Human Supervision of an Automated Driving System

A computing system, comprising:

• one or more processors;
• and
• one or more non-transitory computer-readable media that collectively store instructions that, when executed by the one or more processors, cause the computing system to perform operations, the operations comprising:
• receiving data representing a first motion plan for an autonomous vehicle and a second motion plan for the autonomous vehicle,
• wherein the first motion plan is determined based at least in part on sensor data, and wherein the second motion plan is determined based at least in part on the sensor data and is separately determinable from the first motion plan;
• prior to receiving an input from a passenger of the autonomous vehicle, issuing one or more first control signals to control the autonomous vehicle according to the first motion plan;
• determining that the input is received from the passenger of the autonomous vehicle;
• and
• in response to determining that the input is received, issuing one or more second control signals to abort the first motion plan and to control the autonomous vehicle according to the second motion plan.

An autonomous vehicle, the autonomous vehicle comprising:

• one or more processors;
• and
• one or more non-transitory computer-readable media that collectively store instructions that, when executed by the one or more processors, cause the one or more processors to perform operations, the operations comprising:
• receiving data representing a first motion plan for the autonomous vehicle and a second motion plan for the autonomous vehicle, wherein the first motion plan is determined based at least in part on sensor data, and wherein the second motion plan is determined based at least in part on the sensor data and is separately determinable from the first motion plan;
• prior to receiving an input from a passenger of the autonomous vehicle, issuing one or more first control signals to control the autonomous vehicle according to the first motion plan;
• determining that the input is received from the passenger of the autonomous vehicle;
• and
• in response to determining that the input is received, issuing one or more second control signals to abort the first motion plan and to control the autonomous vehicle according to the second motion plan.

A computer implemented method implemented comprising:

• receiving, by a computing system comprising one or more computing devices, data representing the first motion plan for an autonomous vehicle and the second motion plan for the autonomous vehicle,
• wherein the first motion plan is determined based at least in part on sensor data, and wherein the second motion plan is determined based at least in part on the sensor data and is separately determinable from the first motion plan;
• prior to receiving an input from a user of the autonomous vehicle, issuing one or more first control signals to control the autonomous vehicle according to the first motion plan;
• determining that the input is received from the user of the autonomous vehicle;
• and
• in response to determining that the input is received, issuing one or more second control signals to abort the first motion plan and to control the autonomous vehicle according to the second motion plan.