BACKGROUND

[1] In general, a can include a steering wheel for controlling the direction of the vehicle’s travel. As an example, while a vehicle is traveling forward, a driver can rotate the vehicle’s steering wheel clockwise or counterclockwise to direct the vehicle rightward or leftward, respectively.

BRIEF DESCRIPTION OF THE FIGURES

[2] FIG. 1 is an example environment in which a vehicle including one or more components of an autonomous system can be implemented;

[3] FIG. 2 is a diagram of one or more systems of a vehicle including an autonomous system;

[4] FIG. 3 is a diagram of components of one or more devices and/or one or more systems of FIGS. 1 and 2;

[5] FIG. 4 is a diagram of certain components of an autonomous system;

[6] FIG. 5 is a diagram of an example steering wheel of a vehicle.

[7] FIGS. 6A-6C are diagrams of an example device for restricting physical access to a steering wheel of a vehicle.

[8] FIGS. 7A-7C are diagrams of additional example devices for restricting physical access to a steering wheel of a vehicle.

[9] FIG. 8A is a diagram of an additional example device for restricting physical access to a steering wheel of a vehicle.

[10] FIG. 8B is a diagram of an example roller.

[11] FIGS. 9A and 9B are diagrams of an additional example device for restricting physical access to a steering wheel of a vehicle.

DETAILED DESCRIPTION

[12] In the following description numerous specific details are set forth in order to provide a thorough understanding of the present disclosure for the purposes of explanation. It will be apparent, however, that the embodiments described by the present disclosure can be practiced without these specific details. In some instances, well-known structures and devices are illustrated in block diagram form in order to avoid unnecessarily obscuring aspects of the present disclosure.

[13] Specific arrangements or orderings of schematic elements, such as those representing systems, devices, modules, instruction blocks, data elements, and/or the like are illustrated in the drawings for ease of description. However, it will be understood by those skilled in the art that the specific ordering or arrangement of the schematic elements in the drawings is not meant to imply that a particular order or sequence of processing, or separation of processes, is required unless explicitly described as such. Further, the inclusion of a schematic element in a drawing is not meant to imply that such element is required in all embodiments or that the features represented by such element may not be included in or combined with other elements in some embodiments unless explicitly described as such.

[14] Further, where connecting elements such as solid or dashed lines or arrows are used in the drawings to illustrate a connection, relationship, or association between or among two or more other schematic elements, the absence of any such connecting elements is not meant to imply that no connection, relationship, or association can exist. In other words, some connections, relationships, or associations between elements are not illustrated in the drawings so as not to obscure the disclosure. In addition, for ease of illustration, a single connecting element can be used to represent multiple connections, relationships or associations between elements. For example, where a connecting element represents communication of signals, data, or instructions (e.g., “software instructions”), it should be understood by those skilled in the art that such element can represent one or multiple signal paths (e.g., a bus), as may be needed, to affect the communication.

[15] Although the terms first, second, third, and/or the like are used to describe various elements, these elements should not be limited by these terms. The terms first, second, third, and/or the like are used only to distinguish one element from another. For example, a first contact could be termed a second contact and, similarly, a second contact could be termed a first contact without departing from the scope of the described embodiments. The first contact and the second contact are both contacts, but they are not the same contact.

[16] The terminology used in the description of the various described embodiments herein is included for the purpose of describing particular embodiments only and is not intended to be limiting. As used in the description of the various described embodiments and the appended claims, the singular forms “a,” “an” and “the” are intended to include the plural forms as well and can be used interchangeably with “one or more” or “at least one,” unless the context clearly indicates otherwise. It will also be understood that the term “and/or” as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. It will be further understood that the terms “includes,” “including,” “comprises,” and/or “comprising,” when used in this description specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

[17] As used herein, the terms “communication” and “communicate” refer to at least one of the reception, receipt, transmission, transfer, provision, and/or the like of information (or information represented by, for example, data, signals, messages, instructions, commands, and/or the like). For one unit (e.g., a device, a system, a component of a device or system, combinations thereof, and/or the like) to be in communication with another unit means that the one unit is able to directly or indirectly receive information from and/or send (e.g., transmit) information to the other unit. This may refer to a direct or indirect connection that is wired and/or wireless in nature. Additionally, two units may be in communication with each other even though the information transmitted may be modified, processed, relayed, and/or routed between the first and second unit. For example, a first unit may be in communication with a second unit even though the first unit passively receives information and does not actively transmit information to the second unit. As another example, a first unit may be in communication with a second unit if at least one intermediary unit (e.g., a third unit located between the first unit and the second unit) processes information received from the first unit and transmits the processed information to the second unit. In some embodiments, a message may refer to a network packet (e g., a data packet and/or the like) that includes data.

[18] As used herein, the term “if” is, optionally, construed to mean “when”, “upon”, “in response to determining,” “in response to detecting,” and/or the like, depending on the context. Similarly, the phrase “if it is determined” or “if [a stated condition or event] is detected” is, optionally, construed to mean “upon determining,” “in response to determining,” “upon detecting [the stated condition or event],” “in response to detecting [the stated condition or event],” and/or the like, depending on the context. Also, as used herein, the terms “has”, “have”, “having”, or the like are intended to be open-ended terms. Further, the phrase “based on” is intended to mean “based at least partially on” unless explicitly stated otherwise.

[19] Reference will now be made in detail to embodiments, examples of which are illustrated in the accompanying drawings. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the various described embodiments. However, it will be apparent to one of ordinary skill in the art that the various described embodiments can be practiced without these specific details. In other instances, well-known methods, procedures, components, circuits, and networks have not been described in detail so as not to unnecessarily obscure aspects of the embodiments.

[20] General Overview

[21] In some aspects and/or embodiments, the devices described herein restrict physical access to a steering wheel of a vehicle, such as a steering wheel of an AV>

[22] Referring now to FIG. 1 , illustrated is example environment 100 in which vehicles that include autonomous systems, as well as vehicles that do not, are operated. As illustrated, environment 100 includes vehicles 102a-102n, objects 104a-104n, routes 106a-106n, area 108, vehicle-to-infrastructure (V2I) device 110, network 112, remote autonomous vehicle (AV) system 114, fleet management system 116, and V2I system 118. Vehicles 102a-102n, vehicle-to-infrastructure (V2I) device 110, network 112, autonomous vehicle (AV) system 114, fleet management system 116, and V2I system 118 interconnect (e.g., establish a connection to communicate and/or the like) via wired connections, wireless connections, or a combination of wired or wireless connections. In some embodiments, objects 104a-104n interconnect with at least one of vehicles 102a- 102n, vehicle-to-infrastructure (V2I) device 110, network 112, remote autonomous vehicle (AV) system 114, fleet management system 116, and V2I system 118 via wired connections, wireless connections, or a combination of wired or wireless connections.

[23] Vehicles 102a-102n (referred to individually as vehicle 102 and collectively as vehicles 102) include at least one device configured to transport goods and/or people. In some embodiments, vehicles 102 are configured to be in communication with V2I device 110, remote AV system 114, fleet management system 116, and/or V2I system 118 via network 112. In some embodiments, vehicles 102 include cars, buses, trucks, trains, and/or the like. In some embodiments, vehicles 102 are the same as, or similar to, vehicles 200, described herein (see FIG. 2). In some embodiments, a vehicle 200 of a set of vehicles 200 is associated with an autonomous fleet manager. In some embodiments, vehicles 102 travel along respective routes 106a-106n (referred to individually as route 106 and collectively as routes 106), as described herein. In some embodiments, one or more vehicles 102 include an autonomous system (e.g., an autonomous system that is the same as or similar to autonomous system 202).

