US 12,223,778 B2
Methods and systems for providing remote assistance to a stopped vehicle
Dmitri Dolgov, Mountain View, CA (US); and Joshua Herbach, Mountain View, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Jan. 7, 2021, as Appl. No. 17/143,706.
Application 17/143,706 is a continuation of application No. 15/704,194, filed on Sep. 14, 2017, granted, now 10,922,903.
Claims priority of provisional application 62/531,072, filed on Jul. 11, 2017.
Prior Publication US 2021/0125427 A1, Apr. 29, 2021
Int. Cl. G07C 5/00 (2006.01); B60W 30/00 (2006.01); G05D 1/00 (2006.01)
CPC G07C 5/008 (2013.01) [B60W 30/00 (2013.01); G05D 1/0027 (2013.01); G05D 1/0038 (2013.01); G05D 1/0044 (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 computing device is positioned remotely from the vehicle, and wherein the request for assistance includes sensor data from a vehicle sensor;
based on the request for assistance, determining, by the computing device and using the sensor data, that the vehicle is stopped blocking a driveway or in a double-parked arrangement;
determining a threshold period of time based on the vehicle being stopped blocking the driveway or in the double-parked arrangement, wherein the computing device determines a different threshold period of time based on whether the vehicle is blocking the driveway or in the double-parked arrangement;
determining that the vehicle has been stationary for the threshold period of time;
based on determining that the vehicle has been stationary for the threshold period of time, prompting a remote operator to provide assistance and displaying, by the computing device using the sensor data, a representation of the environment of the vehicle, wherein the representation of the environment includes images or video that correspond to a predetermined period of time before the vehicle stopped and remained stationary for the threshold period of time;
receiving, at the computing device, an input responsive to displaying the representation of the environment of the vehicle; and
based on the input, providing control instructions to the vehicle.