EP4662090A1

EP4662090A1 - Vehicle fascia comprising actuatable reflectors

Info

Publication number: EP4662090A1
Application number: EP24754093.3A
Authority: EP
Inventors: Sergio Angel AGUIRRE CONTRERAS; Reginaldo Alves De ALMEIDA; Pratik Bansal; Nahuel Elias BATTAGLIA; Herman Francisco DELOS SANTOS; Roberto DLACIC; Anthony Earl; James Michael ECCLESTON; Christopher Lawrence JACKSON; Ian Kennedy; Da Liu; Carter William McEATHRON; Ryan William MCGAUGHEY; Fabricio Cesar ODA; Amanda Brown PRESCOTT; Andrew David RUDD; Christopher John STOFFEL; Jesse Ian WALKER; Lingxuan Zhu
Original assignee: Zoox Inc
Current assignee: Zoox Inc
Priority date: 2023-02-10
Filing date: 2024-02-08
Publication date: 2025-12-17
Also published as: WO2024168185A1; CN120641300A

Abstract

A reflector unit may behave as a retroreflector to reflect light of a selected color. The reflector unit may comprise a plurality of reflector elements having a first side configured to reflect light of a first color and a second side configured to reflect light of a second color. In response to receiving a signal (e.g., indicating a bidirectional vehicle has changed a direction of travel), the reflector unit may cause the reflector elements to rotate and expose a different side of the reflector elements depending on the direction of travel. In some examples, the reflector unit may have a masking element that can be actuated to cover or expose a reflective element.

Description

VEHICLE FASCIA COMPRISING ACTUATABLE REFLECTORS

RELATED APPLICATIONS

[0001] This PCT International Application claims the benefit of, and priority to, U.S. Application No. 18/435,298, filed February 7, 2024, which claims the benefit of, and priority to, U.S. Provisional Application No. 63/444,873, filed on February 10, 2023, and also claims the benefit of, and priority to, U.S. Application No. 18/240,946, filed August 31, 2023, all of which are incorporated herein by reference in their entirety.

BACKGROUND

[0002] Vehicles can have multiple different types of lights and reflectors to illuminate the exterior of the vehicle and communicate with pedestrians or other vehicles in the environment. Such lights and reflectors allow a vehicle to be conspicuous and visible with respect to, for example, its presence, position and so on. The lights and reflectors on the front of the vehicle are often different than the lights and reflectors on the rear of the vehicle. However, current reflector designs may not function properly in non-traditional vehicles, such as those vehicles capable of traveling equally in any of a plurality of directions.

BRIEF DESCRIPTION OF THE DRAWINGS

[0003] The detailed description is described with reference to the accompanying figures. In the figures, the left-most digit of a reference number identifies the figure in which the reference number first appears. The same reference numbers in different figures indicate similar or identical items.

[0004] FIG. 1 depicts a perspective view of an example vehicle including various reflector units. The excerpted view illustrates example reflector elements changing from a first state to a second state, in accordance with an example of the present disclosure.

[0005] FIG. 2 depicts an enlarged detail view of an example reflector unit including a reflector element transitioning from a first state to a second state.

[0006] FIG. 3A depicts a perspective view of internal components of an example reflector unit.

[0007] FIG. 3B depicts a perspective view of the example reflector unit in relation to a vehicle fascia. [0008] FIG. 3C depicts a cross-sectional view of the example reflector unit coupled to the vehicle and illustrating a curved profile of the reflector unit.

[0009] FIG. 4A depicts a perspective view of another example reflector unit.

[0010] FIG. 4B depicts a front view of the example reflector unit of FIG. 4A.

[0011] FIG. 4C depicts a back view of the example reflector unit of FIG. 4A.

[0012] FIG. 5 depicts a schematic cross-sectional view of another example reflector unit.

The excerpted view illustrates another example reflector element having three sides, where one of the sides includes a display.

[0013] FIG. 6 depicts a block diagram of an example system for implementing various reflector units, as described herein.

[0014] FIG. 7 illustrates a flow chart outlining an example process to transition a reflector element from a first state to a second state using the techniques described herein.

[0015] FIG. 8 A depicts a perspective view of an example vehicle including various actuator systems. The excerpted view illustrates an actuator system, in accordance with an example of the present disclosure.

[0016] FIG. 8B depicts a perspective view of an example vehicle including various actuator systems. The excerpted view illustrates another example actuator system in a first state and a second state, in accordance with an example of the present disclosure.

[0017] FIG. 9A depicts a top, front, left-side perspective view of a vehicle fascia including an indicia portion.

[0018] FIG. 9B depicts a front view of the vehicle fascia including the indicia portion.

[0019] FIG. 9C depicts a right-side view of the vehicle fascia including the indicia portion.

[0020] FIG. 9D depicts a back view of the vehicle fascia including an actuator system for operatively exposing or covering the indicia portion of the vehicle fascia.

[0021] FIG. 9E depicts a top, back, right-side perspective view of the vehicle fascia including the actuator system for operatively exposing or covering an indicia portion of the vehicle fascia.

[0022] FIG. 10A depicts a front view of the vehicle fascia showing a first state of the actuator system’s control of a masking component where the first state exposes the indica portion.

[0023] FIGS. 10A-10C depict the front view of a vehicle fascia showing a first and second part of a transition from the first state of the actuator system’s control of a masking component to a second state. [0024] FIG. 10D depicts the front view of the vehicle fascia showing a second state of the actuator system’s control of the masking component where the second state covers the indica portion.

[0025] FIG. 11 A depicts a perspective view of another example actuator system.

[0026] FIG. 1 IB depicts a front view of the example actuator system of FIG. 11 A in a first state.

[0027] FIG. 11C depicts a front view of the example actuator system of FIG. 11A in a second state.

[0028] FIG. 12 depicts a flow chart outlining an example process to transition a masking element associated with an actuator system from a first state to a second state using the techniques described herein.

DETAILED DESCRIPTION

[0029] An example vehicle safety feature may comprise a white reflector on the front of the vehicle and a red reflector on the rear of the vehicle such that operators of other vehicles may quickly glean a travel orientation of the vehicle. For a bidirectional vehicle, such as, for example, one described in U.S. Patent No. 11,242,972, filed September 11, 2019, the entirety of which is incorporated by reference herein for all purposes, this may present a problem, since either end of the vehicle may be either the front (leading end) or rear (trailing end) of the vehicle depending on the configuration of the vehicle. Such bidirectional vehicles may be equipped with lighting that changes to indicate the directionality of the vehicle. For example, the autonomous vehicle may be equipped with a system to control the lights of the vehicle such that, in a first state, a first set of lights associated with one side of the vehicle are illuminated with a white hue to indicate a front of the vehicle and a second set of lights associated with another side of the vehicle are illuminated with a red hue to indicate a back of the vehicle. This may be inverted when the vehicle changes its operating direction by' changing the lighting system to a second state illuminating the first set of lights with a red hue and the second set of lights with a white hue. Despite such lighting changes, additional safety features may be desired or required, such as a leading retroreflector and/or leading reflector of a first color and trailing reflector of a second color. The Federal Motor Vehicle Safety Standards currently requires a vehicle to have colored reflectors indicative of a leading or trailing end of the vehicle. For vehicles capable of operating symmetrically (e.g., being bidirectional), it is impossible to comply with such requirements by using traditional fixed reflectors. [0030] This disclosure relates to reflector units of a vehicle and techniques for controlling the reflector units. Herein, the term “reflector” may, in some examples, refer to a retroreflector, which is an optical device or surface that reflects electromagnetic radiation (e.g., light) back toward its source with a minimum of scattering. Retroreflectors are designed such that a wavefront of radiation will be reflected straight back to the wavefront source for a relatively wide range of angles of incidence. Retroreflectors are often used on vehicles and for road signs. However, any material that is reflective to electromagnetic radiation (EMR), including EMR in the visible light spectrum, may be used. As used herein, the term ‘'reflector” means a passive reflector, such as a retroreflector, that does not require power to reflect light. In some examples, other non-passive components, such as lights, displays, and the like may be coupled to, positioned adjacent to, used in connection with, or otherwise associated with one or more reflectors.

[0031] Individual reflector units may operate to reflect light of one or more selected colors. Here, a color of a reflector refers to the color of light that exits the reflector. In some examples, the color of a reflector may be imparted by a colored lens or filter of the reflector. For instance, a reflector unit may comprise, in some examples, a reflector element having multiple sides (e.g., two sides, three sides, four sides, etc.) where the individual sides include one or more reflectors configured to reflect, emit, display an image, light of a particular color, etc. into the environment. For example, a first side of a reflector element may have a reflector configured to emit light of a first color and a second side opposite the first side of the reflector element may have a reflector configured to emit light of a second color. That is, a reflector element may be configured to receiving incoining light (e.g., sunlight, headlights, etc.) and reflect back light of the first color or the second color depending on which side of the reflector element is exposed to the environment. The unexposed side of the reflector element(s) faces inward, toward an interior of the vehicle, and is prevented from reflecting or transmitting light into the environment. In this fashion, the reflector unit either reflects the incoming light as the first color or as the second color. In other words, the reflector unit may behave as a reflector having the first color or as a reflector having the second color, such a selection being based which side of the reflector element is exposed to the environment.

[0032] A reflector unit (or retroreflector system) disposed on a vehicle, may comprise one or more reflector elements (or retroreflector elements). A controller associated with the reflector unit may receive a signal indicating a change in a state of the vehicle (e.g., a change in a travel orientation or an indication to change an orientation of travel, a direction of travel, a distance traveled, and the like). As used herein, an orientation of travel may refer to one of two available orientations of travel for a bidirectional vehicle. The controller may cause an actuator (e.g., a motor, hydraulic or pneumatic cylinder, etc.) to activate a linkage coupled to the reflector element and can cause the reflector element to rotate. That is, the reflector element may be configured to change which side of the reflector element is exposed to the environment depending on an orientation of the vehicle (or most recent travel orientation of the vehicle in the situation where the vehicle is parked, is stationary, has malfunctioned, etc.).

[0033] In examples, the reflector element may include multiple sides or surfaces, and individual surfaces of the multiple sides/surfaces may include red, amber, or white/clear reflectors. However, any number of colors is contemplated and may be achieved based on the placement of the reflector unit about the vehicle (an interior, exterior, front, rear, roof, side, proximate a window, etc.) or a desired or intended function (e.g., to indicate a travel orientation or configuration of the vehicle, communicate with pedestrians or vehicles, provide an alert, indicate a fault or emergency, etc.). For example, reflector units on the front or rear of the vehicle may change between red and white colors while reflector units on the side of the vehicle may change between white and amber colors. In some examples, reflector units on the front and/or rear of the vehicle may transition between two states or colors and a reflector unit(s) positioned on a lateral side of the vehicle (e.g., proximate a passenger door) may transition between three or four states. In some examples, reflector elements may be configured to transition between two or more states based on a period of time (e.g., every 3 seconds, 5 seconds, 10 seconds, etc.) to indicate an emergency or fault associated with the vehicle in any combination (e.g., reflectors may individually change states from other reflectors in a same unit). Alternatively, a controller may cause the reflector elements to oscillate by sending a signal to the actuator to partially transition or rotate reflector elements (e.g., between about 10 to 45 degrees to the right and to the left, repeatedly). In some examples, causing the reflector elements to oscillate may be based in part on receiving an indication or signal that there is a fault associated with a one or more components of the vehicle.

[0034] In some examples, one or more sides of a reflector element may comprise an active display such as a liquid crystal display (LCD), light emitting diode (LED) display, organic light emitting diode (OLED) display, e-ink display, or other device (e.g., multi-segment display, quantum dot display, electroluminescent display, etc.) configured to change an image of its display. A display may be used to communicate with pedestrians or other vehicles (e.g., display a passenger’s order number, provide an alert, indicate a state of the vehicle, etc ). Individual elements of a plurality of elements may display a portion of an image or message (e.g., a single letter or number) such that a complete image or message may be presented across the plurality of elements. In at least one example, one or more sides of a reflector element may comprise a light emitter, projector, steerable light, and the like.

[0035] The techniques discussed herein further comprise actuator systems for operationally (e.g., mechanically, electrically, electromechanically, programmatically) exposing or masking an indicia portion of a vehicle fascia based on a direction of travel of the vehicle (e.g., a reversal of a direction of travel). An indicia portion may include, for example, a retroreflector, emitters, license plate(s), RFID tag(s). permit(s) (e.g. , parking permits, location access permits), displays (e.g., Liquid Crystal Displays (LCDs), Organic Light-Emitting Diode (OLED) display, Active Matric Organize Light-Emitting Diode (AMOLED) display, E-ink display, LED display, Micro LED, etc.), identification number (Vehicle Identification Number (VIN), registration numbers, etc.), machine-readable code (e.g., codes that may be scanned or read by machines are used for tracking, identification, providing information, etc.), and the like, although the discussion herein uses a retroreflector as an example throughout. In some examples, the actuator system may expose a retroreflector in a first state and mask the retroreflector in a second state. Of course, the above example is not meant to be so limiting and is merely included for illustrative purposes. The technology discussed herein may be equally applied to traditional vehicles or otherwise.

[0036] The example actuator systems may be duplicated in both quarter panels of a same side of the vehicle and/or may be duplicated on opposite sides of the vehicle, such as in the bidirectional autonomous vehicle example described above. In some examples, retroreflectors of opposite sides and/or longitudinal ends of the vehicle may be maintained in opposite states. For example, first retroreflector(s) associated with one longitudinal end of the vehicle, such as associated with a direction of travel, may be exposed while retroreflector(s) on an opposite longitudinal end (e.g., a trailing end) of the vehicle may be covered. Note that it is contemplated that in some examples the states on opposite sides and/or longitudinal ends of the vehicle may be the same. In some examples, actuator systems according to this disclosure may comprise a controller, an actuator, a linkage, a masking element, and an indicia portion (e.g., retroreflector). In some examples, the actuator system may further comprise a seal. In some examples, the actuator system may comprise a controller that is configured to receive signals from one or more system and/or subsystems associated with vehicle (e.g., perception system(s) (e.g., systems that gather environmental data), sensor systems (LiDAR, radar, cameras, ultrasonic, etc.), localization system(s) (e.g., systems that determine the a location of the vehicle), mapping system(s) (e.g.. systems that provide maps of the road network, including lane information, traffic signs, road geometry, etc.), control system(s) (e.g., systems that generate and/or execute a planned trajectory by controlling the vehicle’s acceleration, braking, steering, and other driving functions), communication systems (e.g.. systems that enable the vehicle to communicate or interact with other vehicles on the road, infrastructure, cloud-based services, etc.), diagnostic and monitoring systems (e.g., systems that monitor health and performance of various components and provide feedback for maintenance and/or troubleshooting), or any other system associated with the vehicle. Again, such is merely an example and the techniques described herein may be applied to various portions of a vehicle for changing an indication of state.

