PATENT DOCUMENT

Publication Number: US-12202413-B2
Application Number: US-202217725401-A
Country: US
Kind Code: B2

Title: Systems with sensor deployment mechanisms

Abstract:
A vehicle may have a vehicle body and one or more movable sensors mounted to the body. A movable sensor may be rotated, linearly translated, or otherwise moved between multiple positions in response to location information, driving mode information, vehicle speed, and/or other information. The movable sensor may be moved to track objects, to provide pedestrians and others with visual feedback, to allow the sensor to gather desired sensor information to support driver assistance and autonomous driving operations, to place the sensor in a stowed position, and to perform other functions. The movable sensor may be protected with a movable cover. A cleaner may clean the sensor. The sensor may be a radar sensor, lidar sensor, camera, or other sensor. Information from the sensor may be used to detect roadway obstructions, to detect objects near the vehicle, to monitor pedestrians, and to monitor other conditions.

Claims:
What is claimed is: 
     
       1. A system operable on a surface, comprising:
 a body; 
 control circuitry configured to gather information on movement of the body relative to the surface, wherein the gathered information comprises a speed at which the body is moving; and 
 a movable sensor mounted to the body, wherein the movable sensor is configured to move between a first position, a second position, and a third position in response to the gathered information on the movement of the body and wherein the movable sensor comprises a sensor selected from the group consisting of: a lidar sensor, a radar sensor, and a camera, and wherein the movable sensor is configured to move to the third position when the system is stationary, is configured to move to the first position when the system is moving at a first speed, and is configured to move to the second position when the system is moving at a second speed that is greater than the first speed. 
 
     
     
       2. The system defined in  claim 1  wherein the movable sensor has a sensor housing with a sensor housing surface that is configured to lie flush with an external surface of the body when the movable sensor is in the first position, wherein the movable sensor has an angle-of-view, and wherein, in the second position, the movable sensor is configured to orient the angle-of-view to cover a rearward direction relative to the body. 
     
     
       3. The system defined in  claim 2  wherein the movable sensor has a hinge and an actuator configured to rotate the sensor housing about the hinge. 
     
     
       4. The system defined in  claim 1  wherein the gathered information on the movement of the body comprises information on whether the system is moving forward and wherein the movable sensor is configured to move to the second position in response to determining that the system is moving forward. 
     
     
       5. The system defined in  claim 1  wherein the gathered information on the movement of the body comprises information on whether the system is parked and wherein the movable sensor is configured to move to the first position when the system is parked. 
     
     
       6. The system defined in  claim 1  wherein the first position points the movable sensor horizontally to a side of the body and wherein the second position tilts the movable sensor downwards relative to the first position. 
     
     
       7. The system defined in  claim 1  wherein the gathered information on the movement of the body comprises information on a speed at which the body is moving relative to the surface and wherein the movable sensor is configured to move between the first position and the second position based on the speed. 
     
     
       8. The system defined in  claim 1  wherein the first position is a stowed position and wherein the second position is a deployed position in which the movable sensor protrudes from the body more than in the stowed position. 
     
     
       9. The vehicle system defined in  claim 1  wherein the movable sensor has a sensor housing and a positioner configured to translate the sensor housing between the first and second positions. 
     
     
       10. The system defined in  claim 9  wherein the positioner is configured to rotate the sensor housing about an axis. 
     
     
       11. The system defined in  claim 1  wherein the control circuitry is configured to move the movable sensor to track an object. 
     
     
       12. The system defined in  claim 1  wherein the control circuitry is configured to move the movable sensor to provide visual feedback to a pedestrian. 
     
     
       13. The system defined in  claim 1  wherein the movable sensor comprises an inertial measurement unit configured to measure movement of the movable sensor. 
     
     
       14. A system configured to operate on a surface, comprising:
 a body having a body front that faces in a forward direction, having a body rear that faces in a rearward direction opposite to the forward direction, and having first and second sides; 
 a movable sensor mounted to a given one of the sides, wherein the movable sensor is configured to move between a first position that is flush with the given side and a second position in which the movable sensor protrudes from the given side and wherein the movable sensor has an angle-of-view that does not cover the rearward direction when in the first position and that covers the rearward direction when in the second position; and 
 control circuitry that is configured to detect a location of the body on the surface and that is configured to direct the movable sensor to move from the first position to the second position based on the location. 
 
     
     
       15. The system defined in  claim 14  wherein the body has a portion forming an alignment structure that constrains motion of the movable sensor to align the movable sensor relative to the body in the second position. 
     
     
       16. The system defined in  claim 14  further comprising a cleaner configured to clean the movable sensor. 
     
     
       17. The system defined in  claim 14  further comprising a hinge, wherein the movable sensor is configured to rotate about the hinge. 
     
     
       18. The system defined in  claim 14  wherein the movable sensor comprises a sensor selected from the group consisting of: a lidar sensor, a radar sensor, and an image sensor. 
     
     
       19. A system, comprising:
 a body operable on a surface; 
 a movable sensor, wherein the movable sensor is selected from the group consisting of: a lidar sensor, a radar sensor, and a camera; 
 a deployment mechanism configured to move the movable sensor between a stowed position and a deployed position in response to changes in movement of the body relative to the surface; and 
 an accelerometer configured to measure movement of the body, wherein the movable sensor is configured to move based on the measured movement of the body to isolate the movable sensor from vibrations. 
 
     
     
       20. The system defined in  claim 19  further comprising a sensor position locking mechanism configured to prevent movement of the movable sensor. 
     
