Patent ID: 12228932

DETAILED DESCRIPTION

Overview

The technology relates to autonomous vehicle for maneuvering a user or passenger to a destination, for example taking a trip, autonomously. In order to do so, the user may provide a pickup location and a destination location for the trip to a centralized dispatching system via a client computing device, such as a mobile phone. However, in some cases, these pickup or destination locations may be outside of a service area of the autonomous vehicle. Rather than simply denying the use the ability to use the services of the autonomous vehicles, the user may be provided with a proposed alternative pickup or destination location as well as other information, such as that the location is too far away and the service is not available, in order to better serve the user.

Pickup and destination locations may be identified in various ways. As an example, the pick location can be defaulted to current location of the user's client computing device, but may also be a recent or saved location near the current location associated with the user's account. As another example, locations may be suggested to a user based on the user's history with the service. The user may also enter an address or other location information, tap a location on a map, or select a location from a list in order to identify a pickup and/or destination location.

Although the user may enter a discrete location such as an address or point on a map as described above, this location may be converted into or displayed with or as a pickup “area” encompassing a zone in which the user can expect the vehicle to stop to pick up the user. This may provide a more relevant understanding of where the pickup is likely to occur as the actual pickup location will depend upon changing factors such as parking availability, other vehicles or obstructions, etc.

The user may also be able to fine tune this pickup location. For example, once a pickup location has been identified, the user may be provided with a street level image of the pickup location and/or a map that includes the pickup location and immediately surrounding areas. The map may also include aerial imagery in order to provide the user with greater context. The user may be able to edit the exact pickup location by moving a marker on the map. At the same time that the map marker is moved, a new street level image corresponding to the new map marker location may replace the display of the original street level image. When the user is satisfied, he or she may confirm the pickup location and an autonomous vehicle may be dispatched to the confirmed location. Again, the pickup location may also be displayed as an area around the identified pickup location. As such, moving the map marker to a new map marker location may cause the area of the pickup location to change as well.

When the pickup location is outside of the service area, the centralized dispatching system may determine whether the pickup location within a threshold distance of an acceptable pickup location within the service area. If so, the user may be provided with an option to receive a revised pickup location or area within the service area that is closest, more convenient, or otherwise relevant to the original pickup location or based on the user's current location. The user may also be provided with a map and directions for navigating, for example walking directions or directions for using public transportation, to the revised pickup location or area. The user may then confirm (e.g., accept) or reject this revised pickup location. In some examples, the user may be able to fine tune this revised pickup location as described above. Again, when the user is satisfied, he or she may confirm the pickup location or area and an autonomous vehicle may be dispatched to the confirmed location.

When pickup location is outside the threshold, the user may be notified that the pickup location is outside of the service area. In this example, the user may be provided with an informational message listing the geographic areas within the service area. The user may also have an opportunity to select or identify another pickup location. In some examples, the application may also provide the user with instructions for reaching a pickup location or area within the service area using a different type of transportation such as a bus, train, or other public transportation.

When an identified destination location is outside of the service area, the features described above with regard to a pickup location may be used to provide a revised destination location or area (as with the pickup locations and areas described above). As with the pickup example, the user may also be provided with the ability to fine tune a destination location or area, revised destination location or area, or a closest, more convenient, or otherwise relevant acceptable destination location or area using the features described above. Once the destination is confirmed, the user may also be able to specify additional (second, third, etc.) destinations. Again, when a destination location is outside of the service area, the features described above with regard to a pickup location may be used to provide a revised destination location or area.

The features described herein provide for an increase in the availability of the services of autonomous vehicles to users who request pickup or destination locations that are outside of the service area by providing them with alternative pickup locations. Also, users will be provided with realistic expectations for where the vehicle can and cannot go at the outset of a trip. In addition, by allowing a user to fine tune the pickup and destination locations, the user may have a higher confidence that he or she will be picked up or dropped on in their desired location and also in the autonomous vehicle generally.

Example Systems

As shown inFIG.1, a vehicle100in accordance with one aspect of the disclosure includes various components. While certain aspects of the disclosure are particularly useful in connection with specific types of vehicles, the vehicle may be any type of vehicle including, but not limited to, cars, trucks, motorcycles, busses, recreational vehicles, etc. The vehicle may have one or more computing devices, such as computing device110containing one or more processors120, memory130and other components typically present in general purpose computing devices.

The memory130stores information accessible by the one or more processors120, including instructions132and data134that may be executed or otherwise used by the processor120. The memory130may be of any type capable of storing information accessible by the processor, including a computing device-readable medium, or other medium that stores data that may be read with the aid of an electronic device, such as a hard-drive, memory card, ROM, RAM, DVD or other optical disks, as well as other write-capable and read-only memories. Systems and methods may include different combinations of the foregoing, whereby different portions of the instructions and data are stored on different types of media.