[24] Objects 104a-104n (referred to individually as object 104 and collectively as objects 104) include, for example, at least one vehicle, at least one pedestrian, at least one cyclist, at least one structure (e.g., a building, a sign, a fire hydrant, etc.), and/or the like. Each object 104 is stationary (e.g., located at a fixed location for a period of time) or mobile (e.g., having a velocity and associated with at least one trajectory). In some embodiments, objects 104 are associated with corresponding locations in area 108.

[25] Routes 106a-106n (referred to individually as route 106 and collectively as routes 106) are each associated with (e.g., prescribe) a sequence of actions (also known as a trajectory) connecting states along which an AV can navigate. Each route 106 starts at an initial state (e.g., a state that corresponds to a first spatiotemporal location, velocity, and/or the like) and ends at a final goal state (e.g., a state that corresponds to a second spatiotemporal location that is different from the first spatiotemporal location) or goal region (e.g. a subspace of acceptable states (e.g., terminal states)). In some embodiments, the first state includes a location at which an individual or individuals are to be picked-up by the AV and the second state or region includes a location or locations at which the individual or individuals picked-up by the AV are to be dropped-off. In some embodiments, routes 106 include a plurality of acceptable state sequences (e.g., a plurality of spatiotemporal location sequences), the plurality of state sequences associated with (e.g., defining) a plurality of trajectories. In an example, routes 106 include only high level actions or imprecise state locations, such as a series of connected roads dictating turning directions at roadway intersections. Additionally, or alternatively, routes 106 may include more precise actions or states such as, for example, specific target lanes or precise locations within the lane areas and targeted speed at those positions. In an example, routes 106 include a plurality of precise state sequences along the at least one high level action sequence with a limited lookahead horizon to reach intermediate goals, where the combination of successive iterations of limited horizon state sequences cumulatively correspond to a plurality of trajectories that collectively form the high level route to terminate at the final goal state or region.

[26] Area 108 includes a physical area (e.g. , a geographic region) within which vehicles 102 can navigate. In an example, area 108 includes at least one state (e.g., a country, a province, an individual state of a plurality of states included in a country, etc.), at least one portion of a state, at least one city, at least one portion of a city, etc. In some embodiments, area 108 includes at least one named thoroughfare (referred to herein as a “road”) such as a highway, an interstate highway, a parkway, a city street, etc. Additionally, or alternatively, in some examples area 108 includes at least one unnamed road such as a driveway, a section of a parking lot, a section of a vacant and/or undeveloped lot, a dirt path, etc. In some embodiments, a road includes at least one lane (e.g., a portion of the road that can be traversed by vehicles 102). In an example, a road includes at least one lane associated with (e.g., identified based on) at least one lane marking.

[27] Vehicle-to-lnfrastructure (V2I) device 110 (sometimes referred to as a Vehicle-to- Infrastructure or Vehicle-to-Everything (V2X) device) includes at least one device configured to be in communication with vehicles 102 and/or V2I infrastructure system 118. In some embodiments, V2I device 110 is configured to be in communication with vehicles 102, remote AV system 114, fleet management system 116, and/or V2I system 118 via network 112. In some embodiments, V2I device 110 includes a radio frequency identification (RFID) device, signage, cameras (e.g., two-dimensional (2D) and/or three- dimensional (3D) cameras), lane markers, streetlights, parking meters, etc. In some embodiments, V2I device 110 is configured to communicate directly with vehicles 102. Additionally, or alternatively, in some embodiments V2I device 110 is configured to communicate with vehicles 102, remote AV system 114, and/or fleet management system 116 via V2I system 118. In some embodiments, V2I device 110 is configured to communicate with V2I system 118 via network 112.

[28] Network 112 includes one or more wired and/or wireless networks. In an example, network 112 includes a cellular network (e.g., a long term evolution (LTE) network, a third generation (3G) network, a fourth generation (4G) network, a fifth generation (5G) network, a code division multiple access (CDMA) network, etc.), a public land mobile network (PLMN), a local area network (LAN), a wide area network (WAN), a metropolitan area network (MAN), a telephone network (e.g., the public switched telephone network (PSTN), a private network, an ad hoc network, an intranet, the Internet, a fiber opticbased network, a cloud computing network, etc., a combination of some or all of these networks, and/or the like.

[29] Remote AV system 114 includes at least one device configured to be in communication with vehicles 102, V2I device 110, network 112, fleet management system 116, and/or V2I system 118 via network 112. In an example, remote AV system 114 includes a server, a group of servers, and/or other like devices. In some embodiments, remote AV system 114 is co-located with the fleet management system 116. In some embodiments, remote AV system 114 is involved in the installation of some or all of the components of a vehicle, including an autonomous system, an autonomous vehicle compute, software implemented by an autonomous vehicle compute, and/or the like. In some embodiments, remote AV system 114 maintains (e.g., updates and/or replaces) such components and/or software during the lifetime of the vehicle.

[30] Fleet management system 116 includes at least one device configured to be in communication with vehicles 102, V2I device 110, remote AV system 114, and/or V21 infrastructure system 118. In an example, fleet management system 116 includes a server, a group of servers, and/or other like devices. In some embodiments, fleet management system 116 is associated with a ridesharing company (e.g., an organization that controls operation of multiple vehicles (e.g., vehicles that include autonomous systems and/or vehicles that do not include autonomous systems) and/or the like).

[31] In some embodiments, V2I system 118 includes at least one device configured to be in communication with vehicles 102, V2I device 110, remote AV system 114, and/or fleet management system 116 via network 112. In some examples, V2I system 118 is configured to be in communication with V2I device 110 via a connection different from network 112. In some embodiments, V2I system 118 includes a server, a group of servers, and/or other like devices. In some embodiments, V2I system 118 is associated with a municipality or a private institution (e.g., a private institution that maintains V2I device 110 and/or the like).

[32] The number and arrangement of elements illustrated in FIG. 1 are provided as an example. There can be additional elements, fewer elements, different elements, and/or differently arranged elements, than those illustrated in FIG. 1. Additionally, or alternatively, at least one element of environment 100 can perform one or more functions described as being performed by at least one different element of FIG. 1. Additionally, or alternatively, at least one set of elements of environment 100 can perform one or more functions described as being performed by at least one different set of elements of environment 100.

[33] Referring now to FIG. 2, vehicle 200 (which may be the same as, or similar to vehicles 102 of FIG. 1 ) includes or is associated with autonomous system 202, powertrain control system 204, steering control system 206, and brake system 208. In some embodiments, vehicle 200 is the same as or similar to vehicle 102 (see FIG. 1 ). In some embodiments, autonomous system 202 is configured to confer vehicle 200 autonomous driving capability (e.g., implement at least one drive automation or maneuver-based function, feature, device, and/or the like that enable vehicle 200 to be partially or fully operated without human intervention including, without limitation, fully autonomous vehicles (e.g., vehicles that forego reliance on human intervention such as Level 5 ADS- operated vehicles), highly autonomous vehicles (e.g., vehicles that forego reliance on human intervention in certain situations such as Level 4 ADS-operated vehicles), conditional autonomous vehicles (e.g., vehicles that forego reliance on human intervention in limited situations such as Level 3 ADS-operated vehicles) and/or the like. [34] In one embodiment, autonomous system 202 includes operational or tactical functionality required to operate vehicle 200 in on-road traffic and perform part or all of Dynamic Driving Task (DDT) on a sustained basis. In another embodiment, autonomous system 202 includes an Advanced Driver Assistance System (ADAS) that includes driver support features. Autonomous system 202 supports various levels of driving automation, ranging from no driving automation (e.g., Level 0) to full driving automation (e.g., Level 5). For a detailed description of fully autonomous vehicles and highly autonomous vehicles, reference may be made to SAE International's standard J3016: Taxonomy and Definitions for Terms Related to On-Road Motor Vehicle Automated Driving Systems, which is incorporated by reference in its entirety. In some embodiments, vehicle 200 is associated with an autonomous fleet manager and/or a ridesharing company.

