Vehicle remote assistance mode

Patent metadata

Field	Value
Publication number	US-10514697-B2
Application number	US-201715706113-A
Country	US
Kind code	B2
Filing date	Sep 15, 2017
Priority date	Sep 15, 2017
Publication date	Dec 24, 2019
Grant date	Dec 24, 2019

Abstract

Systems and method are provided for controlling a vehicle. In one embodiment, a method includes calculating, via a router of a vehicle system that accesses road map data, at least one route to a destination based on the road map data, thereby producing route solution data. The vehicle system enters a remote assistance mode in response to remote assistance decision data received from a blockage arbiter of the vehicle system. In the remote assistance mode, the method includes determining, via the router, at least one road segment of the road map data that is permitted to be blacklisted, thereby producing permitted blacklist data. The method includes transmitting the permitted blacklist data and the route solution data, via a vehicle communications module of the vehicle system, to a remote vehicle assistance system. The method includes updating, via the router, the road map data to exclude at least one blacklisted road segment defined by the permitted blacklist data.

First claim

What is claimed is:

1. A vehicle system, comprising:
a router configured to, by a processor, access road map data and to calculate at least one route to a destination based on the road map data, thereby producing route solution data;
the router configured to, by the processor, receive remote assistance decision data and to responsively enter a remote assistance mode;
in the remote assistance mode, the router is configured to, by the processor, determine at least one road segment of the road map data that is permitted to be blacklisted, thereby producing permitted blacklist data, and to limit a distance of the at least one road segment from the vehicle system in determining the at least one road segment of the road map data that is permitted to be blacklisted; and
a vehicle communications module configured to transmit the permitted blacklist data and the route solution data to a remote vehicle assistance system.

2. The vehicle system of claim 1 , wherein the vehicle communications module is configured to receive blacklist data representing at least one blacklisted road segment from the remote vehicle assistance system.

3. The vehicle system of claim 2 , wherein the router is configured to update the road map data to exclude the at least one blacklisted road segment.

4. The vehicle system of claim 3 , wherein the router is configured to recalculate the at least one route to the destination based on the updated road map data, thereby producing updated route solution data.

5. The vehicle system of claim 1 , wherein the router is configured to provide the route solution data to an autonomous driving system.

6. The vehicle system of claim 1 , comprising a blockage arbiter configured to receive inputs from at least one of a positioning system and a computer vision system and to determine a remote assistance requirement, thereby producing the remote assistance decision data.

7. The vehicle system of claim 1 , wherein the road map data is provided as a graph data structure and the router is configured to calculate the at least one route to the destination based on the graph data structure using a graph traversal algorithm.

8. The vehicle system of claim 1 and an autonomous driving system configured to determine autonomous driving commands for directing the vehicle to the destination based on the route solution data; and
an actuator system configured to automatically control components of the vehicle so that the vehicle autonomously moves along the at least one route to the destination.

9. A remote vehicle assistance system, comprising:
a remote communications module configured to receive permitted blacklist data and route solution data from a vehicle system, the permitted blacklist data including at least one road segment of road map data that is permitted to be blacklisted and that is determined based on a distance limit associated with the at least one road segment and the route solution data representing at least one route to a target destination; and
a vehicle assistance tool configured to select at least one road segment from the permitted blacklist data to be blacklisted, thereby producing blacklist data;
the remote communications module configured to transmit the blacklist data to the vehicle system.

10. The remote vehicle assistance system of claim 9 , wherein the remote vehicle system comprises an operator interface tool configured to receive a human operator input as to the at least one road segment from the permitted blacklist data to be blacklisted.

11. The remote vehicle assistance system of claim 9 , comprising a display and configured to display the at least one route to the target destination and to indicate the at least one road segment that is permitted to be blacklisted.

12. The remote vehicle assistance system of claim 9 and a vehicle system, comprising: a router configured to access the road map data and to calculate the at least one route to the target destination based on the road map data, thereby producing the route solution data; the router configured to receive remote assistance decision data and to responsively enter a remote assistance mode; in the remote assistance mode, the router is configured to determine at least one road segment of the road map data that is permitted to be blacklisted, thereby producing the permitted blacklist data; and a vehicle communications module configured to transmit the permitted blacklist data and the route solution data to the remote assistance system.

13. A computer implemented method of providing remote assistance to an autonomous vehicle comprising a vehicle system, the method comprising:
calculating, via a router of the vehicle system that accesses road map data, at least one route to a destination based on the road map data, thereby producing route solution data;
the vehicle system entering a remote assistance mode in response to remote assistance decision data received from a blockage arbiter of the vehicle system;
in the remote assistance mode, determining, via the router, at least one road segment of the road map data that is permitted to be blacklisted, thereby producing permitted blacklist data,
limiting a distance of the at least one road segment from the vehicle system in determining the at least one road segment of the road map data that is permitted to be blacklisted, and
transmitting the permitted blacklist data and the route solution data, via a vehicle communications module of the vehicle system, to a remote vehicle assistance system.

14. The computer implemented method of claim 13 , comprising receiving blacklist data, via the vehicle communications module, representing at least one blacklisted road segment from the remote vehicle assistance system.

15. The computer implemented method of claim 14 , comprising updating, via the router, the road map data to exclude the at least one blacklisted road segment.

16. The computer implemented method of claim 15 , comprising recalculating the at least one route to the destination based on the updated road map data, thereby produced updated route solution data.

17. The computer implemented method of claim 13 , wherein the road map data is provided as a graph data structure.

18. The computer implemented method of claim 13 , comprising the remote vehicle assistance system receiving, via a remote communications module, the permitted blacklist data and the route solution data from the vehicle system, and selecting, via a vehicle assistance tool, at least one road segment from the permitted blacklist data to be blacklisted, thereby producing the blacklist data; and transmitting the blacklist data to the vehicle system via the remote communications module.

19. The computer implemented method of claim 13 , controlling, via an autonomous driving and actuator system, components of the vehicle so that the vehicle autonomously moves along the at least one route to the destination.

Assignees

• Gm Global Tech Operations Llc

Inventors

• Wisniowski Matthias
• Gross Drew
• Bier Solomon
• Rust Ian

Classifications

• G08G1/096827

  where the route is computed onboard · CPC title

• B60W2556/50

  of positioning data, e.g. GPS [Global Positioning System] data · CPC title

• G08G1/096844

  where the complete route is dynamically recomputed based on new data · CPC title

• G08G1/164

  Centralised systems, e.g. external to vehicles · CPC title

• G08G1/09675

  where a selection from the received information takes place in the vehicle · CPC title