US Patent 11016485 Teleoperation for exception handling

Exception handing, such as of obstruction situations, by an autonomous vehicle (AV) is disclosed. A method includes identifying an exception situation; identifying a risk associated with autonomously resolving the exception situation; and in response to the risk exceeding a risk threshold, initiating a request for assistance from a tele-operator, and halting for the tele-operator to respond to the request; and receiving a response from the tele-operator.