VEHICLE OPERATION WITH MAP OVERLAY ZONES

Abstract

A vehicle computer can access a stored map. The map contains the respective vehicle operating permits for the zones included on the map. A modified vehicle operating permit for one of the zones included on the map can be received. If the vehicle is within a specified distance of one of the zones, the vehicle will operate according to the modified operating permit. The modified vehicle operating permit may reduce the autonomous control of vehicle speed and / or steering.

Description

AREA OF TECHNOLOGY

[0001] The present disclosure includes techniques for supporting vehicle operation under dynamically changing road and / or driving conditions. GENERAL STATE OF THE ART

[0002] Various vehicle features can utilize map data. For example, a vector map or vector maps may be provided in a vehicle. A vector map uses vector graphics techniques to store and display map data. To specify geographic locations, a vector map may use a geographic coordinate system in which coordinates are defined by positive and / or negative values ​​for latitude and longitude. Furthermore, a vector map may provide various types or layers of data, such as data describing roads, railway lines, utility network features, drainage features, airports, elevation contours, coastlines, legal system boundaries, descriptions of populated places such as cities, provinces, states, etc., and / or an index of geographic names associated with locations. SUMMARY

[0003] Amended operating permits for zones or areas of a roadway can be dynamically provided, as described in this document.

[0004] A system comprises a processor and memory, which may be contained within a vehicle computer. The memory stores instructions executable by the processor to access a map stored in the vehicle, the map containing respective vehicle operating permits for zones included in the map; to receive a modified vehicle operating permit for one of the zones included in the map; and, if the vehicle is within a specified distance of one of the zones, to operate the vehicle in accordance with the modified operating permit; the modified vehicle operating permit downgrading autonomous control of vehicle speed and / or steering.

[0005] The amended vehicle operating permit may be a modified speed limit. The vehicle may be operated in accordance with the amended speed limit. The amended vehicle operating permit may be cruise control, hands-on operation, or hands-free operation. One of the zones may be defined by a start boundary and an end boundary of a lane or roadway. The amended vehicle operating permit for one of the zones may be received by the vehicle during an over-the-air update provided at vehicle start-up. The amended vehicle operating permit for one of the zones may be received by the vehicle while the vehicle is in motion. The amended vehicle operating permit for one of the zones may be received by the vehicle while the vehicle is being operated in accordance with the respective vehicle operating permit for one of the zones.

[0006] The amended vehicle operating permit for one of the zones may include a specified expiry time after which the vehicle may not be operated in that zone according to the amended vehicle operating permit. The amended vehicle operating permit for one of the zones may also include a specified time window, whereby operation will cease during the specified time window and not outside of it.

[0007] The instructions may also include instructions to obtain a further amended vehicle operating permit for one of the zones; and to make a further cessation of the operation of the vehicle in accordance with the further amended vehicle operating permit for one of the zones.

[0008] The instructions may further include instructions to obtain in the vehicle a second amended vehicle operating permit for a second of the zones; to determine that the one of the zones and the second of the zones overlap; and to operate the vehicle in accordance with the amended vehicle operating permit or the second amended vehicle operating permit according to a priority between the one of the zones and the second of the zones.

[0009] The map can be a vector map and the zones can be defined according to zones that are assigned to tiles of the vector map, and the vehicle operating permits can be included in data for each of the tiles.

[0010] The amended vehicle operating permit can be generated according to programming in a server computer to indicate the amended vehicle operating permit based on the fact that data aggregated from a large number of second vehicles exceeds a threshold.

[0011] A procedure comprises accessing a map stored in a vehicle, wherein the map contains respective vehicle operating permits for zones included in the map; receiving, in the vehicle, an amended vehicle operating permit for one of the zones included in the map; and, if the vehicle is within a specified distance of one of the zones, operating the vehicle in accordance with the amended operating permit; wherein the amended vehicle operating permit downgrades autonomous control of vehicle speed and / or steering.

[0012] The amended vehicle operating permit may be a modified speed limit. The vehicle may be operated in accordance with the amended speed limit. The amended vehicle operating permit may be cruise control, manual operation, or hands-free operation. One of the zones may be defined by a start boundary and an end boundary of a lane of a roadway. The amended vehicle operating permit for one of the zones may be received by the vehicle during an over-the-air update provided at vehicle start-up. The amended vehicle operating permit for one of the zones may be received by the vehicle while the vehicle is in motion. The amended vehicle operating permit for one of the zones may be received by the vehicle while the vehicle is being operated in accordance with the respective vehicle operating permit for one of the zones.

[0013] The amended vehicle operating permit for one of the zones may include a specified expiry time after which the vehicle may not be operated in that zone according to the amended vehicle operating permit. The amended vehicle operating permit for one of the zones may also include a specified time window, whereby operation will cease during the specified time window and not outside of it.

[0014] The procedure may also include receiving a further amended vehicle operating permit for the zone; and carrying out a further cessation of the operation of the vehicle in accordance with the further amended vehicle operating permit for one of the zones.

[0015] The procedure may further include receiving, in the vehicle, a second amended vehicle operating permit for a second of the zones; determining that one of the zones and the second of the zones overlap; and operating the vehicle in accordance with the amended vehicle operating permit or the second amended vehicle operating permit according to a priority between one of the zones and the second of the zones.

