US-20260126792-A1 - Remotely Engaging Autonomous Vehicles

US20260126792A1US 20260126792 A1US20260126792 A1US 20260126792A1US-20260126792-A1

Abstract

An example method includes receiving a request to initiate a computer-controlled operational state of the autonomous vehicle. The example method includes verifying, using a cryptographically signed identifier, an identity of the autonomous vehicle and an authorization status associated with the autonomous vehicle. The example method includes verifying that a control subsystem of the autonomous vehicle is configured to execute the software version and that a map subsystem of the autonomous vehicle is configured to execute the map version. The example method includes verifying that one or more environmental conditions associated with the route for execution by the autonomous vehicle satisfy criteria. The example method includes receiving, from a human-machine interface device, a launch signal input. The example method includes transmitting, responsive to the launch signal input and conditioned on successfully verifying the identity and the authorization status, a launch signal to the autonomous vehicle to initiate execution of the route.

Inventors

Woosung CHOI
Archana Iyer
Maitreya Jayesh Naik
Aaron Paul Siri
Graeme Carleton Smith
Todd Tsui
Matthew Charles Ellis Wood
Liang Chao Zhao

Assignees

AURORA OPERATIONS, INC.

Dates

Publication Date: 20260507
Application Date: 20241101

Claims (20)

1 . A computing system for initiating an operational state change of an autonomous vehicle to cause the autonomous vehicle to launch a mission, the computing system comprising: one or more processors; and one or more non-transitory computer-readable media storing instructions that are executable by the one or more processors to perform operations, wherein the operations comprise: (a) receiving a request to initiate a computer-controlled operational state of the autonomous vehicle, the request comprising an operational profile identifying (i) the autonomous vehicle, (ii) a route for execution by the autonomous vehicle, (iii) an expected software version, and (iv) an expected map version; (b) verifying, using a cryptographically signed identifier, an identity of the autonomous vehicle and an authorization status associated with the autonomous vehicle; (c) verifying that a control subsystem of the autonomous vehicle is configured to execute the expected software version and that a map subsystem of the autonomous vehicle is configured to execute the expected map version; (d) verifying that one or more environmental conditions associated with the route for execution by the autonomous vehicle satisfy one or more criteria; (e) receiving, from a human-machine interface device, a launch signal input; and (f) transmitting a launch signal to the autonomous vehicle to initiate execution of the route, wherein the launch signal is output responsive to the launch signal input and conditioned on successfully verifying the identity and the authorization status and verifying (b)-(d).
2 . The computing system of claim 1 , wherein: the human-machine interface device is external to the autonomous vehicle.
3 . The computing system of claim 1 , wherein: the human-machine interface device is located at a first location; and the autonomous vehicle is launched from a launch pad at a second location that is different from the first location.
4 . The computing system of claim 3 , wherein the operations comprise: determining a location of the autonomous vehicle; wherein the launch signal is conditioned on the location of the autonomous vehicle being a designated launch location.
5 . The computing system of claim 1 , wherein the operations comprise: updating, in association with the launch signal input, an authentication status of a user of the human-machine interface device.
6 . The computing system of claim 5 , wherein updating the authentication status comprises: requesting, from the human-machine interface device, an authentication credential.
7 . The computing system of claim 6 , wherein the authentication credential is an additional authentication credential different from an initial authentication credential used to initiate a user session on the human-machine interface device.
8 . The computing system of claim 6 , wherein the authentication credential is based on a physical passkey.
9 . The computing system of claim 1 , wherein the operations comprise: obtaining, from the autonomous vehicles, sensor calibration data; and determining, based on the sensor calibration data, a calibration status of a component of the autonomous control system.
10 . The computing system of claim 9 , wherein: the component is a perception system of the autonomous vehicle; and the sensor calibration data comprises test detections obtained by the autonomous vehicle of one or more calibration objects during a calibration routine.
11 . The computing system of claim 10 , wherein the calibration routine comprises: causing the autonomous vehicle to move with respect to the one or more calibration objects; recording perception data descriptive of the one or more calibration objects using the perception system; and comparing the recorded perception data against reference data descriptive of the one or more calibration objects.
12 . The computing system of claim 9 , wherein: the component is a localization system of the autonomous vehicle; the sensor calibration data comprises pose data obtained by the autonomous vehicle; and the calibration routine comprises: causing the autonomous vehicle to move within a calibration environment; localizing the autonomous vehicle within a map of the calibration environment using the localization system; and comparing the localization of the autonomous vehicle within the map against reference data descriptive of a reference location of the autonomous vehicle within the calibration environment.
13 . The computing system of claim 1 , wherein (e) comprises: determining that one or more environmental conditions associated with the route do not exceed a vehicle capability.
14 . The computing system of claim 13 , wherein the one or more environmental conditions comprise: a weather condition along the route; a traffic condition along the route; or an infrastructure condition along the route.
15 . The computing system of claim 13 , wherein the one or more environmental conditions include a predicted environmental condition at a future time.
16 . The computing system of claim 13 , wherein the vehicle capability comprises a threshold associated with a baseline performance of a component of the autonomous vehicle in the one or more environmental conditions, wherein the component comprises: a perception system; or a motion planning system.
17 . The computing system of claim 13 , wherein the vehicle capability comprises a regulatory restriction on autonomous vehicle operation in the one or more environmental conditions.
18 . A computing system for verifying operational state changes of an autonomous vehicle to cause the autonomous vehicle to launch a mission, the computing system comprising: one or more processors; and one or more non-transitory, computer-readable media storing instructions that are executable by the one or more processors to perform operations, wherein the operations comprise: (a) outputting a request to initiate a computer-controlled operational state of the autonomous vehicle, the request comprising an operational profile identifying (i) the autonomous vehicle, (ii) a route for execution by the autonomous vehicle, (iii) an expected software version, and (iv) an expected map version; (b) receiving data describing a first human-machine interface (“HMI”) input confirming a configuration of the autonomous vehicle; (c) receiving automated verification data from an automated verification system confirming: verification that a control subsystem of the autonomous vehicle is configured to execute the expected software version and that a map subsystem of the autonomous vehicle is configured to execute the expected map version; verification that the control subsystem of the autonomous vehicle has received the goal list; and verification that one or more environmental conditions associated with the route for execution by the autonomous vehicle satisfy one or more criteria; (d) rendering a confirmation indicator associated with verification of an autonomous control system of the autonomous vehicle and verification of the route for execution by the autonomous vehicle using the autonomous control system; and (e) generating a launch signal input that is conditioned on the first HMI input and the automated verification data, wherein generating the launch signal input comprises: receiving data describing a second HMI input; responsive to the second HMI input, updating an authentication status of a user associated with the second HMI input; and outputting the launch signal input; wherein the launch signal input is configured for transmission to a launch system to initiate launch of the autonomous vehicle on the route.
19 . The computing system of claim 18 , wherein the second HMI input is received from an HMI that is external to the autonomous vehicle.
20 . The computing system of claim 19 , wherein the first HMI input is received from a different HMI from the second HMI input.

