Patent ID: 12202405

DETAILED DESCRIPTION OF CERTAIN INVENTIVE EMBODIMENTS

Introduction to In-Vehicle Control Systems

In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the various embodiments. It will be evident, however, to one of ordinary skill in the art that the various embodiments may be practiced without these specific details.

An example embodiment disclosed herein can be used in the context of an in-vehicle control system150in a vehicle ecosystem101. In one example embodiment, the in-vehicle control system150with an image processing module200resident in a vehicle105can be configured like the architecture and ecosystem101illustrated inFIG.1. However, it will be apparent to those of ordinary skill in the art that the image processing module200described herein can be implemented, configured, and used in a variety of other applications and systems as well.

With continuing reference toFIG.1, a block diagram illustrates an example ecosystem101in which an in-vehicle control system150and an image processing module200of an example embodiment can be implemented. These components are described in more detail below. Ecosystem101includes a variety of systems and components that can generate and/or deliver one or more sources of information/data and related services to the in-vehicle control system150and the image processing module200, which can be installed in the vehicle105. For example, a camera installed in the vehicle105, as one of the devices of vehicle subsystems140, can generate image and timing data that can be received by the in-vehicle control system150. The in-vehicle control system150and the image processing module200executing therein can receive this image and timing data input. As described in more detail below, the image processing module200can process the image input and extract object features, which can be used by an autonomous vehicle control subsystem, as another one of the subsystems of vehicle subsystems140. The autonomous vehicle control subsystem, for example, can use the real-time extracted object features to safely and efficiently navigate and control the vehicle105through a real world driving environment while avoiding obstacles.

In an example embodiment as described herein, the in-vehicle control system150can be in data communication with a plurality of vehicle subsystems140, all of which can reside in the vehicle105. In certain embodiments, a vehicle subsystem interface141is provided to facilitate data communication between the in-vehicle control system150and the plurality of vehicle subsystems140. In certain embodiments, the in-vehicle control system150can include a data processor171configured to execute the image processing module200for processing image data received from one or more of the vehicle subsystems140. In certain embodiments, the data processor171can be combined with a data storage device172(e.g., a non-transitory computer-readable memory) as part of a computing system170in the in-vehicle control system150. In certain embodiments, the data storage device172can be used to store data, processing parameters, and data processing instructions. A processing module interface165can be provided to facilitate data communications between the data processor171and the image processing module200. In various example embodiments, a plurality of processing modules, configured similarly to image processing module200, can be provided for execution by the data processor171. As shown by the dashed lines inFIG.1, the image processing module200can be integrated into the in-vehicle control system150, optionally downloaded to the in-vehicle control system150, or deployed separately from the in-vehicle control system150.

In certain embodiments, the in-vehicle control system150can be configured to receive or transmit data to/from a wide-area network120and network resources122connected thereto. In certain embodiments, an in-vehicle web-enabled device130and/or the mobile device132can be used to communicate via the network120. In certain embodiments, a web-enabled device interface131can be used by the in-vehicle control system150to facilitate data communication between the in-vehicle control system150and the network120via the in-vehicle web-enabled device130. Similarly, the mobile device interface133can be used by the in-vehicle control system150to facilitate data communication between the in-vehicle control system150and the network120via the mobile device132. In this manner, the in-vehicle control system150can obtain real-time access to network resources122via the network120. The network resources122can be used to obtain processing modules for execution by the data processor171, data content to train internal neural networks, system parameters, and/or other data.

The ecosystem101can include the wide area network120. In certain embodiments, the network120represents one or more conventional wide area data networks, such as the Internet, a cellular telephone network, satellite network, pager network, a wireless broadcast network, gaming network, WiFi network, peer-to-peer network, Voice over IP (VoIP) network, etc. In certain embodiments, one or more of these networks120can be used to connect a user or client system with network resources122, such as websites, servers, central control sites, or the like. In certain embodiments, the network resources122can generate and/or distribute data, which can be received in the vehicle105via the in-vehicle web-enabled devices130or the mobile device132. In certain embodiments, the network resources122can also host network cloud services, which can support the functionality used to compute or assist in processing image input or image input analysis. In certain embodiments, antennas can serve to connect the in-vehicle control system150and the image processing module200with the data network120via cellular, satellite, radio, or other conventional signal reception mechanisms. Such cellular data networks are currently available (e.g., Verizon™, AT&T™, T-Mobile™, etc.). Such satellite-based data or content networks are also currently available (e.g., SiriusXM™, HughesNet™, etc.). The broadcast networks, such as AM/FM radio networks, pager networks, UHF networks, gaming networks, WiFi networks, peer-to-peer networks, Voice over IP (VoIP) networks, and the like are also available. Thus, the in-vehicle control system150and the image processing module200can receive web-based data or content via the web-enabled device interface131, which can be used to connect with the in-vehicle web-enabled devices130and the network120. In this manner, the in-vehicle control system150and the image processing module200can support a variety of network-connectable in-vehicle devices and systems from within the vehicle105.

As shown inFIG.1, the in-vehicle control system150and the image processing module200can also receive data, image processing control parameters, and training content from the mobile device132, which can be located inside or proximately to the vehicle105. The mobile device132can represent standard mobile devices, such as cellular phones, smartphones, personal digital assistants (PDA's), MP3 players, tablet computing devices (e.g., iPad™), laptop computers, CD players, and other mobile devices, which can produce, receive, and/or deliver data, image processing control parameters, and content for the in-vehicle control system150and the image processing module200. As shown inFIG.1, the mobile device132can also be in data communication with the network cloud120. The mobile device132can source data and content from internal memory components of the mobile device132itself or from network resources122via network120. Additionally, the mobile device132can themselves include a GPS data receiver, accelerometers, WiFi triangulation, or other geo-location sensors or components in the mobile device, which can be used to determine the real-time geo-location of the user (via the mobile device) at any moment in time. In any case, the in-vehicle control system150and the image processing module200can receive data from the mobile device132as shown inFIG.1.

Referring still toFIG.1, the example embodiment of the ecosystem101can include vehicle operational subsystems140. For embodiments that are implemented in a vehicle105, many standard vehicles include operational subsystems, such as electronic control units (ECUs), supporting monitoring/control subsystems for the engine, brakes, transmission, electrical system, emissions system, interior environment, and the like. For example, data signals communicated from the vehicle operational subsystems140(e.g., ECUs of the vehicle105) to the in-vehicle control system150via vehicle subsystem interface141may include information about the state of one or more of the components or subsystems of the vehicle105. In particular, the data signals, which can be communicated from the vehicle operational subsystems140to a Controller Area Network (CAN) bus of the vehicle105, can be received and processed by the in-vehicle control system150via vehicle subsystem interface141. Embodiments of the systems and methods described herein can be used with substantially any mechanized system that uses a CAN bus or similar data communications bus as defined herein, including, but not limited to, industrial equipment, boats, trucks, machinery, or automobiles; thus, the term “vehicle” as used herein can include any such mechanized systems. Embodiments of the systems and methods described herein can also be used with any systems employing some form of network data communications. However, such network communications are not required.

Referring still toFIG.1, the example embodiment of the ecosystem101, and the vehicle operational subsystems140therein, can include a variety of vehicle subsystems in support of the operation of the vehicle105. In general, the vehicle105may take the form of a car, truck, motorcycle, bus, boat, airplane, helicopter, lawn mower, earth mover, snowmobile, aircraft, recreational vehicle, amusement park vehicle, farm equipment, construction equipment, tram, golf cart, train, and trolley, for example. Other vehicles are possible as well. The vehicle105may be configured to operate fully or partially in an autonomous mode. For example, the vehicle105may control itself while in the autonomous mode, and may be operable to determine a current state of the vehicle and its environment, determine a predicted behavior of at least one other vehicle in the environment, determine a confidence level that may correspond to a likelihood of the at least one other vehicle to perform the predicted behavior, and/or control the vehicle105based on the determined information. While in autonomous mode, the vehicle105may be configured to operate without human interaction.

The vehicle105may include various vehicle subsystems such as a vehicle drive subsystem142, vehicle sensor subsystem144, vehicle control subsystem146, and occupant interface subsystem148. As described above, the vehicle105may also include the in-vehicle control system150, the computing system170, and the image processing module200. The vehicle105may include more or fewer subsystems and each subsystem could include multiple elements. Further, each of the subsystems and elements of vehicle105could be interconnected. Thus, one or more of the described functions of the vehicle105may be divided up into additional functional or physical components or combined into fewer functional or physical components. In some further examples, additional functional and physical components may be added to the examples illustrated byFIG.1.

The vehicle drive subsystem142may include components operable to provide powered motion for the vehicle105. In an example embodiment, the vehicle drive subsystem142may include an engine or motor, wheels/tires, a transmission, an electrical subsystem, and a power source. The engine or motor may be any combination of an internal combustion engine, an electric motor, steam engine, fuel cell engine, propane engine, or other types of engines or motors. In some example embodiments, the engine may be configured to convert a power source into mechanical energy. In some example embodiments, the vehicle drive subsystem142may include multiple types of engines or motors. For instance, a gas-electric hybrid car could include a gasoline engine and an electric motor. Other examples are possible.

The wheels of a given vehicle may represent at least one wheel that is fixedly coupled to the transmission and at least one tire coupled to a rim of the wheel that could make contact with the driving surface. The wheels may include a combination of metal and rubber, or another combination of materials. The transmission may include elements that are operable to transmit mechanical power from the engine to the wheels. For this purpose, the transmission could include a gearbox, a clutch, a differential, and drive shafts. The transmission may include other elements as well. The drive shafts may include one or more axles that could be coupled to one or more wheels. The electrical system may include elements that are operable to transfer and control electrical signals in the vehicle105. These electrical signals can be used to activate lights, servos, electrical motors, and other electrically driven or controlled devices of the vehicle105. The power source may represent a source of energy that may, in full or in part, power the engine or motor. That is, the engine or motor could be configured to convert the power source into mechanical energy. Examples of power sources include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, fuel cell, solar panels, batteries, and other sources of electrical power. The power source could additionally or alternatively include any combination of fuel tanks, batteries, capacitors, or flywheels. The power source may also provide energy for other subsystems of the vehicle105.

In certain embodiments, the vehicle sensor subsystem144may include a number of sensors configured to sense information about an environment or condition of the vehicle105. For example, the vehicle sensor subsystem144may include an inertial measurement unit (IMU), a Global Positioning System (GPS) transceiver, a RADAR unit, a laser range finder/LIDAR unit, and one or more cameras or image capture devices. In certain embodiments, the optical sensor may be embodied as a LiDAR detector or a camera (e.g., a conventional visible wavelength camera). In certain embodiments, the vehicle sensor subsystem144may also include sensors configured to monitor internal systems of the vehicle105(e.g., an O2monitor, a fuel gauge, an engine oil temperature). Other sensors are possible as well. One or more of the sensors included in the vehicle sensor subsystem144may be configured to be actuated separately or collectively in order to modify a position, an orientation, or both, of the one or more sensors.