[0016] The amended vehicle operating permit can be generated according to programming in a server computer to indicate the amended vehicle operating permit based on the fact that data aggregated from a large number of second vehicles exceeds a threshold. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a diagram of an example vehicle system. Fig. Figure 2 is a diagram illustrating an example roadway that includes one zone of it. Fig. Figure 3 is a flowchart illustrating an example process for creating a map overlay zone. Fig. Figure 4 is a diagram of an exemplary process for operating a vehicle based on map overlay zones. DETAILED DESCRIPTION

[0017] Fig.Figure 1 illustrates an exemplary system 100 for a vehicle 105. A computer 110 in the vehicle 105 is programmed to receive data acquired by one or more sensors 115 and other sensors (not shown) to provide specific vehicle data. For example, one or more camera sensors 115 can provide image data from the field of view of a camera. A user device with a touchscreen may be located in the vehicle 105. Exemplary user devices include a vehicle computer 110 that is communicatively connected (e.g., via a vehicle network) to an MMS 150, wherein a touchscreen is installed as part of an infotainment system of the vehicle 105, or a portable computing handheld device 125 with a touchscreen.While all modern original equipment manufacturers (OEMs) of passenger cars currently warn drivers against using a portable hand device while driving a vehicle due to safety concerns, it is expected that technology and the legal framework may evolve in the future to make such activity safe and permissible.

[0018] Vehicle data can also include the vehicle's location, data about its surroundings, data about an object outside the vehicle, such as another vehicle, and so on. A vehicle's location can be provided in a conventional form, such as geocoordinates like latitude and longitude, obtained from a navigation system using a global navigation satellite system (GNSS) like the Global Positioning System (GPS). Other examples of vehicle data can include measurements from vehicle systems and components, such as vehicle speed or velocity, fuel level in a fuel tank, and so forth.

[0019] A computer 110 may be provided to control one or more vehicle operations, including steering, acceleration or speed control, and / or braking. Accordingly, a system 100 is shown comprising a vehicle 105, which may include features of a driver assistance system (DAS). A computer 110 (e.g., one or more electronic control units, i.e., ECUs (electronic control units), of the vehicle 105) may be configured to operate the vehicle 105 independently of any operation by an occupant with respect to certain features.A Computer 110 can be programmed to provide a driver assistance system (DAS), such as cruise control (where the computer maintains the vehicle's speed according to a set speed), adaptive cruise control (ACC) (where the computer maintains the vehicle's speed according to a set speed, but can adjust the vehicle's speed based on detected distances and / or speeds of other vehicles), and / or hands-free driving. For example, the Computer 110 could provide hands-free driving in combination with ACC, so that the Computer 110 controls steering, braking, and acceleration. In another example, the Computer 110 could provide ACC and require manual operation.The computer 110 can be programmed to operate a drive system 135, a braking system 140, a steering system 145, a device screen displaying a human-machine interface (MMS) 150, and / or other vehicle systems.

[0020] A computer 110 is generally programmed for communication within a vehicle network (not shown), for example, a conventional vehicle communication bus such as a Controller Area Network (CAN) bus, a Local Interconnect Network (LIN) bus, etc., and / or other wired and / or wireless technologies, e.g., Bluetooth®, Wi-Fi®, Ethernet, etc. Through the network, bus, and / or other wired or wireless mechanisms (e.g., a wired or wireless local area network in the vehicle 105), the computer 110 can transmit messages to various devices in the vehicle 105 and / or receive messages from the various devices, e.g., sensors 115, controllers, and actuators (not shown), etc.

[0021] Alternatively or additionally, for example, in cases where the computer 110 actually comprises multiple devices, the vehicle network can be used for communication between devices represented in this disclosure as the computer 110. For example, the computer 110 can be a generic computer with a processor and memory, as described above, and / or it can include a dedicated electronic component that incorporates an application-specific integrated circuit (ASIC) manufactured for a particular operation, such as an ASIC for processing and / or communicating sensor data. In another example, the computer 110 can include a field-programmable gate array (FPGA), which is an integrated component manufactured to be configurable by a user.Typically, a hardware description language, such as very high-speed integrated circuit hardware description language (VHDL), is used in electronic design automation to describe digital and mixed-signal systems, such as FPGAs and ASICs. For example, an ASIC is manufactured based on VHDL programming that is provided prior to manufacturing, whereas logic components inside an FPGA may be configured based on VHDL programming that is stored, for example, in memory electrically connected to the FPGA. In some examples, a combination of processor(s), ASIC(s), and / or FPGA components may be included in Computer 110.

[0022] Additionally, the Computer 110 can be programmed to communicate with a network and / or devices outside the vehicle (not shown), which may include various wired and / or wireless network technologies, e.g., cellular, Bluetooth®, Bluetooth® Low Energy (BLE), wired and / or wireless packet networks, etc.

[0023] The storage device can be of any type, e.g., hard disk drives, solid-state drives, servers, or any volatile or non-volatile media. The storage device can hold the collected data transmitted by the sensors 115. The storage device can be separate from the computer 110, and the computer 110 can retrieve data stored in the storage device via a network in the vehicle 105, e.g., via a CAN bus, a wireless network, etc. Alternatively or additionally, the storage device can be part of the computer 110, e.g., as the computer 110's memory.

