WO2019156657A1

WO2019156657A1 - Vehicle lighting system

Info

Publication number: WO2019156657A1
Application number: PCT/US2018/017148
Authority: WO
Inventors: Ameen Basim Al-Khafaji; Ali SOLOUKMOFRAD; Daniel Lewis Boston
Original assignee: Ford Global Technologies, Llc
Priority date: 2018-02-07
Filing date: 2018-02-07
Publication date: 2019-08-15

Abstract

A lamp system includes a socket attachable to a vehicle, a ball engaged as a ball-and-socket joint with the socket, and a lamp fixed to the ball and directed outwardly relative to the ball. The ball is rotatable about a geometrical center of the ball in response to or anticipation of acceleration of the vehicle.

Description

VEHICLE LIGHTING SYSTEM

BACKGROUND

[0001] Sometimes occupants in vehicles experience motion sickness. Motion sickness is typically caused by a disparity between visually perceived movement and the sense of movement produced by the vestibular system, the system of inner- ear canals that senses balance. When occupants direct their attention toward tasks inside the vehicle and away from the windows of the vehicle, motion sickness can be exacerbated because of the lack of visual feedback provided by the external environment through the windows.

BRIEF DESCRIPTION OF THE DRAWINGS

[0002] Figure 1A is a perspective view of a passenger cabin of an example vehicle including a lamp system in a first position.

[0003] Figure 1B is a perspective view of the passenger cabin of the vehicle of Figure 1A including the lamp system in a second position.

[0004] Figure 1C is a perspective view of the passenger cabin of the vehicle of Figure 1A including the lamp system in a third position.

[0005] Figure 1D is a perspective view of the passenger cabin of the vehicle of Figure 1A including the lamp system in a fourth position.

[0006] Figure 1E is a perspective view of the passenger cabin of the vehicle of Figure 1A including the lamp system in a fifth position.

[0007] Figure 2 is a bottom perspective view of an example lamp system for the vehicle.

[0008] Figure 3 is a bottom perspective view of another example lamp system for the vehicle.

[0009] Figure 4 is a cross-sectional view along line 4-4 in Figure 3 of another example lamp system for the vehicle.

[0010] Figure 5 is a cross-sectional view along line 4-4 in Figure 3 of another example lamp system for the vehicle.

[0011] Figure 6 is a bottom perspective view of another example lamp system for the vehicle. [0012] Figure 7 is a cross-sectional view along line 7-7 of the lamp system of Figure 6.

[0013] Figure 8 is a cross-sectional view of another example lamp system for the vehicle.

[0014] Figure 9 is a cross-sectional view of another example lamp system for the vehicle.

[0015] Figure 10 is a bottom perspective view of another example lamp system for the vehicle.

[0016] Figure 11 is a block diagram of a control system for the lamp system.

[0017] Figure 12 is a process flow diagram of an exemplary process for controlling a position of the lamp system.

[0018] Figure 13 is a process flow diagram of an exemplary process for damping movement of the lamp system.

DETAILED DESCRIPTION

[0019] A lamp system includes a base attachable to a vehicle, and a lamp directed away from the base and rotatable relative to the base in at least two rotational dimensions in response to or anticipation of nonzero acceleration of the vehicle.

[0020] The lamp may be rotatable relative to the base in at least two rotational dimensions in response to or anticipation of acceleration of the vehicle that is less than 11 meters per second squared.

[0021] The lamp system may further include a ball, and the base may include a socket engaged with the ball as a ball-and-socket joint, and the lamp may be fixed relative to the ball.

[0022] The lamp system may further include an elastic member extending from the base to the lamp. The elastic member may define a direction from the base to the lamp, and the lamp system may further comprise at least one damper extending transverse to the direction in the elastic member.

[0023] The lamp system may further include at least one damper positioned to resist rotation of the lamp in the at least two rotational dimensions. The at least one damper may include a first linear damper positioned to resist rotation of the lamp in a first rotational direction of the at least two rotational dimensions and a second linear damper positioned to resist rotation of the lamp in a second rotational direction of the at least two rotational dimensions.

[0024] The lamp system may further include a ball, and the base may include a socket engaged with the ball as a ball-and-socket joint, the lamp may be fixed relative to the ball, and the at least one damper may be a frictional interface between the ball and the socket.

[0025] The at least one damper may be a fluid, and the lamp system may further include a tank enclosing the fluid, and a damping member fixed relative to the lamp and extending into the tank. The lamp system may further include an electromagnet coupled to the tank, and the fluid may include a plurality of ferromagnetic pieces in suspension.

[0026] A resisting force of the at least one damper may be adjustable, and the lamp system may further include a computer communicatively coupled to the at least one damper and programmed to adjust the resisting force based on a speed of the vehicle.

[0027] The lamp system may further include an actuator actuatable to rotate the lamp relative to the base in the at least two rotational dimensions, and a computer communicatively coupled to the actuator and programmed to actuate the actuator in response to or anticipation of nonzero acceleration of the vehicle. The computer may be programmed to actuate the actuator to rotate the lamp one of forward and rearward in response to or anticipation of forward acceleration of the vehicle and the other of forward and rearward in response to or anticipation of deceleration of the vehicle. The computer may be programmed to actuate the actuator to rotate the lamp one of left and right in response to or anticipation of a left turn of the vehicle and the other of left and right in response to or anticipation of a right turn of the vehicle.