The instructions132may be any set of instructions to be executed directly (such as machine code) or indirectly (such as scripts) by the processor. For example, the instructions may be stored as computing device code on the computing device-readable medium. In that regard, the terms “instructions” and “programs” may be used interchangeably herein. The instructions may be stored in object code format for direct processing by the processor, or in any other computing device language including scripts or collections of independent source code modules that are interpreted on demand or compiled in advance. Functions, methods and routines of the instructions are explained in more detail below.

The data134may be retrieved, stored or modified by processor120in accordance with the instructions132. For instance, although the claimed subject matter is not limited by any particular data structure, the data may be stored in computing device registers, in a relational database as a table having a plurality of different fields and records, XML documents or flat files. The data may also be formatted in any computing device-readable format.

The one or more processor120may be any conventional processors, such as commercially available CPUs. Alternatively, the one or more processors may be a dedicated device such as an ASIC or other hardware-based processor. AlthoughFIG.1functionally illustrates the processor, memory, and other elements of computing device110as being within the same block, it will be understood by those of ordinary skill in the art that the processor, computing device, or memory may actually include multiple processors, computing devices, or memories that may or may not be stored within the same physical housing. For example, memory may be a hard drive or other storage media located in a housing different from that of computing device110. Accordingly, references to a processor or computing device will be understood to include references to a collection of processors or computing devices or memories that may or may not operate in parallel.

Computing device110may all of the components normally used in connection with a computing device such as the processor and memory described above as well as a user input150(e.g., a mouse, keyboard, touch screen and/or microphone) and various electronic displays (e.g., a monitor having a screen or any other electrical device that is operable to display information). In this example, the vehicle includes an internal electronic display152as well as one or more speakers154to provide information or audio visual experiences. In this regard, internal electronic display152may be located within a cabin of vehicle100and may be used by computing device110to provide information to passengers within the vehicle100.

Computing device110may also include one or more wireless network connections154to facilitate communication with other computing devices, such as the client computing devices and server computing devices described in detail below. The wireless network connections may include short range communication protocols such as Bluetooth, Bluetooth low energy (LE), cellular connections, as well as various configurations and protocols including the Internet, World Wide Web, intranets, virtual private networks, wide area networks, local networks, private networks using communication protocols proprietary to one or more companies, Ethernet, WiFi and HTTP, and various combinations of the foregoing.

In one example, computing device110may be an autonomous driving computing system incorporated into vehicle100. The autonomous driving computing system may capable of communicating with various components of the vehicle. For example, returning toFIG.1, computing device110may be in communication with various systems of vehicle100, such as deceleration system160, acceleration system162, steering system164, signaling system166, navigation system168, positioning system170, and detection system172in order to control the movement, speed, etc. of vehicle100in accordance with the instructions134of memory130. Again, although these systems are shown as external to computing device110, in actuality, these systems may also be incorporated into computing device110, again as an autonomous driving computing system for controlling vehicle100.

As an example, computing device110may interact with deceleration system160and acceleration system162in order to control the speed of the vehicle. Similarly, steering system164may be used by computer110in order to control the direction of vehicle100. For example, if vehicle100is configured for use on a road, such as a car or truck, the steering system may include components to control the angle of wheels to turn the vehicle. Signaling system166may be used by computing device110in order to signal the vehicle's intent to other drivers or vehicles, for example, by lighting turn signals or brake lights when needed.

Navigation system168may be used by computing device110in order to determine and follow a route to a location. In this regard, the navigation system168and/or data134may store detailed map information, e.g., highly detailed maps identifying the shape and elevation of roadways, lane lines, intersections, crosswalks, speed limits, traffic signals, buildings, signs, real time traffic information, vegetation, or other such objects and information.

Positioning system170may be used by computing device110in order to determine the vehicle's relative or absolute position on a map or on the earth. For example, the position system170may include a GPS receiver to determine the device's latitude, longitude and/or altitude position. Other location systems such as laser-based localization systems, inertial-aided GPS, or camera-based localization may also be used to identify the location of the vehicle. The location of the vehicle may include an absolute geographical location, such as latitude, longitude, and altitude as well as relative location information, such as location relative to other cars immediately around it which can often be determined with less noise that absolute geographical location.

The positioning system170may also include other devices in communication with computing device110, such as an accelerometer, gyroscope or another direction/speed detection device to determine the direction and speed of the vehicle or changes thereto. By way of example only, an acceleration device may determine its pitch, yaw or roll (or changes thereto) relative to the direction of gravity or a plane perpendicular thereto. The device may also track increases or decreases in speed and the direction of such changes. The device's provision of location and orientation data as set forth herein may be provided automatically to the computing device110, other computing devices and combinations of the foregoing.

The detection system172also includes one or more components for detecting objects external to the vehicle such as other vehicles, obstacles in the roadway, traffic signals, signs, trees, etc. For example, the detection system170may include lasers, sonar, radar, cameras and/or any other detection devices that record data which may be processed by computing device110. In the case where the vehicle is a small passenger vehicle such as a car, the car may include a laser or other sensors mounted on the roof or other convenient location.