[0024] The sensors 115 can include a variety of devices. For example, various controllers in a vehicle 105 can operate as sensors 115 to provide data via the vehicle's network or bus, such as data regarding the vehicle's speed, acceleration, and location, the status of subsystems and / or components, etc. Furthermore, other sensors 115 could include cameras, motion detectors, etc. That is, sensors 115 can provide data for evaluating the status of a component, assessing the inclination of a road surface, etc. The sensors 115 could also include, without limitation, short-range radar, long-range radar, optical distance and speed measurement (LIDAR), ultrasonic transducers, and the like. Cameras in this document are typically optical cameras, e.g., in the visible spectrum, but could alternatively or additionally include other types of cameras, e.g., time-of-flight cameras, infrared cameras, etc.

[0025] The collected data can include a variety of data recorded in a vehicle 105. Examples of collected data are provided above. Data is generally collected using one or more sensors 115 and may additionally include data calculated from it in the computer 110. In general, the collected data can include any data recorded by the sensors 115 and / or calculated from such data.

[0026] The vehicle 105 can include a variety of vehicle components. In this context, a vehicle component can include one or more hardware components designed to perform a mechanical function or operation—such as moving the vehicle 105, braking or stopping the vehicle 105, steering the vehicle 105, etc. Non-limiting examples of the components include a propulsion component 135 (which may include, for example, an internal combustion engine and / or electric motor, etc.), a transmission component, a steering assembly (which may include, for example, one or more steering wheels, a steering rack, etc.), a braking component 140, a parking assistance component, an adaptive cruise control component, an adaptive steering component 145, a movable seat, and the like. The components may include computing devices, for example,electronic control units (ECUs) or the like and / or computing devices, as described above in relation to Computer 110, which also communicate via a vehicle network.

[0027] The MMS 150 typically includes one or more devices, such as a display, touchscreen, microphone, speaker, etc. The user can provide input to devices like the Computer 110 via the MMS 150. The MMS 150 can communicate with the Computer 110 over the vehicle network; for example, the MMS 150 can send a message to the Computer 110 containing user input provided via a touchscreen, microphone, camera (which captures gestures), etc., and / or display output, such as on a screen, speaker, etc.

[0028] Additionally, the vehicle computer 110 can be configured to communicate with devices outside the vehicle 105 via a vehicle-to-vehicle communication module 155 or an interface (e.g., via wireless vehicle-to-vehicle (V2V) or vehicle-to-infrastructure (V2X) communication (cellular and / or short-range radio communication, etc.) with another vehicle and / or with a remote server computer 165 (typically via direct radio frequency communication)). The communication module 155 could include one or more mechanisms, such as a transceiver, through which the vehicle computers can communicate, including any desired combination of wireless communication mechanisms (e.g.,Cellular, wireless, satellite, microwave, and radio frequency) and any desired network topology (or topologies if a variety of communication mechanisms are used). Examples of communication provided by the Communication Module 155 include cellular, Bluetooth, IEEE 802.11, dedicated short-range communications (DSRC), cellular V2X (CV2X), and / or wide area networks (WANs), including the Internet, which provide data communication services. The term "V2X" is used in this document to refer to communication that can be vehicle-to-vehicle (V2V) and / or vehicle-to-infrastructure (V2I) and that can be provided by the Communication Module 155 according to any suitable short-range communication mechanism (e.g., DSRC, cellular, or the like).

[0029] The network 160 represents one or more mechanisms by which a vehicle computer 110 can communicate with remote computing devices (e.g., the remote server computer 165, another vehicle computer, the infrastructure element 140, etc.). Accordingly, the network 160 can be one or more of various wired or wireless communication mechanisms, including any desired combination of wired (e.g., cable and fiber optic) and / or wireless (e.g., cellular, wireless, satellite, microwave, and radio frequency) communication mechanisms and any desired network topology (or network topologies if multiple communication mechanisms are used). Exemplary communication networks include wireless communication networks (e.g., using Bluetooth®, Bluetooth® Low Energy (BLE), IEEE 802).11. Vehicle-to-vehicle (V2V) communication, such as dedicated short-range communication (DSRC) etc.), local area network (LAN) and / or wide area network (WAN) which include the Internet and provide data communication services.

[0030] With reference to Fig.2. A map can include features of a roadway 200, such as a motorway-like highway, a physically separated highway, an urban street, etc. The roadway 200 can include multiple lanes 206 for use by vehicles, including a vehicle 105. In the illustrated example, the roadway 200 includes two lanes 206 for use in the same direction. The map can include one or more zones 202. A zone 202 can specify a section or segment of the roadway 200. The map could include data specifying zones 202, and / or a zone 202 could be specified based on data in a map overlay zone (described below) that includes boundaries 208 for zones 202, which can then be located on the map according to the geocoordinates for the boundaries 208.

[0031] The illustrated example zone 202 is specified for a single lane 206 of carriageway 200. Furthermore, one or more buffers 204 may be defined with respect to a zone 202. A buffer 204 may be used to specify a distance from a zone 202 at which the computer 110 should implement an operating permit (explained below) for zone 202. However, the buffers 204 could be omitted for some or all of the zones 202 included in a map; that is, the specified distance for implementing or changing the operating permit for a zone 202 could be zero, or, put another way, the specified distance from a zone 202 could simply be a boundary 208 of zone 202. A boundary 208 could be defined according to a line or point on a map, e.g., B. a point specified by a geocoordinate, or a line specified by a set of geocoordinates.

