Controlling a vehicle having inadequate map data

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.

What is claimed is: 
     
       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.   
     
     
       2. The method of  claim 1 , wherein the map data includes one or more of traffic conditions, road conditions, route information, and positioning information. 
     
     
       3. The method of  claim 1 , wherein detecting the inadequacy in the map data comprises comparing the map data and the sensor data to determine whether a difference between the map data and the sensor data exceeds a predetermined threshold. 
     
     
       4. 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. 
     
     
       5. 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. 
     
     
       6. The method of  claim 5 , wherein navigating the vehicle based on the further sensor data comprises increasing a distance between the vehicle and the second vehicle. 
     
     
       7. The method of  claim 1 , wherein the additional sensor data is indicative of a traffic sign, wherein the traffic sign presents a textual message, and wherein navigating the vehicle based on the additional sensor data comprises navigating the vehicle based on the textual message. 
     
     
       8. The method of  claim 1 , further comprising:
 providing an indication of an option to switch to a manual mode of operation, wherein the indication of an option to switch to a manual mode of operation is provided by one or more of a display, a speaker, an indicator light and a mobile device in wireless communication with the vehicle;   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.   
     
     
       9. The method of  claim 8 , wherein detecting the inactivity comprises:
 receiving information that is indicative of a movement of an on-board passenger in the vehicle; and   detecting the inactivity based on the information.   
     
     
       10. The method of  claim 8 , 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.   
     
     
       11. The method of  claim 10 , 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.   
     
     
       12. The method of  claim 10 , wherein navigating the vehicle based on the further sensor data comprises enabling hazard lights of the vehicle and reducing a speed of the vehicle. 
     
     
       13. A vehicle comprising:
 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. 
   
     
     
       14. The vehicle of  claim 13 , wherein the additional sensor data is indicative of a traffic sign, wherein the traffic sign presents a textual message, and wherein navigating the vehicle based on the additional sensor data comprises navigating the vehicle based on the textual message. 
     
     
       15. The vehicle of  claim 13 , wherein the controller is further configured to:
 provide an indication of an option to switch to a manual mode of operation, wherein the indication of an option to switch to a manual mode of operation is provided by one or more of a display, a speaker, an indicator light and a mobile device in wireless communication with the vehicle;   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.   
     
     
       16. The vehicle of  claim 15 , wherein the one or more precautious actions comprises one or more 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. 
     
     
       17. The vehicle of  claim 13 , wherein the one or more sensors comprise one or more of a camera, a radar system, a LIDAR system, a global positioning system, and an inertial measurement unit. 
     
     
       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:
 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.   
     
     
       19. The non-transitory computer-readable storage medium of  claim 18 , wherein the functions further comprise:
 providing an indication of an option to switch to a manual mode of operation, wherein the indication of an option to switch to a manual mode of operation is provided by one or more of a display, a speaker, an indicator light and a mobile device in wireless communication with the vehicle;   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.   
     
     
       20. The non-transitory computer-readable storage medium of  claim 18 , wherein the additional sensor data is indicative of a traffic sign, wherein the traffic sign presents a textual message, and wherein navigating the vehicle based on the additional sensor data comprises navigating the vehicle based on the textual message. 
     
     
       21. A method comprising:
 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.   
     
     
       22. The method of claim 21, wherein the lane indications provided by the sensor data comprise an estimated shape and location of a current lane of the vehicle. 
     
     
       23. The method of claim 21, wherein controlling the vehicle in the second autonomous mode comprises remaining in a current lane of the vehicle. 
     
     
       24. The method of claim 21, wherein controlling the vehicle in the second autonomous mode further comprises transitioning control of the vehicle to a human driver. 
     
     
       25. The method of claim 21, wherein controlling the vehicle in the second autonomous mode further comprises controlling the vehicle based on trajectories of other vehicles, and objects specific to road environments. 
     
     
       26. The method of claim 21 wherein detecting the inadequacy in the map data comprises comparing the map data and the sensor data to determine whether a difference between the map data and the sensor data exceeds a predetermined threshold. 
     
     
       27. The method of claim 21, wherein controlling the vehicle in the second autonomous mode comprises maintaining a safe distance from other vehicles/objects in a vicinity of the vehicle. 
     
     
       28. The method of claim 21, further comprising:
 providing an indication of an option to switch to a manual mode of operation, wherein the indication of an option to switch to a manual mode of operation is provided by one or more of a display, a speaker, an indicator light and a mobile device in wireless communication with the vehicle;   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.   
     
     
       29. The method of claim 28, wherein detecting the inactivity comprises:
 receiving information that is indicative of a movement of an on-board passenger in the vehicle; and   detecting the inactivity based on the information.   
     
     
       30. The method of claim 28, 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.   
     
     
       31. The method of claim 30, 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.   
     
     
       32. The method of claim 21, wherein the map data is selectively used in the first autonomous mode, wherein controlling the vehicle in the second autonomous mode further comprises controlling the vehicle based on the map data, and wherein the map data is used to a lesser extent in the second autonomous mode than in the first autonomous mode. 
     
     
       33. A vehicle comprising:
 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.   
     
     
       34. The vehicle of claim 33, wherein the lane indications provided by the sensor data comprise an estimated shape and location of a current lane of the vehicle. 
     
     
       35. The vehicle of claim 33, wherein controlling the vehicle in the second autonomous mode comprises remaining in a current lane of the vehicle. 
     
     
       36. The vehicle of claim 33, wherein controlling the vehicle in the second autonomous mode further comprises transitioning control of the vehicle to a human driver. 
     
     
       37. The vehicle of claim 33, wherein the one or more sensors comprise one or more of a camera, a radar system, a LIDAR system, a global positioning system, and an inertial measurement unit. 
     
     
       38. The vehicle of claim 33, wherein the lane indications provided by the sensor data comprise features representing lane marker locations, trajectories of other vehicles, and objects specific to road environments. 
     
     
       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:
 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.   
     
     
       40. The non-transitory computer-readable storage medium of claim 39, wherein the functions further comprise:
 providing an indication of an option to switch to a manual mode of operation, wherein the indication of an option to switch to a manual mode of operation is provided by one or more of a display, a speaker, an indicator light and a mobile device in wireless communication with the vehicle;   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.