Patent Description:
Automated driving technology makes use of optical sensor systems to detect roadway objects which can include infrastructure, other vehicles, or pedestrians. Increasing the range of detectability, improving signal to noise, and improving the recognition of objects continue to be fields of development. Systems that can provide at a distance, conspicuity, identification, and data via optical sensor systems, while being substantially visually imperceptible, may be advantageous. For example, signs may serve a dual purpose, where the sign may be visually read in the traditional way, and simultaneously the optical system can sense an invisible code that assists an onboard driving system with automated driving.

Other industry problems regarding optical sensors include the need to improve detection in adverse conditions that may affect light path and quality, which can cause signal to noise problems for the detection of infrastructure, vehicles, or pedestrians. <CIT> describes an object identification system with a retroflective and a non-retroflective object for polarimetric detection of road signs. <CIT> describes a device for detection of surface condition data, in particular detection of water, snow and ice and in particular to road surfaces by means of detector means mounted on individual vehicles. <CIT> describes a method and system for improved traffic signage with a traffic sign that includes an RFID tag configured to transmit traffic information to a vehicle-mounted receiver.

The disclosure describes example systems, methods, and computer program products that may be useful for sensor-detectable signs, indicia, and markings to facilitate automated or assisted automobile transport.

The invention describes according to claim <NUM> an optical sensor system for vehicles including a polarized light source and a light receiving unit. The light receiving unit includes a sensor and a receiving polarizer. The sensor is configured to sense light from the polarized light source deflected through the receiving polarizer by a light directing article. The sensor is configured to generate a signal indicative of a received polarization state of the light deflected by the light directing article. The light directing article is configured to change polarization of light emitted by the polarized light source.

The details of one or more aspects of the invention are set forth in the accompanying drawings and the description below.

The foregoing and other aspects of this invention are made more evident in the following Detailed Description, when read in conjunction with the attached Figures.

It should be understood that features of certain Figures of this disclosure may not necessarily be drawn to scale, and that the Figures present non-exclusive examples of the techniques disclosed herein.

The disclosure describes systems and techniques for providing, at a distance, conspicuity, identification, and even data, to semi- or fully-automated vehicles, via optical sensor systems. Systems and techniques according to the disclosure utilize variations in polarization states or changes in optical characteristics (for example, intensity) of light having predetermined polarization states. Such variations or states of polarization may not be visibly perceptible, providing a number of advantages. For example, a road or traffic sign may serve dual purposes, where the sign can be visually inspected or read in a traditional manner, and simultaneously also provide a visually imperceptible, but machine-readable, signal, code, or pattern, that may be detected by an onboard controller or driving system.

Systems and techniques according to the disclosure may also allow detection of information conveyed by signs, patterns, or markings, at relatively large distances that may deter optical resolution or recognition of patterns or codes, but yet be sufficiently small to transmit polarization states or variations thereof. For example, vehicle safety may be increased by providing information to an onboard controller much earlier and further away from an object before the object can be visually inspected. Providing such early notification to the controller may allow the controller to cause a vehicle to take a predetermined vehicle or navigation action, or to alert a, occupant of the vehicle, for example, a driver.

Systems and techniques according to the disclosure may further address problems such as improving detection of signs, markings, and objects in adverse conditions such as day or nighttime glare, haze, or foggy or smoggy conditions, which can attenuate signal to noise content, making it difficult to detect objects, infrastructure, vehicles, or pedestrians, whether by visual inspection or by machine sensing.

Using polarization states and variations thereof that may not be visually perceptible or otherwise amenable to manual manipulation may also deter spoofing, hacking, or other disruptions of vehicle operation or vehicle infrastructure. For example, polarization states and their variations may act as invisible security or steganographic features that may promote vehicle safety.

Example systems and techniques described herein may be useful in machine vision detection and sensing systems. As one example, as transportation infrastructure becomes more complicated, vehicles are gaining more driving autonomy. In order to navigate safely and effectively, sensing modules are increasingly incorporated into these vehicles to performs tasks such as parking assistance, self-regulating cruise control, and lane deviation warning, or even semi- or fully-autonomous navigation and driving, including collision avoidance and traffic sign interpretation. In order to sense the environment around them, vehicles may use light-based sensor systems. For example, a lidar (light radar) system may use a constellation of points of light that move through the environment in order to detect potential obstacles or informational objects and traffic events.

In some examples, a light receiving unit includes a sensor and a receiving polarizer. The sensor is configured to sense light from a polarized light source deflected through the receiving polarizer by a light directing article. The sensor is configured to generate a signal indicative of a received polarization state of the light deflected by the light directing article.

The light directing article may be configured to preserve, filter, enhance, or transform one or more polarization components of incident light. In some examples, one or more of the polarized light source, light directing object, or light receiving unit may include spatially variant polarization modifying features. Such polarization modifying features may generate spatial or temporal patterns, for example, spatial or temporal variations in polarization state or intensity of particular polarizations. Such patterns may be detected as machine-readable information in the visible or near infrared spectrum, while having a low, reduced, or negligible visible perception. For example, a light directing article including spatially variant polarization properties can modify the polarization state of incident light so that a pattern or code can be detected by the light receiving unit. While spatial variance may be useful in some examples, in other examples, spatial variation may not be utilized. For example, the light directing article may include a retroreflector that is dissimilar from surrounding materials, thus returning to the light receiving unit a different signal than other light directing articles or objects in the field of view, without itself being spatially variant.

