> may include some or all of the elements of components described in <FIG>. Although vehicle <NUM> is depicted in <FIG> as a car, vehicle <NUM> can have other configurations within examples, such as a truck, a van, a semitrailer truck, a motorcycle, a golf cart, an off-road vehicle, or a farm vehicle, among other possible examples.

Sensor unit <NUM> may include one or more sensors configured to capture information of the surrounding environment of vehicle <NUM>. For example, sensor unit <NUM> may include any combination of cameras, radars, LIDARs, range finders, radio devices (e.g., Bluetooth and/or <NUM>), and acoustic sensors, among other possible types of sensors. In some implementations, sensor unit <NUM> may include one or more movable mounts operable to adjust the orientation of sensors in sensor unit <NUM>. For example, the movable mount may include a rotating platform that can scan sensors so as to obtain information from each direction around the vehicle <NUM>. The movable mount of sensor unit <NUM> may also be moveable in a scanning fashion within a particular range of angles and/or azimuths.

In some implementations, sensor unit <NUM> may include mechanical structures that enable sensor unit <NUM> to be mounted atop the roof of a car. Additionally, other mounting locations are possible within various examples.

Wireless communication system <NUM> may have a location relative to vehicle <NUM> as depicted in <FIG>, but can also have different locations within implementations. Wireless communication system <NUM> may include one or more wireless transmitters and one or more receivers that may communicate with other external or internal devices. For example, wireless communication system <NUM> may include one or more transceivers for communicating with a user's device, other vehicles, and roadway elements (e.g., signs, traffic signals), among other possible entities. As such, vehicle <NUM> may include one or more vehicular communication systems for facilitating communications, such as dedicated short-range communications (DSRC), radio frequency identification (RFID), and other proposed communication standards directed towards intelligent transport systems.

Camera <NUM> may have various positions relative to vehicle <NUM>, such as a location on a front windshield of vehicle <NUM>. As such, camera <NUM> may capture images of the environment of vehicle <NUM>. As illustrated in <FIG>, camera <NUM> may capture images from a forward-looking view with respect to vehicle <NUM>, but other mounting locations (including movable mounts) and viewing angles of camera <NUM> are possible within implementations. In some examples, camera <NUM> may correspond to one or more visible light cameras. Alternatively or additionally, camera <NUM> may include infrared sensing capabilities. Camera <NUM> may also include optics that may provide an adjustable field of view.

<FIG> illustrates a block diagram of a sensing system <NUM> including a coupler <NUM>. The coupler <NUM> may be configured to couple a sensor unit <NUM> to a vehicle <NUM>. The coupler <NUM> may enable the sensor unit <NUM> to be removeably coupled to the vehicle <NUM>. In some examples, as previously discussed, a vehicle may be sold as "autonomous ready. " An "autonomous ready" vehicle may be able to perform autonomous driving functions, but may lack some of the sensors used to perform autonomous driving functions. However, the vehicle <NUM> may include a coupler <NUM> that allows a sensor unit <NUM> to be coupled to the vehicle <NUM> later. For example, a person may purchase an "autonomous ready" vehicle and may later decide to either buy or rent a sensor unit <NUM> in order to provide the vehicle with autonomous functionality. In some examples, the coupler <NUM> may be a universal, non-manufacturer specific standardized design. That is, a sensor unit <NUM> may be coupled to any manufacturer's vehicle that is "autonomous ready.

In one example, an "autonomous ready" vehicle <NUM> may include a controller <NUM> that includes a processor <NUM> and a memory <NUM>. The "autonomous ready" vehicle <NUM> may also include a power supply <NUM> and a heat unit <NUM>. The controller <NUM> may be similar or the same as the computer system <NUM> of <FIG>. The controller <NUM> may be configured to receive sensor data from the sensor unit <NUM> by way of a data bus <NUM> that passes through the coupler <NUM>. The controller <NUM> may be able to determine control instructions for autonomous control of the vehicle based at least in part on the sensor data. The controller <NUM> may also store some data and/or control instructions in memory <NUM>. In some examples, the controller <NUM> may be a fully-functional controller that can perform all of the sensor processing on its own.

