# US 11,112,790 B2 · Micro-authorization of remote assistance for an autonomous vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,112,790 B2 - Document ID: US11112790B2 - Status: Granted - Kind: B2 - Application number: 16/228,877 - Filed: 2018-12-21 - Published: 2020-06-25 - Granted: 2021-09-07 - Earliest claimed: 2018-12-21 - Assignees: GM Global Technology Operations LLC - Applicants: GM Global Technology Operations LLC - Inventors: Drew Gross; Brian Pierce; Gillian Langor; Haven Lau - Web page: https://patentgrep.com/patent/US11112790B2 ## CPC - B60W 60/007: {Emergency override (Handing over between remote control and on-board control or handing over between remote control arrangements G05D1/227)} - G05D 1/0038: {by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation (images analyzed by a computer and used for automatic navigation G05D1/0246)} - B60W 50/00: Details of control systems for road vehicle drive control not related to the control of a particular sub-unit {, e.g. process diagnostic or vehicle driver interfaces} - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)} - G05D 1/0276: {using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058)} - G05D 1/224: Output arrangements on the remote controller, e.g. displays, haptics or speakers - G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons - G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras - G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path - H04W 4/44: for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H] - B60W 2050/0075: {Automatic parameter input, automatic initialising or calibrating means} - B60W 2556/45: External transmission of data to or from the vehicle - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract Micro-authorization of remote assistance for an autonomous vehicle is described herein. A constraint that inhibits propulsion by a mechanical system of the autonomous vehicle is activated by a computing system of the autonomous vehicle, wherein a signal that identifies the activated constraint is transmitted from the autonomous vehicle to a remote computing system. The remote computing system generates instructions to deactivate the activated constraint. A return signal is transmitted from the remote computing system that specifies instructions to deactivate the constraint and a distance to desirably advance the autonomous vehicle. The computing system of the autonomous vehicle deactivates the constraint and the mechanical system is controlled to advance the autonomous vehicle when signal latency is less than a predetermined threshold duration of time. ## Claims ### Claim 1 An autonomous vehicle, comprising: a mechanical system; and a computing system in communication with the mechanical system, wherein the computing system comprises: a processor; and memory that stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising: activating a constraint that controls the mechanical system to stop movement of the autonomous vehicle, wherein the constraint is a restriction upon an operation of the autonomous vehicle such that the autonomous vehicle is stopped at a first stopped position, and wherein the constraint is activated to stop the movement of the autonomous vehicle based on an object detected in a travel path of the autonomous vehicle; transmitting a signal that identifies the constraint to a remote computing system; receiving a return signal from the remote computing system, wherein the return signal specifies instructions to deactivate the constraint when the object is a phantom object; evaluating whether signal latency is less than a predetermined threshold duration of time, wherein the signal latency is measured by a time interval defined by the transmission of the signal to the receipt of the return signal; deactivating the constraint based upon the instructions to deactivate the constraint when the signal latency is less than the predetermined threshold duration of time; and controlling the mechanical system to move the autonomous vehicle when the constraint is deactivated by the instructions to deactivate the constraint, wherein the mechanical system is controlled to move the autonomous vehicle to a second stopped position that is a particular distance from the first stopped position when the constraint is deactivated by the instructions to deactivate the constraint. ### Claim 2 (depends on 1) The autonomous vehicle of claim 1, the acts performed by the processor further comprising: when the autonomous vehicle is stopped at the second stopped position, transmitting a second signal that identifies the constraint to the remote computing system; receiving a second return signal from the remote computing system, wherein the second return signal specifies second instructions to deactivate the constraint; deactivating the constraint based upon the second instructions to deactivate the constraint when a second signal latency is less than the predetermined threshold duration of time, wherein the second signal latency is a time interval defined by the transmission of the second signal to the receipt of the second return signal; and controlling the mechanical system to move the autonomous vehicle when the constraint is deactivated by the second instructions to deactivate the constraint, wherein the mechanical system is controlled to move the autonomous vehicle to a third stopped position that is a second particular distance from the second stopped position when the constraint is deactivated by the second instructions to deactivate the constraint. ### Claim 3 (depends on 1) The autonomous vehicle of claim 1, the acts performed by the processor further comprising: identifying the particular distance that the autonomous vehicle is to be moved, the particular distance being specified as part of the return signal; and controlling the mechanical system based upon the particular distance when the constraint is deactivated by the