US 12,240,494 B2
Method and system for remote assistance of an autonomous agent
Melinda Kothbauer, Ann Arbor, MI (US); Jeff Sterniak, Ann Arbor, MI (US); and Edwin B. Olson, Ann Arbor, MI (US)
Assigned to May Mobility, Inc., Ann Arbor, MI (US)
Filed by May Mobility, Inc., Ann Arbor, MI (US)
Filed on Dec. 22, 2022, as Appl. No. 18/086,832.
Application 18/086,832 is a continuation of application No. 17/826,655, filed on May 27, 2022, granted, now 11,565,717.
Claims priority of provisional application 63/195,774, filed on Jun. 2, 2021.
Prior Publication US 2023/0127379 A1, Apr. 27, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 40/02 (2006.01); G05D 1/00 (2006.01); G05D 1/223 (2024.01)
CPC B60W 60/0011 (2020.02) [B60W 40/02 (2013.01); G05D 1/0011 (2013.01); G05D 1/223 (2024.01); B60W 2554/20 (2020.02); B60W 2554/4041 (2020.02); B60W 2556/45 (2020.02)] 21 Claims
OG exemplary drawing
 
1. A method for consideration of teleoperator input in the operation of an autonomous vehicle, the method comprising:
with a computing subsystem onboard the autonomous vehicle:
detecting satisfaction of a trigger condition;
receiving the teleoperator input, wherein the teleoperator input comprises a set of waypoints associated with the trigger condition;
based on the set of waypoints, determining a plurality of predefined autonomously electable policies, each comprising a set of rules for decision-making;
evaluating a set of aggregated decision options, the set of aggregated decision options comprising:
the set of waypoints;
the set of predefined autonomously electable policies;
selecting one of the set of aggregated decision options based on the evaluation, wherein the evaluation comprises simulating each of the set of predefined autonomously electable policies; and
with a control subsystem in communication with the computing subsystem, operating the autonomous vehicle in accordance with the selected decision option.
 
11. A system for consideration of teleoperator input in the operation of an autonomous vehicle while navigating the autonomous vehicle along a target path, the system comprising:
a computing subsystem onboard the autonomous vehicle, wherein the computing subsystem is configured to:
detect satisfaction of a trigger condition;
receive the teleoperator input, wherein the teleoperator input comprises a set of waypoints associated with the trigger condition;
update the target path based on the set of waypoints;
evaluate a set of aggregated decision options, the set of aggregated decision options comprising:
the set of waypoints;
a set of autonomously electable policies, each comprising a set of rules for decision-making;
select one of the set of aggregated decision options based on the evaluation and the updated target path; and
a control subsystem in communication with the computing subsystem, wherein the control subsystem is configured to operate the autonomous vehicle in accordance with the selected decision option.