[35] Autonomous system 202 includes a sensor suite that includes one or more devices such as cameras 202a, LiDAR sensors 202b, radar sensors 202c, and microphones 202d. In some embodiments, autonomous system 202 can include more or fewer devices and/or different devices (e.g., ultrasonic sensors, inertial sensors, GPS receivers (discussed below), odometry sensors that generate data associated with an indication of a distance that vehicle 200 has traveled, and/or the like). In some embodiments, autonomous system 202 uses the one or more devices included in autonomous system 202 to generate data associated with environment 100, described herein. The data generated by the one or more devices of autonomous system 202 can be used by one or more systems described herein to observe the environment (e.g., environment 100) in which vehicle 200 is located. In some embodiments, autonomous system 202 includes communication device 202e, autonomous vehicle compute 202f, drive-by-wire (DBW) system 202h, and safety controller 202g.

[36] Cameras 202a include at least one device configured to be in communication with communication device 202e, autonomous vehicle compute 202f, and/or safety controller 202g via a bus (e.g., a bus that is the same as or similar to bus 302 of FIG. 3). Cameras 202a include at least one camera (e.g., a digital camera using a light sensor such as a Charge-Coupled Device (CCD), a thermal camera, an infrared (IR) camera, an event camera, and/or the like) to capture images including physical objects (e.g., cars, buses, curbs, people, and/or the like). In some embodiments, camera 202a generates camera data as output. In some examples, camera 202a generates camera data that includes image data associated with an image. In this example, the image data may specify at least one parameter (e.g., image characteristics such as exposure, brightness, etc., an image timestamp, and/or the like) corresponding to the image. In such an example, the image may be in a format (e.g., RAW, JPEG, PNG, and/or the like). In some embodiments, camera 202a includes a plurality of independent cameras configured on (e.g., positioned on) a vehicle to capture images for the purpose of stereopsis (stereo vision). In some examples, camera 202a includes a plurality of cameras that generate image data and transmit the image data to autonomous vehicle compute 202f and/or a fleet management system (e.g., a fleet management system that is the same as or similar to fleet management system 116 of FIG. 1 ). In such an example, autonomous vehicle compute 202f determines depth to one or more objects in a field of view of at least two cameras of the plurality of cameras based on the image data from the at least two cameras. In some embodiments, cameras 202a is configured to capture images of objects within a distance from cameras 202a (e.g., up to 100 meters, up to a kilometer, and/or the like). Accordingly, cameras 202a include features such as sensors and lenses that are optimized for perceiving objects that are at one or more distances from cameras 202a.

[37] In an embodiment, camera 202a includes at least one camera configured to capture one or more images associated with one or more traffic lights, street signs and/or other physical objects that provide visual navigation information. In some embodiments, camera 202a generates traffic light data associated with one or more images. In some examples, camera 202a generates TLD (Traffic Light Detection) data associated with one or more images that include a format (e.g., RAW, JPEG, PNG, and/or the like). In some embodiments, camera 202a that generates TLD data differs from other systems described herein incorporating cameras in that camera 202a can include one or more cameras with a wide field of view (e.g., a wide-angle lens, a fish-eye lens, a lens having a viewing angle of approximately 120 degrees or more, and/or the like) to generate images about as many physical objects as possible.

[38] Light Detection and Ranging (LiDAR) sensors 202b include at least one device configured to be in communication with communication device 202e, autonomous vehicle compute 202f, and/or safety controller 202g via a bus (e.g., a bus that is the same as or similar to bus 302 of FIG. 3). LiDAR sensors 202b include a system configured to transmit light from a light emitter (e.g., a laser transmitter). Light emitted by LiDAR sensors 202b include light (e.g., infrared light and/or the like) that is outside of the visible spectrum. In some embodiments, during operation, light emitted by LiDAR sensors 202b encounters a physical object (e.g., a vehicle) and is reflected back to LiDAR sensors 202b. In some embodiments, the light emitted by LiDAR sensors 202b does not penetrate the physical objects that the light encounters. LiDAR sensors 202b also include at least one light detector which detects the light that was emitted from the light emitter after the light encounters a physical object. In some embodiments, at least one data processing system associated with LiDAR sensors 202b generates an image (e.g., a point cloud, a combined point cloud, and/or the like) representing the objects included in a field of view of LiDAR sensors 202b. In some examples, the at least one data processing system associated with LiDAR sensor 202b generates an image that represents the boundaries of a physical object, the surfaces (e.g., the topology of the surfaces) of the physical object, and/or the like. In such an example, the image is used to determine the boundaries of physical objects in the field of view of LiDAR sensors 202b.

[39] Radio Detection and Ranging (radar) sensors 202c include at least one device configured to be in communication with communication device 202e, autonomous vehicle compute 202f, and/or safety controller 202g via a bus (e.g., a bus that is the same as or similar to bus 302 of FIG. 3). Radar sensors 202c include a system configured to transmit radio waves (either pulsed or continuously). The radio waves transmitted by radar sensors 202c include radio waves that are within a predetermined spectrum. In some embodiments, during operation, radio waves transmitted by radar sensors 202c encounter a physical object and are reflected back to radar sensors 202c. In some embodiments, the radio waves transmitted by radar sensors 202c are not reflected by some objects. In some embodiments, at least one data processing system associated with radar sensors 202c generates signals representing the objects included in a field of view of radar sensors 202c. For example, the at least one data processing system associated with radar sensor 202c generates an image that represents the boundaries of a physical object, the surfaces (e.g., the topology of the surfaces) of the physical object, and/or the like. In some examples, the image is used to determine the boundaries of physical objects in the field of view of radar sensors 202c.

[40] Microphones 202d includes at least one device configured to be in communication with communication device 202e, autonomous vehicle compute 202f, and/or safety controller 202g via a bus (e.g., a bus that is the same as or similar to bus 302 of FIG. 3). Microphones 202d include one or more microphones (e.g., array microphones, external microphones, and/or the like) that capture audio signals and generate data associated with (e.g., representing) the audio signals. In some examples, microphones 202d include transducer devices and/or like devices. In some embodiments, one or more systems described herein can receive the data generated by microphones 202d and determine a position of an object relative to vehicle 200 (e.g., a distance and/or the like) based on the audio signals associated with the data.

[41] Communication device 202e includes at least one device configured to be in communication with cameras 202a, LiDAR sensors 202b, radar sensors 202c, microphones 202d, autonomous vehicle compute 202f, safety controller 202g, and/or DBW (Drive-By-Wire) system 202h. For example, communication device 202e may include a device that is the same as or similar to communication interface 314 of FIG. 3. In some embodiments, communication device 202e includes a vehicle-to-vehicle (V2V) communication device (e.g., a device that enables wireless communication of data between vehicles).

[42] Autonomous vehicle compute 202f include at least one device configured to be in communication with cameras 202a, LiDAR sensors 202b, radar sensors 202c, microphones 202d, communication device 202e, safety controller 202g, and/or DBW system 202h. In some examples, autonomous vehicle compute 202f includes a device such as a client device, a mobile device (e.g., a cellular telephone, a tablet, and/or the like), a server (e.g., a computing device including one or more central processing units, graphical processing units, and/or the like), and/or the like. In some embodiments, autonomous vehicle compute 202f is the same as or similar to autonomous vehicle compute 400, described herein. Additionally, or alternatively, in some embodiments autonomous vehicle compute 202f is configured to be in communication with an autonomous vehicle system (e.g., an autonomous vehicle system that is the same as or similar to remote AV system 114 of FIG. 1 ), a fleet management system (e.g., a fleet management system that is the same as or similar to fleet management system 116 of FIG. 1 ), a V2I device (e.g., a V2I device that is the same as or similar to V2I device 110 of FIG. 1 ), and/or a V2I system (e.g., a V2I system that is the same as or similar to V2I system 118 of FIG. 1 ).

