Remote assistance for autonomous vehicles in predetermined situations
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B60W-030/00
G05D-001/00
출원번호
US-0618768
(2017-06-09)
등록번호
US-10241508
(2019-03-26)
발명자
/ 주소
Fairfield, Nathaniel
Herbach, Joshua Seth
Furman, Vadim
출원인 / 주소
Waymo LLC
대리인 / 주소
McDonnell Boehnen Hulbert & Berghoff LLP
인용정보
피인용 횟수 :
0인용 특허 :
15
초록▼
Example systems and methods enable an autonomous vehicle to request assistance from a remote operator in certain predetermined situations. One example method includes determining a representation of an environment of an autonomous vehicle based on sensor data of the environment. Based on the represe
Example systems and methods enable an autonomous vehicle to request assistance from a remote operator in certain predetermined situations. One example method includes determining a representation of an environment of an autonomous vehicle based on sensor data of the environment. Based on the representation, the method may also include identifying a situation from a predetermined set of situations for which the autonomous vehicle will request remote assistance. The method may further include sending a request for assistance to a remote assistor, the request including the representation of the environment and the identified situation. The method may additionally include receiving a response from the remote assistor indicating an autonomous operation. The method may also include causing the autonomous vehicle to perform the autonomous operation.
대표청구항▼
1. A method comprising: determining, by a control system of an autonomous vehicle, that the autonomous vehicle has dropped off or picked up one or more passengers;subsequently sending, by the control system, a request for a remote operator to verify a number of passengers in the autonomous vehicle;r
1. A method comprising: determining, by a control system of an autonomous vehicle, that the autonomous vehicle has dropped off or picked up one or more passengers;subsequently sending, by the control system, a request for a remote operator to verify a number of passengers in the autonomous vehicle;receiving, by the control system, a response to the request, wherein the response comprises a verification by the remote operator of the number of passengers in the autonomous vehicle; andcausing, by the control system, the autonomous vehicle to perform an autonomous operation based on the response. 2. The method of claim 1, wherein the request comprises a request for the remote operator to verify that there are no passengers in the autonomous vehicle after dropping off the one or more passengers. 3. The method of claim 1, wherein the request comprises a request for the remote operator to verify that there are a correct number of passengers in the autonomous vehicle after picking up the one or more passengers. 4. The method of claim 1, wherein the request further comprises a request for the remote operator to verify that each of the one or more passengers in the autonomous vehicle have fastened their seatbelts after picking up the one or more passengers. 5. The method of claim 1, wherein the request further comprises a request for the remote operator to verify that each car door of the autonomous vehicle has been closed after picking up the one or more passengers. 6. The method of claim 1, wherein the request further comprises a request for the remote operator to verify that the one or more passengers have removed their belongings from the autonomous vehicle after dropping off the one or more passengers. 7. The method of claim 1, wherein sending the request comprises sending the request to a remote computing device having a user interface for display to the remote operator. 8. The method of claim 7, further comprising sending, from the control system of the autonomous vehicle, sensor data collected by one or more sensors on the autonomous vehicle to the remote computing device for display within the user interface. 9. The method of claim 8, wherein the one or more sensors comprise a camera configured to capture still images or a video stream. 10. The method of claim 8, further comprising sending one or more timestamps indicative of when the sensor data was captured to the remote computing device. 11. The method of claim 1, further comprising sending, from the control system of the autonomous vehicle, audio data collected by one or more microphones on the autonomous vehicle along with the request. 12. The method of claim 1, further comprising causing the autonomous vehicle to hold position until the response is received. 13. An autonomous vehicle, comprising: a control system configured to: determine that the autonomous vehicle has dropped off or picked up one or more passengers;subsequently send a request for a remote operator to verify a number of passengers in the autonomous vehicle;receive a response to the request, wherein the response comprises a verification by the remote operator of the number of passengers in the autonomous vehicle; andcause the autonomous vehicle to perform an autonomous operation based on the response. 14. The autonomous vehicle of claim 13, wherein the request comprises a request for the remote operator to verify that there are no passengers in the autonomous vehicle after dropping off the one or more passengers. 15. The autonomous vehicle of claim 13, wherein the request comprises a request for the remote operator to verify that there are a correct number of passengers in the autonomous vehicle after picking up the one or more passengers. 16. The autonomous vehicle of claim 13, wherein the control system is configured to send the request to a remote computing device having a user interface for display to the remote operator, and wherein the response is received from the remote computing device. 17. The autonomous vehicle of claim 16, further comprising a camera configured to capture still images or a video stream, wherein the control system is further configured to send the still images or the video stream to the remote computing device along with the request. 18. The autonomous vehicle of claim 13, wherein the control system is further configured to cause the autonomous vehicle to hold position until the response is received. 19. A non-transitory computer readable medium having stored therein instructions, that when executed by a computing system, cause the computing system to perform functions comprising: determining that an autonomous vehicle has dropped off or picked up one or more passengers;subsequently sending a request for a remote operator to verify a number of passengers in the autonomous vehicle;receiving a response to the request, wherein the response comprises a verification by the remote operator of the number of passengers in the autonomous vehicle; andcausing the autonomous vehicle to perform an autonomous operation based on the response. 20. The non-transitory computer readable medium of claim 19, wherein the functions further comprise causing the autonomous vehicle to hold position until the response is received.
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이 특허에 인용된 특허 (15)
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Anderson, Sterling J.; Peters, Steven C.; Iagnemma, Karl D., Integrated framework for vehicle operator assistance based on a trajectory prediction and threat assessment.
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