In some examples, no polarizer is present on or adjacent the light directing article, but instead is on or adjacent the light source and or light receiving unit. Such an arrangement preserves high efficiency of light deflection by the light directing article and may maintain invisibility of patterns to visual perception, yet being detectable by a machine vision system.

Thus, example systems and methods for detecting polarization states of received light are described. Such systems may be coupled to vehicles, and cause or control the vehicle to performed predetermined vehicle actions in response to the detected polarization states and spatial variations in polarization patterns. The vehicles may include automobiles, cars, trucks, buses, trains, automated vehicles, marine vehicles, construction equipment, warehouse robots, industrial robots or moving equipment, or drones. Such systems may be useful for sensor-detectable signs, indicia, and markings to facilitate automated or assisted automobile transport.

<FIG> is a schematic and conceptual view of an example system <NUM> including a light receiving unit <NUM>. Light receiving unit <NUM> receives light from a polarized light source <NUM> deflected by a light directing article <NUM>. In some examples, system <NUM> includes one or both of polarized light source <NUM> or light directing article <NUM>, in addition to light receiving unit <NUM>. In other examples, one or both of polarized light source <NUM> or light directing article <NUM> may be components of different systems, while ultimately interacting with light receiving unit <NUM> of system <NUM>. Polarized light source <NUM> may emit visible or nonvisible wavelengths of light having a polarization component towards light directing article <NUM>, for example, incident light <NUM>, and light directing article <NUM> interacts with incident light <NUM> to generate deflected light <NUM> towards light receiving unit <NUM>.

In some examples, light directing article <NUM> may include a traffic object, for example, a moving or a stationary object. For example, light directing article <NUM> may include a traffic sign, a navigational sign, a highway or roadway marker, road or street markings, sidewalk markings, a yield sign, a stop sign, a sign marking proximity of an upcoming light signal post or cross-walk, a stop light, fences or barriers, fence or barrier markings, lane markings, a pedestrian, or another vehicle.

Light directing article <NUM> may include any article capable of deflecting, for example, reflecting, retroreflecting, or scattering, light from polarized light source <NUM> towards light receiving unit <NUM>. In some examples, as shown in <FIG>, light directing article <NUM> includes a retroreflective surface <NUM>. Retroreflective surface <NUM> may causing incident light <NUM> originating from polarized light source <NUM> to be deflected (for example, retroreflected) in substantially the same direction as deflected light <NUM> towards light receiving unit <NUM>. In other examples, light directing article <NUM> may reflect or scatter deflected light <NUM> in a direction different from that along incident light <NUM>. In some examples, system <NUM> may include one or more articles such as prisms, beam-splitters, mirrors, absorbers, reflectors, diffusers, or optical filters, for changing the direction and optical characteristics of one or both of incident light <NUM> or deflected light <NUM>. Thus, while both incident light <NUM> or deflected light <NUM> are shown as following a substantially linear path in the example illustrated in <FIG>, in other examples, one or both of incident light <NUM> or deflected light <NUM> may travel along paths defining one or more segments along different directions.

Light directing article <NUM> includes at least one polarization change feature (not shown) configured to change polarization of light incident on the light directing article into a different polarization state of deflected light. In some examples, the at least one polarization change feature includes a plurality of polarization change features arranged in a predetermined spatial pattern on the light directing article configured to change polarization of incident light into a plurality of predetermined different polarization states of reflected light. Each polarization state of the predetermined different polarization states being associated with a relative location of a polarization change feature of the plurality of polarization change features along light directing article <NUM>. In some examples, light directing article <NUM> comprises retroreflective article <NUM>. For example, light directing article <NUM> may include one or more retroreflective articles described in <CIT> and PCT Application No. <CIT>.

Incident light <NUM> originating from polarized light source <NUM> is deflected (for example, scattered, reflected, or retroreflected) by light directing article <NUM> as deflected light <NUM>. In some examples, light directing article <NUM> may substantially preserve a polarization of incident light <NUM>, so that deflected light <NUM> has substantially the same polarization as incident light <NUM>. In the invention, light directing article <NUM> interacts with incident light <NUM> to generate deflected light <NUM> having a different polarization from that of incident light <NUM>. Thus, one or more of incident light <NUM> or deflected light <NUM> may include linear polarized (for example, s-polarized or p-polarized) or a circularly polarized (for example, right-circularly polarized or left-circularly polarized) light. One or more optical characteristics such as frequency, wavelength, or polarization state of one or both incident light <NUM> or deflected light may vary temporarily, for example, in response to movement, obstruction, change in proximity, in response to a control signal, in response to a signal from another vehicle or traffic infrastructure. For example, polarized source <NUM> may generate incident light <NUM> in a predetermined temporally variant pattern including temporal or spatial changes in one or more of frequency, wavelength, or polarization state.