Description

BACKGROUND An autonomous platform can process data to perceive an environment through which the autonomous platform travels. For example, an autonomous vehicle can perceive its environment using a variety of sensors and identify objects around the autonomous vehicle. The autonomous vehicle can identify an appropriate path through the perceived surrounding environment and navigate along the path with minimal or no human input. SUMMARY Example implementations of the present disclosure provide a robust framework for remotely facilitating operational state changes of an autonomous vehicle. As autonomous vehicles are incorporated into scalable transportation networks, traditional ad-hoc manual launch procedures used during research and development stages will be a significant bottleneck for smooth, reliable use of autonomous vehicles at scale. The present disclosure provides computing systems and techniques that can communicate between operator devices and vehicle systems to confirm vehicle readiness, verify vehicle instructions, and initiate control handover into automated drive modes for improved system efficiency. In an example, a verification system can receive a request to deploy or launch a vehicle. A launch can include changing an operational state for a vehicle from a “standby” or a “manual control” mode into a computer-controlled operational state in which the vehicle can autonomously navigate through its environment. The request can be a request generated responsive to an input on a human-machine interface or a request generated based on a schedule for vehicle deployment. This request can initiate a sequence of verifications that help confirm that vehicle systems are up to date, operational, and have access to valid instruction sets for the upcoming journey (e.g., route, etc.). An example verification includes verifying an identity of the autonomous vehicle subject to the launch request. This verification operation can help ensure that the vehicle that is launched is the vehicle that an operator or system expects to launch. This can help avoid surprise movements from autonomous vehicles. The verification operation can include receiving a cryptographically signed identifier from the vehicle and comparing the identifier with an allowlist of vehicles that are approved for launch. The verification operation can include using additional modalities of confirmation (e.g., a button press on the subject vehicle contemporaneously with the launch initiation, an image capture of the subject vehicle, etc.). An example verification includes verifying an autonomous control system of the autonomous vehicle. This verification operation can include evaluating software versions, file checksums, sensor status values, calibration results, etc. to determine a system readiness for the desired journey. Cryptographic signatures associated with the system components can provide evidence of system integrity and verify a source of the software components. Some components can be permanently marked (e.g., physically or digitally) with a component identifier that can help demonstrate a lack of tampering, unauthorized repair/replacement, etc. An example verification includes verifying a route for execution by the autonomous vehicle. For example, in some contexts an autonomous vehicle can be launched to traverse a particular route from an origin to a destination. This route can be loaded into memory of the autonomous vehicle during or prior to launch. The stored route can be verified for data integrity to confirm that the transfer was performed correctly. The route can be verified by evaluating the route against one or more operational constraints of the autonomous vehicle. For example, the operational requirements of traversing a given route can vary over time. Traversing a route in low traffic on a clear day at noon can require different operational capacities as compared to traversing the same route at night in the rain in heavy traffic. Verifying the route can include determining one or more environmental factors (e.g., weather, traffic, road condition, internal or external bulletins, etc.) and determining that the autonomous vehicle can execute the route using the autonomous control system while satisfying one or more operational constraints of the autonomous vehicle. Based on these verifications, a verification system can clear the autonomous vehicle for launch. Once fully verified, the verification system can initiate launch of the vehicle by outputting a launch signal to the autonomous vehicle. The launch signal can be issued responsive to a launch signal input. The launch signal input can correspond to a button press or other physical engagement with a control surface. The launch signal input can originate from a control terminal external to the autonomous vehicle (e.g., a control terminal spaced apart from a launch location of the autonomous vehicle). Example implementations of an example verification system according to asp