Patent ID: 11892832
Assignee: WAYMO LLC
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 14:
15. One or more non-transitory computer-readable storage media storing instructions that when executed by one or more computers cause the one or more computers to perform operations comprising:
receiving data representing a sensor measurement, generated by one or more sensors, of a scene in an environment;
receiving data defining a set of valid lane paths in the scene in the environment, each valid lane path representing a path through the scene that can be traversed by a vehicle;
receiving data indicating that at least one valid lane path in the scene has become an invalid lane path, each invalid lane path representing a path that contains an obstruction that prevents a vehicle from traversing a path through the scene represented by the invalid lane path;
providing user interface presentation data to a user device that causes the user device to display a user interface, the user interface comprising:
(i) a first display area that displays a first visual representation of the sensor measurement; and
(ii) a second display area that displays a second visual representation of the at least one invalid lane path;

receiving a user input modifying the second visual representation of the at least one invalid lane path such that the modified visual representation avoids the obstruction;
generating, using the user input, a lane path that can be traversed by a vehicle; and
in response to receiving the user input modifying the second visual representation, modifying the set of valid lane paths of the scene in the environment to include the generated lane path.