Light receiving unit <NUM> is configured to detect a polarization state of deflected light <NUM> deflected by light directing article <NUM> from polarized light source <NUM>. In some examples, light receiving unit <NUM> includes a sensor <NUM> and a receiving polarizer <NUM>. Sensor <NUM> is configured to sense light from polarized light source <NUM> deflected through receiving polarizer <NUM> by light directing article <NUM>, as shown in <FIG>. In some examples, sensor <NUM> includes a camera, for example, a visible light or infrared camera. In some examples, sensor <NUM> may include a charge-coupled device (CCD), a complementary metal oxide semiconductor (CMOS) sensor, or any other sensor capable of generating a signal in response to detecting photons of light having a predetermined characteristic (for example, a range of wavelengths or intensities).

Receiving polarizer <NUM> may substantially only allow light of a predetermined polarization to pass through, for example, a predetermined polarization component of deflected light <NUM>. For example, receiving polarizer <NUM> may substantially only allow right-circularly polarized light to pass through, so that a linearly polarized component or a left-circularly component of deflected light <NUM> does not pass through receiving polarizer <NUM>. In such an example, sensor <NUM> may substantially only receive (and therefore, sense) right-circularly polarized light, and generate a signal indicative of the presence of right-circularly polarized light. Depending on the configuration of receiving polarizer <NUM>, sensor <NUM> may substantially receive and sense only light of predetermined polarization states. Thus, sensor <NUM> is configured to generate a signal indicative of a received polarization state of light <NUM> deflected by light directing article <NUM>. In some examples, sensor <NUM> includes an array of sensing elements, each sensing element of the array being responsive to predetermined respective polarization states. For example, sensor <NUM> may detect a spatial variation in polarization states along or across a surface of light directing article.

The signal generated by sensor <NUM> is analyzed or processed to determine the received polarization state or polarization pattern of deflected light <NUM>, and an action (for example, a predetermined vehicle action) may be undertaken ultimately based on the polarization state or pattern. The polarization state or pattern may include one or both of spatial or temporal patterns, for example, a barcode or barcode analog, or flashing, blinking, moving, or other continuous or intermittent patterns or variations in patterns with time. The patterns or variations in polarization of deflected light <NUM> may be responsive to patterns or variations in one or both of polarization modifying features in light directing article <NUM> or incident light <NUM> from polarized light source <NUM>.

For example, polarized light source <NUM> may include one or more source elements <NUM> that emit visible or nonvisible wavelengths of light. One or more source elements <NUM> may include a diffuse light source, for example, one or more light emitting diodes (LEDs), incandescent sources, or fluorescent sources. In other examples, one or more source elements <NUM> may include a collimated source, for example, a laser, or a lidar source. Polarized light source <NUM> may include a source polarizer <NUM> that polarizes light emitted by one or more source elements <NUM> to generate incident light <NUM> having a predetermined polarization state. In examples in which polarized light source <NUM> includes an element that inherently emits polarized light, for example, a lidar beam, polarized light source may not include source polarizer <NUM>, or may include source polarizer <NUM> having a polarizing effect different from the inherent polarization of the polarized beam.

Receiving polarizer <NUM> or source polarizer <NUM> may include any suitable polarization element capable of selectively transmitting predetermined polarization components. For example, unpolarized light may include photons oscillating in random planes with respect to the direction of travel of the light wave. A polarization element may selectively allow only photons oscillating in particular planes. For example, a linear polarizer may selectively directionally absorb or block light, so that only waves oscillating in planes that are perpendicular to the absorptive or reflective region of the polarizer may pass through the medium, whereas waves that are oscillating in orthogonal planes are absorbed or blocked by the polarizer. Waves in other planes are passed according to the relative values of the parallel and orthogonal components. A circular polarizer, for example, a quarter-wave retarder, may include a birefringent film having two different refractive indices when measured in two orthogonal directions. These spatially different optical properties result in a "fast axis" and a "slow axis" along which light can be transmitted through the film. Light that is polarized along the fast axis experiences a lower refractive index and travels faster than the material than light polarized along the slow axis, which has the higher refractive index. When this quarterwave retarder is oriented so that the fast axis is at a <NUM>° angle to the transmission axis of a linear polarizer that precedes it in the light path, half of the incident light travels along the fast axis, and half the light travels along the slow axis. The net result is that the phase of the light that travels along the slow axis is shifted by <NUM> degrees, or a ¼ of a wavelength out of phase, for a specific thickness of the quarter wave retarder. In some examples, one or both of receiving polarizer <NUM> or source polarizer <NUM> may include one or more of absorptive polarizers, beam-splitting polarizers, birefringent polarizers, Fresnel reflective polarizers, thin-film polarizers, wire-grid polarizers, reflective polarizers, or quarter-wave polarizers. The polarizers may be formed as films, coatings, plates, or cuboids. Different source polarizers can be used to generate different kinds of polarization states.