Additionally, the vehicle <NUM> may include a power supply <NUM>. The power supply <NUM> may be similar or the same as power supply <NUM> described with respect to <FIG>. The power supply <NUM> may provide a voltage (e.g., <NUM> volts) that supplies power to various components of the vehicle <NUM>. In some instances, the power supply may be configured to provide other voltages than <NUM> volts. The power supply may be coupled to the sensor unit <NUM> by way of a power bus <NUM> that goes through the coupler <NUM>. Additionally, the vehicle <NUM> may include a heat unit <NUM>. The heat unit <NUM> may be a radiator or other unit configured to provide cooling of various components of vehicle <NUM>. In some various examples, the heat unit <NUM> may provide cooling based on air and/or liquid cooling. The heat unit <NUM> may be coupled to the sensor unit <NUM> by way of a heat bus <NUM> that passes through the coupler <NUM>.

The sensor unit <NUM> may contain various sensors, such as a LIDAR device <NUM>, a RADAR device <NUM>, and other sensing devices <NUM> (such as optical, acoustic, and/or other sensing devices) located in a housing <NUM>. The housing <NUM> may be configured to couple to the vehicle <NUM> by way of the coupler <NUM>. The sensors may be similar to those described throughout. The sensors may be coupled to the previously-described data bus that communicates sensor data to the controller <NUM> of the vehicle <NUM> through the coupler <NUM>. The sensor unit may also include a heat exchanger <NUM>. The heat exchanger <NUM> may be configured to provide cooling to the various sensors and components of the sensor unit <NUM>. The heat exchanger <NUM> may use liquid cooling to remove heat from the various sensor devices during their operation. For example, the LIDAR device <NUM> and/or the RADAR device <NUM> may generate heat during the operation. In order to keep the devices cool and to prevent their failures, the heat exchanger <NUM> may be able to remove heat from the device(s). Additionally, as previously discussed, in order to remove the accumulated heat from the sensor unit <NUM>, the heat unit <NUM> may be coupled to the sensor unit <NUM> by way of a heat bus that passes through the coupler <NUM>. liquid, air, or other substance may flow through the heat bus to remove heat from the sensor unit.

<FIG> illustrates a block diagram of another sensing system <NUM> including a coupler <NUM>. In some examples, an "autonomous ready" vehicle may be able to perform autonomous driving functions, but may lack both some of the sensors used to perform autonomous driving functions as well as some of the processing power to perform autonomous driving functions. Similar to the example discussed with respect to <FIG>, a person may purchase an "autonomous ready" vehicle <NUM>. However, the "autonomous ready" vehicle <NUM> of <FIG> may be a lower cost vehicle than that of <FIG>. The lower cost "autonomous ready" vehicle <NUM> may not have sufficient processing capabilities for autonomous driving calculations. Thus, the controller <NUM> may not be able to make the determinations required based on sensor data to autonomously drive the vehicle. However, the controller <NUM> and processor <NUM> may be able to perform some control functions of the vehicle.

Similar to vehicle <NUM> of <FIG>, the vehicle <NUM> may include a coupler <NUM> that allows other devices to be coupled to the vehicle <NUM> later. For example, a person may purchase the "autonomous ready" vehicle <NUM> and later decide to either buy or rent a sensor unit <NUM> to provide the vehicle with autonomous functionality. As previously discussed, the coupler <NUM> may be a universal, non-manufacturer specific standardized design. That is, a sensor unit <NUM> may be coupled to any manufacturer's vehicle that is "autonomous ready.

In order to provide autonomous vehicle control, sensing system <NUM> may include a conversion unit <NUM>. In examples useful for understanding the claimed subject matter, the conversion unit <NUM> may couple to the vehicle <NUM> by way of coupler <NUM> and to the sensor unit <NUM> by way of coupler <NUM>. In other examples, the conversion unit <NUM> may be integrated within the sensor unit <NUM> and the coupler <NUM> is omitted. According to claim <NUM>, a processing system <NUM> is positioned locally in the housing of the sensor unit.

The conversion unit <NUM> may perform several functions to enable the vehicle <NUM> to perform autonomous driving functions. In some examples, the conversion unit <NUM> may include a processor <NUM>. The processor <NUM> may be configured to receive the sensor data from the data bus of the sensor unit. The processor <NUM> may also receive data from the controller <NUM> of the vehicle <NUM>. The controller <NUM> may communicate signals related to the vehicle <NUM> to the processor <NUM>. The controller <NUM> may be in communication and/or provide a connection to a control bus of the vehicle <NUM> to the processor <NUM>. The bus of the vehicle <NUM> may be a Controller Area Network (CAN) bus in communication with an on-board vehicle diagnostic (OBD) system. The CAN bus may enable various units of the vehicle <NUM> to communicate with each other. In some other examples, the communication bus may be a bus other than a CAN bus.