The IMU may include any combination of sensors (e.g., accelerometers and gyroscopes) configured to sense position and orientation changes of the vehicle105based on inertial acceleration. In certain embodiments, the GPS transceiver may be any sensor configured to estimate a geographic location of the vehicle105. For this purpose, the GPS transceiver may include a receiver/transmitter operable to provide information regarding the position of the vehicle105with respect to the Earth. In certain embodiments, the RADAR unit may represent a system that utilizes radio signals to sense objects within the local environment of the vehicle105. In some embodiments, in addition to sensing the objects, the RADAR unit may additionally be configured to sense the speed and the heading of the objects proximate to the vehicle105. In certain embodiments, the laser range finder or LIDAR unit may be any sensor configured to sense objects in the environment in which the vehicle105is located using lasers. In an example embodiment, the laser range finder/LIDAR unit may include one or more laser sources, a laser scanner, and one or more detectors, among other system components. In certain embodiments, the laser range finder/LIDAR unit can be configured to operate in a coherent (e.g., using heterodyne detection) or an incoherent detection mode. In certain embodiments, the cameras may include one or more devices configured to capture a plurality of images of the environment of the vehicle105. The cameras may be still image cameras or motion video cameras.

The vehicle control system146may be configured to control operation of the vehicle105and its components. Accordingly, the vehicle control system146may include various elements such as a steering unit, a throttle, a brake unit, a navigation unit, and an autonomous control unit.

The steering unit may represent any combination of mechanisms that may be operable to adjust the heading of vehicle105. In certain embodiments, the throttle may be configured to control, for instance, the operating speed of the engine and, in turn, control the speed of the vehicle105. In certain embodiments, the brake unit can include any combination of mechanisms configured to decelerate the vehicle105. In certain embodiments, the brake unit can use friction to slow the wheels in a standard manner. In other embodiments, the brake unit may convert the kinetic energy of the wheels to electric current. The brake unit may take other forms as well. The navigation unit may be any system configured to determine a driving path or route for the vehicle105. The navigation unit may additionally be configured to update the driving path dynamically while the vehicle105is in operation. In some embodiments, the navigation unit may be configured to incorporate data from the image processing module200, the GPS transceiver, and one or more predetermined maps so as to determine the driving path for the vehicle105. At least a portion of these maps can be also stored in a memory of a control system308of an emergency roadside signaling system300, described below in connection withFIGS.2-5.

In certain embodiments, the autonomous control unit of the vehicle control subsystems146may represent a control system configured to identify, evaluate, and avoid or otherwise negotiate potential obstacles in the environment of the vehicle105. In general, the autonomous control unit may be configured to control the vehicle105for operation without a driver or to provide driver assistance in controlling the vehicle105. In some embodiments, the autonomous control unit may be configured to incorporate data from the image processing module200, the GPS transceiver, the RADAR, the LIDAR, the cameras, and other vehicle subsystems to determine the driving path or trajectory for the vehicle105. The vehicle control system146may additionally or alternatively include components other than those shown and described.

In certain embodiments, an occupant interface subsystems148may be configured to allow interaction between the vehicle105and external sensors, other vehicles, other computer systems, and/or an occupant or user of vehicle105. For example, the occupant interface subsystems148may include standard visual display devices (e.g., plasma displays, liquid crystal displays (LCDs), touchscreen displays, heads-up displays, or the like), speakers or other audio output devices, microphones or other audio input devices, navigation interfaces, and interfaces for controlling the internal environment (e.g., temperature, fan, etc.) of the vehicle105.

In an example embodiment, the occupant interface subsystems148may provide, for instance, capabilities for a user/occupant of the vehicle105to interact with the other vehicle subsystems. The visual display devices may provide information to a user of the vehicle105. In certain embodiments, the visual display devices can also be operable to accept input from the user via a touchscreen. The touchscreen may be configured to sense at least one of a position and a movement of a user's finger via capacitive sensing, resistance sensing, or a surface acoustic wave process, among other possibilities. In certain embodiments, the touchscreen may be capable of sensing finger movement in a direction parallel or planar to the touchscreen surface, in a direction normal to the touchscreen surface, or both, and may also be capable of sensing a level of pressure applied to the touchscreen surface. In certain embodiments, the touchscreen may be formed of one or more translucent or transparent insulating layers and one or more translucent or transparent conducting layers. The touchscreen may take other forms as well.

In certain embodiments, the occupant interface subsystems148may provide capabilities for the vehicle105to communicate with devices within its environment. In certain embodiments, the microphone may be configured to receive audio (e.g., a voice command or other audio input) from a user of the vehicle105. Similarly, the speakers may be configured to output audio to a user of the vehicle105. In one example embodiment, the occupant interface subsystems148may be configured to wirelessly communicate with one or more devices directly or via a communication network. For example, a wireless communication system could use 3G cellular communication, such as CDMA, EVDO, GSM/GPRS, 4G cellular communication, such as WiMAX or LTE, or 5G cellular communication. Alternatively, the wireless communication system may communicate with a wireless local area network (WLAN), for example, using WIFI®. In some embodiments, the wireless communication system146may communicate directly with a device, for example, using an infrared link, BLUETOOTH®, or ZIGBEE®. Other wireless protocols, such as various vehicular communication systems, are possible within the context of the disclosure. For example, the wireless communication system may include one or more dedicated short range communications (DSRC) devices that may include public or private data communications between vehicles and/or roadside stations.

Many or all of the functions of the vehicle105can be controlled by the computing system170. The computing system170may include at least one data processor171(which can include at least one microprocessor) that executes processing instructions stored in a non-transitory computer readable medium, such as the data storage device172. The computing system170may also represent a plurality of computing devices that may serve to control individual components or subsystems of the vehicle105in a distributed fashion. In some embodiments, the data storage device172may contain processing instructions (e.g., program logic) executable by the data processor171to perform various functions of the vehicle105, including those described herein in connection with the drawings. The data storage device172may contain additional instructions as well, including instructions to transmit data to, receive data from, interact with, or control one or more of the vehicle drive subsystem142, the vehicle sensor subsystem144, the vehicle control subsystem146, and the occupant interface subsystems148.

In addition to the processing instructions, the data storage device172may store data such as image processing parameters, training data, roadway maps, and path information, among other information. Such information may be used by the vehicle105and the computing system170during the operation of the vehicle105in the autonomous, semi-autonomous, and/or manual modes.

The vehicle105may include a user interface for providing information to or receiving input from a user or occupant of the vehicle105. The user interface may control or enable control of the content and the layout of interactive images that may be displayed on a display device. Further, the user interface may include one or more input/output devices within the set of occupant interface subsystems148, such as the display device, the speakers, the microphones, or a wireless communication system.

The computing system170may control the function of the vehicle105based on inputs received from various vehicle subsystems (e.g., the vehicle drive subsystem142, the vehicle sensor subsystem144, and the vehicle control subsystem146), as well as from the occupant interface subsystem148. For example, the computing system170may use input from the vehicle control system146in order to control the steering unit to avoid an obstacle detected by the vehicle sensor subsystem144and the image processing module200, move in a controlled manner, or follow a path or trajectory based on output generated by the image processing module200. In an example embodiment, the computing system170can be operable to provide control over many aspects of the vehicle105and its subsystems.

AlthoughFIG.1shows various components of the vehicle105, e.g., vehicle subsystems140, computing system170, data storage device172, and image processing module200, as being integrated into the vehicle105, one or more of these components could be mounted or associated separately from the vehicle105. For example, data storage device172could, in part or in full, exist separate from the vehicle105. Thus, the vehicle105could be provided in the form of device elements that may be located separately or together. The device elements that make up vehicle105could be communicatively coupled together in a wired or wireless fashion.

Additionally, other data and/or content (denoted herein as ancillary data) can be obtained from local and/or remote sources by the in-vehicle control system150as described above. The ancillary data can be used to augment, modify, or train the operation of the image processing module200based on a variety of factors including, the context in which the user is operating the vehicle (e.g., the location of the vehicle, the specified destination, direction of travel, speed, the time of day, the status of the vehicle, etc.), and a variety of other data obtainable from the variety of sources, local and remote, as described herein.

In a particular embodiment, the in-vehicle control system150and the image processing module200can be implemented as in-vehicle components of the vehicle105. In various example embodiments, the in-vehicle control system150and the image processing module200in data communication therewith can be implemented as integrated components or as separate components. For example, the image processing module200can be included as a set of instructions stored in a non-transitory computer readable medium, such as the data storage device172, for causing the data processor171to perform various image processing functionality. In an example embodiment, the software components of the in-vehicle control system150and/or the image processing module200can be dynamically upgraded, modified, and/or augmented by use of the data connection with the mobile device132and/or the network resources122via network120. The in-vehicle control system150can periodically query the mobile device132or a network resource122for updates or updates can be pushed to the in-vehicle control system150.

Introduction to Systems and Methods for Deploying Emergency Roadside Signaling Devices

In the various example embodiments disclosed herein, systems and methods are provided for deploying emergency roadside signaling devices. Due to continuing improvements in autonomous vehicles105, and in particular the in-vehicle control system150, autonomous vehicles105will soon be operable in the so-called fully autonomous (e.g., level 5) mode, without the need for a human operator or human supervision. For such fully-autonomous vehicles105(also referred to hereinafter simply as autonomous vehicles), it may be possible for the autonomous vehicles105to drive between an initial location and a destination without any human occupants. This may be particularly advantageous for certain applications, such as for long haul freight trucking, which would allow goods to be shipped between locations fully-autonomously.

However, certain tasks related to driving on public roads are traditionally performed by a human operator, even for autonomous vehicles105. For example, if the autonomous vehicle experiences a mechanical failure that requires the autonomous vehicle105to pull off to the side of the roadway, the operator may manually place emergency roadside signaling devices on the road to warn other drivers that the autonomous vehicle105is parked on the side of the road. Depending on where the autonomous vehicle105is operating, there may be regulations (e.g., Department of Transportation (DOT) regulations) that require the placement of signaling devices in the event a vehicle (including autonomous vehicles105) is parked on or near the roadway. However, without the presence of an operator, there is still a need for emergency signals to be placed during an unplanned stop.

Thus, in order to comply with the appropriate regulations and to improve the safety of other roadway310users (e.g., other manual and/or autonomous vehicles on the road), it is important that autonomous vehicles105are able to deploy emergency roadside signaling devices in the event that the autonomous vehicle105needs to be stopped on or near the roadway310. For example, an unplanned stop may be due to mechanical failure, unsafe driving conditions (e.g., poor visibility, heavy rain, icy roadways, strong winds, etc.), or any other situation in which the autonomous vehicle105is forced to stop on or near a roadway310. Aspects of this disclosure relate to systems and methods for autonomously deploying emergency roadside signaling devices.

FIG.2illustrates an autonomous vehicle105on the roadway310and having an emergency roadside signaling system300(also referred to as an object placing device300) in accordance with aspects of this disclosure. As shown inFIG.2, the emergency roadside signaling system300may be located on the exterior of the autonomous vehicle105, for example, on the back end of a trailer of the autonomous vehicle105. However, depending on the implementation, the roadside signaling system300can be located in a different location on the exterior or interior of the autonomous vehicle105. For example, the roadside signaling system300can be located on the top, bottom, or on a side of the trailer of the autonomous vehicle105. The roadside signaling system300can be located on an exterior of the cab of the autonomous vehicle105. For example, the roadside signaling system300can be located on the top, bottom, or on a side of the cab of the autonomous vehicle105. In still other implementations, the roadside signaling system300can be located inside the trailer. For example, in certain embodiments, the emergency roadside signaling devices can be deployed by first opening a door in the trailer to gain access to the exterior of the trailer. In these implementations, the roadside signaling system300may have a dedicated door allowing for only the emergency roadside signaling devices to gain access to the exterior of the trailer. In certain embodiments, the roadside signaling system300can use the same door as used to load and unload cargo from the trailer.

