System and method for controlling an autonomous vehicle
AssigneeZoox, Inc.
InventorsRavi Gogna, Meredith James Goldman
Life of this patent
Estimating the term…
Abstract
The present disclosure is directed to systems and techniques for controlling an autonomous vehicle. While the autonomous vehicle is travelling to a destination, the autonomous vehicle may encounter a situation preventing the autonomous vehicle from travelling to the destination. A control center may receive information from the autonomous device and use a graphical user interface to provide instructions with limited controls for the autonomous vehicle to navigate to an intermediate position. In such an intermediate position, the vehicle may make way for an emergency vehicle, obtain additional sensor data for continued autonomous planning, signal intent to other objects in the environment, and the like.
Claims24
A method, comprising:
- receiving at least a portion of sensor data from a sensor on an autonomous vehicle, traversing an environment to a destination;
- causing a display to display a first representation of the autonomous vehicle in the environment;
- causing the display to display a second representation of the sensor data;
- determining, based at least in part on the portion of sensor data, that the autonomous vehicle is in a stuck position;
- receiving input indicating an intermediate location to which the autonomous vehicle is to travel that is a distance within a specific radius of the position of the autonomous vehicle in accordance with a specific speed and an orientation that is within a specific orientation threshold from a current orientation;
- and
- transmitting an instruction to the autonomous vehicle to cause the autonomous vehicle to infer a plan, based on the distance, specific speed, and orientation, to travel to the intermediate location and to be orientated at the intermediate location based on a different heading direction used by the autonomous vehicle en route to the destination.
A system, comprising:
- one or more processors;
- and
- non-transitory computer readable memory including instructions that, when executed by the one or more processors, cause the system to perform operations comprising:
- receiving, at a display, at least a portion of sensor data from a sensor of a device, the sensor data reflecting a state of an environment surrounding the device en route to a destination;
- determining, based at least in part on the portion of sensor data, that the device is in a current position that is unable to proceed to the destination;
- receiving input indicating an intermediate destination that is a distance within a specific radius of the current position of the device in accordance with a speed threshold and an orientation threshold to which the device is to travel, the input further indicating an orientation represented by a value to adjust the device at the intermediate destination;
- and
- transmitting an instruction to the device, while the device is in the current position, to cause the device to use the distance and orientation to determine a plan to travel to the intermediate destination and align to the orientation at the intermediate destination where the orientation indicates a direction different from a heading direction used by the device en route to the destination.
A non-transitory computer-readable storage medium having stored thereon executable instructions that, as a result of being executed by one or more processors of a computer system, cause the computer system to at least:
- receive, at a graphical user interface, at least a portion of sensor data from a sensor of a device, the sensor data reflecting a state of an environment surrounding the device en route to a destination;
- determine, based at least in part on the portion of sensor data, that the device is in a position that constrains the device from proceeding to the destination;
- receive input indicating an intermediate destination that is a distance within a specific radius of the position of the device in accordance with a specific speed and an orientation that is within a specific orientation threshold from a current orientation;
- and
- transmit an instruction to the device to cause the device to infer a plan, based on the distance, specific speed, and orientation, to travel to the intermediate destination and to be orientated at the intermediate destination based on a different heading direction used by the device en route to the destination.
Dependencies are inferred from the claim text.