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; and
in response to detecting the inadequacy in the map data, controlling the vehicle in a second autonomous 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.
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Accused Products
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.
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Citations
40 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; and in response to detecting the inadequacy in the map data, controlling the vehicle in a second autonomous 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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A vehicle comprising:
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one or more sensors; and a controller configured to; receive first sensor data from the one or more sensors, wherein the first sensor data is indicative of an environment of the vehicle when the vehicle is in a first autonomous mode of operation; receive second sensor data from the one or more sensors, wherein the second sensor data is indicative of an environment of the vehicle when the vehicle is in a second autonomous mode of operation; control the vehicle in the first autonomous mode of operation by at least navigating the vehicle based on map data; detect an inadequacy in the map data by at least comparing the map data to the first sensor data; and in response to detecting the inadequacy in the map data, control the vehicle in the second autonomous mode of operation by at least navigating the vehicle based on the second sensor data. - View Dependent Claims (14, 15, 16, 17)
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18. A non-transitory computer-readable storage medium having stored thereon instructions, that when executed by a computing device, cause the computing device to carry out 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; 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; and in response to detecting the inadequacy in the map data, controlling the vehicle in a second autonomous 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. - View Dependent Claims (19, 20)
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21. A method comprising:
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controlling a vehicle in a first autonomous mode, wherein controlling the vehicle in the first autonomous mode comprises navigating the vehicle based on map data; obtaining sensor data indicative of an environment of the vehicle; detecting an inadequacy in the map data based on a comparison of the map data and the sensor data; and in response to the inadequacy, controlling the vehicle in a second autonomous mode, wherein controlling the vehicle in the second autonomous mode comprises controlling the vehicle based on lane indications provided by the sensor data. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
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33. A vehicle comprising:
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one or more sensors; and a controller configured to; control the vehicle in the first autonomous mode of operation by at least navigating the vehicle based on map data; receive sensor data from the one or more sensors, wherein the sensor data is indicative of an environment of the vehicle; detect an inadequacy in the map data by at least comparing the map data to the sensor data; and in response to the inadequacy in the map data, control the vehicle in a second autonomous mode, wherein controlling the vehicle in the second autonomous mode comprises controlling the vehicle based on lane indications provided by the sensor data. - View Dependent Claims (34, 35, 36, 37, 38)
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39. A non-transitory computer-readable storage medium having stored thereon instructions, that when executed by a computing device, cause the computing device to carry out functions comprising:
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controlling a vehicle in a first autonomous mode, wherein controlling the vehicle in the first autonomous mode comprises navigating the vehicle based on map data; obtaining sensor data indicative of an environment of the vehicle; detecting an inadequacy in the map data based on a comparison of the map data and the sensor data; and in response to the inadequacy, controlling the vehicle in a second autonomous mode, wherein controlling the vehicle in the second autonomous mode comprises controlling the vehicle based on lane indications provided by the sensor data. - View Dependent Claims (40)
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Specification