As is described in detail herein, in some embodiments the object placing device300may comprise one or more signaling device transportation vehicles and a housing (e.g., as illustrated in at leastFIGS.11A-12C and26A-27D). In other embodiments, the object placing device300may comprise a signaling device housing (e.g., as illustrated inFIGS.13A-14B,17A-18I, and24A-25H).

FIG.3is a block diagram illustrating exemplary components of the roadside signaling system300in accordance with aspects of this disclosure. In certain embodiments, the roadside signaling system300includes a signaling device housing302, one or more signaling device(s)304, one or more signaling device transportation vehicle(s)306, and a control system308. Each of the signaling device(s)304can be mounted to one of the signaling device transportation vehicles306. In certain embodiments, the signaling device transportation vehicle(s)306comprises one or more sensor(s)318. In certain embodiments, the roadside signaling system300comprises one or more sensor(s)316.

In certain embodiments, during normal operation of the autonomous vehicle105, the signaling device transportation vehicle(s)306can be housed within the housing302. In some embodiments, the housing302can comprise a dock (which can also be referred to as a “base station”) configured to house some or all of the components of the roadside signaling system300when not in use (e.g., during normal operating conditions of the autonomous vehicle105). However, in some implementations, one or more components of the roadside signaling system300may be located separately from the dock or housing302. For example, the control system308can be included as part of the in-vehicle control system150illustrated inFIG.1. As discussed herein, the control system308can be configured to control the signaling device transportation vehicle(s)306to transport the signaling device(s)304. In some embodiments, the control system308can include a data processor and a non-transitory computer-readable memory in order to process signals received from the sensor(s)316and to provide instructions to the signaling device transportation vehicle(s)306.

In certain embodiments, the dock of the housing302can be mounted to the autonomous vehicle105, for example, as described in connection withFIG.2above. Thus, in the event that the autonomous vehicle105is parked on or near the roadway310(e.g., due to a mechanical failure) in certain embodiments, the signaling device transportation vehicle(s)306can be deployed onto or near the roadway310. The signaling device(s)304can be used to visually notify other drivers or vehicles on the road of the parked autonomous vehicle105.

In certain embodiments, the dock of the housing302functions as a charging station for the signaling device transportation vehicle(s)306. For example, in embodiments where each of the signaling device transportation vehicle(s)306includes a battery configured to power the signaling device transportation vehicle(s)306, the signaling device transportation vehicle(s)306can further include electrodes which can be electrically connected to respective charging terminals (not illustrated) on the dock in order to charge the batteries. In other aspects, the dock may include a wireless power transmitter and the signaling device transportation vehicle(s)306may include wireless power receivers configured to receive power wirelessly from the wireless power transmitter of the dock.

The housing302can further include the one or more sensor(s)316configured to communicate with the control system308. For example, the sensor(s)316may include a GPS transceiver configured to generate a signal indicative of the location of the housing302. In certain embodiments, the one or more sensor(s)316can further include additional types of sensors, such as cameras, radar, lidar, etc., which may be used to determine the locations of the signaling device transportation vehicle(s)306when not mounted to the housing302. In certain embodiments, the control system308may receive signals from sensors included in the vehicle sensor subsystems144rather than including dedicated sensor(s)316in the housing302. Thus, the control system308may be able to determine the locations of the signaling device transportation vehicle(s)306based at least in part on sensor signals received from the sensor(s)316and/or the sensors included in the vehicle sensor subsystems144.

FIG.4illustrates a communication system320that can be used for communication between the control system308and the signaling device transportation vehicle(s)306. For example, the control system308can include a wireless transceiver312and each of the signaling device transportation vehicle(s)306can also include a wireless transceiver314. Accordingly, the control system308can communicate with each of the signaling device transportation vehicle(s)306via the wireless transceivers312and314. The control system300may further be configured to communicate with the in-vehicle control system150shown inFIG.1, either via the wireless transceiver312or a wired connection (not illustrated).

With reference toFIGS.3and4, the signaling device(s)304can include, for example, a light, flare, or reflective shape (e.g., a reflective triangle, square, or other shape) that can be used to visually notify nearby drivers and/or other vehicles that the autonomous vehicle105is stopped on or near the roadway310. In some aspects, each of the signaling device(s)304can be mounted in a highly visible location on one of the signaling device transportation vehicle(s)306(e.g., in an unobstructed location on and above other components of the signaling device transportation vehicle(s)306) such that when the signaling device transportation vehicle(s)306are deployed to their respective locations with respect to the parked autonomous vehicle105, the signaling device(s)304are visible to the nearby drivers and vehicles. In other aspects, the signaling device(s)304may be detachable from the signaling device transportation vehicle(s)306and the signaling device transportation vehicle(s)306may be configured to place the signaling device(s)304directly on the ground. Thus, in certain embodiments, a single signaling device transportation vehicle306may be configured to place all of the signaling device(s)304in the prescribed locations (e.g., in compliance with the applicable regulations).

In certain aspects, the signaling device transportation vehicle(s)306can include air or ground vehicles suitable for operation in extreme environments such as wind, rain, snow, cold, and/or heat. That is, the signaling device transportation vehicle(s)306can be configured to operate in extreme weather and/or roadway conditions that may be at least partially responsible for the autonomous vehicle105being stopped on or near the roadway310. Thus, it can be advantageous for the signaling device transportation vehicle(s)306to be able to navigate extreme environmental conditions so that the signaling device(s)304can be properly positioned in these conditions.

According to some aspects, the signaling device transportation vehicle(s)306may include battery powered air vehicles (also referred to as unmanned aerial vehicles (UAVs) or drones). For example, the signaling device transportation vehicle(s)306may include one or more rotary wings configured to lift the signaling device transportation vehicle(s)306and the corresponding signaling device(s)304for placement on or near the roadway310. When implemented as a UAV, the signaling device transportation vehicle(s)306may include sensors configured to provide feedback for control of the signaling device transportation vehicle(s)306.

The signaling device transportation vehicle(s)306can also include battery powered land vehicles in accordance with aspects of this disclosure. For example, the signaling device transportation vehicle(s)306may include two or more wheels, one or more continuous tracks, or another land-based vehicle propulsion system. In aspects where the signaling device transportation vehicle(s)306include land based vehicles, the dock of the housing302may be located within a predetermined distance from the ground so that the signaling device transportation vehicle(s)306can be undocked and redocked to the dock from the ground.

As shown inFIG.4, each of the signaling device transportation vehicle(s)306can include the one or more sensor(s)318. The sensor(s)318can include camera(s), GPS, radar, and/or lidar sensors. The signaling device transportation vehicle(s)306can use the signals received from the sensor(s)318to determine the relative position between the autonomous vehicle105and the signaling device transportation vehicle(s)306, so as to position the signaling device(s)304on or near the roadway310in the desired locations (e.g., in compliance with regulations). In certain aspects, the signaling device transportation vehicle(s)306can determine the relative locations of the signaling device transportation vehicle(s)306with respect to the autonomous vehicle105without communicating with the control system308.

However, in other aspects, the control system308may also be able to determine the locations of the signaling device transportation vehicle(s)306using, for example, the sensor(s)316and/or one or more of the sensors included in the vehicle sensor subsystems144. Thus, the signaling device transportation vehicle(s)306may use signals received from the control system308in determining the current locations of the signaling device transportation vehicle(s)306with respect to the autonomous vehicle105. Each of the signaling device transportation vehicle(s)306can therefore be semi-autonomously controlled via the control system308.

FIG.5illustrates an example method400for deploying emergency roadside signaling device(s)304in accordance with aspects of this disclosure. In some implementations, certain blocks of the method400may be performed by the control system308, the signaling device transportation vehicle(s)306, or any other module executed by a processor on the autonomous vehicle105. For simplicity, the method400will be described as performed by the control system308.

The method400begins at block401. At block405, the control system308receives a signal that the autonomous vehicle105is stopped. For example, the control system308may receive a signal from the in-vehicle control system150indicating that the autonomous vehicle105has parked on or near the roadway310. In some aspects, the in-vehicle control system150may generate the signal when the autonomous vehicle105is forced to make an unplanned stop. The unplanned stop may be due to mechanical failure, unsafe driving conditions (e.g., poor visibility, heavy rain, icy roadways, strong winds, etc.), or any other situation in which the autonomous vehicle is forced to stop on or near the roadway310.

In certain embodiments, the control system308may receive the signal indicating that the autonomous vehicle105is stopped from the sensor(s)316. For example, the sensor(s)316may detect when the autonomous vehicle105has stopped. In certain embodiments, there may be certain circumstances in which the control system308has lost communication with the in-vehicle control system150, for example, if the wiring between the control system308and the in-vehicle control system150is damaged due to a collision or mechanical failure. Thus, the control system308may determine that the autonomous vehicle105is stopped on or near the roadway310when the sensor(s)316produces a signal that the autonomous vehicle105is stationery and communication with the in-vehicle control system150has been inhibited or lost. Further, in some aspects, the control system308may not include a dedicated sensor316, and thus, the control system308can determine that the autonomous vehicle105is stationary based on a signal received from one of the sensor(s)318located on the signaling device transportation vehicle(s)306.

At block410, the control system308determines where to place the signaling device(s)304. For example, the control system308can access the current location using GPS (e.g., from the sensor(s)316or from the GPS sensor included in the vehicle sensor subsystem144) and predetermined maps of the roadways310to determine locations at which to place the signaling device(s)304. For example, the control system308may select certain locations within the maps based on the position of the autonomous vehicle105using the GPS signal and select locations for the signaling devices using criteria such as DOT regulations (e.g., United States 39 C.F.R. § 392.22) for the placement of the signaling device(s)304. The DOT regulations may include a predetermined time by which the signaling device(s)304must be placed once the autonomous vehicle105is stopped.

In certain embodiments, the control system308can be configured to, within, for example, 10 minutes of the autonomous vehicle105stopping, place the signaling devices304such that: (i) a first one of the signaling devices304is on the traffic side of and approximately 3 meters or 10 feet from the stopped autonomous vehicle105in the direction of approaching traffic, (ii) a second one of the signaling devices304is at approximately 30 meters or 100 feet from the stopped autonomous vehicle105in the center of the traffic lane or shoulder occupied by the stopped autonomous vehicle105and in the direction of approaching traffic, and (iii) a third one of the signaling devices304is at approximately 30 meters or 100 feet from the stopped autonomous vehicle105in the center of the traffic lane or shoulder occupied by the autonomous vehicle105and in the direction away from approaching traffic. 39 C.F.R. § 392.22 provides an example criteria for the placement of signaling device(s)304with respect to a stopped autonomous vehicle105in accordance with aspects of this disclosure. There may be special rules depending on the circumstances in which the autonomous vehicle105has been stopped.

In some circumstances, one or more of the GPS signal and/or the maps may not be available. Thus, the control system308may not be able to provide specific locations (e.g., GPS coordinates) as instructions to the signaling device transportation vehicle(s)306.