[0032] A vehicle computer 110 contains the map that includes the respective vehicle operating permits for zones 202 and / or is able to access it via the vehicle network. The map contains a set of digital data that specifies locations, typically according to geocoordinates, for various features, such as carriageways 200, buildings, points of interest, etc. The map is typically a vector map with different data layers that describe such various features. In this document, a "zone" refers to a geographic area as it may be defined according to geocoordinates, a geofence, or the like. For example, a map zone 202 for a segment of a carriageway 200 (e.g., a highway or a city street) might be defined according to a starting boundary 208 and an end boundary of the carriageway segment.In this document, an “operating permit” refers to a data element or data that specify an operation a vehicle can perform. For example, an operation may be moving or operating a vehicle 105 in accordance with a specified speed limit, operating a vehicle 105 with the vehicle speed controlled by a computer 110 (e.g., in accordance with an adaptive cruise control feature), or operating a vehicle 105 with the vehicle steering controlled by the computer 110 (e.g., in accordance with hands-free operation, automatic lane change, a self-driving function, etc.).

[0033] A set of one or more operating permits can be provided for a zone included in a map. Operating permits can be determined or defined based on other map features. For example, an operating permit, such as a speed limit and / or a permit allowing or prohibiting hands-free operation and / or requiring hand operation, could be specified for a map zone where map data indicates that construction or roadwork is taking place. Furthermore, updates or changes to the operating permit(s) for a zone can be provided to a vehicle via the 160 network, for example, through an over-the-air (OTA) update.

[0034] An updated vehicle operating permit can be provided in what is referred to in this document as a "map overlay zone." A "map overlay zone" (or "MOZ" (map overlay zone)) is a data element or data that supplements, i.e., adds to and / or modifies, data in an existing map, such as a map previously stored in a vehicle 105 and accessed by a vehicle computer 110. As mentioned above, a vehicle map can be a vector map. In such a case, a map overlay zone can be provided to modify or amend map data for a map zone, such as a lane segment. A computer 110 in a vehicle 105 can thus receive a map overlay zone, thereby receiving an amended vehicle operating permit for a zone contained in an existing map stored in the vehicle 105.In one example, a map overlay zone is defined according to a tile of a vector map, i.e., it is provided as data associated with it, and the operating permit of vehicle 105 is included in the data for the tile, which can then be used to extend the map as previously or currently stored in vehicle 105.

[0035] Table 1 below lists exemplary types of map overlay zones and their respective operating permits in an exemplary implementation. Table 1 MOZ Operating permits Adaptive Cruise Control Adaptive cruise control (i.e., a computer controls the vehicle's speed and following distance) is permitted, but other autonomous operations, including driving without looking at the road (eyes-free) and hands-free driving, are not allowed. Hands-free zone Driving hands-free is allowed, but driving without looking at the road is disabled. Speed ​​setting zone Provides a modified speed limit for a map zone 202, which typically sets or deviates from a standard or stored map speed limit.

[0036] As mentioned above, if a vehicle 105 is within a specified distance of a zone 202, i.e., within a buffer zone 204 or at a boundary 208 of zone 202, the computer 110 can be operated (or can instruct other computers and / or components 135, 140, 145 of the vehicle 105 to operate the vehicle in accordance with the amended operating permit). For example, a map overlay zone could specify a modified speed limit for a zone 202, whereupon the computer 110 could provide an output to a vehicle MMS 150 indicating the modified speed limit and / or impose restrictions on a speed at which the vehicle 105 can travel.In another example, a map overlay zone could specify a modified following distance for adaptive cruise control, whereupon computer 110 could provide an output so that the drive 135 and / or the braking 140 are controlled to implement the modified following distance, i.e., so that the vehicle 105 follows a vehicle ahead at a distance that differs from a previously specified distance and any other specified factors, such as vehicle speed. In yet another example, a modified vehicle operating permit could change the permitted steering control 145. For example, a map for zone 202 might specify that hands-free driving was permitted along with automated lane changes. A map overlay zone could specify for zone 202 that only hands-free driving, but not automated lane changes, was permitted.In short, a modified vehicle operating permit can downgrade the autonomous control of vehicle speed and / or steering, e.g. by the computer 110 (but could alternatively or additionally also upgrade it).

[0037] As mentioned above, an OTA (Over-the-Air) update containing one or more map overlay zones could be provided by a Server 165 at the start of the vehicle 105 and / or could be triggered by a Server 165 and provided in real time or near real time while the vehicle 105 is operating. In other words, a modified or set vehicle operating permit for the zone can be received by the vehicle during an over-the-air update provided at vehicle start-up and / or a setting of a modified vehicle operating permit for the zone will be received by the vehicle while the vehicle is in motion.

[0038] For example, server 165 could receive data for zone 202 that modifies a speed limit for zone 202 and / or other operating permissions, such as permission for hands-free operation and / or autonomous lane changes, and upon receiving this data, provide an update to vehicle 105. An OTA update could be based on a vehicle's geographic location. For example, when vehicle 105 starts up, computer 110 can cause communication module 155 to transmit the vehicle's location to server 165 over network 160. Server 165 could then, if available, provide an OTA update of map overlay zones for zone 202 within a predetermined radius (e.g., 50 miles, 100 miles, 200 miles, etc.) of vehicle 105.Alternatively or additionally, server 165 could provide an OTA update via network 160 when periodic or real-time updates are received from vehicle 105 specifying a current location of vehicle 105, and it is determined that an update is available for zone 202 within a predetermined radius (which could differ from the predetermined radius applicable at the start of vehicle 105) of vehicle 105 (e.g., 5 miles, 20 miles, 50 miles, etc.).

