# US 10,479,319 B1 · Self-driving vehicle systems and methods

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- Number: US 10,479,319 B1
- Document ID: US10479319B1
- Status: Granted
- Kind: B1
- Application number: 16/524,110
- Filed: 2019-07-28
- Granted: 2019-11-19
- Earliest claimed: 2019-03-21
- Applicants: Drivent LLC
- Inventors: Eric John Wengreen; Wesley Edward Schwie
- Web page: https://patentgrep.com/patent/US10479319B1

## CPC

- B60R 25/01: operating on vehicle systems or fittings, e.g. on doors, seats or windscreens
- B60K 35/22: Display screens
- B60K 35/265: {Voice}
- B60K 35/28: characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
- B60K 35/60: Instruments characterised by their location or relative disposition in or on vehicles (arrangements of lighting devices on dashboards B60Q3/10)
- B60K 35/65: Instruments specially adapted for specific vehicle types or users, e.g. for left- or right-hand drive
- B60Q 5/005: {automatically actuated}
- B60Q 9/00: Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 {, e.g. haptic signalling}
- E05B 77/54: Automatic securing or unlocking of bolts triggered by certain vehicle parameters, e.g. exceeding a speed threshold (triggered by vehicle collision E05B77/12)
- E05B 81/56: Control of actuators
- E05F 15/40: Safety devices, e.g. detection of obstructions or end positions
- E05F 15/72: responsive to emergency conditions, e.g. fire
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- B60K 35/10: Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
- B60K 2360/146: Instrument input by gesture
- B60K 2360/148: Instrument input by voice
- B60K 2360/178: Warnings
- B60K 2360/21: using cameras
- E05F 15/616: operated by push-pull mechanisms
- E05F 15/695: Control circuits therefor
- E05Y 2201/686: Rods, links
- E05Y 2400/30: of motors
- E05Y 2800/252: the elements functioning only in case of emergency
- E05Y 2800/416: against fire
- E05Y 2800/42: against smoke or gas
- E05Y 2900/531: Doors
- E05Y 2900/55: Windows
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- E05B: LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
- E05F: DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- E05Y: INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF

## Abstract

A vehicle fire is an emergency in which seconds count. Each second saved until the rider exits the vehicle can significantly reduce the severity of injuries due to the fire. Accordingly, a safety system can include a self-driving vehicle configured to transport a rider, a vehicle management system configured to autonomously drive the self-driving vehicle, a seat coupled to the self-driving vehicle, and a seat belt configured to alternatively have a buckled state and an unbuckled state. In many embodiments, the safety system includes a smoke detection system coupled to the self-driving vehicle and configured to detect smoke inside a cabin of the self-driving vehicle.

## Claims

### Claim 1

A safety system comprising:
a self-driving vehicle configured to transport a rider;
a vehicle management system configured to autonomously drive the self-driving vehicle;
a seat coupled to the self-driving vehicle;
a seat belt configured to alternatively have a buckled state and an unbuckled state, wherein in the buckled state the seat belt is configured to secure the rider in the seat and in the unbuckled state the seat belt is configured to enable the rider to exit the seat;
a smoke detection system coupled to the self-driving vehicle and configured to detect smoke inside a cabin of the self-driving vehicle; and
at least one processor and at least one memory having program instructions that when executed by the at least one processor are configured to cause the vehicle management system to switch the seat belt from the buckled state to the unbuckled state in response to the smoke detection system detecting the smoke inside the self-driving vehicle.

### Claim 2 (depends on 1)

The safety system of claim 1, further comprising a first actuator configured to switch the seat belt from the buckled state to the unbuckled state, wherein the program instructions are configured to send a control signal to the first actuator in response to the smoke detection system detecting the smoke inside the self-driving vehicle, wherein the control signal is configured to cause the first actuator to switch the seat belt from the buckled state to the unbuckled state.

### Claim 3 (depends on 1)

The safety system of claim 1, further comprising a seat belt sensor configured to detect the buckled state of the seat belt, wherein the program instructions are configured to cause the vehicle management system to switch the seat belt from the buckled state to the unbuckled state in response to the smoke detection system detecting the smoke inside the self-driving vehicle and the seat belt sensor detecting the buckled state.

### Claim 4 (depends on 1)

The safety system of claim 1, further comprising an occupancy sensor configured to detect the rider sitting in the seat, wherein the program instructions are configured to cause the vehicle management system to switch the seat belt from the buckled state to the unbuckled state in response to the smoke detection system detecting the smoke inside the self-driving vehicle and the occupancy sensor detecting the rider sitting in the seat.