[0037] In some examples, the motor may be connected to the masking element via a linkage such that operation of the motor alternately retracts the masking element to expose the retroreflector in a first state or positions the masking element to cover the retroreflector in a second state. The motor may couple to the masking element through one or more linkages and/or components to cause the masking element to transition between the first state and the second state in response to actuation of the motor. In some examples, the motor may be any motor suitable for providing force to the linkage, such as an electromechanical actuator, servomotor, electric motor, brushless motor, stepper motor, electro-hydraulic system, linear actuator, pneumatic actuator, belt driven system, and the like.

[0038] In some examples, the fascia may comprise an exterior side and an interior side and the motor may be disposed on the interior side of the fascia, i.e., behind the fascia. In some examples, the linkage may also be disposed on the interior side of the fascia, although, in some examples, at least part of the fascia may be disposed on the exterior side of the fascia. In the latter example, an exposed portion of the linkage may be concealed with a cover and/or a seal. [0039] The linkage may comprise a hydraulic piston, pin, arm, and/or the like that may be configured to transfer force generated by the motor onto a portion of the masking element configured to couple with the linkage to receive force generated by the motor. The linkage may, in some examples, include multiple linkage components that couple together between the motor and the masking element. The linkage may, in some examples, incorporate various linkages or components that may couple to the motor, the masking element, the vehicle body, the vehicle frame, and/or any combination thereof. For example, the motor may be a stepper motor and the linkage may include a rack and/or pinion to slide the masking element on tracks or other guides. In a different example, the linkage could include a cam and/or rotary mechanical linkage.

[0040] The masking element may be composed of a same or similar material to a fascia of the vehicle, such as a polymer, carbon fiber, metal, composite, or the like, but may, in other examples, be a different material than a fascia of the vehicle. In an additional or alternate example, the masking element may further comprise an indica adhered or otherwise affixed or composing the masking element such that covering a first indicia with the masking element reveals a second indicia associated with the masking element. For example, the masking element may comprise a red retroreflector that may be slid over a white retroreflector and may be retracted to reveal the white retroreflector, depending on the direction of travel of a bidirectional vehicle. In yet another example, the masking element may be an elongated strip comprising two indicia, such as a white retroreflector and red retroreflector. The motor may actuate to slide the elongated strip to reveal a suitable portion (i. e. , the white retroreflector portion or the red retroreflector portion) depending on the direction of travel. In such an example, the elongated strip may cover a third indica or may be used on its own without covering any other indicia. The masking element may be settled into channels in the fascia configured to constrain motion of the masking element along a plane or shape defined by the fascia. The channels may be formed (e.g., molded or machined) directly into the facia, or may be coupled to the fascia (e.g., in the form of rails, tracks, or other guides coupled to the fascia). In an additional or alternate example, the channels into which the masking element is settled may be disposed in the seal.

[0041] The masking element may rest in a first position, such as settled into a storage position such that it fits or matches an external shape and/or configuration of the vehicle. The masking element may be repositioned by the motor and linkage to move from the first position to a second position. In the first position, the masking element may reveal or expose a retroreflector, indicator, light, or other feature on the vehicle. In the second position, the masking element may alternately cover or conceal the retroreflector, indicator, light, or other feature (in whole or in part). In this manner, the masking element may be configured to alternately conceal and/or reveal one or more features on a visible external surface of a vehicle. The masking element may be configured to conceal and/or reveal the elements based on the actuation of the motor and connecting linkage.

[0042] In some examples, the masking element may additionally or alternatively include a switchable component, such as switchable glass e.g., privacy glass), to change an opacity of the masking element in response to a command from the controller. In such examples, the motor and/or linkage may instead correspond to electrical and/or electromechanical connections to the switchable glass configured to cause the switchable glass to transition from an opaque state to a transparent state in response to a signal from the controller. The masking element may be configurable between an opaque state wherein the masking element prevents light from passing through the masking element, thereby concealing a vehicle component positioned behind the masking element and/or preventing light from emitting from the vehicle component, and a transparent state that enables the vehicle component to be viewed and/or interacted with, such as to reveal a retroreflector, vehicle indicia, or to allow light from the vehicle component to be transmitted.

[0043] In some examples, the controller may receive instructions from a planning component of the autonomous vehicle. The planning component may comprise one or more machine-learned models to generate a trajectory for controlling motion of the autonomous vehicle based at least in part on sensor data. In additional or alternate example where the vehicle is driver-controlled, the instructions may be received from a component that indicates a directionality of travel of the vehicle. Regardless, the instructions may indicate a directionality of the vehicle, distinguishing one longitudinal end of the vehicle as the front (i.e., leading end) and an opposite longitudinal end of the vehicle as the back (i.e., trailing end), according to normal traffic laws. The controller may receive these instructions and may alter a state of the actuator system based at least in part on these instructions. For example, where the instructions indicate a first driving configuration of the vehicle, the controller may transmit a signal or control a first motor to actuate such that a first masking element retracts to expose a first retroreflector associated with a first longitudinal end of the vehicle (i.e., the front in the first driving configuration) and a second motor to actuate and position a second masking element to cover a second retroreflector associated with a second longitudinal end of the vehicle (i.e., the back in the first driving configuration. In a second driving configuration, this may be inverted. The controller may cause the respective motors to actuate to cover the first retroreflector and expose the second retroreflector.

[0044] In some examples, the controller may additionally or alternatively receive sensor data indicating a location of the vehicle and may determine, based at least in part on regulation data stored in a memory or retrieved via a network, regulations that may alter operations of the controller, such as by operating motor(s) to cover all retroreflectors when the controller determines, based at least in part on the sensor data, that the location is associated with a jurisdiction identified in the regulation data as not requiring the retroreflectors.

[0045] Note that although this discussion pertains to retroreflectors, the concept may be extended to light emitters disposed on the vehicle, license plate(s), RFID tag(s), permit(s) (e.g. , parking permits, location access permits), display(s) (e.g., Liquid Crystal Display (LCD), Organic Light-Emitting Diode (OLED) display, Active Matric Organize Light-Emitting Diode (AMOLED) display, E-ink display, LED display. Micro LED display, etc.), identification number (Vehicle Identification Number (VIN), registration number, etc.), machine-readable code (e.g., codes that may be scanned or read by a machine are/or used for tracking, identification, providing information, etc.), and the like.

[0046] In some examples, the actuator system may further comprise a seal disposed around the retroreflector to provide a surface that protects interior components from invasive material, such as water or dust, and/or to wipe clean the masking element as it retracts to expose the retroreflector. In such an example, the seal may be made from a pliable material such as rubber, silicone, polymer, an analog thereof, and/or a combination thereof. In some examples, the seal may be treated with a hydrophobic or otherwise weather resistant coating.

FIG. 1 depicts a front, side view- of an example vehicle 100 including various reflector units 102A, 102B, 102C, and 102D (collectively “reflector units"). This figure illustrates reflector unit 102A changing from a first state that reflects a first color or color pattern into the environment to a second state that reflects a second color or color pattern into the environment. [0047] Vehicle 100, as an example, is depicted as being a passenger vehicle having four wheels/tires. Other types and configurations of vehicles are contemplated, such as, for example, vans, sport utility vehicles, crossover vehicles, trucks, buses, agricultural vehicles, trains, and construction vehicles. Vehicle 100 may be pow-ered by one or more internal combustion engines, electric motors powered by one or more power supplies (e.g., batteries, hydrogen fuel cells, etc.), or any combination thereof. In addition, although vehicle 100 is illustrated to have four wheels/tires. the systems and methods described herein may be incorporated into vehicles having few er or a greater number of wheels, tires, and/or tracks. Vehicle 100 in this example is a bidirectional vehicle having four-wheel steering and may operate generally with equal performance characteristics in all directions, for example, such that a first end 108 of vehicle 100 is the front end of the vehicle when traveling in a first direction, and such that first end 108 becomes the rear end of the vehicle when traveling in the opposite, second direction, as illustrated in FIG. 1. Similarly, a second end 110 of the vehicle is the front end of the vehicle when traveling in the second direction, and first end 108 becomes the rear end of the vehicle when traveling in the second direction. These example characteristics may facilitate greater maneuverability, for example, in small spaces or crowded environments, such as parking lots and urban areas. Thus, because of a bidirectionality of vehicle 100, each of the reflector units may sometimes operate as a red reflector or indicator (e.g., red color associated with the rear of a vehicle) while at other times operating as a white reflector or indicator (e.g., white color associated with the front of a vehicle). [0048] In some examples, vehicle 100 may be an autonomous vehicle configured to operate according to a Level 5 classification issued in 2016 by the U.S. National Highway Traffic Safety Administration, which describes a vehicle capable of performing all safety-critical functions for an entire trip, with the driver (or occupant) not being expected to control the vehicle at any time. In that case, since the vehicle may be configured to control all functions from start to stop, including all lighting functions, it may be unoccupied. This is merely an example, however, and the systems and methods described herein may be incorporated into any ground-borne vehicle, including those that are manually driven by a human and those that are partially autonomously controlled, such that they can be autonomously controlled without driver attention or assist during certain driving conditions, such as, for example, while operating on limited-access highways, but such that they require driver attention and/or assistance during other driving conditions, such as, for example, while operating on city streets in urban areas, or during at least some parking functions. Of course, such techniques need not be implemented in a vehicle at all and may be implemented in various systems and apparatuses. [0049] A first reflector unit may be placed on a first end of a bidirectional vehicle and a second reflector unit may be placed on the second end (i.e.. opposite end) of the bidirectional vehicle. If the vehicle is travelling so that the first end of the vehicle is leading the second end, then the first reflector unit may function to behave as a white reflector for the front of a vehicle. Also, the second reflector unit may function to behave as a red reflector for the rear of a vehicle. On the other hand, if the vehicle is travelling so that the second end of the vehicle is leading the first end, then the first reflector unit may function to behave as a red reflector for the rear of a vehicle, and the second reflector unit may function to behave as a white reflector for the front of the vehicle.

[0050] One or more reflector unit(s) may be disposed about vehicle 100. In some examples, one or more reflector unit(s) may be incorporated into a headlamp, turn signal, other light fixture on the vehicle, bumper, etc. A first reflector unit may be located in a first part of the vehicle and a second reflector unit may be located in a second part of the vehicle. For example, two reflector units (102A and 102B) may be placed on a first end 108 of a bidirectional vehicle and two other reflector units (not visible in FIG. 1) may be placed on the second end 110 of the bidirectional vehicle. Additional reflector units, such as reflector unit 102C and reflector unit 102D may be disposed on a side of the vehicle.

[0051] Though only four reflector units are depicted in FIG. 1, an additional four reflector units are present on the second end 110 and opposite side of the vehicle which are not visible in FIG. 1. Further, any greater or lesser number of reflector units may be utilized in other examples. A reflector unit may be coupled to a component of vehicle 100 including one or more fascia, quarter panels, wheel(s), doors, roof, body, bumper, underside, interior, exterior, etc. depending on a desired functionality. For example, a reflector unit may be duplicated in both quarter panels of a same side of vehicle 100 and/or may be duplicated on opposite sides of the vehicle, such as in the bidirectional vehicle example described above.

[0052] Reflector units disposed on a vehicle may differ depending on the location of the reflector unit. For example, reflector unit 102A and reflector unit 102B which are disposed on an end of vehicle 100 are configured to switch between a first color (e.g., red) and a second color (e.g., white/clear) while reflector unit 102C and reflector unit 102D are disposed on a side 112 of vehicle 100 proximate the vehicle door and may be configured to switch between a first color (e.g., red or white) and a third color (e.g., amber) that may be different than the second color. In some examples, reflector unit 102A and reflector unit 102B may comprise two sides and reflector unit 102C and reflector unit 102D may comprise three or four sides due to being disposed on a non-leading or trailing side of the vehicle.

[0053] Reflector units may comprise one or more reflector element(s) 114 configured to passively reflect light and one or more side marker light(s) 104 configured to actively emit light into the environment. In some examples (not shown), side marker light(s) 104 may surround a perimeter of the reflector unit (e.g., form a ring shape, oval shape, rectangular shape, etc.), while in the example illustrated the side marker light(s) 104 comprise a circular dot or lamp disposed on a surface or bezel of the reflector unit proximate to the reflector element(s) 1 14. In some examples, depending on applicable rules, regulations, laws, a side marker light may be included on a reflector unit disposed on a leading and/or trailing end of a vehicle and not on a reflector unit disposed on a side of the vehicle. A reflector unit may provide a functionality of a retroreflector having a particular color. Here, color of a retroreflector refers to the color of light that exits the retroreflector. For example, a retroreflector may comprise a colored material (e.g., plastic, glass, etc.) that reflects a portion of the spectrum of incoming white light, wherein the portion corresponds to the color of the reflector. In some examples, one or more sides of the reflector element 114 may comprise reflectors that do not introduce color to incoming white light, but instead (or additionally), one or more color filters may be disposed on a front of a side of a reflector unit to introduce a color to the reflected incoming white light. In some examples, one reflector element may reflect a red, white, or amber color, although any color or color combination may be contemplated. In the case where the color is white (or clear), a side of the reflector element 114 may comprise a clear material that does not introduce color, so that incoming white light remains white upon reflection by the retroreflector.

