US 12,269,509 B1
Remote vehicle guidance
Matthew Nathaniel Dickerson, San Francisco, CA (US); Oliver Fielding Douglas, San Francisco, CA (US); Ravi Gogna, San Jose, CA (US); and Collin MacGregor, Redwood City, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Mar. 31, 2022, as Appl. No. 17/710,602.
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/0015 (2020.02) [B60W 2520/04 (2013.01); B60W 2520/06 (2013.01); B60W 2520/10 (2013.01); B60W 2520/105 (2013.01); B60W 2552/30 (2020.02); B60W 2556/45 (2020.02); B60W 2720/10 (2013.01)] 20 Claims
OG exemplary drawing
 
1. One or more non-transitory computer-readable media storing instructions that, when executed by one or more processors, cause a vehicle computing system of a vehicle to:
receive, from a first computing device, a control signal comprising a constraint associated with limiting operation of the vehicle operating in an autonomous mode in an environment, wherein the first computing device is associated with a first operator located in the environment and remote from the vehicle;
control the vehicle based at least in part on the constraint;
determine that a condition associated with the constraint is satisfied;
based at least in part on the determination that the condition associated with the constraint is satisfied, send, to a second computing device associated with a second operator located remote from the environment, a guidance request comprising sensor data representative of the environment;
receive, from the second computing device and based at least in part on the guidance request, a release signal comprising an instruction to remove the constraint, wherein the release signal is based at least in part on the sensor data; and
control the vehicle in the autonomous mode based at least in part on removal of the constraint.