US 12,371,069 B1
Collaborative guidance for vehicle interactions
Eunsuk Chong, Castro Valley, CA (US); and Ravi Gogna, San Jose, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Feb. 28, 2022, as Appl. No. 17/682,921.
Int. Cl. B60W 60/00 (2020.01); B60W 40/04 (2006.01); G06V 20/58 (2022.01); G06V 40/20 (2022.01)
CPC B60W 60/005 (2020.02) [B60W 40/04 (2013.01); B60W 60/0011 (2020.02); B60W 60/0017 (2020.02); G06V 20/582 (2022.01); G06V 40/28 (2022.01); B60W 2420/403 (2013.01); B60W 2554/4029 (2020.02); B60W 2555/60 (2020.02); B60W 2556/50 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions that, when executed by the one or more processors, cause the system to perform operations comprising:
receiving sensor data from one or more sensors associated with a vehicle;
determining a probability that the sensor data represents a flagger located along a path of the vehicle;
based at least in part on the probability that the sensor data represents the flagger exceeding a threshold probability, initiating a guidance session with one or more computing devices associated with a teleoperator by sending first data associated with the flagger to one or more computing devices associated with a teleoperator;
determining, based at least in part on a rule associated with the flagger, a first stopping location that is at least a threshold distance from the flagger;
causing the vehicle to not exceed the first stopping location;
receiving, from the one or more computing devices and during the guidance session, first guidance data indicative of the teleoperator activating an input device associated with navigating the vehicle;
updating a policy of the vehicle based at least in part on the first guidance data;
causing, based at least in part on the updated policy, the vehicle to navigate past the first stopping location;
receiving, from the one or more computing devices and during the guidance session, second guidance data indicative of the teleoperator releasing the input device; and
based at least in part on receiving the second guidance data, causing the vehicle to not exceed a second stopping location at least until the vehicle receives additional guidance data, wherein the second stopping location is an intermediate location between the first stopping location and a third location outside a zone associated with the flagger.