[0054] A first side of a reflector element 114 may be configured to reflect light of a first color 116A (e.g., red, amber, white, etc.) and the second side may be configured to reflect light of a second color 116B different than the first color. As described above, this allows the reflector unit to take on multiple states and communicate to other vehicles a travel orientation of the vehicle. Retroreflector units disposed on opposite ends or sides of the vehicle may be maintained in different or opposite states. For example, first retroreflector unit(s) disposed on a first end 108 of the vehicle 100 (e.g., a leading end) may be associated with a first state and reflecting a first color (e.g., white or amber) and second retroreflector unit(s) associated with a second end 110 of the vehicle may be associated with a second state and reflecting a second color (e.g., red). In at least one example, it is contemplated that the states of the reflector unit(s) on opposite sides of the vehicle 100 may be the same. Of course, in any example enumerated herein, the colors or combination of colors may vary depending on applicable rules, regulations, laws, and other considerations.

[0055] A controller may be configured to receive signals from various systems or components. For example, a controller may receive an electrical signal from a planner component of the vehicle indicating a change in a state of a vehicle (e.g., a change in an orientation or configuration related to a direction of travel or an indication that the vehicle is about to change an orientation of travel) and may cause the reflector unit(s) to transition from a first state to a second state. In some examples, the reflector elements may transition between a first state to a second state based on a period of time (e.g., 3 seconds, 5 seconds, 10 seconds, etc.) in order to indicate a fault or emergency. In at least one example, a controller may cause the reflector elements to oscillate by sending a signal to the actuator to partially transition or rotate reflector elements (e.g., between about 10 to 45 degrees to the right and to the left, repeatedly). In some examples, causing the reflector elements to oscillate may be based in part on receiving an indication or signal that there is a fault associated with a one or more components of the vehicle. A controller may also receive signal(s) from other components or systems including a localizer system, sensor systems, perception system, one or more safety systems, and other systems of a vehicle. In some examples, the controller may be configured to receive signals from a source external to the vehicle such as from an autonomous vehicle serv ice platform, fleet manager, remote computing device (e.g., teleoperator computing device). In some examples, different reflector systems may be configured to communicate or receive signals from different systems or components associated with the vehicle. [0056] When the vehicle is turned off or parked, a most-recent direction of motion of the vehicle may dictate which side of a reflector element is facing the environment. This ensures that the retroreflector units are always capable of reflecting light passively, particularly during the evenings when visibility may be diminished. In some examples, reflector unit may be a bistable device and generally only consume power when changing from one state to another. Once power is removed, the state of the bi-stable reflector unit can remain for relatively long period (e.g., indefinitely). For example, if reflector unit is bi-stable. then reflector unit need not consume power to maintain the state (e.g., position reflector element(s) such that a first side is exposed and not the other side(s)). In such an example, despite loss of power, a bidirectional vehicle may continue to comply with functional safety requirements.

[0057] Vehicle 100 is illustrated to also include dual function light units 106 A and 106B that may function as headlights when traveling in the first direction and may switch to function as taillights when traveling in the second direction. Light units 106A and 106B may be located at locations of vehicle 100 other than what is indicated in FIG. 1. In some examples, a reflector unit may be located on vehicle 100 above, below, and/or beside the light units 106A and 106B of the vehicle 100.

[0058] FIG. 2 depicts an enlarged detail view of an example reflector unit 200 including one or more reflector elements 202 transitioning from a first state to a second state. Example reflector unit 200 is one example that may be used for the reflector units 102A, 102B, 102C, 102D illustrated in FIG. 1. The reflector unit 200 may comprise one or more individual reflector elements 202. The reflector unit 200 may be covered by a protective, transparent or translucent cover 204. Though eight reflector elements 202 are depicted in FIG. 2, any number of reflector elements 202 may be included in a reflector unit (e.g., 1, 2, 3, 4, 10, 15, 20, ... N reflector elements etc.). The reflector elements may be positioned and oriented relative each other such that multiple reflector elements appear as a uniform reflector to an observer.

[0059] Cover 204 may be configured to be coupled to an exterior of a vehicle and/or a housing (not shown) associated with reflector unit 200. Cover 204 may be used as a protective cover and prevent rain, dirt, debris, etc. from entering the reflector unit 200 and damaging internal components, such as linkages 216 (e.g., pinions). In examples, cover 204 may be formed from a transparent, translucent, and/or weather resistant material, including, for example, plastic, polycarbonate, plastic polymer, acrylic (PMMA), polybutylene terephthalate (PTB), polyethylene terephthalate (PET), acrylonitrile styrene acrylate (ASA), glass, or the like. The cover 204 may have tapered edges such that a view of the reflector elements is not obstructed. In some examples, cover 204 may be treated with a hydrophobic or otherwise weather resistant coating. Depending on applicable rules, regulations, and/or laws, a cover, lens, or housing around the reflector elements may be used to indicate to an observer that multiple reflector elements behave as one holistic reflector or unit.

[0060] Reflector elements 202 may comprise of various sizes, shapes, widths, and/or lengths. In examples, reflector elements 202 may have a generally rectangular, square, spherical, pill shape (e.g., elongated with rounded comers), etc. In some examples, reflector elements 202 may be uniform in size, width 220. length 222. and/or thickness 218 (or depth) similar to what is depicted in FIG. 2. In at least one example, the reflector elements may vary in length but may have a uniform width. Reflector elements having a uniform width 220 enable the reflector elements 202 to rotate in parallel along an axis (e.g., x-axis shown in fig. 2) while preventing the reflector elements from contacting or damaging adjacent reflector elements while transitions between various states (e.g., during rotation). In some examples, the thickness 218 or depth of the reflector elements 202 within the reflector unit may vary. In some examples, reflector element(s) toward a center of a reflector unit may have a greater length (e.g., 10 cm) while the reflector elements toward the ends of the reflector unit may taper to a shorter length as compared to the center reflector element (e.g., 8 cm, 6 cm, etc.), such that a diamond shape is formed, although many different shapes and combinations are possible.

[0061] Reflector elements 202 may be spaced apart from one another in a uniform or non- uniform manner. In the example shown in FIG. 2, the reflector elements are aligned in a uniform manner relative to each another. In at least one example, the reflector elements may be staggered relative to each other. For example, the reflector elements may have an equal width and length but align in a non-parallel manner relative to each other (e.g., form a wavy or curved design). The reflector elements may be coupled to one or more linkages (e.g., racks, pinions, gears, links, etc.). For instance, the reflector elements 202 are rotatable about parallel axes (parallel to the x-axis). A pinion gear may be fixedly coupled to one end of each reflector element 202. In this way, multiple reflector elements 202 can be actuated by a single rack (e.g., rack 306 as described in relation to FIG. 3A below) which engages with the pinion gears of the multiple reflector elements 202 and allows for the reflector elements 202 to rate at the same time in concert.

[0062] FIG. 2 depicts reflector elements 202 having two sides. However, a greater number of sides may be contemplated (e.g., three sides, four sides, etc.). It is to be understood that a side of a reflector element as described in this disclosure may include a planar and/or nonplanar surface (e.g.. a side of a cylindrical reflector element represents a portion of the cylindrical element that is exposed to an exterior environment). Each of the sides of a reflector element 202 may be associated with a same or different color, combination of colors, patterns, type of surface (e.g., a reflective surface, non-reflective surface, blank surface, active display), material (e.g., reflective or non-reflective material) etc. For example, a first side 210 of the reflector element may have a first color and a second side 212 opposite the first side may have a second color different than the first color, a blank or non-reflective surface, an active surface comprising a display, etc. This allows incoming light 206 to reach and reflect 208 from one of the two sides, depending on which side is exposed to the environment, and not the other side. [0063] The reflector element(s) 202 may transition or switch between two states based on an orientation or configuration of the vehicle and effectively communicate to other vehicles which end of the vehicle is the leading end and which is the trailing end. That is. the reflector unit either reflects 208 the incoming light as the first color or as the second color based on which side of the reflector unit is exposed to the environment. In some examples, the reflector elements may transition between two or more states based on other signals received from various components on the vehicle.

[0064] In some examples, one or more sides of a reflector element may be a “blank'’ or a non-reflective flat surface that is not intended to behave as reflector. For example, a blank side of a reflector element may comprise of a material that is the same or similar to the vehicle, such as a polymer, carbon fiber, metal, composite, or the like, but may, in some examples, be a different material than the vehicle (e.g., plastic, polycarbonate, acrylic, and the like).

[0065] A surface area of a side (e.g., first side 210 and/or second side 212) of an individual reflector element may range from about 10 cm² to about 40 cm²- In at least one example, a side of an individual retroreflector may have a surface area of between about 20 cm² to about 30 cm², and in some examples a surface area of about 25 cm². In some examples, reflector elements of a reflector unit may have different surface areas due to varying lengths of the reflector elements. In some examples, the surface area of individual reflector elements or a total surface area of multiple reflector elements may depend on a minimum and/or a maximum reflection surface area as required by applicable rules, regulations, and/or laws. In at least one example, an outer surface of the cover 204 or an outer lens may be used to determine a total reflection surface area of the reflective elements.

[0066] A first side 210 and second side 212 of the reflector element may be separated by a barrier 214. The barrier 214 may be configured to prevent or block the photometric elements (or color) from a first side 210 from bleeding through to a second side 212 and changing the color that is reflected into the environment. That is. the barrier behaves as a light-blocking element that prevents light from reaching an adjacent or opposite (i.e., unexposed) side of a reflector element. In some examples, the barrier may be planar, concave, convex, etc. The curvature of a convex barrier may change the dynamics of how light reflects off of the retroflector (i.e. , by changing the angle of incidence and/or angle of refraction).

[0067] In some examples, individual reflector element(s) may be associated with a linkage 216. Linkage 216 may comprise a mechanical linkage such as a pinion, hydraulic piston, pin, link, arm, or the like. For example, the linkage 216 may be a pinion configured to rotate about an x-axis (or an axis parallel to the x-axis) as shown in FIG. 2 and in response to movement of a track or rack, as discussed in further detail below in regard to FIG. 3 A.

[0068] FIG. 3A depicts a perspective view of an example reflector unit 300. A reflector unit 300 (or reflector system) may comprise one or more individual reflector elements 302, one or more linkage(s) 304 in contact with a rack 306, and/or a gear coupled to an actuator 310 in communication with a controller (not shown).

[0069] In examples, reflector elements 302 may correspond to reflector elements 202 described in regard to FIG. 2. Individual reflector elements 302 may be couped to individual linkages 304. As described above, linkage 304 may be a pinion, hydraulic piston, pin, arm, or the like. In the particular example shown in FIG. 3A, the linkage 304 may be a pinion configured to rotate about an axis (e.g., x-axis) in a first direction and a second direction in response to movement of a track or rack coupled to the linkages. In other examples, the linkage 304 may include a cam and/or rotary mechanical linkage or a belt driven system. In some examples, the linkage(s) 304 may extend from the reflector elements 302 at equal lengths so that the reflector elements 302 are aligned parallel to one another. In at least one example, the linkage(s) 304 may vary in length such that the reflector elements are not aligned relative to one another and form a curved, s-shaped, or wavy design, while still maintaining contact with rack 306 and move in unison.

[0070] Rack 306 may have a planar or curved profile. For example, FIG. 3A depicts a rack 306 having a non-planar profile (e.g., an arc 307). In examples, the rack 306 may have a non- planar profile that follows a curve of a body or fascia of a vehicle. For example, a reflector unit 300 may be disposed on a portion of a vehicle that is non-planar and the curved profile of the rack 306 may correspond to or follow the curve of the body or fascia of the vehicle. A curved rack may cause the one or more linkage(s) 304 (e.g., pinions) to rotate the reflector elements along a barrel curve. In examples, the curved rack may cause the plurality of reflector elements to be disposed off-plane (e.g., at slightly different angles) relative to each other.

[0071] In some examples, the rack 306 and linkages 304 are in contact with each other such that, upon activation, the reflector elements 302 to rotate in unison (i.e., rotate together at a same or similar rate) while being able to sit off plane from each other due to the curved profile of the rack 306. In at least one example, the reflector elements may transition or rotate sequentially and not in unison (e.g., where individual reflector elements are independently controlled by individual actuators and/or controllers).

[0072] Rack 306 may be in contact with a gear 308 coupled to an actuator 310. In examples, the actuator 310 may be any motor suitable for providing force to the rack 306. such as a servomotor, electric motor (brushed or brushless), stepper motor, hydraulic actuator, electro-hydraulic system, linear actuator, pneumatic actuator, or the like. In FIG. 3A, the actuator is illustrated as an electric motor. Operation or activation of actuator 310 causes the gear 308 to rotate or spin. Rotating (or activating) gear 308 causes rack 306 to move in a first direction or a second direction. That is, force transferred from actuator 310 to the linkage(s) 304 may cause the reflector elements 302 to rotate in a first direction or a second direction about an axis (e.g., y-axis as shown in FIG. 3A). Rotating the reflector elements 302 in response to activation of the actuator 310 causes the reflector elements to transition from a first state (e.g., a first color) to a second state (e.g., a second color). In at least one example, individual reflector elements may be controlled via individual actuators (e.g., individual motors). This would enable the reflector elements to be controlled independently of one another. For example, separate actuators and/or controllers may enable a more customizable control of individual reflector elements, including various states of the reflector elements (e.g., transitioning a portion of a plurality of reflector elements while maintaining the state of the other reflector elements), a speed of transition (e.g., rotating reflector elements at various rates), sequential or non-sequential transitioning, and/or a direction of transition (e.g., causing a right half of the reflector elements to rotate toward the left and causing a left half of the reflector elements to rotate toward the right, although any combination is contemplated), and the like.

[0073] The actuator 310 may be disposed within an intenor of the vehicle (e.g., behind the fascia and/or within a housing (best shown in FIG. 3C) of the reflector unit 300. In examples, the one or more linkages 304 may also be disposed on the interior side of the fascia or housing, although, in some examples, at least part of the one or more linkages 304 may be disposed on the exterior side of the fascia or housing. In the latter example, an exposed portion of the linkage may be concealed with a cover, shroud, trim, and/or a seal.