At block415, the control system308provides instructions to the signaling device transportation vehicle(s)306to position the signaling device(s)304. The signaling device transportation vehicle(s)306can also supplement the signals received from the sensor on the signaling device transportation vehicle(s)306with signals received from sensor(s)316of the control system308and/or one or more of the or more of the sensors included in the vehicle sensor subsystem144. When the control system308has access to the current GPS location of the autonomous vehicle105and the maps, the instructions may include GPS coordinates for positioning each of the signaling device(s)304. Thus, the signaling device transportation vehicle(s)306can autonomously or semi-autonomously drive the signaling device(s)304to the positions indicated by the instructions.

However, when the control system308does not have access to at least one of the current GPS location of the autonomous vehicle105or the maps, the instructions may not include the GPS coordinates for positioning the signaling device(s)304. In these circumstances, the signaling device transportation vehicle(s)306can rely at least in part on location information obtained from sensor(s)318(e.g., camera(s), radar, and/or lidar) to position the signaling device(s)304with respect to the autonomous vehicle105. The method400ends at block420.

Example Criteria for the Placement of the Signaling Device(s)

As described above, there may be predefined criteria for the placement of the signaling device(s)304, for example, the DOT regulations (e.g., United States 39 C.F.R. § 392.22) provide one set of predefined criteria for the placement of the signaling device(s)304. However, other regulations may be used for the predefined criteria including national highway traffic safety administration (NHTSA) regulations, federal motor carrier safety administration (FMCSA) regulations, federal motor vehicle safety standard (FMVSS) regulations, code of federal regulations (CFR) regulations, etc.

The FMCSA guidelines for placing warning devices are governed by the Code of Federal Regulations 39 C.F.R. § 392.22. “Whenever a commercial motor vehicle is stopped upon the traveled portion of a highway or the shoulder of a highway for any cause other than necessary traffic stops, the driver of the stopped commercial motor vehicle shall immediately activate the vehicular hazard warning signal flashers and continue the flashing until the driver places the warning devices (triangles).” 39 C.F.R. § 392.22. The warning devices must be placed within 10 minutes or as quickly as possible. In addition, the warning device must be oriented such that the reflective side is facing oncoming traffic so that the warning devices are easier to see.

The predefined criteria for the placement of the signaling device(s)304may vary depending on the specific configuration of the roadway310on which the autonomous vehicle105is travelling. For example, the predefined criteria may vary based on whether the autonomous vehicle105is stopped on: i) a two-way or undivided highway; ii) a hill, curve, or near (e.g., with a predetermined distance of) a visual obstruction; or iii) a divided or one-way roadway310.

FIG.6illustrates an example predefined criteria500for the placement of the signaling device(s)304when the autonomous vehicle is stopped on a two-way or undivided highway in accordance with aspects of this disclosure. For example, the predefined criteria500illustrated inFIG.6may correspond to the requirements of the DOT regulations, and other predefined criteria may apply depending on the regulations applicable to the autonomous vehicle105.

With reference toFIG.6, the predefined criteria500may define criteria for the placement of three signaling devices304a,304b, and304c. An exemplary predefined criteria will now be described. In particular, a first one of the signaling devices304ais placed on the traffic side of and 4 paces (approximately 3 meters or 10 feet) from the stopped autonomous vehicle105in the direction of approaching traffic. A second one of the signaling devices304bis placed at 40 paces (approximately 30 meters or 100 feet) from the stopped autonomous vehicle105in the center of the traffic lane or shoulder occupied by the autonomous vehicle105and in the direction of approaching traffic. A third one of the signaling device304cis placed at 40 paces (approximately 30 meters or 100 feet) from the stopped autonomous vehicle105in the center of the traffic lane or shoulder occupied by the autonomous vehicle105and in the direction away from approaching traffic. In other words, if the autonomous vehicle105is stopped on a 2-lane road carrying traffic in both directions or on an undivided highway, the predefined criteria500includes criteria for placing three signaling devices304a-304cwithin 10 feet of the front or rear corners to mark the location of the autonomous vehicle105and 100 feet behind and ahead of the autonomous vehicle105, on the shoulder or in the lane in which the autonomous vehicle105is stopped.

FIGS.7A and7Billustrate an example predefined criteria600for the placement of the signaling device(s)304when the autonomous vehicle105is stopped near a hill, curve, or near a visual obstruction. In particular,FIG.7Aillustrates the autonomous vehicle105stopped on a hill andFIG.7Billustrates the autonomous vehicle105stopped on a curve. For example, the predefined criteria600illustrated inFIGS.7A and7Bmay correspond to the requirements of the DOT regulations, and other predefined criteria may apply depending on the regulations applicable to the autonomous vehicle105.

With reference toFIGS.7A and7B, the predefined criteria600may define criteria for the placement of two signaling devices304aand304bwhen the autonomous vehicle105is stopped on within 500 feet of a hill, curve, or near an obstruction to view. In particular, a first one of the signaling devices304ais placed on the traffic side of and 4 paces (approximately 3 meters or 10 feet) from the stopped autonomous vehicle105in the direction of approaching traffic. A second one of the signaling devices304bis placed in the direction of the obstruction to view a distance of 100 feet to 500 feet from the stopped autonomous vehicle105so as to afford ample warning to other users of the highway.

FIG.8illustrates an example predefined criteria700for the placement of the signaling device(s)304when the autonomous vehicle105is stopped on a divided or one-way roadway310. For example, the predefined criteria700illustrated inFIG.8may correspond to the requirements of the DOT regulations, and other predefined criteria may apply depending on the regulations applicable to the autonomous vehicle105.

With reference toFIG.8, the predefined criteria700may define criteria for the placement of three signaling devices304a,304b, and304c. In particular, a first one of the signaling devices304ais placed at the traffic side of the autonomous vehicle105within 10 feet of the rear of the autonomous vehicle105. A second one of the signaling devices304bis placed at a distance of 100 feet in a direction toward approaching traffic in the center of the lane or shoulder occupied by the autonomous vehicle105. A third one of the signaling devices304cis placed at a distance of 200 feet in the direction toward approaching traffic in the center of the lane or shoulder occupied by the autonomous vehicle105.

It may not be required to place signaling devices304when the autonomous vehicle105is stopped in a business district or residential area, except during time(s) when lighted lamps are required and when street or highway lighting is insufficient to make the autonomous vehicle105clearly discernable at a distance of 500 feet to persons on the highway. Regulations governing the use of the autonomous vehicle105may also impose requirements on the signaling devices304. For example, in certain embodiments, the signaling device can comply with at least one of the following: (1) Three bidirectional emergency reflective triangles that conform to the requirements of Federal Motor Vehicle Safety Standard, (2) At least 6 fuses or 3 liquid-burning flares, and (3) Other signaling devices304may be used in addition to, but not in lieu of, the required signaling devices, provided those signaling devices do not decrease the effectiveness of the required signaling devices.

FIG.9is an example signaling device304in accordance with aspects of this disclosure. In certain embodiments, the signaling device304is formed of a first material902formed around the perimeter of the device and a second material904located inside of the first material and forming an open inner shape. In certain embodiments, the first material902may be a red reflective material and the second material904may be an orange fluorescent material. In certain embodiments, the signaling device304may be configured to be folded for storage such that the signaling device304takes up less space when not in use. In some embodiments, one or more of the size, reflectivity, color, stability (e.g., in windy or other adverse conditions), luminance, configuration, and storage of the signaling device304may be compliant with traffic regulations (e.g., DOT FMVSS requirements).

FIGS.10A-10Cillustrate example methods for deploying emergency roadside signaling devices304in accordance with aspects of this disclosure. In particular,FIG.10Aillustrates a method1000for detecting a malfunction of an autonomous vehicle105.FIG.10Billustrates a first method1020for deploying the signaling devices304.FIG.10Cillustrates a second method1040for deploying the signaling devices304. In some implementations, certain blocks of the methods1000,1020, and1040may be performed by the control system308, the signaling device transportation vehicle(s)306, or any other module executed by a processor on the autonomous vehicle105. For simplicity, the methods1000,1020, and1040will be described as performed by the control system308.

With reference toFIG.10A, the method1000starts at block1001. At block1002, the method1000involves monitoring the status of the autonomous vehicle105. At block1004, the method1000involves determining whether a malfunction has occurred. A malfunction may refer to a malfunction requiring the autonomous vehicle105to stop driving at least temporarily, for example, the malfunction may affect the ability of the autonomous vehicle105to continue safely driving on the roadway310. If no malfunction has occurred, the method1000returns to block1002. In response to detecting that a malfunction has occurred, the method1000proceeds to block1006. At block1006, the method1000involves sending a message to an emergency road service.

At block1008, the method1000involves activating emergency flashers of the autonomous vehicle105. At block1010, the method1000involves reducing the speed of autonomous vehicle105. Although blocks1006to1010are illustrated in a particular order, these blocks may be performed substantially simultaneously or in other orders without departing from aspects of this disclosure.

With reference toFIG.10B, the first method1020for deploying signaling devices304continues fromFIG.10A. The first method1020involves deploying the signaling devices before the autonomous vehicle105comes to a stop. The first method1020may be performed in situations in which one or more of the signaling devices304can be deployed while the autonomous vehicle105is still in motion. For example, the autonomous vehicle105can be configured to drop one or more of the signaling devices304from the housing302such that the signaling devices304land on the roadway310in accordance with the predefined criteria for the placement of the signaling devices304.

At block1022, the method1020involves maneuvering the autonomous vehicle105to the side of the roadway310. At block1024, the method1020involves activating the signaling device system300. At block1026, the method1020involves initiating the signaling device deploy sequence. As part of the signaling device deploy sequence, the autonomous vehicle105may determining the timing required for dropping the signaling devices in accordance with the predefined criteria for the placement of the signaling devices. In some implementations, the system may determine the timing at which to drop the signaling devices304based on one or more of the following: a current speed of the autonomous vehicle105, a rate of deceleration of the autonomous vehicle105, a distance between a current location of the autonomous vehicle105and the first location, and a distance between the signaling device housing302and the roadway310.

At block1028, the method1020involves placing the signaling devices304according to the predefined criteria. In some implementations, the placing of the signaling devices304may include dropping the signaling devices304at the timings determined in block1026. At block1030, the method1020involves stopping the autonomous vehicle105. The method1020ends at block1032.

With reference toFIG.10C, the second method1040for deploying the signaling devices304continues fromFIG.10A. The second method1040involves a method for deploying the signaling devices304after the autonomous vehicle105comes to a stop. The second method1040may be performed in situations in which one or more of the signaling devices304can be deployed using one or more signaling device transportation vehicle(s)306. For example, the signaling device transportation vehicle(s)306can be configured to place one or more of the signaling devices304on the roadway310in accordance with the predefined criteria for the placement of the signaling devices304.

At block1042, the method1040involves stopping the autonomous vehicle105on the roadway310(e.g., on the shoulder of the roadway310or within a lane on the roadway310). At block1044, the method1040involves activating the signaling device system300. At block1046, the method1040involves initiating the signaling device deploy sequence. Activating the signaling device deploy sequence may involve determining the locations at which to place the signaling devices304, for example, based on the location of the stopped autonomous vehicle105, GPS signals, and the predefined criteria for the placement of the signaling devices304. At block1048, the method1040involves placing the signaling devices304according to the predefined criteria using one or more signaling devices transportation vehicles306. The method1040ends at block1050.