### Claim 5 (depends on 4)

The safety system of claim 4, further comprising a seat belt sensor configured to detect the buckled state of the seat belt, wherein the program instructions are configured to cause the vehicle management system to switch the seat belt from the buckled state to the unbuckled state in response to
the smoke detection system detecting the smoke inside the self-driving vehicle,
the occupancy sensor detecting the rider sitting in the seat, and
the seat belt sensor detecting the buckled state.

### Claim 6 (depends on 1)

The safety system of claim 1, further comprising a speed detection system, wherein the program instructions are configured to cause the vehicle management system to automatically switch the seat belt from the buckled state to the unbuckled state in response to the smoke detection system detecting the smoke inside the self-driving vehicle and the speed detection system determining that the self-driving vehicle is moving at a first speed that is less than a first speed threshold, wherein the first speed threshold is less than 30 miles per hour.

### Claim 7 (depends on 6)

The safety system of claim 6, wherein the first speed threshold is greater than one mile per hour.

### Claim 8 (depends on 1)

The safety system of claim 1, wherein the self-driving vehicle comprises a door, a door lock configured to impede opening the door, and a door lock actuator configured to arrange the door lock to an unlocked state, wherein the program instructions are configured to cause the door lock actuator to unlock the door in response to the smoke detection system detecting the smoke inside the self-driving vehicle.

### Claim 9 (depends on 8)

The safety system of claim 8, wherein the self-driving vehicle comprises a door actuator configured to at least partially open the door, and the program instructions are configured to cause the door actuator to at least partially open the door in response to the smoke detection system detecting the smoke inside the self-driving vehicle.

### Claim 10 (depends on 1)

The safety system of claim 1, wherein the self-driving vehicle comprises a door and a door actuator configured to at least partially open the door, and the program instructions are configured to cause the door actuator to at least partially open the door in response to the smoke detection system detecting the smoke inside the self-driving vehicle,
wherein the safety system further comprises a speed detection system, and the program instructions are configured to cause the vehicle management system to switch the seat belt from the buckled state to the unbuckled state in response to the smoke detection system detecting the smoke inside the self-driving vehicle and the speed detection system determining that the self-driving vehicle is moving at a first speed that is less than a first speed threshold, wherein the first speed threshold is less than 30 miles per hour, and
the program instructions are configured to cause the door actuator to at least partially open the door in response to the smoke detection system detecting the smoke inside the self-driving vehicle and the speed detection system determining that the self-driving vehicle is moving at a second speed that is less than a second speed threshold, wherein the second speed threshold is less than 15 miles per hour.

### Claim 11 (depends on 10)

The safety system of claim 10, wherein the first speed threshold is greater than 1 mile per hour and is greater than the second speed threshold.

### Claim 12 (depends on 1)

The safety system of claim 1, wherein the self-driving vehicle comprises a window and a motor configured to at least partially open the window, wherein in response to the smoke detection system detecting the smoke inside the self-driving vehicle the program instructions are configured to cause the motor to at least partially open the window prior to the seat belt switching from the buckled state to the unbuckled state.

### Claim 13 (depends on 1)

The safety system of claim 1, wherein the smoke detection system is configured to detect a concentration of the smoke, and the program instructions are configured to cause the vehicle management system to automatically switch the seat belt from the buckled state to the unbuckled state in response to the smoke detection system detecting the smoke inside the self-driving vehicle and the safety system determining the concentration of the smoke is greater than a predetermined threshold.

### Claim 14 (depends on 1)

The safety system of claim 1, wherein the smoke detection system is configured to detect a particle size of the smoke, and the vehicle management system is configured to switch the seat belt from the buckled state to the unbuckled state in response to the smoke detection system detecting the smoke inside the self-driving vehicle and the safety system determining the particle size is smaller than a predetermined threshold.

### Claim 15 (depends on 1)

The safety system of claim 1, wherein the self-driving vehicle comprises a window and a motor configured to at least partially open the window, the smoke detection system is configured to detect a particle size of the smoke, the program instructions are configured to cause the vehicle management system to switch the seat belt from the buckled state to the unbuckled state in response to the safety system determining the particle size is smaller than a first predetermined threshold, and the program instructions are configured to cause the motor to at least partially open the window in response to the safety system determining the particle size is larger than a second predetermined threshold.

### Claim 16 (depends on 1)

The safety system of claim 1, wherein the self-driving vehicle comprises a window and a motor configured to at least partially open the window,
the smoke detection system comprises a camera and at least one of an ionization smoke detector and an optical smoke detector, wherein the camera is configured to take a picture showing at least a portion of the cabin,
the program instructions are configured to cause the motor to at least partially open the window in response to the safety system determining that the picture shows the smoke, and
the program instructions are configured to cause the vehicle management system to switch the seat belt from the buckled state to the unbuckled state in response to at least one of the ionization smoke detector and the optical smoke detector detecting the smoke inside the self-driving vehicle.