[0039] In one example, a map overlay zone, which includes a vehicle operating permit setting for Zone 202, is received by vehicle 105 while vehicle 105 is operating according to the respective vehicle operating permit for Zone 202. For example, vehicle 105 could be operating according to a permit for hands-free lane changing / autonomous lane changing, and a map overlay zone could specify that this permit is only set to hands-free when vehicle 105 approaches Zone 202 (e.g., is in a buffer 204 of Zone 202) or is in Zone 202.

[0040] Furthermore, a vehicle 105 can receive multiple OTA updates. For example, the vehicle 105 could receive an initial OTA update upon starting up and then a second OTA update while the vehicle is operating, such as traveling along lane 200. Alternatively or additionally, the vehicle 105 could receive both an initial and a second OTA update while operating. The initial and second OTA updates could contain a first and second amended vehicle operating permit for the same zone 202. For example, an initial OTA update could specify an amended vehicle operating permit for zone 202 upon starting up the vehicle 105, and then the computer 110 could receive a second or further amended vehicle operating permit for zone 202 while the vehicle 105 is operating.Upon receiving a second amended operating permit for Zone 202, Vehicle 105 could then further adjust its operating settings according to that amended permit. For example, a map stored in Vehicle 105 for Zone 202 might specify that the zone permits hands-free operation and autonomous lane changes. An initial setting for Zone 202 might specify that only hands-free operation (but no autonomous lane changes) is permitted, and then a second or subsequent setting for Zone 202 might specify that hands-free operation is not permitted.

[0041] A map overlay zone can include a time parameter, such as an expiry date and / or time for a modified vehicle type approval. In other words, a map overlay zone specifying a modified vehicle type approval for Zone 202 could include a specified expiry time after which vehicle 105 will not be operated in Zone 202 according to the modified vehicle type approval in the map overlay zone. Alternatively, a map overlay zone could include a date and / or time range or window during which the modified vehicle type approval for Zone 202 is applicable. The modified vehicle type approval for the zone includes a specified time window, and a cessation of operation occurs during the specified time window and not outside of it.

[0042] In some examples, a map stored in and / or accessible by a computer 110 could describe overlapping zones 202. That is, an end boundary 208 for a first zone 202 could be located in one direction of travel on a lane 200 beyond a start boundary 208 for a second zone 202. In other words, there could be a section of a lane 200 in both the first and the second zone 202. If the vehicle 105 is traveling in a first zone 202 that overlaps with a second zone 202, the computer 110 in the vehicle 105 could cause the vehicle 105 to operate according to a first amended vehicle operating permit for the first zone 202. If the computer 110 receives a second amended vehicle operating permit for a second zone, the computer 110 could determine whether the first and second zones 202 overlap, i.e., have a common area of ​​the carriageway 200.If it is determined that the first and second zones 202 overlap, computer 110 could then operate vehicle 105 according to the amended vehicle operating permit or the second amended vehicle operating permit according to a priority between the first and second zones. Table 2 provides an example of precedences or priorities between different types or categories of map overlay zones in the implementation for which the preceding Table 1 was provided. Table 2 MOZ priority rule Adaptive Cruise Control Always takes top priority. Hands-free zone In case of overlap with the speed setting zone, both the hands-free zone and the speed setting zone can be implemented (i.e., downgrading from an automated lane change mode, if active, and also setting the speed according to the speed setting zone), but priority is given to the zone with adaptive cruise control only. Speed ​​setting zone If the freehand zone overlaps, both the freehand zone and the speed setting zone can be implemented (i.e., downgrading from an automated mode). Lane change mode, if active, and also setting the speed according to the speed setting zone), however, priority is given to the zone only with adaptive cruise control.

[0043] Map overlay zones can be determined in a Server 165. The programming in the Server 165 could specify that the received data is compared against predetermined thresholds and / or criteria to determine a map overlay zone. The received data could be provided by test vehicles driving on a Lane 200 and / or user vehicles driving on a Lane 200 (e.g., crowdsourcing). The Server 165 could be programmed to determine incidents that justify a map overlay zone. The Server 165 could generate a map overlay zone according to user input based on a user evaluating thresholds or criteria for incidents. In this document, an incident means a feature or event of a lane for which a threshold and / or criterion is stored on the Server 165 to determine map overlay zones.Incidents can be reported according to locations, which can be defined by geocoordinates. Non-restrictive examples of incidents include: • a building structure or objects (e.g. cones, signs, etc.) that are detected; • Lane marking deviation (e.g. a “lane change” due to construction work and / or a changed configuration of carriageway 200) that is detected; • Deviation of the road surface that is detected; and / or • Speed ​​limit deviation that is detected (e.g., the detected speed limit is lower than the speed limit indicated on the map).