FIGS.11A-11Cillustrate exemplary locations for the signaling device housing302with respect to the autonomous vehicle105in accordance with aspects of this disclosure. As shown inFIGS.11A-11C, the signaling device housing302can be located above the cab of the autonomous vehicle105and/or behind the cab. However, the location of the signaling device housing302is not limited to the locations illustrated inFIGS.11A-11Cand the signaling device housing302can be located in other locations on the exterior or interior of the cab or another portion of the autonomous vehicle105without departing from aspects of this disclosure.

The example locations for the signaling device housing302shown inFIGS.11A-11Cmay be employed for embodiments in which one or more signaling device transportation vehicle(s)306are used to deploy the signaling devices304. In some implementations, the signaling device transportation vehicles306may be embodied as drones306, for example, as illustrated inFIGS.12A-12C.

FIGS.12A-12Cillustrate an embodiment of the signaling device housing302configured to house a plurality of drones306which can be used to deploy one or more signaling devices304. In certain embodiments, the signaling device housing302can include a door1202which can be opened to allow the drones306to be deployed. As shown inFIGS.12A-12C, the drones306can be housed within the signaling device housing302when not in use. After the autonomous vehicle105stops on the roadway310(e.g., in response to a malfunction at block1042ofFIG.10C), the signaling device system300is configured to open the door1202and control the drones306to power on as part of the activating of the signaling device system300(e.g., as part of blocks1044and1046ofFIG.10C).

In certain embodiments, each of the drones306can include a GPS configured to acquire a GPS signal. In certain embodiments, the drone306is further configured to pick up one or more signaling devices304and fly to one of the locations defined by the predefined criteria for the placement of the signaling devices304. The drone306can then place the signaling device304at the signaling device location and return to the signaling device housing302. After returning to the signaling device housing302, the drone304can then power off. In some implementations, the signaling device housing302can house three drones304, each of which is configured to deploy one of the signaling devices304in accordance with the predefined criteria for the placement of the signaling devices304. Of course, the signaling device housing302can house more or less than three signaling devices304.

FIGS.13A-13Dillustrate another embodiment of the signaling device housing302configured to deploy a plurality of signaling devices304. The signaling device housing302can be located on the back of the cab of the autonomous vehicle105such that there is no interfering structure that would prevent access of the signaling device housing302to the roadway310.

In certain embodiments, the signaling device housing302can include a door1302(such as a shutter). In certain embodiments, the door1302can be opened to allow the signaling device304to be deployed onto the roadway310. As shown inFIGS.13A-13D, the signaling devices304can be housed within the signaling device housing302when not in use. As the autonomous vehicle105slows down to stop on the roadway310(e.g., in response to a malfunction detected at block1042ofFIG.10C), the signaling device system300can be configured to actuate the door1302to place the signaling devices304onto the roadway310in accordance with the predefined criteria (e.g., as part of blocks1024,1026, and1028ofFIG.10B).

In some implementations and as shown inFIG.13D, the signaling devices304can include one or more of a reflector or light (e.g., LED)1304, a weighted bottom1306, and a rubber base1308. In certain embodiments, the weighted bottom1360can be configured to orient the signaling device304in the correct orientation as the signaling device304is dropped from the autonomous vehicle105. In certain embodiments, the weighted bottom1360can help maintain the correct orientation of the signaling device304in various environmental conditions (e.g., wind, rain, etc.).

Some of the advantages associated with using the signaling device system300configured to drop the signaling devices304include: increased control of the placement of the signaling devices304, the ability to use the signaling device system300on any road surface, the ease of deployment of the signaling devices304, the low cost of the signaling device system300, the ability to use disposable signaling devices304, the ability to store the signaling device system300and signaling devices304on the autonomous vehicle105, the ability to include a plurality of signaling device systems300on the autonomous vehicle105, the symmetric design of the signaling device system300and signaling devices304, and the weather resistance of the signaling device system300and signaling devices304.

FIGS.14A and14Billustrate alternate locations in which the signaling device system300described in connection withFIGS.13A-13Dmay be stored on the autonomous vehicle105.

FIGS.15A-15Eillustrate embodiments of a signaling device304in accordance with aspects of this disclosure. In some implementations, the signaling devices304ofFIGS.15A-15Ecan be used in the signaling device housing302described in connection withFIGS.13A-13B.

In more detail,FIGS.15A and15Billustrate a first embodiment of the signaling device304andFIGS.15C-15Eillustrate a second embodiment of the signaling device304having similar features to the first embodiment.

Both of the first and second embodiments illustrated inFIGS.15A-15Ecan include a spring loaded ball configured to correctly orient the signaling device304and to increase the visibility of the signaling device304by increasing the size of the device304to a size that is larger than the stored size of the device304. For example, the signaling device304according to the illustrated embodiments has the shape of a ball when stored in the signaling device housing302as shown inFIG.15B. After deployment, the ball will land with the weighted side down to ensure that the signaling device304is correctly oriented. In certain embodiments, the signaling device304can include a soft rubber exterior configured to minimize bounce of the signaling device304when dropped, and thus, ensure that the signaling device304does not unintentionally roll away from the intended drop location.

In certain embodiments, the signaling device304further includes a spring loaded tube1502. In certain embodiments, the spring loaded tube1502can include a delay mechanism to release the spring after a predetermined length of time has elapsed after the signaling device304is deployed. For example, the delay may provide sufficient time to allow the signaling device304to stop moving after being dropped from the autonomous vehicle105. In certain embodiments, the signaling device304can include a light (e.g., an LED) configured to light the body of the tube1502when deployed. In certain embodiments, the signaling device can include a solar panel1504configured to charge a battery or directly power the light.

FIGS.16A-16Dillustrate another embodiment of a signaling device304in accordance with aspects of this disclosure. In particular,FIGS.16A and16Billustrate the internal structure of the signaling device304when deployed.FIG.16Cillustrates the deployed signaling device304include a reflective cover1602.FIG.16Dillustrates the signaling device304when stored in a signaling device housing302.

The signaling device304illustrated inFIGS.16A-16Dcan include a wire rope cone that, when deployed, is configured to form a circle with the wire rope. The cone is configured to be collapsed and stowed in the signaling device housing302when not in use. With reference toFIGS.16A-16D, the signaling device304can include a wire rope base1602, a plurality of poles1604, and/or a reflective outer cover1606. In certain embodiments, the poles1604can be formed of fiberglass or another material having sufficient strength to support the signaling device304when deployed.

FIGS.17A-17Dillustrate yet another embodiment of a signaling device304in accordance with aspects of this disclosure. In particular,FIG.17Aillustrates a plurality of the signaling devices304stored within a signaling device housing302. In certain embodiments, the signaling devices304can be deployed from the signaling device housing.FIG.17Billustrates a plan view of the signaling device304.FIG.17Cillustrates a perspective view of the signaling device304prior to full deployment.FIG.17Dillustrates a perspective view of the signaling device304after deployment.

In detail, the signaling device304ofFIGS.17A-17Dincludes a plurality of popup flags1704. In certain embodiments, the plurality of popup flags1704are actuated using one or more torsion springs. The signaling device housing302can also include an opening on one side near the bottom and an ejection mechanism, such as a push rod1702, configured to eject the signaling devices304from the signaling device housing302. Similar to the embodiment ofFIGS.15A-15E, the signaling device304may include a delay mechanism coupled to the torsion springs such that the flags1704are not deployed until after the signaling device304has come to rest on the roadway310after being dropped from the autonomous vehicle105.

FIGS.18A-18Iillustrate still yet another embodiment of a signaling device304in accordance with aspects of this disclosure. In particular,FIG.18Aillustrates the signaling device304prior to deployment.FIG.18Billustrates an exploded view of the signaling device304.FIG.18Cillustrates a plan view of the signaling device304prior to full deployment.FIG.18Dillustrates a perspective view of the signaling device304prior to full deployment.FIG.18Eillustrates a perspective view of the signaling device304after deployment.FIG.18Fillustrates a cross-sectional view of the signaling device304when stored in a signaling device housing302.FIG.18Gillustrates a perspective view of the signaling device housing302.FIGS.18H and18Iillustrates perspective views of the signaling device housing302at two stages during deployment of the signaling device304.

With reference toFIGS.18A-18I, the signaling device304comprises one or more of a spring loaded cone1802, a spring1804, a base1806, and a solenoid1808. In certain embodiments, the signaling device304is configured to be stored in a collapsed configuration. When expanded after deployment in certain embodiments, the signaling device304expands to expose reflective material1810on the cone1802. In certain embodiments, the solenoid1808can be configured to activate the spring1804in order to fully deploy the signaling device304.

In certain embodiments, the signaling device housing302can be configured to house a single signaling device304in the collapsed configuration. In certain embodiments, the signaling device housing302also includes a door1812which is configured to open in order to deploy the signaling device304. Although not illustrated, the signaling device housing302can include an ejection mechanism. In certain embodiments, the ejection mechanism can be a push rod configured to eject the signaling devices304from the signaling device housing302similar to the embodiment ofFIGS.17A-17D. In certain embodiments, the signaling device housing302can be oriented either vertically or horizontally.

FIGS.19A-19Eillustrate another embodiment of a signaling device304in accordance with aspects of this disclosure. In particular,FIG.19Aillustrates the signaling device304after deployment.FIG.19Billustrates a manifold1902.FIG.19Cillustrates a manifold inflator1904.FIG.19Cillustrates a pressurized gas cartridge1906.FIG.19Eillustrates an inflatable bladder1908.

The signaling device304ofFIGS.19A-19Emay be similar to the signaling device304ofFIGS.18A-18Iwith the use of an inflatable bladder1908in place of the conical spring1804. In particular, the inflatable bladder1908can be connected to the pressurized gas cartridge1906(e.g., a CO2cartridge) via the manifold1902. The inflator1904can be configured to activate the manifold1902in order to inflate the inflatable bladder1908using the gas from the pressurized cartridge1906.

FIGS.20A and20Billustrate yet another embodiment of a signaling device304in accordance with aspects of this disclosure. In particular,FIG.20Aillustrates the signaling device304prior to deployment.FIG.20Billustrates the signaling device304after deployment.

In the implementation ofFIGS.20A and20B, the signaling device304includes a weighted base2002and a pair of reflective triangles2004. In the illustrated embodiment, the signaling device304comprises a torsion spring2006. In certain embodiments, the weighted base2002is configured to correctly orient the signaling device304after the signaling device304is dropped from the autonomous vehicle105. In certain embodiments, the torsion spring2006is configured to rotate at least one of the reflective triangles2004such that the reflected triangles2004are substantially perpendicular.

FIG.21illustrates still yet another embodiment of a signaling device304in accordance with aspects of this disclosure. The signaling device304ofFIG.21may be substantially similar to the implementation ofFIGS.20A and20Bwith a modified weighted base2102and modified reflective triangles2104. In particular, the weighted based2102may have a curved bottom, thereby allowing the signaling device to reorient itself even when dropped at an angle or during extreme weather conditions. Similar to the implementation ofFIGS.20A and20B, the reflective triangles may be deployed via a torsion spring (not illustrated).