The processor <NUM> may be able to interpret sensor data from sensor unit <NUM> and vehicle data from vehicle <NUM> to determine a control scheme for the autonomous operation of the vehicle <NUM>. The processor <NUM> may further be able to determine control signals for the vehicle <NUM>. The processor <NUM> may communicate the control signals to the controller <NUM> of the vehicle <NUM> in order to autonomously operate the vehicle <NUM>. Therefore, the processor <NUM> of the conversion unit <NUM> may perform autonomous driving calculations that would otherwise be performed by a processing unit of a vehicle. Thus, the processor <NUM> may be able to tap into the CAN bus (or other data bus) of the vehicle to provide autonomous operation.

The conversion unit <NUM> may also contain a power converter <NUM>. The power converter <NUM> may be able to convert a vehicle voltage to one or more voltages to power the various components of the sensor unit <NUM>. The power converter <NUM> may receive one or more voltages from the vehicle <NUM> and convert them to one or more output voltages to the sensor unit <NUM>.

<FIG> depicts a physical configuration of a vehicle <NUM>. The vehicle <NUM> may have a sensor unit <NUM> coupled to the top of the vehicle. The vehicle <NUM> may also have a coupler <NUM> that couples the sensor unit <NUM> and the vehicle <NUM>. <FIG> depicts a physical configuration of a vehicle <NUM>. The vehicle <NUM> may have a sensor unit <NUM> coupled to a conversion unit <NUM> by way of a first coupler <NUM>. The conversion unit <NUM> may coupled to the top of the vehicle <NUM> by a coupler <NUM>.

<FIG> is a flowchart of example method <NUM> for implementing a vehicle system. Method <NUM> represents an example method that may include one or more operations, functions, or actions, as depicted by one or more of blocks <NUM> and <NUM>, each of which may be carried out by any of the systems shown in <FIG>, <FIG>, <FIG>, <FIG>, and <FIG>, among other possible systems. Those skilled in the art will understand that the flowchart described herein illustrates functionality and operation of certain implementations of the present disclosure. In this regard, each block of the flowchart may represent a module, a segment, or a portion of program code, which includes one or more instructions executable by one or more processors for implementing specific logical functions or steps in the process. The program code may be stored on any type of computer readable medium, for example, such as a storage device including a disk or hard drive.

In addition, each block may represent circuitry that is wired to perform the specific logical functions in the process. Alternative implementations are included within the scope of the example implementations of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrent or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art. In examples, a computing system may cause a system to perform one or more blocks of method <NUM>.

At block <NUM>, method <NUM> includes providing a control system configured to provide autonomous control to a vehicle. As previously discussed, the control system may be configured to control the vehicle in an autonomous mode. The control system may be configured to operate the throttle, brakes, steering, and other operations to control the vehicle. In some examples, the control system may further include navigation capabilities. The navigation capabilities may enable the autonomous vehicle to plan a route of operation. The vehicle may also be "autonomous ready. " The "autonomous ready" vehicle may have the capabilities to operate itself, but it may not include sensing systems that may be used during the autonomous operation of the vehicle.

In a first example of an "autonomous ready" vehicle, the vehicle includes a processing system that can receive sensor data and interpret the sensor data to control the vehicle. When sensor data is interpreted, the processing system may communicate instructions to the control system to operate the "autonomous ready" vehicle in an autonomous mode. For example, the sensor data may include data from RADAR, LIDAR, optical, and/or other sensors. The processing system may be able to determined localization of the vehicle, as well as obstacles located near the vehicle. The processing system may use both the localization as well as obstacles in both route planning and control of the vehicle.

In a second example of an "autonomous ready" vehicle, the vehicle may not include a processing system that can receive and interpret the sensor data. In these examples, an external processor may be provided to receive and interpret the sensor data. This external processor may be part of a conversion unit that is added to the vehicle. When sensor data is interpreted by the external processor of the conversion unit, the external processor may communicate instructions to the control system of the "autonomous ready" vehicle to operate the "autonomous ready" vehicle in an autonomous mode. The sensor data may include data from RADAR, LIDAR, optical, and/or other sensors. The external processor may be able to determined localization of the vehicle, as well as obstacles located near the vehicle. The external processor may use both the localization as well as obstacles in both route planning and control of the vehicle. Further, the external processor may be able to communicate with the control system of "autonomous ready" vehicle by way a data bus of the vehicle.