[0028] The lamp system may further include a passenger cabin of the vehicle, and the lamp may be disposed in the passenger cabin. The passenger cabin may include a ceiling, and the base may be fixed to the ceiling.

[0029] A system includes a computer, and the computer is programmed to actuate an actuator in response to or anticipation of nonzero acceleration of a vehicle, and the actuator is actuatable to rotate a lamp relative to a base in at least two rotational dimensions.

[0030] The computer may be programmed to actuate the actuator to rotate the lamp one of forward and rearward in response to or anticipation of forward acceleration of the vehicle and the other of forward and rearward in response to or anticipation of deceleration of the vehicle.

[0031] The computer may be programmed to actuate the actuator to rotate the lamp one of left and right in response to or anticipation of a left turn of the vehicle and the other of left and right in response to or anticipation of a right turn of the vehicle.

[0032] A system includes a computer, and the computer is programmed to adjust a resisting force of a damper based on a speed of a vehicle, and a base is attached to the vehicle, and a lamp is directed away from and rotatable relative to the base in at least two rotational dimensions in response to nonzero acceleration of the vehicle, and the damper is positioned to resist rotation of the lamp in the at least two rotational dimensions.

[0033] As best seen in Figure 2-10, a lamp system 30 includes a base 54 attachable to a vehicle 34, and a lamp 38 directed away from the base 54 and rotatable relative to the base 54 in at least two rotational dimensions Q, f in response to or anticipation of nonzero acceleration of the vehicle 34. The rotation of the lamp 38 may be passive and mechanical, as shown in Figures 2-9, or the rotation of the lamp 38 may be actuated by a computer 74, as shown in Figure 10.

[0034] The lamp system 30 provides visual feedback to occupants based on motion of the vehicle 34. Via the lamp system 30, the occupants can experience changes in light and shadows that correspond to the motion of the vehicle 34, even if the occupants are not looking out one of the windows of the vehicle 34. The feedback may help prevent motion sickness in the occupants because what the occupants see can reflect the forces that the occupants feel as the vehicle 34 moves.

[0035] With reference to Figures 1A-E, the vehicle 34 may be an autonomous vehicle. An autonomous -vehicle controller 40 (shown in Figure 11) can be configured to operate the vehicle 34 independently of the intervention of a human driver, completely or to a lesser degree. The autonomous -vehicle controller 40 may be programmed to operate the propulsion, brake system, steering, and/or other vehicle systems. For the purposes of this disclosure, autonomous operation means the autonomous-vehicle controller 40 controls the propulsion, brake system, and steering; semi- autonomous operation means the autonomous -vehicle controller 40 controls one or two of the propulsion, brake system, and steering, and a human driver controls the remainder; and nonautonomous operation means the human driver controls the propulsion, brake system, and steering.

[0036] The vehicle 34 includes a passenger cabin 42 to house occupants, if any, of the vehicle 34. The passenger cabin 42 includes seats 44, including one or more front seats 44 disposed at a front of the passenger cabin 42, and one or more back seats 44 disposed behind the front seats 44. The passenger cabin 42 may also include third-row seats 44 (not shown) at a rear of the passenger cabin 42. In Figure 1, the front seat 44 is shown to be a bucket seat, but the seats 44 may be other types. The position and orientation of the seats 44 and components thereof may be adjustable by an occupant.

[0037] With reference to Figures 2-6 and 8-10, the base 54 is attachable to the vehicle 34. Specifically, the base 54 may be fixed to the passenger cabin 42, e.g., to a ceiling 46 of the passenger cabin 42. The base 54 may be recessed in the ceiling 46, i.e., extending into the ceiling 46 and presenting an exterior surface 48 generally flush with the ceiling 46.

[0038] The lamp 38 is disposed in the passenger cabin 42. The lamp 38 is directed away from the base 54. The lamp 38 emits a beam of light. For the purposes of this disclosure,“directed” with respect to the lamp 38 refers to a direction of the beam emitted by the lamp 38. The lamp 38 may be any light-producing device suitable for illuminating the passenger cabin 42, e.g., tungsten, halogen, high- intensity discharge (HID) such as xenon, light-emitting diode (LED), laser, etc.

[0039] The lamp 38 is rotatable relative to the base 54 in at least two rotational dimensions q, f in response to or anticipation of nonzero acceleration of the vehicle 34. A first rotational dimension Q may be defined as about an axis that is lateral relative to the vehicle 34, and the lamp 38 rotating in the first rotational dimension Q may tilt forward and rearward relative to the passenger cabin 42. In other words, the first rotational dimension Q measures rotation in a plane extending vertically and forward-rearward relative to the vehicle 34. A second rotational dimension f may be defined as about an axis that is forward relative to the vehicle 34, and the lamp 38 rotating in the second rotational dimension f may tilt left and right relative to the passenger cabin 42. In other words, the second rotational dimension f measures rotation in a plane extending vertically and laterally relative to the vehicle 34. For the purposes of this disclosure,“acceleration” of the vehicle 34 is defined as a rate of change a velocity vector of the vehicle 34 with respect to time. Examples of nonzero acceleration include positive acceleration, which means the vehicle 34 is increasing forward velocity; deceleration, i.e., negative acceleration, which means the vehicle 34 is decreasing forward velocity; and change in lateral direction of acceleration, which means the vehicle 34 is turning right or left. The lamp 38 may be rotatable in the two rotational dimensions q, f in response to acceleration of the vehicle 34 that is less than 11 meters-per-second-squared (m/s²). The value 11 m/s² is an approximate upper limit of acceleration when the vehicle 34 is an automobile, e.g., a car, van, crossover, sport utility vehicle, etc.