For example, <FIG> are conceptual and schematic diagrams of example polarized light sources. <FIG> is a conceptual and schematic diagram of an example polarized light source 14a emitting unpolarized and p-polarized light. Polarized light source 14a includes one or more light emitting elements <NUM> (for example, light-emitting diodes, LEDs) on a substrate <NUM>. In some examples, substrate <NUM> may be a reflective substrate, so that substantially any light incident, scattered, diffused, or otherwise directed towards substrate <NUM> is reflected back towards a front face <NUM> of polarized light source 14a. Front face <NUM> may be defined by a substantially transparent or translucent optical medium, for example, glass or plastic, and may include one or more filters or coatings to modify one or more optical characteristics (for example, wavelength or intensity) of light passing through front face <NUM>. Thus, a portion of light emitted by light emitting elements <NUM> may be unpolarized light, as shown in <FIG>. In some examples, polarized light source 14a includes a polarization modifier, for example, a retarder. In some examples, polarized light source 14a includes a quarter-wave retarder <NUM>. Quarter-wave retarder <NUM> may be adjacent light emitting elements <NUM>, for example, between front face <NUM> and light emitting elements <NUM>, or such that front face <NUM> is between light emitting elements and quarter-wave retarder <NUM>. In some examples, quarter-wave retarder <NUM> only allows p-polarized light to pass, as shown in <FIG>. Thus, polarized light source 14a may emit an unpolarized light beam and a p-polarized light beam. In some examples, polarized light source 14a includes an optical barrier <NUM>. Optical barrier <NUM> may be a reflective or absorbing barrier that may maintain separation between the unpolarized and polarized light emitted by polarized light source 14a by preventing cross-over of unpolarized and polarized light emitted by adjacent portions of polarized light source 14a.

<FIG> is a conceptual and schematic diagram of an example polarized light source 14b emitting p-polarized light. Polarized light source 14b includes a reflective polarizer <NUM> that only transmits light having a particular polarization, for example, p-polarization, and reflects all other light components. Thus, successive reflection between substrate <NUM> and reflective polarizer <NUM> eventually results in transmission of a relatively high intensity of p-polarized light. Similar to polarized light source 14a, polarized light source 14b may optionally include optical barrier <NUM> and front face <NUM> to permit emission of an unpolarized light beam, in addition to a p-polarized light beam.

<FIG> is a conceptual and schematic diagram of an example polarized light source 14c emitting p-polarized light and circularly polarized light. Similar to polarized light source 14b, polarized light source 14c includes reflective polarizer <NUM> that only transmits light having a particular polarization, for example, p-polarization. Polarized light source 14c also includes quarter-wave retarder <NUM> adjacent at least a portion of reflective polarizer <NUM>. In combination, quarter-wave retarder <NUM> and reflective polarizer <NUM> transmit circularly polarized light.

<FIG> is a conceptual and schematic diagram of an example polarized light source 14d emitting left- and right-circularly polarized light. Similar to polarized light source 14c, polarized light source 14d also includes quarter-wave retarder <NUM> adjacent at least a portion of reflective polarizer <NUM>. Polarized light source 14d includes a second quarter-wave retarder <NUM> that has a fast axis orthogonal to that of quarter-wave retarder <NUM>. Thus, the handedness of circularly polarized light emitted by the combination of quarter-wave retarder <NUM> and reflective polarizer <NUM> is opposite the handedness of circularly polarized light emitted by the combination of quarter-wave retarder <NUM> and second reflective polarizer <NUM>. For example, one emits right-circularly polarized light while the other emits left-circularly polarized light, as shown in <FIG>. One or more of the source polarization schemes described with reference to <FIG> may be combined, to provide a universal polarized light source capable of generating light of any predetermined polarization.

For example, <FIG> is a conceptual and schematic diagram of an example polarized light source 14e for emitting one or more of unpolarized, p-polarized, right-circularly polarized, and left-circularly polarized light. Polarized light source 14e includes one or more of at least one left-circular polarized light source <NUM>, at least one right-circular polarized light source <NUM>, at least one linear polarized (for example, p-polarized) light source <NUM>, and an unpolarized light source <NUM>. Each of at least one left-circular polarized light source <NUM>, at least one right-circular polarized light source <NUM>, at least one linear polarized light source <NUM>, or at least one unpolarized light source <NUM> may include one or more light emitting elements and respective source polarizers. In some examples, different source polarizers may be disposed adjacent a unitary light element or light element array such that different source polarizers polarize different portions of light to generate different light beams.

Thus, system <NUM> may include one or more polarized light sources to emit light having one or more of unpolarized or predetermined polarized components. Light receiving unit <NUM> may also include one or more sub-units or sensors configured to receive and sense one or more of unpolarized or predetermined polarized components.

For example, <FIG> is a conceptual and schematic diagram of an example light receiving unit 12a for detecting one or more of unpolarized, p-polarized, right-circularly polarized, and left-circularly polarized light. Light receiving unit 12a includes one or more of at least one left-circular polarized light receiver <NUM>, at least one right-circular polarized light receiver <NUM>, at least one linear polarized (for example, p-polarized) light receiver <NUM>, and an unpolarized light receiver <NUM>. Each of at least one left-circular polarized light receiver <NUM>, at least one right-circular polarized light receiver <NUM>, at least one linear polarized light receiver <NUM>, or at least one unpolarized light receiver <NUM> may include one or more sensors and respective receiving polarizers. In some examples, different receiving polarizers may be disposed adjacent a unitary sensor array such that different sensor elements of the sensor array receive light passing through the respective polarizers. The respective sensor elements may generate respective signals indicative of the presence of respective linear or circular polarized or unpolarized components.