[0074] FIG. 3B depicts a perspective view of the example reflector unit 300 coupled to a fascia 314 of a vehicle (e.g., vehicle 100). FIG. 3C depicts a cross-sectional view of the example reflector unit 300 coupled to the fascia 314 of the vehicle. The reflector unit 300 may include a cover 312 or lens. The cover 312 may be transparent or translucent in order to allow light to reach and reflect from the retroreflector elements. In some examples, a portion of cover 312 may be coupled to or abut a body of the vehicle.

[0075] Reflector unit 300 may be disposed within housing 316. Housing 316 may surround the one or more individual reflector elements 302, one or more linkage(s) 304, rack 306, gear 308 and/or actuator 310. Housing 316 may be sealed so as to be substantially water resistant. As described above, housing 316 may be composed of a same or similar material to a fascia of the vehicle, such as a polymer, carbon fiber, metal, composite, or the like, but may, in some examples, be a different material than a fascia of the vehicle. In examples, housing 316 may be settled or disposed on the interior side of the fascia (i.e., behind the fascia) or may protrude through the fascia with a rim or bezel of the housing and the lens or cover 312 of the reflector unit 300 disposed on an exterior of the fascia and other portions of the reflector unit disposed behind or within the fascia of the vehicle.

[0076] One or more portions of the reflector unit (e.g., rack 306) may be non-planar and/or conform to a curved portion of a vehicle. For example, curved portion 318 may be disposed above, below, beside, or on a headlight, turn signal, on a bumper, proximate a comer of a vehicle, on or proximate a tire or wheel, on or proximate a passenger door, proximate a window of a vehicle, or any other portion of the vehicle. In some examples, the reflector unit may be built into the main body or housing of a headlight.

[0077] FIG. 4A depicts a perspective view of internal components of another example reflector unit 400. Reflector unit 400 may comprise one or more of a housing 402. a plurality of reflector elements 404, a plurality of linkages 406, a earner 408, an actuator 410, a jumper harness 412, a side marker light 414, an inner enclosure 416, and/or an outer lens 418.

[0078] Housing 402 may be comprised of a same or similar material to a component (e.g. , fascia) of the vehicle, such as a polymer, carbon fiber, metal, composite, or the like, but may, in some examples, be a different material than a fascia of the vehicle. In examples, the housing 402 may be settled or disposed on the interior side of a component of the vehicle (i.e., behind the fascia). In examples, the housing 402 may be attachable to the body of a vehicle. In examples, the plurality of reflector elements 404 may be similar to the one or more plurality of reflector elements as described in relation to FIG. 1-3C. Reflector elements 404 may be repositioned from a first position to a second position by an actuator (e.g., motor) and linkages (e.g., pivot arms) such that different sides of the reflector elements are exposed to the environment. In a first position, a first side of the reflector element may be exposed to the environment and in the second position, a second side of the reflector element may be exposed to the environment. Though FIG. 4A depicts eight reflector elements 404 having two sides. any number of reflector elements may be used (e.g., 1, 2, 3, 4, 10, 15, 20, ... N reflector elements etc.) and may have more sides (e.g., three sides, four sides, etc.).

[0079] Individual reflector elements 404 may be coupled to individual linkages 406, or reflex pivot arms, that are configured to move in a first direction and a second direction (i.e., from side to side). The plurality⁷ of linkages 406 or pivot arms are coupled to carrier 408. Carrier 408 may be an actuator carrier arm configured to transfer force generated by the actuator 410 onto the plurality of linkages 406. Linkages 406 may then pivot or move and cause the reflector elements to change from a first position to a second position, and as a result, transition from a first state to a second state (e.g., by pivoting 180 degrees). In an example where the reflector elements have three sides (i.e., three states), the reflector elements may rotate 120 degrees. In an example where the reflector elements have four sides (i.e.. four states), the reflector elements may rotate 90 degrees.

[0080] Actuator 410 may be used to initiate and/or control motion of the plurality⁷ of reflector elements 404. Actuator 410 may be, for example, any motor suitable for providing force to the carrier 408, such as a servomotor, electric motor (brushed or brushless), stepper motor, hydraulic actuator, electro-hydraulic system, linear actuator, pneumatic actuator, or the like. Operation or activation of the actuator 410 causes the carrier 408 to move linkages 406 and, as a result, cause the reflector elements 404 to change from a first state (e.g., a first color) to a second state (e.g., a second color). In at least some examples, actuator 410 may be controlled based at least in part on a signal indicative of a change in state of vehicle, such as a change in travel orientation. In at least some examples, such a reflector unit may allow for a vehicle employing these techniques to remain in compliance with lighting requirements despite losing control.

[0081] Jumper harness 412 may be used to connect actuator 410 to a wiring harness of an electrical circuit (not shown) of the vehicle. Jumper harness 412 may include multiple electrical conductors and connectors. In some examples, wires, cables, a flexible printed circuit board, or other electrical connectors, may be used in additional to or in place of the jumper harness.

[0082] Side marker light 414 may be disposed within or proximate the housing 402. In some examples, a side marker light may be additionally or alternatively be disposed on other locations of the vehicle (e.g., the vehicle’s bumper, fender, rear quarter panel, etc.). As discussed above, side marker light(s) may be configured to actively emit light into the environment. In some examples, the color of light the side marker is configured to emit may depend on the location of the side marker on the vehicle or on an orientation of the vehicle (e.g., a side marker disposed on a side of the vehicle may emit an amber color). In some examples (not shown), side marker light(s) 414 may surround a perimeter of the reflector unit 400 (e.g., form a ring shape, oval shape, rectangular shape, etc.), while in the example illustrated the side marker light(s) 414 comprise a rectangular dot or lamp disposed on a surface the reflector unit 400 proximate to the reflector element(s) 404. Side markers may be a light (e.g., an LED) designed to increase the visibility of a vehicle, especially at night or during low- light conditions. In some examples, multiple side markers may be used to indicate a length or width of a vehicle. Though only one side marker is shown in FIG. 4A, any number of side markers may be used. In some examples, multiple side markers may be used around a perimeter or contour of the housing 402, reflector elements 404, outer lens 418, and/or inner enclosure 416 and form a ring shape or other design.

[0083] In some examples, inner enclosure 416 may be opaque and cover or conceal various non-reflective components within housing 402. For example, an opaque inner enclosure may be used to cover, in whole in part, linkages 406, carrier 408, actuator 410, jumper harness 412, and/or other components within housing 402. In examples, inner enclosure 416 may be coupled (e.g., via an adhesive) to outer lens 418.

[0084] In some examples, outer lens 418 may be a transparent or translucent cover and allow light to reflect from reflector elements 404. In some examples, a portion of outer lens 418 may be coupled to a portion of the vehicle. In some examples, a seal (not shown) may be disposed between various components in the retroreflector unit (e.g., between outer lens 418 and housing 402) to protect interior components of the reflector unit 400 from water, dust, debris, etc. The seal may be made from a pliable material such as rubber, silicone, polymer, or any combination thereof. In some examples, the seal may be treated with a hydrophobic or otherwise weather resistant coating.

[0085] FIG. 4B depicts a front view of assembled reflector unit 400 without an inner enclosure or transparent outer lens. The example illustrated in FIG. 4B and FIG. 4C demonstrate how reflector unit 400 may have multiple sides or surfaces and individual surfaces of the multiple sides/surfaces may include different color reflectors. For example, a first side 420 of reflector elements 404 may have a first color (e.g., white or clear) and a second side 422 opposite the first side 420 may have a second color different than the first color (e.g., red, amber, etc.). Whether the first side or the second side is exposed to the environment may depend on the direction the vehicle (e.g., a bi-directi on vehicle) is travelling, as described above (e.g., as may be received from a controller). Incoming light (e.g.. sunlight, headlights, etc.) originating from external to housing 402 reflects back light of the first color or the second color, depending on which side of the reflector element is exposed to the environment (e.g., first side 420 that is depicted in FIG. 4B may reflect a white light). If a color filter is used, then reflected light assumes the color of the color filter. Incoming light is blocked from reaching the unexposed or opposite side of the reflector elements by virtue of a barrier disposed between the first side and the second side.

[0086] FIG. 4C depicts a back view of reflector unit 400. The arrow indicates a direction that linkages 406 move when activated by actuator 410 and carrier 408. Actuator 410 may be used to initiate and/or control motion of the linkages 406 simultaneously via carrier 408. As show n in FIG. 4C, a second state or second side 422 of reflector elements 404 is a second color (or second pattern) different than the first color (or first pattern) of the first side 420.

[0087] FIG. 5 depicts a schematic cross-sectional view of another example reflector unit 500. The excerpted view illustrates another example reflector element 504 having three sides, where one of the sides (e.g., second side 518) includes a display. In some examples, reflector unit 500 may include a housing 502, reflector element 504, linkage 506, rack 508, actuator 510, controller 512, and/or lens 514.

[0088] Housing 502 may be composed of a same or similar material as housing 402 described in relation to FIG. 4A above. In examples, housing 502 may be settled or disposed on the interior side of a component of a vehicle (i.e., behind the fascia). Housing 502 may include a reflector element chamber having a depth that can accommodate the rotational sweep of the individual reflector elements as they rotate in parallel about an axis. The reflector element chamber may be covered by a transparent or translucent lens 514 or cover (e.g., similar to cover 204 as described above).

[0089] Reflector element 504 may be coupled to linkage 506. Linkage 506 may be a pinion, hydraulic piston, pin, link, arm. or the like configured to rotate about an axis. The linkage 506 may be pinned at one or both ends so that it fixedly rotates about an axis in response to movement of a track or rack 508. The rack 508 may be coupled to an actuator 510. Actuator 510 may be the same or similar to actuator 310 or 410 described above. Activation of actuator 510 causes rack 508 to move in a first direction or a second direction and the movement of rack 508 may cause linkage 506 and reflector element 504 to rotate about an axis. Reflector element 504 may rotate in a first direction or a second direction about the axis and transition from a first state to a second state or from a first state to a third state.

[0090] Actuator 510 may be configured to received signals from one or more controllers. Controller 512 may be a printed circuit board (PCB) or other electro-mechanical device used to receive input or control signals. Controller 512, which may be located within or external to housing 502, and may receive instructions (e.g., an electronic signal) from a planner component of the vehicle. The planner component may generate a trajectory controlling a motion of the autonomous vehicle based at least in part on sensor data. In an example where the vehicle is driver-controlled, the instructions may be received from a component that indicates a directionality⁷ of travel of the vehicle. The instructions may indicate a directionality' of the vehicle, distinguishing one side of the vehicle as the front (or leading end) and an opposite side of the vehicle as the back (or trailing end), according to normal traffic laws. The controller may receive the instructions and may alter a state or position of components within the reflector unit based on the instructions. For example, where the instructions indicate a first driving configuration of the vehicle, the controller may transmit a signal or control a motor to actuate such that one or more reflector elements rotate (e.g.. 180 degrees, 120 degrees, 90 degrees, etc.) and expose a different side of the one or more retroreflector element(s). In some examples, controller 512 may⁷ be used to control an operation speed or rate at which the reflector elements rotate and change from a first state to a second state.

[0091] In some examples, controller 512 may additionally or alternatively receive sensor data indicating a location of the vehicle and may determine, based at least in part on regulation data stored in a memory or retrieved via a network, regulations that may alter operations of the reflector unit. For example, while in a location associated with a jurisdiction identified in the regulation data as not requiring the retroreflectors, a controller may maintain the state or position of one or more retroreflector units.

[0092] Reflector element 504 may have three sides (e.g., first side 516, second side 518, and third side 520) where each of the three sides may be associated with the same or different function (e.g., reflect a different color, combination of colors, displays, etc ). In some examples, a barrier 522 may be disposed between the first side 516, second side 518, and third side 520 and prevent the photometric elements (or color) from peeking through the various sides and changing the color or image that is reflected into the environment. In some examples, at least one of the sides may be a passive retroreflector and at least one side may be an active display. An active display may present images or messages to pedestrians in the environment. In examples, a display may be any type of electronic device capable of displaying content, such as a liquid crystal display (LCD), light-emitting diode (LED) display, organic light-emitting diode (OLED), cathode ray tube (CRT), e-link display, or other device (e.g., multi-segment display, quantum dot display, electroluminescent display, etc.) configured to change an image of its display. In the case of an LCD. light may be emitted and/or reflected off of colored pixels of an LCD itself, thereby providing passive/reflected light in addition to or instead of emitted light, or the LCD may display images or messages.

[0093] In some examples, a display on one or more sides of the reflector elements may assist a passenger in identifying a ride share vehicle. To assist a passenger in identifying the arrival of a requested transportation, a vehicle may be configured to notify or otherwise alert the passenger to the presence of the vehicle as it approaches the passenger using a display on one or more sides of a reflector element. For example, a vehicle may send a signal to a controller of a reflector unit to activate a display on a side of one or more reflector element(s) in a reflector unit (e.g., a reflector unit positioned proximate a vehicle door) and present the passenger with information regarding the status of the vehicle. A certain message may be generated so that the passenger may readily perceive that vehicle is reserved to service the transportation needs of passenger. As an example, the vehicle may generate various patterns or messages on the display of a reflector unit that may be perceived by passenger. For example, the vehicle may display a passenger’s initials, order number of the requested transportation, identification message, status of the vehicle (available or not available/reserved for transportation) and the like.

[0094] In some examples, where one or more sides of a reflector element is associated with an active display, the reflector element may be configured to rotate or transition from one state to another based on various environmental signals or changes in a state of the vehicle. For example, a reflector unit disposed on a vehicle may include one or more reflector elements that comprise one or more sides with an active display. The active display may be used to present a message or image (e.g., an advertisement, an alert or warning message, or other message related to an operation or operational intent of the vehicle) while the vehicle is traversing the environment. The reflector unit may be programmed to rotate the elements (individually or in unison) between states that may include a display based on a passage of time (e.g., every 10 seconds, 15 seconds, ... N seconds etc.), based on distance traveled (50 meters, every mile, 5 miles, ... N miles etc.), a particular location or map data, time of day, detecting an object in the environment (detecting a pedestrian, a cyclist, other vehicle, etc.) and the like. In examples, controller 512 may cause an element of the reflector unit to display an image or message across a plurality of elements such that a whole of the plurality of elements display a complete image or message. For example, second side 518 in FIG. 5 depicts the letter “H”, which may represent a portion of the word “HELLO.”