The computing device110may control the direction and speed of the vehicle by controlling various components. By way of example, computing device110may navigate the vehicle to a destination location completely autonomously using data from the detailed map information and navigation system168. Computer110may use the positioning system170to determine the vehicle's location and detection system172to detect and respond to objects when needed to reach the location safely. In order to do so, computer110may cause the vehicle to accelerate (e.g., by increasing fuel or other energy provided to the engine by acceleration system162), decelerate (e.g., by decreasing the fuel supplied to the engine, changing gears, and/or by applying brakes by deceleration system160), change direction (e.g., by turning the front or rear wheels of vehicle100by steering system164), and signal such changes (e.g., by lighting turn signals of signaling system166). Thus, the acceleration system162and deceleration system162may be a part of a drivetrain that includes various components between an engine of the vehicle and the wheels of the vehicle. Again, by controlling these systems, computer110may also control the drivetrain of the vehicle in order to maneuver the vehicle autonomously.

Computing device110of vehicle100may also receive or transfer information to and from other computing devices.FIGS.2and3are pictorial and functional diagrams, respectively, of an example system200that includes a plurality of computing devices210,220,230,240and a storage system250connected via a network260. System200also includes vehicle100, and vehicle100A which may be configured similarly to vehicle100. Although only a few vehicles and computing devices are depicted for simplicity, a typical system may include significantly more.

As shown inFIG.3, each of computing devices210,220,230,240may include one or more processors, memory, data and instructions. Such processors, memories, data and instructions may be configured similarly to one or more processors120, memory130, data132, and instructions134of computing device110.

The network260, and intervening nodes, may include various configurations and protocols including short range communication protocols such as Bluetooth, Bluetooth LE, the Internet, World Wide Web, intranets, virtual private networks, wide area networks, local networks, private networks using communication protocols proprietary to one or more companies, Ethernet, WiFi and HTTP, and various combinations of the foregoing. Such communication may be facilitated by any device capable of transmitting data to and from other computing devices, such as modems and wireless interfaces.

In one example, one or more computing devices110may include a server having a plurality of computing devices, e.g., a load balanced server farm, that exchange information with different nodes of a network for the purpose of receiving, processing and transmitting the data to and from other computing devices. For instance, one or more computing devices210may include one or more server computing devices that are capable of communicating with computing device110of vehicle100or a similar computing device of vehicle100A as well as computing devices220,230,240via the network260. For example, vehicles100and100A may be a part of a fleet of vehicles that can be dispatched by server computing devices to various locations. In this regard, the vehicles of the fleet may periodically send the server computing devices location information provided by the vehicle's respective positioning systems and the one or more server computing devices may track the locations of the vehicles.

In addition, server computing devices210may use network260to transmit and present information to a user, such as user222,232,242on a display, such as displays224,234,242of computing devices220,230,240. In this regard, computing devices220,230,240may be considered client computing devices.

As shown inFIG.3, each client computing device220,230,240may be a personal computing device intended for use by a user222,232,242, and have all of the components normally used in connection with a personal computing device including a one or more processors (e.g., a central processing unit (CPU)), memory (e.g., RAM and internal hard drives) storing data and instructions, a display such as displays224,234,244(e.g., a monitor having a screen, a touch-screen, a projector, a television, or other device that is operable to display information), and user input devices226,236,246(e.g., a mouse, keyboard, touch-screen or microphone). The client computing devices may also include a camera for recording video streams, speakers, a network interface device, and all of the components used for connecting these elements to one another.

In addition, the client computing devices220and230may also include components228and238for determining the position and orientation of client computing devices. For example, these components may include a GPS receiver to determine the device's latitude, longitude and/or altitude as well as an accelerometer, gyroscope or another direction/speed detection device as described above with regard to positioning system170of vehicle100.

Although the client computing devices220,230, and240may each comprise a full-sized personal computing device, they may alternatively comprise mobile computing devices capable of wirelessly exchanging data with a server over a network such as the Internet. By way of example only, client computing device220may be a mobile phone or a device such as a wireless-enabled PDA, a tablet PC, a wearable computing device or system, or a netbook that is capable of obtaining information via the Internet or other networks. In another example, client computing device230may be a wearable computing system, shown as a head-mounted computing system inFIG.2. As an example the user may input information using a small keyboard, a keypad, microphone, using visual signals with a camera, or a touch screen.

In some examples, client computing device240may be a concierge work station used by an administrator to provide concierge services to users such as users222and232. For example, a concierge242may use the concierge work station240to communicate via a telephone call or audio connection with users through their respective client computing devices or vehicles100or100A in order to facilitate the safe operation of vehicles100and100A and the safety of the users as described in further detail below. Although only a single concierge work station240is shown inFIGS.2and3, any number of such work stations may be included in a typical system.

Storage system250may store various types of information as described in more detail below. This information may be retrieved or otherwise accessed by a server computing device, such as one or more server computing devices210, in order to perform some or all of the features described herein. For example, the information may include user account information such as credentials (e.g., a user name and password as in the case of a traditional single-factor authentication as well as other types of credentials typically used in multi-factor authentications such as random identifiers, biometrics, etc.) that can be used to identify a user to the one or more server computing devices. The user account information may also include personal information such as the user's name, contact information, identifying information of the user's client computing device (or devices if multiple devices are used with the same user account), as well as one or more unique signals for the user.

