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Teleoperation system and method for trajectory modification of autonomous vehicles

  • US 10,401,852 B2
  • Filed: 10/21/2016
  • Issued: 09/03/2019
  • Est. Priority Date: 11/04/2015
  • Status: Active Grant
First Claim
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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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