[0044] Table 3 below provides an example of criteria for determining whether to create or remove a map overlay zone based on incident reports at a location; for example, data from vehicles passing through a zone could be aggregated and aggregated data could be compared to thresholds; if a threshold is reached or exceeded, a MOZ could be created. Table 3 MOZ permits Production criteria Distance criteria Only adaptive cruise control 60% of the vehicles passing a location provide positive detections of incidents (e.g., construction sites), with at least 5 vehicles reporting detections within 24 hours, and at least two detections being at least 30 minutes apart. 80% of vehicles passing the location with negative incident detections (e.g., the reverse or opposite of incidents that generate the MOZ, e.g., no construction objects), with at least 5 vehicles reporting detections within 24 hours, and with at least two detections being at least 30 minutes apart. Hands-free zone 60% of the vehicles passing a location provide positive detections of incidents (e.g., deviation from lane markings), with at least 5 vehicles reporting detections within 24 hours, and at least two detections being at least 30 minutes apart. 80% of vehicles passing the location with negative incident detections (e.g., the reversal or opposite of incidents that generate the MOZ, e.g., no deviation from lane marking), with at least 5 vehicles reporting detections within 24 hours, and at least two detections being at least 30 minutes apart. Speed ​​setting zone 60% of vehicles passing a location provide positive detections of incidents (e.g., speed limit sign), with at least 5 vehicles reporting detections within 24 hours, and at least two detections being at least 30 minutes apart. 80% of vehicles passing the location with negative incident detections (e.g., speed limit sign), with at least 5 vehicles reporting detections within 24 hours, and with at least two detections spaced at least 30 minutes apart.

[0045] Fig.Figure 3 is a flowchart illustrating an example process 300 for generating a map overlay zone. The various process blocks described could be executed in a different order than shown in this document, and / or certain blocks could be omitted, and / or other blocks could be added. A server 165 can receive data to generate map overlay zones, and / or map overlay zones can be provided to the server 165. The server 165 (which in this example can represent one or more different computing devices located at one or more different network locations) can provide map overlay zones to the vehicles 105.

[0046] Process 300 can begin in a block 305 where a server 165 receives data for a location on a map. The received data could be provided in real time or near real time and / or as part of a manual upload or an upload provided on a periodic basis by test vehicles driving on a roadway 200 and / or user vehicles driving on a roadway 200 (e.g., crowdsourcing). The data could describe a feature or event for the location, which could be specified according to geocoordinates or the like. The feature or event could describe a property of the location, such as a speed limit, road surface, lane markings, structures, etc.

[0047] Following block 305, server 165 determines at block 310 whether an incident is detected at the location of the feature or event identified in block 305. As explained above, an incident is a feature or event that meets or exceeds a predetermined threshold or criterion. If no incident is detected, process 300 proceeds to block 350. If an incident is detected, process 300 continues in block 315.

[0048] In block 315, server 165 determines whether a MOZ exists at the location of the feature or event identified in block 305. Typically, server 165 stores a copy of a map served on one or more vehicles 105, or alternatively or additionally, it may store a subset or superset of a map served on one or more vehicles 105. In either case, a map or other data stored by server 165 specifies locations, such as start and end boundaries 208, of zones 202 for which an MOZ is served. If an MOZ exists at the location, process 300 proceeds to block 320. Otherwise, process 300 proceeds to block 330.

[0049] In block 320, server 165 determines whether to retain or keep the map overlay zone (MOZ). As explained above, server 165 could store removal criteria for existing map overlay zones. Alternatively or additionally, a user could provide an input to remove the map overlay zone based on a user review of data regarding incidents identified at a location within zone 202 for which the MOZ is provided. If it is determined that the MOZ should be retained, process 300 proceeds to block 330. Otherwise, process 300 proceeds to block 325.

[0050] In block 325, the MOZ is removed from the map data stored by server 165.

[0051] In block 330, which can follow any of blocks 315, 320, or 325, server 165 determines whether to define or create a new MOZ for the site identified as described above with respect to block 305. If so, process 300 proceeds to block 335. Otherwise, the process proceeds to block 340.

[0052] In block 335, server 165 generates a new map overlay zone. Exemplary criteria for MOZ generation are discussed above. Furthermore, the generation of an MOZ can include a definition of zone 202 for which the generated map overlay zone applies. For example, server 165 could include programming to define start and end boundaries 208 at a specified distance behind and in front of an incident location on a roadway 200. Furthermore, the specified distances from the incident could depend on the type of incident and / or could use feature or event data from multiple locations.If the incident involves, for example, a change in the speed limit, the MOZ could have a start limit 208, determined according to a signage location indicating the changed speed limit, and an end limit 208, also determined according to a signage location indicating a further adjustment of the changed speed limits or a return of the changed speed limit to a standard speed limit. In another example, where an incident involves the detection of a construction object, the start and end limits 208 could be determined according to locations where the first construction object is detected and the last construction object is detected. Furthermore, in these and other examples, buffer sizes 204 could be determined according to a type of incident, e.g.,A specified buffer distance 204 could be defined for a change in the speed limit in order to warn an operator of the vehicle 105 of an impending speed change; a specified buffer distance could likewise be specified for the construction zone 202.

[0053] In block 340, which can follow blocks 330 and 335, server 165 determines whether to provide a map overlay zone update to vehicles 105. Specifically, if a map overlay zone was removed in block 325 and / or a new map overlay zone was created in block 335, server 165 determines whether to send or make available a map overlay zone update to vehicles 105. If an update is to be provided, process 340 moves to block 345. Otherwise, process 300 moves to block 350.

[0054] In block 345, server 165 provides the update to vehicles 105. As explained above, server 165 could make the update available via an over-the-air (OTA) update, which is delivered to a vehicle 105 upon vehicle startup and / or in real time. Alternatively or additionally, server 165 could provide an update for manual download.

