| CPC G05D 1/0077 (2013.01) [G05D 1/0038 (2013.01); G05D 1/0214 (2013.01)] | 20 Claims |
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1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions that, when executed, cause the one or more processors to perform operations comprising:
determining, by a monitoring component of a vehicle, a presence of a condition necessitating that the vehicle cease operating on a portion of a road surface;
determining, by the monitoring component and based on the condition, a period of time for the vehicle to continue operating on the portion of the road surface;
sending, by the monitoring component and to at least one of a teleoperator associated with the vehicle or a planner component of the vehicle, a request for the vehicle to cease operating on the portion of the road surface prior to an expiration of the period of time, wherein the teleoperator is remote from the vehicle;
receiving, at the monitoring component and prior to the expiration of the period of time, an indication that at least one of the teleoperator or the planner component acknowledged the request;
based on receiving the indication prior to the expiration of the period of time, refraining from causing the vehicle to stop on the portion of the road surface in a way that impedes a flow of traffic;
determining, by the monitoring component and based on the expiration of the period of time, whether the vehicle has ceased operating on the road surface; and
based on a determination that the vehicle has continued operating on the road surface beyond the expiration of the period of time, causing the vehicle to stop on the road surface.
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