# US 12,005,925 B1 · Collaborative action ambiguity resolution for autonomous vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,925 B1 - Document ID: US12005925B1 - Status: Granted - Kind: B1 - Application number: 17/463,431 - Filed: 2021-08-31 - Granted: 2024-06-11 - Earliest claimed: 2021-08-31 - Assignees: Zoox, Inc. - Applicants: Zoox, Inc. - Inventors: Ravi Gogna; Arian Houshmand; Paul Orecchio - Web page: https://patentgrep.com/patent/US12005925B1 ## CPC - B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles} - B60W 60/0013: {specially adapted for occupant comfort} - B60W 2520/105: Longitudinal acceleration - B60W 2520/125: Lateral acceleration - B60W 2540/22: Psychological state; Stress level or workload - B60W 2554/20: Static objects - B60W 2556/45: External transmission of data to or from the vehicle - B60W 2720/10: Longitudinal speed - B60W 2720/12: Lateral speed - 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 ## Abstract A teleoperations system that collaboratively works with an autonomous vehicle planning component to generate a path for controlling the autonomous vehicle to pass a situation where the vehicle is unable to identify a vehicle option to proceed and may comprise presenting one or more paths to a teleoperator (e.g., a human user, machine-learned model, and/or artificial intelligence component), such paths being generated either at the vehicle or remote system. The teleoperations system may receive input from the teleoperator indicating a vehicle option to select for the vehicle to proceed in the environment. The teleoperations system may generate a guidance path based on the vehicle options and the input and transmit the guidance path to the autonomous vehicle. Based at least in part on the guidance path, the autonomous vehicle may generate a control trajectory to use to navigate around the obstacle. ## Claims ### Claim 1 A method comprising: receiving, from an autonomous vehicle and at a device remote from the autonomous vehicle, a request for assistance comprising at least two paths for the autonomous vehicle to navigate relative to an object in an environment detected by the autonomous vehicle, wherein the at least two paths received in the request for assistance represent potential planned paths generated by the autonomous vehicle and wherein the request for assistance is received based at least in part on a planning component of the autonomous vehicle alternating between the at least two paths at least one of a threshold number of times or within a predetermined time period; displaying, at the device, a representation of the environment and the object; displaying, at the device, a representation of the at least two paths; receiving, at the device, input identifying a region in the environment adjacent to the object; determining, based at least in part on the input and the at least two paths, a guidance path; and transmitting the guidance path to the autonomous vehicle to cause the autonomous vehicle to execute the guidance path. ### Claim 2 (depends on 1) The method of claim 1, wherein receiving the input identifying the region in the environment comprises receiving input associated with a point in the environment on a left side or a right side of the object with respect to a point-of-view of the autonomous vehicle. ### Claim 3 (depends on 1) The method of claim 1, wherein receiving the input identifying the region in the environment comprises receiving an input selecting one of the at least two paths. ### Claim 4 (depends on 1) The method of claim 1, wherein a first path of the at least two paths differs from a second path of the at least two paths, the first path associated with a cost that is within a threshold cost associated with the second path, and wherein the request for assistance is received based at least in part on the first path being associated with the cost that is within the threshold cost associated with the second path. ### Claim 5 (depends on 1) The method of claim 1, wherein the at least two paths are generated by the planning component of the autonomous vehicle. ### Claim 6 A system comprising: one or more processors; and a memory storing processor-executable instructions that, when executed by the one or more processors, cause the system to perform operations comprising: receiving, at a device remote from an autonomous vehicle, a request for assistance comprising at least two vehicle options for the autonomous vehicle to proceed relative to an environment detected by the autonomous vehicle, wherein the at least two vehicle options received in the request for assistance represent potential planned options generated by the autonomous vehicle and wherein the request for assistance is received based at least in part on a planning component of the autonomous vehicle alternating between the at least two vehicle options at least one of a threshold number of times or within a predetermined time period; displaying, at the device, a representation of the environment; displaying, at