     
       21. The system defined in  claim 19  further comprising a movable cover configured to cover the movable sensor in the stowed position. 
     
     
       22. The system defined in  claim 19  wherein the deployment mechanism comprises a robotic segmented arm. 
     
     
       23. The system defined in  claim 19  wherein the deployment mechanism comprises a deployment mechanism selected from the group consisting of: a rack-and-pinion deployment mechanism, a rotational actuator deployment mechanism, a four-bar linkage, and a linear actuator deployment mechanism. 
     
     
       24. The system defined in  claim 19  wherein the deployment mechanism is configured to move the movable sensor in response to parking of the body.

Description:
This application claims the benefit of provisional patent application No. 63/210,946, filed Jun. 15, 2021, which is hereby incorporated by reference herein in its entirety. 
    
    
     FIELD 
     This relates generally to systems such as vehicles, and, more particularly, vehicles that have sensors. 
     BACKGROUND 
     Automobiles and other vehicles have propulsion and steering systems. Sensors are used to gather data to support vehicle operations. 
     SUMMARY 
     A vehicle may be configured to operate on a roadway or other surface. The vehicle may monitor information on vehicle operation such as vehicle speed, vehicle operating mode (parked or moving), vehicle location, weather, and other information on the vehicle and its surroundings. The vehicle may have one or more movable sensors mounted to a vehicle body. 
     The movable sensors, which may include sensors such as radar sensors, lidar sensors, cameras, and/or other sensors, may be moved in response to information on the vehicle and its surroundings. For example, a movable sensor may be rotated, linearly translated, or otherwise moved between multiple positions in response to measured and/or predicted location information, parking status, driving mode information (e.g., autonomous, manual, etc.), vehicle speed, weather, and/or other criteria. If desired, a movable sensor may be moved during operation to isolate the sensor from unwanted vehicle motion (e.g., road vibrations, etc.). 
     In a stowed position, a movable sensor may be protected with a movable cover. A cleaner may clean the sensor. Alignment structures may be used to help accurately maintain the movable sensor in a desired position during use. During vehicle operation, information from the movable sensor may be used to provide control circuitry in the vehicle with driver assistance information and information for an autonomous driving system. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a top view of an illustrative vehicle in accordance with an embodiment. 
         FIG.  2    is a cross-sectional top view of a side portion of an illustrative vehicle in accordance with an embodiment. 
         FIGS.  3  and  4    are views of a portion of an illustrative vehicle showing how the amount that a sensor protrudes from a vehicle body can be adjusted in accordance with an embodiment. 
         FIGS.  5  and  6    are cross-sectional views of an illustrative vehicle showing how a sensor may be deployed using a translating actuator in accordance with an embodiment. 
         FIGS.  7 ,  8 ,  9 , and  10    are views of portions of a vehicle body with movable sensors of different illustrative shapes in accordance with embodiments. 
         FIGS.  11  and  12    are side views of illustrative deployable sensors with protective sliding cover in accordance with embodiments. 
         FIG.  13    is a front view of an illustrative vehicle body with a sensor in accordance with an embodiment. 
         FIG.  14    is a top view of an illustrative vehicle body having a sensor alignment structure in accordance with an embodiment. 
         FIG.  15    is a view of an illustrative vehicle having a cleaning mechanism such as a wiper for cleaning a sensor in accordance with an embodiment. 
         FIGS.  16 ,  17 ,  18 ,  19 , and  20    are diagrams of illustrative sensor deployment mechanisms in accordance with embodiments. 
         FIG.  21    is a diagram showing how the orientation of a sensor may be adjusted to track an object or otherwise enhance performance during operation in accordance with an embodiment. 
         FIG.  22    is a diagram showing how a sensor may be tilted downwards during operation in accordance with an embodiment. 
         FIG.  23    is a top view of an illustrative deployable sensor having an associated position sensor and associated locking mechanisms in accordance with embodiments. 
         FIG.  24    is a diagram showing how first and second sensors may be used in calibrating each other in accordance with an embodiment. 
         FIG.  25    is a top view of an illustrative vehicle showing how a sensor in the interior of the vehicle may be moved in accordance with an embodiment. 
         FIG.  26    is a flow chart of illustrative operations associated with using a vehicle with adjustable sensors in accordance with an embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     A system such as a vehicle or other system may have sensors. The sensors may be used to make measurements on the environment surrounding a vehicle and/or may be used to make measurements on an interior region of a vehicle. Sensors may also be used to gather user input from vehicle occupants and others. 
     It may be desirable to adjust the position of sensors. For example, it may be desirable to selectively deploy sensors when a vehicle is in motion or is otherwise operating in a particular state where the sensors are to be used. When the sensors are not being used, the sensors may be retracted into a stowed position. If desired, the orientation of a sensor may be adjusted and/or a sensor may be otherwise moved depending on the operating state of the vehicle (e.g., whether being operated autonomously or being driven by a driver), based on vehicle speed, in response to parking status (whether the vehicle is parked or moving), based on current or predicted vehicle location, based on weather, etc. Sensor movements may be controlled using electromechanical actuators or other positioners. In general, sensors may be moved in response to user input, in response to detection of predetermined conditions, and/or in response to satisfaction of other sensor movement criteria. 
       FIG.  1    is a top view of an illustrative vehicle of the type that may include one or more movable sensors. In the example of  FIG.  1   , vehicle  10  is the type of vehicle that may carry passengers (e.g., an automobile, truck, or other automotive vehicle). Configurations in which vehicle  10  is a robot (e.g., an autonomous robot) or other vehicle that does not carry human passengers may also be used. Vehicles such as automobiles may sometimes be described herein as an example. 