The storage system250may also store routing data for generating and evaluating routes between locations. For example, the routing information may be used to estimate how long it would take a vehicle at a first location to reach a second location. In this regard, the routing information may include map information, not necessarily as particular as the detailed map information described above, but including roads, as well as information about those road such as direction (one way, two way, etc.), orientation (North, South, etc.), speed limits, as well as traffic information identifying expected traffic conditions, etc.

As with memory130, storage system250can be of any type of computerized storage capable of storing information accessible by the server computing devices210, such as a hard-drive, memory card, ROM, RAM, DVD, CD-ROM, write-capable, and read-only memories. In addition, storage system250may include a distributed storage system where data is stored on a plurality of different storage devices which may be physically located at the same or different geographic locations. Storage system150may be connected to the computing devices via the network260as shown inFIG.2and/or may be directly connected to or incorporated into any of the computing devices110,210,220,230,240, etc.

FIGS.4A-4Dare examples of external views of vehicle100. As can be seen, vehicle100includes many features of a typical vehicle such as headlights402, windshield403, taillights/turn signal lights404, rear windshield405, doors406, side view mirrors408, tires and wheels410, and turn signal/parking lights412. Headlights402, taillights/turn signal lights404, and turn signal/parking lights412may be associated the signaling system166. Light bar407may also be associated with the signaling system166.

Vehicle100also includes sensors of the detection system172. For example, housing414may include one or more laser devices for having 360 degree or narrower fields of view and one or more camera devices. Housings416and418may include, for example, one or more radar and/or sonar devices. The devices of the detection system may also be incorporated into the typical vehicle components, such as taillights404and/or side view mirrors408. Each of these radar, camera, and lasers devices may be associated with processing components which process data from these devices as part of the detection system172and provide sensor data to the computing device110.

FIG.5is an example internal view of vehicle100through the opening of door406. In this example, there are two seats502for passengers with a console504between them. Directly in ahead of the seats502is a dashboard configuration506having a storage bin area508and the internal electronic display152. As can be readily seen, vehicle100does not include a steering wheel, gas (acceleration) pedal, or brake (deceleration) pedal which would allow for a semiautonomous or manual driving mode where a passenger would directly control the steering, acceleration and/or deceleration of the vehicle via the drivetrain. Rather, as described in further detail below, user input is limited to a microphone of the user input150(not shown), features of the console504, and wireless network connections156. In this regard, internal electronic display152merely provides information to the passenger and need not include a touch screen or other interface for user input. In other embodiments, the internal electronic display152may include a touch screen or other user input device for entering information by a passenger such as a destination, etc.

The internal electronic display152has a generally rectangular shape where the width (or vertical height dimension) of the display is significantly smaller than the length (or horizontal dimension). The internal electronic display152may include an anti-reflective coating and be situated above the storage bin area508in order to align with a passenger's eye level when seated in either of the seats502. The microphone of the user input150may be a located behind a small opening at the top center of the internal electronic display152.

Storage bin area508may be configured to hold items such as shopping bags, purses, backpacks, etc. The depth of the storage bin may be configured such that larger objects are less likely to tip out of the storage bin area during an abrupt deceleration or acceleration of vehicle100. In some examples, elastic straps may be used to further secure items in the storage bin area. Storage bin area508may serve a dual purpose as a foot rest for passengers seated in seats502.

FIG.6is a top down view of the console504. Console504includes various buttons for controlling features of vehicle100. For example, console504includes buttons that may be found in a typical vehicle such as buttons602for locking and unlocking the doors406, buttons604for raising or lowering the windows of doors406, buttons606for turning on internal lights of the vehicle, buttons608for controlling a heating function of seats502, as well as buttons610for controlling the volume of speakers154.

In addition, console504also includes buttons611for initiating communication with concierge242via one of the wireless network connections156. Once the concierge work station is connected to the vehicle, the concierge may communicate with the passenger via the speakers154and/or internal electronic display152. In addition, the microphone allows the passenger to speak directly to the concierge. In some cases, vehicle100may include an internal still or video camera that allows the concierge to view the status of the passengers and confirm their safety.

Buttons612and614may also be a part of user input150and in this regard, allow a passenger to communicate with computer110, for example, to initiate or end a trip in the vehicle. In this regard, button612may act as an emergency stopping button that, when pushed, causes vehicle100to stop in a short amount of time. Because the passenger does not have direct control of the acceleration or deceleration of vehicle100by way of a gas or brake pedal, button612may be an emergency stop button that is critical to allowing a passenger to feel safe and act quickly in case of an immediate emergency. In addition, because of the potentially abrupt nature of a stop initiated by the emergency stopping button612, the emergency stopping button612may feature a cover (e.g., a clear plastic cover) that may have to be removed or flipped up in order to activate button612.

