External control of an autonomous vehicle

A method of selectively remotely controlling a vehicle comprising:

• configuring the vehicle in a first configuration for autonomous control;
• controlling the vehicle in the first configuration;
• receiving an instruction to remotely control the vehicle;
• authenticating, at the vehicle, a remote controller remote from the vehicle, the remote controller being configured to generate control commands for controlling the vehicle;
• reconfiguring the vehicle in a second configuration for remote control;
• receiving, from the remote controller and with the vehicle in the second configuration, a control command of the control commands for the vehicle to proceed in an environment;
• receiving, from a sensor disposed on the vehicle, sensor data corresponding to the environment;
• determining, from the sensor data, object information about an object in the environment;
• based at least in part on the object information, generating a modified control command;
• and
• controlling the vehicle to move in accordance with the modified control command.

One or more computer readable media storing instructions that, when executed by one or more processors, cause a control system of a vehicle to perform acts comprising:

• operating the vehicle in a first configuration for autonomous control;
• receiving, with the vehicle in the autonomous configuration, an instruction to remotely control the vehicle;
• authenticating, at the vehicle, a remote controller remote from the vehicle, the remote controller being configured to generate control commands for controlling the vehicle;
• reconfiguring the vehicle to a second configuration for remote control;
• receiving, from the remote controller and with the vehicle in the second configuration, a control command of the control commands for the vehicle to move in a direction in an environment;
• receiving, from a sensor associated with the vehicle, sensor data corresponding to the environment;
• determining, from the sensor data, a distance of an object from the vehicle;
• generating, based at least in part on the distance, a modified control command;
• and
• generating instructions based at least in part on the modified control command.