[0040] With reference to Figures 2-5 and 8-10, the base 54 may include a socket 32. The socket 32 includes an interior surface 50 defining a partially spherical cavity. The interior surface 50 is shaped to receive a ball 36. A radius of the interior surface 50 may be substantially equal to a radius of the ball 36. The interior surface 50 may be a spherical zone, i.e., a surface of a spherical segment, i.e., a surface of a sphere cut with parallel planes. The exterior surface 48 and the interior surface 50 meet at a rim 52. The rim 52 is circular and has a radius smaller than the radius of the interior surface 50 and smaller than the radius of the ball 36. The socket 32 may be a rigid plastic such as polypropylene or acrylonitrile butadiene styrene (ABS).

[0041] The ball 36 has a spherical or partially spherical shape. The radius of the ball 36 may be substantially equal to the radius of the interior surface 50 of the socket 32. The ball 36 may include an outer surface 60 extending on an outside of the ball 36 at the radius from a geometrical center C of the ball 36. The geometrical center C is the point from which the radius is determined for the spherical portion of the ball 36. The ball 36 may be a rigid plastic such as polypropylene or acrylonitrile butadiene styrene (ABS). [0042] The ball 36 is engaged as a ball-and-socket joint with the socket 32. The outer surface 60 of the ball 36 may be engaged with the interior surface 50 of the socket 32. The ball 36 is rotatable about the geometrical center C of the ball 36 with respect to the socket 32 in the two rotational dimensions Q, f. When the ball 36 rotates relative to the socket 32, the outer surface 60 of the ball 36 slides against the interior surface 50 of the socket 32.

[0043] With continued reference to Figures 2-5 and 8-10, the lamp 38 is fixed relative to the ball 36. For example, the lamp 38 may be attached directly to and/or disposed within the ball 36. For another example, with reference to Figure 2, a support bar 56 may be connected to the ball 36 and to the lamp 38. The support bar 56 may be elongated. The support bar 56 may be rigid, i.e., not flexible during normal operation. The support bar 56 transmits motion from the ball 36 to the lamp 38. Rotation of the ball 36 about the geometrical center C of the ball 36 in the two rotational dimensions q, f results in rotation of the lamp 38 about the geometrical center of the ball 36 in the two rotational dimensions q, f.

[0044] With reference to Figures 6 and 7, alternatively to the socket 32, ball 36, and support bar 56, the lamp 38 may be connected to the base 54 by an elastic member 58. The elastic member 58 extends from the base 54 to the lamp 38 and defines a direction D from the base 54 to the lamp 38. The elastic member 58 may be hollow, e.g., tubular in the direction D, or the elastic member 58 may be solid. The elastic member 58 is sufficiently flexible that nonzero acceleration of the vehicle 34 causes the elastic member 58 to bend, i.e., to deviate from the direction D. For example, the elastic member 58 may be an elastomer, i.e., a material with a low Young’s modulus and a high failure strain. The elastic member 58 may be sufficiently flexible that nonzero acceleration of the vehicle 34 that is less than 11 m/s² causes the elastic member 58 to bend. Bending of the elastic member 58 tilts the lamp 38 in either or both of the two rotational dimensions q, f.

[0045] With reference to Figures 2-5 and 8-9, the lamp 38 may be rotatable relative to the base 54 in at least two rotational dimensions q, f in response to nonzero acceleration of the vehicle 34 because of momentum of the lamp 38 and other components such as the support bar 56 or the elastic member 58. The center of gravity, i.e., a point that is an average location of the weight, of the lamp 38 and the other components is spaced from the point about which the lamp 38 is rotatable. Thus, when the vehicle 34 accelerates, decelerates, turns, etc., the forces experienced by the lamp 38 are unbalanced, causing the ball 36 to rotate in the socket 32 or the elastic member 58 to bend. For example, when the vehicle 34 turns right, the lamp 38 experiences centripetal acceleration, and the lamp rotates so that the center of gravity moves left, i.e., toward an outside of the turn, i.e., in the second rotational dimension f.

[0046] The direction that the lamp 38 rotates may be opposite of a direction of acceleration of the vehicle 34. The direction of rotation of the lamp 38 may mimic the direction that a light source suspended by a tether from the ceiling 46 would swing. Figure 1A shows the lamp 38 directed straight downward, e.g., from the vehicle 34 being at zero acceleration. Figure 1B shows the lamp 38 rotated rearward, e.g., from the vehicle 34 accelerating forward. Figure 1C shows the lamp 38 rotated forward, e.g., from the vehicle 34 decelerating. Figure 1D shows the lamp 38 rotated right, e.g., from the vehicle 34 turning left. Figure 1E shows the lamp 38 rotated left, e.g., from the vehicle 34 turning right.