     Vehicle  10  may be manually driven (e.g., by a human driver), may be operated via remote control, and/or may be autonomously operated (e.g., by an autonomous driving system or other autonomous propulsion system). Vehicle  10  may include a body such as body  12 . Body  12  may include vehicle structures such as body panels formed from metal and/or other materials, may include doors, a hood, a trunk, fenders, a chassis to which wheels are mounted, a roof, etc. Doors  18  may be opened and closed to allow people to enter and exit vehicle  10 . Seats and other structures may be formed in an interior region within body  12 . Windows  16  may be formed in doors  18  (e.g., on sides W of vehicle  10 ), may be formed in rear R, in front F, and/or on other locations of body  12  (e.g., one or more windows  16  may be formed on top T of body  12  to serve as a sunroof). Windows  16  and portions of body  12  may separate the interior of vehicle  10  from the exterior environment that is surrounding vehicle  10 . 
     Vehicle  10  may include components  20 . Components  20  may include propulsion and steering systems (e.g., manually adjustable driving systems and/or autonomous driving systems having wheels coupled to body  12 , steering controls, motors, etc.), and other vehicle systems. Components  20  may include control circuitry and input-output devices. The control circuitry may include one or more processors (e.g., microprocessors, microcontrollers, application-specific integrated circuits, etc.) and storage (e.g., volatile and/or non-volatile memory). The input-output devices may include displays, sensors, buttons, light-emitting diodes and other light-emitting devices, haptic devices, speakers, and/or other devices for gathering environmental measurements and/or user input. The sensors in components  20  may include ambient light sensors, touch sensors, force sensors, proximity sensors, optical sensors such as cameras operating at visible, infrared, and/or ultraviolet wavelengths (e.g., fisheye cameras and/or other cameras), capacitive sensors, resistive sensors, ultrasonic sensors (e.g., ultrasonic distance sensors), microphones, three-dimensional and/or two-dimensional images sensors, radio-frequency sensors such as radar sensors, lidar (light detection and ranging) sensors, and/or other sensors. Sensors may be mounted in vehicle  10  in one or more locations such as illustrative sensor locations  22 . Output devices in components  20  may be used to provide vehicle occupants and others with haptic output, audio output, visual output (e.g., displayed content, light, etc.), and/or other suitable output. In some configurations, visual output may be provided by moving sensors, sensor covers, and/or other structures in vehicle  10 . 
     During operation, the control circuitry of components  20  may gather information from sensors and/or other input-output devices such as lidar data, camera data (images), radar data, and/or other sensor data. Control circuitry in components  20  may use this data in providing a driver with driver assistance information (e.g., information on nearby obstacles on a roadway and/or other environment surrounding vehicle  10 ) and/or in autonomously driving vehicle  10 . 
     In some configurations, sensor information and/or other information such as user input and other data may be used in controlling the operation of one or more electrically adjustable components in vehicle  10 . For example, control circuitry in vehicle  10  may adjust an electrically adjustable positioner (e.g., an electromagnetic actuators, a stepper motor, a piezoelectric actuators, a solenoid, and/or other electrically adjustable positioner). The positioner may be used to adjust the position of one or more sensors. A positioner may, as an example, be used to translate a sensor along one or more of three orthogonal dimensions (e.g., parallel to X, Y, and/or Z axes or other directions) and/or may be used to rotate a sensor about one or more of these axes or other axes). In some configurations, the positioner may only rotate a sensor about a single axis or may only translate a sensor along a single axis. In other configurations, a positioner (e.g., a positioning system with one or more actuators) may be used to translate a sensor along one or more axes and/or may be use to rotate a sensor about one or more axes. 
       FIG.  2    is a cross-sectional top view of an illustrative movable sensor. In the illustrative configuration of  FIG.  2   , sensor  26  rotates about hinge  24 . Hinge  24  or other portion of vehicle  10  may include a motor or other positioner that rotates sensor  26  in and out of body  12 . As an example, sensor  26  may be rotated into body  12  to stow sensor  26  (e.g., when sensor  26  is not in use gathering sensor measurements) and may be rotated to position  26 ′ (e.g., to deploy sensor  26  to a position where sensor  26  may be used in gathering measurements). Sensor  26  may have a housing with a surface that lies flush with the exterior surface of body  12  when sensor  26  is stowed or may have other housings. 
     In an illustrative configuration, sensor  26  is a lidar sensor, radar sensor, camera, and/or other sensor that is characterized by an angle of view (see, e.g., angle of view A in the X-Y plane of  FIG.  2   ). When stowed, sensor  26  may gather data in direction parallel to surface normal n of body  12  (over angle of view A). When deployed, sensor  26  may gather data in direction  30  (over angle of view A). Axis X of  FIG.  2    may point towards the rear of vehicle  10 , the front of vehicle  10 , or other suitable direction. The −Y direction of  FIG.  2    may, as an example, be pointed away from the vehicle to the left or right side of vehicle  10 . 
     In an illustrative configuration, axis X points towards the rear of vehicle  10 , so that when sensor  26  is in position  26 ′, sensor  26  can gather information on objects located towards the side and rear of vehicle  10 . The angle of view A of sensor  26  may, as an example, cover rearward direction X and therefore allow sensor measurements to be gathered in a direction that runs parallel to the side of body  12 . Angle of view A may also cover a range of other directions. The value of A may be at least 90°, at least 110°, at least 120°, less than 180°, less than 360°, or other suitable angle-of-view. 
     Sensor  26  of  FIG.  2    may operate only in the deployed position (position  26 ′), in both the deployed and stowed positions, and/or may operate over a range of positions including multiple different deployed positions and an optional stowed position.  FIGS.  3  and  4    show, for example, how the amount that sensor  26  is rotated about the axis of hinge  24  and therefore the amount by which sensor  26  protrudes out of the side of body  12  may be adjusted so that data capture direction  30  is varied to accommodate different operation conditions. In  FIG.  4   , sensor  26  protrudes from body  12  more than sensor  26  of  FIG.  3   . Examples of conditions that may result in the control circuitry of vehicle  10  adjusting the orientation of sensor  26  of  FIG.  2    (e.g., the amount of protrusion of sensor  26 , the amount of tilt of sensor  26 , the direction of view of sensor  26 , etc.) include weather conditions, vehicle speed, vehicle location (e.g., global positioning system coordinates or other location data measured with a global positioning system sensor and/or other location sensor), the proximity of vehicle  10  to external objects, the detection of nearby pedestrians, whether vehicle  10  is operating in forward or reverse, time of day, parking status (whether parked or moving), autonomous or manual operating mode, predicted location, other conditions, and/or combinations of any two or more of these criteria. If desired, sensor  26  may be moved to compensate for undesired movements of vehicle  10 . In this way, sensors may be isolated from road vibrations and other vehicle motions to improve sensor performance.  