Button614may be a multi-function button having different states. In the first state, button614may be a “GO” button which a passenger uses to initiate a trip to a destination. Once vehicle100is moving, button614may change to a “PULL OVER” button which a passenger users to initiate a non-emergency stop. In this regard, computer110may respond by determining a safe place to pull the vehicle over, rather than coming to a more sudden stop as with the emergency stop button612. Alternatively, two buttons, one having a “GO” state and the other having a “PULL OVER” state may be used.

Thus, passenger communication with computer110for navigation purposes may be limited to button614(or two buttons as in the example above), emergency stopping button612, wireless network connection156(such as Bluetooth LE) with the passenger's client computing device, and by sending information from the passenger's client computing device to the server210which then relays that information to the vehicle's computer. In some examples, a passenger may provide information to the vehicle's computer110via voice commands though the microphone as discussed above. In addition, however, the passenger may communicate with the concierge via a phone call, an application on the passenger's client computing device, a microphone, and/or the concierge button611and in turn, the concierge may provide instructions control certain aspects of a vehicle via a concierge work station.

In addition to the operations described above and illustrated in the figures, various operations will now be described. It should be understood that the following operations do not have to be performed in the precise order described below. Rather, various steps can be handled in a different order or simultaneously, and steps may also be added or omitted.

In one aspect, a user may download an application for requesting a vehicle to a client computing device. For example, users222and232may download the application via a link in an email, directly from a website, or an application store to client computing devices220and230. For example, client computing device may transmit a request for the application over the network, for example, to one or more server computing devices210, and in response, receive the application. The application may be installed locally at the client computing device.

The user may then use his or her client computing device to access the application and request a vehicle. As an example, a user such as user232may use client computing device230to send a request to one or more server computing devices210for a vehicle. For example, as shown inFIG.7, the application may display an option710to start a new trip on display224of client computing device220. By selecting option710, for example, using either a finger or stylus (if a touchscreen) or mouse pointer, the user may be provided with the opportunity to input, provide, or otherwise select a pickup location, a drop off location, and, in some cases, one or more intermediate stopping locations anywhere within a service area where a vehicle can stop.

These pickup and destination locations may be predefined (e.g., specific areas of a parking lot, etc.) or may simply be any location within a service area of the vehicles. The pickup location can be defaulted to current location of the user's client computing device, but may also be a recent or saved location near the current location associated with the user's account. For example, while a user may be located in a park, he or she may have a default location at one or another entrance to that park. As another example, locations may be suggested to a user based on the user's history with the service. Alternatively, the user may enter an address or other location information or tap a location on a map to select a pickup location. This may be especially helpful where the user is not currently located at the pickup location but will be by the time the vehicle arrives. In yet another example, a search function may be used to provide search results highlighting specific pickup locations within the service area of the vehicles.

FIG.8is an example of a pickup location entry display. In this example, display224includes a list of saved locations810including the user's home, school, supermarket, gym, work, as well as other locations not included on the display screen. The user may also select option820to review and select from a similar list of recent pick up locations. Similarly, the user may select option830to enter an address or other location information or tap a location on a map to select a pickup location or enter a query to receive search results highlighting specific pickup locations within the service area of the vehicles that relate to the search query.

In other examples, a user may automatically integrate vehicle requests into their daily calendar, through integrations with calendar systems such as those used with email systems. For instance, when creating a calendar entry, a user may select or check a box to “send a vehicle” to a certain location before or after the entry. This information may then be sent by the application or a remote server at an appropriate time to one or more server computing devices210in order to dispatch a vehicle for the user. Moreover, the application may automatically send a request for a vehicle when the application determines that two meetings are physically too far apart to walk between in the allotted time.

Once a pickup location has been identified, the user may be provided with a street level image of the pickup location and/or a map that includes the pickup location and immediately surrounding areas. For example, the identified pickup location may be sent to the server computing devices210which retrieve and provide the client computing device with map information for display to the user. As noted above, the server computing devices210may also provide the client computing device with a street level image corresponding to the location of identified pickup location.

FIG.9Ais an example display of an identified pick up location P including a map910. In this example, the pickup location P is indicated by a map marker920sown at its location on map910.FIG.9Bis another example display of an identified pickup location P including a map930and a street level image940. In this example map marker950includes information about the pickup location, here an address. Street level image940is an image that corresponds to the location (street address) of map marker950. Both maps910and930include typical map features such as roads912and932as well as structures914and934corresponding to buildings to give the user context. Although not shown, the map may also include aerial imagery in order to provide the user with even greater context. Thus, various types of maps, location markers, and corresponding images may be used.