[0047] With reference to Figures 2, 4-5, and 7-9, the lamp system 30 includes at least one damper 64, 66, 68, 82 positioned to resist rotation of the lamp 38 relative to the base 54 in the two rotational dimensions q, f. For the purposes of this disclosure, a“damper” is defined as device that exerts a force resisting motion of an object. As described below, the resisting force exerted by the at least one damper 64, 66, 68, 82 may be adjustable, i.e., the resisting force may be adjusted to different values for various velocities of the object whose motion is resisted.

[0048] For example, with reference to Figures 2 and 7, the at least one damper 64, 66, 68, 82 may be two linear dampers 64, 66. The linear dampers 64, 66 may be any suitable type of linear damper, e.g., shock absorber, dashpot, etc. The linear dampers 64, 66 may exert a resisting force proportional to a velocity of one end of the linear damper 64, 66 relative to the other end, i.e., F_R = kv, in which F_R is the resisting force, k is the damping coefficient, and v is the velocity of one end of the linear damper 64, 66 relative to the other end. The linear dampers 64, 66 may be adjustable, i.e., have an adjustable damping coefficient k, e.g., by adjusting a valve in a shock absorber, as is conventionally known. The damping coefficient k is measured in units of mass per time, e.g., kilograms per second.

[0049] The linear dampers 64, 66 may include a first linear damper 64 positioned to resist rotation of the lamp in the first rotational direction Q and a second linear damper 66 positioned to resist rotation of the lamp in the second rotational direction f. For example, the linear dampers 64, 66 may each have one end connected to the base 54 and the other end connected to the lamp 38 or to the support bar 56, as shown in Figure 2. The linear dampers 64, 66 may each be aligned in respective orthogonal planes oriented vertically relative to the vehicle 34; e.g., the first linear damper 64 may be aligned in a plane oriented vertically and forward relative to the vehicle 34, and the second linear damper 66 may be aligned in a plane oriented vertically and laterally relative to the vehicle 34. For another example, the linear dampers 64, 66 may be disposed in the elastic member 58, as shown in Figure 7. The linear members may extend transverse to the direction D and may extend transverse to each other.

[0050] For another example, with reference to Figures 4-5, the at least one damper 64, 66, 68, 82 may be a frictional interface 68 between the ball 36 and the socket 32 and a tightener 70. The frictional interface 68 is the engagement between the interior surface 50 of the socket 32 and the outer surface 60 of the ball 36. A coefficient of friction between the ball 36 and the socket 32, e.g., between the outer surface 60 and the interior surface 50, may be sufficiently low to permit the ball 36 to rotate about the geometrical center C of the ball 36 in response to nonzero acceleration of the vehicle 34.

[0051] The tightener 70 adjusts a normal force in the frictional interface 68, i.e., between the ball 36 and the socket 32, e.g., between the outer surface 60 of the ball 36 and the interior surface 50 of the socket 32. In other words, the tightener 70 adjusts how tightly the socket 32 holds the ball 36. Increasing the normal force between the ball 36 and the socket 32 increases the friction force resisting rotation of the ball 36 : F = mN, in which F is the friction force, m is the coefficient of friction, and N is the normal force. For example, the tightener 70 may include a tightener actuator 72 and a spring 78 or screw 80 impinging on the interior surface 50 opposite the ball 36. To increase the normal force, tightener actuator 72 pushes the spring 78 or screws the screw 80 along threads toward the ball 36. For example, the tightener actuator 72 may be an electric motor, a servomotor, a linear or rotary solenoid, etc. The resisting force of the frictional interface 68 is thus adjustable.

[0052] For yet another example, with reference to Figures 8-9, the at least one damper 64, 66, 68, 82 may be a fluid 82, e.g., a liquid. A tank 84 may enclose the fluid 82. The tank 84 may be fixed relative to the base 54. The fluid 82 may include a plurality of ferromagnetic pieces 86, i.e., pieces of a material that is responsive to a magnetic force. The ferromagnetic pieces 86 may be in suspension, i.e., floating in the fluid 82.

[0053] A damping member 88 may be fixed relative to the lamp 38 and extend into the tank 84. The damping member 88 may be attached to the ball 36 and extend an opposite direction from the ball as the lamp 38 or the support bar 56. The lamp 38 and the damping member 88 may therefore rotate about the geometrical center of the ball 36. The viscosity of the fluid 82 resists the motion of the damping member 88, thus resisting the motion of the lamp 38.

[0054] Electromagnets 90 may be coupled to the tank 84. The ferromagnetic pieces 86 may be longer in one direction than in another direction, i.e., have a longer dimension and a shorter dimension. Activating an arrangement of the electromagnets 90 creates a magnetic field, and the magnetic field causes the ferromagnetic pieces 86 to orient their longer dimensions with respect to the magnetic field. Activating different arrangements of the electromagnets 90 creates different magnetic fields. Different orientations of the ferromagnetic pieces 86 increase or decrease the viscosity experienced by the damping member 88. The resisting force of the fluid 82 is thus adjustable.