In some examples, light receiving units according to the disclosure may include angle-selective components to act as a directional filter to shield the light receiving unit from unwanted light. For example, angle-selective components may include louvered structures, wavelength shifting interference films, and microreplicated structures. Further, light receiving units according to the disclosure may include spatially variant sensor pixels that detect different polarization states and overlapping fields of view. Two or more images could be captured and compared to determine polarization state and variation thereof over time. In some examples, systems according to the disclosure may include one or both of multi-polarization light sources or receivers.

<FIG> is a conceptual and schematic diagram of an assembly <NUM> including at least one light receiving unit 12a and at least one polarized light source 14e. Assembly <NUM> may include, instead of, or in addition to, light receiving unit 12a or polarized light source 14e, any suitable light receiving unit or polarized light source according to the disclosure. Thus, assembly <NUM> may include a polarized light source, and a light receiving unit configured to generate a signal indicative of a received polarization state of light received by the light receiving article. In some examples, polarized light source 14e is oriented to emit polarized light along a predetermined path, for example, towards light directing article <NUM>. In some examples, polarized light source 14e (or other polarized light sources according to the disclosure) may be movable or redirectable to emit incident light <NUM> along a predetermined path. For example, a motor, servo, or other mechanism may be used to orient or steer polarized light source 14e. In some examples, a lidar unit may be capable of steering an output beam towards a predetermined point or direction in a field of view. The light may be a substantially linear or piecewise linear path. In some such examples, light receiving unit 12a may be oriented to receive light substantially within a predetermined light cone about the predetermined path or along a direction substantially parallel to the predetermined path. For example, light receiving unit 12a may be oriented to receive light emitted by polarized light source 14e towards light directing article <NUM> and deflected towards light receiving unit substantially along the same path, or within a predetermined cylindrical or conical zone about the path.

In some examples, assembly <NUM> may include a housing <NUM>. Housing <NUM> may be defined by one or more of metal, glass, plastic, composite, or any suitable structural material. In some examples, light receiving unit 12a and polarized light source 14e may be secured or mounted within housing. <NUM>, for example, adjacent to each other. Light receiving unit 12a and polarized light source 14e may be removably or replaceably secured or mounted within housing <NUM> so that one or both of light receiving unit 12a or polarized light source 14e may be retrieved from housing <NUM> for maintenance, repair, or upgrades.

In some examples, assembly <NUM> may include a controller <NUM>. For example, controller <NUM> may be secured or mounting within housing <NUM>. In other examples, controller <NUM> may be external to housing <NUM>, and be coupled to one or both of light receiving unit 12a or polarized light source 14e by a wireless or wired connecting for sending and receiving signals.

Referring back to <FIG>, in some examples, system <NUM> includes a controller <NUM> in communication with light receiving unit <NUM> to analyze polarization states or patterns in deflected light <NUM>. Controller <NUM> may include at least one processor, storage space for storing instructions for the processor, and for storing data, for example, lookup tables or known patterns, and data regarding sensed polarization states or patterns. In some examples, controller <NUM> receives the signal generated by light receiving unit <NUM>. Controller <NUM> is configured to determine a received polarization state of deflected light <NUM> based on the signal received from light receiving unit <NUM>. For example, a first signal may be indicative of a presence of a predetermined polarization state, and a second signal may be indicative of the absence of the predetermined polarization state. Controller <NUM> may also determine the identity or location of light receiving unit <NUM>, or a sensing element thereof, to determine a relative spatial location associated with the signal. For example, controller <NUM> may determine that the signal is associated with light deflected from the top, bottom, sides, center, or a particular co-ordinate location of a predetermined co-ordinate signal of a pattern element or block along light directing article <NUM>.

In some examples, controller <NUM> may also be in communication with polarized light source <NUM>. For example, controller <NUM> may be configured to send a control signal to polarized light source <NUM>. In such examples, polarized light source <NUM> may be configured to transmit light <NUM> having a source polarization state or pattern based on the control signal. One or both of the received polarization state or the source polarization state may be a linear polarization or a circular polarization. Further, controller <NUM> may control spatial or temporal patterns of polarization states of incident light <NUM>, and may compare such patterns with those of the spatial or temporal pattern of polarization states of deflected light <NUM>, to determine and generate a response signal.

In some examples, controller <NUM> is configured to generate a response signal based on the signal received from light receiving unit <NUM>. For example, controller <NUM> may be configured to generate the response signal based on a comparison of the received polarization state with a predetermined polarization state. In some examples, controller <NUM> is configured to generate the response signal based on a relative location of the polarization change feature along the light directing article.