Again, as noted above, although the user may enter a discrete location such as an address or point on a map as described above, this location may be converted into or displayed with or as a pickup “area” encompassing a zone in which the user can expect the vehicle to stop to pick up the user. As an example, this zone may be a particular shape, such as a rectangle around the identified pickup location or distance along a road in which the identified pickup location is located. This may provide a more relevant understanding of where the pickup is likely to occur as the actual pickup location will depend upon changing factors such as parking availability, other vehicles or obstructions, etc. In this regard,FIG.9Cis an example display of an identified pick up location P corresponding to the example ofFIG.9A. However, inFIG.9C, the pickup location P is indicated by map marker920shown at its location on map910along with a pickup location area960. Similarly,FIG.9Dis an example display of an identified pick up location P corresponding to the example ofFIG.9B. However, inFIG.9D, the pickup location P is indicated by map marker950shown at its location on map930along with a pickup location area970. Although the examples ofFIGS.9C and9Dinclude map markers920and950, such map markers need not also be displayed with the areas.

The user may also be able to fine tune this pickup location. The user may be able to edit the exact pickup location by moving a marker on the map. The new location of the map marker may be sent to the server computing devices210in order to provide the client computing device with updated information about the pickup location such as a new address and new map information. For example, the example displays ofFIGS.9A,9B,9C and9Dallow a user to move the map marker920or950, respectively, to adjust the location of the pickup location P, such as by dragging a point on the display corresponding to the map marker to a new location on the map.FIG.10Ais an example where user has moved the location of map marker950(ofFIG.9B) to a new location corresponding to that of map marker1050.FIG.10Bis an example where user has moved the location of map marker950(ofFIG.9D) to a new location corresponding to that of map marker1050. However, in the example ofFIG.10B, the map marker1050is shown with a pickup location area1060. Again, although the examples ofFIG.10Bincludes a map markers1050, such a map marker need not also be displayed with the area. In addition, because the pickup location has been changed, the information about the pickup location in the map markers1050ofFIGS.10A and10B, here an address, has also been changed.

At the same time that the map marker is moved, a new street level image corresponding to the new map marker location may replace the display of the original street level image. Again, in response to receiving the new location of the map marker, the server computing devices210in order to provide the client computing device with updated information about the pickup location such as a new address and new map information. For example, returning toFIG.9B, street level image940corresponded to the address location of the map marker950or 123 Main Street. After being moved, as shown inFIG.10, the address location of map marker1050, 1 First Street, now corresponds to the location of street level image1050.

When the user is satisfied, he or she may confirm the pickup location or area. This information may then be sent to the server computing devices210. In response, the server computing devices210may dispatch an autonomous vehicle, such as vehicle100, to the confirmed pickup location. For example, each of the examples ofFIGS.9A,9B,9C,9D,10A and10B include a save option980that may allow a user to confirm the pickup location. In response to the selection of this option, the client computing device220may send the pickup location to the server computing devices210. Alternatively, this information may be sent to the server computing devices210after it has been combined with additional information, such as one or more confirmed destination locations.

In some examples, the user may identify a pickup location that is outside the service area. When the server computing devices210determine that a pickup location received from a client computing device is outside the service area, the server computing devices may also determine by how much and compare this distance to a threshold distance. For example, if the pickup location within a threshold distance of the service area or some an acceptable pickup location within the service area the user may be provided with an option to receive a revised pickup location or area. As an example, this threshold distance may be five miles or more or less. This threshold distance may also be selected based on whether the user would be able to reach a pickup location within the service area within some reasonable amount of time because the user is too far away. This may also help to avoid the vehicle from having to wait for the user or the user being left without a pickup because the vehicle must leave the pickup location.

The revised pickup location or area may be identified by simply selecting a new location that is an acceptable pickup location to the original pickup location closest, more convenient, or otherwise relevant to the original pickup location. For example, if the closest pickup location is at a dangerous location (such as on a highway), a revised pickup location or area that is farther from the original pickup location in a less dangerous location may be selected.

The revised pickup location or area may also be selected based on other information about the user. For example,FIG.16is an example flow diagram1600in accordance with aspects of the disclosure. If it is determined that the user may be riding a train based on the user's current location and speed, the server computing devices could determine the preferred pickup location to be the nearest train station within the service area (rather than the nearest point on the map). Thus, a current mode of transportation is determined based on information indicating a current location and speed of the user's client computing device (step1605), In this regard, the revised pickup location may be determined based on where the user can get to most easily based on the current mode of transportation (e.g., walking, driving, riding a train, etc.) (step1610).

In response to determining that pickup location is outside of the from the service area but within the threshold distance, the server computing devices may provide the client computing device with a notification to that effect. For example,FIG.11is an example display of a notification1180indicating that the identified pickup location is outside of the service area. In this example, the notification indicates that a revised pickup location P is available, here because the original identified pickup location O is within the threshold of an acceptable pickup location within the service area. Here, a map1110and map marker1150are also displayed to provide the user with context about the identified location. By selecting option1160, the user may view additional information about the acceptable pickup location or the revised pickup location. Again, although the revised pickup location ofFIG.11is shown as a discrete point P, as with the examples ofFIGS.9C and9D, point P may also be associated with an area in which a pickup is likely to occur.

As another example, the notification may provide the user with an option to receive a revised pickup location. In response to selecting this option, the client computing device may request a revised pickup location from the server computing devices. The server computing devices may then select a revised pickup location and/or area as described above and send this information to the requesting client computing device. Once received, the client computing device's display may appear to “snap” the original pickup location to the revised pickup location or area by moving the map marker and/or area for the original pickup location or area to the revised pickup location or area.