[0055] With reference to Figure 10, the lamp 38 may be rotatable relative to the base 54 in at least two rotational dimensions Q, f in response to or anticipation of nonzero acceleration of the vehicle 34 because of movement of the lamp 38 by an actuator 62. The actuator 62 may be actuatable to rotate the lamp 38 relative to the base 54 in the two rotational dimensions q, f. For example, the actuator 62 may include a first track 92 attached to the base 54, a second track 94 attached to the first track 92, a first motor 96, and a second motor 98. The first track 92 may be circular, and the second track 94 may be semicircular. The first track 92 may rotate the second track 94 relative to the base 54. The second track 94 may rotate the lamp 38 relative to the base 54 in a plane. The first motor 96 may move the second track 94 along the first track 92, and the second motor 98 may move the lamp 38 along the second track 94. The motors 96, 98 may interact with the respective tracks 92, 94 via a gear mechanism (not shown), etc. To rotate the lamp 38 to the left, for example, the first motor 96 moves the second track 94 along the first track 92 to align the second track 94 laterally relative to the vehicle 34, and the second motor 98 moves the lamp 38 along the second track 94 toward the end of the second track 94 that is farther left.

[0056] With reference to Figure 11, the computer 74 is a microprocessor-based computer. The computer 74 includes a processor, memory, etc. The memory of the computer 74 includes memory for storing instructions executable by the processor as well as for electronically storing data and/or databases. The computer 74 may be the same device as the autonomous -vehicle controller 40 described above for autonomously or semi-autonomously operating the vehicle 34, or the computer 74 may be separate from but communicatively coupled to the autonomous -vehicle controller 40, as shown in Figure 11.

[0057] The computer 74 may transmit and receive data through a communications network 76 such as a controller area network (CAN) bus, Ethernet, WiFi, Local Interconnect Network (LIN), onboard diagnostics connector (OBD-II), and/or by any other wired or wireless communications network. The computer 74 may be communicatively coupled to the actuator 62, the at least one damper 64, 66, 68, 82, and other components via the communications network 76.

[0058] Figure 12 is a process flow diagram illustrating an exemplary process 1200 for controlling movement of the lamp 38 with the actuator 62 in response to or anticipation of nonzero acceleration of the vehicle 34. The actuator 62 may control the movement of the lamp 38 without using a damper 64, 66, 68, 82. The memory of the computer 74 stores executable instructions for performing the steps of the process 1200.

[0059] The process 1200 begins in a block 1205, in which the computer 74 receives acceleration data. The acceleration data may be sent by the autonomous- vehicle controller 40. Alternatively or additionally, the acceleration data may be sent by other sensors and/or controllers, e.g., wheel-speed sensors, brake -pressure sensors, a power-assisted steering control module, etc. The acceleration data includes data on current or anticipated acceleration, deceleration, and turning of the vehicle 34. The acceleration data may be converted into an acceleration vector, e.g., a horizontal two-dimensional vector quantity in units of acceleration. For example, the acceleration vector may be two ordered values (A_x, A_y) each measured in meters- per-second-squared, in which the first value A_x represents forward acceleration and the second value A_y represents left acceleration. For another example, the acceleration vector may be two ordered values (A, a), with the first value A measured in meters-per-second-squared and representing acceleration magnitude, and the second value a measured in degrees and representing acceleration direction. The acceleration vector may represent a current acceleration or an anticipated acceleration that will occur at a short preset time in the future, e.g., one second. The preset time may be chosen by experimentation measuring preferences of occupants in vehicles under different nonzero accelerations and different durations between the rotation of the lamp 38 and the acceleration reflected by the rotation of the lamp 38.

[0060] Next, in a decision block 1210, the computer 74 determines whether the vehicle 34 is experiencing forward acceleration or will experience forward acceleration in the preset time. For example, the computer 74 determines whether A_x is positive, i.e., A_x > 0. For another example, the computer 74 determines whether a is within a right angle of straight forward, i.e., a > 270° or a < 90°. The rules for these determinations are based on the coordinate system chosen for the vehicle 34. These examples assume a Cartesian coordinate system with an X-axis increasing in a direction of forward travel of the vehicle 34, or a polar coordinate system with the axis directed in the direction of forward travel of the vehicle 34. If the vehicle 34 is not experiencing forward acceleration, the process 1200 proceeds to a decision block 1220.

[0061] If the vehicle 34 is experiencing or will experience forward acceleration, next, in a block 1215, the computer 74 actuates the actuator 62 to rotate the lamp 38 one of forward and backward. For example, the computer 74 may actuate the actuator 62 to tilt the lamp 38 backward, as shown in Figure 1B, which mimics the response of a suspended light source under similar acceleration. The extent of the tilting of the lamp 38 may be based on a magnitude of forward acceleration, i.e., greater acceleration causes greater tilt, e.g., based on a magnitude of A_x or A * sin a. For example, an angle of the lamp 38 rearward from straight down may be proportional to A_x or A * sin a, e.g., Q = K_\ * A_x or Q = K_\ * A * sin a, in which K_\ is a constant. The constant K_\ may be chosen by experimentation measuring preferences of occupants in vehicles under different nonzero accelerations. After the block 1215, the process 1200 proceeds to a decision block 1230.

