Remote Vehicle Guidance Using Reference Trajectories Around Obstacles
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Solution Overview
Problem
Autonomous and semi-autonomous vehicles face challenges in navigating through environments with obstacles, leading to delays and potential safety risks due to the need for remote assistance.
Innovation Solution
A computing device, such as a teleoperations center, receives requests for assistance from vehicles and determines guidance instructions, including reference trajectories with velocity and direction information, to help the vehicle navigate around obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle planning system performs operations to determine the effect of detected objects on potential actions, then the vehicle can make informed navigation decisions, but the vehicle may be unable to navigate past obstacles that impede progress
Solution Approach 1:
A remote computing device acts as an intermediary between the vehicle and human operators. The vehicle sends requests for assistance when it encounters obstacles it cannot navigate past, and the remote computing device relays these requests to human operators who provide guidance instructions, enabling the vehicle to overcome navigation impasses
Solution Approach 2:
The system performs preliminary actions by having the vehicle identify and request assistance for obstacles before they become critical navigation failures. The remote computing device pre-processes these requests and prepares guidance instructions in advance, reducing delays when the vehicle encounters impassable obstacles
2Productivity
If the vehicle requests and receives remote assistance to navigate past obstacles, then the vehicle can overcome navigation impasses, but delays occur while waiting for remote entity assistance
Solution Approach 1:
The vehicle and remote computing device perform preliminary actions by identifying obstacles and preparing assistance requests before the vehicle is completely blocked. The remote computing device pre-processes navigation requests and prepares guidance instructions in advance, reducing the time the vehicle must wait when encountering obstacles
Solution Approach 2:
The system implements feedback loops where the vehicle continuously monitors its navigation status and sends requests for assistance when impasses are detected. The remote computing device provides real-time feedback by transmitting guidance instructions back to the vehicle, allowing for dynamic adjustment of navigation strategies to minimize delays
Data Source
AI summary
Techniques to provide guidance to a vehicle operating in an environment are discussed herein. For example, such techniques may include sending a request for assistance, receiving a reference trajectory, and causing the vehicle to determine a trajectory based on the reference trajectory. Data such as sensor data and vehicle state data may be sent from the vehicle to a remote computing device. The computing device outputs a user interface using the data and determines the reference trajectory based on receiving an input in the user interface. The techniques can send an indication of the reference trajectory to the vehicle for use in planning a trajectory for the vehicle. A vehicle, such as an autonomous vehicle, can be controlled to traverse an environment based on the trajectory.