FIGS.22A-22Eillustrate an embodiment of a signaling device housing302configured to house a plurality of signaling devices304in accordance with aspects of this disclosure. In particular,FIG.22Aillustrates a perspective view of the signaling device housing302housing a plurality of signaling devices304.FIG.22Billustrates a perspective view of the signaling device housing302with an open door2102.FIG.22Cillustrates a close up view of a portion of the signaling device housing302.FIGS.22D and22Eillustrate different perspective view of the signaling device304. AlthoughFIGS.22D and22Eillustrate a particular implementation of the signaling device304, the signaling device housing302may also house other signaling devices304, such as those illustrated inFIGS.20A,20B, and21.

FIGS.23A-23Dillustrate another embodiment of a signaling device304in accordance with aspects of this disclosure. In particular,FIG.23Aillustrates a side view of the signaling device304after deployment.FIG.23Billustrates a partial view of the signaling device304after deployment without a base2308.FIGS.23C and23Dillustrate perspective views of alternative implementations of the signaling device304ofFIGS.23A and23B.

With reference toFIGS.23A and23B, in certain embodiments, the signaling device304includes one or more of a reflective cone2302, a spring2304, a deployment mechanism2306, and a base2308. As shown inFIGS.23C and23D, the reflective cone2302can have various shapes without departing from this disclosure.

FIGS.24A-24Fillustrate yet another embodiment of a signaling device304and signaling device housing302in accordance with aspects of this disclosure. In particular,FIG.24Aillustrates a perspective view of a signaling device housing302configured to house a plurality of signaling devices304. In certain embodiments, the plurality of signaling devices304do not expand or collapse when moved between stored and deployed states.FIGS.24B-24Fillustrate different embodiments of the signaling devices304which can be housed via the signaling device housing302.

With reference toFIG.24A, the signaling device housing302can be configured to couple to upper portions of the plurality of signaling devices304. The signaling device housing302can include a plurality of actuators2402configured to release the corresponding signaling device304in accordance with the predefined criteria for the placement of the signaling devices304.

In certain embodiments, the signaling device housing302can house different types of signaling devices304. For example, in certain embodiments where the signaling device housing302couples to a common attachment point on the plurality of signaling devices304, as long as the different signaling devices304have the same common attachment point the signaling device housing302can house the signaling device304.FIGS.24B-24Fillustrate different embodiments of signaling devices304which can be housed by the signaling device housing302ofFIG.24A.FIGS.24E and24Fillustrate an embodiment of a signaling device304that comprises a light configured to be activated once the signaling device304has been dropped from the signaling device housing302as shown inFIG.24F.

FIGS.25A-25Hillustrate still yet other embodiments of a signaling device304and signaling device housing302in accordance with aspects of this disclosure. In particular,FIG.25Aillustrates a perspective view of a signaling device housing302configured to house a plurality of signaling devices304.FIG.25Billustrates an exploded view of the signaling device housing302.FIGS.25C-25Dprovide perspective views of the signaling devices304when attached to the signaling device housing302.FIGS.25E-25Hprovide a plurality of views of a signaling device304and signaling device housing302according to an alternate embodiment.

In the embodiments ofFIGS.25A-25H, each of the signaling devices304may include an LED, a battery (not illustrated) configured to power the LED, and a travel solenoid (not illustrated) configured to push the LED out of a holding position. In some embodiments, the signaling devices304may not include an on/off switch and may be configured to automatically turn on when pushed out of the holding position. With reference toFIG.25B, the signaling device housing302includes a bar2502, a plurality of actuators and/or charging contacts2504, a circuit board2506, and a cover2508. In certain embodiments, the circuit board2506and the cover2508each include a plurality of holes through which the signaling devices304can be connected to the actuators2504. In certain embodiments, in response to receiving a signal to deploy the signaling devices304, the actuators2504are configured to release the signaling devices304and drop the signaling devices304onto the roadway310. The signal to deploy the signaling devices304may be configured to drop the signaling devices304in accordance with the predefined criteria for placement of the signaling devices304. The signaling devices304may be configured to charge an internal battery when connected to the contacts2504and automatically turn on the LEDs when disconnected from the contacts2504. The signaling devices304can further be configured to be held in the holding position without the use of magnets.

As shown inFIG.25D, the signaling device housing302can be attached directly to the frame2510of an autonomous vehicle105. For example, in certain implementations, the signaling device housing302is mounted on a trailer hitch of the autonomous vehicle105. In certain embodiments, the travel solenoid may be activated in response to the corresponding signaling device304hitting the roadway310. In some embodiments, one or more blocks may be formed on the cover2508with an O-ring grove around the outside to aid in holding the signaling devices304in place when not in use. In certain implementations, the blocks may be formed of a plastic material, however, other materials may also be used in accordance with aspects of this disclosure.

With continuing reference toFIGS.25A-25D, the signaling devices304may have the LEDs positioned along the perimeter of the signaling devices304. Thus, the LEDs of the signaling devices304may be visible regardless of whether the signaling device304comes to rest on its top surface or bottom surface. The signaling devices304may also include an optically transparent (e.g., acrylic) rod or other protrusion configured to prevent the signaling devices304from coming to rest on the edge or perimeter. In other embodiments, the outer perimeter of the signaling device304is curved to prevent the signaling devices304from coming to rest landing on the edge or perimeter. This is advantageous since if one of the signaling devices304falls on its edge, the LEDs of the signaling device304may not be visible from all angles (e.g., when viewed directly from the top or bottom).

FIGS.26A-26Cillustrate another example location of the signaling device housing302with respect to the autonomous vehicle105in accordance with aspects of this disclosure. As shown inFIGS.26A-26C, in certain embodiments, the signaling device housing302can be attached to the frame2602of the autonomous vehicle105behind the cab of the autonomous vehicle105.

The example location for the signaling device housing302shown inFIGS.26A-26Cmay be employed for embodiments in which one or more signaling device transportation vehicle(s)306are used to deploy the signaling devices304. In some implementations, the signaling device transportation vehicles306may be embodied as remotely controlled road vehicles2702, for example, as illustrated inFIGS.27A-27D.

FIGS.27A-27Dillustrate an embodiment of a signaling device transportation vehicle2702and a signaling device housing302configured to house the signaling device transportation vehicle2702. As shown inFIGS.27A-27D, the signaling device transportation vehicle2702can be configured to transport a plurality of signaling devices304. However, in other embodiments, the signaling device housing302can be configured to house a plurality of signaling device transportation vehicles2702, each of which can be configured to transport one or more signaling devices304.

In certain implementations, after the autonomous vehicle105has stopped or slowed on the roadway310, the signaling device housing302can lower a ramp2704on which the signaling device transportation vehicle2702can travel to reach the roadway310. After reaching one of the locations defined by the predefined criteria for the placement of the signaling devices304, the signaling device transportation vehicle2702can place one of the signaling device304on the roadway310. The signaling device transportation vehicle2702can then drive to the remaining locations defined by the predefined criteria for the placement of the signaling devices304to place the signaling devices304at each of the locations. The signaling device transportation vehicle2702can remain at the location of the last placed signaling device304or return to the autonomous vehicle105.

In some embodiments, the signaling device transportation vehicle2702can include a GPS sensor (not illustrated) to aid in placing the signaling devices304and/or may have a wireless transceiver configured to communicate with the autonomous vehicle105and use signals received from the autonomous vehicle105in placing the signaling devices304.

In certain embodiments, the signaling device transportation vehicle2702may include a stability system (e.g., Traxxas Stability Management® (TSM)) to improve control on slippery surfaces such as loose dirt, smooth concrete, and even ice and snow. In certain embodiments, the stability system can be configured to sense the signaling device transportation vehicle's2702direction and make steering corrections to provide straight-ahead full-throttle acceleration without fishtailing or spinouts. In certain embodiments, the stability system can also improve braking by keeping the signaling device transportation vehicle2702arrow straight until reaching a complete stop.

Depending on the implementation, different signaling devices304can be placed using the signaling device transportation vehicle2702. For example, as shown inFIG.27C, the signaling device may include an LED on one side of the device304and the signaling device304can be dropped from the signaling device transportation vehicle2702such that the LED is visible when the signaling device304is placed on the roadway310. In certain embodiments, the signaling device transportation vehicle2702can include an actuator2706configured to push the signaling devices304off of the signaling device transportation vehicle2702. In certain embodiments, the signaling devices304may be flipped in orientation as they fall to the roadway310in certain implementations.

In another implementation as shown inFIG.27D, the signaling device304may be substantially similar to the embodiments described in connection with FIGS.25A-25H. In some implementations such as the implementation ofFIG.27D, the signaling device transportation vehicle2702can include a ramp2708configured to allow the signaling devices304to be placed on the roadway310without changing the orientation of the signaling devices304.

The signaling device transportation vehicle2702may include contacts (not illustrated) configured to charge the signaling device304when positioned on the signaling device transportation vehicle2702. The contacts may protrude from the surface of the signaling device transportation vehicle2702in order to electrically connect with the signaling devices304. When the actuator2706pushes the signaling devices304off of the signaling device transportation vehicle2702, the signaling devices304disconnect from the contacts and automatically turn on the LEDs, similar to the signaling devices304ofFIGS.24A-24Hdescribed above.

ADDITIONAL ASPECTS

Aspect 1. An emergency signaling system for an autonomous vehicle, comprising: one or more signaling devices configured to visually notify other vehicles when placed on or near a roadway; one or more signaling device transportation vehicles configured to transport the one or more signaling devices; a housing configured to house the one or more signaling device transportation vehicles; a processor; and a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to: determine that the autonomous vehicle has stopped, and provide instructions to the one or more signaling device transportation vehicles to place the one or more signaling devices on or near the roadway.

Aspect 2. The system of Aspect 1, wherein the memory further has stored thereon computer-executable instructions to cause the processor to: determine one or more locations to place the one or more signaling devices, wherein the instructions provided to the one or more signaling device transportation vehicles comprise the determined locations.

Aspect 3. The system of any one of the previous Aspects, further comprising: a first Global Positioning System (GPS) transceiver configured to determine a current location of the autonomous vehicle, wherein the determining of the plurality of locations is further based on the current location of the autonomous vehicle.

Aspect 4. The system of Aspect 3, wherein the memory further has stored thereon a map of the roadway and computer-executable instructions to cause the processor to: select the plurality of locations within the map based at least in part on the current location of the autonomous vehicle and regulations for the placement of the one or more signaling devices.

Aspect 5. The system of Aspect 4, wherein the plurality of locations further comprise GPS locations for placement of each of the one or more signaling devices.

Aspect 6. The system of Aspect 5, wherein the one or more signaling device transportation vehicles comprises a second GPS transceiver, the one or more signaling device transportation vehicles configured to place the one or more signaling devices based on information received from the second GPS transceiver.

Aspect 7. The system of any one of the previous Aspects, wherein: the one or more signaling device transportation vehicles comprise a plurality of signaling device transportation vehicles, the one or more signaling devices comprise a plurality of signaling devices, and each of the signaling devices is mounted on an outer surface of one of the plurality of signaling device transportation vehicles.

Aspect 8. The system of Aspect 7, wherein each of the one or more signaling devices is mounted in an unobstructed location on the corresponding signaling device transportation vehicle and above other components of the corresponding signaling device transportation vehicle.

