# US 11,307,576 B2 · Interactions between vehicle and teleoperations system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,307,576 B2 - Document ID: US11307576B2 - Status: Granted - Kind: B2 - Application number: 16/834,582 - Filed: 2020-03-30 - Published: 2020-07-16 - Granted: 2022-04-19 - Earliest claimed: 2017-07-07 - Assignees: Zoox, Inc. - Applicants: Zoox, Inc. - Inventors: Amanda Lee Kelly Lockwood; Ravi Gogna; Gary Linscott; Timothy Caldwell; Marin Kobilarov; Paul Orecchio; Dan Xie; Ashutosh Gajanan Rege; Jesse Sol Levinson - Web page: https://patentgrep.com/patent/US11307576B2 ## CPC - 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 30/0956: {the prediction being responsive to traffic or environmental parameters} - G08G 1/164: {Centralised systems, e.g. external to vehicles} - G08G 1/165: {for passive traffic, e.g. including static obstacles, trees} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - G08G 1/20: {Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles} - B60W 2554/00: Input parameters relating to objects - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - 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 - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract A method for autonomously operating a driverless vehicle along a path between a first geographic location and a destination may include receiving communication signals from the driverless vehicle. The communication signals may include sensor data from the driverless vehicle and data indicating occurrence of an event associated with the path. The communication signals may also include data indicating that a confidence level associated with the path is less than a threshold confidence level due to the event. The method may also include determining, via a teleoperations system, a level of guidance to provide the driverless vehicle based on data associated with the communication signals, and transmitting teleoperations signals to the driverless vehicle. The teleoperations signals may include guidance to operate the driverless vehicle according to the determined level of guidance, so that a vehicle controller maneuvers the driverless vehicle to avoid, travel around, or pass through the event. ## Claims ### Claim 1 A system comprising: one or more processors; and one or more non-transitory computer readable media storing computer executable instructions that, when executed, cause the one or more processors to perform operations comprising: receiving vehicle data comprising at least one of: sensor data from a sensor associated with a vehicle; or event data associated with an event occurring along a path the vehicle is following, the event data associated with a confidence level; presenting at least a portion of the vehicle data via a computing device; receiving input data; determining, based at least in part on the input data and a level of guidance associated with the vehicle, control data that at least modifies an extent or a location of a driving corridor of the vehicle; and transmitting the control data to operate the vehicle according to the level of guidance. ### Claim 2 (depends on 1) The system of claim 1, wherein the control data comprises a command to operate the vehicle to overcome the event and continue along the path. ### Claim 3 (depends on 1) The system of claim 1, wherein the control data comprises a command to operate the vehicle to travel along a proposed trajectory to overcome the event and to continue along the path after the proposed trajectory. ### Claim 4 (depends on 1) The system of claim 1, wherein the control data comprises a command to alter, as an altered virtual boundary, a virtual boundary of the driving corridor and to operate the vehicle based at least in part on the altered virtual boundary. ### Claim 5 (depends on 1) The system of claim 1, wherein the vehicle data comprises a proposed trajectory to overcome the event, and the control data comprises a request to confirm or decline the proposed trajectory. ### Claim 6 (depends on 5) The system of claim 5, wherein the control data comprises a command to decline the proposed trajectory and to operate the vehicle to overcome the event according to an alternative proposed trajectory. ### Claim 7 (depends on 1) The system of claim 1, wherein: the event comprises an object impeding the path, the vehicle data comprises first classification data associated with the object, and the control data comprises second classification data associated with the object that is different than the first classification data and a command for the vehicle to ignore the object to permit the vehicle to travel past the object. ### Claim 8 (depends on 1) The system of claim 1, wherein the driving corridor includes an area limited to within which a trajectory is determined by the vehicle. ### Claim 9 A method comprising: receiving vehicle data comprising at least one of: sensor data from a sensor associated with a vehicle; or event data indicating an occurrence of an event associated with the vehicle traversing a path, the event data comprising a confidence level; presenting, based at least in part on the vehicle data, a display on a computing device; receiving input data; determining, based at least in part on the input data and a level of guidance associated with the vehicle, control data that at least modifies an extent or a location of a driving corridor of the vehicle; and transmitting the control data to operate the vehicle. ### Claim 10 (depends on 9) The method of claim 9, wherein: the event comprises an object impeding the path, the vehicle data comprises first classification data associated with the object, and the control data comprises second classification data associated with the object that is different than the first classification data and a command to ignore the object to permit the vehicle to travel past the object along the path. ### Claim 11 (depends on 9) The method of claim 9, wherein: the event comprises an object impeding the path, the vehicle data comprises at least one of a proposal to sound an audible warning, a proposal to activate lights to provide a visual warning, or a proposal to move the vehicle forward, and the control data comprises a command to accept or decline at least one of the proposals according to the level of guidance. ### Claim 12 (depends on 9) The method of claim 9, wherein the vehicle data comprises a proposed trajectory to pass the event and a request to confirm or decline the proposed trajectory. ### Claim 13 (depends on 12) The method of claim 12, wherein the control data comprises a command to decline the proposed trajectory and an alternative trajectory to pass the event. ### Claim 14 (depends on 12) The method of claim 12, wherein: the event comprises an object impeding the path, and the control data comprises a command to alter, as an altered virtual boundary, a virtual boundary of the driving corridor according to the level of guidance and to operate the vehicle. ### Claim 15 (depends on 14) The method of claim 14, wherein the command to alter a virtual boundary of a driving corridor comprises instructions of at least one of: expanding the driving corridor in which the vehicle proceeds, proposing a revised trajectory to avoid the object, proposing classification associated with the object, or reclassifying an area associated with the object. ### Claim 16 (depends on 14) The method of claim 14, further comprising: determining, based at least in part on an event response model, the level of guidance associated with the vehicle. ### Claim 17 One or more non-transitory computer-readable media storing instructions that, when executed, cause one or more processors to perform operations comprising: receiving vehicle data comprising at least one of: sensor data from a sensor associated with a vehicle; and event data associated with an event occurring along a path the vehicle is following, the event data associated with a confidence level; presenting at least a portion of the vehicle data on a computing device; receiving input data; determining, based at least in part on the input data and a level of guidance associated with the vehicle, control data that at least modifies an extent or a location of a driving corridor of the vehicle; and transmitting the control data to operate the vehicle according to the level of guidance. ### Claim 18 (depends on 17) The one or more non-transitory computer-readable media of claim 17, wherein: the event comprises an object impeding the path, and the control data comprises a command to alter, as an altered virtual boundary, a virtual boundary of the driving corridor according to the level of guidance and to operate the vehicle. ### Claim 19 (depends on 18) The one or more non-transitory computer-readable media of claim 18, wherein the command to alter, as an altered virtual boundary, a virtual boundary of a driving corridor comprises instructions of at least one of: expanding the driving corridor in which the vehicle proceeds, proposing a revised trajectory to avoid the object, proposing classification associated with the object, or reclassifying an area associated with the object. ### Claim 20 (depends on 17) The one or more non-transitory computer-readable media of claim 17, wherein: the event comprises an object impeding the path, the vehicle data comprises first classification data associated with the object, and the control data comprises second classification data associated with the object that is different than the first classification data and a command for the vehicle to ignore the object to permit the vehicle to travel past the object. ### Claim 21 (depends on 20) The one or more non-transitory computer-readable media of claim 20, wherein: the vehicle data comprises a proposed trajectory to pass the event and a request to confirm or decline the proposed trajectory; and the control data comprises a command to decline the proposed trajectory and an alternative trajectory to pass the event.