US 12,145,621 B2
Methods and systems for using remote assistance to maneuver an autonomous vehicle to a location
Ioan-Alexandru Sucan, Mountain View, CA (US); Joshua Herbach, Mountain View, CA (US); and Collin Winter, San Francisco, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Oct. 5, 2023, as Appl. No. 18/481,650.
Application 18/481,650 is a continuation of application No. 18/060,340, filed on Nov. 30, 2022, granted, now 11,814,078.
Application 18/060,340 is a continuation of application No. 17/013,996, filed on Sep. 8, 2020, granted, now 11,535,276, issued on Dec. 27, 2022.
Prior Publication US 2024/0043038 A1, Feb. 8, 2024
Int. Cl. B60W 60/00 (2020.01); G05D 1/00 (2006.01)
CPC B60W 60/0011 (2020.02) [G05D 1/0016 (2013.01); G05D 1/0022 (2013.01); G05D 1/0044 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, by a first computing system coupled to an autonomous vehicle, sensor data representing an environment of the autonomous vehicle;
determining, based on the sensor data, an obstacle is impeding a current path of the autonomous vehicle;
determining a set of navigation options based on determining the obstacle is impeding the current path of the autonomous vehicle;
estimating a score for each navigation option of the set of navigation options, wherein the score represents a difficulty associated with the autonomous vehicle performing one or more maneuvers to complete a given navigation option;
providing, by the first computing system, at least a first navigation option and an estimated score for the first navigation option to a second computing system, wherein the second computing system is positioned remotely from the first computing system;
receiving, at the first computing system, a response from the second computing system; and
causing, by the first computing system, the autonomous vehicle to perform a given navigation option from the set of navigation options based on the response from the second computing system.