Ambient lighting conditions for autonomous vehicles
The disclosure relates to using ambient lighting conditions with passenger and goods pickups and drop offs with autonomous vehicles. For instance, a map of ambient lighting conditions for stopping locations may be generated by receiving ambient lighting condition data for predetermined stopping locations and arranging this data into a plurality of buckets based on time and one of the stopping locations. A vehicle may then be controlled in an autonomous driving mode in order to stop for a passenger by both observing ambient lighting conditions for different stopping locations and, in some instances, also using the map.
1. A method of controlling a vehicle, the method comprising:
retrieving, by one or more processors, data generated by one or more vehicles identifying ambient lighting conditions at different locations at different points in time;
identifying, by the one or more processors, one of a predetermined set of stopping locations for the vehicle based on the different locations;
arranging, by the one or more processors, the retrieved data corresponding to the identified one of the predetermined set of stopping locations into a plurality of buckets based on the different points in time, each of the plurality of buckets representing a discrete time interval and an ambient lighting condition;
generating, by the one or more processors, a map of ambient lighting conditions using the plurality of buckets; and
controlling, by the one or more processors, using the generated map, the vehicle in an autonomous driving mode to stop at one of the predetermined set of stopping locations.
2. The method of claim 1 , wherein generating the map includes incorporating the plurality of buckets into a prior map.
3. The method of claim 1 , further comprising providing the plurality of buckets to a computing device of an autonomous vehicle in order to allow the autonomous vehicle to identify a pickup stopping location of the predetermined set of stopping locations based on historical ambient lighting conditions.
4. The method of claim 1 , further comprising providing the plurality of buckets to a computing device of an autonomous vehicle in order to allow the autonomous vehicle to identify a drop off stopping location of the predetermined set of stopping locations based on historical ambient lighting conditions.
5. The method of claim 1 , further comprising:
receiving, from a client computing device, a request to identify one or more possible pickup locations for a trip; and
in response to the request to the client computing device, providing information identifying one of a predetermined set of stopping locations using at least one of the plurality of buckets.
6. The method of claim 5 , further comprising selecting the at least one of the plurality of buckets based on an expected time that a passenger will be picked up for the trip.
7. The method of claim 6 , further comprising, providing, in response to the request to the client computing device, a notification identifying an ambient lighting condition of the at least one of the plurality of buckets at the expected time that the passenger will be picked up for the trip.
8. The method of claim 1 , further comprising:
receiving, from a client computing device, a request to identify one or more possible drop off locations for a trip; and
in response to the request to the client computing device, providing information identifying one of a predetermined set of stopping locations using at least one of the plurality of buckets.
9. The method of claim 8 , further comprising selecting the at least one of the plurality of buckets based on an expected time that a passenger will be dropped off from the trip.
10. The method of claim 9 , further comprising, providing, in response to the request to the client computing device, a notification identifying an ambient lighting condition of the at least one of the plurality of buckets at the expected time that the passenger will be dropped off for the trip.
11. A method of controlling a vehicle in order to stop the vehicle, the method comprising:
receiving, by one or more processors, a stopping location for the vehicle, the stopping location determined before dispatching of the vehicle, the stopping location being proximate to a destination for the vehicle;
controlling, by the one or more processors, the vehicle in an autonomous driving mode towards the stopping location;
while controlling the vehicle in the autonomous driving mode, observing, by the one or more processors, the stopping location;
identifying, by the one or more processors, a new stopping location based on the observation and ambient lighting conditions of the new stopping location, the ambient lighting conditions of the new stopping location determined from a plurality of buckets associated with the new stopping location, each of the plurality of buckets representing a discrete time interval and an ambient lighting condition; and
controlling, by the one or more processors, the vehicle in the autonomous driving mode to stop at the new stopping location.
12. The method of claim 11 , wherein observing the stopping location includes determining ambient lighting conditions for the stopping location.
13. The method of claim 12 , wherein determining the ambient lighting conditions for the stopping location is based on an image captured by a camera of the vehicle.
14. The method of claim 12 , wherein determining the ambient lighting conditions for the stopping location is based on an exposure value for a camera of the vehicle.
15. The method of claim 12 , wherein determining the ambient lighting conditions for the stopping location is based on light sensors of the vehicle.
16. The method of claim 12 , wherein determining the ambient lighting conditions for the stopping location is based on a current state of headlights of the vehicle.
17. The method of claim 12 , wherein determining the ambient lighting conditions for the stopping location is based on a current state of an internal display of the vehicle.
18. The method of claim 12 , further comprising determining the ambient lighting conditions of the new stopping location based on an image captured by a camera of the vehicle.
19. The method of claim 12 , further comprising determining the ambient lighting conditions of the new stopping location based on map information identifying historical ambient lighting conditions of the new stopping location.
20. The method of claim 11 , wherein observing the stopping location includes determining that the stopping location is currently unavailable.