     In the examples of  FIGS.  2 ,  3 , and  4   , a positioner was used to adjust the rotational position of sensor  26  relative to body  12 . If desired, a positioner may be used to translate sensor  26  relative to body  12 . As an example, positioner  32  of  FIG.  5    may be used to move sensor  26  from the stowed position of  FIG.  5    in which the housing of sensor  26  is flush with the exterior surface of body  12  to a deployed position such as the position of  FIG.  6    by moving sensor  26  parallel to the Y axis. When it is desired to stow sensor  26 , positioner  32  may retract sensor  26  into body  12  (e.g., so that the exposed outwardly facing surface of sensor  26  is flush with the external surface of body  12  as shown in  FIG.  5   ). When it is desired to deploy sensor  26 , positioner  32  may move sensor  26  outwardly in the -Y direction. The amount of outward protrusion exhibited by sensor  26  relative to body  12  may be adjusted by the control circuitry of vehicle  10 . Sensor  26  and positioner  32  may be configured to move sensor  26  relative to any suitable surface of vehicle  10 . For example, sensor  26  may be deployed from a surface of body  12  associated with front F, rear R, top T, sides W, and/or other portions of vehicle  10 .   
     Sensor  26  may have any suitable shape. In the example of  FIG.  7   , sensor  26  has a circular footprint (e.g., the outline of sensor  26  when viewed by an external viewer whose view is directed towards vehicle  10  may be circular). In the example of  FIG.  8   , sensor  26  has the shape of a rectangle with four rounded corners (sometimes referred to as a stadium shape). In the  FIG.  9    example, sensor  26  has an outline with three straight sides joined by a semicircle segment. In  FIG.  10   , sensor  26  has a toroid shape. Other outline shapes for sensor  26  may be used, if desired (e.g., shapes with straight edges, curved edges, edges that include both curved and straight segments, triangle shapes, diamond shapes, etc.). Sensor  26  may have a housing with planar surfaces and/or curved surfaces (e.g., surfaces with compound curvature). 
     If desired, sensor  26  may be protected using an adjustable window. The window may, have movable shutter blades, a sliding or pivoting window member, or other cover structure for protecting sensor  26  when sensor  26  is stowed. As shown in  FIG.  11   , for example, sensor  26  may be stowed in window area  34  of body  12  when not deployed. To protect sensor  26  when sensor  26  is stowed in area  34 , sensor  26  may be covered with sliding cover (sometimes referred to as a sliding sensor cover or sliding window cover) such as window member  36 . Window member  36  may be moved using window member positioner  38 . Positioner  38  may, as an example, slide window member  36  downwards in the −Z direction when it is desired to cover area  34  and sensor  26  (e.g., to protect sensor  26  when sensor  26  is not in use). Positioner  38  may slide window member  36  upwards in the +Z direction when it is desired to uncover area  34  and sensor  26 . After sensor  26  has been uncovered by moving member  36  away from window area  34 , a sensor positioner may translate and/or rotate sensor  26  to deploy sensor  26  for use in gathering sensor measurements. In the example of  FIG.  12   , sensor  26  has been covered with a horizontal sliding cover formed from siding window member  36  in sensor window area  34 . 
     As with member  36  of  FIG.  11   , window member  36  of  FIG.  12    may be positioned using positioner  38 . If desired, window members such as window members  36  of  FIGS.  11  and  12    may be rotated in and out of position (e.g., using a rotating positioner), shutter blades may be used to form a leaf shutter adjustable window cover, window members may pivot outwardly from body  12  to form protective door-type covers, and/or protective sensor covers may be formed from other structures. The use of sliding covers for sensors  26  of  FIGS.  11  and  12    is illustrative. 
     In the example of  FIG.  13   , sensor  26  has a central portion such as central portion  26 P. Portion  26 P may be associated with a lens, a part of a lens, decorative marks, an area with a different color or other distinctive appearance relative to adjacent portions of sensor  26 , or any other portion of sensor  26  (e.g., a sensor housing portion, etc.). Sensor  26  may have a spherical housing or other shape that allows sensor  26  to swivel within a spherical recess in body  12  and/or to otherwise translate and/or rotate relative to body  12 . Due to the shape of sensor window area  34  and the presence of sliding cover  36 , sensor  26  may have the appearance of a human eye (as an example). This allows sensor  26  to be adjusted to provide human-like feedback to an observer (e.g., a pedestrian adjacent to vehicle  10 ). For example, sensor  26  may be moved so that central portion  26 P moves to position  26 P′ (e.g., to track movement of a nearby observer with a behavior mimicking that of a human eye). 
     If desired, cover  36  may be moved up and down so that sensor  26  has the appearance of a blinking or winking eye. As an observer passes sensor  26 , sensor  26  and/or other sensor(s) in vehicle  10 , may track the position of the observer and provide this information to the control circuitry of vehicle  10 . In response, the control circuitry may use a sensor positioner coupled to sensor  26  to steer sensor  26  so that portion  26 P tracks the observer (as a human eye tracks a moving object). This provides the observer with real-time visual feedback indicating that the observer has been detected by sensor  26  in vehicle  10 . This may provide the observer with visual confirmation that vehicle  10  has detected the observer, thereby reassuring the observer. In autonomous vehicle contexts, for example, this feedback may help assure the observer that vehicle  10  has recognized the presence of a pedestrian and will therefore not move towards the observer. 
     In general, any type of sensor movements and/or sensor cover movements may be used to convey feedback to a user (e.g., rotational movements, translational movements, cover sliding movements, cover opening and/or closing movements, etc.). Associated light-emitting devices such as light-emitting diodes, speakers and/or other audio output devices, and/or other output devices may also be used to provide a user with feedback on vehicle operation and/or other information (e.g., by flashing lights, emitting audio tones and/or voice warnings, etc.). 