At block <NUM>, method <NUM> includes providing a connector coupled to a roof of the vehicle configured to enable a sensor unit to couple to the vehicle. The connector may enable a sensor unit to be coupled to the top of the "autonomous ready" vehicle. The sensor unit may provide sensors that enable the "autonomous ready" vehicle to function in a fully autonomous mode. Additionally, the connector may be a universal connector. A universal connector may be used by various vehicle manufacturer that build "autonomous ready" vehicles. By using a universal connector, a sensor unit may be coupled to "autonomous ready" vehicles from any manufacturer to enable autonomous functionality.

The connector may provide various connections between the "autonomous ready" vehicle and the sensor unit. The connector may provide a data connection. In some examples, the data connection may provide sensor data from the sensor unit to the vehicle. In other examples, the sensor unit may be coupled to or include a conversion unit. In these examples, the connector may receive control signals from the conversion unit. The control signals may be instructions for the autonomous operation of the vehicle.

The connector may also provide power and heat exchanging to the sensor unit. The connector may include a voltage that transmits power to the sensor unit when the sensor unit is coupled to the vehicle. In some examples, the connector may provide a <NUM>-volt (or other voltage) connection to the sensor unit. The sensor unit or conversion unit may also include voltage conversion that provides appropriate voltages for the various components of the sensor unit. Additionally, the connector may be configured to provide heat exchanging to the sensor unit. The heat exchanging may be performed by air, liquid, or other heat exchange means. During the operation of the sensor unit, heat may be generated. It may be desirable for the heat to be removed from the sensor unit. The vehicle may be configured with a radiator or other type of heat dissipation component that is connected to the heat exchanging portion of the connector.

<FIG> is a schematic illustrating a conceptual partial view of an example computer program product that includes a computer program for executing a computer process on a computing device, arranged according to at least some embodiments presented herein. In some embodiments, the disclosed methods may be implemented as computer program instructions encoded on a non-transitory computer-readable storage media in a machine-readable format, or on other non-transitory media or articles of manufacture.

In one embodiment, example computer program product <NUM> is provided using signal bearing medium <NUM>, which may include one or more programming instructions <NUM> that, when executed by one or more processors may provide functionality or portions of the functionality described above with respect to <FIG>. In some examples, the signal bearing medium <NUM> may encompass a non-transitory computer-readable medium <NUM>, such as, but not limited to, a hard disk drive, a Compact Disc (CD), a Digital Video Disk (DVD), a digital tape, memory, etc. In some implementations, the signal bearing medium <NUM> may encompass a computer recordable medium <NUM>, such as, but not limited to, memory, read/write (R/W) CDs, R/W DVDs, etc. In some implementations, the signal bearing medium <NUM> may encompass a communications medium <NUM>, such as, but not limited to, a digital and/or an analog communication medium (e.g., a fiber optic cable, a waveguide, a wired communications link, a wireless communication link, etc.). Similarly, the signal bearing medium <NUM> may correspond to a remote storage (e.g., a cloud). A computing system may share information with the cloud, including sending or receiving information. For example, the computing system may receive additional information from the cloud to augment information obtained from sensors or another entity. Thus, for example, the signal bearing medium <NUM> may be conveyed by a wireless form of the communications medium <NUM>.

The one or more programming instructions <NUM> may be, for example, computer executable and/or logic implemented instructions. In some examples, a computing device such as the computer system <NUM> of <FIG> may be configured to provide various operations, functions, or actions in response to the programming instructions <NUM> conveyed to the computer system <NUM> by one or more of the computer readable medium <NUM>, the computer recordable medium <NUM>, and/or the communications medium <NUM>.

The non-transitory computer readable medium could also be distributed among multiple data storage elements and/or cloud (e.g., remotely), which could be remotely located from each other. The computing device that executes some or all of the stored instructions could be a vehicle, such as the vehicle <NUM> illustrated in <FIG>. Alternatively, the computing device that executes some or all of the stored instructions could be another computing device, such as a server.

Claim 1:
A vehicular system comprising:
a control system (<NUM>) configured to autonomously control a vehicle (<NUM>) based on vehicular control instructions; and
a connector coupled to a roof of the vehicle configured to enable a housing (<NUM>) of a sensor unit (<NUM>) to couple to the vehicle, wherein the connector comprises:
a power supply connection (<NUM>); and
a data bus (<NUM>), wherein the data bus is coupled to the control system and configured to provide the vehicular control instructions from the sensor unit to the control system,
wherein the vehicular control instructions indicate a path for the vehicle to autonomously navigate based on objects determined to be in an environment of the vehicle, wherein the vehicular control instructions are determined by a processing system (<NUM>) positioned locally in the housing of the sensor unit based on sensor data from a plurality of sensors (<NUM>, <NUM>, <NUM>) positioned in the housing of the sensor unit.