# US 12,214,724 B2 · Systems and methods for deploying warning devices from an autonomous vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,214,724 B2 - Document ID: US12214724B2 - Status: Granted - Kind: B2 - Application number: 17/843,278 - Filed: 2022-06-17 - Published: 2022-10-06 - Granted: 2025-02-04 - Earliest claimed: 2018-01-15 - Assignees: Aurora Operations, Inc. - Applicants: Aurora Operations, Inc. - Inventors: Zac Vawter; Alden James Woodrow - Web page: https://patentgrep.com/patent/US12214724B2 ## CPC - B60Q 1/525: {automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data} - B60Q 1/46: for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights {or hazard lights} - B60Q 1/507: {specific to autonomous vehicles} - B60Q 7/00: Arrangement or adaptation of portable emergency signal devices on vehicles - 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) - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05D 1/246: using environment maps, e.g. simultaneous localisation and mapping [SLAM] - G05D 1/617: Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract Systems and methods are directed to deploying warning devices by an autonomous vehicle. In one example, a system includes one or more processors and memory including instructions that, when executed by the one or more processors, cause the one or more processors to perform operations. The operations include obtaining data indicating that a vehicle stop maneuver is to be implemented for an autonomous vehicle. The operations further include determining whether one or more warning devices should be dispensed from the autonomous vehicle during the vehicle stop maneuver based in part on the obtained data. The operations further include, in response to determining one or more warning devices should be dispensed from the autonomous vehicle, determining a dispensing maneuver for the one or more warning devices, and providing one or more command signals to one or more vehicle systems to perform the dispensing maneuver for the one or more warning devices. ## Claims ### Claim 1 A computer-implemented method comprising: obtaining data indicative of a vehicle stop maneuver for an autonomous vehicle, wherein the autonomous vehicle is an autonomous truck comprising a tractor portion; obtaining map data associated with the vehicle stop maneuver, the map data comprising information indicative of at least one of (i) a road elevation or (i) a road curvature; based on the data indicative of the vehicle stop maneuver and the map data, identifying a warning device of the autonomous vehicle for deployment, wherein the warning device is physically connected to the tractor portion; determining a predicted trajectory of one or more vehicles within a surrounding environment of the autonomous vehicle; determining a timing and a position for physically moving the warning device from the autonomous vehicle based on the predicted trajectory of the one or more vehicles within the surrounding environment of the autonomous vehicle and at least one of (i) the road elevation or (ii) the road curvature; and providing one or more signals to initiate the physical movement of the warning device of the autonomous vehicle in accordance with the timing and the position, wherein the warning device remains physically connected to the tractor portion while deployed. ### Claim 2 (depends on 1) The computer-implemented method of claim 1, wherein the data indicating the vehicle stop maneuver indicates that (i) the vehicle stop maneuver has been performed, (ii) is currently being performed, or (iii) is to be performed by the autonomous vehicle. ### Claim 3 (depends on 1) The computer-implemented method of claim 1, wherein the warning device comprises a triangular shape. ### Claim 4 (depends on 1) The computer-implemented method of claim 1, wherein the position for placing the warning device is a position that is visible by approaching traffic. ### Claim 5 (depends on 1) The computer-implemented method of claim 1, wherein the warning device is physically connected to the tractor portion through an actuator configured to deploy the warning device. ### Claim 6 (depends on 1) The computer-implemented method of claim 1, wherein the deployment of the warning device of the autonomous vehicle is initiated in response to the autonomous vehicle performing the vehicle stop maneuver. ### Claim 7 (depends on 1) The computer-implemented method of claim 1, wherein the deployment of the warning device of the autonomous vehicle is initiated after the autonomous vehicle performs the vehicle stop maneuver. ### Claim 8 (depends on 1) The computer-implemented method of claim 1, further comprising: providing a signal to activate a hazard warning light of the autonomous vehicle. ### Claim 9 A vehicle control system comprising: one or more processors; and a