SYSTEM FOR REMOTELY RELOCATING AUTONOMOUS VEHICLES USING MULTI-POINT MANEUVERS

It may be desirable for a remote advisor to request an AV to relocate to a target relocation pose. In some cases, reaching a target relocation pose may involve a multi-point maneuver. Ability to perform relocation that involves a multi-point maneuver offers flexibility for the AV to maneuver around double-parked vehicles, to avoid obstacles, to aid a reroute when a route becomes unnavigable, etc. To support relocation that involves performing multi-point maneuvers, the planning stack may be modified to include a motion planner that can generate output plans that involve the AV going forward and in reverse. Moreover, the vehicle control stack may publish vehicle controls information as feedback information to the motion planner and the remote requestor, so that the motion planner and the remote requestor can be informed of the state of the AV.