초록 ▼

An autonomous vehicle may include a stuck condition detection component and a communications component. The stuck-detection component may be configured to detect a condition in which the autonomous vehicle is impeded from navigating according to a first trajectory. The communications component may s

An autonomous vehicle may include a stuck condition detection component and a communications component. The stuck-detection component may be configured to detect a condition in which the autonomous vehicle is impeded from navigating according to a first trajectory. The communications component may send an assistance signal to an assistance center and receive a response to the assistance signal. The assistance signal may include sensor information from the autonomous vehicle. The assistance center may include a communications component and a trajectory specification component. The communications component may receive the assistance signal and send a corresponding response. The trajectory specification component may specify a second trajectory for the autonomous vehicle and generate the corresponding response that includes a representation of the second trajectory. The second trajectory may be based on the first trajectory and may ignore an object that obstructs the first trajectory.

대표청구항 ▼

1. A method comprising: transmitting, by a transceiver of an autonomous vehicle, an assistance signal to an assistance center, wherein the assistance signal indicates that the autonomous vehicle seeks assistance navigating according to a first trajectory, and wherein the assistance signal includes a

1. A method comprising: transmitting, by a transceiver of an autonomous vehicle, an assistance signal to an assistance center, wherein the assistance signal indicates that the autonomous vehicle seeks assistance navigating according to a first trajectory, and wherein the assistance signal includes a first extent of sensor information indicating representations of objects in the vicinity of the autonomous vehicle;receiving, by the transceiver of the autonomous vehicle, a request, from the assistance center, to enter an augmented mode, wherein the autonomous vehicle transmits a second extent of sensor information to the assistance center when in the augmented mode, and wherein the second extent of sensor information is greater than the first extent of sensor information;determining, by a processor of the autonomous vehicle, to enter the augmented mode;transmitting, by the transceiver of the autonomous vehicle, additional information to the assistance center; andreceiving, by the transceiver of the autonomous vehicle, a response to the assistance signal and the additional information, wherein the response includes a representation of a second trajectory, wherein the response includes a representation of a second trajectory that intersects the first trajectory at one or more points, and wherein the transceiver is controlled by the processor to perform the transmitting and receiving. 2. The method of claim 1, wherein the second trajectory ignores the presence of at least one object that obstructs the first trajectory. 3. The method of claim 1, wherein the second trajectory is different from the first trajectory and the second trajectory intersects the first trajectory at two or more points. 4. The method of claim 1, wherein the first extent of sensor information comprises high-level, polyhedral representations of objects that are based at least in part on low-level laser strike input. 5. The method of claim 1, wherein the additional information comprises a proposed trajectory that intersects the first trajectory at two or more points, wherein the proposed trajectory is generated by the autonomous vehicle. 6. The method of claim 5, wherein the second trajectory and the proposed trajectory are identical. 7. The method of claim 5, wherein the second trajectory comprises a modified proposed trajectory. 8. The method of claim 1, wherein determining to enter the augmented mode comprises: determining a network capacity from the autonomous vehicle to the assistance center; anddetermining that the additional information can be transmitted from the autonomous vehicle to the assistance center without exceeding the network capacity. 9. The method of claim 1, wherein the additional information comprises additional sensor information. 10. The method of claim 9, wherein the additional sensor information comprises still images, video data, or audio data. 11. The method of claim 1, wherein the autonomous vehicle is an automobile, and wherein at least one of the objects in the vicinity of the autonomous vehicle is an automobile traffic signal. 12. An autonomous vehicle comprising: at least one processor;memory; andprogram instructions, stored in the memory, that upon execution by the at least one processor cause the autonomous vehicle to perform operations comprising:transmitting an assistance signal to an assistance center, wherein the assistance signal indicates that the autonomous vehicle seeks assistance navigating according to a first trajectory, and wherein the assistance signal includes a first extent of sensor information indicating representations of objects in the vicinity of the autonomous vehicle;receiving a request, from the assistance center, to enter an augmented mode, wherein the autonomous vehicle transmits a second extent of sensor information to the assistance center when in the augmented mode, and wherein the second extent of sensor information is greater than the first extent of sensor information;determining to enter the augmented mode;generating a proposed trajectory that intersects the first trajectory at one or more points;transmitting additional information to the assistance center, wherein the additional information comprises the proposed trajectory; andreceiving a response to the assistance signal and the additional information, the response validating the proposed trajectory or comprising a modified proposed trajectory. 13. The autonomous vehicle of claim 12, wherein the instructions cause the autonomous vehicle to perform operations further comprising: in response to receiving the modified proposed trajectory, validating the modified proposed trajectory using data from one or more sensors of the vehicle and based on navigational constraints of the autonomous vehicle. 14. The autonomous vehicle of claim 13, wherein the instructions cause the autonomous vehicle to perform operations further comprising: in response to receiving a modification to one or more navigational constraints, validating the proposed trajectory using data from one or more sensors of the vehicle and the navigational constraints of autonomous vehicle as modified. 15. The autonomous vehicle of claim 12, wherein the first extent of sensor information comprises high-level, polyhedral representations of objects that are based at least in part on low-level laser strike input. 16. The autonomous vehicle of claim 12, wherein determining to enter the augmented mode comprises: determining a network capacity from the autonomous vehicle to the assistance center; anddetermining that the additional information can be transmitted from the autonomous vehicle to the assistance center without exceeding the network capacity. 17. The autonomous vehicle of claim 12, wherein the additional information comprises additional sensor information. 18. The autonomous vehicle of claim 17, wherein the additional sensor information comprises still images, video data, or audio data. 19. An article of manufacture including a non-transitory computer-readable medium, having stored thereon program instructions that, upon execution by a computing device of an autonomous vehicle, cause the autonomous vehicle to perform operations comprising: transmitting an assistance signal to an assistance center, wherein the assistance signal indicates that the autonomous vehicle seeks assistance navigating according to a first trajectory, and wherein the assistance signal includes a first extent of sensor information indicating representations of objects in the vicinity of the autonomous vehicle;receiving a request, from the assistance center, to enter an augmented mode, wherein the autonomous vehicle transmits a second extent of sensor information to the assistance center when in the augmented mode, and wherein the second extent of sensor information is greater than the first extent of sensor information;determining to enter the augmented mode;generating a proposed trajectory that intersects the first trajectory at one or more points;transmitting additional information to the assistance center, wherein the additional information comprises the proposed trajectory; andreceiving a response to the assistance signal and the additional information, the response validating the proposed trajectory or comprising a modified proposed trajectory. 20. The article of manufacture of claim 19, wherein the instructions cause the autonomous vehicle to perform operations further comprising: in response to receiving the modified proposed trajectory, validating the modified proposed trajectory using data from one or more sensors of the vehicle and based on navigational constraints of the autonomous vehicle.