memory including instructions that are executable by the one or more processors to cause the one or more processors to perform operations, the operations comprising: obtaining data indicative of a vehicle stop maneuver for an autonomous vehicle, wherein the autonomous vehicle is an autonomous truck comprising a tractor portion; obtaining map data associated with the vehicle stop maneuver, the map data comprising information indicative of at least one of (i) a road elevation or (i) a road curvature; based on the data indicative of the vehicle stop maneuver and the map data, identifying a warning device of the autonomous vehicle for deployment, wherein the warning device is physically connected to the tractor portion; determining a predicted trajectory of one or more vehicles within a surrounding environment of the autonomous vehicle; determining a timing and a position for physically moving the warning device from the autonomous vehicle based on the predicted trajectory of the one or more vehicles within the surrounding environment of the autonomous vehicle and at least one of (i) the road elevation or (ii) the road curvature; and providing one or more signals to initiate the physical movement of the warning device of the autonomous vehicle in accordance with the timing and the position, wherein the warning device remains physically connected to the tractor portion while deployed. ### Claim 10 (depends on 9) The vehicle control system of claim 9, wherein the data indicating the vehicle stop maneuver indicates that (i) the vehicle stop maneuver has been performed, (ii) is currently being performed, or (iii) is to be performed by the autonomous vehicle. ### Claim 11 (depends on 9) The vehicle control system of claim 9, wherein the warning device comprises a triangular shape. ### Claim 12 (depends on 9) The vehicle control system of claim 9, wherein the position for placing the warning device is a position that is visible by approaching traffic. ### Claim 13 (depends on 9) The vehicle control system of claim 9, wherein the deployment of the warning device of the autonomous vehicle is initiated after the autonomous vehicle performs the vehicle stop maneuver. ### Claim 14 (depends on 9) The vehicle control system of claim 9, wherein the warning device comprises a light. ### Claim 15 (depends on 9) The vehicle control system of claim 9, wherein the warning device is not visible to a surrounding environment of the autonomous vehicle before deployment of the warning device. ### Claim 16 (depends on 9) The vehicle control system of claim 9, wherein the position for deploying the warning device is a position that is visible by approaching traffic. ### Claim 17 (depends on 9) The vehicle control system of claim 9, wherein the warning device is physically connected to the tractor portion through an actuator configured to deploy the warning device. ### Claim 18 An autonomous truck comprising: a tractor portion; a warning device physically connected to the tractor portion; and a control system comprising one or more processors configured to: obtain data indicative of a vehicle stop maneuver for the autonomous truck; obtaining map data associated with the vehicle stop maneuver, the map data comprising information indicative of at least one of (i) a road elevation or (i) a road curvature; based on the data indicative of the vehicle stop maneuver and the map data, identifying a warning device of the autonomous truck for deployment; determine a predicted trajectory of one or more vehicles within a surrounding environment of the autonomous truck; determine a timing and a position for physically moving the warning device from the autonomous truck based on the predicted trajectory of the one or more vehicles within the surrounding environment of the autonomous truck and at least one of (i) the road elevation or (ii) the road curvature; and provide one or more command signals to initiate the physical movement of the warning device of the autonomous truck in accordance with the timing and the position, wherein the warning device remains physically connected to the tractor portion while deployed. ### Claim 19 (depends on 18) The autonomous truck of claim 18, wherein the vehicle stop maneuver comprises a deceleration and a stop of the autonomous truck, wherein the deployment of the warning device of the autonomous truck is initiated during the deceleration or after the stop of the autonomous truck. ### Claim 20 (depends on 1) The computer-implemented method of claim 1, wherein map data comprises at least one of: (i) an identity of one or more structures; (ii) a location of one or more structures; (iii) a location of traffic lanes; (iv) a direction of traffic lanes; (v) a location and instructions of traffic signage; or (vi) traffic control data indicative of at a least one or more traffic signals.