Aspect 9. The system of Aspect 1, wherein: the one or more signaling devices are detachable from the one or more signaling device transportation vehicles, and the memory further has stored thereon computer-executable instructions to cause the processor to place the one or more signaling devices directly on the ground.

Aspect 10. The system of any one of the previous Aspects, wherein the housing comprises a dock located on the exterior of the autonomous vehicle.

Aspect 11. The system of Aspect 10, wherein each of the one or more signaling device transportation vehicles comprises a battery and is configured to be electrically connected to the dock to charge the battery.

Aspect 12. The system of any one of the previous Aspects, wherein the memory further has stored thereon a map of the roadway and computer-executable instructions to cause the processor to: receive a signal indicating that the autonomous vehicle has stopped, wherein the determination that the autonomous vehicle has stopped is based at least in part on the received signal.

Aspect 13. A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to: determining that an autonomous vehicle has stopped, the autonomous vehicle comprising an emergency signaling system including: a plurality of signaling devices configured to visually notify other vehicles when placed on or near a roadway; at least one signaling device transportation vehicle configured to transport at least one of the plurality of signaling devices; a dock configured to house the at least one signaling device transportation vehicle and the plurality of signaling devices; and provide instructions to the at least one signaling device transportation vehicle to place at least one of the plurality of signaling devices on or near the roadway.

Aspect 14. The non-transitory computer readable storage medium of Aspect 13, further having stored thereon instructions that, when executed, cause at least one computing device to: determine a plurality of locations to place the plurality of signaling devices based on Department of Transportation (DOT) regulations, wherein the instructions provided to the at least one signaling device transportation vehicle comprise the determined locations.

Aspect 15. The non-transitory computer readable storage medium of any one of Aspects 13-14, wherein the plurality of locations to place the plurality of signaling devices comprise: a first location on the traffic side of and approximately 10 feet from the autonomous vehicle in a direction of approaching traffic, a second location at approximately 100 feet from the autonomous vehicle in a center of the traffic lane or a shoulder occupied by the autonomous vehicle and in the direction of approaching traffic, and a third location approximately 100 feet from the autonomous vehicle in the center of the traffic lane or the shoulder occupied by the autonomous vehicle and in a direction away from approaching traffic.

Aspect 16. The non-transitory computer readable storage medium of Aspect 15, wherein the instructions provided to the at least one signaling device transportation vehicle further comprise instructions to place the plurality of signaling devices at the plurality of locations within 10 minutes of the autonomous vehicle stopping.

Aspect 17. The non-transitory computer readable storage medium of any one of Aspects 14-16, further having stored thereon instructions that, when executed, cause at least one computing device to: receive a Global Positioning System (GPS) signal indicated of a location of the autonomous vehicle from a GPS transceiver, and wherein the determining of the plurality of locations to place the plurality of signaling devices is further based on the GPS signal.

Aspect 18. The non-transitory computer readable storage medium of any one of Aspects 13-17, further having stored thereon instructions that, when executed, cause at least one computing device to: determine that communication with an autonomous driving control system of the autonomous vehicle has been lost, wherein the providing of the instructions to the at least one signaling device transportation vehicle is further based on the determination that communication with the autonomous driving control system has been lost.

Aspect 19. A method for autonomously placing a plurality of signaling device on a roadway, comprising: determining that an autonomous vehicle has stopped, the autonomous vehicle comprising an emergency signaling system including: a plurality of signaling devices configured to visually notify other vehicles when placed on or near the roadway; at least one signaling device transportation vehicle configured to transport the plurality of signaling devices; a dock configured to house the at least one signaling device transportation vehicle and the plurality of signaling devices; and providing instructions to the at least one signaling device transportation vehicle to place the plurality of signaling devices on or near the roadway.

Aspect 20. The method of Aspect 19, wherein the at least one signaling device transportation vehicle comprises a Global Positioning System (GPS) transceiver, the method further comprising: the GPS transceiver generating the signal indicating the autonomous vehicle has stopped.

Aspect 21. The method of any one of Aspects 19-20, further comprising: receiving a signal from a sensor indicative of a current location of the at least one signaling device transportation vehicle; and wirelessly providing the current location to the at least one signaling device transportation vehicle.

Aspect 22. The method of Aspect 21, wherein the sensor comprises at least one of the following: camera, radar, and lidar.

Aspect 23. An emergency signaling system for an autonomous vehicle, comprising: one or more signaling devices configured to visually notify other vehicles when placed on or near a roadway; a signaling device housing configured to house the one or more signaling devices; a processor; and a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to: determine that the autonomous vehicle has experienced a malfunction, and provide instructions to the signaling device housing to place the one or more signaling devices on or near the roadway.

Aspect 24. The system of Aspect 23, wherein the signaling device housing comprises a door configured to be opened to allow the one or more signaling devices to be placed onto the roadway.

Aspect 25. The system of any one of Aspects 23-24, wherein the signaling device housing comprises a shutter configured to drop the one or more signaling devices onto the roadway.

Aspect 26. The system of any one of Aspects 23-25, wherein the memory further has stored thereon computer-executable instructions to cause the processor to: determine a first location at which the autonomous vehicle will stop, determine one or more second locations at which to place the one or more signaling devices based on the first location.

Aspect 27. The system of Aspect 26, wherein the memory further has stored thereon computer-executable instructions to cause the processor to: determine a timing at which to drop the one or more signaling devices to land at the one or more second locations based on one or more of the following: a current speed of the autonomous vehicle, a rate of deceleration of the autonomous vehicle, a distance between a current location of the autonomous vehicle and the first location, and a distance between the signaling device housing and the roadway.

Aspect 28. The system of any one of Aspects 23-27, wherein the memory further has stored thereon computer-executable instructions to cause the processor to: determine one or more locations to place the one or more signaling devices, wherein the instructions provided to the signaling device housing comprise the determined one or more locations.

Aspect 29. The system of Aspect 28, further comprising: a Global Positioning System (GPS) transceiver configured to determine a current location of the autonomous vehicle, wherein the determining of the plurality of locations is further based on the current location of the autonomous vehicle.

Aspect 30. The system of Aspect 29, wherein the memory further has stored thereon a map of the roadway and computer-executable instructions to cause the processor to: select the one or more locations within the map based at least in part on the current location of the autonomous vehicle and regulations for the placement of the one or more signaling devices.

Aspect 31. The system of any one of Aspects 23-30, wherein each of the one or more signaling devices comprises a weighted bottom configured to orient the one or more signaling devices in a correct orientation after being dropped from the autonomous vehicle.

Aspect 32. The system of any one of Aspects 23-31, wherein each of the one or more signaling devices comprises a spring loaded tube and a delay mechanism configured to release the spring after the one or more signaling devices has been dropped onto the roadway.

Aspect 33. The system of any one of Aspect 23-32, wherein: the one or more signaling devices comprise three signaling devices, and the instructions to the signaling device housing to place the one or more signaling devices on or near the roadway include instructions for respectively placing the three signaling device within 10, 100, and 200 feet of a rear of a determined location at which the autonomous vehicle will be stopped.

Aspect 34. The system of any one of Aspects 23-33, wherein each of the one or more signaling devices is configured to have a first size prior to being placed on or near the roadway and have a second size after being placed on or near the roadway, the second size being larger than the first size to increase visibility of the one or more signaling devices after being placed.

Aspect 35. A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to: determining that an autonomous vehicle has experienced a malfunction, the autonomous vehicle comprising an emergency signaling system including: one or more signaling devices configured to visually notify other vehicles when placed on or near a roadway, and a signaling device housing configured to house the one or more signaling devices; and provide instructions to the signaling device housing to place the one or more signaling devices on or near the roadway.

Aspect 36. The non-transitory computer readable storage medium of Aspect 35, further having stored thereon instructions that, when executed, cause at least one computing device to: determine a plurality of locations to place the one or more signaling devices based on Department of Transportation (DOT) regulations, wherein the instructions provided to the signaling device housing comprises the plurality of locations.

Aspect 37. The non-transitory computer readable storage medium of any one of Aspects 35-36, wherein the plurality of locations to place the one or more signaling devices comprise: a first location on the traffic side of and approximately 10 feet from the autonomous vehicle in a direction of approaching traffic, a second location at approximately 100 feet from the autonomous vehicle in a center of the traffic lane or a shoulder occupied by the autonomous vehicle and in the direction of approaching traffic, and a third location approximately 200 feet from the autonomous vehicle in a center of the traffic lane or a shoulder occupied by the autonomous vehicle and in the direction of approaching traffic.

Aspect 38. The non-transitory computer readable storage medium of any one of Aspects 35-37, further having stored thereon instructions that, when executed, cause at least one computing device to: select the plurality of locations within a map of the roadway based at least in part on the current location of the autonomous vehicle and regulations for the placement of the one or more signaling devices.

Aspect 39. The non-transitory computer readable storage medium of Aspect 38, further having stored thereon instructions that, when executed, cause at least one computing device to: determine a location at which the autonomous vehicle will stop, wherein the selecting of the plurality of locations within the map of the roadway is further based on the determined location at which the autonomous vehicle will stop.

Aspect 40. The non-transitory computer readable storage medium of any one of Aspects 35-39, wherein: the instructions provided to the signaling device housing further comprise instructions to place the one or more signaling devices at the plurality of locations within 10 minutes of the autonomous vehicle stopping.

Aspect 41. The non-transitory computer readable storage medium of any one of Aspects 35-40, further having stored thereon instructions that, when executed, cause at least one computing device to: receive a Global Positioning System (GPS) signal indicated of a location of the autonomous vehicle from a GPS transceiver, and determine a plurality locations to place the one or more signaling devices onto the roadway based on the GPS signal.

Aspect 42. The non-transitory computer readable storage medium of Aspect 41, further having stored thereon instructions that, when executed, cause at least one computing device to: determine a timing at which to drop the one or more signaling devices to land at the plurality of locations.

Aspect 43. A system for an autonomous vehicle, comprising: one or more signaling devices configured to visually notify other vehicles when placed on or near a roadway; an object placing device configured to place the one or more signaling devices; a processor; and a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to: determine that the autonomous vehicle has experienced a malfunction, and provide instructions to the object placing device to place the one or more signaling devices on or near the roadway.

Aspect 44. The system of Aspect 43 wherein the object placing device comprises one or more signaling device transportation vehicles configured to transport the one or more signaling devices, wherein the object placing device further comprises a housing configured to house the one or more signaling device transportation vehicles.

Aspect 45. The system of Aspect 44, wherein the memory further has stored thereon computer-executable instructions to cause the processor to: determine one or more locations to place the one or more signaling devices, wherein the instructions provided to the object placing device comprise the determined one or more locations.

Aspect 46. The system of Aspect 45, further comprising: a first Global Positioning System (GPS) transceiver configured to determine a current location of the autonomous vehicle, wherein the determining of the one or more locations is further based on the current location of the autonomous vehicle.

Aspect 47. The system of Aspect 46, wherein the memory further has stored thereon a map of the roadway and computer-executable instructions to cause the processor to: select the one or more locations within the map based at least in part on the current location of the autonomous vehicle and regulations for the placement of the one or more signaling devices.

Aspect 48. The system of Aspect 47, wherein the one or more signaling device transportation vehicles comprises a second GPS transceiver, the one or more signaling device transportation vehicles configured to place the one or more signaling devices based on information received from the second GPS transceiver.

