Micro-authorization of remote assistance for an autonomous vehicle

Patent metadata

Field	Value
Publication number	US-11112790-B2
Application number	US-201816228877-A
Country	US
Kind code	B2
Filing date	Dec 21, 2018
Priority date	Dec 21, 2018
Publication date	Sep 7, 2021
Grant date	Sep 7, 2021

Abstract

Micro-authorization of remote assistance for an autonomous vehicle is described herein. A constraint that inhibits propulsion by a mechanical system of the autonomous vehicle is activated by a computing system of the autonomous vehicle, wherein a signal that identifies the activated constraint is transmitted from the autonomous vehicle to a remote computing system. The remote computing system generates instructions to deactivate the activated constraint. A return signal is transmitted from the remote computing system that specifies instructions to deactivate the constraint and a distance to desirably advance the autonomous vehicle. The computing system of the autonomous vehicle deactivates the constraint and the mechanical system is controlled to advance the autonomous vehicle when signal latency is less than a predetermined threshold duration of time.

First claim

What is claimed is:

1. An autonomous vehicle, comprising:
a mechanical system; and
a computing system in communication with the mechanical system, wherein the computing system comprises:
a processor; and
memory that stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising:
activating a constraint that controls the mechanical system to stop movement of the autonomous vehicle, wherein the constraint is a restriction upon an operation of the autonomous vehicle such that the autonomous vehicle is stopped at a first stopped position, and wherein the constraint is activated to stop the movement of the autonomous vehicle based on an object detected in a travel path of the autonomous vehicle;
transmitting a signal that identifies the constraint to a remote computing system;
receiving a return signal from the remote computing system, wherein the return signal specifies instructions to deactivate the constraint when the object is a phantom object;
evaluating whether signal latency is less than a predetermined threshold duration of time, wherein the signal latency is measured by a time interval defined by the transmission of the signal to the receipt of the return signal;
deactivating the constraint based upon the instructions to deactivate the constraint when the signal latency is less than the predetermined threshold duration of time; and
controlling the mechanical system to move the autonomous vehicle when the constraint is deactivated by the instructions to deactivate the constraint, wherein the mechanical system is controlled to move the autonomous vehicle to a second stopped position that is a particular distance from the first stopped position when the constraint is deactivated by the instructions to deactivate the constraint.

2. The autonomous vehicle of claim 1 , the acts performed by the processor further comprising:
when the autonomous vehicle is stopped at the second stopped position, transmitting a second signal that identifies the constraint to the remote computing system;
receiving a second return signal from the remote computing system, wherein the second return signal specifies second instructions to deactivate the constraint;
deactivating the constraint based upon the second instructions to deactivate the constraint when a second signal latency is less than the predetermined threshold duration of time, wherein the second signal latency is a time interval defined by the transmission of the second signal to the receipt of the second return signal; and
controlling the mechanical system to move the autonomous vehicle when the constraint is deactivated by the second instructions to deactivate the constraint, wherein the mechanical system is controlled to move the autonomous vehicle to a third stopped position that is a second particular distance from the second stopped position when the constraint is deactivated by the second instructions to deactivate the constraint.

3. The autonomous vehicle of claim 1 , the acts performed by the processor further comprising:
identifying the particular distance that the autonomous vehicle is to be moved, the particular distance being specified as part of the return signal; and
controlling the mechanical system based upon the particular distance when the constraint is deactivated by the instructions to deactivate the constraint.

4. The autonomous vehicle of claim 1 , wherein the particular distance is less than or equal to 1.5 meters.

5. The autonomous vehicle of claim 1 , the acts performed by the processor further comprising:
transmitting video data captured by the autonomous vehicle to the remote computing system, wherein the return signal received from the remote computing system is based upon the video data.

6. The autonomous vehicle of claim 1 , the acts performed by the processor further comprising:
detecting the object in the travel path of the autonomous vehicle based on at least one of a sensor system output or an object trajectory algorithm.

7. The autonomous vehicle of claim 1 , wherein the autonomous vehicle remains stopped at the first stopped position when the return signal is not received from the remote computing system.

8. The autonomous vehicle of claim 1 , wherein the return signal further includes data that specifies at least one of steering controls or propulsion controls; and
wherein the mechanical system is controlled based upon the at least one of the steering controls or the propulsion controls.

9. The autonomous vehicle of claim 1 , wherein the particular distance is a predefined distance.

10. The autonomous vehicle of claim 1 , wherein the autonomous vehicle remains stopped at the first stopped position when the signal latency is greater than or equal to the predetermined threshold duration of time.

11. The autonomous vehicle of claim 1 , wherein the return signal is sent by the remote computing system responsive to user input received by the remote computing system.

12. A method of controlling an autonomous vehicle, comprising:
detecting an object in a travel path of the autonomous vehicle;
activating a constraint that controls a mechanical system to stop movement of the autonomous vehicle based on the object detected in the travel path of the autonomous vehicle, wherein the constraint causes the autonomous vehicle to stop at a first stopped position;
transmitting a signal that identifies the constraint to a remote computing system;
receiving a return signal from the remote computing system, wherein the return signal specifies instructions to deactivate the constraint when the object is a phantom object;
evaluating whether signal latency is less than a predetermined threshold duration of time, wherein the signal latency is measured by a time interval defined by the transmission of the signal to the receipt of the return signal;
deactivating the constraint based upon the instructions to deactivate the constraint when the signal latency is less than the predetermined threshold duration of time; and
controlling the mechanical system to move the autonomous vehicle when the constraint is deactivated by the instructions to deactivate the constraint, wherein the mechanical system is controlled to move the autonomous vehicle to a second stopped position that is a particular distance from the first stopped position when the constraint is deactivated by the instructions to deactivate the constraint.

13. The method of claim 12 , further comprising:
when the autonomous vehicle is stopped at the second stopped position, transmitting a second signal that identifies the constraint to the remote computing system;
receiving a second return signal from the remote computing system, wherein the second return signal specifies second instructions to deactivate the constraint;
deactivating the constraint based upon the second instructions to deactivate the constraint when a second signal latency is less than the predetermined threshold duration of time, wherein the second signal latency is a time interval defined by the transmission of the second signal to the receipt of the second return signal; and
controlling the mechanical system to move the autonomous vehicle when the constraint is deactivated by the second instructions to deactivate the constraint, wherein the mechanical system is controlled to move the autonomous vehicle to a third stopped position that is a second particular distance from the second stopped position when the constraint is deactivated by the second instructions to deactivate the constraint.

14. The method of claim 12 , wherein the particular distance is less than or

Assignees

• Gm Global Tech Operations Llc

Inventors

• Gross Drew
• Pierce Brian
• Langor Gillian
• Lau Haven

Classifications

• G05D1/224

  Output arrangements on the remote controller, e.g. displays, haptics or speakers · CPC title

• G05D1/646

  Following a predefined trajectory, e.g. a line marked on the floor or a flight path · CPC title

• G05D1/247

  using signals provided by artificial sources external to the vehicle, e.g. navigation beacons · CPC title

• G05D1/249

  from positioning sensors located off-board the vehicle, e.g. from cameras · CPC title

• B60W2556/45

  External transmission of data to or from the vehicle · CPC title