Controlling a vehicle having inadequate map data
First Claim
1. A method comprising:
- controlling a vehicle in a first autonomous mode of operation, wherein controlling the vehicle in the first autonomous mode of operation comprises navigating the vehicle based on map data;
obtaining sensor data using one or more sensors of the vehicle, wherein the sensor data is indicative of an environment of the vehicle;
detecting an inadequacy in the map data, wherein detecting the inadequacy in the map data comprises comparing the map data to the sensor data;
in response to detecting the inadequacy in the map data, controlling the vehicle in a second autonomous mode of operation and prompting a user to switch to a manual mode of operation, wherein controlling the vehicle in the second autonomous mode of operation comprises obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data;
detecting an inactivity when the vehicle is in the second autonomous mode of operation, wherein the inactivity relates to the option to switch to the manual mode of operation; and
in response to detecting the inactivity, controlling the vehicle in a third autonomous mode of operation, wherein controlling the vehicle in the third autonomous mode of operation comprises;
obtaining further sensor data using the one or more sensors of the vehicle, andnavigating the vehicle based on the further sensor data.
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Abstract
A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.
130 Citations
21 Claims
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1. A method comprising:
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controlling a vehicle in a first autonomous mode of operation, wherein controlling the vehicle in the first autonomous mode of operation comprises navigating the vehicle based on map data; obtaining sensor data using one or more sensors of the vehicle, wherein the sensor data is indicative of an environment of the vehicle; detecting an inadequacy in the map data, wherein detecting the inadequacy in the map data comprises comparing the map data to the sensor data; in response to detecting the inadequacy in the map data, controlling the vehicle in a second autonomous mode of operation and prompting a user to switch to a manual mode of operation, wherein controlling the vehicle in the second autonomous mode of operation comprises obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data; detecting an inactivity when the vehicle is in the second autonomous mode of operation, wherein the inactivity relates to the option to switch to the manual mode of operation; and in response to detecting the inactivity, controlling the vehicle in a third autonomous mode of operation, wherein controlling the vehicle in the third autonomous mode of operation comprises; obtaining further sensor data using the one or more sensors of the vehicle, and navigating the vehicle based on the further sensor data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A vehicle comprising:
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at least one sensor, wherein the at least one sensor is configured to; (i) obtain first sensor data, wherein the first sensor data is indicative of an environment of the vehicle when the vehicle is in a first autonomous mode of operation, and (ii) obtain second sensor data, wherein the second sensor data is indicative of an environment of the vehicle when the vehicle is in a second autonomous mode of operation; and a computer system configured to; (i) control the vehicle in the first autonomous mode of operation by at least navigating the vehicle based on map data; (ii) detect an inadequacy in the map data by at least comparing the map data to the first sensor data; (iii) in response to detecting the inadequacy in the map data, (a) control the vehicle in the second autonomous mode of operation by at least navigating the vehicle based on the second sensor data, and (b) prompt a user to switch to a manual mode of operation; (iv) detect an inactivity when the vehicle is in the second autonomous mode of operation, wherein the inactivity relates to the option to switch to the manual mode of operation; and (v) in response to detecting the inactivity, control the vehicle in a third autonomous mode of operation by at least; (a) receiving third sensor data obtained by the at least one sensor, and (b) navigating the vehicle based on the third sensor data without using the map data. - View Dependent Claims (17, 18, 19)
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20. A non-transitory computer-readable medium having stored instructions that are executable by a computer system to cause the computer system to perform functions comprising:
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controlling a vehicle in a first autonomous mode of operation, wherein controlling the vehicle in the first autonomous mode of operation comprises navigating the vehicle based on map data; receiving sensor data from one or more sensors of the vehicle, wherein the sensor data is indicative of an environment of the vehicle; detecting an inadequacy in the map data, wherein detecting the inadequacy in the map data comprises comparing the map data to the sensor data; in response to detecting the inadequacy in the map data, controlling the vehicle in a second autonomous mode of operation and prompting a user to switch to a manual mode of operation, wherein controlling the vehicle in the second autonomous mode of operation comprises obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data; detecting an inactivity when the vehicle is in the second autonomous mode of operation, wherein the inactivity relates to the option to switch to the manual mode of operation; and in response to detecting the inactivity, controlling the vehicle in a third autonomous mode of operation, wherein controlling the vehicle in the third autonomous mode of operation comprises; obtaining further sensor data using the one or more sensors of the vehicle, and navigating the vehicle based on the further sensor data. - View Dependent Claims (21)
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Specification