[0062] After the decision block 1210, if the vehicle 34 is not experiencing or won’t experience forward acceleration, in the decision block 1220, the computer 74 determines whether the vehicle 34 is decelerating, e.g., from braking, or will decelerate in the preset time. For example, the computer 74 determines whether A_x is negative, i.e., A_x < 0. For another example, the computer 74 determines whether a is within a right angle of straight rearward, i.e., 90° < a < 270°. The rules for these determinations are based on the coordinate system chosen for the vehicle 34, as described above with respect to the decision block 1210. If the vehicle 34 is not experiencing or won’t experience deceleration, the process 1200 proceeds to the decision block 1230.

[0063] If the vehicle 34 is experiencing or will experience deceleration, next, in a block 1225, the computer 74 actuates the actuator 62 to rotate the lamp 38 the other of forward and backward than in the block 1215. For example, the computer 74 may actuate the actuator 62 to tilt the lamp 38 forward, as shown in Figure 1C, which mimics the response of a suspended light source under similar acceleration. The extent of the tilting of the lamp 38 may be based on a magnitude of deceleration, i.e., greater deceleration causes greater tilt, e.g., based on a magnitude of A_x or A * sin a.

[0064] Next, or after the decision block 1220 if the vehicle 34 is not experiencing or won’t experience deceleration, or after the block 1215, or after the decision block 1220, in the decision block 1230, the computer 74 determines whether and which direction the vehicle 34 is turning or will turn in the preset time. For example, the computer 74 determines whether A_y is positive, i.e., A_y > 0, which is a left turn; whether A_y is negative, i.e., A_y < 0, which is a right turn; or whether A_y is zero, i.e., A_y = 0, which is not turning. For another example, the computer 74 determines whether a is within a right angle of straight left, i.e., 180° < a < 360°; whether a is within a right angle of straight right, i.e., 0° < a < 180°; or whether a is straight forward or backward, i.e., a = 0° or a = 180°. If the vehicle 34 is turning or will turn right, the process 1200 proceeds to a block 1240. If the vehicle 34 is not turning or won’t turn, the process 1200 ends.

[0065] If the vehicle 34 is turning or will turn left, next, in a block 1235, the computer 74 actuates the actuator 62 to rotate the lamp 38 one of left and right. For example, the computer 74 may actuate the actuator 62 to tilt the lamp 38 right, as shown in Figure 1D, which mimics the response of a suspended light source under similar acceleration. The extent of the tilting of the lamp 38 may be based on a magnitude of leftward acceleration, i.e., greater leftward acceleration causes greater tilt, e.g., based on a magnitude of A_y or A * cos a. For example, an angle of the lamp 38 rearward from straight down may be proportional to A_y or A * cos a, e.g., <p = - K2 * \A_y\ or f = -Ki * A * lcos al, in which K2 is a constant. The constant K2 may be chosen by experimentation measuring preferences of occupants in vehicles under different nonzero accelerations. After the block 1235, the process 1200 ends.

[0066] After the decision block 1230, if the vehicle 34 is turning or will turn right, in the block 1240, the computer 74 actuates the actuator 62 to rotate the lamp 38 the other of left and right than in the block 1235. For example, the computer 74 may actuate the actuator 62 to tilt the lamp 38 left, as shown in Figure 1E, which mimics the response of a suspended light source under similar acceleration. The extent of the tilting of the lamp 38 may be based on a magnitude of rightward acceleration, i.e., greater rightward acceleration causes greater tilt, e.g., based on a magnitude of A_y or A * cos a. For example, an angle of the lamp 38 rearward from straight down may be proportional to A_y or A * cos a, e.g., f = K2 * \A_y\ or f = K2 * A * lcos al, in which K2 is a constant. The constant K2 may be chosen by experimentation measuring preferences of occupants in vehicles under different nonzero accelerations. After the block 1240, the process 1200 ends.

[0067] Figure 13 is a process flow diagram illustrating an exemplary process 1300 for damping movement of the lamp 38. In general, the process 1300 is a process for adjusting the resisting force of the at least one damper 64, 66, 68, 82 based on a speed of the vehicle 34. For example, the damper 64, 66, 68, 82 may be adjusted so that the lamp 38 tilts more slowly and/or to a lesser degree when the vehicle 34 is traveling at higher speeds than at lower speeds. The movement of the lamp 38 for the process 1300 may be passive and mechanical rather than actuated. The memory of the computer 74 stores executable instructions for performing the steps of the process 700.

[0068] The process 1300 begins in a block 1305, in which the computer 74 receives speed data. The speed data may be sent by the autonomous-vehicle controller 40. Alternatively or additionally, the speed data may be sent by other sensors and/or controllers, e.g., wheel-speed sensors, etc. The speed data includes data on current or projected speeds of the vehicle 34. The speed of the vehicle 34 is a scalar value, i.e., is not directional, and the speed of the vehicle 34 is measured in units of velocity, e.g., miles per hour.

