Controlling a vehicle having inadequate map data

• US 8,521,352 B1
• Filed: 05/07/2012
• Issued: 08/27/2013
• Est. Priority Date: 05/07/2012
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Ferguson, David I., Dolgov, Dmitri A.
• Primary Examiner(s): Mawari, Redhwan K
• Application Number:
  US13/465,348
• Time in Patent Office: 477 Days
• Field of Search: 701/2, 701/23, 701/36, 701/41, 701/45, 701/408, 701/409, 701/300, 701/301
• US Class Current: 701/25
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 2201/0213 Road vehicle, e.g. car or truck

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.

Claims

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, and

navigating the vehicle based on the further sensor data.

2. The method of claim 1, wherein navigating the vehicle based on the further sensor data comprises navigating the vehicle without using the map data.

3. The method of claim 1, wherein navigating the vehicle based on the further sensor data comprises:

determining a level of safety of parking the vehicle at a location,

determining that the level of safety exceeds a target threshold, and

in response to determining that the level of safety exceeds the target threshold, parking the vehicle at the location.

4. The method of claim 1, wherein navigating the vehicle based on the further sensor data comprises following another vehicle.

5. The method of claim 1, wherein navigating the vehicle based on the further sensor data comprises enabling hazard lights of the vehicle and reducing a speed of the vehicle.

6. The method of claim 1, wherein detecting the inactivity comprises:

receiving information that is indicative of a condition in a passenger cabin of the vehicle; and

detecting the inactivity based on the information.

7. The method of claim 1, wherein detecting the inactivity comprises detecting an inaction in a passenger cabin of the vehicle.

8. The method of claim 1, wherein detecting the inadequacy in the map data comprises detecting a difference between the map data and the sensor data.

9. The method of claim 1, wherein comparing the map data to the sensor data comprises comparing the map data to the sensor data in real-time.

10. The method of claim 1, further comprising receiving the map data prior to controlling the vehicle in the first autonomous mode of operation.

11. The method of claim 1, wherein the map data is generated prior to controlling the vehicle in the first autonomous mode of operation.

12. The method of claim 1, wherein the additional sensor data is indicative of a lane boundary, and wherein navigating the vehicle based on the additional sensor data comprises navigating the vehicle based on the lane boundary.

13. The method of claim 1, wherein the additional sensor data is indicative of a position of a second vehicle, and wherein navigating the vehicle based on the additional sensor data comprises navigating the vehicle based on the position of the second vehicle.

14. The method of claim 1, wherein the additional sensor data is indicative of a traffic sign, wherein the traffic sign presents a condition of an environment of the vehicle, and wherein navigating the vehicle based on the additional sensor data comprises navigating the vehicle based on the condition.

15. The method of claim 1, wherein navigating the vehicle based on the additional sensor data comprises navigating the vehicle without using the map data.

16. A vehicle comprising:

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.

17. The vehicle of claim 16, wherein the computer system is further configured to:

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

in response to detecting the inactivity, control the vehicle in a third autonomous mode of operation by at least causing one or more precautious actions to be performed.

18. The vehicle of claim 17, wherein the one or more precautious actions comprises at least one of parking the vehicle, causing the vehicle to follow another vehicle, reducing a speed of the vehicle, navigating the vehicle along at least a part of a route, sending an alert message, and enabling one or more hazard lights of the vehicle.

19. The vehicle of claim 16, wherein the at least one sensor comprises at least one of a camera, a radar system, a lidar system, a global positioning system, and an inertial measurement unit.

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:

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.

21. The non-transitory computer-readable medium of claim 20, wherein the map data is generated prior to controlling the vehicle in the first autonomous mode of operation.