instructions to deactivate the constraint. ### Claim 4 (depends on 1) The autonomous vehicle of claim 1, wherein the particular distance is less than or equal to 1.5 meters. ### Claim 5 (depends on 1) The autonomous vehicle of claim 1, the acts performed by the processor further comprising: transmitting video data captured by the autonomous vehicle to the remote computing system, wherein the return signal received from the remote computing system is based upon the video data. ### Claim 6 (depends on 1) The autonomous vehicle of claim 1, the acts performed by the processor further comprising: detecting the object in the travel path of the autonomous vehicle based on at least one of a sensor system output or an object trajectory algorithm. ### Claim 7 (depends on 1) The autonomous vehicle of claim 1, wherein the autonomous vehicle remains stopped at the first stopped position when the return signal is not received from the remote computing system. ### Claim 8 (depends on 1) The autonomous vehicle of claim 1, wherein the return signal further includes data that specifies at least one of steering controls or propulsion controls; and wherein the mechanical system is controlled based upon the at least one of the steering controls or the propulsion controls. ### Claim 9 (depends on 1) The autonomous vehicle of claim 1, wherein the particular distance is a predefined distance. ### Claim 10 (depends on 1) The autonomous vehicle of claim 1, wherein the autonomous vehicle remains stopped at the first stopped position when the signal latency is greater than or equal to the predetermined threshold duration of time. ### Claim 11 (depends on 1) The autonomous vehicle of claim 1, wherein the return signal is sent by the remote computing system responsive to user input received by the remote computing system. ### Claim 12 A method of controlling an autonomous vehicle, comprising: detecting an object in a travel path of the autonomous vehicle; activating a constraint that controls a mechanical system to stop movement of the autonomous vehicle based on the object detected in the travel path of the autonomous vehicle, wherein the constraint causes the autonomous vehicle to stop at a first stopped position; transmitting a signal that identifies the constraint to a remote computing system; receiving a return signal from the remote computing system, wherein the return signal specifies instructions to deactivate the constraint when the object is a phantom object; evaluating whether signal latency is less than a predetermined threshold duration of time, wherein the signal latency is measured by a time interval defined by the transmission of the signal to the receipt of the return signal; deactivating the constraint based upon the instructions to deactivate the constraint when the signal latency is less than the predetermined threshold duration of time; and controlling the mechanical system to move the autonomous vehicle when the constraint is deactivated by the instructions to deactivate the constraint, wherein the mechanical system is controlled to move the autonomous vehicle to a second stopped position that is a particular distance from the first stopped position when the constraint is deactivated by the instructions to deactivate the constraint. ### Claim 13 (depends on 12) The method of claim 12, further comprising: when the autonomous vehicle is stopped at the second stopped position, transmitting a second signal that identifies the constraint to the remote computing system; receiving a second return signal from the remote computing system, wherein the second return signal specifies second instructions to deactivate the constraint; deactivating the constraint based upon the second instructions to deactivate the constraint when a second signal latency is less than the predetermined threshold duration of time, wherein the second signal latency is a time interval defined by the transmission of the second signal to the receipt of the second return signal; and controlling the mechanical system to move the autonomous vehicle when the constraint is deactivated by the second instructions to deactivate the constraint, wherein the mechanical system is controlled to move the autonomous vehicle to a third stopped position that is a second particular distance from the second stopped position when the constraint is deactivated by the second instructions to deactivate the constraint. ### Claim 14 (depends on 12) The method of claim 12, wherein the particular distance is less than or equal to 1.5 meters. ### Claim 15 (depends on 12) The method of claim 12, wherein the particular distance is a predefined distance. ### Claim 16 (depends on 12) The method of claim 12, wherein the particular distance is specified as part of the return signal. ### Claim 17 A computing system of an autonomous vehicle, comprising: a processor; and memory that stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising: detecting an object in a travel path of the autonomous vehicle; causing the autonomous vehicle to stop at a first stopped position based on the object detected in the travel path; receiving a signal from a remote computing system to incrementally advance the autonomous vehicle, the signal being received when the object is a phantom object; and causing the autonomous vehicle to move in response to the receipt of the signal, wherein the autonomous vehicle is controlled to move to a second stopped position that is a particular distance from the first stopped position. ### Claim 18 (depends on 17) The computing system of claim 17, wherein the particular distance is less than or equal to 1.5 meters. ### Claim 19 (depends on 17) The computing system of claim 17, wherein the particular distance is a predefined distance. ### Claim 20 (depends on 17) The computing system of claim 17, wherein the particular distance is specified as part of the signal received from the remote computing system.