     If desired, sensors such as sensor  26  of  FIG.  13    and/or other movable sensors may have supplemental sensors such as supplemental sensor  40 . Sensor  40  may be, for example, a position sensor such as an accelerometer, gyroscope, compass, and/or an internal measurement unit that includes one, two, or all three of these components, may be a lidar sensor, radar sensor, or camera, and/or may be other suitable sensor. Sensor  40  may be mechanically coupled to sensor  26 , so that movements of sensor  26  may be measured using sensor  40 . If, as an example, sensor  26  rotates 23° to the left, sensor  40  may detect this movement and may provide the measured angular rotation of sensor  26  to the control circuitry of vehicle  10  in real time (e.g., so that this information may be used to calibrate the positioner(s) associated with moving sensor  26 , may be used in accurately controlling the movement of sensor  26 , etc.). Sensors such as sensor  40  may also be used to track objects in the field of view of sensor  26  and/or to otherwise supplement the data collection processes performed by sensor  26 . In some operating environments, body  12  may vibrate and/or exhibit other undesired movements (e.g., due to road imperfections). By using sensor  40  to measure movements of body  12  and/or sensor  26 , a hinge-based actuator or other positioner may be used to produce compensating movements of sensor  26  that tend to stabilize sensor  26 . If, as an example, a bump in a road causes sensor  26  to start to angle upwardly, this upward tilt may be detected with sensor  40 . Sensor  26  can then be dynamically tilted downward by an equal and opposite amount. This approach may be used to suppress vibrations and/or other undesired movements of sensor  26  that could degrade sensor readings. 
     To help ensure that sensor  26  is aligned satisfactorily relative to body  12 , body  12  may have alignment structures such as portion  12 P of  FIG.  14   . When it is desired to stow sensor  26  of  FIG.  12   , sensor  26  may be retracted to position  26 ″ by rotating sensor  26  about hinge  24  using an associated sensor positioner (e.g., a motor in hinge  24  or other actuator). When it is desired to deploy sensor  26 , sensor  26  may be rotated (pivoted) outwardly from body  12  about hinge  24  in direction  42 . Portion  26 T of sensor  26  may contact and press against portion  12 P of body  12  when sensor  26  is rotated in direction  42 . This contact prevents sensor  26  from rotating farther and thereby helps accurately establish the location of sensor  26  relative to body  12  (e.g., portion  12 P serves as an alignment structure for sensor  26  that ensures proper positioning of sensor  26  when deployed). One or more alignment structures, which may sometimes be referred to as stops or registration structures, may be included in sensor  26  and/or associated portions of body  12 , if desired (e.g., in hinge  24  and/or other portions of vehicle  10 ). The use of a stop formed from a protruding structure on body  12  is illustrative. 
       FIG.  15    shows how sensor  26  may be mounted in a window area such as area  34  that has an associated cleaner. Cleaner  44  of  FIG.  15    is formed from a wiper having wiper motor  46  and blade  48 . Motor  46  may move blade  48  back and forth across sensor  26  (e.g., a sensor window portion of sensor  26 ) to clean sensor  26  (e.g., when sensor  26  has accumulated road dirt). Spraying nozzles and/or other cleaning mechanisms may be used as cleaners to help ensure that sensors  26  are clean and operating satisfactorily. The use of a wiper-based cleaner in of  FIG.  15    is presented as an example.  
       FIGS.  16 ,  17 ,  18 ,  19  and  20    are diagrams of illustrative deployment systems for sensor  26 . Actuators (e.g., motors such stepper motors, linear actuators, solenoids, geared deployment systems, and/or other actuators) may be used in moving sensors  26 . The actuators, which may sometimes be referred to as positioners or sensor positioners, may be used to adjust the position (and therefore the angular orientation) of sensor  26  relative to body  12 . As an example, a positioner may be used to move a sensor from a stowed position to one or more deployed positions in response to control signals from the control circuitry of vehicle  10  that direct the movement of the sensor. In general, sensor  26  may be translated in one or more different directions and/or may be rotated (tilted) about one or more different axes using one or more positioners. The configurations of  FIGS.  16 ,  17 ,  18 ,  19 , and  20    are examples. 
     In the arrangement of  FIG.  16   , sensor  26  is in a stowed position in body  12 , where the exterior surface of sensor  26  lies flush with the adjacent exterior surface of body  12 . When it is desired to change the position of sensor  26  (e.g., to provide sensor  26  with a different view of the external environment surrounding vehicle  10 ), sensor  26  may be rotated by a rotational positioner about pivot point  50  (e.g., a hinge axis) and/or may be translated outwardly in direction  54  by a translational positioner. 
     In the arrangement of  FIG.  17   , sensor  26  has been deployed on the end of an adjustable such as arm  56 . Arm  56  may be a robotic segmented arm having a series of arm segments joined by respective rotary joints  58 , each of which may have a respective rotational actuator. The base of arm  56  may be mounted to rotational positioner  60 . Arm  56  may deploy by telescoping (e.g., using linear actuators to extend each arm segment from within an adjacent arm segment) and/or by unfolding previously folded arm segments. The adjustability of arm  56  allows sensor  26  to be tilted in different directions and, if desired, to be rotated by rotational base actuator  56 . There may be any suitable number of rotary joints in arm  56  (e.g., at least one, at least two, at least five, at least ten, fewer than twenty, fewer than seven, etc.) and there may be any suitable number of arm segments in arm  56  (e.g., at least one, at least two, at least five, fewer than twenty, etc.). When it is desired to stow sensor  26 , sensor  26  may be retracted into sensor storage recess  26 A, so that sensor  26  lies flush with the surface of body  12 , as described in connection with other illustrative storage arrangements. 
       FIG.  18    shows how sensor  26  may be deployed with a rack-and-pinion system. As shown in  FIG.  18   , sensor  26  may be stowed in body  12 . When it is desired to deploy sensor  26 , sensor  26  may be moved outwardly from its storage location in body  12  using a positioner that has a rotating motor that drives gear  62 . As gear  62  turns, the teeth of gear  62  engage the teeth of geared member  64  and move geared member  64  outwardly in direction  66 . Geared member  64  is coupled to sensor  26 , so that sensor  26  is deployed in direction  66 . 
       FIG.  19    shows how a rotational actuator may be used to rotate gear  68  and thereby rotate sector gear  70  about axle  72 . Sensor  26  is coupled to sector gear  70 , so the rotation of gear  70  causes sensor  26  to be rotated outwardly in direction  74 . The rotation of gear  68  may therefore be used to control the rotational deployment of sensor  26  from a storage recess in body  12 .  
