Granted Patent B2

US 12,443,182 · App. 18/054,328 · Granted Oct 14, 2025

Inventors: Fabrizio Scelsi (Berlin, DE); Bogdan Djukic (Berlin, DE); Daniel Buchmueller (Truckee, CA); Thomas von der Ohe (Berlin, DE); Nicolai Wojke (Berlin, DE)

Assignee: Vay Technology GmbH

G05D1/0044B60W60/0015G05D1/0038G06V20/56B60W2420/403B60W2420/54B60W2556/45

Abstract

Claims (66)

1. A method to ensure safe driving behaviors in a remote driving system, comprising:

receiving, by a processor at a teleoperator station via a communication network, location data and drive state information associated with a vehicle, the vehicle being positioned within an environment remote from the teleoperator station;

receiving, by the processor, map data associated with the location data;

receiving, by the processor, vehicle data associated with the vehicle;

receiving, by the processor, sensor data from one or more sensors onboard the vehicle;

determining, by the processor, one or more safety tunnel parameters for the vehicle based on the location data, the map data, the vehicle data, and the sensor data;

determining, by the processor, that the drive state information exceeds the one or more safety tunnel parameters;

instructing, by the processor, modification to operation of the vehicle within the one or more safety tunnel parameters; and

causing presentation, via a presentation device at the teleoperator station, of at least one indicator related to the one or more safety tunnel parameters;

wherein the one or more safety tunnel parameters comprise at least one of allowable steering angle, allowable yaw rate, allowable steering torque, or allowable acceleration.

2. The method of claim 1 , wherein the location data is received from a location sensor onboard the vehicle; and

wherein the map data comprises data associated with at least one of roadways, lanes, curves, turns, distances, angles, or speeds.

3. The method of claim 1 , wherein the vehicle data comprises data associated with operational characteristics or capabilities of the vehicle.

4. The method of claim 1 , wherein the one or more sensors comprise at least one of an imaging sensor, an audio sensor, or a time of flight sensor; and

wherein the sensor data comprises data associated with a dynamic object within the environment around the vehicle.

5. The method of claim 1 , wherein the one or more safety tunnel parameters further comprise allowable speed.

6. A method, comprising:

receiving, by a processor associated with a teleoperator station via a network, location data and drive state information associated with a vehicle, the vehicle being positioned within an environment remote from the teleoperator station;

receiving, by the processor, map data associated with the location data;

determining, by the processor, safety tunnel parameters for the vehicle based at least in part on the location data and the map data;

determining, by the processor, that the drive state information exceeds the safety tunnel parameters; and

in response to determining that the drive state information exceeds the safety tunnel parameters: instructing, by the processor, modification to operation of the vehicle within the safety tunnel parameters;

wherein the safety tunnel parameters comprise at least one of allowable steering angle, allowable yaw rate, allowable steering torque, or allowable acceleration.

7. The method of claim 6 , wherein the location data is received from a location sensor onboard the vehicle; and

wherein the map data comprises data associated with at least one of roadways, lanes, curves, turns, distances, angles, or speeds.

8. The method of claim 6 , wherein the safety tunnel parameters further comprise allowable speed.

9. The method of claim 6 , further comprising:

receiving, by the processor, vehicle data associated with the vehicle, the vehicle data comprising data associated with operational characteristics or capabilities of the vehicle;

wherein the safety tunnel parameters are further determined based on the vehicle data.

10. The method of claim 6 , further comprising:

receiving, by the processor, sensor data from one or more sensors onboard the vehicle, the one or more sensors comprising at least one of an imaging sensor, an audio sensor, or a time of flight sensor, and the sensor data comprising data associated with at least one object within the environment around the vehicle;

wherein the safety tunnel parameters are further determined based on the sensor data.

11. The method of claim 6 , further comprising:

in response to determining that the drive state information exceeds the safety tunnel parameters:

causing presentation, via a presentation device associated with the teleoperator station, of an indicator related to the safety tunnel parameters.

12. The method of claim 11 ,

wherein the indicator related to the safety tunnel parameters comprises at least one of visual, audio, or haptic feedback.

13. The method of claim 12 , wherein the indicator related to the safety tunnel parameters comprises a visual boundary presented within imaging data.

14. The method of claim 6 , further comprising:

in response to determining that the drive state information exceeds the safety tunnel parameters:

instructing, by the processor, safe autonomous operation of the vehicle within the environment;

wherein the safe autonomous operation comprises at least one of slowing or stopping the vehicle.

15. The method of claim 14 , further comprising:

determining, by the processor, the safe autonomous operation of the vehicle based at least in part on the safety tunnel parameters.

16. A remote driving system, comprising:

a vehicle within an environment, the vehicle comprising an imaging device; and

a teleoperator station that is remote from the vehicle, the teleoperator station in communication with the vehicle via a communication network, the teleoperator station comprising a control interface, a presentation device, and a processor;

wherein the processor is configured to at least:

receive location data and drive state information associated with the vehicle;

receive map data associated with the location data;

determine safety tunnel parameters for the vehicle based at least in part on the location data and the map data;

determine that the drive state information exceeds the safety tunnel parameters; and

in response to determining that the drive state information exceeds the safety tunnel parameters: instruct modification to operation of the vehicle within the safety tunnel parameters;

wherein the safety tunnel parameters comprise at least one of allowable steering angle, allowable yaw rate, allowable steering torque, or allowable acceleration.

17. The remote driving system of claim 16 , wherein the safety tunnel parameters further comprise at least one of allowable steering angle, allowable yaw rate, allowable steering torque, allowable speed, or allowable acceleration.

18. The remote driving system of claim 16 , wherein the vehicle further comprises one or more sensors including at least one of an imaging sensor, an audio sensor, or a time of flight sensor; and

wherein the processor is further configured to at least:

receive sensor data from the one or more sensors, the sensor data comprising data associated with at least one object within the environment around the vehicle;

wherein the safety tunnel parameters are further determined based on the sensor data.

19. The remote driving system of claim 16 , wherein the processor is further configured to at least:

in response to determining that the drive state information exceeds the safety tunnel parameters:

cause presentation, via the presentation device, of an indicator related to the safety tunnel parameters;

wherein the indicator related to the safety tunnel parameters comprises at least one of a visual indication of a boundary, an audio notification, or a haptic feedback.

20. The remote driving system of claim 16 , wherein the processor is further configured to at least:

in response to determining that the drive state information exceeds the safety tunnel parameters:

instruct safe autonomous operation of the vehicle within the environment.

Assignments (1)

Continuity (1)

References Cited (15)