### Claim 17 (depends on 1)

The safety system of claim 1, further comprising a temperature detection system coupled to the self-driving vehicle and configured to detect a temperature inside at least a portion of the self-driving vehicle,
wherein the program instructions are configured to cause the vehicle management system to switch the seat belt from the buckled state to the unbuckled state in response to the smoke detection system detecting the smoke inside the self-driving vehicle and the temperature detection system detecting that the temperature is greater than a predetermined temperature threshold.

### Claim 18 (depends on 17)

The safety system of claim 17, wherein the temperature detection system comprises a thermal imaging camera.

### Claim 19 (depends on 1)

The safety system of claim 1, further comprising an object detection system configured to detect a second vehicle and having at least one of a camera, a radar, and a lidar,
wherein at least one of the camera, the radar, and the lidar is coupled to the self-driving vehicle to enable the objection detection system to detect the second vehicle, and the program instructions are configured to cause the vehicle management system to switch the seat belt from the buckled state to the unbuckled state in response to the smoke detection system detecting the smoke inside the self-driving vehicle and in response to the object detection system detecting that the second vehicle is at least a predetermined distance from the self-driving vehicle.

### Claim 20 (depends on 1)

The safety system of claim 1, further comprising an object detection system configured to detect a second vehicle and having at least one of a camera, a radar, and a lidar,
wherein at least one of the camera, the radar, and the lidar is coupled to the self-driving vehicle to enable the objection detection system to detect the second vehicle, and the program instructions are configured to cause the vehicle management system to switch the seat belt from the buckled state to the unbuckled state in response to the smoke detection system detecting the smoke inside the self-driving vehicle and in response to the object detection system detecting that the second vehicle is not on a collision course with the self-driving vehicle.

### Claim 21 (depends on 1)

The safety system of claim 1, further comprising an object detection system configured to detect a second vehicle and having at least one of a camera, a radar, and a lidar,
wherein at least one of the camera, the radar, and the lidar is coupled to the self-driving vehicle to enable the objection detection system to detect the second vehicle, and the program instructions are configured to cause the vehicle management system to switch the seat belt from the buckled state to the unbuckled state in response to the smoke detection system detecting the smoke inside the self-driving vehicle and in response to the vehicle management system determining, based on data from the object detection system, that the second vehicle has less than a predetermined risk threshold of colliding with the self-driving vehicle.

### Claim 22 (depends on 1)

The safety system of claim 1, wherein the self-driving vehicle comprises a door and a door actuator configured to at least partially open the door, and the program instructions are configured to cause the door actuator to at least partially open the door in response to the smoke detection system detecting the smoke inside the self-driving vehicle.

### Claim 23 (depends on 1)

The safety system of claim 1, further comprising a speed detection system, wherein the program instructions are configured to cause the vehicle management system to switch the seat belt from the buckled state to the unbuckled state in response to the smoke detection system detecting the smoke inside the self-driving vehicle and the speed detection system determining that the self-driving vehicle is moving at a first speed that is less than a first speed threshold.

### Claim 24 (depends on 23)

The safety system of claim 23, wherein the first speed threshold is less than 10 miles per hour.

### Claim 25 (depends on 1)

The safety system of claim 1, further comprising a speed detection system,
wherein the self-driving vehicle comprises a door, a door lock configured to impede opening the door, and a door lock actuator configured to arrange the door lock to an unlocked state,
wherein the program instructions are configured to cause the door lock actuator to unlock the door in response to the smoke detection system detecting the smoke inside the self-driving vehicle and in response to the speed detection system determining that the self-driving vehicle is moving at a first speed that is less than a first speed threshold, wherein the first speed threshold is less than 30 miles per hour.

### Claim 26 (depends on 25)

The safety system of claim 25, wherein the program instructions are configured to cause the vehicle management system to switch the seat belt from the buckled state to the unbuckled state in response to the smoke detection system detecting the smoke inside the self-driving vehicle and the speed detection system determining that the self-driving vehicle is moving at a second speed that is less than a second speed threshold, wherein the second speed threshold is less than 30 miles per hour, and
wherein the self-driving vehicle comprises a door actuator configured to at least partially open the door, and the program instructions are configured to cause the door actuator to at least partially open the door in response to the smoke detection system detecting the smoke inside the self-driving vehicle and the speed detection system determining that the self-driving vehicle is moving at a third speed that is less than a third speed threshold, wherein the third speed threshold is less than 15 miles per hour.