[43] Safety controller 202g includes at least one device configured to be in communication with cameras 202a, LiDAR sensors 202b, radar sensors 202c, microphones 202d, communication device 202e, autonomous vehicle computer 202f, and/or DBW system 202h. In some examples, safety controller 202g includes one or more controllers (electrical controllers, electromechanical controllers, and/or the like) that are configured to generate and/or transmit control signals to operate one or more devices of vehicle 200 (e.g., powertrain control system 204, steering control system 206, brake system 208, and/or the like). In some embodiments, safety controller 202g is configured to generate control signals that take precedence over (e.g., overrides) control signals generated and/or transmitted by autonomous vehicle compute 202f.

[44] DBW system 202h includes at least one device configured to be in communication with communication device 202e and/or autonomous vehicle compute 202f. In some examples, DBW system 202h includes one or more controllers (e.g., electrical controllers, electromechanical controllers, and/or the like) that are configured to generate and/or transmit control signals to operate one or more devices of vehicle 200 (e.g., powertrain control system 204, steering control system 206, brake system 208, and/or the like). Additionally, or alternatively, the one or more controllers of DBW system 202h are configured to generate and/or transmit control signals to operate at least one different device (e.g., a turn signal, headlights, door locks, windshield wipers, and/or the like) of vehicle 200.

[45] Powertrain control system 204 includes at least one device configured to be in communication with DBW system 202h. In some examples, powertrain control system 204 includes at least one controller, actuator, and/or the like. In some embodiments, powertrain control system 204 receives control signals from DBW system 202h and powertrain control system 204 causes vehicle 200 to make longitudinal vehicle motion, such as start moving forward, stop moving forward, start moving backward, stop moving backward, accelerate in a direction, decelerate in a direction or to make lateral vehicle motion such as performing a left turn, performing a right turn, and/or the like. In an example, powertrain control system 204 causes the energy (e.g., fuel, electricity, and/or the like) provided to a motor of the vehicle to increase, remain the same, or decrease, thereby causing at least one wheel of vehicle 200 to rotate or not rotate.

[46] Steering control system 206 includes at least one device configured to rotate one or more wheels of vehicle 200 (e.g., to angle the wheels leftward or rightward). In some examples, steering control system 206 includes at least one controller, actuator, and/or the like. In some embodiments, steering control system 206 causes the front two wheels and/or the rear two wheels of vehicle 200 to rotate to the left or right to cause vehicle 200 to turn to the left or right. In other words, steering control system 206 causes activities necessary for the regulation of the y-axis component of vehicle motion.

[47] Brake system 208 includes at least one device configured to actuate one or more brakes to cause vehicle 200 to reduce speed and/or remain stationary. In some examples, brake system 208 includes at least one controller and/or actuator that is configured to cause one or more calipers associated with one or more wheels of vehicle 200 to close on a corresponding rotor of vehicle 200. Additionally, or alternatively, in some examples brake system 208 includes an automatic emergency braking (AEB) system, a regenerative braking system, and/or the like.

[48] In some embodiments, vehicle 200 includes at least one platform sensor (not explicitly illustrated) that measures or infers properties of a state or a condition of vehicle 200. In some examples, vehicle 200 includes platform sensors such as a global positioning system (GPS) receiver, an inertial measurement unit (IMU), a wheel speed sensor, a wheel brake pressure sensor, a wheel torque sensor, an engine torque sensor, a steering angle sensor, and/or the like. Although brake system 208 is illustrated to be located in the near side of vehicle 200 in FIG. 2, brake system 208 may be located anywhere in vehicle 200.

[49] Referring now to FIG. 3, illustrated is a schematic diagram of a device 300. As illustrated, device 300 includes processor 304, memory 306, storage component 308, input interface 310, output interface 312, communication interface 314, and bus 302. In some embodiments, device 300 corresponds to at least one device of vehicles 102 (e.g., at least one device of a system of vehicles 102), at least one device of vehicle 200 (e.g., at least one device of a system of vehicle 200), and/or one or more devices of network 112 (e.g., one or more devices of a system of network 112). In some embodiments, one or more devices of vehicles 102 (e.g., one or more devices of a system of vehicles 102), one or more devices of vehicle 200 (e.g., one or more devices of a system of vehicle 200), and/or one or more devices of network 112 (e.g., one or more devices of a system of network 112) include at least one device 300 and/or at least one component of device 300. As shown in FIG. 3, device 300 includes bus 302, processor 304, memory 306, storage component 308, input interface 310, output interface 312, and communication interface 314.

[50] Bus 302 includes a component that permits communication among the components of device 300. In some cases, a processor 304 includes a processor (e.g., a central processing unit (CPU), a graphics processing unit (GPU), an accelerated processing unit (APU), and/or the like), a microphone, a digital signal processor (DSP), and/or any processing component (e.g., a field-programmable gate array (FPGA), an application specific integrated circuit (ASIC), and/or the like) that can be programmed to perform at least one function. Memory 306 includes random access memory (RAM), readonly memory (ROM), and/or another type of dynamic and/or static storage device (e.g., flash memory, magnetic memory, optical memory, and/or the like) that stores data and/or instructions for use by processor 304.

[51] Storage component 308 stores data and/or software related to the operation and use of device 300. In some examples, storage component 308 includes a hard disk (e.g., a magnetic disk, an optical disk, a magneto-optic disk, a solid state disk, and/or the like), a compact disc (CD), a digital versatile disc (DVD), a floppy disk, a cartridge, a magnetic tape, a CD-ROM, RAM, PROM, EPROM, FLASH-EPROM, NV-RAM, and/or another type of computer readable medium, along with a corresponding drive.

[52] Input interface 310 includes a component that permits device 300 to receive information, such as via user input (e.g., a touchscreen display, a keyboard, a keypad, a mouse, a button, a switch, a microphone, a camera, and/or the like). Additionally or alternatively, in some embodiments input interface 310 includes a sensor that senses information (e.g., a global positioning system (GPS) receiver, an accelerometer, a gyroscope, an actuator, and/or the like). Output interface 312 includes a component that provides output information from device 300 (e.g., a display, a speaker, one or more lightemitting diodes (LEDs), and/or the like).

[53] In some embodiments, communication interface 314 includes a transceiver-like component (e.g., a transceiver, a separate receiver and transmitter, and/or the like) that permits device 300 to communicate with other devices via a wired connection, a wireless connection, or a combination of wired and wireless connections. In some examples, communication interface 314 permits device 300 to receive information from another device and/or provide information to another device. In some examples, communication interface 314 includes an Ethernet interface, an optical interface, a coaxial interface, an infrared interface, a radio frequency (RF) interface, a universal serial bus (USB) interface, a Wi-Fi® interface, a cellular network interface, and/or the like.

[54] In some embodiments, device 300 performs one or more processes described herein. Device 300 performs these processes based on processor 304 executing software instructions stored by a computer-readable medium, such as memory 305 and/or storage component 308. A computer-readable medium (e.g., a non-transitory computer readable medium) is defined herein as a non-transitory memory device. A non-transitory memory device includes memory space located inside a single physical storage device or memory space spread across multiple physical storage devices.

