US 11,705,008 B2
Restricting areas available to autonomous and teleoperated vehicles
Shay Magzimof, Palo Alto, CA (US); David Parunakian, Moscow (RU); and Michael Kris, Campbell, CA (US)
Assigned to Phantom Auto Inc., South San Francisco, CA (US)
Filed by Phantom Auto Inc., Mountain View, CA (US)
Filed on Oct. 15, 2021, as Appl. No. 17/503,181.
Application 17/503,181 is a continuation of application No. 16/442,445, filed on Jun. 14, 2019, granted, now 11,176,831.
Claims priority of provisional application 62/685,809, filed on Jun. 15, 2018.
Prior Publication US 2022/0036737 A1, Feb. 3, 2022
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01); G08G 1/00 (2006.01)
CPC G08G 1/207 (2013.01) [G05D 1/0038 (2013.01); G05D 1/0214 (2013.01); G05D 2201/0213 (2013.01)] 20 Claims
OG exemplary drawing
 
17. A computer system comprising:
a processor; and
a non-transitory computer-readable storage medium storing instructions for restricting navigation of a vehicle via interactions with a remote server, the instructions when executed by the processor causing the processor to perform steps comprising:
storing, at a policy database, a set of policies specifying rules constraining permissible geographic regions where the vehicle is permitted to navigate;
obtaining, from the vehicle, first input data relating to a first state of the vehicle at a first time while the vehicle is controlled by an autonomous drive system of the vehicle;
determining, by a processor, a first set of one or more applicable policies from the set of policies that apply to the vehicle based on the obtained first state of the vehicle;
responsive to detecting that the vehicle is within a threshold distance of restricted geographic region specified by the first set of one or more applicable policies, establishing a teleoperation session with the vehicle by a remote teleoperation server;
transmitting the first set of the one or more applicable policies to the remote teleoperation server to enforce constraints on the teleoperation server in controlling navigation of the vehicle during the teleoperation session in accordance with the one or more applicable policies;
during the teleoperation session, receiving by the remote teleoperation server, sensor data from the vehicle over a network and generating, by the teleoperation server, teleoperation controls to remotely control navigation of the vehicle based on the sensor data in compliance with the one or more applicable policies;
transmitting, by the remote server over the network, the teleoperation controls to the vehicle to control navigation of the vehicle during the teleoperation session; and
responsive to detecting that the vehicle is outside the threshold distance of the restricted region, terminating the teleoperation session and restoring control of the vehicle to the autonomous drive system of the vehicle.