     Another illustrative deployment mechanism is shown in  FIG.  20   . In the example of  FIG.  20   , sensor  26  is mounted to one of the arms of a four-bar linkage. The linkage may have pivot points about which the arms of the linkage rotate relative to each other and body  12 . Rotational positioner  82  may be coupled to one of the arms and may rotate that arm in directions  84 , thereby rotating sensor  26  in directions  86 . Other linkage types may be used, if desired. The use of a four-bar linkage to control the position of sensor  26  is illustrative.  
     Sensor  26  may be moved to stow sensor  26  in body  12 , to place sensor  26  in an advantageous position for gathering sensor data (e.g., a position in which the sensor is at least partly protruding from body  12 ), to provide a viewer with visual output, and/or to otherwise locate sensor  26  in a desired position. If desired, sensor  26  may be moved to track items of interests (e.g., buildings, automobiles, pedestrians, roadways, obstructions, etc.). Consider, as an example, sensor  26  of  FIG.  21   . As shown in  FIG.  21   , a positioner may be used to rotate sensor  26  about axle  88 . Initially, sensor  26  may be gathering data in direction  90 . Sensor  26  may, as an example, gather data on item  92  in the field of view of sensor  26 . Item  92  may move to a new location such as location  92 ′ while sensor data is being gathered. To ensure that sensor readings are gathered satisfactorily on item  92 , the positioner may adjust the position of sensor  26 . The positioner for sensor  26  may, as an example, rotate sensor  26  to track item  92  as item  92  moves relative to sensor  26 . 
     In general, any suitable translational and/or rotational repositioning operations may be used on sensor  26 . The use of a rotational adjustment to sensor  26  of  FIG.  21    is an example. Moreover, in addition to and/or instead of tracking moving objects with sensor  26 , sensor  26  may be repositioned so that the angle of view of sensor  26  allows sensor data to be gathered on additional items and/or different items of interest. As an example, sensor  26  may be mounted to the left side of vehicle  10  and may normally be used to monitor for traffic and pedestrians located horizontally to the left of vehicle  10 . If, however, vehicle  10  is moving slowly in reverse during a parking operation and/or when vehicle  10  is parked, sensor  26  may be reoriented to tilt down and toward the rear of vehicle  10  to make sure there are no obstructions on the roadway adjacent to the vehicle. 
     Both translational motion and rotational motion may be involved in deploying sensor  26 . As shown in the cross-sectional view of body  12  of  FIG.  22   , translational positioning equipment  32 T may be used to deploy sensor  26  laterally by moving sensor  26  from its stowed position (position  94 ) in which the surface of sensor  26  is flush with the exterior surface of body  12  to a deployed position (position  96 ) in which sensor  26  protrudes from body  12 . The positioner for sensor  26  of  FIG.  22    also includes rotational positioning equipment  32 R, which can be used to tilt sensor  26  downwardly about hinge axis  98  when it is desired to change the direction of view of sensor  26  from sideways direction  100  to downwardly angled direction  102 . By tilting sensor  26  in direction  100 , sensor  26  may be used to view the roadway adjacent to vehicle  10  (as an example). The amount of downwards (or upwards) tilt of sensor  26  may be adjusted dynamically depending on the operating status of vehicle  10  (e.g., whether vehicle  10  is parked and therefore stationary, whether vehicle  10  is moving, the direction of movement of vehicle  10 , the location of vehicle  10 , the speed of vehicle  10 , and/or other criteria). As an example, sensor  26  may be placed in a stowed position when parked, a first deployed position when moving at a first speed (e.g., a speed between a first threshold and a second threshold), and may be placed in a second deployed position when moving at a second speed (e.g., a speed between the second threshold and a third threshold). Sensor data (e.g., speedometer data, location data from a global positioning system sensor, and/or other sensor data) may be used to determine vehicle speed and/or vehicle speed may be inferred from control signals supplied to wheel motors or other propulsion system components. 
     If desired, one or more sensors  26  in vehicle  10  may be provided with position locking systems. A position locking system may be operated in an unlocked state in which sensor  26  is free to move (e.g., in which sensor  26  is placed in a desired position by an associated positioner) and a locked state in which sensor  26  is secured in a desired position (e.g., to that undesired drift or other movement of sensor  26  is avoided during sensor measurements). The control circuitry of vehicle  10  may control the position locking system depending on criteria such as whether sensor  26  has been deployed to a desired position or is stowed, whether vehicle  10  is moving or is stationary, and/or other criteria. 
     Sensor position locking systems may have permanent magnets that create locking detents, electrically adjustable magnets such as electromagnets that can be used to form an electrically adjustable magnetic latch, a mechanical interlock formed from a moving pin or other structure that physically engages sensor  26 , an adjustable clutch that can selectively apply braking power to hold sensor  26  in place, and/or any other sensor position locking mechanism. 
     In the example of  FIG.  23   , sensor  26  is configured to swing about hinge  24  in directions  104  under control of a rotational positioner (e.g., a positioner associated with hinge  24 ). An optional sensor such as inertial measurement unit  106  or other supplemental sensor may optionally be used to monitor the position of sensor  26  (e.g., the angular orientation of sensor  26  relative to body  12 , etc.). To help hold sensor  26  in a desired position (e.g., a desired deployed position or a desired stowed position), movement of sensor  26  may be locked using a position locking system formed from magnets  108  (e.g., permanent magnets and/or electromagnets), an adjustable clutch (e.g., an electrically adjustable brake in hinge  24 ), and/or a mechanical latch (see, e.g., pin  110 , which may be withdrawn from recess  112  by positioner  114  when it is desired to unlock sensor  26  and which may be inserted into recess  112  by positioner  1114  when it is desired to mechanically lock sensor  26  in place. Sensor  26  may be locked in one or more rotational and/or translational locations, may be locked in place when stowed, may be locked in placed when deployed, and/or may otherwise be selectively locked in place using the position locking system. 
       FIG.  24    is a top view of a portion of vehicle  10  in an illustrative configuration in which a pair of sensors such as movable sensors  26  have overlapping fields of view. This allows both sensors  26  to gather sensor data (e.g., images, lidar readings, radar data, etc.) on one or more common objects such as object  116 . By comparing and synthesizing data from both sensors  26  such as data on the location of object  116  within the field of view of each sensor, the sensors can be calibrated (e.g., the direction of view of each sensor can be determined as a function of position for that sensor). Calibration measurements may be made using sensor data from a pair of overlapping sensors  26 , from at least three sensors with overlapping fields of view, and/or from other suitable numbers of sensors  26  in vehicle  10  that have overlapping views. 