[55] In some embodiments, software instructions are read into memory 306 and/or storage component 308 from another computer-readable medium or from another device via communication interface 314. When executed, software instructions stored in memory 306 and/or storage component 308 cause processor 304 to perform one or more processes described herein. Additionally or alternatively, hardwired circuitry is used in place of or in combination with software instructions to perform one or more processes described herein. Thus, embodiments described herein are not limited to any specific combination of hardware circuitry and software unless explicitly stated otherwise.

[56] Memory 306 and/or storage component 308 includes data storage or at least one data structure (e.g., a database and/or the like). Device 300 is capable of receiving information from, storing information in, communicating information to, or searching information stored in the data storage or the at least one data structure in memory 306 or storage component 308. In some examples, the information includes network data, input data, output data, or any combination thereof.

[57] In some embodiments, device 300 is configured to execute software instructions that are either stored in memory 306 and/or in the memory of another device (e.g., another device that is the same as or similar to device 300). As used herein, the term “module” refers to at least one instruction stored in memory 306 and/or in the memory of another device that, when executed by processor 304 and/or by a processor of another device (e.g., another device that is the same as or similar to device 300) cause device 300 (e.g., at least one component of device 300) to perform one or more processes described herein. In some embodiments, a module is implemented in software, firmware, hardware, and/or the like.

[58] The number and arrangement of components illustrated in FIG. 3 are provided as an example. In some embodiments, device 300 can include additional components, fewer components, different components, or differently arranged components than those illustrated in FIG. 3. Additionally or alternatively, a set of components (e.g., one or more components) of device 300 can perform one or more functions described as being performed by another component or another set of components of device 300.

[59] Referring now to FIG. 4, illustrated is an example block diagram of an autonomous vehicle compute 400 (sometimes referred to as an “AV stack”). As illustrated, autonomous vehicle compute 400 includes perception system 402 (sometimes referred to as a perception module), planning system 404 (sometimes referred to as a planning module), localization system 406 (sometimes referred to as a localization module), control system 408 (sometimes referred to as a control module), and database 410. In some embodiments, perception system 402, planning system 404, localization system 406, control system 408, and database 410 are included and/or implemented in an autonomous navigation system of a vehicle (e.g., autonomous vehicle compute 202f of vehicle 200). Additionally, or alternatively, in some embodiments perception system 402, planning system 404, localization system 406, control system 408, and database 410 are included in one or more standalone systems (e.g., one or more systems that are the same as or similar to autonomous vehicle compute 400 and/or the like). In some examples, perception system 402, planning system 404, localization system 406, control system 408, and database 410 are included in one or more standalone systems that are located in a vehicle and/or at least one remote system as described herein. In some embodiments, any and/or all of the systems included in autonomous vehicle compute 400 are implemented in software (e.g., in software instructions stored in memory), computer hardware (e.g., by microprocessors, microcontrollers, application-specific integrated circuits (ASICs), Field Programmable Gate Arrays (FPGAs), Arithmetic-Logic Units (ALUs), Systems on a Chip (SOCs), and/or the like), or combinations of computer software and computer hardware. It will also be understood that, in some embodiments, autonomous vehicle compute 400 is configured to be in communication with a remote system (e.g., an autonomous vehicle system that is the same as or similar to remote AV system 114, a fleet management system 116 that is the same as or similar to fleet management system 116, a V2I system that is the same as or similar to V2I system 118, and/or the like).

[60] In some embodiments, perception system 402 receives data associated with at least one physical object (e.g., data that is used by perception system 402 to detect the at least one physical object) in an environment and classifies the at least one physical object. In some examples, perception system 402 receives image data captured by at least one camera (e.g., cameras 202a), the image associated with (e.g., representing) one or more physical objects within a field of view of the at least one camera. In such an example, perception system 402 classifies at least one physical object based on one or more groupings of physical objects (e.g., bicycles, vehicles, traffic signs, pedestrians, and/or the like). In some embodiments, perception system 402 transmits data associated with the classification of the physical objects to planning system 404 based on perception system 402 classifying the physical objects.

[61] In some embodiments, planning system 404 receives data associated with a destination and generates data associated with at least one route (e.g., routes 106) along which a vehicle (e.g., vehicles 102) can travel along toward a destination. In some embodiments, planning system 404 periodically or continuously receives data from perception system 402 (e.g., data associated with the classification of physical objects, described above) and planning system 404 updates the at least one trajectory or generates at least one different trajectory based on the data generated by perception system 402. In other words, planning system 404 may perform tactical function-related tasks that are required to operate vehicle 102 in on-road traffic. Tactical efforts involve maneuvering the vehicle in traffic during a trip, including but not limited to deciding whether and when to overtake another vehicle, change lanes, or selecting an appropriate speed, acceleration, deceleration, etc. In some embodiments, planning system 404 receives data associated with an updated position of a vehicle (e.g., vehicles 102) from localization system 406 and planning system 404 updates the at least one trajectory or generates at least one different trajectory based on the data generated by localization system 406.

[62] In some embodiments, localization system 406 receives data associated with (e.g., representing) a location of a vehicle (e.g., vehicles 102) in an area. In some examples, localization system 406 receives LiDAR data associated with at least one point cloud generated by at least one LiDAR sensor (e.g., LiDAR sensors 202b). In certain examples, localization system 406 receives data associated with at least one point cloud from multiple LiDAR sensors and localization system 406 generates a combined point cloud based on each of the point clouds. In these examples, localization system 406 compares the at least one point cloud or the combined point cloud to two-dimensional (2D) and/or a three-dimensional (3D) map of the area stored in database 410. Localization system 406 then determines the position of the vehicle in the area based on localization system 406 comparing the at least one point cloud or the combined point cloud to the map. In some embodiments, the map includes a combined point cloud of the area generated prior to navigation of the vehicle. In some embodiments, maps include, without limitation, high- precision maps of the roadway geometric properties, maps describing road network connectivity properties, maps describing roadway physical properties (such as traffic speed, traffic volume, the number of vehicular and cyclist traffic lanes, lane width, lane traffic directions, or lane marker types and locations, or combinations thereof), and maps describing the spatial locations of road features such as crosswalks, traffic signs or other travel signals of various types. In some embodiments, the map is generated in real-time based on the data received by the perception system.

[63] In another example, localization system 406 receives Global Navigation Satellite System (GNSS) data generated by a global positioning system (GPS) receiver. In some examples, localization system 406 receives GNSS data associated with the location of the vehicle in the area and localization system 406 determines a latitude and longitude of the vehicle in the area. In such an example, localization system 406 determines the position of the vehicle in the area based on the latitude and longitude of the vehicle. In some embodiments, localization system 406 generates data associated with the position of the vehicle. In some examples, localization system 406 generates data associated with the position of the vehicle based on localization system 406 determining the position of the vehicle. In such an example, the data associated with the position of the vehicle includes data associated with one or more semantic properties corresponding to the position of the vehicle.

[64] In some embodiments, control system 408 receives data associated with at least one trajectory from planning system 404 and control system 408 controls operation of the vehicle. In some examples, control system 408 receives data associated with at least one trajectory from planning system 404 and control system 408 controls operation of the vehicle by generating and transmitting control signals to cause a powertrain control system (e.g., DBW system 202h, powertrain control system 204, and/or the like), a steering control system (e.g., steering control system 206), and/or a brake system (e.g., brake system 208) to operate. For example, control system 408 is configured to perform operational functions such as a lateral vehicle motion control or a longitudinal vehicle motion control. The lateral vehicle motion control causes activities necessary for the regulation of the y-axis component of vehicle motion. The longitudinal vehicle motion control causes activities necessary for the regulation of the x-axis component of vehicle motion. In an example, where a trajectory includes a left turn, control system 408 transmits a control signal to cause steering control system 206 to adjust a steering angle of vehicle 200, thereby causing vehicle 200 to turn left. Additionally, or alternatively, control system 408 generates and transmits control signals to cause other devices (e.g., headlights, turn signal, door locks, windshield wipers, and/or the like) of vehicle 200 to change states.

