VEHICLE REMOTE GUIDANCE SYSTEM

1 . A vehicle, comprising:

a sensor configured to provide sensor data indicative of an environment outside the vehicle;

one or more transceivers configured to communicate with a server; and

one or more controllers configured to,

responsive to the sensor data indicative of a predefined trigger event, send a request for remote guidance to the server via the transceiver,

receive an instruction including a plurality of waypoints from the server,

determine a first section of a trajectory along a route defined by the waypoints, and

perform a driving maneuver to implement the trajectory.

2 . The vehicle of claim 1 , wherein the one or more controllers are further configured to:

responsive to receiving one or more subsequent waypoints, determine a second section of the trajectory along the route continuing from the first section.

3 . The vehicle of claim 1 , wherein the one or more controllers are further configured to:

responsive to receiving one or more replacement waypoints, replace one or more of the plurality of waypoints with the one or more replacement waypoints; and

revise the first section of the trajectory using the replacement waypoints.

4 . The vehicle of claim 3 , wherein the one or more replacement waypoints define an alternate trajectory that is different from the trajectory.

5 . The vehicle of claim 1 , wherein the one or more controllers are further configured to:

responsive to detecting that the first section of the trajectory is unimplementable, refrain from performing the driving maneuver and request the server for one or more replacement waypoints.

6 . The vehicle of claim 1 , wherein the one or more controllers are further configured to:

determine the first section of the trajectory by performing a Bezier smoothing based on the plurality of waypoints.

7 . The vehicle of claim 1 , wherein the one or more controllers are further configured to:

establish a first wireless connection with a mobile device via the one or more transceivers;

send a first sensor data to the server via the first wireless connection through the mobile device; and

send a second sensor data to the server via a second wireless connection without going through the mobile device.

8 . The vehicle of claim 1 , wherein the instruction further includes a command instructing the vehicle to not stop at a last one of the plurality of waypoints and return to autonomous driving mode.

9 . The vehicle of claim 1 , wherein the instruction further includes a command instructing the vehicle to stop at one or more of the plurality of waypoints.

10 . A method for a vehicle, comprising:

requesting remote guidance in response to detecting a predefined trigger event via a sensor;

receiving an instruction including a first section of a trajectory along a route defined by a plurality of waypoints; and

performing a driving maneuver to traverse the first section of trajectory.

11 . The method of claim 10 , further comprising:

continuing to perform the driving maneuver to traverse a second section of trajectory in response to receiving the second section of the trajectory defined by one or more subsequent waypoints.

12 . The method of claim 11 , further comprising:

performing the driving maneuver to traverse a third section of the trajectory and ignoring the one or more subsequent waypoints of the second section in response to receiving a third section of the trajectory defined by one or more replacement waypoints indicative of a replacement to the one or more subsequent waypoints of the second section.

13 . The method of claim 11 , further comprising:

traversing the trajectory from the first section to the second section without slowing down the vehicle.

14 . The method of claim 11 , further comprising:

slowing down the vehicle while traversing the first section of the trajectory before entering into the second section.

15 . The method of claim 10 , further comprising:

detecting that the first section of the trajectory is unimplementable; and

refraining from performing the driving maneuver and requesting a replacement trajectory.

16 . A non-transitory computer-readable medium comprising instructions, when executed by a controller of a vehicle, cause the vehicle to perform operations comprising:

responsive to receiving a first instruction including a plurality of waypoints from a server, determine a first trajectory using the waypoints, and

perform a driving maneuver to implement the first trajectory.

17 . The non-transitory computer-readable medium of claim 16 , further comprising instructions, when executed by a controller of a vehicle, cause the vehicle to perform operations comprising:

responsive to receiving a second instruction including one or more subsequent waypoints, determine a second trajectory continuing from the first trajectory.

18 . The non-transitory computer-readable medium of claim 17 , further comprising instructions, when executed by a controller of a vehicle, cause the vehicle to perform operations comprising:

responsive to receiving a third instruction including one or more replacement waypoint, replace one or more of the subsequent waypoints; and

revise the second trajectory using the replacement waypoints.

19 . The non-transitory computer-readable medium of claim 16 , further comprising instructions, when executed by a controller of a vehicle, cause the vehicle to perform operations comprising:

responsive to detecting that a distance between two adjacent waypoints is beyond a threshold distance, refrain from performing the driving maneuver; and

request updated waypoints from the server.

20 . The non-transitory computer-readable medium of claim 17 , further comprising instructions, when executed by a controller of a vehicle, cause the vehicle to perform operations comprising:

traverse from the first trajectory to the second trajectory without slowing down the vehicle.