Remote vehicle guidance

A non-transitory computer-readable medium storing instructions that, when executed, cause one or more processors to perform operations comprising:

• receiving, from a vehicle computing device associated with a vehicle, a request for guidance input for navigating around an obstacle;
• receiving, as received data and from the vehicle computing device, sensor data or data based at least in part on the sensor data;
• determining, at a first time, that a condition for providing remote guidance to the vehicle is satisfied, wherein the condition comprises at least one of:
• a number of sensors available to provide the received data is equal to or greater than a threshold number, or
• a determination that the vehicle does not comprise an associated health related fault;
• receiving, based at least in part on the condition being met and via a user interface associated with a guidance system, an input corresponding to a waypoint associated with a location and an orientation, the input being based at least in part on the received data;
• sending data associated with the waypoint to the vehicle computing device, wherein the vehicle computing device is configured to generate a trajectory based at least in part on the data associated with the waypoint and cause the vehicle to be controlled based at least in part on the trajectory
• determining, at a second time, that the condition for providing remote guidance is not satisfied;
• and
• disabling the input to the user interface based at least in part on the condition not being satisfied.

A system comprising:

• one or more processors;
• and
• memory storing processor-executable instructions that, when executed by the one or more processors, configure the system to:
• receive, from a vehicle computing device associated with a vehicle, a request for guidance input for navigating around an obstacle;
• receive, as received data and from the vehicle computing device, sensor data or data based at least in part on the sensor data;
• determine, at a first time, that a condition for providing remote guidance to the vehicle is satisfied, wherein the condition comprises at least one of:
• a number of sensors available to provide the received data is equal to or greater than a threshold number, or
• a determination that the vehicle does not comprise an associated health related fault;
• receive, based at least in part on the condition being met and via a user interface associated with a guidance system, an input corresponding to a waypoint associated with a location and an orientation, the input being based at least in part on the received data;
• send data associated with the waypoint to the vehicle computing device, wherein the vehicle computing device is configured to generate a trajectory to the waypoint and cause the vehicle to be controlled based at least in part on the trajectory;
• determine, at a second time, that the condition for providing remote guidance is not satisfied;
• and
• disable the input to the user interface based at least in part on the condition not being satisfied.