Micro-authorization of remote assistance for an autonomous vehicle

Patent metadata

Field	Value
Publication number	US-11762385-B2
Application number	US-202117460175-A
Country	US
Kind code	B2
Filing date	Aug 28, 2021
Priority date	Dec 21, 2018
Publication date	Sep 19, 2023
Grant date	Sep 19, 2023

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. A computing system, comprising:
a processor; and
memory that stores instructions that, when executed by the processor, cause the processor to perform acts comprising:
receiving a signal from an autonomous vehicle, wherein the signal identifies an activated constraint that inhibits advancement of the autonomous vehicle, wherein a constraint is a restriction upon an operation of the autonomous vehicle;
generating instructions to deactivate the activated constraint; and
transmitting a return signal to the autonomous vehicle to initiate an incremental distance of advancement by the autonomous vehicle, wherein the return signal includes the instructions to deactivate the activated constraint that cause the autonomous vehicle to advance by the incremental distance of advancement.

2. The computing system of claim 1 , wherein the acts performed by the processor further comprises:
transmitting a second return signal to the autonomous vehicle to cause the autonomous vehicle to advance by a second incremental distance of advancement.

3. The computing system of claim 1 , wherein the acts performed by the processor further comprises:
identifying a distance for the incremental distance of advancement of the autonomous vehicle; and
including data that specifies the distance for the incremental distance of advancement of the autonomous vehicle in the return signal.

4. The computing system of claim 3 , wherein the return signal includes instructions to incorporate the distance to advance the autonomous vehicle as an additional constraint upon operations of the autonomous vehicle.

5. The computing system of claim 1 , wherein the incremental distance of advancement is less than or equal to 1.5 meters.

6. The computing system of claim 1 , wherein the acts performed by the processor further comprises:
receiving video data from the autonomous vehicle;
displaying the video data on a display; and
transmitting the return signal to initiate the incremental distance of advancement based upon the displayed video data.

7. The computing system of claim 1 , wherein the activated constraint corresponds to at least one of a sensor system output or an object trajectory algorithm.

8. The computing system of claim 1 , wherein the acts performed by the processor further comprises:
identifying a timestamp included in the signal received from the autonomous vehicle; and
incorporating the timestamp in the return signal transmitted to the autonomous vehicle.

9. The computing system of claim 1 , wherein receiving the signal from the autonomous vehicle and transmitting the return signal to the autonomous vehicle is performed within a predetermined time interval to cause the autonomous vehicle to advance by the incremental distance of advancement.

10. The computing system of claim 1 , wherein the return signal further includes data that specifies at least one of steering controls or propulsion controls.

11. The computing system of claim 1 , wherein the activated constraint controls the autonomous vehicle to stop movement of the autonomous vehicle at a first stopped position, and wherein the instructions to deactivate the activated constraint cause the autonomous vehicle to move to a second stopped position that is a particular distance from the first stopped position.

12. The computing system of claim 1 , wherein the activated constraint is activated to stop movement of the autonomous vehicle based on an object detected in a travel path of the autonomous vehicle, and wherein the instructions to deactivate the activated constraint are generated when the object is a phantom object.

13. The computing system of claim 1 , wherein the instructions are generated responsive to user input.

14. A method performed by a computing system in communication with an autonomous vehicle, comprising:
receiving a signal from the autonomous vehicle at the computing system, wherein the signal identifies an activated constraint that inhibits advancement of the autonomous vehicle, wherein a constraint is a restriction upon an operation of the autonomous vehicle;
generating instructions to deactivate the activated constraint; and
transmitting a return signal from the computing system to the autonomous vehicle to initiate an incremental distance of advancement by the autonomous vehicle, wherein the return signal includes the instructions to deactivate the activated constraint that cause the autonomous vehicle to advance by the incremental distance of advancement.

15. The method of claim 14 , further comprising:
transmitting a second return signal to the autonomous vehicle to cause the autonomous vehicle to advance by a second incremental distance of advancement.

16. The method of claim 14 , further comprising:
identifying a distance for the incremental distance of advancement of the autonomous vehicle; and
including data that specifies the distance for the incremental distance of advancement of the autonomous vehicle in the return signal.

17. The method of claim 14 , further comprising:
identifying a timestamp included in the signal received from the autonomous vehicle; and
incorporating the timestamp in the return signal transmitted to the autonomous vehicle.

18. The method of claim 14 , wherein the activated constraint controls the autonomous vehicle to stop movement of the autonomous vehicle at a first stopped position, and wherein the instructions to deactivate the activated constraint cause the autonomous vehicle to move to a second stopped position that is a particular distance from the first stopped position.

19. The method of claim 14 , wherein the activated constraint is activated to stop movement of the autonomous vehicle based on an object detected in a travel path of the autonomous vehicle, and wherein the instructions to deactivate the activated constraint are generated when the object is a phantom object.

20. A computing system, comprising:
a processor; and
memory that stores instructions that, when executed by the processor, cause the processor to perform acts comprising:
receiving a signal from an autonomous vehicle, wherein the signal identifies an activated constraint that inhibits advancement of the autonomous vehicle, wherein a constraint is a restriction upon an operation of the autonomous vehicle;
generating instructions to deactivate the activated constraint;
identifying a distance to advance the autonomous vehicle; and

transmitting a return signal to the autonomous vehicle to initiate an incremental distance of advancement by the autonomous vehicle, wherein the return signal includes the instructions to deactivate the activated constraint and the distance to advance the autonomous vehicle.

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

• B60W60/007 Primary

  Emergency override (Handing over between remote control and on-board control or handing over between remote control arrangements G05D1/227) · CPC title