Systems and Methods for Directing Another Computing System to Aid in Autonomous Navigation

Abstract

Systems and methods for controlling an autonomous vehicle to assist another autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes obtaining data representing a vehicle route of a first autonomous vehicle, wherein the first autonomous vehicle travels along the vehicle route from a first location to a second location. The method includes obtaining data representing an occlusion point that affects an operation of the first autonomous vehicle along the vehicle route. The method includes selecting a second autonomous vehicle, based at least in part on (i) the vehicle route and (ii) the occlusion point, to assist the first autonomous vehicle. The method includes deploying the second autonomous vehicle to assist the first autonomous vehicle to travel along the vehicle route.

1 .- 20 . (canceled) 
     
     
         21 . A computer-implemented method for controlling a computer system with one or more sensors to assist an autonomous vehicle, the method comprising:
 obtaining, by a computing system comprising one or more computing devices, data representing a vehicle route of an autonomous vehicle;   obtaining, by the computing system, data representing an identified occlusion point at a geographic location, the identified occlusion point corresponding to one or more regions at the geographic location where one or more sensors of the autonomous vehicle are unable to perceive a surrounding environment;   accessing, by the computing system, a remote computing system storing additional computing system data that comprises information corresponding to characteristics of a plurality of additional computing systems, each additional computing system having one or more associated sensors, the additional computing system data comprising at least a geographic location for each additional computing system;   selecting, by the computing system and based at least in part on the identified occlusion point and the geographic location of the plurality of additional computing systems, a selected computing system from the plurality of additional computing system to assist the autonomous vehicle;   transmitting, by the computing system, a communication to the selected computing system, wherein the communication causes the selected computing system to obtain data indicative of the occlusion point; and   receiving, by the computing system from the selected computing system, data indicative of the occlusion point.   
     
     
         22 . The computer-implemented method of  claim 21 , wherein the data representing the identified occlusion point is determined based on (i) sensor data acquired by one or more sensors on-board the autonomous vehicle or (ii) sensor data acquired by one or more sensors associated with one or more additional computer systems. 
     
     
         23 . The computer-implemented method of  claim 21 , wherein obtaining the data representing the identified occlusion point comprises:
 obtaining data representing the identified occlusion point identified by the one or more additional computer systems.   
     
     
         24 . The computer-implemented method of  claim 21 , wherein obtaining the data representing the identified occlusion point comprises:
 obtaining, by the computing system, data indicative of the identified occlusion point from a memory accessible by the computing system, wherein the identified occlusion point is a predetermined occlusion point.   
     
     
         25 . The computer-implemented method of  claim 21 , wherein the identified occlusion point comprises one or more geographic locations along the vehicle route where the autonomous vehicle is occluded by one or more objects in a surrounding environment of the autonomous vehicle. 
     
     
         26 . The computer-implemented method of  claim 21 , wherein causing the selected computing system to obtain data indicative of the occlusion point; comprises:
 causing the selected computing system to determine one or more objects in a surrounding environment of the selected computing system at the geographic location.   
     
     
         27 . The computer-implemented method of  claim 21 , further comprising:
 determining, by the computing system, one or more occlusion points corresponding to the autonomous vehicle, wherein the determining comprises:
 obtaining data representing a motion plan of the autonomous vehicle, the motion plan including one or more maneuvers that, when executed, cause the autonomous vehicle to travel along the vehicle route; 
 determining an occluded maneuver, among the one or more maneuvers in the motion plan of the autonomous vehicle, that is occluded by one or more objects in a surrounding environment of the autonomous vehicle along the vehicle route; and 
 determining a geographic location corresponding to the occluded maneuver. 
   
     
     
         28 . The computer-implemented method of  claim 21 , wherein:
 selecting the selected computing system to assist the autonomous vehicle comprises selecting the selected computing system, from among one or more additional computing system located within a predetermined distance from the identified occlusion point; and   causing the selected computing system to obtain data indicative of the occlusion point comprises controlling the selected computing system to assist the autonomous vehicle with respect to the identified occlusion point.   
     
     
         29 . The computer-implemented method of  claim 28 , wherein the computing system is further selected based at least in part by prioritizing an unoccupied computing system. 
     
     
         30 . The computer-implemented method of  claim 28 , wherein controlling the selected computing system to assist the autonomous vehicle with respect to the identified occlusion point comprises:
 controlling the selected computing system to obtain data indicative of an occluded region of an environment at the identified occlusion point, the occluded region being occluded to the autonomous vehicle at the identified occlusion point but not being occluded to the selected computing system; and   controlling the selected computing system to provide the data indicative of the occluded region to the autonomous vehicle.   
     
