Machine learning systems and techniques to optimize teleoperation and/or planner decisions
First Claim
1. An autonomous vehicle comprising:
- one or more processors;
a communication interface, the communication interface configured to establish a communications link between the autonomous vehicle and one or more other devices or autonomous vehicles;
one or more sensors; and
memory having stored thereon processor-executable instructions that, when executed by the one or more processors, configure the autonomous vehicle to perform operations comprising;
obtaining sensor data from the one or more sensors;
detecting, from the sensor data, an event, the event being associated with operation of the autonomous vehicle;
determining a type of the event;
requesting, via the communication interface, a teleoperator command based, at least in part, on the type of the event;
receiving via the communication interface a teleoperator command; and
controlling the autonomous vehicle based, at least in part, on the teleoperator command.
1 Assignment
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Accused Products
Abstract
A system, an apparatus or a process may be configured to implement an application that applies artificial intelligence and/or machine-learning techniques to predict an optimal course of action (or a subset of courses of action) for an autonomous vehicle system (e.g., one or more of a planner of an autonomous vehicle, a simulator, or a teleoperator) to undertake based on suboptimal autonomous vehicle performance and/or changes in detected sensor data (e.g., new buildings, landmarks, potholes, etc.). The application may determine a subset of trajectories based on a number of decisions and interactions when resolving an anomaly due to an event or condition. The application may use aggregated sensor data from multiple autonomous vehicles to assist in identifying events or conditions that might affect travel (e.g., using semantic scene classification). An optimal subset of trajectories may be formed based on recommendations responsive to semantic changes (e.g., road construction).
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Citations
21 Claims
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1. An autonomous vehicle comprising:
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one or more processors; a communication interface, the communication interface configured to establish a communications link between the autonomous vehicle and one or more other devices or autonomous vehicles; one or more sensors; and memory having stored thereon processor-executable instructions that, when executed by the one or more processors, configure the autonomous vehicle to perform operations comprising; obtaining sensor data from the one or more sensors; detecting, from the sensor data, an event, the event being associated with operation of the autonomous vehicle; determining a type of the event; requesting, via the communication interface, a teleoperator command based, at least in part, on the type of the event; receiving via the communication interface a teleoperator command; and controlling the autonomous vehicle based, at least in part, on the teleoperator command. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method comprising:
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obtaining sensor data from one or more sensors, the one or more sensors located on an autonomous vehicle; determining based, at least in part, on the sensor data that a type of event has occurred; transmitting a request for a teleoperator command based, at least in part, on the type of event; receiving, via a communication interface, a teleoperator command, the teleoperator command based, at least in part, on one or more of policy data or the type of event; and controlling the autonomous vehicle based, at least in part, on the teleoperator command, wherein the communication interface is configured to send and receive one or more data messages over a communication link, wherein the type of event includes one or more of; the autonomous vehicle approaching a region, a time of day, a position of the sun, traffic, an accident, the autonomous vehicle has been immobile for a threshold amount of time, or a confidence level determined from the sensor data is below a threshold. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. One or more non-transitory computer-readable media storing computer-executable instructions configured to program one or more computing devices to perform operations comprising:
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monitoring operation of one or more autonomous vehicles based at least in part on data received from the one or more autonomous vehicles; detecting, from the monitoring, an event at an autonomous vehicle of the one or more autonomous vehicles associated with operation of the autonomous vehicle; and obtaining sensor data from the autonomous vehicle based, at least in part, on the detecting of the event, the obtaining including one or more of; transmitting, via a communication interface, instructions to the autonomous vehicle to transmit the sensor data for reception by the one or more computing devices, or receiving, via the communication interface, the sensor data contemporaneously with the event from the autonomous vehicle, wherein the communication interface configured to send and receive one or more data messages over a communication link. - View Dependent Claims (19, 20, 21)
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Specification