       FIG.  25    shows how a positioner may be used to adjust the position of a sensor that is located in interior region  120  of vehicle  10 . Body  12  may have portions that define an interior area such as region  120  for vehicle occupants. Moveable sensors  26  may include cameras (2D and/or 3D image sensors), radar sensors, lidar sensors, optical sensors, ultrasonic sensors, capacitive sensors, force sensors, temperature sensors, and/or other sensing devices and may be used to gather images of vehicle occupants and other items in interior region  120 , may be used to gather environmental measurements on the interior environment of vehicle  10 , may be used to gather user input from occupants in interior region  120  (e.g., hand gestures, audio input, touch input, and/or other user input), and/or may gather other sensor data. The positioner for each movable sensor  26  in interior region  120  may adjust the position of the sensor to track moving vehicle occupants, to stow and/or deploy the sensor, to adjust the portion of region  120  from which data is gathered, to provide the occupants with visual output (e.g., visual feedback of a sensor function) and/or to otherwise operations with the sensor. 
       FIG.  26    is a flow chart of illustrative operations associated with using sensors in vehicle  10 . During the operations of block  124 , sensors in vehicle  10  may be used to gather data. These sensor may include vehicle sensors, cameras, radar, lidar, and/or other sensors (e.g., sensors  26  that may be moved by positioners, stationary sensors, etc.). Data may also be obtained wirelessly from remote sources (e.g., vehicle  10  may use long-range wireless communications circuitry to receive data from other vehicles, from stationary computer systems, the internet, mobile computing equipment such as portable devices, and/or other sources). The sensors that gather data during the operations of block  124  may provide information on vehicle  10  such as vehicle speed, direction of travel (e.g., forward/reverse status, angular direction of forward movement, or other vehicle travel data based on steering system data and/or location data from a global position system sensor in vehicle  10 ), expected location (e.g., a predicted location at a particular time based on a prediction from an autonomous vehicle system and/or other processing system that analyzes speed, direction of travel such as whether vehicle  10  is moving forward or is moving in reverse, traffic and road conditions, etc. to determine where vehicle  10  will be located in the future), weather (e.g., whether road conditions are wet or dry, temperature, whether precipitation that might influence sensor data gathering operations is present, etc.), the presence of absence of direct sunlight, whether the sun has set, whether artificial lighting is or is not present, ambient lighting intensity level information, information on the location and movements of nearby objects such as structures associated with a roadway, parking structure, other vehicles, pedestrians, etc., information on street signs, image data, radar data, lidar data, and/or other data. 
     During the operations of block  126 , the information gathered during block  124  may be used by the control circuitry of vehicle  10  to determine how to reposition one or more sensors  26  and/or to otherwise adjust the operation of vehicle propulsion systems and/or other equipment in vehicle  10 . Sensors may also be moved to track objects, to provide visual feedback to pedestrians and others, etc. The control circuitry of vehicle  10  may adjust the position and other attributes of sensor  26  to stow and/or deploy sensor  26 , to adjust the direction of view of sensor  26 , to adjust aerodynamics for vehicle  10  (e.g., to place sensor  26  in a position that helps reduce aerodynamic drag), to project sensor  26 , to lock sensor into a desired position (e.g., using a sensor movement locking system), to cover or uncover sensor  26  by moving a window structure or other cover associated with sensor  26 , etc. In some configurations, the position of sensor  26  is adjusted based on the driving mode of vehicle  10 . For example, sensor  26  may be stowed in body  12  and optionally covered with a protective cover when vehicle  10  is parked. In response to forward moving, the control circuitry of vehicle  10  can deploy sensor  26  into a first position in which aerodynamic drag is relatively low, the direction of view of sensor  26  is oriented towards the sides of vehicle  10  to detect vehicles and/or pedestrians, and can lock the position of the sensor to ensure that sensor measurements are accurate. In response to detection of reverse motion of vehicle  10 , the control circuitry can deploy sensor  26  to a position where the direction of view of sensor  26  is oriented more towards the rear of vehicle  10  than when vehicle  10  is moving forward. This allows sensor data to be gathered from the rear of vehicle  10  so that vehicle  10  may be autonomously driven or manually driven towards the rear while avoiding obstacles. If desired, the sensor can also be tilted downwards from its forward-driving position when vehicle  10  is stopped or driving in reverse to help gather information on objects in the roadway adjacent to vehicle  10  and/or to otherwise monitor the immediate surroundings of the vehicle. In addition to using sensor data from block  124  to determine how to position, cover, lock, and/or otherwise operate sensors  26 , sensor data maybe used to drive (or otherwise move) vehicle  10  autonomously, may be used to help vehicle  10  navigate obstacles, may be used to locate pedestrians, vehicles, and other objects, etc. If desired, sensors and/or sensor covers may be moved to simulate eye movements, eye winks, or other activities that serve to inform pedestrians or others in the vicinity of vehicle  10  of the operating status of vehicle  10 . As an example, sensor movements, cover movements, light output from a light-emitting device such as a headlight, parking light, or status indicator light, text or graphics displayed by a display, or other visual output may be provided to inform pedestrians and other in the vicinity of vehicle  10  of the current operating status of vehicle  10  (e.g., whether vehicle  10  is stationary, about to move, or moving, whether a pedestrian has been recognized by vehicle  10 , etc.). Audio output based on sensor data may accompany this visual output and/or may be provided separately. 
     As indicated by line  128 , the operations of blocks  124  and  126  may be performed continuously during use of vehicle  10 . 
     The foregoing is merely illustrative and various modifications can be made to the described embodiments. The foregoing embodiments may be implemented individually or in any combination.

