US 12,222,716 B2
Method and system for operating an autonomous agent with a remote operator
Apeksha Kumavat, Palo Alto, CA (US); Arjun Narang, Palo Alto, CA (US); Gautam Narang, Palo Alto, CA (US); Dharmateja Kadem, Palo Alto, CA (US); and Gunnar Newquist, Palo Alto, CA (US)
Assigned to Gatik AI Inc., Mountain View, CA (US)
Filed by Gatik AI Inc., Palo Alto, CA (US)
Filed on Dec. 6, 2022, as Appl. No. 18/075,778.
Claims priority of provisional application 63/286,448, filed on Dec. 6, 2021.
Prior Publication US 2023/0176573 A1, Jun. 8, 2023
Int. Cl. G05D 1/00 (2024.01); B60W 50/02 (2012.01); B60W 60/00 (2020.01)
CPC G05D 1/0038 (2013.01) [B60W 50/0205 (2013.01); B60W 60/001 (2020.02); G05D 1/0225 (2013.01); B60W 2556/45 (2020.02)] 22 Claims
OG exemplary drawing
 
1. A method for utilizing remote operator input in an operation of an autonomous vehicle, the method comprising:
receiving a set of sensor inputs at a sensor subsystem of the autonomous vehicle;
processing the set of sensor inputs with:
a set of trained models at a computing subsystem of the autonomous vehicle to characterize a scenario associated with the autonomous vehicle; and
a diagnostic aggregator of the autonomous vehicle to determine an aggregated predicted failure score of the autonomous vehicle;
comparing the aggregated predicted failure score with a set of multiple predetermined thresholds, wherein each threshold is associated with a different category of severity for a single subsystem of the autonomous vehicle, the set of multiple predetermined thresholds comprising at least a first threshold and a second threshold, the second threshold separate and distinct from the first threshold, wherein:
in an event that the aggregated predicted failure score exceeds the first threshold of the set of multiple predetermined thresholds, a first failure response is initiated; and
in an event that the aggregated predicted failure score exceeds the second threshold of the set of multiple predetermined thresholds, a second failure response is initiated;
determining that the characterized scenario is within a first subset of predetermined scenarios;
responsive to determining that the characterized scenario is within the first subset of predetermined scenarios, presenting information to a remote operator, the information comprising
a predefined set of behavior options for the vehicle;
determining that the characterized scenario is within a second subset of predetermined scenarios;
responsive to determining that the characterized scenario is within the second subset of predetermined scenarios, presenting
a set of remote operator input options enabling the remote provider to provide a set of control commands for actuators of the autonomous vehicle to the remote operator
receiving an input from the remote operator;
comparing the input with a set of constraints determined based on the set of sensor inputs;
validating the input by on comparing the input with the set of constraints; and
maneuvering the autonomous vehicle based on the validated input.