Teleoperation system and method for trajectory modification of autonomous vehicles
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 at least one of the one or more sensors;
determining, based at least in part on the sensor data, that an event has occurred;
determining, based at least in part on the event, a probability that the autonomous vehicle can continue to navigate to a destination;
determining, an event type of the event;
determining an available bandwidth of the communications link;
transmitting, via the communication interface, based at least in part on the probability being equal to or below a threshold probability and based at least in part on the available bandwidth, a request to a teleoperator, the request including the event type and a representation of the sensor data;
receiving, via the communication interface, a teleoperator command, wherein the teleoperator command is based at least in part on a simulator suggestion, the simulator suggestion indicating that a corresponding teleoperator suggestion run on a simulator mitigates the event, the simulator including a simulated autonomous vehicle encountering a substantially similar representation of the event in a synthetic environment; and
controlling, based at least in part on the teleoperator command, the autonomous vehicle.
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Accused Products
Abstract
Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. More specifically, systems, devices, and methods are configured to initiate modification of trajectories to influence navigation of autonomous vehicles. In particular, a method may include receiving a teleoperation message via a communication link from an autonomous vehicle, detecting data from the teleoperation message specifying an event associated with the autonomous vehicle, identifying one or more courses of action to perform responsive to detecting the data specifying the event, and generating visualization data to present information associated with the event to a display of a teleoperator computing device.
191 Citations
19 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 at least one of the one or more sensors; determining, based at least in part on the sensor data, that an event has occurred; determining, based at least in part on the event, a probability that the autonomous vehicle can continue to navigate to a destination; determining, an event type of the event; determining an available bandwidth of the communications link; transmitting, via the communication interface, based at least in part on the probability being equal to or below a threshold probability and based at least in part on the available bandwidth, a request to a teleoperator, the request including the event type and a representation of the sensor data; receiving, via the communication interface, a teleoperator command, wherein the teleoperator command is based at least in part on a simulator suggestion, the simulator suggestion indicating that a corresponding teleoperator suggestion run on a simulator mitigates the event, the simulator including a simulated autonomous vehicle encountering a substantially similar representation of the event in a synthetic environment; and controlling, based at least in part on the teleoperator command, the autonomous vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method comprising:
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obtaining sensor data from a sensor located on an autonomous vehicle; determining that an event has occurred based at least on the sensor data; determining, based at least in part on the event, a probability that the autonomous vehicle can continue navigation; determining, at least in part in response to the probability being equal to or below a threshold probability, an event type; transmitting, via a communication interface, information indicative of the event type; receiving a teleoperator command, wherein the teleoperator command is based at least in part on a simulator suggestion, the simulator suggestion indicating that a corresponding teleoperator suggestion run on a simulator mitigates the event, the simulator including a simulated autonomous vehicle encountering a substantially similar representation of the event in a synthetic environment; and controlling the autonomous vehicle based at least in part on the teleoperator command. - View Dependent Claims (11, 12, 13, 14, 15)
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16. 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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receiving sensor data from a sensor, the sensor located on an autonomous vehicle; determining that an event has occurred based at least on the sensor data; determining, based at least in part on the event, a probability that the autonomous vehicle can determine a trajectory over which the autonomous vehicle can safely transit; determining, based at least in part on the sensor data and at least in part in response to the probability being equal to or below a threshold probability, an event type; establishing a communications link, by a communication interface, between the autonomous vehicle and one or more of another device or another autonomous vehicle; determining an available bandwidth associated with the communications link; determining, based on the available bandwidth being equal to or below a threshold bandwidth, a subset of the sensor data; transmitting, via the communication interface, the event type and the subset of the sensor data; receiving, via the communication interface, a teleoperator command, wherein the teleoperator command is based at least in part on a simulator suggestion, the simulator suggestion indicating that a corresponding teleoperator suggestion run on a simulator mitigates the event, the simulator including a simulated autonomous vehicle encountering a substantially similar representation of the event in a synthetic environment; and controlling the autonomous vehicle based, at least in part, on the teleoperator command. - View Dependent Claims (17, 18, 19)
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Specification