US Patent 10160378 Light output system for a self-driving vehicle

A control system of a self-driving vehicle (SDV) can dynamically determine a set of autonomous driving actions to be performed by the SDV, and generate a set of intention outputs using a light output system of the SDV based on the set of autonomous driving actions, where the set of intention outputs indicating the set of autonomous driving actions prior to the SDV executing the set of autonomous driving actions. The control system can then execute the set of autonomous driving actions using acceleration, braking, and steering systems of the SDV. While executing the set of autonomous driving actions, the control system can generate a corresponding set of reactive outputs using the light output system to indicate the set of autonomous driving actions being executed, where the corresponding set of reactive outputs replacing the set of intention outputs.