[0095] As discussed above, multiple reflector units (or reflector systems) may be located and disposed on different portions of the vehicle. In some examples, a first portion of the reflector units (e.g., retroreflector units disposed on a leading end and/or trailing end of a vehicle) may be controlled by a first controller and a second portion of the reflector units (e.g., retroreflector units disposed on the sides of the vehicle proximate passenger doors) may be controlled by another controller (e.g., a second controller). In some examples, a first portion of the reflector units may be configured to transition between two states (e.g., have tw o sides) and a second portion of reflector units disposed about a vehicle may be configured to transition between three or four states (e.g.. three or four sides). That is, any combination of reflector units as described throughout this application may be used and disposed about a vehicle.

[0096] FIG. 6 is a block diagram of a system 600, including a vehicle 602, for implementing various reflector units and active light systems, as described herein. System 600 may be configured to control operation of the vehicle, which may be an autonomous vehicle, and to control various lighting functions. In some examples, system 600 may include processor(s) 604 and/or memory 606. These elements are illustrated in combination in FIG. 6, although it is understood that they may be separate elements of system 600, and that components of the system may be implemented as hardware and/or software, in some examples.

[0097] Processor(s) 604 may include a uniprocessor system including one processor, or a multiprocessor system including several processors (e.g., two, four, eight, or another suitable number). Processor(s) 604 may be any suitable processor capable of executing instructions. For example, in various implementations, processor(s) 604 may be general-purpose or embedded processors implementing any of a variety of instruction set architectures (ISAs), such as the x86, PowerPC, SPARC, or MIPS ISAs, or any other suitable ISA. In multiprocessor systems, each processor 604 may commonly, but not necessarily, implement the same ISA. In some examples, the processor(s) 604 may include a central processing unit (CPU), a graphics processing unit (GPU), FPGA, Application Specific Integrated Circuit (ASIC), or a combination thereof. In some examples, the classifier and/or one or more of the detectors discussed herein may be implemented using any of these processor architectures. For example, the classifier and/or the one or more detectors may be FPGAs.

[0098] System 600 may include memory 606. In some examples, memory 606 may include anon-transitory computer readable media configured to store executable instructions/modules, data, and/or data items accessible by processor(s) 604. In various implementations, the non- transitory computer readable media may be implemented using any suitable memory technology, such as static random-access memory (SRAM), synchronous dynamic RAM (SDRAM), nonvolatile/Flash-type memory, or any other type of memory. In the illustrated example, program instructions and data implementing desired operations, such as those described above, are shown stored within the non-transitory computer readable memory. In other implementations, program instructions, and/or data may be received, sent, or stored on different types of computer-accessible media, such as non-transitory computer readable media, or on similar media separate from the non-transitory⁷ computer readable media. Generally speaking, a non-transitory, computer readable memory may include storage media or memory media, such as flash memory (e.g.. solid state memory), magnetic or optical media (e.g.. a disk) coupled to system 600. Program instructions and data stored via a non-transitory computer readable medium may be transmitted by transmission media or signals such as electrical, electromagnetic, or digital signals, which may be conveyed via a communication medium such as a network and/or a wireless link, such as may be implemented via network interface(s), for example.

[0099] Furthermore, though illustrated as a single unit in FIG. 6, it is understood that processor(s) 604 and memory 606 may be distributed among multiple computing devices of the vehicle and/or among multiple vehicles, data centers, teleoperation centers, etc. In some examples, processor(s) 604 and memory 606 may conduct at least some of the techniques discussed herein.

[0100] Memory 606 may include lighting control logic 608, which may include algorithms to control the rotation or illumination of various components/reflector elements of a reflector unit. For example, such algorithms may correspond to lighting profiles to be used on a display associated with a side of a reflector element or on different models of vehicles and/or on such vehicles in different countries (e.g., having vary ing regulations). Accordingly, the algorithms could be applied to a controller associated with a reflector unit as needed.

[0101] System 600 may include network interface(s) configured to establish a communication link (i.e., “network”) between the system and one or more other devices. In various implementations, the network interface(s) may support communication via wireless general data networks, such as a Wi-Fi netw ork, and/or telecommunications networks, such as, for example, cellular communication networks, satellite networks, and the like. In some examples, sensor data, such as a received signal, TDOA, depth measurement, output signal(s), retum(s), and/or detection(s), etc., may be received at a first vehicle and transmitted to a second computing device. In some examples, at least some of the components of the LIDAR may be located at different devices. For example, a first vehicle may include the light emitter and light sensor and may generate the received signal but may transmit the received signal to a second vehicle and/or remote computing device. [0102] Memory' 606 may include a planning component 610 that can determine a path for vehicle 602 to follow to traverse through an environment. For example, planning component 610 can determine various routes and trajectories and various levels of detail. For example, planning component 610 can determine a route to travel from a first location (e.g., a current location) to a second location (e.g., a target location). For the purpose of this discussion, a route can be a sequence of waypoints for travelling between two locations. As non-limiting examples, waypoints include streets, intersections, global positioning system (GPS) coordinates, etc. Further, planning component 610 can generate an instruction for guiding the autonomous vehicle along at least a portion of the route from the first location to the second location. In at least one example, planning component 610 can determine how to guide the autonomous vehicle from a first waypoint in the sequence of waypoints to a second way point in the sequence of waypoints. In some examples, the instruction can be a trajectory', or a portion of a trajectory. In some examples, multiple trajectories can be substantially simultaneously generated (e.g., within technical tolerances) in accordance with a receding horizon technique, wherein one of the multiple trajectories is selected for vehicle 602 to navigate.

[0103] Planning component 610 may generate a direction signal that indicates the direction of vehicle travel. A reflector unit controller may receive the direction signal and control a position or state of various components associated with the reflector unit based on this signal. For example, if vehicle 602 is travelling so that a first end of the vehicle is leading the second end, then a reflector unit on the first end of the vehicle may function to behave as a white reflector and a reflector unit on the second end of the vehicle may function as a red reflector. On the other hand, if the vehicle is travelling so that the second end of the vehicle is leading the first end, then the reflector units may function oppositely, based on the direction signal from planning component 610.

[0104] System 600 may include one or more drive components 612. In some instances, the vehicle may have a single drive component. In some instances, drive component(s) 612 may include one or more sensors to detect conditions of drive component(s) 612 and/or the surroundings of the vehicle. Drive component(s) 612 may include many of the vehicle systems, including a high voltage battery, a motor to propel the vehicle, an inverter to convert direct current from the battery into alternating current for use by other vehicle systems, a steering system including a steering motor and steering rack (yvhich may be electric), a braking system including hydraulic or electric actuators, a suspension system including hydraulic and/or pneumatic components, a stability control system for distributing brake forces to mitigate loss of traction and maintain control, an HVAC system, lighting (e.g., lighting such as head/tail lights and/or one or more illumination units and light units for signaling or illuminating an exterior surrounding of the vehicle), and one or more other systems (e.g.. cooling system, safety systems, onboard charging system, other electrical components such as a DC/DC converter, a high voltage junction, a high voltage cable, charging system, charge port, etc.).

[0105] Drive component(s) 612 may include reflector unit controller(s) 614, actuator system controller(s) 616. and lights/reflector unit(s) 618. Reflector unit controller 614, which may comprise a portion of (or be the same as) controller 512 described above, may comprise one or more individual light controllers. Reflector unit controller 614 may be communicatively coupled to one or more other reflector unit controllers, which in turn may be communicatively coupled to a vehicle controller that at least partially manages various operations of the vehicle. [0106] Actuator system controller(s) 616 may comprise one or more individual controllers. Actuator system controller(s) 616 may be communicatively coupled to one or more other actuator system controllers, which in turn may be communicatively coupled to a vehicle controller that at least partially manages various operations of the vehicle. In some implementations, control of lights, reflector units, and/or actuator systems of vehicle 602 may be shared among two or more such actuator system controllers. In some examples, some actuator systems of the vehicle may be controlled by a first actuator system controller while other actuator systems of the vehicle may be controlled by a second actuator system controller. [0107] Lights/reflector unit(s) 618 may comprise one or more reflector unit controllers and light units. Lights/reflector unit(s) 618 may also comprise various other lighting, such as license plate lights, side marker lights, and so on. Lighting of vehicle 602 may be configured to operate in a fashion that allows for lighting redundancy on each end of the vehicle, as described above. Accordingly, in some implementations, control of lights and reflector units of vehicle 602 may be shared among two or more such reflector unit controllers. For example, some reflector units of the vehicle may be controlled by a first reflector unit controller while other reflector units of the vehicle may be controlled by a second reflector unit controller.

[0108] Additionally, drive component(s) 612 may include a vehicle controller 620 which may receive and preprocess data from the sensor(s) and to control operation of the various vehicle systems. In some instances, the vehicle controller 620 may include one or more processors and memory communicatively coupled with the one or more processors. The memory may store one or more components to perform various functionalities of drive component(s) 612. Furthermore, drive component(s) 612 may also include one or more communication connection(s) that enable communication by the respective drive component with one or more other local or remote computing device(s). [0109] System 600 may include sensor(s) 622 configured to localize the vehicle 602 in an environment, to detect one or more objects in the environment, to sense movement of the vehicle through its environment, sense various optical characteristics (e.g., intensity and spectra) of incoming light, sense environmental data (e.g., ambient temperature, pressure, and humidity ), and/or sense conditions of an interior of the vehicle (e.g., passenger count, interior temperature, noise level). Sensor(s) 622 may include, for example, one or more LIDAR sensors, one or more cameras (e.g. RGB-cameras, intensity’ (grey scale) cameras, infrared cameras, depth cameras, stereo cameras), one or more magnetometers, one or more radar sensors, one or more sonar sensors, one or more microphones, one or more inertial sensors (e.g., accelerometers, gyroscopes), one or more GPS sensors, one or more wheel encoders, one or more drive system sensors, a speed sensor, a photosensor(s), and/or other sensors related to the operation of the vehicle.

[0110] FIG. 7 illustrates a flow chart outlining an example process 700 to transition a rotatable reflector element(s) from a first state to a second state using the techniques described herein. Example process 700 may represent a sequence of operations that can be implemented in hardware, software, or a combination thereof. In the context of software, the operations represent computer-executable instructions stored on one or more computer readable storage media that, when executed by one or more processors, perform the recited operations. Generally, computer-executable instructions include routines, programs, objects, components, data structures, and the like that perform particular functions or implement particular abstract data types. The order in which the operations are described is not intended to be construed as a limitation, and any number of the described operations can be combined in any order and/or in parallel to implement the processes.

[OHl] At operation 702, a system or component of a vehicle (e.g., planning component, drive component, sensor(s), etc.) may generate a control signal. In examples, the control signal may indicate a state or operation of the vehicle, a planned vehicle state or operation (the vehicle is about to change an orientation of travel), or a change in a travel orientation (i.e., which end of a bidirectional vehicle is a leading end and which end is a trailing end), detecting a fault with a vehicle system or component, etc. In some examples, the control signal may be a signal indicating the vehicle has arrived at a destination or is approaching a destination. In some examples, the control signal may be associated with a passage of time (e.g., 10 seconds, 15 seconds, ... N seconds etc.), a distance (50 meters, 1 mile, 5 miles, ... N miles etc.), a location or map data, time of day, or any other change in a state of the vehicle. In examples, a control signal may indicate which image or message to display on an active display associated with a reflector unit.

[0112] At operation 704, a controller associated with a retroreflector unit may receive the control signal. The controller may control a position or state of various components associated with the reflector unit(s) based on the received control signal. For example, if a vehicle is travelling so that a first end of the vehicle is leading the second end, then a reflector unit on the first end of the vehicle may function to behave as a white or amber reflector and a reflector unit on the second end of the vehicle may function as a red reflector. On the other hand, if the vehicle is travelling so that the second end of the vehicle is leading the first end, then the reflector unit may function oppositely, based on the control signal from the planning component. In some examples, the controller may be configured to receive signals from a source external to the vehicle, such as from an autonomous vehicle service platform, remote computing device (e.g., teleoperator computing device), etc. In some examples, different reflector units or systems may be configured to communicate or receive signals from different systems or components associated with the vehicle.

[0113] At operation 706, an actuator associated with the reflector unit may cause a retroreflector element(s) to transition from a first state to a second state. An actuator (e.g., a servomotor, electric motor, brushed or brushless motor, stepper motor, hydraulic actuator, electro-hydraulic system, linear actuator, pneumatic actuator, etc.) may be coupled to the plurality of reflector elements via one or more linkages (e.g., rack, gear, pinion, hydraulic piston, pin, link, arm, etc.). In at least one example, individual (or multiple) actuators may be coupled to individual reflector elements. The actuator, when activated, may be configured to cause the plurality⁷ of reflector elements to transition from the first state to the second state. For example, a first state of the reflector element may be associated with a first side that is configured to reflect light of a first color or first light patten and the second state of the reflector element may be associated with a second side (or unexposed side) that is configured to reflect light of a second color or second light pattern.

[0114] At operation 708, the controller associated with the reflector unit may receive a transition signal from the reflector unit. In some examples, the transition signal may represent a confirmation signal indicating the reflector element has transitioned from the first state to the second state. In some examples, the transition signal may include a time at which the reflector element of the reflector unit has started a transition process and/or a time at which the reflector element has completed the transition process. The transition signal may be stored in a memory associated with the vehicle and/or in some other memory', such as a remote memory associated with a remote computing device.

[0115] FIG. 8A depicts a perspective view of an example vehicle 800A including various actuator systems 802A, 802B, 802C, and 802D (collectively “actuator systems”). The excerpted view illustrates an example actuator system comprising an actuator 814, a linkage 816, a coupler 818, and a masking element 820. Additional details regarding operation of the example actuator system are discussed below relative to FIG. 11A.