In this regard, server computing devices may also provide information identifying the revised pickup location to the client computing device.FIG.12is an example display of a revised pickup location. As with the examples described above, the client computing device may also be provided with map information including a map1210and map marker1250corresponding to the location of the revised pickup location, and in some cases, a street level image1240corresponding to the location of the revised pickup location. In this regard,FIGS.9A,9B,9C, and9Dmay also be considered example display of a revised pickup location. In the example ofFIG.12, the display also includes a map marker1260corresponding to the location of the original pickup location (see map marker1150ofFIG.11) to provide the user with additional context about the revised pickup location. Again, although the revised pickup location ofFIG.11is shown with a discrete map marker, as with the examples ofFIGS.9C and9D, the map marker may also be associated with an area in which a pickup is likely to occur.

In order to assist the user in reaching the revised pickup location or area, the client computing device may also be provided with directions for navigating to the revised pickup location or area by the server computing devices. In this regard,FIG.12also includes an option1260that if selected by the user will provide the user with directions for navigating between the location of map marker160and the location of map marker1260. Here because the distance between the revised pickup location P and the original identified pickup location O is within the first threshold distance, the directions for navigating may include walking directions. For larger distances, directions for using public transportation or even driving directions may be provided.

The user may then confirm (e.g., accept) or reject this revised pickup location or area. In some examples, the user may be able to fine tune this revised pickup location as described with regard to the examples ofFIGS.9A,9B,9C,9D,10and16. Again, when the user is satisfied, he or she may confirm the revised pickup location, this information may be sent to the server computing devices, and an autonomous vehicle may be dispatched by the server computing devices to the confirmed location (step1615ofFIG.16).

As with the examples described above, the user may also be provided with a map of the revised pickup location or area. The user may then confirm or reject this revised pickup location or area. In some examples, the user may be able to fine tune this revised pickup location as described above. When the user is satisfied, he or she may confirm the pickup location or area, this information may be sent to the server computing devices, and an autonomous vehicle may be dispatched to the confirmed location or area.

When pickup location is outside the threshold, the user may be notified that the pickup location is outside of the service area. In this example, the user may be provided with an informational message listing the geographic areas within the service area. The user may also have an opportunity to select another pickup location, for example by selecting an option to go back. By doing so, the user may be provided with another opportunity to identify a new pickup location. In some examples, the application may also provide the user with instructions for reaching a pickup location within the service area using a different type of transportation such as a bus, train, or other public transportation.

As noted above, when the user is satisfied with the pickup location or area, the user may confirm the pickup location. This information may then be sent to the server computing devices210. In response, the user may be provided with opportunity to identify one or more destination locations. For example, as shown in the example display of FIG.13, the user may be provided with an option1320to add a destination location. In this example, selection option1310, which identifies a confirmed pickup location, may allow the user to change the pickup location.

The destination locations may be identified using any of the examples described above with regard to pickup locations. The destination location may be displayed as with the examples ofFIGS.9A,9B,9C, and9Dwith a map, map marker identifying the location of the destination location, and in some examples, a street level image corresponding to the location of the identified destination location. In that regard, user may be able to fine tune the destination location as described with regard toFIGS.9B,9D,10A and10B. Again as noted above, although the user may enter a discrete location such as an address or point on a map as described above, this location may be converted into or displayed with or as a pickup “area” encompassing a zone in which the user can expect the vehicle to drop off the user. This may provide a more relevant understanding of where the drop off is likely to occur as the actual drop off location will depend upon changing factors such as parking availability, other vehicles or obstructions, etc.

As with the examples of the pickup locations or areas, when the user is satisfied, he or she may confirm the destination location or area. This information may then be sent to the server computing devices210and relayed to the autonomous vehicle that was or will be dispatched to the pickup location.

When a destination location is outside of the service area, the features described above with regard to a pickup location may be used to provide a revised destination location. In this regard, the same thresholds may also be used to determine whether a revised destination location or area is available. In addition, as with the pickup example, the user may also be provided with the ability to receive a revised destination location or area and fine tune a revised destination location or area using the features described above.

Once the destination location or area is confirmed, the user may also be able to specify additional (second, third, etc.) destination locations. Again, when an additional destination location is outside of the service area, the features described above with regard to a pickup location may be used to determine whether a revised additional destination location is available, to provide a revised additional destination location and to fine tune the revised destination location or area.

When a vehicle arrives for a user, the computer110may attempt to authenticate the user. For example, using a wireless connection having a short range communication protocol such as Bluetooth LE, the computer110and the client computing device may communicate at some predetermined distance, such as 25 meters. Once the communication is established, for example, using one of the wireless network connections156the client computing device may be authenticated using any known authentication technique as an approximation or proxy for authenticating the user. In some cases, the authentication may occur even before the vehicle has reached the selected location if the vehicle passes by the user's client computing device and makes the wireless connection.