Aspect 49. The system of Aspect 48, wherein: the one or more signaling device transportation vehicles comprise a plurality of signaling device transportation vehicles, the one or more signaling devices comprise a plurality of signaling devices, and each of the signaling devices is mounted on an outer surface of one of the plurality of signaling device transportation vehicles.

Aspect 50. The system of any one of Aspects 44-49, wherein the housing comprises a dock located on the exterior of the autonomous vehicle, wherein each of the one or more signaling device transportation vehicles comprises a battery and is configured to be electrically connected to the dock to charge the battery.

Aspect 51. The system of any one of Aspects 43-50, wherein the memory further has stored thereon computer-executable instructions to cause the processor to:determine a first location at which the autonomous vehicle will stop, anddetermine one or more second locations at which to place the one or more signaling devices based on the first location.

Aspect 52. The system of any one of Aspect 51, wherein the memory further has stored thereon computer-executable instructions to cause the processor to: determine a timing at which to drop the one or more signaling devices to land at the one or more second locations based on one or more of the following: a current speed of the autonomous vehicle, a rate of deceleration of the autonomous vehicle, a distance between a current location of the autonomous vehicle and the first location, and a distance between the object placing device and the roadway.

Aspect 53. A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to: determine that an autonomous vehicle has experienced a malfunction, the autonomous vehicle comprising an emergency signaling system comprising: one or more signaling devices configured to visually notify other vehicles when placed on or near a roadway, and an object placing device configured to place the one or more signaling devices; and provide instructions to the object placing device to place the one or more signaling devices on or near the roadway.

Aspect 54. The non-transitory computer readable storage medium of Aspect 53, further having stored thereon instructions that, when executed, cause at least one computing device to: determine one or more locations to place the one or more signaling devices, wherein the instructions provided to the object placing device comprise the determined one or more locations, wherein the one or more locations to place the one or more signaling devices comprise: a first location on the traffic side of and approximately 10 feet from the autonomous vehicle in a direction of approaching traffic, a second location at approximately 100 feet from the autonomous vehicle in a center of the traffic lane or a shoulder occupied by the autonomous vehicle and in the direction of approaching traffic, and a third location approximately 200 feet from the autonomous vehicle in a center of the traffic lane or a shoulder occupied by the autonomous vehicle and in the direction of approaching traffic.

Aspect 55. The non-transitory computer readable storage medium of any one of Aspects 53-54, wherein the object placing device comprises one or more signaling device transportation vehicles configured to transport the one or more signaling devices, wherein each of the one or more signaling devices is mounted in an unobstructed location on the corresponding signaling device transportation vehicle and above other components of the corresponding signaling device transportation vehicle.

Aspect 56. The non-transitory computer readable storage medium of any one of Aspects 53-55, wherein the object placing device is a signaling device housing further configured to house the one or more signaling devices.

Aspect 57. The non-transitory computer readable storage medium of Aspect 56, wherein the signaling device housing comprises a door configured to be opened to allow the one or more signaling devices to be placed onto the roadway, or a shutter configured to drop the one or more signaling devices onto the roadway.

Aspect 58. A method comprising: determining that an autonomous vehicle has experienced a malfunction, the autonomous vehicle comprising an emergency signaling system comprising: one or more signaling devices configured to visually notify other vehicles when placed on or near the roadway; and an object placing device configured to place the one or more signaling devices; and providing instructions to the object placing device to place the one or more signaling devices on or near the roadway.

Aspect 59. The method of Aspect 58 wherein the object placing device comprises one or more signaling device transportation vehicles configured to transport the one or more signaling devices, wherein the method further comprises: receiving a signal from a sensor indicative of a current location of the one or more signaling device transportation vehicles, wherein the sensor comprises at least one of the following: camera, radar, and lidar; and wirelessly providing the current location to the one or more signaling device transportation vehicles.

Aspect 60. The method of any one of Aspects 58-59, wherein each of the one or more signaling devices comprises a weighted bottom configured to orient the one or more signaling devices in a correct orientation after being dropped from the autonomous vehicle.

Aspect 61. The method of any one of Aspect 58-60, wherein each of the one or more signaling devices comprises a spring loaded tube and a delay mechanism configured to release the spring after the one or more signaling devices has been dropped onto the roadway.

Aspect 62. The method of any one of Aspect 58-61, wherein each of the one or more signaling devices is configured to have a first size prior to being placed on or near the roadway and have a second size after being placed on or near the roadway, the second size being larger than the first size to increase visibility of the one or more signaling devices after being placed.

Aspect 63. A control system for an object placing device of an autonomous vehicle, the system comprising: a processor; and a computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to: receive a signal comprising instructions to activate the object placing device; and provide instructions to the object placing device to place a plurality of signaling devices in accordance with predetermined criteria.

Aspect 64. The system of Aspect 63, wherein the predetermined criteria comprise at least one of: a first set of criteria for the placement of the plurality of signaling devices when the autonomous vehicle is stopped on a two-way or undivided highway, a second set of criteria for the placement of the plurality of signaling devices when the autonomous vehicle is stopped on a hill, on a curve, or withing a predetermined distance of a visual obstruction, and a third set of criteria for the placement of the plurality of signaling devices when the autonomous vehicle is stopped on a divided or one-way roadway.

Aspect 65. The system of Aspect 64, wherein the predetermined criteria comprises at least the first set of criteria, and wherein the first set of criteria comprises: a first location for a first one of the plurality of signaling devices to be placed on a traffic side of a stopped location at which the autonomous vehicle is stopped and about 10 feet from the stopped location in a direction of approaching traffic, a second location for a second one of the plurality of signaling devices to be placed at about 100 feet from the stopped location in a center of a traffic lane or shoulder of the stopped location and in the direction of approaching traffic, and a third location for a third one of the plurality of signaling devices to be placed at about 100 feet from the stopped location in the center of the traffic lane or the shoulder of the stopped location and in a direction away from approaching traffic.

Aspect 66. The system of Aspect 65, wherein the first set of criteria further comprise criteria for placement of all of the first, second, and third signaling devices at the first, second, and third locations, respectively, within 10 minutes.

Aspect 67. The system of any one of Aspects 65-66, wherein: each of the plurality of signaling devices comprises a reflective side having a reflective material, and the first set of criteria further comprise criteria for placing the first, second, and third signaling devices such that the reflective side of the first, second, and third signaling devices faces the direction of approaching traffic.

Aspect 68. The system of any one of Aspects 65-67, wherein the object placing device comprises one or more signaling device ground transportation vehicles configured to transport the first, second, and third signaling devices to the first, second, and third locations, respectively.

Aspect 69. The system of any one of Aspects 65-68, wherein the object placing device comprises one or more battery powered air vehicles configured to transport the first, second, and third signaling devices to the first, second, and third locations, respectively.

Aspect 70. The system of any one of Aspects 64-69, wherein the predetermined criteria comprises at least the second set of criteria, and wherein the second set of criteria comprises: a first location for a first one of the plurality of signaling devices to be placed on a traffic side of a stopped location at which the autonomous vehicle is stopped and about 10 feet from the stopped location in a direction of approaching traffic, and a second location for a second one of the plurality of signaling devices to be placed at about 100 feet to about 500 feet from the stopped location in the direction of approaching traffic.

Aspect 71. The system of Aspect 70, wherein the memory further has stored thereon computer-executable instructions to cause the processor to: predict the stopped location at which the autonomous vehicle will stop prior to reaching the stopped location, and provide the instructions to the object placing device to place the first one of the plurality of signaling devices and the second one of the plurality of signaling devices before the autonomous vehicle stops at the stopped location.

Aspect 72. The system of Aspect 71, wherein the memory further has stored thereon computer-executable instructions to cause the processor to: determine a timing at which to drop the first one of the plurality of signaling devices and the second one of the plurality of signaling devices to land at the first and second locations, respectively.

Aspect 73. The system of any one of Aspects 64-72, wherein the predetermined criteria comprises at least the third set of criteria, and wherein the third set of criteria comprises: a first location for a first one of the plurality of signaling devices to be placed on a traffic side of a stopped location at which the autonomous vehicle is stopped and about 10 feet from the stopped location in a direction of approaching traffic, a second location for a second one of the plurality of signaling devices to be placed at about 100 feet from the stopped location in a center of the traffic lane or shoulder of the stopped location and in the direction of approaching traffic, and a third location for a third one of the plurality of signaling devices to be placed at about 200 feet from the stopped location in a center of the traffic lane or shoulder of the stopped location and in the direction of approaching traffic.

Aspect 74. The system of any one of Aspects 64-73, wherein the predetermined criteria further comprise a fourth set of criteria for the placement of the plurality of signaling devices when the autonomous vehicle is: i) stopped in a business district or residential area, ii) at a time when lighted lamps are required, and iii) when street or highway lighting is insufficient to make the autonomous vehicle clearly discernable at a distance of 500 feet from the autonomous vehicle.

Aspect 75. A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to: receive a signal comprising instructions to activate the object placing device; and provide instructions to the object placing device to place a plurality of signaling devices in accordance with predetermined criteria.

Aspect 76. The non-transitory computer readable storage medium of Aspect 75, further having stored thereon instructions that, when executed, cause at least one computing device to: determine a plurality of locations to place the plurality of signaling devices in accordance with the predetermined criteria, wherein the instructions provided to the object placing device comprise the determined locations.

Aspect 77. The non-transitory computer readable storage medium of any one of Aspects 75-76, wherein the plurality of signaling devices comprise three bidirectional emergency reflective triangles that conform to the requirements of Federal Motor Vehicle Safety Standard.

Aspect 78. The non-transitory computer readable storage medium of any one of Aspects 75-77, wherein the plurality of signaling devices further comprise one or more additional signaling devices configured to not decrease the effectiveness of the three bidirectional emergency reflective triangles.

Aspect 79. A method comprising: receiving a signal comprising instructions to activate the object placing device; providing instructions to the object placing device to place a plurality of signaling devices in accordance with predetermined criteria.

Aspect 80. The method of Aspect 79, further comprising: determining a current location of the autonomous vehicle based on a signal received from a Global Positioning System (GPS) transceiver; determining a type of roadway associated with the current location of the autonomous vehicle; and selecting predetermined criteria for the placement of the plurality of signaling devices from a plurality of different predetermined criteria based on the determined type of roadway.

Aspect 81. The method of any one of Aspects 79-80, wherein the plurality of signaling devices comprise at least six fuses or at least three liquid-burning flares.

Aspect 82. The method of any one of Aspects 79-81, wherein the predetermined criteria define at least one of a size, a reflectivity, a color, a stability, a luminance, a configuration, and a storage of the plurality of signaling devices.

While there have been shown and described and pointed out the fundamental novel features of the invention as applied to certain inventive embodiments, it will be understood that the foregoing is considered as illustrative only of the principles of the invention and not intended to be exhaustive or to limit the invention to the precise forms disclosed. Modifications or variations are possible in light of the above teachings. The embodiments discussed were chosen and described to provide the best illustration of the principles of the invention and its practical application to enable one of ordinary skill in the art to utilize the invention in various embodiments and with various modifications as are suited to the particular use contemplate. All such modifications and variations are within the scope of the invention as determined by the appended claims when interpreted in accordance with the breadth to which they are entitled.