[0055] Block 350, which can follow blocks 340 and 345, determines whether process 300 should continue. For example, server 165 might periodically or continuously check for new data, as described above in relation to block 305. Alternatively, process 300 could be initiated manually by a user providing input to server 165 to process new data in block 305. In either case, if process 300 is to continue, block 305 is executed next. Otherwise, process 300 terminates after block 350.

[0056] Fig. Figure 4 is a diagram of an exemplary process for operating a vehicle based on map overlay zones. Process 400 can be executed according to program instructions in a vehicle computer 110.

[0057] Process 400 can begin in a block 405, in which the vehicle computer 110 receives an update that includes a map overlay zone. As described above, the update can be provided at vehicle startup. Alternatively or additionally, although not in Fig. As illustrated in Figure 4, an update could be provided in real time or near real time while the vehicle 105 is operating on a roadway 200. An update could include a new map overlay zone (MOZ), a modification of a previous MOZ, or the removal of a MOZ. Furthermore, the update could include one or more map overlay zones based on an area where the vehicle 105 is located or currently operating. For example, a vehicle 105 could receive map overlay zones relating to zones 202 within a specified radius of the vehicle 105, such as 50 miles, 100 miles, 500 miles, etc.

[0058] Next, in block 410, vehicle 105 is operated on lane 200. Typically, operating vehicle 105 may involve operating the vehicle according to permissions contained on a card stored in the vehicle. For example, permissions such as those described above for zone 202 may specify that vehicle 105 is permitted to operate using various features, such as adaptive cruise control, hands-free mode, and off-the-road mode, etc.

[0059] Next, in decision block 415, computer 110 determines, when vehicle 105 is operating on lane 200, whether vehicle 105 is in or approaching a zone 202 for which a map overlay zone has been updated or removed (e.g., is within a buffer 204 of it). If so, process 400 proceeds to block 420. Otherwise, process 400 proceeds to block 425.

[0060] In block 420, the computer applies 110 permissions specified in the MOZ for the current or upcoming Zone 202, which, as noted above, could involve downgrading or reducing permissions available in Zone 202 compared to default permissions or standard permissions for Zone 202. For example, a Zone 202 might normally permit hands-free driving, but an MOZ could specify that only adaptive cruise control is permitted in Zone 202. Applying permissions specified in an MOZ could also involve removing an existing MOZ, that is, reverting to previous permissions after the MOZ is removed.

[0061] In block 425, the computer applies 110 existing or default permissions, if any, specified for a current zone 202 (or a buffer 204 of an upcoming zone 202), that is, if there is no map overlay zone to apply to zone 202, it proceeds.

[0062] In block 430, which can follow blocks 420 and 425, it is determined whether process 400 should continue. For example, a user might provide an input to take full manual control of a vehicle and exit process 400; a vehicle might leave lane 200, park, shut down, etc. If process 400 is to continue, the vehicle is operated according to the output of blocks 420 and 425, and process 400 returns to block 410. Otherwise, process 400 terminates after block 430.

[0063] The systems and procedures described in this document may be modified and / or omitted depending on the context, situation, and applicable laws, rules, and regulations. Furthermore, regardless of any actions that may be taken by the vehicle, such as by a computer controlling the vehicle, users should exercise good judgment and common sense when operating the vehicle. Procedures described in this document should always be implemented and / or carried out in accordance with the user manual and safety guidelines.

[0064] The computing devices discussed in this document, including Computer 110, include processors and memory. The memory generally contains instructions executable by one or more of the computing devices' processors, such as instructions disclosed above, and instructions for performing blocks or steps of processes described above. Computer-executable instructions can be assembled or interpreted by computer programs created using a variety of programming languages ​​and / or techniques, including, but not limited to, either alone or in combination, Java™, C, C++, Visual Basic, JavaScript, Python, Perl, HTML, etc. Generally, a processor (e.g., a microprocessor) receives instructions, for example, from memory, a computer-readable medium, etc., and executes these instructions, thereby causing one or more processes to occur, including one or more of the processes described in this document. Such instructions and other data can be stored and transmitted using a variety of computer-readable media. A file in Computer 110 is generally a collection of data stored on a computer-readable medium, such as a storage medium, random-access memory, etc.

[0065] A computer-readable medium includes any medium involved in providing data (e.g., instructions) that can be read by a computer. Such a medium can take many forms, including non-volatile media, volatile media, and so on. Non-volatile media include, for example, optical or magnetic hard drives and other long-term storage devices. Volatile media include dynamic random access memory (DRAM), which is typically main memory.Common forms of computer-readable media include, for example, a floppy disk, a foil storage disk, a hard disk, a magnetic tape, any other magnetic medium, a CD-ROM, a DVD, any other optical medium, punched cards, punched tape, any other physical medium with hole patterns, a RAM, a PROM, an EPROM, a FLASH EEPROM, any other memory chip or any other storage cartridge or any other medium that can be read by a computer.

[0066] Regarding the media, processes, systems, procedures, etc., described in this document, it is understood that, although the steps of such processes, etc., have been described as occurring according to a certain orderly sequence, the described steps could be carried out in a sequence other than that described in this document. Furthermore, it is understood that certain steps could be performed simultaneously, other steps added, or certain steps described in this document omitted. For example, in Process 400, one or more of the steps could be omitted, or the steps could be performed in a different order than described. Fig.4. In other words, the descriptions of systems and / or processes in this document are provided for the purpose of illustrating certain embodiments and should in no way be interpreted as limiting the disclosed subject matter.