[0116] Vehicle 800A, as an example, is depicted as being a passenger vehicle having four wheels/tires 804. Other types and configurations of vehicles are contemplated, such as, for example, vans, sport utility' vehicles, crossover vehicles, trucks, buses, agricultural vehicles, trains, and construction vehicles. Vehicle 800A may be powered by one or more internal combustion engines, electric motors powered by one or more power supplies (e.g., batteries, hydrogen fuel cells, etc.), or any combination thereof. In addition, although vehicle 800A is illustrated to have four wheels/tires, the systems and methods described herein may be incorporated into vehicles having fewer or a greater number of wheels, tires, and/or tracks. Vehicle 800A in this example is a bidirectional vehicle having four-wheel steering and may operate generally with equal performance characteristics in all directions, for example, such that a first longitudinal end 808 of vehicle 800A is the front end of the vehicle when traveling in a first direction, and such that first longitudinal end 808 becomes the rear end of the vehicle when traveling in the opposite, second direction, as illustrated in FIG. 8A. Similarly, a second longitudinal end 810 of the vehicle is the front end of the vehicle when traveling in the second direction, and first longitudinal end 808 becomes the rear end of the vehicle when traveling in the second direction. These example characteristics may facilitate greater maneuverability', for example, in small spaces or crowded environments, such as parking lots and urban areas. Thus, because of a bidirectionality of vehicle 800A, each of the actuator systems may be configured to expose or mask an indicia portion of a vehicle fascia based on a direction of travel.

[0117] In some examples, vehicle 800A may be an autonomous vehicle configured to operate according to a Level 5 classification issued in 2016 by the U.S. National Highway Traffic Safety Administration, which describes a vehicle capable of performing all safety-critical functions for an entire trip, with the driver (or occupant) not being expected to control the vehicle at any time. In that case, since the vehicle may be configured to control all functions from start to stop, including all lighting functions, it may be unoccupied. This is merely an example, however, and the systems and methods described herein may be incorporated into any ground-borne vehicle, including those that are manually driven by a human and those that are partially autonomously controlled, such that they can be autonomously controlled without driver attention or assist during certain driving conditions, such as, for example, while operating on limited-access highways, but such that they require driver attention and/or assistance during other driving conditions, such as, for example, while operating on city' streets in urban areas, or during at least some parking functions. Of course, such techniques need not be implemented in a vehicle at all and may be implemented in various systems and apparatuses.

[0118] A first actuator system may be disposed on a first longitudinal end of a bidirectional vehicle and a second actuator system may be disposed on the second longitudinal end (i.e., opposite end) of the bidirectional vehicle. If the vehicle is travelling so that the first longitudinal end of the vehicle is leading the second longitudinal end, then the first actuator system may be configured in a second state that conceals a retroreflector configured to reflect red light into the environment. That is, the red retroreflector is covered so that the leading end is not mistaken for the trailing end. In some examples, the masking element that covers the retroreflector may be associated with a different color retroreflector than the retroreflector that is covered (e.g., white or amber). The second actuator system may be configured in a first state that exposes a red retroreflector that indicates the rear (or trailing end) of a vehicle. On the other hand, if the vehicle is travelling so that the second end of the vehicle is leading the first end, then the first actuator system may be configured in the first state (e.g., by exposing a red reflector), and the second actuator system may be configured in the second state (e.g., by concealing the red retroreflector using a masking element). As would be appreciated, the same effect may be accomplished by reversing which component is masked or revealed.

[0119] One or more actuator system(s) may be disposed about vehicle 800A. In some examples, an actuator system may be disposed below a headlight, as shown in FIG. 8A. In some examples, one or more actuator system(s) may be incorporated into a headlamp, turn signal, other light fixture on the vehicle, bumper, etc. A first actuator system may be located in a first part of the vehicle and a second actuator system may be located in a second part of the vehicle. For example, two actuator systems (802A and 802B) may be disposed on a first longitudinal end 808 (e.g., on the fascia) of a bidirectional vehicle and two other actuator systems (not visible in FIG. 8A) may be disposed on the second longitudinal end 810 of the bidirectional vehicle. Additional actuator systems, such as actuator system 802C and actuator system 802D may be disposed on a side of the vehicle. In some examples, one or more actuator systems may be disposed proximate, below, above, etc. a window and/or door of the vehicle. [0120] Though only four actuator systems are depicted in FIG. 8A, additional actuator system(s) may be present on the second longitudinal end 810 (i.e., opposite longitudinal end) of the vehicle which are not visible in FIG. 8A. Further, any greater or lesser number of actuator systems may be utilized in other examples. An actuator system may be coupled to a component of vehicle 800A including one or more fascia, quarter panels, wheel(s), doors, roof, body, bumper, underside, interior, exterior, etc. depending on a desired functionality . For example, an actuator system may be duplicated in both quarter panels of a same side of vehicle 800A and/or may be duplicated on opposite longitudinal ends of the vehicle, such as in the bidirectional vehicle example described above.

[0121] Actuator systems disposed on a vehicle may differ depending on the location of the actuator system. For example, actuator system 802A and actuator system 802B. which are disposed on a longitudinal end of vehicle 800A, may be configured to expose a first color retroreflector (e.g., red) when in a first state and cover the retroreflector when in the second state while actuator system 802C and actuator system 802D disposed on a side 812 of vehicle 800A proximate the vehicle door and may be configured to expose and cover a different type of indicia portion (e.g., be configured to expose and cover a RFID tag, permit, etc.). In some examples, actuator systems that are disposed on a first longitudinal end (e.g., leading end) and second longitudinal end (e.g., trailing end) opposite the first end may be associated with actuator systems that comprise a linear actuator while actuator systems disposed on one or more sides of the vehicle may comprise a rotary actuator, or other type of actuator, and vise versa.

[0122] In at 1 east one example, an actuator system may comprise a retroreflector configured to passively reflect light and a masking element configured to expose or conceal the retroreflector. In some examples, depending on applicable rules, regulations, laws, a side marker light may be included on an actuator system disposed on a leading and/or trailing end of a vehicle and not on an actuator system disposed on a side of the vehicle. An actuator system may be configured to expose a retroreflector having a particular color when in a first state (e.g., an open state). Here, color of a retroreflector refers to the color of light that exits the retroreflector. For example, a retroreflector may comprise a colored material (e.g., plastic, glass, etc.) that reflects a portion of the spectrum of incoming white light, wherein the portion corresponds to the color of the reflector. In some examples, a masking element 820 of the actuator system may opaque such that light from the environment cannot reach the indicia portion behind the masking element 820. In some examples, the masking element 820 may be associated with a retroreflector that reflects light of a different color (e.g., amber or white). That is. an opaque surface of the masking element that is exposed to the environment may be associated with a retroreflector that is configured to reflect light of a different color without interfering with the indicia portion. In some examples, the masking element may reveal or conceal an active lighting component or other form of information display.

[0123] Actuator systems disposed on opposite ends (or longitudinal ends) of the vehicle may be maintained in different or opposite states. For example, first actuator system(s) disposed on a first longitudinal end 808 of the vehicle 800A (e.g.. a leading end) may be associated with a first state (e.g., where the masking element is in a position that covers an indicia portion) and second actuator system(s) associated with a second longitudinal end 810 of the vehicle may be associated with a second state (e g., where the masking element is in a position that exposes the indicia portion). In at least one example, it is contemplated that the states of the actuator systems on opposite sides of the vehicle 800A may be the same, depending on applicable rules, regulations, laws, and other considerations, for example.

[0124] A controller may be configured to receive signals from various systems or components. For example, a controller may receive an electrical signal from a planner component of the vehicle indicating a change in a state of a vehicle (e.g., a change in an orientation or configuration related to a direction of travel or an indication that the vehicle is about to change an orientation of travel) and may cause the actuator systems to transition a masking element from a first state to a second state. A controller may also receive signal(s) from other components or systems including a localizer system, sensor systems, perception system, one or more safety systems, light emitter(s) systems, and other systems or subsystems of a vehicle. In some examples, the controller may be configured to receive signals from a source external to the vehicle such as from an autonomous vehicle service platfonn, fleet manager, remote computing device (e.g., teleoperator computing device). In some examples, different actuator systems may be configured to communicate or receive signals from different systems or components associated with the vehicle. In additional or alternative examples, the actuator may be coupled to one or more additional components or subcomponents of the vehicle such that the signal comprises one or more of a data or power connection common to the actuator and other component. As a non-limiting example of which, a line providing power to brake lights may be used to power the actuator such that when a signal is sent to power on brake lights, the actuator is also engaged.

[0125] When the vehicle is turned off or parked, a most-recent direction of motion of the vehicle may dictate which state the masking elements are in. This ensures that at least some of the masking elements are exposing retroreflectors capable of reflecting light passively. particularly during the evenings when visibility may be diminished. In some examples, actuator system may be a bi-stable device and generally only consume power when changing from one state to another. Once power is removed, the state of the bi-stable actuator system can remain for relatively long period (e.g., indefinitely). For example, if actuator system is bi-stable, then actuator system need not consume power to maintain the state (e.g., position masking element such that an indicia portion is exposed). In such an example, despite loss of power, a bidirectional vehicle may continue to comply with functional safety requirements.

[0126] Vehicle 800A is illustrated to also include dual function light units 806A and 806B that may function as headlights when traveling in the first direction and may switch to function as taillights when traveling in the second direction. Light units 806A and 806B may be located at locations of vehicle 800A other than what is indicated in FIG. 8A. In some examples, an actuator system may be located on vehicle 800A above, below, and/or beside the light units 806A and 806B of the vehicle 800A.

[0127] FIG. 8B depicts a perspective view of an example vehicle 800B including various actuator systems 802E. 802F, 802G, and 802H. The excerpted view illustrates another example actuator system in a first state 822A and a second state 822B. This figure illustrates the actuator system 802E changing from a first state that exposes an indicia portion (e.g., a retroreflector 824) to the environment to a second state that masks or conceals the indicia portion using a masking element 826. Additional details regarding operation of the example actuator system are discussed below relative to FIG. 9D.

[0128] FIG. 9A depicts a top, front, left-side perspective view of a vehicle fascia 900 including indicia portions 902A, 902B, 902C, and 902D. Though four indicia portions are depicted in FIG. 9A, any number of indicia portions may be associated with the fascia and/or the vehicle. In at least one example, a first controller may be configured to control a masking element that exposes or covers indicia portion 902A and indicia portion 902B and a second controller (or additional controllers) may be configured to control a masking element that exposes or covers indicia portion 902C and indicia portion 902D.

[0129] FIG. 9B depicts a front view of the vehicle fascia 900 including the indicia portions 902A, 902B. 902C, and 902D. In some examples, the indicia portions may be covered by a protective, transparent or translucent cover (now? shown). In some examples, the cover may be configured to be coupled to an exterior of a vehicle. The cover may be used as a protective cover and prevent rain, dirt, debris, etc. from entering the actuator system and damaging internal components, such as linkages, actuators, etc. In examples, the cover may be formed from a transparent, translucent, and/or weather resistant material, including, for example. plastic, polycarbonate, plastic polymer, acrylic (PMMA), polybutylene terephthalate (PTB), polyethylene terephthalate (PET), acrylonitrile styrene acrylate (ASA), glass, or the like. The cover may have tapered edges such that a view of the indicia portion is not obstructed. The cover may be treated with a hydrophobic or otherwise weather resistant coating. In some examples, the cover may be surrounded by a seal (first seal 904A and second seal 904B) that further prevents prevent rain, dirt, debris etc. from entering the actuator system(s) and/or the vehicle fascia.

[0130] FIG. 9C depicts a right-side view of the vehicle fascia 900 including the indicia portion 902A.

[0131] FIG. 9D depicts a back view of the vehicle fascia 900 including a first actuator system 906A for operatively exposing or covering the indicia portion 902A and a second actuator system 906B for operatively exposing or covering the indicia portion 902B. In some examples, the actuator system 906A may comprise a controller (not shown), an actuator 908, a linkage 910, a masking element 912, and an indicia portion (e.g., a retroreflector). The actuator system 906B may comprise of the same or similar components as actuator system 906A. In at least one example, a single controller and/or motor may be configured to cause the masking elements to cover and mask multiple indicia portions such that the indicia portions were exposed/ covered at substantially the same time. In some examples, the actuator system may be integrated into the fascia of the vehicle. In other examples, the actuator system may be a self- contained assembly that comprises a retroreflector and masking element in a single, sealed unit. [0132] Actuator 908 may be connected to the masking element 912 via a linkage 910 such that operation of the actuator alternately retracts the masking element 912 to expose a retroreflector in a first state or positions the masking element 912 to cover the retroreflector in a second state. The actuator 908 may couple to the masking element 912 through one or more linkage(s) 910, couplers, and/or components to cause the masking element 912 to transition between the first state and the second state in response to actuation of the actuator 908. In some examples, the actuator 908 may be a motor (e.g., a servomotor, electric motor, brushed or brushless motor, stepper motor, hydraulic actuator, electro-hydraulic system, linear actuator, pneumatic actuator, etc.) configured to provide force to the linkage 910. In some examples, the actuator may be a linear actuator configured to generate and impart linear translation motion or force in response to an input signal (e.g., in the form of electrical, hydraulic, or pneumatic energy). For example, a linear actuator may be configured to extend or retract a linkage coupled to the masking element in a linear motion. [0133] In some examples, the linkage 910 may be coupled to the masking element 912 via a coupler 914. The linkage 910 may comprise an elongated, linear rod that couples the actuator to the masking element. The linkage 910 may comprise a hydraulic piston, pm, arm, and/or the like that may be configured to transfer force generated by the actuator 908 onto a portion of the masking element 912. In some examples, the linkage may comprise multiple linkage components that couple together between the actuator 908 and the masking element 912. In some examples, the linkage 910 may incorporate various linkages or components together (e.g., linkage 910 and coupler 914) that may couple to the actuator 908, the masking element 912, the vehicle body, the vehicle frame, and/or any combination thereof. In some examples, the coupler 914 may be configured to couple the masking element 912 to the linkage 910 such that the masking element is offset from the linkage 910 and the actuator 908. That is, the actuator 908 and the linkage 910 may be positioned on a first spatial plane and the masking element 912 may be positioned on a second plane offset from the first plane such that the masking element 912 is positioned further towards the environment external to the vehicle (i.e., relative to the actuator 908 and the linkage 910 which are positioned closer to the vehicle). The coupler 914 may be configured to facilitate the transmission of force between the linkage and the masking element 912 despite the spatial separation along different planes. In some examples, the coupler 914 may be coupled to the masking element in any suitable manner (e.g., adhesive, mechanical linkages such as screws and/or bolts, etc.). In some examples, a portion of the masking element may be configured to fit into a slot associated with the coupler 914.

