Systems and methods for controlling a vehicle by teleoperation based on map creation

1 . A method of controlling an autonomous vehicle, comprising:

receiving, at the autonomous vehicle, a teleoperation input from a teleoperation system through a communication link, wherein the teleoperation input is formed by combining and synthesizing inputs entered into the teleoperation system by a teleoperator mimicking direct control of a vehicle by a driver, and wherein the inputs comprise a steering input to alter a steering angle of the vehicle, a throttle input to change a throttle position for the vehicle, and/or a brake input to change a brake position for the vehicle; and

using a processor of the autonomous vehicle:

generating an updated map of an environment based on (i) the received teleoperation input from the teleoperation system, (ii) a current position and a current orientation of the autonomous vehicle and (iii) an existing trajectory of the autonomous vehicle, wherein the teleoperation input further comprises a modification to classification of an object or obstacle in the environment of the autonomous vehicle, and wherein the updated map comprises a speed limit determined based on the throttle input and/or the brake input and the updated map provides a new path for the autonomous vehicle to traverse for avoiding an event or road condition;

providing the updated map to a planner of the autonomous vehicle;

determining, by the planner, a modified trajectory or a new trajectory for the autonomous vehicle by incorporating the updated map into the existing trajectory of the autonomous vehicle; and

controlling the autonomous vehicle according to the modified trajectory or the new trajectory.

2 . The method of claim 1 , further comprising determining, by the teleoperation system or by the autonomous vehicle, an event or a condition associated with at least a portion of the existing trajectory.

3 . The method of claim 2 , wherein the teleoperation input is entered responsive to the event or condition associated with the at least the portion of the existing trajectory.

4 . The method of claim 2 , wherein the event or condition comprises a road construction, a weather condition, a stop sign, or a school zone.

5 . The method of claim 1 , wherein the teleoperation input is based on real time information of the autonomous vehicle.

6 . The method of claim 5 , further comprising presenting visualization data that comprises the real time information of the autonomous vehicle on a display to enable a teleoperator to determine whether to intervene in operation of a planner of the autonomous vehicle.

7 . The method of claim 1 , wherein the teleoperation input further comprises causing the autonomous vehicle to ignore or avoid the object.

8 . A system for controlling an autonomous vehicle, comprising:

a teleoperation receiver, configured to receive, through a communication link, a teleoperation input from a teleoperation system, wherein the teleoperation input is formed by combining and synthesizing inputs entered into the teleoperation system by a teleoperator mimicking direct control of a vehicle by a driver, and wherein the inputs comprise a steering input to alter a steering angle of the vehicle, a throttle input to change a throttle position for the vehicle, and/or a brake input to change a brake position for the vehicle; and

a processor, configured to:

generate an updated map of an environment based on the received teleoperation input from the teleoperation system, (ii) a current position and a current orientation of the autonomous vehicle and (iii) an existing trajectory of the autonomous vehicle, wherein the updated map provides a new path for the autonomous vehicle to traverse for avoiding an event or road condition, wherein the teleoperation input further comprises a modification to classification of an object or obstacle in the environment of the autonomous vehicle, and wherein the updated map comprises a speed limit determined based on the throttle input and/or the brake input;

determine a modified trajectory or a new trajectory for the autonomous vehicle by incorporating the updated map into the existing trajectory of the autonomous vehicle; and

control the autonomous vehicle according to the modified trajectory or the new trajectory.

9 . The system of claim 8 , wherein the processor or the teleoperation system is configured to determine, by the teleoperation system or by the autonomous vehicle, an event or a condition associated with at least a portion of the existing trajectory.

10 . The system of claim 9 , wherein the modification to the existing trajectory is in response to the event or condition associated with the at least the portion of the existing trajectory.

11 . The system of claim 9 , wherein the event or condition comprises a road construction, a weather condition, a stop sign, a school zone, an accident zone, or a flood zone.

12 . The system of claim 8 , wherein the teleoperation input is based on real time information of the autonomous vehicle.

13 . The system of claim 12 , wherein the teleoperation system is configured to present visualization data comprising the real time information of the autonomous vehicle on the display to enable a teleoperator to determine whether to intervene in operation of a planner of the autonomous vehicle.

14 . The system of claim 8 , wherein the teleoperation input comprises causing the autonomous vehicle to ignore or avoid the object.