Intervention in operation of a vehicle having autonomous driving capabilities
Among other things, a determination is made that intervention in an operation of one or more autonomous driving capabilities of a vehicle is appropriate. Based on the determination, a person is enabled to provide information for an intervention. The intervention is caused in the operation of the one or more autonomous driving capabilities of the vehicle.
1. A method comprising:
on a vehicle configured to receive a teleoperation command in the form of natural language instructions or machine-readable instructions, wherein received natural language instructions are converted to machine-readable instructions:
receiving, from a remote operator, a teleoperation command regarding an operation of the vehicle;
identifying an abnormal condition in one or more systems of the vehicle;
in response to identifying the abnormal condition, determining that the received teleoperation command includes machine-readable instructions; and
in response to the determination, configuring the vehicle to execute the machine-readable instructions.
2. The method of claim 1 , in which the vehicle comprises one or more autonomous driving capabilities.
3. The method of claim 1 , in which the machine-readable instructions represent a current location.
4. The method of claim 1 , in which the machine-readable instructions represent a goal location.
5. The method of claim 1 , in which the machine-readable instructions represent one or more trajectories.
6. The method of claim 1 , in which the machine-readable instructions represent one or more trajectory segments.
7. The method of claim 1 , in which the machine-readable instructions represent one or more speed profiles.
8. The method of claim 1 , in which the machine-readable instructions represent one or more un-traversable road segments.
9. The method of claim 1 , in which the machine-readable instructions comprise enabling, editing or disabling a hardware component or a software process.
10. The method of claim 1 , in which the machine-readable instructions comprise enabling, editing or disabling a subcomponent of a hardware component or a processing step of a software process.
11. The method of claim 1 , in which the machine-readable instructions comprise overwriting a travel preference or a travel rule.
12. The method of claim 1 , in which the machine-readable instructions comprise editing data, the data comprising one or more of the following: a map, sensor data in the vehicle or a related AV system, trajectory data in the vehicle or a related AV system, vision data in the vehicle or a related AV system, or any past data in the vehicle or a related AV system.
13. The method of claim 1 , in which the machine-readable instructions include at least one of an assembly language and a low-level language.
14. The method of claim 1 , in which determining that the teleoperation command includes machine-readable instructions comprises determining that the teleoperation command is not expressed in a natural language.
15. The method of claim 1 , in which the machine-readable instructions include alphanumeric strings or computer code.
16. The method of claim 1 , in which configuring the vehicle to execute the machine-readable instructions comprises delivering the machine-readable instructions to corresponding hardware components or software processes of the vehicle.
17. The method of claim 1 , in which the machine-readable instructions are executed if a teleoperation command handling process is in an abnormal condition.
18. The method of claim 1 , in which the abnormal condition comprises a malfunction of a mechanical component of the vehicle.
19. The method of claim 1 , in which the abnormal condition is a blockage of a field of view of a vision sensor of the vehicle.
20. The method of claim 1 , in which the abnormal condition is a movement of the vehicle that does not match an expected movement of the vehicle.