[0134] In at least one example, the actuator 908 comprises a stepper motor and the linkage 910 comprises a rack and/or pinion to slide the masking element 912 on tracks or other guides. In another example, the linkage 910 may comprise a cam and/or rotary mechanical linkage.

[0135] The masking element 912 may be composed of the same or similar material to a fascia 900 of the vehicle. For example, the masking element 912 may comprise of a polymer, carbon fiber, metal, composite, or the like. In some examples, the masking element 912 may be the same color as the vehicle. In some examples, the masking element 912 may further comprise an indicia (e.g., a second retroreflector) adhered or otherwise affixed or composing a portion of the masking element that covers a first indicia. In such an example, the masking element may reveal a second indicia associated with the masking element different than the first indicia. For example, the masking element may comprise a colorless (i.e., white) or amber colored retroreflector that may be slid over a red retroreflector and may be retracted to reveal the red retroreflector, depending on the direction of travel of a bidirectional vehicle. In another example, the masking element may comprise a red retroreflector that may be slid over a colorless or amber colored retroreflector and may be retraced to reveal the colorless or amber colored retroreflector.

[0136] In at least one example, the masking element may comprise an elongated strip comprising two indicia, such as an amber retroreflector and a red retroreflector. A motor may be actuated to slide the elongate strip to reveal a suitable portion (i.e., the amber retroreflector or the red retroreflector) depending on the direction of travel. In such an example, the elongated strip may cover a third indicia or may be used on its own without covering any other indicia. In some examples, the masking element may be settled into channels (or housing) in the fascia configured to constrain motion of the masking element along a plane or shape defined by the fascia. In an additional or alternative example, the channels or housing into which the masking element is settled may be disposed in a seal.

[0137] The masking element 912 may rest in a first position, such as settled in a storage position such that it fits or matches an external shape and/or configuration of the vehicle. The masking element 912 may be repositioned by the actuator and linkage and moved from the first position to a second position. For example, while in the first position, the masking element 912 may expose a retroreflector, indicator, light, radio-frequency identification (RFID) tag, permit or other identification number, display, machine-readable code, active lighting, information about the vehicle (such as a vehicle number), or other feature on the vehicle. In the second position, the masking element may alternatively cover the retroreflector, indicator, light, RFID tag, or other feature on the vehicle. In this manner, the masking element 912 may be configured to alternately conceal and/or reveal one or more features on an external surface of the vehicle. Alternatively, the masking element may be associated with a red retroreflector and the indicia portion may be associated with a non-reflective surface, amber retroreflector, white retroreflector, etc. such that the masking element is moved over the indicia portion. Though the masking element in FIG. 9D is depicted and described as being configured to move horizontally (left/right), the masking element and/or the actuator system may be configured such that the masking element moves vertically (up/ down) from above or below a retroreflector, or any other direction.

[0138] In some examples, the masking element 912 may additionally or alternatively include a switchable component, such as switchable glass (e.g., privacy glass), to change an opacity of the masking element in response to a command from a controller. In such examples, the motor and/or linkage. [0139] FIG. 9E depicts a top, back, right-side perspective view of the vehicle fascia 900 including the actuator system 906A for operatively exposing or covering an indicia portion of the vehicle fascia.

[0140] FIG. 10A-10D collectively depict a vehicle fascia 1000 comprising two indicia portions and two masking elements, where the masking elements are caused to transition from the first state to the second state (e.g., sequentially transition from FIG. 10A to FIG. 10D) or from the second state to the first state (e.g.. sequentially transition from FIG. lOD to FIG. 10A). [0141] FIG. 10A depicts a front view of the vehicle fascia 1 00 showing a first state of the masking component(s) associated with the actuator system(s), where the first state exposes an indicia portion 1002A (e.g., a first retroreflector) and indicia portion 1002B (e.g., a second retroreflector).

[0142] FIGS. 10B-10C depict the front view of the vehicle fascia 1000 showing a first part and a second part of a transition from the first state of a masking component to a second state. That is, one or more motors associated with the actuator system(s) may be activated based at least in part on receiving a signal indicating a change in a direction of travel. Based at least in part on receiving the signal, the motor may be activated and cause a first masking element 1004A to transition over the first indicia portion 1002 A and the second masking element 1004B to transition over the second indicia portion 1002B.

[0143] FIG. 10D depicts the front view of the vehicle fascia 1000 showing a second state of the first masking element 1004A and the second masking element 1004B, where the second state covers the indica portion.

[0144] FIG. 11 A depicts a perspective view of another example actuator system 1100 A. The example actuator system 1100A may comprise a masking element 1102, a retroreflector 1104, a retroreflector housing 1106, an actuator 1108, and one or more couplers 1110A, 1 HOB, 1 HOC, 1110D.

[0145] In some examples, the masking element 1102 may comprise of an opaque material that prevents light from reaching retroreflector 1104. In some examples, the masking element 1102 may comprise of the same or similar material as the vehicle or fascia of the vehicle (in whole or in part). For example, the masking element may comprise of carbon fiber, polymer (e.g., polypropylene, polyethylene, polyurethane, acrylonitrile butadiene styrene (ABS), polycarbonate (PC), polyethylene terephthalate (PET), thermoplastic olefin (TPO), polyphenylene sulfide (PPS), or other composites), fiberglass, aluminum, polymer matrix composites, or any combination thereof. In some examples, the masking element 1102 may include a switchable component, such as a switchable glass (e.g., privacy glass), to change an opacity of the masking element 1102 in response to a command from the controller.

[0146] The masking element 1102 may be coupled to the retroreflector housing 1106 in a manner that enables the masking element 1102 to rotate about an axis and either expose or cover the retroreflector 1104. For example, the masking element 1102 may be associated with linkage 1112 that is configured to couple to the actuator 1108. That is. the linkage 1112 may be driven by an actuator that is the source of rotary motion. As the linkage rotates, the masking element 1102 rotates in conjunction with the linkage 1 112. Tn some examples, the actuator may cause the linkage and masking element to rotate in a first direction and cover the retroreflector and the actuator may cause the linkage and masking element to rotate in a second direction opposite the first direction in order to expose the retroreflector. In some examples, a second retroreflector (e.g., an amber or white colored retroreflector) may be coupled to the masking element, the second retroreflector being different than a first retroreflector coupled to the retroreflector housing 1106.

[0147] The retroreflector 1104 may comprise of an optical device configured to reflect light back to its source, regardless of the angle at which the light strikes the optical device. Retroreflectors are configured to enhance visibility⁷ and improve detection of the vehicle. In some examples, the retroreflector may comprise glass spheres coated with a reflective material. In such an example, light enters the glass spheres and reflects off the inner reflective coating and back out through the glass, retroreflecting the light. In some examples, the retroreflector 1104 may comprise of a series of prisms (e.g., prismatic reflector). In some examples, the retroreflector may be encased in a protective covering, such as glass or plastic cover, to shield the reflective surface from dirt, moisture, and/or physical damage. The retroreflector 1104 may be mounted or coupled (e.g.. via an adhesive) to a retroreflector housing 1106. In some examples, the retroreflector housing 1106 may comprise of the same or similar material as masking element 1102. The retroreflector housing 1106 may be coupled to the actuator 1108 in any suitable manner (e.g., via mechanical devices such as screws, bolts, rivets, clamps, and/or adhesive, and the like).

[0148] The actuator 1108 may comprise a servomotor, electric motor, brushed or brushless motor, stepper motor, hydraulic actuator, electro-hydraulic system, rotary actuator, pneumatic actuator, or any other actuator described throughout the application. The actuator 1108 may be controlled based at least in part on a signal indicative of a change in a state of the vehicle, such as a change in travel orientation. In at least one example, the actuator 1108 may be a rotary actuator configured to generate a controlled rotational motion or torque around a fixed axis (e.g., x-axis as depicted in FIG. 11A). The actuator may be a rotational actuator configured to impart rotational motion to the linkage and masking element. The rotational motion or force may be applied to linkage 1112 and cause the masking element to rotate in a first direction to cover the retroreflector 1104 and a second direction to expose the retroreflector 1104 to the environment.

[0149] The one or more couplers 1110A, 1110B, 1110C, 1110D may be configured to couple the actuator 1108, retroreflector housing 1106. and/or masking element. The one or more couplers may comprise, for example, mechanical devices such as screws, bolts, rivets, clamps, etc. In some examples, the actuator 1108 may be coupled to the retroreflector housing via an adhesive (e.g., epoxy resin), snap-fit connections, and the like.

[0150] FIG. 1 IB depicts a front view of the example actuator system of FIG. 11 A in a first state 1100B, wherein in the first state the masking element 1102 may be positioned such that the retroreflector 1104 is exposed to light from the environment. In some examples, the masking element may be disposed or positioned within a slot (not shown) associated with the actuator system, the vehicle, vehicle fascia, etc. In some examples, the slot may be configured such that the masking element 1102 is prevented from sliding further back into the actuator system (e.g., a stopper or other mechanical component or obstruction).

[0151] FIG. 11C depicts a front view of the example actuator system of FIG. 11A in a second state 1100C, wherein in the second state the masking element 1102 is configured to cover the retroreflector 1104. In some examples, a second retroreflector (e.g., amber or white colored retroreflector) or indicia portion may be coupled to the masking element 1102 such that, in the second position, the second retroreflector element is exposed to the environment. In at least one example, the masking element 1102 partially covers the indicia portion.

[0152] FIG. 12 illustrates a flow chart outlining an example process 1200 to transition a masking element associated with an actuator system from a first state to a second state. Example process 1200 may represent a sequence of operations that can be implemented in hardware, software, or a combination thereof. In the context of software, the operations represent computer-executable instructions stored on one or more computer readable storage media that, when executed by one or more processors, perform the recited operations. Generally, computer-executable instructions include routines, programs, objects, components, data structures, and the like that perform particular functions or implement particular abstract data types. The order in which the operations are described is not intended to be construed as a limitation, and any number of the described operations can be combined in any order and/or in parallel to implement the processes. [0153] At operation 1202, a system or component of a vehicle (e.g., planning component, drive component, sensor(s), light emitter(s) systems, steering component, and/or other components or subsystem(s)) may generate a control signal. In examples, the control signal may indicate a state or operation of the vehicle, a planned vehicle state or operation (the vehicle is about to change an orientation of travel), or a change in a travel orientation (i.e., which end of a bidirectional vehicle is a leading end and which end is a trailing end), detecting a fault with a vehicle system or component, etc. In at least one example, the actuator may be coupled to one or more additional components or subcomponents of the vehicle such that a signal comprises one or more of a data or power connection common to the actuator and other component. As a non-limiting example of which, a line providing power to brake lights may be used to power the actuator such that when a signal is sent to power on brake lights, the actuator is also engaged. In some examples, the control signal may be associated with a passage of time (e.g., 10 seconds, 15 seconds, ... N seconds etc.), a distance (50 meters, 1 mile, 5 miles, ... N miles etc.), a location or map data, time of day, or any other change in a state of the vehicle.

[0154] At operation 1204, a controller associated with an actuator system may receive the control signal. The controller may control a position or state of various components associated with the actuator system based on the received control signal. For example, if a vehicle is travelling so that a first end of the vehicle is leading the second end, then an actuator system on the first end of the vehicle may be configured in a first state (e.g., a closed state) such that a white or amber retroreflector is visible and a second actuator system on the second end of the vehicle may be configured in a different state (e.g., an open state) such that a red retroreflector is visible. On the other hand, if the vehicle is travelling so that the second end of the vehicle is leading the first end, then the actuator systems may function oppositely, based on the control signal from the planning component. In some examples, the controller may be configured to receive signals from a source external to the vehicle, such as from an autonomous vehicle sendee platform, remote computing device (e.g., teleoperator computing device), etc. In some examples, different actuator systems may be configured to communicate or receive signals from different systems or components associated with the vehicle. As above, such a signal may additionally or alternatively be coupled to one or more components or subcomponents of the vehicle as a common signal or power.

[0155] In some examples, the operation of the actuator may be based at least in part on receiving a signal generated by at least one of an emitter system or a steering system. That is, the actuator system may be coupled to and/or be configured to receive signals from a light emitter system (e.g., headlight/brake light system or components, turn signal system or component, etc.) that generates a signal indicating a change in a state (e.g.. change in a function or color). The signal generated by the light emitter system may then be utilized to control a change a state of the masking element. This enables the actuator system to efficiently operate in conjunction with existing components and systems of the vehicle. As another nonlimiting example, the operation of the actuator system may be based at least in part on receiving a signal generated by a steering system of the vehicle. That is, when a bidirectional vehicle changes a direction of travel (e.g., reverses a direction of travel), the steering system may generate and/or receive signals that control a behavior of the wheels, steering angles, etc. These signals may be configured to also control an operation of the actuator system such that additional (or separate) control signals need not be generated specific to the actuator system. In some examples, the signal may be any type of signal generated by a component or system associated with the vehicle (e.g., a communication signal, a power signal, voltage change signal, brake signal, acceleration signal, speed signal, fuel level signal, airbag deployment signal (or other safety feature signal), door open/closed signal, turn signal, etc.).

[0156] At operation 1206, an actuator associated with the actuator system may cause a masking element to transition from a first state to a second state. An actuator (e.g., a servomotor, electric motor, brushed or brushless motor, stepper motor, hydraulic actuator, electro-hydraulic system, linear actuator, rotary actuator, pneumatic actuator, etc.) may be coupled to the masking element via one or more linkages (e.g., rack, gear, pinion, hydraulic piston, pin, link, arm, etc.). In at least one example, individual (or multiple) actuators may be coupled to the masking element. The actuator, when activated, may be configured to cause the masking element to transition from the first state to the second state. For example, a first state of the masking element may be associated with a first position (e.g., an open position) that exposes an indicia portion (e.g., a retroreflector license plate, RFID tag, permit, etc.). The second state of the masking element may be associated with a second position (e.g., a closed position) that conceals or masks the indicia portion. In at least one example, in response to receiving a signal indicating a bidirectional vehicle has changed a direction of travel, the actuator system may cause a first set of one or more actuator systems disposed on a first end of the vehicle to transition from a first state to a second state and cause a second set of one or more actuator systems disposed on a second end opposite the first end of the vehicle to transition from the second state to the first state.

