Systems and methods for external warning by an autonomous vehicle

1. A method of generating warning signals for an autonomous vehicle, comprising:

receiving sensor data associated with an environment of the vehicle;

determining, by a processor, an encroaching object based on the sensor data;

determining, by the processor, an impending event based on the encroaching object;

selecting, by the processor, at least one warning device from a plurality of warning devices coupled to the vehicle based on the impending event, wherein the at least one warning device generates warning signals that are perceived outside of the vehicle; and

generating, by the processor, an activation signal to the at least one warning device to generate the warning signals based on the impending event;

receiving second sensor data associated with the environment of the vehicle;

determining, by the processor, whether the warning signals were perceived and a response taken by an individual associated with the encroaching object based on the second sensor data; and

selectively generating, by the processor, control signals to an actuator system to control a component of the vehicle based on the determination of whether the warning signals were perceived and a response taken.

2. The method of claim 1 , wherein the selecting the at least one warning device is based on a location of the encroaching object relative to the autonomous vehicle.

3. The method of claim 1 , wherein the selecting the at least one warning device is based on a predicted trajectory of the encroaching object relative to the autonomous vehicle.

4. The method of claim 1 , wherein the selecting the at least one warning device is based on a location of the warning device relative to the vehicle.

5. The method of claim 1 , wherein the at least one warning device is an audio warning device that generates audio warning signals.

6. The method of claim 1 , wherein the at least one warning device is a visual warning device that generates visual warning signals.

7. The method of claim 1 , wherein the vehicle system is at least one of a steering system, a brake system, an engine system, and a transmission system.

8. A system for generating warning signals for an autonomous vehicle, comprising:

a non-transitory computer readable medium comprising:

a first module configured to, by a processor, receive sensor data associated with an environment of the vehicle, and determine an encroaching object based on the sensor data;

a second module configured to, by a processor, determine an impending event based on the encroaching object;

a third module configured to, by a processor, select at least one warning device from a plurality of warning devices based on the impending event, wherein the at least one warning device generates warning signals that are perceived outside of the vehicle, and generate an activation signal to the at least one warning device to generate warning signals based on the impending event; and

a fourth module configured to, by a processor, receive second sensor data associated with the environment of the vehicle, determine, whether the warning signals were perceived and a response taken by an individual associated with the encroaching object based on the second sensor data, and selectively generate control signals to an actuator system to control a component of the vehicle based on the determination of whether the warning signals were perceived and a response taken.

9. The system of claim 8 , wherein the third module selects the at least one warning device based on a location of the encroaching object relative to the autonomous vehicle.

10. The system of claim 8 , wherein the third module selects the at least one warning device based on a predicted trajectory of the encroaching object relative to the autonomous vehicle.

11. The system of claim 8 , wherein third module selects the at least one warning device based on a location of the warning device relative to the vehicle.

12. The system of claim 8 , wherein the at least one warning device is an audio warning device that generates audio warning signals.

13. The system of claim 8 , wherein the at least one warning device is a visual warning device that generates visual warning signals.

14. The system of claim 13 , wherein the warning device is a strip of lights coupled to a roof of the vehicle, and wherein the strip of lights includes a plurality of zones that are selectively actuated based on the activation signal.

15. The system of claim 8 , wherein the vehicle system is at least one of a steering system, a brake system, an engine system, and a transmission system.

16. A vehicle, comprising:

a plurality of warning devices distributed about the vehicle, the warning devices generate warning signals that are perceived outside of the vehicle; and

a controller that is configured to, by a processor, receive sensor data associated with an environment of the vehicle, determine an encroaching object based on the sensor data, determine an impending event based on the encroaching object, select at least one warning device from the plurality of warning devices based on the impending event, generate an activation signal to the at least one warning device to generate the warning signals based on the impending event, receive second sensor data associated with the environment of the vehicle, determine, whether the warning signals were perceived and a response taken by an individual associated with the encroaching object based on the second sensor data, and selectively generate control signals to an actuator system to control a component of the vehicle based on the determination of whether the warning signals were perceived and a response taken.