In some examples, controller <NUM> may control one or both of light receiving unit <NUM> or polarized light source <NUM> such that illumination of light directing article <NUM> by incident light <NUM> and its surroundings or luminance of light <NUM> deflected by light directing article <NUM> and its surroundings may be provided with two or more temporally- and/or spatially- and/or wavelength-dependent polarization states to provide a signal that will be machine-readable (while being visually imperceptible) to blink or flash at a predetermined frequency and/or pattern. In some examples, controller <NUM> may implement a fast Fourier transform (FFT) module or another suitable signal processing algorithm to resolve spatial and temporal features from one or more signals received from light receiving unit <NUM>. For example, controller <NUM> may extract one or more pixels that are blinking, pixels that do not blink, and edge and other geometric features of light directing article <NUM> and deflected light <NUM>.

In addition to one or both of light receiving unit <NUM> or polarized light source <NUM>, controller <NUM> may optionally send signals to or receive signals from other components such as visible light cameras, radar, global positioning system (GPS), or acoustic sensors. Controller <NUM> may use such signals in addition to the signal received from light directing article <NUM> to generate the response signal.

Thus, in some examples, controller <NUM> may interrogate light directing article <NUM> with a predetermined polarization pattern in incident light <NUM> and detect the response pattern of light directing article <NUM> to the interrogation pattern. Based on the response pattern, controller <NUM> may send a response signal to a vehicle. In some examples, a vehicle may receive the response signal from controller <NUM> and perform a predetermined vehicle action in response to the response signal.

For example, <FIG> is a conceptual and schematic view of an example system 10a including light directing article <NUM>, and a vehicle <NUM> including light receiving unit <NUM> and polarized light source <NUM>. In some examples, vehicle <NUM> may include an assembly including a light receiving unit and a polarized light source, for example, assembly <NUM>. Light receiving unit <NUM> may be coupled to vehicle <NUM>. For example, light receiving unit <NUM> may be removably or permanently mounted or secured to vehicle <NUM>, or a component, for example, mounting bracket, on or in vehicle <NUM>. In some examples, polarized light source <NUM> may also be coupled to vehicle <NUM>, as shown in <FIG>. The presence of a particular polarization state in deflected light <NUM> may be indicative of a traffic sign, or a recommended or required action, for example, a yield sign, or a stop sign, or a proximity of an upcoming light signal post or cross-walk. The predetermined vehicle action may include one or more of, for example, progressive deceleration, slowing, and stopping, of vehicle <NUM>. Thus, based on the polarization state of deflected light <NUM>, vehicle <NUM> may perform one or more predetermined vehicle actions, for example, predetermined maneuvers, safety actions, or signaling an occupant to assume manual control of vehicle <NUM>. In some examples, example system 10a may not include polarized light source <NUM> or light directing article <NUM>, and light receiving unit <NUM> may receive light emitted by another system, for example, another vehicle.

While in the example shown in <FIG>, vehicle <NUM> includes polarized light source <NUM>, in other examples, polarized light source <NUM> may be an external source separated from or remote from vehicle <NUM>. For example, polarized light source <NUM> may be installed near or otherwise directed towards light directing article <NUM>, such that light directing article <NUM> deflects incident light <NUM> from polarized light source <NUM> as deflected light <NUM> towards oncoming vehicle <NUM>. In some examples, no polarized light source <NUM> may be present, and ambient light, solar light, or light from other sources having polarized components may be deflected by light directing article <NUM> towards light receiving unit <NUM> or otherwise detected and sensed by light receiving unit <NUM>.

<FIG> is a conceptual and schematic partial front view of a vehicle 11a including light receiving unit 12a and polarized light source 14e. In some examples, vehicle 11a may include assembly <NUM> including light receiving unit 12a and polarized light source 14e. One or more of respective sources of polarized light source 14e may be activated to emit light having a predetermined polarization state. In some examples, instead of, or in addition to, using a dedicated polarized light source 14e, one or more polarizing filters or elements may be disposed adjacent headlights, tail-lights, or other lights of vehicle <NUM>, to form polarized light source 14f. While light receiving unit 12a and polarized light source 14e are adjacent in the example shown in <FIG>, in other examples, light receiving unit 12a and polarized light source 14e may be relatively remote from each other. For example, one of light receiving unit 12a or polarized light source 14e may be disposed near the top or driver side of vehicle <NUM>, while the other of light receiving unit 12a or polarized light source 14e may be disposed near the bottom or the passenger side of vehicle <NUM>. In some examples, the separation between light receiving unit 12a or polarized light source 14e may be within a predetermined spacing to send and receive light within a predetermined angular deflection defined by light directing article <NUM>.

Thus, example systems according to the disclosure include a light receiving unit for sensing a polarization state or pattern of light received by the light receiving unit. In some examples, example systems according to the disclosure may also further include one or more of a polarized light source, a light directing article, and a controller.

<FIG> is a flowchart of an example technique for detecting a polarization state of light received by light receiving unit <NUM>. The example technique of <FIG> is described with reference to example systems, articles, assemblies, and components described with <FIG>. However, example techniques according to the disclosure may be implemented using any suitable system, articles, or components.

In some examples, the example technique of <FIG> includes receiving, by light receiving unit <NUM>, light from polarized light source <NUM> deflected by light directing article <NUM> (<NUM>). The receiving (<NUM>) may include transmission of deflected light <NUM> through receiving polarizer <NUM> to sensor <NUM> of light receiving unit <NUM>.