[0069] Next, in a block 1310, the computer 74 determines a damping magnitude for the damper 64, 66, 68, 82 based on the speed of the vehicle 34. The damping magnitude may be, e.g., a damping coefficient k in the case of linear dampers 64, 66, a position of the tightener actuator 72 against the frictional interface 68, a voltage applied to the electromagnets 90 for the fluid 82, etc. The memory of the computer 74 may store a lookup table with columns for the speed of the vehicle 34 and the damping magnitude. An example table for the damping coefficient k is shown below. Higher speeds may correspond to higher damping levels. The values of damping levels corresponding to speeds in the lookup table may be determined by experimentation measuring preferences of occupants in vehicles under different speeds and damping magnitudes, e.g., by surveying subjective reports of comfort, disorientation, etc.

[0070] Next, in a block 1315, the computer 74 adjusts the damper 64, 66, 68, 82 to the damping magnitude. For example, the computer 74 may instruct the linear dampers 64, 66 to change the damping coefficient k, instruct the tightener 70 to tighten or loosen the frictional interface 68, instruct the electromagnets 90 to activate, etc. After the block 1315, the process 1300 ends.

[0071] In general, the computing systems and/or devices described may employ any of a number of computer operating systems, including, but by no means limited to, versions and/or varieties of the Ford Sync® application, AppLink/Smart Device Link middleware, the Microsoft Automotive® operating system, the Microsoft Windows® operating system, the Unix operating system (e.g., the Solaris® operating system distributed by Oracle Corporation of Redwood Shores, California), the AIX UNIX operating system distributed by International Business Machines of Armonk, New York, the Linux operating system, the Mac OSX and iOS operating systems distributed by Apple Inc. of Cupertino, California, the BlackBerry OS distributed by Blackberry, Ltd. of Waterloo, Canada, and the Android operating system developed by Google, Inc. and the Open Handset Alliance, or the QNX® CAR Platform for Infotainment offered by QNX Software Systems. Examples of computing devices include, without limitation, an on-board vehicle computer, a computer workstation, a server, a desktop, notebook, laptop, or handheld computer, or some other computing system and/or device.

[0072] Computing devices generally include computer-executable instructions, where the instructions may be executable by one or more computing devices such as those listed above. Computer executable instructions may be compiled or interpreted from computer programs created using a variety of programming languages and/or technologies, including, without limitation, and either alone or in combination, Java™, C, C++, Matlab, Simulink, Stateflow, Visual Basic, Java Script, Perl, HTML, etc. Some of these applications may be compiled and executed on a virtual machine, such as the Java Virtual Machine, the Dalvik virtual machine, or the like. In general, a processor (e.g., a microprocessor) receives instructions, e.g., from a memory, a computer readable medium, etc., and executes these instructions, thereby performing one or more processes, including one or more of the processes described herein. Such instructions and other data may be stored and transmitted using a variety of computer readable media. A file in a computing device is generally a collection of data stored on a computer readable medium, such as a storage medium, a random access memory, etc.

[0073] A computer-readable medium (also referred to as a processor-readable medium) includes any non-transitory (e.g., tangible) medium that participates in providing data (e.g., instructions) that may be read by a computer (e.g., by a processor of a computer). Such a medium may take many forms, including, but not limited to, non-volatile media and volatile media. Non-volatile media may include, for example, optical or magnetic disks and other persistent memory. Volatile media may include, for example, dynamic random access memory (DRAM), which typically constitutes a main memory. Such instructions may be transmitted by one or more transmission media, including coaxial cables, copper wire and fiber optics, including the wires that comprise a system bus coupled to a processor of a ECU. Common forms of computer-readable media include, for example, a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, a RAM, a PROM, an EPROM, a FLASH-EEPROM, any other memory chip or cartridge, or any other medium from which a computer can read.

[0074] Databases, data repositories or other data stores described herein may include various kinds of mechanisms for storing, accessing, and retrieving various kinds of data, including a hierarchical database, a set of files in a file system, an application database in a proprietary format, a relational database management system (RDBMS), etc. Each such data store is generally included within a computing device employing a computer operating system such as one of those mentioned above, and are accessed via a network in any one or more of a variety of manners. A file system may be accessible from a computer operating system, and may include files stored in various formats. An RDBMS generally employs the Structured Query Language (SQL) in addition to a language for creating, storing, editing, and executing stored procedures, such as the PL/SQL language mentioned above. [0075] In some examples, system elements may be implemented as computer- readable instructions (e.g., software) on one or more computing devices (e.g., servers, personal computers, etc.), stored on computer readable media associated therewith (e.g., disks, memories, etc.). A computer program product may comprise such instructions stored on computer readable media for carrying out the functions described herein.

[0076] In the drawings, the same reference numbers indicate the same elements. Further, some or all of these elements could be changed. With regard to the media, processes, systems, methods, heuristics, etc. described herein, it should be understood that, although the steps of such processes, etc. have been described as occurring according to a certain ordered sequence, such processes could be practiced with the described steps performed in an order other than the order described herein. It further should be understood that certain steps could be performed simultaneously, that other steps could be added, or that certain steps described herein could be omitted. In other words, the descriptions of processes herein are provided for the purpose of illustrating certain embodiments, and should in no way be construed so as to limit the claims.