the device, a representation of the at least two vehicle options; receiving, at the device, input identifying a vehicle option of the at least two vehicle options; determining a guidance path for the autonomous vehicle based at least in part on the at least two vehicle options and the input; and transmitting the guidance path to the autonomous vehicle to cause the autonomous vehicle to execute the guidance path. ### Claim 7 (depends on 6) The system of claim 6, wherein the at least two vehicle options comprise at least two candidate paths. ### Claim 8 (depends on 7) The system of claim 7, wherein receiving the input comprises receiving an input selecting a candidate path from the at least two candidate paths. ### Claim 9 (depends on 6) The system of claim 6, the operations further comprising: transmitting an instruction to the autonomous vehicle to reduce a speed of the autonomous vehicle prior to determining the guidance path. ### Claim 10 (depends on 6) The system of claim 6, wherein a first cost associated with a first vehicle option of the at least two vehicle options is within a threshold of a second cost associated with a second vehicle option of the at least two vehicle options. ### Claim 11 (depends on 10) The system of claim 10, wherein the first cost and the second cost are determined based on at least: a safety factor of the at least two vehicle options; an acceleration factor for the at least two vehicle options; a vehicle policy standard; and a passenger comfort factor. ### Claim 12 (depends on 6) The system of claim 6, wherein receiving the input identifying the vehicle option comprises receiving an indication of a point within the environment, wherein determining the guidance path comprises selecting a vehicle option of the at least two vehicle options based on the indication of the point. ### Claim 13 (depends on 6) The system of claim 6, wherein receiving the request for assistance is based at least in part on a number of changes in a selected vehicle option over a predetermined time period. ### Claim 14 (depends on 6) The system of claim 6, wherein receiving the input comprises receiving an input indicating an exclusion of a region in the environment, wherein the guidance path is generated to avoid the region in the environment. ### Claim 15 One or more non-transitory computer-readable media storing processor-executable instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising: receiving, at a device remote from an autonomous vehicle, a request for assistance comprising at least two vehicle options for the autonomous vehicle to proceed relative to an environment detected by the autonomous vehicle, wherein the at least two vehicle options received in the request for assistance represent potential planned options generated by the autonomous vehicle and wherein the request for assistance is received based at least in part on a planning component of the autonomous vehicle alternating between the at least two vehicle options at least one of a threshold number of times or within a predetermined time period; displaying, at the device, a representation of the environment; displaying, at the device, a representation of the at least two vehicle options; receiving, at the device, input identifying a vehicle option of the at least two vehicle options; determining a guidance path for the autonomous vehicle based at least in part on the at least two vehicle options and the input; and transmitting the guidance path to the autonomous vehicle to cause the autonomous vehicle to execute the guidance path. ### Claim 16 (depends on 15) The one or more non-transitory computer-readable media of claim 15, wherein the at least two vehicle options comprise at least two candidate paths and receiving the input comprises receiving an input selecting a candidate path from the at least two candidate paths. ### Claim 17 (depends on 15) The one or more non-transitory computer-readable media of claim 15, wherein receiving the input comprises receiving an input via a user interface of a computing device positioned remote of the autonomous vehicle. ### Claim 18 (depends on 15) The one or more non-transitory computer-readable media of claim 15, wherein a first cost associated with a first vehicle option of the at least two vehicle options is within a threshold of a second cost associated with a second vehicle option of the at least two vehicle options. ### Claim 19 (depends on 18) The one or more non-transitory computer-readable media of claim 18, wherein the first cost and the second cost are determined based on at least: a safety factor of the at least two vehicle options; an acceleration factor for the at least two vehicle options; a vehicle policy standard; and a passenger comfort factor. ### Claim 20 (depends on 15) The one or more non-transitory computer-readable media of claim 15, wherein receiving the request for assistance is based at least in part on a number of changes in a selected vehicle option over a predetermined time period.