Managing and tracking scouting tasks using autonomous vehicles

Patent metadata

Field	Value
Publication number	US-12437650-B1
Application number	US-202318474415-A
Country	US
Kind code	B1
Filing date	Sep 26, 2023
Priority date	Oct 15, 2018
Publication date	Oct 7, 2025
Grant date	Oct 7, 2025

Abstract

A method is provided for managing and tracking scouting tasks to obtain map information using a fleet of autonomous vehicles. For instance, the method includes defining a scouting quest to obtain the map information. The scouting quest includes a plurality of objectives. Each objective is associated with a geographic location from which sensor data is to be captured. The method also includes receiving a first update message from an autonomous vehicle of the fleet. The update message identifies a location of the autonomous vehicle. The method also includes assigning at least one of the objectives to the autonomous vehicle based on the location of the autonomous vehicle. The method also includes sending instructions to the autonomous vehicle in order to cause the autonomous vehicle to complete the at least one objective and after sending, tracking a status of the scouting quest.

First claim

The invention claimed is:

1. A method of managing and tracking scouting tasks to obtain map information using a fleet of autonomous vehicles, the method comprising:
defining, by one or more computing devices, a scouting quest to obtain the map information, the scouting quest including a plurality of scouting objectives, each of the plurality of scouting objectives being associated with a geographic location at which sensor data is to be captured;
receiving, by the one or more computing devices, a first update message from an autonomous vehicle of the fleet, the first update message identifying a current location of the autonomous vehicle;
assigning, by the one or more computing devices, at least one of the plurality of scouting objectives to the autonomous vehicle based on staleness of the at least one of the plurality of scouting objectives and the current location of the autonomous vehicle, wherein the staleness of the at least one of the plurality of scouting objectives is determined based on whether an assignment of the at least one of the plurality of scouting objectives has been completed or not completed by a vehicle;
sending, by the one or more computing devices, instructions to the autonomous vehicle in order to cause the autonomous vehicle to autonomously complete the at least one of the plurality of scouting objectives; and
after sending the instructions, tracking, by the one or more computing devices, a status of the scouting quest.

2. The method of claim 1 , wherein the staleness of the at least one of the plurality of scouting objectives is determined based on whether the at least one of the plurality of scouting objectives has been visited by at least one of the fleet of autonomous vehicles.

3. The method of claim 1 , wherein the first update message further includes an indication that the autonomous vehicle is not currently providing transportation services and the assigning is further based on the indication.

4. The method of claim 1 , further comprising receiving a second update message including an indication that the autonomous vehicle has completed the at least one of the plurality of scouting objectives.

5. The method of claim 1 , further comprising:
receiving a second update message identifying an updated current location for the autonomous vehicle; and
determining that the autonomous vehicle has completed the at least one of the plurality of scouting objectives, wherein tracking the status is further based on the determining.

6. The method of claim 1 , wherein each geographic location of each scouting objective of the plurality of scouting objectives is defined as an area through which the autonomous vehicle can pass in order to complete a corresponding scouting objective.

7. The method of claim 1 , further comprising sending the scouting quest to the autonomous vehicle in order to incorporate the plurality of scouting objectives into a local version of the map information at the autonomous vehicle.

8. The method of claim 1 , wherein each geographic location of each scouting objective of the plurality of scouting objectives is defined as a curve along which the autonomous vehicle can pass in order to complete a corresponding scouting objective.

9. The method of claim 1 , wherein each geographic location of each scouting objective of the plurality of scouting objectives identifies a lane through which the autonomous vehicle can travel in order to complete a corresponding scouting objective.

10. A system for managing and tracking scouting tasks to obtain map information using a fleet of autonomous vehicles, the system comprising one or more processors configured to:
define a scouting quest to obtain the map information, the scouting quest including a plurality of scouting objectives, each of the plurality of scouting objectives being associated with a geographic location at which sensor data is to be captured;
receive a first update message from an autonomous vehicle of the fleet, the first update message identifying a current location of the autonomous vehicle;
assign at least one of the plurality of scouting objectives to the autonomous vehicle based on staleness of the at least one of the plurality of scouting objectives and the current location of the autonomous vehicle, wherein the staleness of the at least one of the plurality of scouting objectives is determined based on whether an assignment of the at least one of the plurality of scouting objectives has been completed or not completed by a vehicle;
send instructions to the autonomous vehicle in order to cause the autonomous vehicle to autonomously complete the at least one of the plurality of scouting objectives; and
after sending of the instructions, track a status of the scouting quest.

11. The system of claim 10 , wherein the staleness of the at least one of the plurality of scouting objectives is determined based on whether the at least one of the plurality of scouting objectives has been visited by at least one of the fleet of autonomous vehicles.

12. The system of claim 10 , wherein the first update message further includes an indication that the autonomous vehicle is not currently providing transportation services and the assigning is further based on the indication.

13. The system of claim 10 , wherein the one or more processors are further configured to receive a second update message including an indication that the autonomous vehicle has completed the at least one of the plurality of scouting objectives.

14. The system of claim 10 , wherein the one or more processors are further configured to:
receive a second update message identifying an updated current location for the autonomous vehicle; and
determine that the autonomous vehicle has completed the at least one of the plurality of scouting objectives, wherein tracking the status is further based on the determination.

15. The system of claim 10 , wherein each geographic location of each scouting objective of the plurality of scouting objectives is defined as an area through which the autonomous vehicle can pass in order to complete a corresponding scouting objective.

16. The system of claim 10 , wherein the one or more processors are further configured to send the scouting quest to the autonomous vehicle in order to incorporate the plurality of scouting objectives into a local version of the map information at the autonomous vehicle.

17. The system of claim 10 , wherein each geographic location of each scouting objective of the plurality of scouting objectives is defined as a curve along which the autonomous vehicle can pass in order to complete a corresponding scouting objective.

18. The system of claim 10 , wherein each geographic location of each scouting objective of the plurality of scouting objectives identifies a lane through which the autonomous vehicle can travel in order to complete a corresponding scouting objective.

Assignees

• Waymo Llc

Inventors

• Patterson Katharine
• Feenstra Laurens Andreas
• Colijn Peter
• Abrams Austin Daniel

Classifications

• G01C21/3841

  Data obtained from two or more sources, e.g. probe vehicles · CPC title

• G05D1/246

  using environment maps, e.g. simultaneous localisation and mapping [SLAM] · CPC title

• G05D1/69

  Coordinated control of the position or course of two or more vehicles · CPC title

• G05D2105/80

  for information gathering, e.g. for academic research · CPC title

• G05D2105/87

  for exploration, e.g. mapping of an area · CPC title