[65] In some embodiments, perception system 402, planning system 404, localization system 406, and/or control system 408 implement at least one machine learning model (e.g., at least one multilayer perceptron (MLP), at least one convolutional neural network (CNN), at least one recurrent neural network (RNN), at least one autoencoder, at least one transformer, and/or the like). In some examples, perception system 402, planning system 404, localization system 406, and/or control system 408 implement at least one machine learning model alone or in combination with one or more of the above-noted systems. In some examples, perception system 402, planning system 404, localization system 406, and/or control system 408 implement at least one machine learning model as part of a pipeline (e.g., a pipeline for identifying one or more objects located in an environment and/or the like).

[66] Database 410 stores data that is transmitted to, received from, and/or updated by perception system 402, planning system 404, localization system 406 and/or control system 408. In some examples, database 410 includes a storage component (e.g., a storage component that is the same as or similar to storage component 308 of FIG. 3) that stores data and/or software related to the operation and uses at least one system of autonomous vehicle compute 400. In some embodiments, database 410 stores data associated with 2D and/or 3D maps of at least one area. In some examples, database 410 stores data associated with 2D and/or 3D maps of a portion of a city, multiple portions of multiple cities, multiple cities, a county, a state, a State (e.g., a country), and/or the like). In such an example, a vehicle (e.g., a vehicle that is the same as or similar to vehicles 102 and/or vehicle 200) can drive along one or more drivable regions (e.g., single-lane roads, multi-lane roads, highways, back roads, off road trails, and/or the like) and cause at least one LiDAR sensor (e.g., a LiDAR sensor that is the same as or similar to LiDAR sensors 202b) to generate data associated with an image representing the objects included in a field of view of the at least one LiDAR sensor.

[67] In some embodiments, database 410 can be implemented across a plurality of devices. In some examples, database 410 is included in a vehicle (e.g., a vehicle that is the same as or similar to vehicles 102 and/or vehicle 200), an autonomous vehicle system (e.g., an autonomous vehicle system that is the same as or similar to remote AV system 114, a fleet management system (e.g., a fleet management system that is the same as or similar to fleet management system 116 of FIG. 1 , a V2I system (e.g., a V2I system that is the same as or similar to V2I system 118 of FIG. 1 ) and/or the like.

[68] Example Devices for Restricting Physical Access to a Steering Wheel of A Vehicle [69] In general, a vehicle (e.g., an autonomous vehicle) includes one or more control mechanisms that allow a user to manually control at least some of the operations of the vehicle.

[70] For instance, a steering control system 206 as described with respect to FIG. 2 includes a steering wheel that is physically manipulated by a user to control the vehicle’s direction of travel. While a vehicle is traveling forward, a user can rotate the vehicle’s steering wheel clockwise to angle one of more of the vehicle’s wheels (e.g., the wheels that contact the ground) rightward, such that the vehicle travels rightward. Further, while a vehicle is traveling forward, a user can rotate the vehicle’s steering wheel counterclockwise to angle one of more of the vehicle’s wheels leftward, such that the vehicle travels leftward.

[71] As another example, the powertrain control system 204 and the brake system 208 includes pedals that are physical manipulated by a user to accelerate or decelerate the vehicle. For instance, a user can press an acceleration pedal with his foot to instruct the powertrain control system 204 to increase the energy and/or power that is applied to the vehicle’s wheels (e.g., to cause the wheels of the vehicle to rotate more quickly). Further, a user can press a brake pedal with his foot to instruct the brake system 208 to slow down the rotation of the vehicle’s wheels.

[72] In an autonomous vehicle, at least some of these control mechanisms are not intended to be used by a user while the vehicle is operating autonomously. For instance, while an autonomous vehicle is autonomously navigating to a destination, the autonomous vehicle may be configured to automatically control the steering, acceleration, and/or braking of the autonomous vehicle, without any manual input from a user. In these implementations, a user’s manual inputs may be detrimental to the operation of the autonomous vehicle and/or the safety of the user. As an example, if a user were to manually rotate the steering wheel, press the acceleration pedal and/or press the brake pedal, the autonomous vehicle may steer, accelerate, and/or brake in a manner that is not intended by the autonomous vehicle, which may result in discomfort and/or injury to the user.

[73] In some implementations, an autonomous vehicle selectively disables at least some of the control mechanisms while the autonomous vehicle is operating autonomously. As an example, while operating autonomously, the autonomous vehicle can selectively disable the acceleration pedal and/or the brake pedal, such that manipulations of the pedals by the user do not cause the autonomous vehicle to accelerate and/or brake. In some implementations, the control mechanisms are selectively disabled electronically (e.g., by using electronic circuitry and/or software to selectively ignore and/or filter out electrical control signals generated by the control mechanisms).

[74] However, in some implementations, at least some of the control mechanism are physically coupled to their respective systems of the autonomous vehicle, and cannot be selectively disabled in this manner. As an example, a steering wheel may be physically coupled to the steering linkage of the autonomous vehicle (e.g., the steering column, rack and pinion, steering arm, steering knuckle, etc.) and cannot be selectively disconnected from the steering linkage during operation of the autonomous vehicle. Accordingly, during autonomous operation of the autonomous vehicle, the steering wheel may move without a user’s manual input (e.g., based on the autonomous vehicle’s control of the steering control system 206). Further, a user’s manual rotation of the steering wheel may interfere with the autonomous vehicle’s control of the steering control system 206.

[75] As described herein, various devices are used to restrict a user’s physical access to a steering wheel of an autonomous vehicle. For example, a device can be secured to a steering wheel to prevent (or otherwise impede) a user from rotating the steering wheel manually and/or inserting a body part (e.g., an arm, hand, etc.) or object (e.g., cane, umbrella, etc.) between the spokes of the steering wheel. This is beneficial, for instance, in improving the comfort and safety of the user during autonomous operations. For example, the user is less likely to interfere with the steering of the autonomous vehicle, and is less likely to be injured by the autonomous rotation of the steering wheel.

[76] Further, the device can be selectively installed and removed from the steering wheel, without damaging the autonomous vehicle. Accordingly, the device can be easily removed from the autonomous vehicle as the need arises (e.g., during vehicle maintenance, manual intervention by an operator, etc.) and subsequently reinstalled without impairing the functionality of the autonomous vehicle and/or without requiring substantial modifications to the autonomous vehicle. [77] Further still, in some implementations, the device is used in place of barriers that separate users from the driver area of the autonomous vehicle (e.g., barriers or walls, such as those made from clear plastic). This is beneficial, for example, as the use of such barriers may reduce the seating capacity of the vehicle, interfere with the environmental control of the vehicle (e.g., impede airflow from a heater or air conditioner), reduce the safety of the vehicle (e.g., by introducing a risk that a passenger comes into contact with the barrier during a sudden maneuver), and/or reduce the effectiveness of interior sensors of the vehicle (e.g., sensors configured to measure the physical properties of the user and/or the interior environment, such as cameras, microphones, infrared sensors, thermometers, etc.). Nevertheless in some implementations, the device is also used in conjunction with barriers that separate users from the driver area of the autonomous vehicle.

[78] An example steering wheel 500 is shown in FIG. 5. The steering wheel 500 includes a hub 502, a rim 504, and spokes 506 extending between the hub 502 and the rim 504. Further, several apertures 508 are defined by the hub 502, the rim 504, and the spokes 506.