     
         31 . The computer-implemented method of  claim 28 , wherein controlling the selected computing system to assist the autonomous vehicle with respect to the identified occlusion point comprises:
 controlling the selecting computing system to provide a leeway for the autonomous vehicle at the identified occlusion point.   
     
     
         32 . The computer-implemented method of  claim 21 , wherein causing the selected computing system to obtain data indicative of the occlusion point comprises:
 providing a communication to cause the selected computing system to begin obtaining sensor data of the identified occlusion point, wherein the communication is provided to a remote computing system that provides a second communication to the selected computing system, and the selected computing system begins obtaining sensor data of the identified occlusion point in response to receiving the second communication.   
     
     
         33 . The computer-implemented method of  claim 21 , wherein causing the selected computing system to obtain data indicative of the occlusion point comprises:
 providing a communication to request the selected computing system to assist the autonomous vehicle with respect to the identified occlusion point.   
     
     
         34 . A computing system for autonomous vehicle assistance, the system comprising:
 one or more processors; and   one or more tangible, 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:   obtaining data representing a vehicle route of an autonomous vehicle;   obtaining data representing an identified occlusion point at a geographic location, the identified occlusion point corresponding to one or more regions at the geographic location where one or more sensors of the autonomous vehicle are unable to perceive a surrounding environment;   accessing a remote computing system storing additional computing system data that comprises information corresponding to characteristics of a plurality of additional computing systems, each additional computing system having one or more associated sensors, the additional computing system data comprising at least a geographic location for each additional computing system;   selecting, based at least in part on the identified occlusion point and the geographic location of the plurality of additional computing systems, a selected computing system from the plurality of additional computing system to assist the autonomous vehicle;   transmitting a communication to the selected computing system, wherein the communication causes the selected computing system to obtain data indicative of the occlusion point; and   receiving, from the selected computing system, data indicative of the occlusion point.   
     
     
         35 . The computing system of  claim 34 , wherein:
 selecting the computing system to assist the autonomous vehicle comprises selecting the selecting computing system, from among one or more additional computing systems located within a predetermined distance from the identified occlusion point; and   causing the selected computing system to obtain data indicative of the occlusion point comprises controlling the selected computing system to assist the autonomous vehicle with respect to the identified occlusion point.   
     
     
         36 . The computing system of  claim 35 , wherein controlling the selected computing system to assist the autonomous vehicle comprises:
 controlling the selected computing system to obtain data indicative of an occluded region at the identified occlusion point, the occluded region being occluded to the autonomous vehicle at the identified occlusion point but not being occluded to the selected computing system.   
     
     
         37 . The computing system of  claim 35 , wherein controlling the selected computing system to assist the autonomous vehicle comprises:
 controlling the selected computing system to provide a leeway for the autonomous vehicle at the identified occlusion point.   
     
     
         38 . An autonomous vehicle, comprising:
 one or more processors; and   one or more tangible, 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:
 obtaining data representing a vehicle route of an autonomous vehicle; 
 obtaining data representing an identified occlusion point at a geographic location, the identified occlusion point corresponding to one or more regions at the geographic location where one or more sensors of the autonomous vehicle are unable to perceive a surrounding environment; 
 accessing a remote computing system storing additional computing system data that comprises information corresponding to characteristics of a plurality of additional computing systems, each additional computing system having one or more associated sensors, the additional computing system data comprising at least a geographic location for each additional computing system; 
 selecting, based at least in part on the identified occlusion point and the geographic location of the plurality of additional computing systems, a selected computing system from the plurality of additional computing system to assist the autonomous vehicle; 
 transmitting a communication to the selected additional computing system, wherein the communication causes the selected computing system to obtain data indicative of the occlusion point; and 
 receiving, from the additional system, data indicative of the occlusion point. 
   
     
     
         39 . The autonomous vehicle of  claim 38 , further comprising:
 determining one or more occlusion points corresponding to the autonomous vehicle, wherein the determining comprises:
 obtaining data representing a motion plan of the autonomous vehicle, the motion plan including one or more maneuvers that, when executed, cause the autonomous vehicle to travel along the vehicle route; 
 determining a maneuver, among the one or more maneuvers in the motion plan of the autonomous vehicle, that is occluded by one or more objects in a surrounding environment of the autonomous vehicle along the vehicle route; and 
 determining a geographic location corresponding to the occluded maneuver. 
   
     
     
         40 . The autonomous vehicle of  claim 38 , wherein causing the selected computing system to obtain data indicative of the occlusion point comprises:
 providing a communication to request the selected computing system to assist the autonomous vehicle with respect to the identified occlusion point.