In some examples, the example technique of <FIG> includes generating, by light receiving unit <NUM>, a signal indicative of a received polarization state of light <NUM> deflected by light directing article <NUM> (<NUM>). For example, sensor <NUM> may generate the signal. In examples in which sensor <NUM> includes an array of sensing elements, a first characteristic of the signal may be indicative of an identity of a particular sensing element of the array of sensing elements, and a second characteristic of the signal may be indicative of the polarization state. For example, the first or second characteristic may include a polarity, voltage, current, average frequency, frequency peaks, or any other suitable characteristic.

In some examples, the example technique of <FIG> further includes receiving, by controller <NUM>, the signal generated by light receiving unit <NUM>, and determining, by controller <NUM>, the received polarization state of light <NUM> based on the signal (<NUM>). For example, controller <NUM> may receive the signal by a wired or wireless connection from sensor <NUM> or otherwise from light receiving unit <NUM>. Controller <NUM> may compare the signal to known values or ranges of signals, for example, a lookup table, or a database, and determine a polarization state associated with the signal. Instead of a single signal, controller <NUM> may receive and analyze a plurality of signals from one or more sensors or light receiving units.

In some examples, the example technique of <FIG> further includes generating, by controller <NUM>, a response signal based on the received polarization state or pattern (<NUM>). For example, the generating (<NUM>) includes comparing the received polarization state or pattern with a predetermined polarization state or pattern. The state or pattern may include a static polarization state, or a dynamic change in polarization state, or some spatial or temporal variation in polarization state. In some examples, the generating (<NUM>) includes determining a relative location of a polarization change feature along the light directing article.

In some examples, the example technique may include, by controller <NUM>, sending of the response signal to vehicle <NUM>. For example, the example technique of <FIG> may further include by vehicle <NUM>, performing a predetermined vehicle action in response to the response signal. In some examples, controller <NUM> may itself control one or more components of vehicle <NUM>, for example, one or more of steering systems, braking systems, or drivetrain, to cause vehicle <NUM> to perform the predetermined vehicle action.

In some examples, example techniques according to the disclosure include generating light having a predetermined polarization state, for example, to interrogate light directing article <NUM>, and to prompt a response from light directing article <NUM>. For example, <FIG> is a flowchart of an example technique for generating light having a predetermined polarization state. The technique of <FIG> includes sending, by controller <NUM>, a control signal to polarized light source <NUM>. In some examples, the example technique of <FIG> includes transmitting, by polarized light source <NUM>, light <NUM> having a predetermined source polarization state based on the control signal towards light directing article <NUM> (<NUM>).

The example technique of <FIG> may be implemented before, during, recurring, simultaneously, intermittently, or interleaved with, the technique of <FIG>. For example, light source <NUM> may emit polarized light <NUM> having a first characteristic, and light directing article <NUM> may deflect or return deflected light <NUM> having the same or a modified polarization characteristic. A number of combinations of sent and received polarization states in incident light <NUM> and deflected light <NUM> could be implemented by controller <NUM>. For example, polarized light source <NUM> may emit light <NUM> that may be linearly polarized (for example, vertically polarized), left-circularly polarized, or right-circularly polarized. Light directing article <NUM> may interact with incident light <NUM> to generate deflected light <NUM> having one of linearly polarized light (vertically polarized, or linear <NUM> degrees to the vertical), left-circularly polarized, or right-circularly polarized, or depolarized light. In some examples, light directing article <NUM> may substantially absorb light <NUM> and not deflect any light <NUM> towards light receiving unit <NUM>.

Some example configurations may be particularly useful. As shown in TABLE <NUM>, polarized light source <NUM> could emit different polarization states such as horizontal linearly polarized light (denoted as Linear H), vertical linear polarized light (denoted as Linear V), left circularly polarized light (LCP or Left CP), or right circularly polarized light (RCP or Right CP) as indicated on the left hand side of the table. Light directing article <NUM> can be designed to return different polarization states to a transceiver which include Linear H, Linear V, Left CP, and Right CP. The state of light that is returned to the transceiver depends on the properties of the retarder as indicated in the cells of the table. For example, if Linear H light is incident on a retroreflector having a ¼ wave retarder, the retroreflector will rotate the polarization of the light <NUM> degrees and return Linear V. Another example is if Left CP light is incident on a retroreflector having ¼ wave retarder, the retroreflector will return Left CP light. Another example is if Linear H light is incident on a retroreflector having an <NUM>/<NUM>th wave retarder, the retroreflector will return Left CP light. Conversely to have incident Linear H light and have the retroreflector return Right CP light, the retarder should be <NUM>/<NUM>th wave. TABLE <NUM> includes that case of the retarder slow axis at <NUM> degrees from vertical.

If the retarder slow axis is -<NUM> degrees from vertical, some of the retarder requirements change as indicated in TABLE <NUM>.

Though not intended to be limiting, this shows that retardation levels of <NUM>/<NUM>, <NUM>/<NUM>, and <NUM>/<NUM> may be particularly useful if the objective is to utilize circularly polarized light in the emission from polarized light source <NUM> and/or the return of light from light directing article <NUM> to light receiving unit <NUM>.