[79] The steering wheel 500 is physically coupled to the steering linkage of an autonomous vehicle (e.g., the vehicle’s steering column, rack and pinion, steering arm, steering knuckle, etc.). During an example usage of the steering wheel 500, a user grasps one or more of the hub 502, the rim 504, and the spokes 506, and rotates the steering wheel 500 (e.g., about the hub 502) to manually control the vehicle’s direction of travel via the steering linkage.

[80] In some implementations, the hub 502 includes an airbag module 510 that is configured to deploy an air bag in the event of a collision. For example, the airbag module 510 can be inserted into a cavity of the hub 502 and concealed with a detachable cover. In the event of a collision, the airbag module 510 is configured to inflate the airbag such that it detaches the cover from the hub 502 and projects outward from the hub 502 (e.g., to prevent the user from coming into contact with the steering wheel 500 or other hard surfaces of the vehicle).

[81] In some implementations, the steering wheel 500 also includes control mechanisms 512 for controlling various components of the vehicle. As an example, the control mechanism 512 can include buttons, levers, switches, and/or other mechanisms for controlling one or more of the vehicle’s components described herein. In some implementations, the control mechanisms 512 are disposed on the hub 502, the rim 504, the spokes 506, or any combination thereof.

[82] FIGS. 6A-6C show an example device 600 for restricting a user’s physical access to the steering wheel 500. The device 600 includes at least two separate portions that can be removeably secured to the steering wheel 500, including an insert 602 and an annular shroud 604.

[83] The insert 602 is configured to insert into one or more of the apertures 508 of the steering wheel 500 to prevent (or otherwise impede) the insertion of a user’s body part (e.g., arm, hand, etc.) and/or an object (e.g., cane, umbrella, etc.) into the apertures 508.

[84] For instance, in as shown in FIG. 6A, the steering wheel 500 includes a first aperture 508a and a second aperture 508b. The insert 602 includes a first insert portion 602a configured to insert into the first aperture 508a to at least partially occlude the first aperture 508a. As an example, first insert portion 602a can have a shape and/or shape corresponding to the first aperture 508a (e.g., matching that of the first aperture 508a), such that the first insert portion 602a occludes substantially the entirety of the first aperture 508a.

[85] Further, the insert 602 includes a second insert portion 602b configured to insert into the second aperture 508b to at least partially occlude the second aperture 508b. As an example, the second portion 602b can have a shape and/or shape corresponding to the second aperture 508b (e.g., matching that of the second aperture 508b), such that the second insert portion 602b occludes substantially the entirety of the second aperture 508b.

[86] In some implementations, the insert 602 is secured to the steering wheel 500 using one or more fasteners (e.g., screws, pins, bolts, etc.), tabs, and/or any other attachment mechanisms. In some implementations, the insert 602 is secured to the steering wheel 500 via a friction fit between the insert 602 and the steering wheel 500. Further, the insert 602 can be separated or detached from the steering wheel 500 without damaging the steering wheel 500 and/or the insert 602. [87] In some implementations, the insert 602 is composed, at least in art, of a plastic material, such as High Density Polyethylene (HDPE) or other low friction plastic material.

[88] As shown in FIG. 6A, the insert 602 is configured such that the airbag module 510 remains exposed (e.g., without impeding the deployment of an airbag by the airbag module 510 or the detachment of the cover of the airbag module 510). This is beneficial, for example, in protecting a user who is seated in the driver’s seat in the event of a collision (even if the user is not manually controlling to steering of the vehicle).

[89] Further, as shown in FIG. 6A, the insert 602 is configured such that the control mechanisms 512 also remain exposed. This is beneficial, for example, in enabling a user to control aspects of the vehicle’s operation (even if the user is not manually controlling to steering of the vehicle).

[90] The annular shroud 604 is configured to at least partially enclose the rim 504 of the steering wheel 500. For example, as shown in FIGS. 6B and 6C, the annular shroud 604 has a size and shape that is similar to that of the rim 504. Specifically, as shown in FIG. 6C, the annular shroud 604 defines an interior groove 606 that having a similar shape as that of the exterior surface of the rim 504. Further, the interior groove 606 is larger than the rim 504, such that one or more gaps (e.g., air gaps) are defined between the interior groove 606 and the rim 504.

[91] In some implementations, the annular shroud 604 has circular cross section. In some implementations, the annular shroud 604 has some other cross sectional shape (e.g., ovular, elliptical, curved, arced, etc.).

[92] In some implementations, the annular shroud 604 has the same shape as the rim 504. For example, the annular shroud 604 and the rim 504 can both have a circular cross sectional shape. In some implementations, the annular shroud 604 has a different shape than that of the rim 504. For example, the annular shroud 604 can have a circular cross sectional shape, and the rim 504 can have an irregular shape.

[93] In some implementations, the configuration of the annular shroud 604 enables the annular shroud 604 to loosely fit over the rim 504, such that the annular shroud 604 can rotate freely relative to the rim 504. This is beneficial, for example, in preventing (or otherwise reducing) a rotation of the steering wheel 500 due to a user’s manipulation of the annular shroud 604. [94] In some implementations, the annular shroud 604 is composed of a rigid material that cannot be compressed by a user’s hand. This is beneficial, for example, in preventing (or otherwise impeding) a user from tightly grasping the annular shroud 604 to generate friction between the annular shroud 604 and the steering wheel 500. As examples, the annular shroud 604 can be composed of thermoplastic, such as polyamide (PA), polypropylene (PP), polycarbonate (PC), acrylonitrile butadiene styrene (ABS), or combinations thereof.

[95] In some implementations, the annular shroud 604 includes multiple portions that are secured to one another to enclose the rim 504. For instance, in the example shown in FIG. 7A, the annular shroud 604 includes a first shroud portion 604a and a second shroud portion 604b. The first shroud portion 604a is positioned such that it encloses a first portion of the rim 504, and the second shroud portion 604b is positioned such that it encloses a second portion of the rim 504. Further, the first shroud portion 604a and the second shroud portion 604b are secured to one another to form the annular shroud 604. Further, the first shroud portion 604a and the second shroud portion 604b can be separated or detached from one another (and from the steering wheel 500) without damaging the first shroud portion 604a, the second shroud portion 604b, or the steering wheel 500.

[96] In some implementations, the first shroud portion 604a and the second shroud portion 604b are secured to one another using one or more fasteners (e.g., screws, pins, bolts, etc.), tabs, and/or any other attachment mechanisms. In some implementations, the first shroud portion 604a and the second shroud portion 604b are secured to one another via a friction fit between them.

[97] Although two insert portions 602a and 602b are shown in FIGS. 6A-6C, in practice, an insert 602 can include any number of insert portions. For instance, in the example shown in FIG. 7B, the insert 602 includes a single insert portion 602c that occludes multiple apertures of the steering wheel 500 concurrently.

[98] Further, in some implementations, the insert 602 encloses at least some of the control mechanisms 512. This can be beneficial, for example, in preventing (or otherwise impeding) a user from altering the operation of the vehicle. For instance, in the example shown in FIG. 7B, the insert 602 encloses each of the control mechanisms 512 of the steering wheel 500, such that they are not accessible by a user.

[99] In some implementations, the insert 602 includes one or more labels for conveying information to a user. For instance, in the example shown in FIG. 7C, the insert 602 includes labels 702a and 702b. In some implementations, the labels instruct the user to refrain from touching the steering wheel 500 during autonomous operations. In some implementations, the labels instruct the user to refrain from manually operating the vehicle while the device 600 is installed over the steering wheel 500).

