Patent Document ID: 9606539
Application ID: 14932959
Patent Status: 1

Claim One:
1. A method comprising: monitoring, at a computing system, a fleet of independent driverless vehicles, at least one of which is configured to autonomously transit from a first geographic region to a second geographic region via a road network, the driverless vehicles being bidirectional autonomous vehicles capable of driving forward in a first direction or driving forward in an opposite second direction and having at least one mechanism for communicating a current forward direction to one or more potential people in a surrounding environment; receiving, at the computing system, data from a driverless vehicle in the fleet indicating an event encountered by the driverless vehicle that may cause the driverless vehicle to maneuver from a current trajectory; generating, by the computing system, multiple candidate trajectories for the driverless vehicle to maneuver from the current trajectory; calculating, by the computing system, confidence levels associated with the multiple candidate trajectories; ranking, by the computing system, the multiple candidate trajectories according to the confidence levels; choosing a particular candidate trajectory from among the multiple candidate trajectories based at least in part on the confidence levels associated with the multiple candidate trajectories; and transmitting, to the driverless vehicle, the particular candidate trajectory for use in maneuvering the driverless vehicle whereby the driverless vehicle uses the mechanism to communicate any change of the first direction to the potential people in the surrounding environment, wherein the choosing comprises: presenting, to a human teleoperator, at least a subset of the multiple candidate trajectories in ranked order according to the associated confidence levels; and receiving input from the human teleoperator to select the particular candidate trajectory.