[0157] At operation 1208, the actuator system may generate a transition signal. The transition signal may represent a confirmation that the masking element has transitioned to a different state. In some examples, the transition signal may indicate feedback of a state associated with the actuator system (e g., change in voltage, rotary encoder message, rotation angle, etc.). For example, the actuator system may provide a feedback signal indicating the actuator system has changed a state of the masking element. In some examples, a controller associated wi th the actuator system may transmit the transition signal to a component and/or system of the vehicle (e.g., planning component, sensor system, memory, etc.). In some examples, the transition signal may include a time at which the masking element of the actuator system has started a transition process and/or a time at which the masking element has completed the transition process. The transition signal may be stored in a memory' associated with the vehicle and/or in some other memory, such as a remote memory' associated with a remote computing device.

EXAMPLE CLAUSES

[0158] Any of the example clauses in this section may be used with any other example clauses and/or any of the other examples described herein.

[0159] A. A bidirectional vehicle comprising: a fascia disposed at a first end of the bidirectional vehicle; and a reflector unit coupled to the fascia, the reflector unit comprising: reflector elements comprising a first side and a second side, the first side configured to reflect light of a first color and the second side configured to reflect light of a second color different than the first color; linkages coupled to the reflector elements; an actuator mechanically coupled to the linkages; and a controller configured to: receive a signal indicating a change in travel orientation of the bidirectional vehicle; and in response to receiving the signal, cause the actuator to apply force to the linkages and cause the reflector elements to transition from the first side to the second side.

[0160] B. The bidirectional vehicle of paragraph A, wherein the linkages comprise pinions coupled to a rack.

[0161] C. The bidirectional vehicle of paragraph B, wherein the rack associated with the linkages has a curved profile such that the reflector elements are disposed off-plane relative to each other.

[0162] D. The bidirectional vehicle of any of paragraphs A-C, wherein the reflector unit is a first reflector unit, the bidirectional vehicle further comprising: a second reflector unit coupled to a lateral side of the bidirectional vehicle, the second reflector unit comprising: a second set of reflector elements having a first state and a second state, the first state configured to reflect light of a first color and the second state configured to reflect light of a third color different than the second color; and a second actuator coupled to the second set of reflector elements, wherein the controller or another controller is configured to, upon activation, cause the second set of reflector elements to transition from the first state to the second state.

[0163] E. A reflector system configured to operate on a vehicle, the reflector system comprising: elements comprising at least a first side and a second side, the first side configured to reflect light of a first color and the second side being different than the first side; an actuator coupled to the elements; and a controller configured to: receive a signal indicating a change in a state of the vehicle; and in response to receiving the signal, cause the actuator to transition the elements from a first position in which the first side is facing an exterior of the vehicle to a second position in which the second side is facing the exterior of the vehicle.

[0164] F. The reflector system of paragraph E, wherein the second side is configured to reflect light of a second color different than the first color.

[0165] G. The reflector system of paragraphs E or F, wherein the actuator is mechanically coupled to one or more linkages, the one or more linkages comprising pinions coupled to a rack.

[0166] H. The reflector system of any of paragraphs E-G, wherein the elements are disposed off-plane relative to each other.

[0167] I. The reflector system of any of paragraphs E-H, wherein the change in the state of the vehicle is a change in a direction of travel.

[0168] J. The reflector system of any of paragraphs E-I, wherein the actuator is mechanically coupled to the elements via one or more linkages, the one or more linkages comprising: a plurality of pivot arms configured to pivot 180 degrees; and a carrier coupled to the actuator and configured to, upon activation, transfer a force generated by the actuator onto the plurality of pivot arms.

[0169] K. The reflector system of any of paragraphs E-J, wherein the elements are disposed in a housing.

[0170] L. The reflector system of clause any of paragraphs E-K, the reflector system further comprising: a marker light disposed in or on the housing proximate the elements.

[0171] M. The reflector system of any of paragraphs E-L, wherein at least one of the elements further comprise a third side, the third side being different than the first side and the second side.

[0172] N. The reflector system of any of paragraphs E-M, wherein a surface area of the first side is between about 10 cm2 and about 40 cm2. [0173] O. A reflector unit comprising: reflector elements, wherein individual reflector elements comprise a first side and a second side, the first side associated with a first state and configured to reflect light of a first color and the second side associated with a second state different than the first state; and an actuator coupled to the reflector elements, the actuator configured to cause the reflector elements to transition from the first state to the second state.

[0174] P. The reflector unit of paragraph O, wherein the reflector elements comprise a third side associated with a third state.

[0175] Q. The reflector unit of paragraphs O or P, wherein the third state presents an active display configured to output an image or a message.

[0176] R. The reflector unit of any of paragraphs O-Q, wherein the actuator is configured to cause the reflector elements to transition from the first state to the second state, and from the second state to the first state based on a period of time.

[0177] S. The reflector unit of any of paragraphs O-R, wherein the first state is associated with a first color filter and the second state is associated with a second color filter different than the first color filter.

[0178] T. The reflector unit of any of paragraphs O-S, wherein the actuator is coupled to the reflector elements via one or more linkages, the one or more linkages comprising a plurality of pinions coupled to a rack.

[0179] U. A bidirectional vehicle comprising: a fascia having a first side and a second side; and an actuator system coupled to the fascia, the actuator system comprising: an indicia portion; a masking element that exposes the indicia portion in a first state and covers the indicia portion in a second state; and linkage coupling the masking element to an actuator; wherein operation of the actuator applies force via the linkage to the masking element to cause the masking element to transition between the first state and the second state.

[0180] V. The bidirectional vehicle of paragraph U, wherein the operation of the actuator is based at least in part on a determination of the bidirectional vehicle changing a direction of travel.

[0181] W. The bidirectional vehicle of paragraphs U or V, wherein the indicia portion is a first indicia portion, and the masking element comprises a second indicia portion different than the first indicia portion.

[0182] X. The bidirectional vehicle of paragraphs U-W, wherein the actuator system is a first actuator system disposed on a first longitudinal end of the bidirectional vehicle, the bidirectional vehicle further comprising: a second actuator system disposed on a second longitudinal end of the bidirectional vehicle opposite the first longitudinal end, the second actuator system comprising: a second indicia portion; and a second masking element that exposes the second indicia portion in the first state and covers the second indicia portion in the second state; wherein the second masking element is in the first state while the first masking element is in the second state.

[0183] Y. The bidirectional vehicle of paragraph U, wherein the actuator comprises a linear actuator configured to impart linear translation motion to the masking element.

[0184] Z. The bidirectional vehicle of paragraph U, wherein the actuator comprises a rotational actuator configured to impart rotational motion to the masking element.

[0185] AA. The bidirectional vehicle of paragraphs U-Z, wherein the actuator system further comprises: a coupler configured to couple the masking element to the linkage such that the masking element is offset in a longitudinal direction relative to the linkage and the actuator. [0186] BB. The bidirectional vehicle of paragraphs U-AA, wherein the indicia portion comprises one of a retroreflector, an emitter, a license plate, radio-frequency identification (RFID) tag, a permit, a display , an identification number, or a machine-readable code.

[0187] CC. The bidirectional vehicle of paragraphs U-BB, wherein the masking element comprises a reflective element.

[0188] DD. A system configured to operate on a vehicle, the system comprising: an actuator system coupled to the vehicle, the actuator system comprising: an indicia portion; a masking element that exposes the indicia portion in a first state and covers the indicia portion in a second state; and linkage coupling the masking element to an actuator; wherein operation of the actuator applies force via the linkage to the masking element to cause the masking element to transition between the first state and the second state.

[0189] EE. The sy stem of paragraph DD, wherein the actuator sy stem is a first actuator system and is configured to operate on a first longitudinal end of the vehicle, the system further comprising: a second actuator system disposed on a second longitudinal end of the vehicle, the second actuator system comprising: a second indicia portion; and a second masking element that exposes the second indicia portion in the first state and covers the second indicia portion in the second state; wherein the second masking element is in the first state while the first masking element is in the second state.

[0190] FF. The system of paragraphs DD or EE, wherein the operation of the actuator is based at least in part on a signal generated by at least one of an emitter system or a steering system associated with the vehicle. [0191] GG. The system of paragraphs DD-FF. wherein the indicia portion is a first indicia portion, and the masking element comprises a second indicia portion different than the first indicia portion.

[0192] HH. The system of paragraphs DD-GG, wherein the actuator system further comprises: a coupler configured to couple the masking element to the linkage such that the masking element is offset in a longitudinal direction relative to the linkage and the actuator.

[0193] II: An actuator system comprising: an indicia portion; a masking element that exposes the indicia portion in a first state and covers the indicia portion in a second state; and a linkage coupling the masking element to an actuator; wherein operation of the actuator applies force via the linkage to the masking element to cause the masking element to transition between the first state and the second state.

[0194] JJ: The actuator system of paragraph II, wherein the actuator comprises a linear actuator configured to impart linear translation motion to the masking element.

[0195] KK. The actuator system of paragraph II, wherein the actuator comprises a rotational actuator configured to impart rotational motion to the masking element.

[0196] LL. The actuator system of paragraphs 1I-KK, wherein the actuator system further comprises: a coupler configured to couple the masking element to the linkage such that the masking element is offset in a longitudinal direction relative to the linkage and the actuator.

[0197] MM. The actuator system of paragraphs II-LL. wherein the indicia portion is a first indicia portion, and the masking element comprises a second indicia portion different than the first indicia portion.

[0198] NN. The actuator system of paragraphs II-MM, wherein the actuator system is coupled to a vehicle and wherein operation of the actuator is based at least in part on a determination of the vehicle changing a direction of travel.

CONCLUSION

[0199] While one or more examples of the techniques described herein have been described, various alterations, additions, permutations and equivalents thereof are included within the scope of the techniques described herein.

[0200] In the description of examples, reference is made to the accompanying drawings that form a part hereof, which show by way of illustration specific examples. It is to be understood that other examples can be used and that changes or alterations, such as structural changes, can be made. Such examples, changes or alterations are not necessarily departures from the scope with respect to the intended subject matter. While the steps herein can be presented in a certain order, in some cases the ordering can be changed so that certain inputs are provided at different times or in a different order without changing the function of the systems and methods described. The disclosed procedures could also be executed in different orders. Additionally, various computations that are herein need not be performed in the order disclosed, and other examples using alternative orderings of the computations could be readily implemented. In addition to being reordered, the computations could also be decomposed into sub-computations with the same results.

Claims

CLAIMS WHAT IS CLAIMED IS:

1. A bidirectional vehicle comprising: a fascia disposed at a first end of the bidirectional vehicle; and a reflector unit coupled to the fascia, the reflector unit comprising: reflector elements comprising a first side and a second side, the first side configured to reflect light of a first color and the second side configured to reflect light of a second color different than the first color; linkages coupled to the reflector elements; an actuator mechanically coupled to the linkages; and a controller configured to: receive a signal indicating a change in travel orientation of the bidirectional vehicle; and in response to receiving the signal, cause the actuator to apply force to the linkages and cause the reflector elements to transition from the first side to the second side.

2. The bidirectional vehicle of claim 1, wherein the linkages comprise pinions coupled to a rack.

3. The bidirectional vehicle of claim 2, wherein the rack associated with the linkages has a curved profile such that the reflector elements are disposed off-plane relative to each other.

4. The bidirectional vehicle of claim 1 or 2, wherein the reflector unit is a first reflector unit, the bidirectional vehicle further comprising: a second reflector unit coupled to a lateral side of the bidirectional vehicle, the second reflector unit comprising: a second set of reflector elements having a first state and a second state, the first state configured to reflect light of a first color and the second state configured to reflect light of a third color different than the second color; and a second actuator coupled to the second set of reflector elements, wherein the controller or another controller is configured to, upon activation, cause the second set of reflector elements to transition from the first state to the second state.

5. A reflector system configured to operate on a vehicle, the reflector system comprising: elements comprising at least a first side and a second side, the first side configured to reflect light of a first color and the second side being different than the first side; an actuator coupled to the elements; and a controller configured to: receive a signal indicating a change in a state of the vehicle; and in response to receiving the signal, cause the actuator to transition the elements from a first position in which the first side is facing an exterior of the vehicle to a second position in which the second side is facing the exterior of the vehicle.

6. The reflector system of claim 5, wherein the second side is configured to reflect light of a second color different than the first color.

7. The reflector system of any one of claims 5-6, wherein the actuator is mechanically coupled to one or more linkages, the one or more linkages comprising pinions coupled to a rack.

8. The reflector system of any one of claims 5-7, wherein the elements are disposed off-plane relative to each other.

9. The reflector system of any one of claims 5-8, wherein the change in the state of the vehicle is a change in a direction of travel.

10. The reflector system of claim 5. wherein the actuator is mechanically coupled to the elements via one or more linkages, the one or more linkages comprising: a plurality of pivot arms configured to pivot 180 degrees; and a carrier coupled to the actuator and configured to, upon activation, transfer a force generated by the actuator onto the plurality of pivot arms.

11. The reflector system of any one of claims 5-10, wherein the elements are disposed in a housing.

12. The reflector system of claim 11, the reflector system further comprising: a marker light disposed in or on the housing proximate the elements.

13. The reflector system of any one of claims 5-12. wherein at least one of the elements further comprise a third side, the third side being different than the first side and the second side.

14. The reflector system of any one of claims 5-13. wherein a surface area of the first side is between about 10 cm² and about 40 cm².

15. A reflector unit compri sing : reflector elements, wherein individual reflector elements comprise a first side and a second side, the first side associated with a first state and configured to reflect light of a first color and the second side associated with a second state different than the first state; and an actuator coupled to the reflector elements, the actuator configured to cause the reflector elements to transition from the first state to the second state.