Once the user (and/or the user's client computing device) is authenticated to a sufficient degree and has reached a certain threshold distance from the vehicle100, for example 10 meters or less, the doors406may automatically unlock, and in some cases open up, to allow the user to enter the vehicle.

Once the user (and/or the user's client computing device) has entered the vehicle, the computer110may display a welcome screen on the internal electronic display152. This welcome screen may provide instructions to the user (now a passenger) on how to use the vehicle. For example, the instructions may include requesting that the passenger shut the doors406if needed and buckle his or her seatbelt. Sensors associated with the seats, doors, and seatbelts may be used to determine if the passenger has complied.

Once the passenger has complied with the instructions, the computer110may activate the button614. In this regard, if the user does not close the door or buckle the seat belt, the computer110may not allow the passenger to use the vehicle for a trip. As noted above, when the passenger is ready to initiate a trip to the destination, he or she may press or otherwise activate button614. In response, the computer110may initiate the necessary systems to control the vehicle autonomously to the destination (drop off location).

In some examples, the user can change the destination during certain portions of trip before the vehicle arrives at destination. The user can also add one or more additional stops (e.g., up to 2 destinations total) to a single trip, either during the request process or at another time before they release the vehicle. In the example above, where there are no inputs for the user to physically enter a destination at the vehicle, these destination changes or additions may be achieved by calling a concierge using the application on the client computing device or a telephone function of the client computing device or by entering the change using the application on the client computing device. Alternatively, where the user is able to enter a destination using a user input associated with internal electronic display152, a change may be achieved by entering the new destination using such user input. Again, if the destination is outside of the service area, the server and/or application may inform the user via a notification on his or her client computing device and provide alternatives, if available, for reaching the destination as described above.

When the vehicle is within a certain distance in time or space (e.g., one mile or one minute), the computer110may display a notification to the user on the internal electronic display152that he or she is about to arrive at the destination. When the vehicle is ready to pull over, for example 25 meters or more or less before the destination location will be reached, the computer110may also display a notification on the internal electronic display152that the vehicle is attempting to pull over. In addition, when the vehicle is some distance from the destination, such as 25 meters or more or less from the destination, the computer110may begin to look for a place to pull over and stop. When the vehicle has pulled over, the computer110may display a notification to the user on the internal electronic display152that the vehicle has arrived. Similarly, a notification may also be provided to the user via the application on the client computing device. Once the vehicle is stopped, if the doors were previously locked during the trip, the doors may then unlock and, if not previously locked, simply open and allow the user to exit the vehicle.

FIG.14is an example flow diagram1400in accordance with some of the aspects described above that may be performed by one or more computing devices such as server computing devices110. In this example, a request for a vehicle is received from a client computing device at block1410. This request identifies a first location. Whether the first location is within a threshold distance outside of a service area of the vehicle is determined at block1420. When the location is within the threshold distance outside of the service area of the vehicle, a second location within the service area of the vehicle where the vehicle is able to stop for a passenger and based on the first location is identified at block1430. A map and a marker identifying the position of the second location on the map are provided for display on the client computing device at block1440. User input confirming the second location is received at block1450. The vehicle is the dispatched to the second location to pickup a user at block1460.

In the example of flow diagram14, the first location and second locations correspond to pickup locations. However, if these locations were to refer to destination locations, rather than being dispatched to the second location to pickup a user at block1460, the second location may be provided to the vehicle as a destination location for the user.

FIG.15is an example flow diagram1500in accordance with some of the aspects described above that may be performed by one or more computing devices such as server computing devices110. In this example, a request for a vehicle is received from a client computing device at block1510. This request identifies a first location. Whether the first location is within a threshold distance outside of a service area of the vehicle is determined at block1520. When the location is within the threshold distance outside of the service area of the vehicle, a second location within the service area of the vehicle where the vehicle is able to stop for a passenger and based on the revised pickup location is identified at block1530. A map and a marker identifying the position of the second location on the map are provided for display on the client computing device at block1540. User input indicating that the map marker has been moved to a different position on the map is received at block1550. This user input is used to identify a third location at block1560. User input confirming the third location is received at block1570. The vehicle is then dispatched to the third location to pick up a user at block1580.

As with the example of flow diagram1400, the first location, second locations, and third locations of flow diagram1500correspond to pickup locations. However, if these locations were to refer to destination locations, rather than being dispatched to the second location to pickup a user at block1580, the third location may be provided to the vehicle as a destination location for the user.

Unless otherwise stated, the foregoing alternative examples are not mutually exclusive, but may be implemented in various combinations to achieve unique advantages. As these and other variations and combinations of the features discussed above can be utilized without departing from the subject matter defined by the claims, the foregoing description of the embodiments should be taken by way of illustration rather than by way of limitation of the subject matter defined by the claims. In addition, the provision of the examples described herein, as well as clauses phrased as “such as,” “including” and the like, should not be interpreted as limiting the subject matter of the claims to the specific examples; rather, the examples are intended to illustrate only one of many possible embodiments. Further, the same reference numbers in different drawings can identify the same or similar elements.