[0077] Accordingly, it is to be understood that the above description is intended to be illustrative and not restrictive. Many embodiments and applications other than the examples provided would be apparent to those of skill in the art upon reading the above description. The scope of the invention should be determined, not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. It is anticipated and intended that future developments will occur in the arts discussed herein, and that the disclosed systems and methods will be incorporated into such future embodiments. In sum, it should be understood that the invention is capable of modification and variation and is limited only by the following claims.

[0078] All terms used in the claims are intended to be given their plain and ordinary meanings as understood by those skilled in the art unless an explicit indication to the contrary in made herein. In particular, use of the singular articles such as“a,”“the,”“said,” etc. should be read to recite one or more of the indicated elements unless a claim recites an explicit limitation to the contrary. Use of“in response to,”“upon determining,” and“in anticipation of’ indicates a causal relationship, not merely a temporal relationship.

[0079] The disclosure has been described in an illustrative manner, and it is to be understood that the terminology which has been used is intended to be in the nature of words of description rather than of limitation. Many modifications and variations of the present disclosure are possible in light of the above teachings, and the disclosure may be practiced otherwise than as specifically described.

Claims

CLAIMS What is claimed is:

1. A lamp system comprising:

a base attachable to a vehicle; and

a lamp directed away from the base and rotatable relative to the base in at least two rotational dimensions in response to or anticipation of nonzero acceleration of the vehicle.

2. The lamp system of claim 1 , wherein the lamp is rotatable relative to the base in at least two rotational dimensions in response to or anticipation of acceleration of the vehicle that is less than 11 meters per second squared.

3. The lamp system of claim 1, further comprising a ball, wherein the base includes a socket engaged with the ball as a ball-and-socket joint, and the lamp is fixed relative to the ball.

4. The lamp system of claim 1, further comprising an elastic member extending from the base to the lamp.

5. The lamp system of claim 4, wherein the elastic member defines a direction from the base to the lamp, the lamp system further comprising at least one damper extending transverse to the direction in the elastic member.

6. The lamp system of claim 1, further comprising at least one damper positioned to resist rotation of the lamp in the at least two rotational dimensions.

7. The lamp system of claim 6, wherein the at least one damper includes a first linear damper positioned to resist rotation of the lamp in a first rotational direction of the at least two rotational dimensions and a second linear damper positioned to resist rotation of the lamp in a second rotational direction of the at least two rotational dimensions.

8. The lamp system of claim 6, further comprising a ball, wherein the base includes a socket engaged with the ball as a ball-and-socket joint, the lamp is fixed relative to the ball, and the at least one damper is a frictional interface between the ball and the socket.

9. The lamp system of claim 6, wherein the at least one damper is a fluid, the lamp system further comprising a tank enclosing the fluid, and a damping member fixed relative to the lamp and extending into the tank.

10. The lamp system of claim 9, further comprising an electromagnet coupled to the tank, wherein the fluid includes a plurality of ferromagnetic pieces in suspension.

11. The lamp system of claim 6, wherein a resisting force of the at least one damper is adjustable, the lamp system further comprising a computer communicatively coupled to the at least one damper and programmed to adjust the resisting force based on a speed of the vehicle.

12. The lamp system of claim 1, further comprising an actuator actuatable to rotate the lamp relative to the base in the at least two rotational dimensions, and a computer communicatively coupled to the actuator and programmed to actuate the actuator in response to or anticipation of nonzero acceleration of the vehicle.

13. The lamp system of claim 12, wherein the computer is programmed to actuate the actuator to rotate the lamp one of forward and rearward in response to or anticipation of forward acceleration of the vehicle and the other of forward and rearward in response to or anticipation of deceleration of the vehicle.

14. The lamp system of claim 12, wherein the computer is programmed to actuate the actuator to rotate the lamp one of left and right in response to or anticipation of a left turn of the vehicle and the other of left and right in response to or anticipation of a right turn of the vehicle.

15. The lamp system of claim 1 , further comprising a passenger cabin of the vehicle, wherein the lamp is disposed in the passenger cabin.

16. The lamp system of claim 15, wherein the passenger cabin includes a ceiling, and the base is fixed to the ceiling.

17. A system comprising a computer, the computer programmed to: actuate an actuator in response to or anticipation of nonzero acceleration of a vehicle;

wherein the actuator is actuatable to rotate a lamp relative to a base in at least two rotational dimensions.

18. The system of claim 17, wherein the computer is programmed to actuate the actuator to rotate the lamp one of forward and rearward in response to or anticipation of forward acceleration of the vehicle and the other of forward and rearward in response to or anticipation of deceleration of the vehicle.

19. The system of claim 17, wherein the computer is programmed to actuate the actuator to rotate the lamp one of left and right in response to or anticipation of a left turn of the vehicle and the other of left and right in response to or anticipation of a right turn of the vehicle.

20. A system comprising a computer, the computer programmed to: adjust a resisting force of a damper based on a speed of a vehicle;

wherein a base is attached to the vehicle;

a lamp is directed away from and rotatable relative to the base in at least two rotational dimensions in response to nonzero acceleration of the vehicle; and

the damper is positioned to resist rotation of the lamp in the at least two rotational dimensions.