Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide map data for autonomous vehicles. In particular, a method may include accessing subsets of multiple types of sensor data, aligning subsets of sensor data relative to a global coordinate system based on the multiple types of sensor data to form aligned sensor data, and generating datasets of three-dimensional map data. The method further includes detecting a change in data relative to at least two datasets of the three-dimensional map data and applying the change in data to form updated three-dimensional map data. The change in data may be representative of a state change of an environment at which the sensor data is sensed. The state change of the environment may be related to the presence or absences of an object located therein.

A method of controlling autonomous or driverless vehicles in a specific control zone or in a convoy is disclosed. The vehicles enter the zone or form a convoy and come under the control of a zone authority or escort vehicle that coordinates the movements of the vehicles until they leave the zone or convoy. Escort vehicles communicate with central control facilities, each other or escorted vehicles. The behavior of the escorted or controlled vehicles is modified to insure that it matches a set of rules established by the zone authority. Possible zones include parking areas, indoor passages and areas with security concerns. The zone authority or escort vehicle may simultaneously control multiple autonomous vehicles and possible additional driver operated vehicles. Messages establishing control or providing continuing administration of rules or movements of escorted or controlled vehicles may be delivered by any type of communications link.

A computer in a first vehicle is configured to receive data relating to a second vehicle. The computer may use the data to determine that the second vehicle is being operated at least partially autonomously. Further, the computer may cause the first vehicle to take an action to autonomously operate the first vehicle based at least in part on determining that the second vehicle is being operated at least partially autonomously.

A monitoring unit wirelessly monitors sensor(s) associated with a vehicle and includes (a) a radio frequency (RF) receiver that receives RF signals from one or more sensors; (b) a processing unit connected to the RF receiver that monitors information related received RF signals from the sensor(s); (c) the processing unit monitoring the received RF signals and a status of an output of the sensor(s) associated with the vehicle. The received RF signals may include information on a value of an output of the sensor and limits of acceptable values, and the processing unit generates an alarm when the value of the output is outside of the limits of acceptable values. The alarm may be a visual indication visible from the exterior of the vehicle.

One variation of a method for renting a vehicle includes: receiving a signal from a fleet manager, the signal specifying a current availability of the vehicle for rent; updating a visual indicator arranged on the vehicle according to the signal, the visual indicator visually detectable from outside the vehicle; receiving identification information of a user proximal the vehicle; enabling access to the vehicle for the user in response to verification of the user as a driver of the vehicle; determining, through a sensor arranged within the vehicle, that the user is seated in a driver's seat within the vehicle; and enabling ignition of the vehicle for the user in response to determination that the user is seated in the driver's seat.

At least one embodiment of this disclosure includes a method for an autonomous vehicle (e.g., a fully autonomous or semi-autonomous vehicle) to communicate with external observers. The method includes: receiving a task at the autonomous vehicle; collecting data that characterizes a surrounding environment of the autonomous vehicle from a sensor coupled to the autonomous vehicle; determining an intended course of action for the autonomous vehicle to undertake based on the task and the collected data; and conveying a human understandable output via an output device, the human understandable output expressly or implicitly indicating the intended course of action to an external observer.

Aspects of the disclosure provide for displaying notifications on a display of an autonomous vehicle 100. In one instance, a distance from the vehicle to a destination of the vehicle or a passenger may be determined. When the distance is between a first distance and a second distance, a first notification 650 may be displayed on the display. The second distance may be less than the first distance. When the distance is less than the second distance, a second notification 660 may be displayed on the display. The second notification provides additional information not provided by the first notification.

One variation of a method for communicating state, intent, and context of an autonomous vehicle includes: at a first time, displaying a first icon representing a current state of a vehicle on a rear-facing visual display arranged on the vehicle; navigating toward an intersection; at a second time, detecting a state of the intersection ahead of the vehicle; rendering a second icon representing the state of the intersection at the second time on the rear-facing visual display; detecting a change in the state of the intersection at a third time succeeding the second time; selecting a next navigation action for the vehicle responsive to the change in the state of the intersection at the third time; prior to executing the next navigation action, rendering a third icon representing the next navigation action on the rear-facing visual display; and autonomously executing the next navigation action.

By a vehicle notification control device or a vehicle notification control method, an automated driving-related state is identified, a vehicle exterior notification device is controlled for performing vehicle exterior notification that is notification of information related to the automated driving toward an outside of the vehicle; and an execution timing of the vehicle exterior notification is changed according to the identified automated driving-related state.

A turn signal system and a multi-vehicle system including the turn signal system are disclosed for creating the safe and efficient movement of objects through physical space. The turn signal system includes a straight turn signal. The straight turn signal according to embodiments disclosed herein delivers safe and clear messaging to users of pathways or roads and adds predictability. It also removes the excuse for a non-signal over the prior art methods for signaling-thus contributing to the reduction of road rage and the statement why did you not signal.