Aurora Operations, Inc.

Aurora Innovation, Inc.

Nathaniel Gist, Iv

Narek Melik-Barkhudarov

Gwennael Herve Jonathan Gate

Dmitriy Kislovskiy

Ethan Eade

Christopher Guy Williams

Thomas Pilarski

A teleoperations system may be used to modify elements in the mapping data used by an autonomous vehicle to cause the autonomous vehicle to control its trajectory based on the modified elements. In addition, in some instances, a teleoperations system may be used to generate virtual paths of travel for an autonomous vehicle based upon teleoperations system virtual path suggestion inputs.

Autonomous vehicle remote teleoperations system

A vehicle agnostic removable pod can be mounted on a vehicle using one or more legs of a pod mount. The removable pod can collect and time stamp a variety of environmental data as well as vehicle data. For example, environmental data can be collected using a sensor suite which can include an IMU, 3D positioning sensor, one or more cameras, and/or a LIDAR unit. As another example, vehicle data can be collected via a CAN bus attached to the vehicle. Environmental data and/or vehicle data can be time stamped and transmitted to a remote server for further processing by a computing device.

Removable automotive LIDAR data collection pod

An autonomous vehicle uses a secondary vehicle control system to supplement a primary vehicle control system to perform a controlled stop if an adverse event is detected in the primary vehicle control system. The secondary vehicle control system may use a redundant lateral velocity determined by a different sensor from that used by the primary vehicle control system to determine lateral velocity for use in controlling the autonomous vehicle to perform the controlled stop.

Redundant lateral velocity determination and use in secondary vehicle control systems

A teleoperations system may be used to select from among multiple scenarios generated by an autonomous vehicle based upon context data provided to the teleoperations system by the autonomous vehicle. Furthermore, an autonomous vehicle may validate a selected scenario prior to executing that scenario to confirm that the scenario does not violate any vehicle and environmental constraints for the autonomous vehicle. Further, a user interface may be presented to a teleoperations system operator to coordinate the display representations of different scenarios with those of the user interface controls used to select such scenarios.

Autonomous vehicle remote teleoperations system with scenario selection

A teleoperations system may be used to selectively override conditions detected by an autonomous vehicle to enable the autonomous vehicle to effectively ignore detected conditions that are identified as false positives by the teleoperations system. Furthermore, a teleoperations system may be used to generate commands that an autonomous vehicle validates prior to executing to confirm that the commands do not violate any vehicle constraints for the autonomous vehicle. Still further, an autonomous vehicle may be capable of dynamically varying the video quality of one or more camera feeds that are streamed to a teleoperations system over a bandwidth-constrained wireless network based upon a current context of the autonomous vehicle.

Autonomous vehicle teleoperations system

Removable automotive LIDAR data collection POD

A downwardly-directed optical array sensor may be used in an autonomous vehicle to enable a velocity (e.g., an overall velocity having a direction and magnitude, or a velocity in a particular direction, e.g., along a longitudinal or lateral axis of a vehicle) to be determined based upon images of a ground or driving surface captured from multiple downwardly-directed optical sensors having different respective fields of view.

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Pittsburgh, PA, United States of America

Nathaniel Gist, Iv