[100] In some implementations, the annular shroud 604 includes one or more rollers disposed along its interior periphery to facilitate movement of the annular shroud 604 relative to the rim 504. As an example, FIG. 8A shows a device 600 having an annular shroud 604 with several rollers 802a-802f distributed along the interior periphery of the annular shroud 604 (e.g., along the interior groove 606). The rollers 802a-802f are positioned such that, when the annular shroud 604 is secured to the rim 504, at least some of the rollers 802a-802f are in contact with the rim 504 (e.g., to facilitate rotation of the annular shroud 604 relative to the rim 504).

[101] An example roller 802a-802f is shown in FIG. 8B. In some implementations, a roller 802a-802f can include one or more bushings and/or bearings (e.g., to allow for rotation of the roller 802a-802f relative to the annular shroud 604).

[102] In some implementations, the rollers 802a-802f are positioned such that, when the annular shroud 604 is secured to the rim 504, all of the rollers 802a-802f are in contact with the rim 504. For example, the annular surround 604 and the rim 504 can each have a circular shape, and the rollers 802a-802f can be positioned such that all of the rollers 802a-802f are in contact with the rim 504, regardless of the rotational position of the annular shroud n604 relative to the rim 504.

[103] In some implementations, the rollers 802a-802f are positioned such that, when the annular shroud 604 is secured to the rim 504, at least some of the rollers 802a-802f are in contact with the rim 504. For instance, in the example shown in FIG. 8A, the annular surround 604 has a circular shape. Further, the rim 504 has an irregular shape with an arced portion 806 (e.g., defining a portion of a circumference of a circle) and a flat portion 808 (e.g., defining a line connecting two points on a circumstance of a circle, or chord of a circle). The rollers 802a-802f are positioned such that at least some of the rollers 802a- 802f are in contact with the rim 504, regardless of the rotational position of the annular shroud n604 relative to the rim 504. In some implementations, the rollers 802a-802f are positioned such that, when the annular shroud 604 is installed onto the steering wheel 500, the rollers 802a-802f that are in contact with the rim 504 extend along at least 180° of the circumference of the annular shroud 604 (e.g., such that the annular shroud 604 remains a particular distance from the rim 504, to prevent jamming or shifting of the annular shroud 604 relative to the rim 504).

[104] Although FIG. 8A shows an annular shroud 604 having six rollers 802a-802f, in practice, an annular shroud 604 can include any number of rollers (e.g., one, two, three, four, or more). For example, in some implementations, the annular shroud 604 includes at least four rollers distributed along the annular shroud 604. As another example, in some implementations, the annular shroud 604 includes at least eight rollers distributed along the annular shroud 604.

[105] As described above, the annular shroud 604 can include multiple portions that are secured to one another to enclose the rim 504. Further, the first shroud portion 604a and the second shroud portion 604b can be separated or detached from one another (and from the steering wheel 500) without damaging the first shroud portion 604a, the second shroud portion 604b, or the steering wheel 500. For instance, in the example shown in FIG. 8A, the annular shroud 604 includes a first shroud portion 604c and a second shroud portion 604d, and are secured to one another using one or more fasteners 804 (e.g., screws, pins, bolts, etc.).

[106] In some implementations, the annular shroud 604 is configured to be rotationally fixed to a portion of the vehicle that does not rotate with the steering wheel 500 (e.g., a console of the vehicle, a housing of the steering column of the vehicle, etc.), such that the annular shroud 604 also does not rotate with the steering wheel 500. Accordingly, the steering wheel 500 is free to rotate within the annular shroud 604, without rotating the annular shroud 604 itself. Similarly, the user cannot manually rotate either the annular should 604 or the steering wheel 500.

[107] As an example, FIGS. 9A and 9B show a device 600 having an annular shroud 604 that is configured to be rotationally fixed to a console 900 of the vehicle. In this example, the annular shroud 604 includes two shroud portions 604a and 604b, each having a respective flange 802a or 802b extending towards and contacting the console 900.

[108] In some implementations, the annular shroud 604 is secured to the console 900 using one or more fasteners (e.g., screws, pins, bolts, etc.), tabs, and/or any other attachment mechanisms. In some implementations, the annular shroud 604 is secured to the console 900 via a friction fit between the annular shroud 604 and the steering wheel 500. Further, the annular shroud 604 can be separated or detached from the console 900 without damaging the console 900, the steering wheel 500, and/or the annular shroud 604.

[109] In the foregoing description, aspects and embodiments of the present disclosure have been described with reference to numerous specific details that can vary from implementation to implementation. Accordingly, the description and drawings are to be regarded in an illustrative rather than a restrictive sense. The sole and exclusive indicator of the scope of the invention, and what is intended by the applicants to be the scope of the invention, is the literal and equivalent scope of the set of claims that issue from this application, in the specific form in which such claims issue, including any subsequent correction. Any definitions expressly set forth herein for terms contained in such claims shall govern the meaning of such terms as used in the claims. In addition, when we use the term “further comprising,” in the foregoing description or following claims, what follows this phrase can be an additional step or entity, or a sub-step/sub-entity of a previously- recited step or entity.

[110] Further non-limiting aspects or embodiments are set forth in the following numbered clauses:

[111] Clause 1 : An apparatus for restricting physical access to a steering wheel of a vehicle, the apparatus comprising: an annular shroud; and an insert; wherein the annular shroud and the insert are configured to be removeably secured to the steering wheel such that: the annular shroud at least partially encloses a rim of the steering wheel, and the insert at least partially occludes one or more apertures defined between the rim of the steering wheel and a hub of the steering wheel. [112] Clause 2: The method of clause 1 , wherein the annular shroud and the insert are configured to be removeably secured to the steering wheel such that the hub of the steering wheel is exposed by the annular shroud and the insert.

[113] Clause 3: The apparatus of clause 1 or clause 2, wherein the hub comprises an air bag module of the steering wheel.

[114] Clause 4: The apparatus of any one of clauses 1 -3, wherein the annular shroud is configured to be removeably secured to the steering wheel such that a gap is defined between the annular shroud and the rim of the steering wheel.

[115] Clause 5: The apparatus of any one of clauses 1-4, wherein the annular shroud comprises: a first shroud portion configured to at least partially enclose a first portion of the rim of the steering wheel, and a second shroud portion configured to removeably secure to the first shroud portion and at least partially enclose a second portion of the rim of the steering wheel.

[116] Clause 6: The apparatus of clause 5, further comprising one or more fasteners configured to secure the first shroud portion to the second shroud portion.

[117] Clause 7: The apparatus of any one of clauses 1-6, wherein the annular shroud comprises at least one roller disposed along an interior periphery of the annular shroud.

[118] Clause 8: The apparatus of clause 7, wherein the annular shroud is configured to be removeably secured to the steering wheel such that the at least one roller is in contact with the rim of the steering wheel.

[119] Clause 9: The apparatus of clause 7 or clause 8, wherein the at least one roller comprises a bushing or a bearing.

[120] Clause 10: The apparatus of any one of clauses 7-9, wherein the annular shroud comprises a plurality of rollers disposed along the interior periphery of the annular shroud.

[121] Clause 11 : The apparatus of any one of clauses 1 -10, wherein the insert comprises a first insert portion having a first size and a first shape corresponding to a size and a shape of a first aperture of the one or more apertures.

[122] Clause 12: The apparatus of clause 11 , wherein the insert comprises a second insert portion having a second size and a second shape corresponding to a size and a shape of a second aperture of the one or more apertures. [123] Clause 13: The apparatus of any one of clauses 1 -12, wherein a plurality of apertures are defined between the rim of the steering wheel and the hub of the steering wheel, and wherein the insert is configured to occlude each of the plurality of apertures.

[124] Clause 14: The apparatus of any one of clauses 1 -13, wherein the annular shroud is configured to be removeably anchored to a console of the vehicle and to permit the steering wheel to rotate relative to the annular shroud.