Further, the polarization states may be associated with one particular wavelength or wavelength band, or with more than one wavelength or wavelength band. For example, polarized light source <NUM> may emit one or two wavelengths designated as λ<NUM> or both λ<NUM> and λ<NUM>. The light directing article <NUM> may only deflect (for example, retroreflect) light that was sent to it. If light directing article <NUM> only receives λ<NUM> in incident light <NUM> then it may only return λ<NUM> in deflected light <NUM>. If light directing article <NUM> receives both λ<NUM> and λ<NUM>, then light directing article <NUM> may act on and return both wavelengths or wavelength bands. Additional wavelengths λ<NUM>, λ<NUM> and so on may also be used. The wavelengths or wavelength bands can be in the visible, near, or mid-infrared.

Thus, example systems, articles, and techniques according to the present disclosure may allow detection of traffic objects and events, and facilitate semi- or fully-automated vehicle navigation or control.

The techniques described in this disclosure may be implemented, at least in part, in hardware, software, firmware, or any combination thereof. A control unit including hardware may also perform one or more of the techniques of this disclosure.

Such hardware, software, and firmware may be implemented within the same device or within separate devices to support the various techniques described in this disclosure. Depiction of different features as modules or units is intended to highlight different functional aspects and does not necessarily imply that such modules or units must be realized by separate hardware, firmware, or software components. Rather, functionality associated with one or more modules or units may be performed by separate hardware, firmware, or software components, or integrated within common or separate hardware, firmware, or software components.

The techniques described in this disclosure may also be embodied or encoded in a computer system-readable medium, such as a computer system-readable storage medium, containing instructions. Instructions embedded or encoded in a computer system-readable medium, including a computer system-readable storage medium, may cause one or more programmable processors, or other processors, to implement one or more of the techniques described herein, such as when instructions included or encoded in the computer system-readable medium are executed by the one or more processors. Computer system readable storage media may include random access memory (RAM), read only memory (ROM), programmable read only memory (PROM), erasable programmable read only memory (EPROM), electronically erasable programmable read only memory (EEPROM), flash memory, a hard disk, a compact disc ROM (CD-ROM), a floppy disk, a cassette, magnetic media, optical media, or other computer system readable media. In some examples, an article of manufacture may comprise one or more computer system-readable storage media.

Example articles and techniques according to the disclosure provide will be illustrated by the following non-limiting examples.

The elimination or reduction of roadway (and retroreflector surface) glare for improved detection was evaluated. <FIG>, and 9C are photographs representing successive reduction in glare from asphalt by using polarized light. In <FIG>, the early morning sun was opposite angle of the camera to the pavement. <FIG> shows a photograph taken with no polarizer over the detector. <FIG> shows a polarizer having horizontal pass axis (s-pol) over the detector. <FIG> was taken with vertical pass (p-pol) polarizer over the detector and shows a significant reduction in both roadway glare and surface glare of the retroreflector as indicated by the saturated yellow color. No retroreflection was conducted, only observation of sun glare. However, as a prophetic variation of the example, adding a p-polarized light source would improve visibility at dusk and dawn, and depending on the brightness, possibly during daylight conditions.

Using polarization to improve the detection of wet pavement markings was evaluated. <FIG> are photographs representing reduction in water surface glare from pavement markings by using polarized light. Water on the surface of pavement markings can cause poor detectability due to several reasons. First, glare from other light sources such as the sun or an oncoming car is efficiently reflected from the water surface as s-pol light. Secondly, the light from the vehicle headlights is inefficient at reaching the retroreflector since much of the incident beam is specularly reflected away from the water surface and never encounters the retroreflector. <FIG> show that such problems can be solved by emitting p-polarized light from a light source, using a polarization preserving retroreflective pavement marking, and using a p-polarized polarizer (i.e. aligned to that of the source) on a light receiving unit. Without being bound by theory, p-polarized light efficiently makes it to the retroreflector, the retroreflector preserves that polarization and sends it back to the detector, and the detector receives p-polarized light, while blocking the s-pol from an oncoming car.

The use of polarized light to improve signal to noise in foggy environments was evaluated. <FIG> are photographs representing enhancement in through-fog visibility using polarized light. Fog preserves linearly polarized light in reflection. Scotchlite Diamond Grade (<NUM> Company, Saint Paul, Minnesota) retroreflector depolarizes. <FIG> shows two light sources and retroreflectors in the distance. The left light source had a linear polarizer, the right source is unpolarized. The camera taking the picture had a linear polarizer which is aligned with that of the left light source. The room was filled with fog, and the backscatter was clearly observable.

Claim 1:
An optical sensor system for a vehicle (<NUM>) comprising:
a polarized light source (<NUM>); and
a light receiving unit (<NUM>) comprising a sensor (<NUM>) and a receiving polarizer (<NUM>),
wherein the sensor (<NUM>) is configured to sense light from the polarized light source (<NUM>) deflected through the receiving polarizer (<NUM>) by a light directing article (<NUM>), and
wherein the sensor (<NUM>) is configured to generate a signal indicative of a received polarization state of the light deflected by the light directing article (<NUM>),
wherein light directing article (<NUM>) is configured to change polarization of light emitted by the polarized light source (<NUM>).