Metadata:
Filing Date: 20220420
Publication Date: 20250121
Grant Date: 20250121
Priority Date: 20210615
Inventors: STIEHL, KURT R
CHILD, CHRISTOPHER P
WHARTON, MICHAEL C
TEIL, ROMAIN A
LYNCH, STEPHEN B
Assignee: APPLE INC
CPC Classifications: [{"code": "B60R2011/0082", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60S1/56", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60R2011/0092", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60R2011/004", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60R2011/0085", "inventive": false, "first": false, "tree": "[]"}, {"code": "G01S7/027", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S7/4813", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S17/931", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S7/4813", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S13/931", "inventive": false, "first": false, "tree": "[]"}, {"code": "G01S7/027", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60R2011/0092", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60R2011/0085", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60R2011/004", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60S1/56", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60R11/04", "inventive": true, "first": true, "tree": "[]"}, {"code": "B60R11/04", "inventive": true, "first": true, "tree": "[]"}, {"code": "B60S1/56", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60R2011/0092", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60R2011/0085", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60R2011/0082", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60R2011/004", "inventive": false, "first": false, "tree": "[]"}, {"code": "G01S7/4813", "inventive": true, "first": false, "tree": "[]"}, {"code": "G01S7/027", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60R11/04", "inventive": true, "first": true, "tree": "[]"}]
Family ID: 84391121