US 11,726,471 B2
Methods and systems for gradually adjusting vehicle sensor perspective using remote assistance
Ioan-Alexandru Sucan, Mountain View, CA (US); Collin Winter, Mountain View, CA (US); Chien-Yu Ko, Mountain View, CA (US); and Vishay Nihalani, Mountain View, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Aug. 27, 2020, as Appl. No. 17/4,839.
Prior Publication US 2022/0066440 A1, Mar. 3, 2022
Int. Cl. G05D 1/00 (2006.01); B60W 60/00 (2020.01)
CPC G05D 1/0016 (2013.01) [B60W 60/001 (2020.02); B60W 60/005 (2020.02); G05D 1/0022 (2013.01); G05D 1/0088 (2013.01); G05D 2201/0213 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, at a computing device, a request for assistance from a vehicle operating in an environment, wherein the request includes sensor data and indicates that the vehicle is stopped at a location with a sensor perspective of the environment that is at least partially occluded;
responsive to receiving the request for assistance, displaying, by the computing device, a graphical user interface (GUI) that shows the sensor perspective of the environment of the vehicle with a selectable option configured to instruct the vehicle to gradually move forward a predefined distance below a threshold speed, wherein the GUI is configured to automatically display the selectable option when the request for assistance indicates that the vehicle is stopped with the sensor perspective that is at least partially occluded;
based on detecting an operator input selecting the selectable option, transmitting, by the computing device and to the vehicle, instructions for the vehicle to gradually move forward the predefined distance, wherein the vehicle is configured to gradually move forward the predefined distance while also monitoring for one or more changes in the environment responsive to receiving the instructions; and
displaying the GUI showing changes in the sensor perspective of the environment of the vehicle as the vehicle gradually moves forward the predefined distance below the threshold speed.