Communicating vehicle information to pedestrians

An apparatus comprising:

• at least one processor;
• and
• at least one memory storing computer-executable instructions configured to cause the at least one processor to execute operations comprising:
• obtaining data associated with an environment, the environment comprising a vehicle and at least one object, the data associated with the environment comprising a location of the vehicle in the environment and a location of the at least one object in the environment;
• determining an expressive deceleration profile associated with an expressive maneuver based on the data associated with the environment, wherein determining the expressive deceleration profile comprises:
• determining:
• i) a starting point based on an expressive initiation distance and the location of the at least one object in the environment, ii) a maximum deceleration point based on an expressive maximum deceleration distance and the location of the at least one object in the environment, and iii) a stopping point based on an expressive stopping distance and the location of the at least one object in the environment, and determining the expressive deceleration profile based on the starting point, the maximum deceleration point, and the stopping point;
• generating data associated with control of the vehicle based on the expressive deceleration profile associated with the expressive maneuver;
• and
• transmitting the data associated with the control of the vehicle to a controller of the vehicle to cause the vehicle to operate according to the expressive deceleration profile.

A non-transitory computer-readable storage medium comprising at least one program for execution by at least one processor of a first device, the at least one program including instructions which, when executed by the at least one processor, cause the first device to perform operations comprising:

• obtaining data associated with an environment, the environment comprising a vehicle and at least one object, the data associated with the environment comprising a location of the vehicle in the environment and a location of the at least one object in the environment;
• determining an expressive deceleration profile associated with an expressive maneuver based on the data associated with the environment, wherein determining the expressive deceleration profile comprises:
• determining:
• i) a starting point based on an expressive initiation distance and the location of the at least one object in the environment, ii) a maximum deceleration point based on an expressive maximum deceleration distance and the location of the at least one object in the environment, and iii) a stopping point based on an expressive stopping distance and the location of the at least one object in the environment, and determining the expressive deceleration profile based on the starting point, the maximum deceleration point, and the stopping point;
• generating data associated with control of the vehicle based on the expressive deceleration profile associated with the expressive maneuver;
• and
• transmitting the data associated with the control of the vehicle to a controller of the vehicle to cause the vehicle to operate according to the expressive deceleration profile.