[0067] “Based on” means based at least in part on, unless otherwise stated. Therefore, if A is “based on” B, it means that A could be determined entirely based on B, or based on B and one or more other factors.

[0068] Accordingly, it is understood that the present disclosure, which includes the foregoing description, the accompanying figures, and the following claims, is intended to be illustrative and not limiting. Many embodiments and applications that differ from the examples provided will be apparent to the person skilled in the art upon reading the foregoing description. The scope of protection of the invention should not be determined by reference to the foregoing description, but instead by reference to the claims included herein and / or contained in a non-provisional patent application based thereon, together with the full scope of protection of equivalents to which such claims entitle the holder.It is assumed and intended that there will be future developments in the prior art discussed in this document and that the disclosed systems and methods will be incorporated into such future embodiments. Overall, it is understood that the disclosed subject matter can be modified and varied.

[0069] The noun-modifying article "ein(e)" should be understood to denote one or more, unless otherwise stated or the context requires otherwise. The phrase "basierend auf" includes "based on" partially or entirely.

[0070] According to the present invention, a system is provided comprising a processor and a memory, wherein the memory stores instructions that can be executed by the processor to: access a map stored in a vehicle, the map containing respective vehicle operating permits for zones included in the map; receive, in the vehicle, an amended vehicle operating permit for one of the zones included in the map; and, when the vehicle is within a specified distance of one of the zones, operate the vehicle in accordance with the amended operating permit; wherein the amended vehicle operating permit downgrades autonomous control of vehicle speed and / or steering.

[0071] According to one embodiment, the amended vehicle operating permit is a modified speed limit.

[0072] According to one embodiment, the instructions also include instructions for operating the vehicle in accordance with the changed speed limit.

[0073] According to one embodiment, the modified vehicle operating permit allows for speed control, manual operation, or hands-free operation.

[0074] According to one embodiment, one of the zones is defined by a starting boundary and an ending boundary of a lane of a roadway.

[0075] According to one embodiment, the amended vehicle operating permit for one of the zones in the vehicle is received during an over-the-air update that is provided when the vehicle is started.

[0076] According to one embodiment, the amended vehicle operating permit for one of the zones is received in the vehicle while the vehicle is in motion.

[0077] According to one embodiment, the amended vehicle operating permit for one of the zones is received in the vehicle, while the vehicle is operated in accordance with the respective vehicle operating permit for one of the zones.

[0078] According to one embodiment, the amended vehicle operating permit for one of the zones includes a specified expiry time after which the vehicle is not operated in that one of the zones according to the amended vehicle operating permit.

[0079] According to one embodiment, the amended vehicle operating permit for one of the zones includes a specified time window, whereby a cessation of operation is carried out during the specified time window and not outside the specified time window.

[0080] According to one embodiment, the instructions further include instructions for the following: receiving a further amended vehicle operating permit for one of the zones; and performing a further adjustment of the vehicle's operation in accordance with the further amended vehicle operating permit for one of the zones.

[0081] According to one embodiment, the instructions further include instructions for the following: receiving, in the vehicle, a second amended vehicle operating permit for a second of the zones; determining that the one of the zones and the second of the zones overlap; and operating the vehicle in accordance with the amended vehicle operating permit or the second amended vehicle operating permit according to a priority between the one of the zones and the second of the zones.

[0082] According to one embodiment, the map is a vector map and the zones are defined according to zones that are assigned to tiles of the vector map, and the vehicle operating permits are included in data for each of the tiles.

[0083] According to one embodiment, the amended vehicle operating permit is generated by programming in a server computer to indicate the amended vehicle operating permit based on the fact that data aggregated from a multitude of second vehicles exceeds a threshold.

[0084] According to the present invention, a method comprises the following: accessing a map stored in a vehicle, wherein the map contains respective vehicle operating permits for zones included in the map; receiving, in the vehicle, an amended vehicle operating permit for one of the zones included in the map; and, when the vehicle is within a specified distance of one of the zones, operating the vehicle in accordance with the amended operating permit; wherein the amended vehicle operating permit downgrades autonomous control of vehicle speed and / or steering.

[0085] In one aspect of the invention, the modified vehicle operating permit is a modified speed limit, speed control, manual operation or hands-free operation.

[0086] In one aspect of the invention, the amended vehicle operating permit for one of the zones includes a specified expiry time after which the vehicle is not operated in that one of the zones according to the amended vehicle operating permit, and / or a specified time window, wherein a cessation of operation is carried out during the specified time window and not outside the specified time window.

[0087] In one aspect of the invention, the vehicle includes: receiving a further amended vehicle operating permit for the zone; and performing a further adjustment of the operation of the vehicle in accordance with the further amended vehicle operating permit for one of the zones.

[0088] In one aspect of the invention, the vehicle includes the following: receiving, in the vehicle, a second amended vehicle operating permit for a second of the zones; determining that the first of the zones and the second of the zones overlap; and operating the vehicle in accordance with the amended vehicle operating permit or the second amended vehicle operating permit according to a priority between the first of the zones and the second of the zones.

[0089] In one aspect of the invention, the amended vehicle operating permit is generated according to programming in a server computer in order to indicate the amended vehicle operating permit based on the fact that data aggregated from a plurality of second vehicles exceeds a threshold.

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