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1. (WO2019005518) HUMAN SUPERVISION OF AN AUTOMATED DRIVING SYSTEM
ملاحظة: نص مبني على عمليات التَعرف الضوئي على الحروف. الرجاء إستخدام صيغ PDF لقيمتها القانونية

WHAT IS CLAIMED IS:

1. A computing system, comprising:

one or more processors; and

one or more non-transitory computer-readable media that collectively store instructions that, when executed by the one or more processors, cause the computing system to perform operations, the operations comprising:

determining a primary motion plan that controls an autonomous vehicle towards a primary destination;

determining a secondary motion plan that controls the autonomous vehicle to a safe state;

controlling the autonomous vehicle according to the primary motion plan; receiving a user input indicative; and

in response to receipt of the user input, switching a control of the autonomous vehicle from the primary motion plan to the secondary motion plan.

2. The computing system of claim 1, wherein:

the secondary motion plan comprises an emergency motion plan; and

the user input comprises a user input indicative of an emergency event.

3. The computing system of claim 1 or claim 2, wherein:

determining the primary motion plan comprises determining a plurality of primary motion plans respectively for a plurality of time periods;

determining the secondary motion plan comprises determining a plurality of secondary motion plans respectively for the plurality of time periods;

controlling the autonomous vehicle according to the primary motion plan comprises controlling the autonomous vehicle according to the primary motion plan for each time period prior to receipt of the user input; and

switching the control of the autonomous vehicle from the primary motion plan to the secondary motion plan comprises controlling the autonomous vehicle according to the secondary motion plan for each time period subsequent to receipt of the user input.

4. The computing system of any preceding claim, wherein the secondary motion plan brings the autonomous vehicle to rest while remaining within a current lane.

5. The computing system of claim 1, 2, or 3, wherein the secondary motion plan causes the autonomous vehicle to exit a flow of traffic.

6. The computing system of any preceding claim, wherein the computing system comprises a motion planning system, and wherein both the primary motion plan and the secondary motion plan are determined by the motion planning system of the computing system.

7. The computing system of claim 6, wherein the motion planning system comprises an optimization planner, wherein the optimization planner optimizes a first set of cost functions to determine the primary motion plan, and wherein the optimization planner optimizes a second set of cost functions to determine the secondary motion plan.

8. The computing system of any of claims 1-5, wherein the computing system comprises:

a primary motion planning system that determines the primary motion plan; and a secondary motion planning system that determines the secondary motion plan, the secondary motion planning system being separate and distinct from the primary motion planning system.

9. The computing system of any preceding claim, wherein determining the secondary motion plan comprises determining a plurality of secondary motion plans that respectively control the autonomous vehicle to a plurality of different safe states.

10. The computing system of claim 9, wherein:

receiving the user input comprises receiving the user input that selects one of the plurality of secondary motion plans; and

controlling the autonomous vehicle according to the secondary motion plan comprises controlling the autonomous vehicle according to the secondary motion plan selected by the user input.

11. The computing system of any preceding claim, wherein:

the primary motion plan comprises a primary trajectory that moves the autonomous vehicle towards the primary destination; and

the secondary motion plan comprises a secondary trajectory that moves the autonomous vehicle to the safe state.

12. The computing system of any preceding claim, wherein the operations further comprise at least one of the following after controlling the autonomous vehicle according to the secondary motion plan:

transitioning the autonomous vehicle to a manual control mode; and

transmitting an alert to a centralized fleet manager computing system.

13. An autonomous vehicle, the autonomous vehicle comprising:

one or more processors; and

one or more non-transitory computer-readable media that collectively store instructions that, when executed by the one or more processors, cause the autonomous vehicle to perform operations, the operations comprising:

determining a primary motion plan that controls the autonomous vehicle towards a primary destination;

determining a secondary motion plan that controls the autonomous vehicle to a safe state;

controlling the autonomous vehicle according to the primary motion plan; receiving a user input; and

in response to receipt of the user input, switching a control of the autonomous vehicle from the primary motion plan to the secondary motion plan.

14. The autonomous vehicle of claim 13, wherein:

the secondary motion plan comprises an emergency motion plan; and

the user input comprises a user input indicative of an emergency event.

15. The autonomous vehicle of claim 13 or 14, wherein:

determining the primary motion plan comprises determining a plurality of primary motion plans respectively for a plurality of time periods;

determining the secondary motion plan comprises determining a plurality of secondary motion plans respectively for the plurality of time periods;

controlling the autonomous vehicle according to the primary motion plan comprises controlling the autonomous vehicle according to the primary motion plan for each time period prior to receipt of the user input; and

switching the control of the autonomous vehicle from the primary motion plan to the secondary motion plan comprises controlling the autonomous vehicle according to the secondary motion plan for each time period subsequent to receipt of the user input.

16. The autonomous vehicle of claim 13, 14, or 15, wherein the secondary motion plan brings the autonomous vehicle to rest while remaining within a current lane.

17. The autonomous vehicle of claim 13, 14, or 15, wherein the secondary motion plan pulls the autonomous vehicle over to a side of a road.

18. A computer-implemented method, the method comprising:

receiving, by a computing system comprising one or more computing devices, a user input indicative of an emergency event; and

in response to receiving, by the computing system, the user input indicative of the emergency event, causing, by the computing system, transition of a control of an autonomous vehicle from a primary motion plan to an emergency motion plan;

wherein the primary motion plan controls the autonomous vehicle towards a primary destination; and

wherein the emergency motion plan controls the autonomous vehicle to a safe state.

19. The computer-implemented method of claim 18, wherein receiving, by the computing system, the user input indicative of the emergency event comprises receiving, by the computing system, the user input entered via a physical component that is coupled to the autonomous vehicle.

20. The computer-implemented method of claim 18 or 19, wherein receiving, by the computing system, the user input indicative of the emergency event comprises:

providing, by the computing system, a graphical user interface for display by a display device; and

receiving, by the computing system, the user input entered via interaction with the graphical user interface.